[FL-667] Power saving: deep sleep in tickless state (#300)
* SYSTEM: tickless mode with deep sleep. * Move FreeRTOS ticks to lptim2. * API: move all sumbodules init routines to one place. * Timebase: working lptim2 at tick source. * API Timebase: lp-timer routines, timer access safe zones prediction and synchronization. * FreeRTOS: adjust configuration for tickless mode. * NFC: support for tickless mode. * API Timebase: improve tick error handling in IRQ. * Apploader: use insomnia mode to run applications. * BLE: prevent sleep while core2 starting. * HAL: nap while in insomnia mode. Co-authored-by: coreglitch <mail@s3f.ru>
This commit is contained in:
95
firmware/targets/f4/api-hal/api-hal-timebase-timer.h
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95
firmware/targets/f4/api-hal/api-hal-timebase-timer.h
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#pragma once
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#include <stm32wbxx_ll_lptim.h>
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#include <stdbool.h>
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static inline void assert(bool value) {
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if (!value) asm("bkpt 1");
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}
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// Timer used for system ticks
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#define API_HAL_TIMEBASE_TIMER_MAX 0xFFFF
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#define API_HAL_TIMEBASE_TIMER_REG_LOAD_DLY 0x1
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#define API_HAL_TIMEBASE_TIMER LPTIM2
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#define API_HAL_TIMEBASE_TIMER_IRQ LPTIM2_IRQn
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#define API_HAL_TIMEBASE_TIMER_CLOCK_INIT() \
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{ \
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LL_RCC_SetLPTIMClockSource(LL_RCC_LPTIM2_CLKSOURCE_LSE); \
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LL_APB1_GRP2_EnableClock(LL_APB1_GRP2_PERIPH_LPTIM2); \
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} \
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static inline void api_hal_timebase_timer_init() {
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API_HAL_TIMEBASE_TIMER_CLOCK_INIT();
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LL_LPTIM_Enable(API_HAL_TIMEBASE_TIMER);
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while(!LL_LPTIM_IsEnabled(API_HAL_TIMEBASE_TIMER)) {}
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LL_LPTIM_SetClockSource(API_HAL_TIMEBASE_TIMER, LL_LPTIM_CLK_SOURCE_INTERNAL);
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LL_LPTIM_SetPrescaler(API_HAL_TIMEBASE_TIMER, LL_LPTIM_PRESCALER_DIV1);
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LL_LPTIM_SetPolarity(API_HAL_TIMEBASE_TIMER, LL_LPTIM_OUTPUT_POLARITY_REGULAR);
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LL_LPTIM_SetUpdateMode(API_HAL_TIMEBASE_TIMER, LL_LPTIM_UPDATE_MODE_IMMEDIATE);
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LL_LPTIM_SetCounterMode(API_HAL_TIMEBASE_TIMER, LL_LPTIM_COUNTER_MODE_INTERNAL);
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LL_LPTIM_TrigSw(API_HAL_TIMEBASE_TIMER);
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LL_LPTIM_SetInput1Src(API_HAL_TIMEBASE_TIMER, LL_LPTIM_INPUT1_SRC_GPIO);
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LL_LPTIM_SetInput2Src(API_HAL_TIMEBASE_TIMER, LL_LPTIM_INPUT2_SRC_GPIO);
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NVIC_SetPriority(API_HAL_TIMEBASE_TIMER_IRQ, NVIC_EncodePriority(NVIC_GetPriorityGrouping(), 15, 0));
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NVIC_EnableIRQ(API_HAL_TIMEBASE_TIMER_IRQ);
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}
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static inline uint32_t api_hal_timebase_timer_get_cnt() {
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uint32_t counter = LL_LPTIM_GetCounter(API_HAL_TIMEBASE_TIMER);
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uint32_t counter_shadow = LL_LPTIM_GetCounter(API_HAL_TIMEBASE_TIMER);
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while(counter != counter_shadow) {
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counter = counter_shadow;
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counter_shadow = LL_LPTIM_GetCounter(API_HAL_TIMEBASE_TIMER);
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}
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return counter;
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}
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static inline bool api_hal_timebase_timer_arr_is_ok() {
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return LL_LPTIM_IsActiveFlag_ARROK(API_HAL_TIMEBASE_TIMER);
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}
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static inline uint32_t api_hal_timebase_timer_get_arr() {
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return LL_LPTIM_GetAutoReload(API_HAL_TIMEBASE_TIMER);;
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}
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static inline void api_hal_timebase_timer_set_arr(uint32_t value) {
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value &= API_HAL_TIMEBASE_TIMER_MAX;
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if (value != api_hal_timebase_timer_get_arr()) {
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assert(api_hal_timebase_timer_arr_is_ok());
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LL_LPTIM_ClearFlag_ARROK(API_HAL_TIMEBASE_TIMER);
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LL_LPTIM_SetAutoReload(API_HAL_TIMEBASE_TIMER, value);
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}
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}
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static inline bool api_hal_timebase_timer_cmp_is_ok() {
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return LL_LPTIM_IsActiveFlag_CMPOK(API_HAL_TIMEBASE_TIMER);
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}
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static inline uint32_t api_hal_timebase_timer_get_cmp() {
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return LL_LPTIM_GetCompare(API_HAL_TIMEBASE_TIMER);;
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}
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static inline void api_hal_timebase_timer_set_cmp(uint32_t value) {
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value &= API_HAL_TIMEBASE_TIMER_MAX;
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if (value != api_hal_timebase_timer_get_cmp()) {
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assert(api_hal_timebase_timer_cmp_is_ok());
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LL_LPTIM_ClearFlag_CMPOK(API_HAL_TIMEBASE_TIMER);
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LL_LPTIM_SetCompare(API_HAL_TIMEBASE_TIMER, value);
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}
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}
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static inline bool api_hal_timebase_timer_is_safe() {
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uint16_t cmp = api_hal_timebase_timer_get_cmp();
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uint16_t cnt = api_hal_timebase_timer_get_cnt();
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uint16_t margin = (cmp > cnt) ? cmp - cnt : cnt - cmp;
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if (margin < 8) {
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return false;
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}
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if (!api_hal_timebase_timer_cmp_is_ok()) {
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return false;
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}
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return true;
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}
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174
firmware/targets/f4/api-hal/api-hal-timebase.c
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174
firmware/targets/f4/api-hal/api-hal-timebase.c
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#include <api-hal-timebase.h>
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#include <api-hal-timebase-timer.h>
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#include <stm32wbxx_hal.h>
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#include <stm32wbxx_ll_gpio.h>
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#include <FreeRTOS.h>
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#include <cmsis_os.h>
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#define API_HAL_TIMEBASE_CLK_FREQUENCY 32768
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#define API_HAL_TIMEBASE_TICK_PER_SECOND 1024
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#define API_HAL_TIMEBASE_CLK_PER_TICK (API_HAL_TIMEBASE_CLK_FREQUENCY / API_HAL_TIMEBASE_TICK_PER_SECOND)
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#define API_HAL_TIMEBASE_TICK_PER_EPOCH (API_HAL_TIMEBASE_TIMER_MAX / API_HAL_TIMEBASE_CLK_PER_TICK)
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#define API_HAL_TIMEBASE_MAX_SLEEP (API_HAL_TIMEBASE_TICK_PER_EPOCH - 1)
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typedef struct {
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// Sleep control
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volatile uint16_t insomnia;
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// Tick counters
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volatile uint32_t in_sleep;
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volatile uint32_t in_awake;
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// Error counters
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volatile uint32_t sleep_error;
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volatile uint32_t awake_error;
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} ApiHalTimbase;
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ApiHalTimbase api_hal_timebase = {
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.insomnia = 0,
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.in_sleep = 0,
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.in_awake = 0,
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.sleep_error = 0,
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.awake_error = 0,
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};
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void api_hal_timebase_init() {
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api_hal_timebase_timer_init();
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LL_DBGMCU_APB1_GRP2_FreezePeriph(LL_DBGMCU_APB1_GRP2_LPTIM2_STOP);
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LL_LPTIM_EnableIT_CMPM(API_HAL_TIMEBASE_TIMER);
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LL_LPTIM_EnableIT_ARRM(API_HAL_TIMEBASE_TIMER);
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LL_LPTIM_SetAutoReload(API_HAL_TIMEBASE_TIMER, API_HAL_TIMEBASE_TIMER_MAX);
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LL_LPTIM_SetCompare(API_HAL_TIMEBASE_TIMER, API_HAL_TIMEBASE_CLK_PER_TICK);
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LL_LPTIM_StartCounter(API_HAL_TIMEBASE_TIMER, LL_LPTIM_OPERATING_MODE_CONTINUOUS);
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}
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uint16_t api_hal_timebase_insomnia_level() {
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return api_hal_timebase.insomnia;
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}
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void api_hal_timebase_insomnia_enter() {
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api_hal_timebase.insomnia++;
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}
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void api_hal_timebase_insomnia_exit() {
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api_hal_timebase.insomnia--;
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}
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void LPTIM2_IRQHandler(void) {
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// Autoreload
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const bool arrm_flag = LL_LPTIM_IsActiveFlag_ARRM(API_HAL_TIMEBASE_TIMER);
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if(arrm_flag) {
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LL_LPTIM_ClearFLAG_ARRM(API_HAL_TIMEBASE_TIMER);
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}
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if(LL_LPTIM_IsActiveFlag_CMPM(API_HAL_TIMEBASE_TIMER)) {
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LL_LPTIM_ClearFLAG_CMPM(API_HAL_TIMEBASE_TIMER);
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// Store important value
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uint16_t cnt = api_hal_timebase_timer_get_cnt();
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uint16_t cmp = api_hal_timebase_timer_get_cmp();
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uint16_t current_tick = cnt / API_HAL_TIMEBASE_CLK_PER_TICK;
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uint16_t compare_tick = cmp / API_HAL_TIMEBASE_CLK_PER_TICK;
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// Calculate error
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// happens when HAL or other high priority IRQ takes our time
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int32_t error = (int32_t)compare_tick - current_tick;
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api_hal_timebase.awake_error += ((error>0) ? error : -error);
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// Calculate and set next tick
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uint16_t next_tick = current_tick + 1;
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api_hal_timebase_timer_set_cmp(next_tick * API_HAL_TIMEBASE_CLK_PER_TICK);
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// Notify OS
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api_hal_timebase.in_awake ++;
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if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED) {
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xPortSysTickHandler();
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}
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}
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}
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static inline uint32_t api_hal_timebase_nap(TickType_t expected_idle_ticks) {
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__WFI();
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return 0;
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}
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static inline uint32_t api_hal_timebase_sleep(TickType_t expected_idle_ticks) {
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// Store important value before going to sleep
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const uint16_t before_cnt = api_hal_timebase_timer_get_cnt();
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const uint16_t before_tick = before_cnt / API_HAL_TIMEBASE_CLK_PER_TICK;
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// Calculate and set next wakeup compare value
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const uint16_t expected_cnt = (before_tick + expected_idle_ticks - 2) * API_HAL_TIMEBASE_CLK_PER_TICK;
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api_hal_timebase_timer_set_cmp(expected_cnt);
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// Go to stop2 mode
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HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
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// Spin till we are in timer safe zone
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while(!api_hal_timebase_timer_is_safe()) {}
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// Store current counter value, calculate current tick
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const uint16_t after_cnt = api_hal_timebase_timer_get_cnt();
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const uint16_t after_tick = after_cnt / API_HAL_TIMEBASE_CLK_PER_TICK;
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// Store and clear interrupt flags
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// we don't want handler to be called after renabling IRQ
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bool cmpm_flag = LL_LPTIM_IsActiveFlag_CMPM(API_HAL_TIMEBASE_TIMER);
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if (cmpm_flag) LL_LPTIM_ClearFLAG_CMPM(API_HAL_TIMEBASE_TIMER);
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bool arrm_flag = LL_LPTIM_IsActiveFlag_ARRM(API_HAL_TIMEBASE_TIMER);
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if (arrm_flag) LL_LPTIM_ClearFLAG_ARRM(API_HAL_TIMEBASE_TIMER);
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// Calculate and set next wakeup compare value
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const uint16_t next_cmp = (after_tick + 1) * API_HAL_TIMEBASE_CLK_PER_TICK;
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api_hal_timebase_timer_set_cmp(next_cmp);
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// Calculate ticks count spent in sleep and perform sanity checks
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int32_t completed_ticks = arrm_flag ? (int32_t)before_tick - after_tick : (int32_t)after_tick - before_tick;
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return completed_ticks;
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}
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void vPortSuppressTicksAndSleep(TickType_t expected_idle_ticks) {
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// Limit mount of ticks to maximum that timer can count
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if (expected_idle_ticks > API_HAL_TIMEBASE_MAX_SLEEP) {
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expected_idle_ticks = API_HAL_TIMEBASE_MAX_SLEEP;
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}
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// Stop IRQ handling, no one should disturb us till we finish
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__disable_irq();
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// Confirm OS that sleep is still possible
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// And check if timer is in safe zone
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// (8 clocks till any IRQ event or ongoing synchronization)
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if (eTaskConfirmSleepModeStatus() == eAbortSleep
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|| !api_hal_timebase_timer_is_safe()) {
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__enable_irq();
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return;
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}
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uint32_t completed_ticks;
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if (api_hal_timebase.insomnia) {
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completed_ticks = api_hal_timebase_nap(expected_idle_ticks);
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} else {
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completed_ticks = api_hal_timebase_sleep(expected_idle_ticks);
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}
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assert(completed_ticks >= 0);
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// Reenable IRQ
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__enable_irq();
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// Notify system about time spent in sleep
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if (completed_ticks > 0) {
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api_hal_timebase.in_sleep += completed_ticks;
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if (completed_ticks > expected_idle_ticks) {
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// We are late, count error
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api_hal_timebase.sleep_error += (completed_ticks - expected_idle_ticks);
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// Freertos is not happy when we overleep
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// But we are not going to tell her
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vTaskStepTick(expected_idle_ticks);
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} else {
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vTaskStepTick(completed_ticks);
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}
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}
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}
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27
firmware/targets/f4/api-hal/api-hal-timebase.h
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27
firmware/targets/f4/api-hal/api-hal-timebase.h
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#pragma once
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#include <stdint.h>
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/* Initialize timebase
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* Configure and start tick timer
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*/
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void api_hal_timebase_init();
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/* Get current insomnia level
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* @return insomnia level: 0 - no insomnia, >0 - insomnia, bearer count.
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*/
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uint16_t api_hal_timebase_insomnia_level();
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/* Enter insomnia mode
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* Prevents device from going to sleep
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* @warning Internally increases insomnia level
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* Must be paired with api_hal_timebase_insomnia_exit
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*/
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void api_hal_timebase_insomnia_enter();
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/* Exit insomnia mode
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* Allow device to go to sleep
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* @warning Internally decreases insomnia level.
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* Must be paired with api_hal_timebase_insomnia_enter
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*/
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void api_hal_timebase_insomnia_exit();
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7
firmware/targets/f4/api-hal/api-hal.c
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7
firmware/targets/f4/api-hal/api-hal.c
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#include <api-hal.h>
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void api_hal_init() {
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api_hal_timebase_init();
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api_hal_vcp_init();
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api_hal_spi_init();
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}
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