df66f4f6ba
* Use SysTick as OS tick timer * Use LPTIM2 as tickless idle timer * Remove dummy LPTIM2 IRQ handler * Clean up clock init code * Rename os timer to idle timer * Advance hal ticks along with FreeRTOS's * Improve SysTick control during tickless idle * Improve idle timer precision * Correct SysTick IRQ priority * Main, FuriHal: move system startup to separate thread * Minor code cleanup Co-authored-by: Aleksandr Kutuzov <alleteam@gmail.com>
132 lines
3.8 KiB
C
132 lines
3.8 KiB
C
#include <furi_hal_os.h>
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#include <furi_hal_clock.h>
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#include <furi_hal_power.h>
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#include <furi_hal_delay.h>
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#include <furi_hal_idle_timer.h>
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#include <stm32wbxx_ll_cortex.h>
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#include <furi.h>
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#define TAG "FuriHalOs"
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#define FURI_HAL_IDLE_TIMER_CLK_HZ 32768
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#define FURI_HAL_OS_TICK_HZ configTICK_RATE_HZ
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#define FURI_HAL_OS_IDLE_CNT_TO_TICKS(x) ((x * FURI_HAL_OS_TICK_HZ) / FURI_HAL_IDLE_TIMER_CLK_HZ)
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#define FURI_HAL_OS_TICKS_TO_IDLE_CNT(x) ((x * FURI_HAL_IDLE_TIMER_CLK_HZ) / FURI_HAL_OS_TICK_HZ)
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#define FURI_HAL_IDLE_TIMER_TICK_PER_EPOCH (FURI_HAL_OS_IDLE_CNT_TO_TICKS(FURI_HAL_IDLE_TIMER_MAX))
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#define FURI_HAL_OS_MAX_SLEEP (FURI_HAL_IDLE_TIMER_TICK_PER_EPOCH - 1)
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#ifdef FURI_HAL_OS_DEBUG
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#include <stm32wbxx_ll_gpio.h>
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#define LED_SLEEP_PORT GPIOA
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#define LED_SLEEP_PIN LL_GPIO_PIN_7
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#define LED_TICK_PORT GPIOA
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#define LED_TICK_PIN LL_GPIO_PIN_6
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#define LED_SECOND_PORT GPIOA
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#define LED_SECOND_PIN LL_GPIO_PIN_4
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void furi_hal_os_timer_callback() {
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LL_GPIO_TogglePin(LED_SECOND_PORT, LED_SECOND_PIN);
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}
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#endif
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extern void xPortSysTickHandler();
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static volatile uint32_t furi_hal_os_skew = 0;
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void furi_hal_os_init() {
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furi_hal_idle_timer_init();
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#ifdef FURI_HAL_OS_DEBUG
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LL_GPIO_SetPinMode(LED_SLEEP_PORT, LED_SLEEP_PIN, LL_GPIO_MODE_OUTPUT);
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LL_GPIO_SetPinMode(LED_TICK_PORT, LED_TICK_PIN, LL_GPIO_MODE_OUTPUT);
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LL_GPIO_SetPinMode(LED_SECOND_PORT, LED_SECOND_PIN, LL_GPIO_MODE_OUTPUT);
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osTimerId_t second_timer = osTimerNew(furi_hal_os_timer_callback, osTimerPeriodic, NULL, NULL);
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osTimerStart(second_timer, FURI_HAL_OS_TICK_HZ);
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#endif
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FURI_LOG_I(TAG, "Init OK");
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}
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void furi_hal_os_tick() {
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if(xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED) {
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#ifdef FURI_HAL_OS_DEBUG
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LL_GPIO_TogglePin(LED_TICK_PORT, LED_TICK_PIN);
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#endif
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xPortSysTickHandler();
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}
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}
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static inline uint32_t furi_hal_os_sleep(TickType_t expected_idle_ticks) {
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// Stop ticks
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furi_hal_clock_suspend_tick();
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// Start wakeup timer
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furi_hal_idle_timer_start(FURI_HAL_OS_TICKS_TO_IDLE_CNT(expected_idle_ticks));
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#ifdef FURI_HAL_OS_DEBUG
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LL_GPIO_ResetOutputPin(LED_SLEEP_PORT, LED_SLEEP_PIN);
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#endif
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// Go to sleep mode
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furi_hal_power_sleep();
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#ifdef FURI_HAL_OS_DEBUG
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LL_GPIO_SetOutputPin(LED_SLEEP_PORT, LED_SLEEP_PIN);
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#endif
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// Calculate how much time we spent in the sleep
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uint32_t after_cnt = furi_hal_idle_timer_get_cnt() + furi_hal_os_skew;
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uint32_t after_tick = FURI_HAL_OS_IDLE_CNT_TO_TICKS(after_cnt);
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furi_hal_os_skew = after_cnt - (after_cnt / after_tick);
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bool cmpm = LL_LPTIM_IsActiveFlag_CMPM(FURI_HAL_IDLE_TIMER);
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bool arrm = LL_LPTIM_IsActiveFlag_ARRM(FURI_HAL_IDLE_TIMER);
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if(cmpm && arrm) after_tick += expected_idle_ticks;
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// Prepare tick timer for new round
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furi_hal_idle_timer_reset();
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// Resume ticks
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furi_hal_clock_resume_tick();
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return after_tick;
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}
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void vPortSuppressTicksAndSleep(TickType_t expected_idle_ticks) {
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if(!furi_hal_power_sleep_available()) {
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__WFI();
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return;
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}
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// Limit amount of ticks to maximum that timer can count
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if(expected_idle_ticks > FURI_HAL_OS_MAX_SLEEP) {
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expected_idle_ticks = FURI_HAL_OS_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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if(eTaskConfirmSleepModeStatus() == eAbortSleep) {
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__enable_irq();
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return;
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}
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// Sleep and track how much ticks we spent sleeping
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uint32_t completed_ticks = furi_hal_os_sleep(expected_idle_ticks);
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// Notify system about time spent in sleep
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if(completed_ticks > 0) {
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vTaskStepTick(MIN(completed_ticks, expected_idle_ticks));
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}
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// Reenable IRQ
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__enable_irq();
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}
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void vApplicationStackOverflowHook(TaskHandle_t xTask, char* pcTaskName) {
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furi_crash("StackOverflow");
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}
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