diff --git a/src/device/stm32/stm32f103xx-bitfields.go b/src/device/stm32/stm32f103xx-bitfields.go index 1478074e..d9901081 100644 --- a/src/device/stm32/stm32f103xx-bitfields.go +++ b/src/device/stm32/stm32f103xx-bitfields.go @@ -12,20 +12,32 @@ const ( FLASH_ACR_LATENCY_2 = 0x00000004 // Reset and Clock Control Control Register flag values. + + // System Clock source RCC_CFGR_SW_HSI = 0 RCC_CFGR_SW_HSE = 1 RCC_CFGR_SW_PLL = 2 + // Flags for when System Clock source is set. RCC_CFGR_SWS_HSI = 0x00000000 RCC_CFGR_SWS_HSE = 0x00000004 RCC_CFGR_SWS_PLL = 0x00000008 + // Sets PCLK1 RCC_CFGR_PPRE1_DIV_NONE = 0x00000000 RCC_CFGR_PPRE1_DIV_2 = 0x00000400 RCC_CFGR_PPRE1_DIV_4 = 0x00000500 RCC_CFGR_PPRE1_DIV_8 = 0x00000600 RCC_CFGR_PPRE1_DIV_16 = 0x00000700 + // Sets PCLK2 + RCC_CFGR_PPRE2_DIV_NONE = 0x00000000 + RCC_CFGR_PPRE2_DIV_2 = 0x00002000 + RCC_CFGR_PPRE2_DIV_4 = 0x00002800 + RCC_CFGR_PPRE2_DIV_8 = 0x00003000 + RCC_CFGR_PPRE2_DIV_16 = 0x00003800 + + // Sets PLL multiplier RCC_CFGR_PLLMUL_2 = 0x00000000 RCC_CFGR_PLLMUL_3 = 0x00040000 RCC_CFGR_PLLMUL_4 = 0x00080000 @@ -41,4 +53,9 @@ const ( RCC_CFGR_PLLMUL_14 = 0x00300000 RCC_CFGR_PLLMUL_15 = 0x00340000 RCC_CFGR_PLLMUL_16 = 0x00380000 + + // RTC clock source + RCC_RTCCLKSource_LSE = 0x00000100 + RCC_RTCCLKSource_LSI = 0x00000200 + RCC_RTCCLKSource_HSE_Div128 = 0x00000300 ) diff --git a/src/machine/machine_stm32f103xx.go b/src/machine/machine_stm32f103xx.go index 714b6351..480a9e50 100644 --- a/src/machine/machine_stm32f103xx.go +++ b/src/machine/machine_stm32f103xx.go @@ -137,6 +137,7 @@ func (uart UART) Configure(config UARTConfig) { stm32.USART1.CR1 = stm32.USART_CR1_TE | stm32.USART_CR1_RE | stm32.USART_CR1_RXNEIE | stm32.USART_CR1_UE // Enable RX IRQ. + arm.SetPriority(stm32.IRQ_USART1, 0xc0) arm.EnableIRQ(stm32.IRQ_USART1) } diff --git a/src/runtime/runtime_stm32f103xx.go b/src/runtime/runtime_stm32f103xx.go index cd20758c..83b21014 100644 --- a/src/runtime/runtime_stm32f103xx.go +++ b/src/runtime/runtime_stm32f103xx.go @@ -8,10 +8,10 @@ import ( "machine" ) -const tickMicros = 1 // TODO - func init() { initCLK() + initRTC() + initTIM() machine.UART0.Configure(machine.UARTConfig{}) } @@ -44,13 +44,145 @@ func initCLK() { } } -func sleepTicks(d timeUnit) { - // TODO: use a real timer here - for i := 0; i < int(d/535); i++ { - arm.Asm("") +const tickMicros = 1000 + +var ( + timestamp timeUnit // microseconds since boottime + timerLastCounter uint64 +) + +//go:volatile +type isrFlag bool + +var timerWakeup isrFlag + +func initRTC() { + // Enable the PWR and BKP. + stm32.RCC.APB1ENR |= stm32.RCC_APB1ENR_PWREN | stm32.RCC_APB1ENR_BKPEN + + // access to backup register + stm32.PWR.CR |= stm32.PWR_CR_DBP + + // Enable LSE + stm32.RCC.BDCR |= stm32.RCC_BDCR_LSEON + + // wait until LSE is ready + for stm32.RCC.BDCR&stm32.RCC_BDCR_LSERDY == 0 { + } + + // Select LSE + stm32.RCC.BDCR |= stm32.RCC_RTCCLKSource_LSE + + // set prescaler to "max" per datasheet + stm32.RTC.PRLH = stm32.RTC_PRLH_PRLH_Msk + stm32.RTC.PRLL = stm32.RTC_PRLL_PRLL_Msk + + // set count to zero + stm32.RTC.CNTH = 0x0 + stm32.RTC.CNTL = 0x0 + + // Enable RTC + stm32.RCC.BDCR |= stm32.RCC_BDCR_RTCEN + + // Clear RSF + stm32.RTC.CRL &^= stm32.RTC_CRL_RSF + + // Wait till flag is set + for stm32.RTC.CRL&stm32.RTC_CRL_RSF == 0 { } } -func ticks() timeUnit { - return 0 // TODO +// Enable the TIM3 clock. +func initTIM() { + stm32.RCC.APB1ENR |= stm32.RCC_APB1ENR_TIM3EN + + arm.SetPriority(stm32.IRQ_TIM3, 0xc3) + arm.EnableIRQ(stm32.IRQ_TIM3) +} + +// sleepTicks should sleep for specific number of microseconds. +func sleepTicks(d timeUnit) { + for d != 0 { + ticks() // update timestamp + ticks := uint32(d) // current scaling only supports 100 usec to 6553 msec + timerSleep(ticks) + d -= timeUnit(ticks) + } +} + +// number of ticks (microseconds) since start. +func ticks() timeUnit { + // convert RTC counter from seconds to microseconds + timerCounter := uint64(stm32.RTC.CNTH<<16|stm32.RTC.CNTL) * 1000 * 1000 + + // add the fractional part of current time using DIV registers + timerCounter += (uint64(stm32.RTC.DIVH<<16|stm32.RTC.DIVL) / 1024 * 32 * 32) * 1000 * 1000 + + // change since last measurement + offset := (timerCounter - timerLastCounter) + timerLastCounter = timerCounter + timestamp += timeUnit(offset) + return timestamp +} + +// ticks are in microseconds +func timerSleep(ticks uint32) { + timerWakeup = false + + // STM32 timer update event period is calculated as follows: + // + // Update_event = TIM_CLK/((PSC + 1)*(ARR + 1)*(RCR + 1)) + // + // Where: + // + // TIM_CLK = timer clock input + // PSC = 16-bit prescaler register + // ARR = 16/32-bit Autoreload register + // RCR = 16-bit repetition counter + // + // Example: + // + // TIM_CLK = 72 MHz + // Prescaler = 1 + // Auto reload = 65535 + // No repetition counter RCR = 0 + // Update_event = 72*(10^6)/((1 + 1)*(65535 + 1)*(1)) + // Update_event = 549.3 Hz + // + // Set the timer prescaler/autoreload timing registers. + + // TODO: support smaller or larger scales (autoscaling) based + // on the length of sleep time requested. + // The current scaling only supports a range of 100 usec to 6553 msec. + + // prescale counter down from 72mhz to 10khz aka 0.1 ms frequency. + stm32.TIM3.PSC = machine.CPU_FREQUENCY/10000 - 1 // 7199 + + // set duty aka duration + stm32.TIM3.ARR = stm32.RegValue(ticks/100) - 1 // convert from microseconds to 0.1 ms + + // Enable the hardware interrupt. + stm32.TIM3.DIER |= stm32.TIM_DIER_UIE + + // Enable the timer. + stm32.TIM3.CR1 |= stm32.TIM_CR1_CEN + + // wait till timer wakes up + for !timerWakeup { + arm.Asm("wfi") + } +} + +//go:export TIM3_IRQHandler +func handleTIM3() { + if (stm32.TIM3.SR & stm32.TIM_SR_UIF) > 0 { + // Disable the timer. + stm32.TIM3.CR1 &^= stm32.TIM_CR1_CEN + + // clear the update flag + stm32.TIM3.SR &^= stm32.TIM_SR_UIF + + // timer was triggered + timerWakeup = true + } }