stm32: Use TIM for runtime clock

src/runtime/runtime_stm32_timers.go

@@ -2,26 +2,19 @@
 
 package runtime
 
-// This file implements a common implementation of implementing 'ticks' and 'sleep' for STM32 devices. The
+// This file implements a common implementation of implementing 'ticks' and
-// implementation uses two 'basic' timers, so should be compatible with a broad range of STM32 MCUs.
+// 'sleep' for STM32 devices. The implementation uses a single timer.  The
+// timer's PWM frequency (controlled by PSC and ARR) are configured for
+// periodic interrupts at 100Hz (TICK_INTR_PERIOD_NS).  The PWM counter
+// register is used for fine-grained resolution (down to ~150ns) with an
+// Output Comparator used for fine-grained sleeps.
 //
-// This implementation is of 'sleep' is for running in a normal power mode.  Use of the RTC to enter and
+// The type alias `arrtype` should be defined to either uint32 or uint16
-// resume from low-power states is out of scope.
+// depending on the size of that register in the MCU's TIM_Type structure.
-//
-// Interface
-// ---------
-// For each MCU, the following constants should be defined:
-//   TICK_RATE        The desired frequency of ticks, e.g. 1000 for 1KHz ticks
-//   TICK_TIMER_IRQ   Which timer to use for counting ticks (e.g. stm32.IRQ_TIM7)
-//   TICK_TIMER_FREQ  The frequency the clock feeding the sleep timer is set to (e.g. 84MHz)
-//   SLEEP_TIMER_IRQ  Which timer to use for sleeping (e.g. stm32.IRQ_TIM3)
-//   SLEEP_TIMER_FREQ The frequency the clock feeding the sleep timer is set to (e.g. 84MHz)
-//
-// The type alias `arrtype` should be defined to either uint32 or uint16 depending on the
-// size of that register in the MCU's TIM_Type structure
 
 import (
 	"device/stm32"
+	"machine"
 	"runtime/interrupt"
 	"runtime/volatile"
 )
@@ -33,7 +26,22 @@ type timerInfo struct {
 }
 
 const (
-	TICKS_PER_NS = 1000000000 / TICK_RATE
+	// All STM32 do a constant 16ns per tick.  This keeps time
+	// conversion between ticks and ns fast (shift operation)
+	// at the expense of more complex logic when getting current
+	// time (which is already slow due to interfacing with hardware)
+	NS_PER_TICK = 16
+
+	// For very short sleeps a busy loop is used to avoid race
+	// conditions where a trigger would take longer to setup than
+	// the sleep duration.
+	MAX_BUSY_LOOP_NS = 10e3 // 10us
+
+	// The period of tick interrupts in nanoseconds
+	TICK_INTR_PERIOD_NS = 10e6 // 10ms = 100Hz
+
+	// The number of ticks that happen per overflow interrupt
+	TICK_PER_INTR = TICK_INTR_PERIOD_NS / NS_PER_TICK
 )
 
 var (
@@ -41,79 +49,65 @@ var (
 	tickCount volatile.Register64
 
 	// The timer used for counting ticks
-	tickTimer *timerInfo
+	tickTimer *machine.TIM
 
-	// The timer used for sleeping
+	// The max counter value (fractional part)
-	sleepTimer *timerInfo
+	countMax uint32
 )
 
 func ticksToNanoseconds(ticks timeUnit) int64 {
-	return int64(ticks) * TICKS_PER_NS
+	return int64(ticks) * NS_PER_TICK
 }
 
 func nanosecondsToTicks(ns int64) timeUnit {
-	return timeUnit(ns / TICKS_PER_NS)
+	return timeUnit(ns / NS_PER_TICK)
 }
 
-// number of ticks (microseconds) since start.
+// number of ticks since start.
 //go:linkname ticks runtime.ticks
 func ticks() timeUnit {
-	return timeUnit(tickCount.Get())
+	// For some ways of capturing the time atomically, see this thread:
+	// https://www.eevblog.com/forum/microcontrollers/correct-timing-by-timer-overflow-count/msg749617/#msg749617
+	// Here, instead of re-reading the counter register if an overflow has been
+	// detected, we simply try again because that results in smaller code.
+	for {
+		mask := interrupt.Disable()
+		counter := tickTimer.Count()
+		overflows := uint64(tickCount.Get())
+		hasOverflow := tickTimer.Device.SR.HasBits(stm32.TIM_SR_UIF)
+		interrupt.Restore(mask)
+
+		if hasOverflow {
+			continue
+		}
+
+		return timeUnit(overflows*TICK_PER_INTR + countToTicks(counter))
+	}
 }
 
 //
 // --  Ticks  ---
 //
 
-// Enable the timer used to count ticks
+// Enable the timer used to count ticks.
-func initTickTimer(ti *timerInfo) {
+//
-	tickTimer = ti
+// For precise sleeps use a timer with at least one OutputCompare
-	ti.EnableRegister.SetBits(ti.EnableFlag)
+// channel otherwise minimum reliable sleep resolution is bounded
+// by TICK_INTR_PERIOD_NS.
+//
+// Typically avoid TIM6 / TIM7 as they often do not include an
+// output comparator.
+func initTickTimer(tim *machine.TIM) {
+	tickTimer = tim
+	tickTimer.Configure(machine.PWMConfig{Period: TICK_INTR_PERIOD_NS})
 
-	psc := uint32(TICK_TIMER_FREQ / TICK_RATE)
+	countMax = tickTimer.Top()
-	period := uint32(1)
+	tickTimer.SetWraparoundInterrupt(handleTick)
-
-	// Get the pre-scale into range, with interrupt firing
-	// once per tick.
-	for psc > 0x10000 || period == 1 {
-		psc >>= 1
-		period <<= 1
-	}
-
-	// Clamp overflow
-	if period > 0x10000 {
-		period = 0x10000
-	}
-
-	ti.Device.PSC.Set(psc - 1)
-	ti.Device.ARR.Set(arrtype(period - 1))
-
-	// Auto-repeat
-	ti.Device.EGR.SetBits(stm32.TIM_EGR_UG)
-
-	// Register the interrupt handler
-	intr := interrupt.New(TICK_TIMER_IRQ, handleTick)
-	intr.SetPriority(0xc1)
-	intr.Enable()
-
-	// Clear update flag
-	ti.Device.SR.ClearBits(stm32.TIM_SR_UIF)
-
-	// Enable the hardware interrupt
-	ti.Device.DIER.SetBits(stm32.TIM_DIER_UIE)
-
-	// Enable the timer
-	ti.Device.CR1.SetBits(stm32.TIM_CR1_CEN)
 }
 
-func handleTick(interrupt.Interrupt) {
+func handleTick() {
-	if tickTimer.Device.SR.HasBits(stm32.TIM_SR_UIF) {
-		// clear the update flag
-		tickTimer.Device.SR.ClearBits(stm32.TIM_SR_UIF)
-
 	// increment tick count
 	tickCount.Set(tickCount.Get() + 1)
-	}
 }
 
 //
@@ -127,76 +121,76 @@ func sleepTicks(d timeUnit) {
 	// The scheduler will call again if there is nothing to do and a further
 	// sleep is required.
 	if hasScheduler {
-		timerSleep(ticksToNanoseconds(d))
+		timerSleep(uint64(d))
 		return
 	}
 
 	// There's no scheduler, so we sleep until at least the requested number
-	// of ticks has passed.
+	// of ticks has passed.  For short sleeps, this forms a busy loop since
+	// timerSleep will return immediately.
 	end := ticks() + d
 	for ticks() < end {
-		timerSleep(ticksToNanoseconds(d))
+		timerSleep(uint64(d))
 	}
 }
 
-// Enable the Sleep clock
+// timerSleep sleeps for 'at most' ticks, but possibly less.
-func initSleepTimer(ti *timerInfo) {
+func timerSleep(ticks uint64) {
-	sleepTimer = ti
+	// If the sleep is super-small (<10us), busy loop by returning
-
+	// to the scheduler (if any).  This avoids a busy loop here
-	ti.EnableRegister.SetBits(ti.EnableFlag)
+	// that might delay tasks from being scheduled triggered by
-
+	// an interrupt (e.g. channels).
-	// No auto-repeat
+	if ticksToNanoseconds(timeUnit(ticks)) < MAX_BUSY_LOOP_NS {
-	ti.Device.EGR.SetBits(stm32.TIM_EGR_UG)
+		return
-
-	// Enable the hardware interrupt.
-	ti.Device.DIER.SetBits(stm32.TIM_DIER_UIE)
-
-	intr := interrupt.New(SLEEP_TIMER_IRQ, handleSleep)
-	intr.SetPriority(0xc3)
-	intr.Enable()
-}
-
-// timerSleep sleeps for 'at most' ns nanoseconds, but possibly less.
-func timerSleep(ns int64) {
-	// Calculate initial pre-scale value.
-	// delay (in ns) and clock freq are both large values, so do the nanosecs
-	// conversion (divide by 1G) by pre-dividing each by 1000 to avoid overflow
-	// in any meaningful time period.
-	psc := ((ns / 1000) * (SLEEP_TIMER_FREQ / 1000)) / 1000
-	period := int64(1)
-
-	// Get the pre-scale into range, with interrupt firing
-	// once per tick.
-	for psc > 0x10000 || period == 1 {
-		psc >>= 1
-		period <<= 1
 	}
 
-	// Clamp overflow
+	// If the sleep is long, the tick interrupt will occur before
-	if period > 0x10000 {
+	// the sleep expires, so just use that.  This routine will be
-		period = 0x10000
+	// called again if the sleep is incomplete.
+	if ticks >= TICK_PER_INTR {
+		waitForEvents()
+		return
 	}
 
-	// Set the desired duration and enable
+	// Sleeping for less than one tick interrupt, now see if the
-	sleepTimer.Device.PSC.Set(uint32(psc) - 1)
+	// next tick interrupt will occur before the sleep expires.  If
-	sleepTimer.Device.ARR.Set(arrtype(period) - 1)
+	// so, use that interrupt.  (this routine will be called
-	sleepTimer.Device.CR1.SetBits(stm32.TIM_CR1_CEN)
+	// again if sleep is incomplete)
+	cnt := tickTimer.Count()
+	ticksUntilOverflow := countToTicks(countMax - cnt)
+	if ticksUntilOverflow <= ticks {
+		waitForEvents()
+		return
+	}
+
+	// The sleep is now known to be:
+	//  - More than a few CPU cycles
+	//  - Less than one interrupt period
+	//  - Expiring before the next interrupt
+	//
+	// Setup a PWM channel to trigger an interrupt.
+	// NOTE: ticks is known to be < MAX_UINT32 at this point.
+	tickTimer.SetMatchInterrupt(0, handleSleep)
+	tickTimer.Set(0, cnt+ticksToCount(ticks))
 
 	// Wait till either the timer or some other event wakes
 	// up the CPU
 	waitForEvents()
 
-	// In case it was not the sleep timer that woke the
+	// In case it was not the sleep interrupt that woke the
-	// CPU, disable the timer now.
+	// CPU, disable the sleep interrupt now.
-	disableSleepTimer()
+	tickTimer.Unset(0)
 }
 
-func handleSleep(interrupt.Interrupt) {
+func handleSleep(ch uint8) {
-	disableSleepTimer()
+	// Disable the sleep interrupt
+	tickTimer.Unset(0)
 }
 
-func disableSleepTimer() {
+func countToTicks(count uint32) uint64 {
-	// Disable and clear the update flag.
+	return (uint64(count) * TICK_PER_INTR) / uint64(countMax)
-	sleepTimer.Device.CR1.ClearBits(stm32.TIM_CR1_CEN)
+}
-	sleepTimer.Device.SR.ClearBits(stm32.TIM_SR_UIF)
+
+func ticksToCount(ticks uint64) uint32 {
+	return uint32((ticks * uint64(countMax)) / TICK_PER_INTR)
 }

src/runtime/runtime_stm32f103.go

@@ -7,39 +7,14 @@ import (
 	"machine"
 )
 
-/*
-   timer settings used for tick and sleep.
-
-   note: TICK_TIMER_FREQ and SLEEP_TIMER_FREQ are controlled by PLL / clock
-   settings configured in initCLK, so must be kept in sync if the clock settings
-   are changed.
-*/
-const (
-	TICK_RATE        = 1000 // 1 KHz
-	SLEEP_TIMER_IRQ  = stm32.IRQ_TIM3
-	SLEEP_TIMER_FREQ = 72000000 // 72 MHz
-	TICK_TIMER_IRQ   = stm32.IRQ_TIM4
-	TICK_TIMER_FREQ  = 72000000 // 72 MHz
-)
-
 type arrtype = uint32
 
 func init() {
 	initCLK()
 
-	initSleepTimer(&timerInfo{
-		EnableRegister: &stm32.RCC.APB1ENR,
-		EnableFlag:     stm32.RCC_APB1ENR_TIM3EN,
-		Device:         stm32.TIM3,
-	})
-
 	machine.Serial.Configure(machine.UARTConfig{})
 
-	initTickTimer(&timerInfo{
+	initTickTimer(&machine.TIM4)
-		EnableRegister: &stm32.RCC.APB1ENR,
-		EnableFlag:     stm32.RCC_APB1ENR_TIM4EN,
-		Device:         stm32.TIM4,
-	})
 }
 
 func putchar(c byte) {

src/runtime/runtime_stm32f405.go

@@ -64,39 +64,15 @@ const (
 	FLASH_OPTIONS = stm32.FLASH_ACR_ICEN | stm32.FLASH_ACR_DCEN | stm32.FLASH_ACR_PRFTEN
 )
 
-/*
-   timer settings used for tick and sleep.
-
-   note: TICK_TIMER_FREQ and SLEEP_TIMER_FREQ are controlled by PLL / clock
-   settings above, so must be kept in sync if the clock settings are changed.
-*/
-const (
-	TICK_RATE        = 1000 // 1 KHz
-	SLEEP_TIMER_IRQ  = stm32.IRQ_TIM3
-	SLEEP_TIMER_FREQ = PCLK1_FREQ_HZ * 2
-	TICK_TIMER_IRQ   = stm32.IRQ_TIM7
-	TICK_TIMER_FREQ  = PCLK1_FREQ_HZ * 2
-)
-
 type arrtype = uint32
 
 func init() {
 	initOSC() // configure oscillators
 	initCLK()
 
-	initSleepTimer(&timerInfo{
-		EnableRegister: &stm32.RCC.APB1ENR,
-		EnableFlag:     stm32.RCC_APB1ENR_TIM3EN,
-		Device:         stm32.TIM3,
-	})
-
 	initCOM()
 
-	initTickTimer(&timerInfo{
+	initTickTimer(&machine.TIM3)
-		EnableRegister: &stm32.RCC.APB1ENR,
-		EnableFlag:     stm32.RCC_APB1ENR_TIM7EN,
-		Device:         stm32.TIM7,
-	})
 }
 
 func initOSC() {

src/runtime/runtime_stm32f407.go

@@ -26,38 +26,14 @@ const (
 	PLL_Q = 7 // USB OTS FS, SDIO and RNG Clock = PLL_VCO / PLL_Q
 )
 
-/*
-   timer settings used for tick and sleep.
-
-   note: TICK_TIMER_FREQ and SLEEP_TIMER_FREQ are controlled by PLL / clock
-   settings above, so must be kept in sync if the clock settings are changed.
-*/
-const (
-	TICK_RATE        = 1000 // 1 KHz
-	TICK_TIMER_IRQ   = stm32.IRQ_TIM7
-	TICK_TIMER_FREQ  = 84000000 // 84 MHz
-	SLEEP_TIMER_IRQ  = stm32.IRQ_TIM3
-	SLEEP_TIMER_FREQ = 84000000 // 84 MHz
-)
-
 type arrtype = uint32
 
 func init() {
 	initCLK()
 
-	initSleepTimer(&timerInfo{
-		EnableRegister: &stm32.RCC.APB1ENR,
-		EnableFlag:     stm32.RCC_APB1ENR_TIM3EN,
-		Device:         stm32.TIM3,
-	})
-
 	machine.Serial.Configure(machine.UARTConfig{})
 
-	initTickTimer(&timerInfo{
+	initTickTimer(&machine.TIM2)
-		EnableRegister: &stm32.RCC.APB1ENR,
-		EnableFlag:     stm32.RCC_APB1ENR_TIM7EN,
-		Device:         stm32.TIM7,
-	})
 }
 
 func putchar(c byte) {

src/runtime/runtime_stm32f7x2.go

@@ -25,38 +25,14 @@ const (
 	PLL_Q               = 2
 )
 
-/*
-   timer settings used for tick and sleep.
-
-   note: TICK_TIMER_FREQ and SLEEP_TIMER_FREQ are controlled by PLL / clock
-   settings above, so must be kept in sync if the clock settings are changed.
-*/
-const (
-	TICK_RATE        = 1000 // 1 KHz
-	SLEEP_TIMER_IRQ  = stm32.IRQ_TIM3
-	SLEEP_TIMER_FREQ = 54000000 // 54 MHz (2x APB1)
-	TICK_TIMER_IRQ   = stm32.IRQ_TIM7
-	TICK_TIMER_FREQ  = 54000000 // 54 MHz (2x APB1)
-)
-
 type arrtype = uint32
 
 func init() {
 	initCLK()
 
-	initSleepTimer(&timerInfo{
-		EnableRegister: &stm32.RCC.APB1ENR,
-		EnableFlag:     stm32.RCC_APB1ENR_TIM3EN,
-		Device:         stm32.TIM3,
-	})
-
 	machine.Serial.Configure(machine.UARTConfig{})
 
-	initTickTimer(&timerInfo{
+	initTickTimer(&machine.TIM3)
-		EnableRegister: &stm32.RCC.APB1ENR,
-		EnableFlag:     stm32.RCC_APB1ENR_TIM7EN,
-		Device:         stm32.TIM7,
-	})
 }
 
 func putchar(c byte) {

src/runtime/runtime_stm32l0x1.go

@@ -7,20 +7,6 @@ import (
 	"machine"
 )
 
-/*
-   timer settings used for tick and sleep.
-
-   note: TICK_TIMER_FREQ and SLEEP_TIMER_FREQ are controlled by PLL / clock
-   settings, so must be kept in sync if the clock settings are changed.
-*/
-const (
-	TICK_RATE        = 1000 // 1 KHz
-	TICK_TIMER_IRQ   = stm32.IRQ_TIM21
-	TICK_TIMER_FREQ  = 32000000 // 32 MHz
-	SLEEP_TIMER_IRQ  = stm32.IRQ_TIM22
-	SLEEP_TIMER_FREQ = 32000000 // 32 MHz
-)
-
 const (
 	FlashLatency = stm32.Flash_ACR_LATENCY_WS1
 )
@@ -28,17 +14,7 @@ const (
 func init() {
 	initCLK()
 
-	initSleepTimer(&timerInfo{
-		EnableRegister: &stm32.RCC.APB2ENR,
-		EnableFlag:     stm32.RCC_APB2ENR_TIM22EN,
-		Device:         stm32.TIM22,
-	})
-
 	machine.Serial.Configure(machine.UARTConfig{})
 
-	initTickTimer(&timerInfo{
+	initTickTimer(&machine.TIM21)
-		EnableRegister: &stm32.RCC.APB2ENR,
-		EnableFlag:     stm32.RCC_APB2ENR_TIM21EN,
-		Device:         stm32.TIM21,
-	})
 }

src/runtime/runtime_stm32l0x2.go

@@ -7,20 +7,6 @@ import (
 	"machine"
 )
 
-/*
-   timer settings used for tick and sleep.
-
-   note: TICK_TIMER_FREQ and SLEEP_TIMER_FREQ are controlled by PLL / clock
-   settings, so must be kept in sync if the clock settings are changed.
-*/
-const (
-	TICK_RATE        = 1000 // 1 KHz
-	TICK_TIMER_IRQ   = stm32.IRQ_TIM7
-	TICK_TIMER_FREQ  = 32000000 // 32 MHz
-	SLEEP_TIMER_IRQ  = stm32.IRQ_TIM3
-	SLEEP_TIMER_FREQ = 32000000 // 32 MHz
-)
-
 const (
 	FlashLatency = stm32.Flash_ACR_LATENCY_WS1
 )
@@ -28,17 +14,7 @@ const (
 func init() {
 	initCLK()
 
-	initSleepTimer(&timerInfo{
-		EnableRegister: &stm32.RCC.APB1ENR,
-		EnableFlag:     stm32.RCC_APB1ENR_TIM3EN,
-		Device:         stm32.TIM3,
-	})
-
 	machine.Serial.Configure(machine.UARTConfig{})
 
-	initTickTimer(&timerInfo{
+	initTickTimer(&machine.TIM3)
-		EnableRegister: &stm32.RCC.APB1ENR,
-		EnableFlag:     stm32.RCC_APB1ENR_TIM7EN,
-		Device:         stm32.TIM7,
-	})
 }

src/runtime/runtime_stm32l4x2.go

@@ -50,38 +50,14 @@ const (
 	RCC_PLL_SYSCLK = stm32.RCC_PLLCFGR_PLLREN
 )
 
-/*
-   timer settings used for tick and sleep.
-
-   note: TICK_TIMER_FREQ and SLEEP_TIMER_FREQ are controlled by PLL / clock
-   settings above, so must be kept in sync if the clock settings are changed.
-*/
-const (
-	TICK_RATE        = 1000 // 1 KHz
-	TICK_TIMER_IRQ   = stm32.IRQ_TIM1_UP_TIM16
-	TICK_TIMER_FREQ  = 80000000 // 80 MHz
-	SLEEP_TIMER_IRQ  = stm32.IRQ_TIM1_BRK_TIM15
-	SLEEP_TIMER_FREQ = 80000000 // 84 MHz
-)
-
 type arrtype = uint32
 
 func init() {
 	initCLK()
 
-	initSleepTimer(&timerInfo{
-		EnableRegister: &stm32.RCC.APB2ENR,
-		EnableFlag:     stm32.RCC_APB2ENR_TIM15EN,
-		Device:         stm32.TIM15,
-	})
-
 	machine.Serial.Configure(machine.UARTConfig{})
 
-	initTickTimer(&timerInfo{
+	initTickTimer(&machine.TIM15)
-		EnableRegister: &stm32.RCC.APB2ENR,
-		EnableFlag:     stm32.RCC_APB2ENR_TIM16EN,
-		Device:         stm32.TIM16,
-	})
 }
 
 func putchar(c byte) {

src/runtime/runtime_stm32l5x2.go

@@ -31,19 +31,9 @@ type arrtype = uint32
 func init() {
 	initCLK()
 
-	initSleepTimer(&timerInfo{
-		EnableRegister: &stm32.RCC.APB2ENR,
-		EnableFlag:     stm32.RCC_APB2ENR_TIM15EN,
-		Device:         stm32.TIM15,
-	})
-
 	machine.Serial.Configure(machine.UARTConfig{})
 
-	initTickTimer(&timerInfo{
+	initTickTimer(&machine.TIM16)
-		EnableRegister: &stm32.RCC.APB2ENR,
-		EnableFlag:     stm32.RCC_APB2ENR_TIM16EN,
-		Device:         stm32.TIM16,
-	})
 }
 
 func putchar(c byte) {