pulse generation for digital out

platform/timebase.c

@@ -7,8 +7,6 @@
 
 // ---------------------------- HAL TIMEBASE -----------------------------
 
-#define TIMEBASE_TIMER TIM17
-
 HAL_StatusTypeDef HAL_InitTick(uint32_t TickPriority)
 {
     // EDIT - used 17 instead because 14 was needed for fcap
@@ -102,21 +100,36 @@ uint64_t PTIM_GetMicrotime(void)
     return (uint64_t) uwMillis * 1000 + uwMicros;
 }
 
+
 /** microsecond delay */
-void PTIM_MicroDelay(uint16_t usec)
+void PTIM_MicroDelayAligned(uint32_t usec, register const uint32_t start)
 {
     assert_param(usec < 1000);
 
-    const uint16_t start = (uint16_t) TIMEBASE_TIMER->CNT;
-    const uint16_t remain = (uint16_t) (999 - start);
+    register const uint32_t remain = (1000 - start);
 
     if (remain > usec) {
         // timer still has enough space going forward to pass the required wait time
-        for (; TIMEBASE_TIMER->CNT < start + usec;);
+        register const uint32_t end = start + usec;
+        while (TIMEBASE_TIMER->CNT < end) {
+            __NOP();
+            __NOP();
+            __NOP();
+        }
+        return;
     }
     else {
         // timer is too close to the end
         usec -= remain;
-        for (; TIMEBASE_TIMER->CNT >= start || TIMEBASE_TIMER->CNT < usec;);
+        while (1) {
+            register const uint32_t t = TIMEBASE_TIMER->CNT;
+            if (t < start && t >= usec) return;
+        }
     }
 }
+
+/** microsecond delay */
+void PTIM_MicroDelay(const uint32_t usec)
+{
+    PTIM_MicroDelayAligned(usec, TIMEBASE_TIMER->CNT);
+}

platform/timebase.h

@@ -13,6 +13,8 @@
 
 #include "platform.h"
 
+#define TIMEBASE_TIMER TIM17
+
 /**
  * Precision timer: get microtime as uint64_t
  * This timestamp should be monotonously increasing with a precision of ±0.5µs
@@ -36,6 +38,24 @@ static inline uint32_t PTIM_GetTime(void)
  *
  * @param usec - max 998
  */
-void PTIM_MicroDelay(uint16_t usec);
+void PTIM_MicroDelay(uint32_t usec);
+
+/**
+ * Microsecond busy delay with alignment (reduced length jitter but possible up to 1 us delay)
+ *
+ * @param usec
+ */
+void PTIM_MicroDelayAligned(uint32_t usec, uint32_t start);
+
+/**
+ * Wait until the next micro timer tick
+ */
+static inline uint32_t PTIM_MicroDelayAlign(void)
+{
+    const uint32_t c = TIMEBASE_TIMER->CNT;
+    uint32_t res;
+    while ((res = TIMEBASE_TIMER->CNT) == c);
+    return res;
+}
 
 #endif //GEX_F072_TIMEBASE_H

units/1wire/unit_1wire.c

@@ -89,7 +89,7 @@ enum PinCmd_ {
     CMD_SEARCH_CONTINUE = 3, // continue the previously started scan, retrieving more devices
     CMD_READ_ADDR = 4,      // read the ROM code from a single device (for single-device bus)
 
-    CMD_WRITE = 10,    // write multiple bytes using the SKIP_ROM command
+    CMD_QUERY = 10,    // write multiple bytes using the SKIP_ROM command
     CMD_READ = 11,   // write multiple bytes using a ROM address
 
     CMD_POLL_FOR_1 = 20,
@@ -194,7 +194,7 @@ static error_t OW_handleRequest(Unit *unit, TF_ID frame_id, uint8_t command, Pay
          * addr:u64, rest:write_data
          * if addr is 0, use SKIP_ROM
          */
-        case CMD_WRITE:
+        case CMD_QUERY:
             addr = pp_u64(pp);
             tail = pp_tail(pp, &remain);
             TRY(UU_1WIRE_Write(unit, addr, tail, remain));

units/digital_out/_dout_api.c

@@ -7,8 +7,20 @@
 #include "unit_dout.h"
 
 #define DOUT_INTERNAL
+
 #include "_dout_internal.h"
 
+static void clear_pulse_by_mask(struct priv *priv, uint16_t spread)
+{
+    assert_param(priv);
+
+    for (int i = 0; i < 16; i++) {
+        if (spread & (1 << i)) {
+            priv->msec_pulse_cnt[i] = 0;
+        }
+    }
+}
+
 error_t UU_DOut_Write(Unit *unit, uint16_t packed)
 {
     CHECK_TYPE(unit, &UNIT_DOUT);
@@ -16,6 +28,7 @@ error_t UU_DOut_Write(Unit *unit, uint16_t packed)
     struct priv *priv = unit->data;
     uint16_t mask = priv->pins;
     uint16_t spread = pinmask_spread(packed, mask);
+    clear_pulse_by_mask(priv, spread);
 
     uint16_t set = spread;
     uint16_t reset = ((~spread) & mask);
@@ -30,6 +43,7 @@ error_t UU_DOut_Set(Unit *unit, uint16_t packed)
     struct priv *priv = unit->data;
     uint16_t mask = priv->pins;
     uint16_t spread = pinmask_spread(packed, mask);
+    clear_pulse_by_mask(priv, spread);
 
     priv->port->BSRR = spread;
     return E_SUCCESS;
@@ -42,6 +56,7 @@ error_t UU_DOut_Clear(Unit *unit, uint16_t packed)
     struct priv *priv = unit->data;
     uint16_t mask = priv->pins;
     uint16_t spread = pinmask_spread(packed, mask);
+    clear_pulse_by_mask(priv, spread);
 
     priv->port->BSRR = (spread << 16);
     return E_SUCCESS;
@@ -54,6 +69,7 @@ error_t UU_DOut_Toggle(Unit *unit, uint16_t packed)
     struct priv *priv = unit->data;
     uint16_t mask = priv->pins;
     uint16_t spread = pinmask_spread(packed, mask);
+    clear_pulse_by_mask(priv, spread);
 
     uint16_t flipped = (uint16_t) (~priv->port->ODR) & mask;
     uint16_t set = flipped & spread;
@@ -71,3 +87,87 @@ error_t UU_DOut_GetPinCount(Unit *unit, uint8_t *count)
     *count = (uint8_t) (32 - __CLZ(packed));
     return E_SUCCESS;
 }
+
+error_t UU_DOut_Pulse(Unit *unit, uint16_t packed, bool polarity, bool is_usec, uint16_t count)
+{
+    CHECK_TYPE(unit, &UNIT_DOUT);
+    struct priv *priv = unit->data;
+    assert_param(priv);
+
+    uint16_t mask = priv->pins;
+    uint16_t spread = pinmask_spread(packed, mask);
+    clear_pulse_by_mask(priv, spread);
+
+    vPortEnterCritical();
+
+    if (is_usec) {
+        // we're gonna do this right here as a delay loop.
+        if (count >= 1000) {
+            // too long, fall back to msec
+            count /= 1000;
+            is_usec = false;
+        }
+        else {
+            const uint32_t bsrr1 = spread << (polarity ? 0 : 16);
+            const uint32_t bsrr0 = spread << (polarity ? 16 : 0);
+
+            const uint32_t start = PTIM_MicroDelayAlign();
+            priv->port->BSRR = bsrr1;
+            PTIM_MicroDelayAligned(count, start);
+            priv->port->BSRR = bsrr0;
+        }
+    }
+
+    if (!is_usec) {
+        // Load the counters
+        for (int i = 0; i < 16; i++) {
+            if (spread & (1 << i)) {
+                priv->msec_pulse_cnt[i] = (uint16_t) (count + 1);
+            }
+        }
+
+        if (polarity) {
+            priv->msec_pulse_scheduled_1 |= spread;
+        } else {
+            priv->msec_pulse_scheduled_0 |= spread;
+        }
+
+        unit->_tick_cnt = 0;
+        unit->tick_interval = 1;
+    }
+
+    vPortExitCritical();
+
+    return E_SUCCESS;
+}
+
+void DOut_Tick(Unit *unit)
+{
+    struct priv *priv = unit->data;
+
+    uint16_t odr = (uint16_t) priv->port->ODR;
+    int live_cnt = 0;
+    for (int i = 0; i < 16; i++) {
+        if (priv->msec_pulse_scheduled_1 & (1<<i)) {
+            odr |= (1<<i);
+        } else if (priv->msec_pulse_scheduled_0 & (1<<i)) {
+            odr &= ~(1<<i);
+        }
+
+        if (priv->msec_pulse_cnt[i] > 0) {
+            live_cnt++;
+            priv->msec_pulse_cnt[i]--;
+            if (priv->msec_pulse_cnt[i] == 0) {
+                odr ^= 1 << i;
+            }
+        }
+    }
+    priv->port->ODR = odr;
+    priv->msec_pulse_scheduled_1 = 0;
+    priv->msec_pulse_scheduled_0 = 0;
+
+    if (live_cnt == 0) {
+        unit->_tick_cnt = 0;
+        unit->tick_interval = 0;
+    }
+}

units/digital_out/_dout_internal.h

@@ -19,6 +19,9 @@ struct priv {
     uint16_t open_drain; // open drain pins
 
     GPIO_TypeDef *port;
+    uint16_t msec_pulse_cnt[16];
+    uint16_t msec_pulse_scheduled_1;
+    uint16_t msec_pulse_scheduled_0;
 };
 
 /** Allocate data structure and set defaults */
@@ -46,4 +49,6 @@ error_t DOut_init(Unit *unit);
 /** Tear down the unit */
 void DOut_deInit(Unit *unit);
 
+void DOut_Tick(Unit *unit);
+
 #endif //GEX_F072_DOUT_INTERNAL_H

units/digital_out/unit_dout.c

@@ -9,10 +9,11 @@
 #include "_dout_internal.h"
 
 enum PinCmd_ {
-    CMD_TEST = 0,
+    CMD_QUERY = 0,
     CMD_SET = 1,
     CMD_CLEAR = 2,
     CMD_TOGGLE = 3,
+    CMD_PULSE = 4,
 };
 
 /** Handle a request message */
@@ -21,7 +22,7 @@ static error_t DOut_handleRequest(Unit *unit, TF_ID frame_id, uint8_t command, P
     uint16_t packed = pp_u16(pp);
 
     switch (command) {
-        case CMD_TEST:
+        case CMD_QUERY:
             return UU_DOut_Write(unit, packed);
 
         case CMD_SET:
@@ -33,6 +34,12 @@ static error_t DOut_handleRequest(Unit *unit, TF_ID frame_id, uint8_t command, P
         case CMD_TOGGLE:
             return UU_DOut_Toggle(unit, packed);
 
+        case CMD_PULSE:;
+            bool polarity = pp_bool(pp);
+            bool is_usec = pp_bool(pp);
+            uint16_t count = pp_u16(pp);
+            return UU_DOut_Pulse(unit, packed, polarity, is_usec, count);
+
         default:
             return E_UNKNOWN_COMMAND;
     }
@@ -55,4 +62,5 @@ const UnitDriver UNIT_DOUT = {
     .deInit = DOut_deInit,
     // Function
     .handleRequest = DOut_handleRequest,
+    .updateTick = DOut_Tick,
 };

units/digital_out/unit_dout.h

@@ -56,4 +56,16 @@ error_t UU_DOut_Toggle(Unit *unit, uint16_t packed);
  */
 error_t UU_DOut_GetPinCount(Unit *unit, uint8_t *count);
 
+/**
+ * Send a pulse
+ *
+ * @param unit
+ * @param packed - pins to pulse
+ * @param polarity - pulse active level
+ * @param is_usec - use usec precision (for < 1 ms)
+ * @param count - number of units (msec or usec)
+ * @return success
+ */
+error_t UU_DOut_Pulse(Unit *unit, uint16_t packed, bool polarity, bool is_usec, uint16_t count);
+
 #endif //U_DOUT_H

units/i2c/unit_i2c.c

@@ -12,7 +12,7 @@
 #include "_i2c_internal.h"
 
 enum PinCmd_ {
-    CMD_TEST = 0,
+    CMD_QUERY = 0,
     CMD_READ = 1,
     CMD_WRITE_REG = 2,
     CMD_READ_REG = 3,
@@ -30,7 +30,7 @@ static error_t UI2C_handleRequest(Unit *unit, TF_ID frame_id, uint8_t command, P
 
     switch (command) {
         /** Write byte(s) - addr:u16, byte(s)  */
-        case CMD_TEST:
+        case CMD_QUERY:
             addr = pp_u16(pp);
             const uint8_t *bb = pp_tail(pp, &len);
 

units/sipo/unit_sipo.c

@@ -12,7 +12,7 @@
 // ------------------------------------------------------------------------
 
 enum SipoCmd_ {
-    CMD_WRITE = 0,
+    CMD_QUERY = 0,
     CMD_DIRECT_DATA = 1,
     CMD_DIRECT_SHIFT = 2,
     CMD_DIRECT_CLEAR = 3,
@@ -23,7 +23,7 @@ enum SipoCmd_ {
 static error_t USIPO_handleRequest(Unit *unit, TF_ID frame_id, uint8_t command, PayloadParser *pp)
 {
     switch (command) {
-        case CMD_WRITE:
+        case CMD_QUERY:
             {
                 uint32_t len;
                 uint16_t terminal_packed = pp_u16(pp);

units/spi/unit_spi.c

@@ -15,7 +15,7 @@
 // SPI master
 
 enum PinCmd_ {
-    CMD_TEST = 0,
+    CMD_QUERY = 0,
     CMD_MULTICAST = 1,
 };
 
@@ -33,7 +33,7 @@ static error_t USPI_handleRequest(Unit *unit, TF_ID frame_id, uint8_t command, P
 
     switch (command) {
         /** Write and read byte(s) - slave_num:u8, req_len:u16, resp_skip:u16, resp_len:u16, byte(s)  */
-        case CMD_TEST:
+        case CMD_QUERY:
             slave = pp_u8(pp);
             resp_skip = pp_u16(pp);
             resp_len = pp_u16(pp);

units/usart/unit_usart.c

@@ -92,7 +92,7 @@ void UUSART_Tick(Unit *unit)
 }
 
 enum PinCmd_ {
-    CMD_WRITE = 0,
+    CMD_QUERY = 0,
     CMD_WRITE_SYNC = 1,
 };
 
@@ -103,7 +103,7 @@ static error_t UUSART_handleRequest(Unit *unit, TF_ID frame_id, uint8_t command,
     const uint8_t *pld;
     switch (command) {
         /** Write bytes to the USART. Payload consists of the data to send. Waits for completion. */
-        case CMD_WRITE:
+        case CMD_QUERY:
             pld = pp_tail(pp, &len);
             TRY(UU_USART_Write(unit, pld, len));
             return E_SUCCESS;