drv/rcc.c

@@ -161,27 +161,26 @@ static void apply_speed_preset(void)
 	//restore sane values
 	apply_default_preset();
 
-	//enable HSE
+	//try enabling HSE, fallback to HSI if HSE fails
 	regs->CR.HSEON = 1;
-	for (uint32_t i=0; i<10000; ++i) {
+	for (uint32_t i=0; i<1000; ++i) {
-		__asm("nop");
+		__asm__("nop");
 	}
 	if (regs->CR.HSERDY == 0x1) {
 		regs->CFGR.PLLSCR = 1;
 	} else {
-		apply_default_preset();
+		regs->CR.HSEON = 0;
-		while (true);
 	}
 
-	//configure PLL
+	//configure PLL, fallback to HSI if PLL fails
 	regs->CFGR.PLLMUL = 0x7; //PLL x9
 	regs->CR.PLLON = 1;
-	for (uint32_t i=0; i<10000; ++i) {
+	for (uint32_t i=0; i<1000; ++i) {
-		__asm("nop");
+		__asm__("nop");
 	}
 	if (regs->CR.PLLRDY != 0x1) {
-		apply_default_preset();
+		regs->CR.PLLON = 0;
-		while (true);
+		return; //clock low enough, no need for prescalers
 	}
 
 	//configure prescalers

srv/debug.c

@@ -18,7 +18,6 @@
 
 static uint32_t write_debug(uint8_t c, void* arg);
 
-#define DEBUG_BAUDRATE 115200
 #define BUFFER_SIZE 162  //(80 char line + \n) * 2
 
 
@@ -35,7 +34,7 @@ void _debug_init(enum UsartPeriph usart, enum GpioPort tx_port,
 {
 	gpio_configure(tx_port, tx_pin, GPIO_MODE_OUTPUT_FAST,
 			GPIO_CONFIG_OUT_ALT_PUSH_PULL);
-	usart_configure(usart, USART_CONFIG_8N1, DEBUG_BAUDRATE);
+	usart_configure(usart, USART_CONFIG_8N1, 1000000);
 	dma_mbuf_configure(&mbuf,usart_configure_tx_dma(usart),
 			DMA_CONFIG_PRIO_LOW, tx_buffer, BUFFER_SIZE);
 

srv/task.c

@@ -47,6 +47,8 @@ static struct Task task_list[MAX_TASK_NB];
 static uint8_t task_nb;
 static volatile bool stk_irq;
 static volatile bool rtc_irq;
+static volatile uint32_t timestamp;
+
 
 //--public functions------------------------------------------------------------
 
@@ -56,15 +58,9 @@ void task_start_scheduler(void)
 
 	rcc_configure_lsi(true);
 	pwr_configure_bkp_write(true);
-	//may need to be looked into later: basically, the RTC only wakes up the
+	bkp_configure_rtc(1000, BKP_RTC_CLOCK_SRC_LSI, BKP_RTC_IRQ_NONE, nullptr);
-	//system 1 tick too late when using pwr_stop(). To fix that, we can use a
-	//tick divided by 2, but I have no idea what the underlying problem is
-	bkp_configure_rtc(500, BKP_RTC_CLOCK_SRC_LSI, BKP_RTC_IRQ_NONE, nullptr);
 	pwr_configure_bkp_write(false);
 	exti_configure(EXTI_LINE_RTC, EXTI_CONFIG_RISING_EDGE, callback_rtc);
-	pwr_configure_bkp_write(true);
-	bkp_set_rtc_alam(1);
-	pwr_configure_bkp_write(false);
 
 	while (true) {
 		uint8_t triggers = stk_irq << 0 | rtc_irq << 1;
@@ -80,12 +76,20 @@ void task_start_scheduler(void)
 			stk_start();
 			pwr_sleep();
 		} else {
+			pwr_configure_bkp_write(true);
+			bkp_set_rtc_alam(1);
+			pwr_configure_bkp_write(false);
 			stk_stop();
-			pwr_stop(PWR_WAKEUP_SPEED_SLOW);
+			pwr_sleep();
 		}
 	}
 }
 
+uint32_t task_current_time(void)
+{
+	return timestamp;
+}
+
 void task_start(TaskFunction function)
 {
 	for (uint8_t i = 0; i < MAX_TASK_NB; ++i) {
@@ -108,7 +112,7 @@ void task_stop(TaskFunction function)
 	for (uint8_t i = 0; i < task_nb; ++i) {
 		if (task_list[i].function == function) {
 			task_list[i].state.count = _TASK_COUNT_CLEANUP & 0x1F;
-			task_list[i].function(&task_list[i].state);
+			task_list[i].function(&task_list[i].state, timestamp);
 			task_list[i].function = nullptr;
 
 			return;
@@ -135,14 +139,18 @@ static bool execute_task(struct Task* restrict task, uint8_t triggers)
 {
 	if (task->function != nullptr) {
 		if (task->state.trigger == TASK_TRIGGER_ANY) {
-			task->function(&task->state);
+			task->function(&task->state, timestamp);
 		} else {
 			if ((task->state.trigger & triggers) != 0) {
 
-				--task->state.timestamp;
+				if (task->state.timestamp <= timestamp) {
+					task->state.timestamp = 0;
+				}
+
 				if ((task->state.timestamp == 0) ||
 						task->state.timeout_mode)  {
-					task->function(&task->state);
+					task->function(&task->state,
+							timestamp);
 				}
 			}
 		}
@@ -156,13 +164,11 @@ static bool execute_task(struct Task* restrict task, uint8_t triggers)
 static void callback_stk(void)
 {
 	stk_irq = true;
+	++timestamp;
 }
 
 static void callback_rtc(void)
 {
 	rtc_irq = true;
-	pwr_configure_bkp_write(true);
+	timestamp = bkp_read_rtc() * 1000;
-	bkp_set_rtc_alam(1);
-	pwr_configure_bkp_write(false);
 }
-

srv/task.h

@@ -47,16 +47,16 @@ enum TaskTrigger {
  * struct
  */
 struct TaskState {
-	uint32_t timestamp:24;      //timestamp at wich to wakeup the task, if any
+	uint32_t timestamp;         //timestamp at wich to wakeup the task, if any
-	uint32_t count:5;           //task counter: active step of task
+	uint8_t count:5;            //task counter: active step of task
 	enum TaskTrigger trigger:2; //triggers on wich to execute the task
-	uint32_t timeout_mode:1;    //whether the timestamp is a timeout or a delay
+	uint8_t timeout_mode:1;     //whether the timestamp is a timeout or a delay
 };
 
 /**
  * Function prototype of tasks
  */
-typedef void(*TaskFunction)(struct TaskState*);
+typedef void(*TaskFunction)(struct TaskState*, uint32_t);
 
 /**
  * Full definition of a task. Contains the function supporting the task as well
@@ -74,7 +74,8 @@ struct Task {
  * Task declaration macro, to be used to declare and define a task instead of a
  * regular function declaration/defintion
  */
-#define TASK(fct_name) void fct_name(struct TaskState* restrict __task_state)
+#define TASK(fct_name) void fct_name(struct TaskState* restrict __task_state,  \
+		uint32_t __task_time)
 
 /**
  * Task entry macro, must be present at the begin of every task. Setup code to
@@ -83,6 +84,7 @@ struct Task {
  */
 #define TASK_ENTRY                                                             \
 	_TASK_COUNT_INIT;                                                          \
+	(void) __task_time;                                                       \
 	switch (__task_state->count) {
 
 /**
@@ -215,7 +217,7 @@ bool task_is_running(TaskFunction task);
 
 #define _TASK_PAUSE(delay_ms, count_val) do {                                  \
 	__task_state->count = count_val;                                           \
-	__task_state->timestamp += delay_ms;                                       \
+	__task_state->timestamp = __task_time + delay_ms;                          \
 	__task_state->trigger = TASK_TRIGGER_STK;                                  \
 	return;                                                                    \
 	case (count_val):                                                          \
@@ -224,7 +226,7 @@ bool task_is_running(TaskFunction task);
 
 #define _TASK_SLEEP(delay_s, count_val) do {                                   \
 	__task_state->count = count_val;                                           \
-	__task_state->timestamp += delay_s;                                        \
+	__task_state->timestamp = __task_time + delay_s * 1000;                    \
 	__task_state->trigger = TASK_TRIGGER_RTC;                                  \
 	return;                                                                    \
 	case (count_val):                                                          \
@@ -243,7 +245,7 @@ bool task_is_running(TaskFunction task);
 
 #define _TASK_PAUSE_UNTIL(cond, delay_ms, count_val) do {                      \
 	__task_state->count = count_val;                                           \
-	__task_state->timestamp += delay_ms;                                       \
+	__task_state->timestamp = __task_time + delay_ms;                          \
 	__task_state->trigger = TASK_TRIGGER_STK;                                  \
 	__task_state->timeout_mode = true;                                         \
 	case (count_val):                                                          \
@@ -251,14 +253,13 @@ bool task_is_running(TaskFunction task);
 			return;                                                            \
 		} else {                                                               \
 			__task_state->timeout_mode = false;                                \
-			__task_state->timestamp = 0;                                       \
 		}                                                                      \
 		/* fall through */                                                     \
 	} while (0)
 
 #define _TASK_SLEEP_UNTIL(cond, delay_s, count_val) do {                       \
 	__task_state->count = count_val;                                           \
-	__task_state->timestamp += delay_s;                                        \
+	__task_state->timestamp = __taks_time + delay_s * 1000;                    \
 	__task_state->trigger = TASK_TRIGGER_RTC;                                  \
 	__task_state->timeout_mode = true;                                         \
 	case (count_val):                                                          \