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stmbl/shared/hal.h
2017-07-19 20:27:21 +02:00

172 lines
4.4 KiB
C

#pragma once
#include <stdint.h>
#include <stdio.h>
#define HAL_CALC_TIME
#define HAL_COMP_CALC_TIME
//#define HAL_WATCHDOG
#ifndef HAL_MAX_PINS
#define HAL_MAX_PINS 1024
#endif
#ifndef HAL_MAX_COMPS
#define HAL_MAX_COMPS 32
#endif
#ifndef HAL_MAX_CTX
#define HAL_MAX_CTX 16384
#endif
#define HAL_COMP(name)
#define HAL_PIN(name)
#define HAL_PINA(name, index)
extern uint32_t hal_get_systick_value();
extern uint32_t hal_get_systick_reload();
extern uint32_t hal_get_systick_freq();
extern void hal_init_watchdog(float time);
extern void hal_reset_watchdog();
typedef char NAME[32];
typedef NAME const pin_t;
typedef struct hal_pin_inst_t{
volatile float value;
volatile struct hal_pin_inst_t * source;
} hal_pin_inst_t;
typedef const struct{
NAME name;
void (*nrt)(volatile void * ctx_ptr, volatile hal_pin_inst_t * pin_ptr);
void (*rt)(float period, volatile void * ctx_ptr, volatile hal_pin_inst_t * pin_ptr);
void (*frt)(float period, volatile void * ctx_ptr, volatile hal_pin_inst_t * pin_ptr);
void (*nrt_init)(volatile void * ctx_ptr, volatile hal_pin_inst_t * pin_ptr);
void (*hw_init)(volatile void * ctx_ptr, volatile hal_pin_inst_t * pin_ptr);
void (*rt_start)(volatile void * ctx_ptr, volatile hal_pin_inst_t * pin_ptr);
void (*frt_start)(volatile void * ctx_ptr, volatile hal_pin_inst_t * pin_ptr);
void (*rt_stop)(volatile void * ctx_ptr, volatile hal_pin_inst_t * pin_ptr);
void (*frt_stop)(volatile void * ctx_ptr, volatile hal_pin_inst_t * pin_ptr);
uint32_t ctx_size;
uint32_t pin_count;
} hal_comp_t;
typedef struct hal_comp_inst_t{
hal_comp_t * comp;
uint32_t instance;
volatile void * ctx;
volatile hal_pin_inst_t * pin_insts;
pin_t * pins;
uint32_t ctx_size;
volatile int32_t rt_ticks;
volatile int32_t frt_ticks;
volatile int32_t nrt_ticks;
volatile int32_t rt_max_ticks;
volatile int32_t frt_max_ticks;
volatile int32_t nrt_max_ticks;
volatile enum {
PRE_INIT,
PRE_HW_INIT,
STARTED,
} state;
} hal_comp_inst_t;
#define PIN(p) (pins->p.source->source->value)
#define PINA(p, i) (pins->p[i].source->source->value)
typedef struct{
volatile uint32_t active_rt_func;
volatile uint32_t active_frt_func;
volatile uint32_t active_nrt_func;
volatile enum {
HardFault,
NMI,
MemManage,
BusFault,
UsageFault,
} error_handler;
} hal_error_t;
typedef struct{
volatile enum{
RT_CALC,
RT_SLEEP,
RT_STOP
} rt_state;
volatile enum{
FRT_CALC,
FRT_SLEEP,
FRT_STOP
} frt_state;
volatile enum {
FRT_TOO_LONG,
RT_TOO_LONG,
MISC_ERROR,
MEM_ERROR,
CONFIG_LOAD_ERROR,
CONFIG_ERROR,
NAN_ERROR,
HAL_OK2
} hal_state;
volatile struct hal_comp_inst_t * rt_comps[HAL_MAX_COMPS];
volatile struct hal_comp_inst_t * frt_comps[HAL_MAX_COMPS];
volatile int32_t active_rt_func;
volatile int32_t active_frt_func;
volatile int32_t active_nrt_func;
struct hal_comp_inst_t comp_insts[HAL_MAX_COMPS];
struct hal_pin_inst_t pin_insts[HAL_MAX_PINS];
volatile uint8_t ctxs[HAL_MAX_CTX]; // create runtime ctx print in python based on COMP_ctx_t
uint32_t comp_inst_count;
uint32_t rt_comp_count;
uint32_t frt_comp_count;
uint32_t pin_inst_count;
uint32_t ctx_count;
volatile uint32_t rt_ticks;
volatile uint32_t frt_ticks;
volatile uint32_t nrt_ticks;
volatile uint32_t rt_max_ticks;
volatile uint32_t frt_max_ticks;
volatile uint32_t nrt_max_ticks;
volatile float rt_period;
volatile float frt_period;
hal_error_t error_info;
} hal_t;
extern hal_t hal;
hal_comp_t * comp_by_name(NAME name);
volatile hal_comp_inst_t * comp_inst_by_name(NAME name, uint32_t instance);
uint32_t pin_offset_by_comp_name(NAME name);
pin_t * pin_by_name(NAME comp_name, NAME pin_name);
volatile hal_pin_inst_t * pin_inst_by_name(NAME comp_name, uint32_t instance, NAME pin_name);
uint32_t load_comp(hal_comp_t * comp);
pin_t * pin_by_pin_inst(volatile hal_pin_inst_t * p);
volatile hal_comp_inst_t * comp_inst_by_pin_inst(volatile hal_pin_inst_t * p);
void hal_print_pin(volatile hal_pin_inst_t * p);
void hal_init(float rt_period, float frt_period);
// void hal_init_nrt();
void hal_start();
void hal_stop();
void hal_run_rt();
void hal_run_frt();
void hal_run_nrt();
uint32_t hal_parse(char * cmd);
void hal_error(uint32_t error_handler);
#include "hal_tbl.h"