New code

leka · Mar 4, 2024 · 6973048 · 6973048
1 parent e2afa58
commit 6973048
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Showing 15 changed files with 294 additions and 55 deletions.
diff --git a/drivers/CoreDAC/CMakeLists.txt b/drivers/CoreDAC/CMakeLists.txt
@@ -29,6 +29,7 @@ target_link_libraries(CoreDAC
 
 if(${CMAKE_PROJECT_NAME} STREQUAL "LekaOSUnitTests")
 	leka_unit_tests_sources(
+		tests/CoreSTM32HalBasicTimer_test.cpp
 		tests/CoreDAC_test.cpp
 	)
 endif()
diff --git a/drivers/CoreDAC/include/CoreDAC.h b/drivers/CoreDAC/include/CoreDAC.h
@@ -42,8 +42,8 @@ class CoreDAC : public interface::DACBase
 	DMA_HandleTypeDef _hdma {};
 
 	std::span<uint16_t> _data;
-	std::function<void()> _on_half_transfer		= [] {};
-	std::function<void()> _on_complete_transfer = [] {};
+	std::function<void()> _on_half_transfer {};
+	std::function<void()> _on_complete_transfer {};
 };
 
 }	// namespace leka
diff --git a/drivers/CoreDAC/include/CoreSTM32HalBasicTimer.h b/drivers/CoreDAC/include/CoreSTM32HalBasicTimer.h
@@ -18,8 +18,9 @@ class CoreSTM32HalBasicTimer : public interface::STM32HalBasicTimer
 	[[nodiscard]] auto getHandle() -> TIM_HandleTypeDef & final;
 
 	void registerCallback(std::function<void()> const &callback);
+	void linkDACTimer(DAC_ChannelConfTypeDef *config) final;
 
-	void initialize(uint32_t frequency) final;
+	void initialize(uint32_t frequency = 44'100) final;
 	void terminate() final;
 
 	void start() final;
@@ -32,7 +33,7 @@ class CoreSTM32HalBasicTimer : public interface::STM32HalBasicTimer
 
 	TIM_HandleTypeDef _htim {};
 
-	std::function<void()> _callback = [] {};
+	std::function<void()> _callback {};
 };
 
 }	// namespace leka
diff --git a/drivers/CoreDAC/include/interface/STM32HalBasicTimer.h b/drivers/CoreDAC/include/interface/STM32HalBasicTimer.h
@@ -15,6 +15,8 @@ class STM32HalBasicTimer
 
 	[[nodiscard]] virtual auto getHandle() -> TIM_HandleTypeDef & = 0;
 
+	virtual void linkDACTimer(DAC_ChannelConfTypeDef *config) = 0;
+
 	virtual void initialize(uint32_t frequency) = 0;
 	virtual void terminate()					= 0;
 

diff --git a/drivers/CoreDAC/source/CoreDAC.cpp b/drivers/CoreDAC/source/CoreDAC.cpp
@@ -23,15 +23,22 @@ void CoreDAC::initialize()
 	_hal.HAL_DAC_Init(&_hdac);
 
 	DAC_ChannelConfTypeDef config = {};
-	config.DAC_OutputBuffer = DAC_OUTPUTBUFFER_ENABLE;	 // necessary to reach the full voltage range in DAC output
-	config.DAC_Trigger		= DAC_TRIGGER_T6_TRGO;	 // configure the DAC to be triggered by TIM6 through TRGO signal
+	config.DAC_OutputBuffer		  = DAC_OUTPUTBUFFER_ENABLE;
+	_hal_timer.linkDACTimer(&config);
 	_hal.HAL_DAC_ConfigChannel(&_hdac, &config, DAC_CHANNEL_1);
 
-	static auto &self = *this;
+	static const auto &self = *this;
 	_hal.HAL_DAC_RegisterCallback(&_hdac, HAL_DAC_CH1_HALF_COMPLETE_CB_ID,
-								  [](DAC_HandleTypeDef *hdac) { self._on_half_transfer(); });
-	_hal.HAL_DAC_RegisterCallback(&_hdac, HAL_DAC_CH1_COMPLETE_CB_ID,
-								  [](DAC_HandleTypeDef *hdac) { self._on_complete_transfer(); });
+								  []([[maybe_unused]] DAC_HandleTypeDef *hdac) {
+									  if (self._on_half_transfer != nullptr) {
+										  self._on_half_transfer();
+									  }
+								  });
+	_hal.HAL_DAC_RegisterCallback(&_hdac, HAL_DAC_CH1_COMPLETE_CB_ID, []([[maybe_unused]] DAC_HandleTypeDef *hdac) {
+		if (self._on_complete_transfer != nullptr) {
+			self._on_complete_transfer();
+		}
+	});
 }
 
 void CoreDAC::terminate()
@@ -67,14 +74,14 @@ void CoreDAC::_registerMspCallbacks()
 {
 	static auto &self = *this;
 
-	_hal.HAL_DAC_RegisterCallback(&_hdac, HAL_DAC_MSPINIT_CB_ID, [](DAC_HandleTypeDef *hdac) {
+	_hal.HAL_DAC_RegisterCallback(&_hdac, HAL_DAC_MSPINIT_CB_ID, []([[maybe_unused]] DAC_HandleTypeDef *hdac) {
 		__HAL_LINKDMA(&self._hdac, DMA_Handle1, self._hdma);
 		self._initializeDMA();
 
 		self._hal.HAL_RCC_DAC_CLK_ENABLE();
 	});
 
-	_hal.HAL_DAC_RegisterCallback(&_hdac, HAL_DAC_MSPDEINIT_CB_ID, [](DAC_HandleTypeDef *hdac) {
+	_hal.HAL_DAC_RegisterCallback(&_hdac, HAL_DAC_MSPDEINIT_CB_ID, []([[maybe_unused]] DAC_HandleTypeDef *hdac) {
 		self._hal.HAL_DMA_DeInit(&self._hdma);
 
 		self._hal.HAL_RCC_DAC_CLK_DISABLE();

diff --git a/drivers/CoreDAC/source/CoreSTM32HalBasicTimer.cpp b/drivers/CoreDAC/source/CoreSTM32HalBasicTimer.cpp
@@ -28,37 +28,44 @@ void CoreSTM32HalBasicTimer::initialize(uint32_t frequency)
 	// CK_Timer = CK_Int / ((Prescaler + 1) * (Period + 1))
 	auto divider = 54'000'000 / frequency;
 
-	_htim.Init.Prescaler		 = 2;
-	_htim.Init.Period			 = 100;								 // ? min 1
-	_htim.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;	 // Disable shadow write
-	// _htim.Init.CounterMode;										 // NOT AVAILABLE for BasicTimer
-	// _htim.Init.ClockDivision;									 // NOT AVAILABLE for BasicTimer
-	// _htim.Init.RepetitionCounter;								 // NOT AVAILABLE for BasicTimer
+	_htim.Init.Prescaler		 = divider / 100;
+	_htim.Init.Period			 = 100;	  // ? min 1
+	_htim.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
 	_hal.HAL_TIM_Base_Init(&_htim);
 
 	auto timerMasterConfig				  = TIM_MasterConfigTypeDef {};
-	timerMasterConfig.MasterOutputTrigger = TIM_TRGO_UPDATE;   // Use hardware trigger
-	// timerMasterConfig.MasterSlaveMode;					   // NOT AVAILABLE for BasicTimer
+	timerMasterConfig.MasterOutputTrigger = TIM_TRGO_UPDATE;
 	_hal.HAL_TIMEx_MasterConfigSynchronization(&_htim, &timerMasterConfig);
 
-	static auto &self = *this;
-	_hal.HAL_TIM_RegisterCallback(&_htim, HAL_TIM_PERIOD_ELAPSED_CB_ID,
-								  [](TIM_HandleTypeDef *htim) { self._callback(); });
+	static const auto &self = *this;
+	_hal.HAL_TIM_RegisterCallback(&_htim, HAL_TIM_PERIOD_ELAPSED_CB_ID, []([[maybe_unused]] TIM_HandleTypeDef *htim) {
+		if (self._callback != nullptr) {
+			self._callback();
+		}
+	});
 }
 
 void CoreSTM32HalBasicTimer::_registerMspCallbacks()
 {
-	static auto &self = *this;
+	static const auto &self = *this;
 
-	_hal.HAL_TIM_RegisterCallback(&_htim, HAL_TIM_BASE_MSPINIT_CB_ID, [](TIM_HandleTypeDef *htim) {
+	_hal.HAL_TIM_RegisterCallback(&_htim, HAL_TIM_BASE_MSPINIT_CB_ID, []([[maybe_unused]] TIM_HandleTypeDef *htim) {
 		self._hal.HAL_RCC_TIM6_CLK_ENABLE();
 
 		self._hal.HAL_NVIC_SetPriority(TIM6_DAC_IRQn, 0x00, 0x00);
 		self._hal.HAL_NVIC_EnableIRQ(TIM6_DAC_IRQn);
 	});
 
-	_hal.HAL_TIM_RegisterCallback(&_htim, HAL_TIM_BASE_MSPDEINIT_CB_ID,
-								  [](TIM_HandleTypeDef *htim) { self._hal.HAL_RCC_TIM6_CLK_DISABLE(); });
+	_hal.HAL_TIM_RegisterCallback(&_htim, HAL_TIM_BASE_MSPDEINIT_CB_ID, []([[maybe_unused]] TIM_HandleTypeDef *htim) {
+		self._hal.HAL_RCC_TIM6_CLK_DISABLE();
+	});
+}
+
+void CoreSTM32HalBasicTimer::linkDACTimer(DAC_ChannelConfTypeDef *config)
+{
+	if (config != nullptr) {
+		config->DAC_Trigger = DAC_TRIGGER_T6_TRGO;
+	}
 }
 
 void CoreSTM32HalBasicTimer::terminate()

diff --git a/drivers/CoreDAC/source/HAL_IRQHandlers.cpp b/drivers/CoreDAC/source/HAL_IRQHandlers.cpp
@@ -11,6 +11,11 @@ void TIM6_DAC_IRQHandler()
 	HAL_TIM_IRQHandler(&hal_timer.getHandle());
 }
 
+void TIM7_DAC_IRQHandler()
+{
+	HAL_TIM_IRQHandler(&hal_timer.getHandle());
+}
+
 void DMA1_Stream5_IRQHandler()
 {
 	HAL_DMA_IRQHandler(coredac.getHandle().DMA_Handle1);

diff --git a/drivers/CoreDAC/tests/CoreDAC_test.cpp b/drivers/CoreDAC/tests/CoreDAC_test.cpp
@@ -14,7 +14,6 @@ using namespace leka;
 using testing::_;
 using ::testing::DoAll;
 using ::testing::InSequence;
-using ::testing::Matcher;
 using ::testing::MockFunction;
 using ::testing::Return;
 using ::testing::SaveArg;
@@ -38,6 +37,7 @@ class CoreDACTest : public ::testing::Test
 			.WillOnce(DoAll(SaveArg<2>(&dma_complete_transfer_callback), Return(HAL_StatusTypeDef::HAL_OK)));
 
 		EXPECT_CALL(halmock, HAL_DAC_Init);
+		EXPECT_CALL(haltimermock, linkDACTimer);
 		EXPECT_CALL(halmock, HAL_DAC_ConfigChannel)
 			.WillOnce(DoAll(SaveArgPointee<1>(&dac_config), Return(HAL_StatusTypeDef::HAL_OK)));
 
@@ -74,8 +74,6 @@ TEST_F(CoreDACTest, initializationDefault)
 
 TEST_F(CoreDACTest, initialize)
 {
-	dac.registerDMACallbacks(on_half_transfer_callback.AsStdFunction(), on_complete_transfer_callback.AsStdFunction());
-
 	{
 		InSequence seq;
 
@@ -86,6 +84,7 @@ TEST_F(CoreDACTest, initialize)
 
 		{
 			EXPECT_CALL(halmock, HAL_DAC_Init);
+			EXPECT_CALL(haltimermock, linkDACTimer);
 			EXPECT_CALL(halmock, HAL_DAC_ConfigChannel);
 		}	// DAC config
 
@@ -107,7 +106,14 @@ TEST_F(CoreDACTest, initializeMspInit)
 
 	EXPECT_CALL(halmock, HAL_RCC_DAC_CLK_ENABLE);
 
-	mspinit_callback(nullptr);
+	mspinit_callback(&dac.getHandle());
+}
+
+TEST_F(CoreDACTest, initializeMspDeinit)
+{
+	EXPECT_CALL(halmock, HAL_DMA_DeInit);
+	EXPECT_CALL(halmock, HAL_RCC_DAC_CLK_DISABLE);
+	mspdeinit_callback(&dac.getHandle());
 }
 
 TEST_F(CoreDACTest, initializeMspInitDMAConfig)
@@ -122,7 +128,7 @@ TEST_F(CoreDACTest, initializeMspInitDMAConfig)
 
 	EXPECT_CALL(halmock, HAL_RCC_DAC_CLK_ENABLE);
 
-	mspinit_callback(nullptr);
+	mspinit_callback(&dac.getHandle());
 
 	EXPECT_NE(&dma_handle, nullptr);
 	EXPECT_EQ(dma_handle.Instance, DMA1_Stream5);
@@ -131,32 +137,22 @@ TEST_F(CoreDACTest, initializeMspInitDMAConfig)
 	EXPECT_EQ(dma_handle.Init.Direction, DMA_MEMORY_TO_PERIPH);
 }
 
-TEST_F(CoreDACTest, initializeMspDeinit)
-{
-	EXPECT_CALL(halmock, HAL_DMA_DeInit);
-	EXPECT_CALL(halmock, HAL_RCC_DAC_CLK_DISABLE);
-	mspdeinit_callback(nullptr);
-}
-
 TEST_F(CoreDACTest, initializeConfig)
 {
 	// necessary to reach the full voltage range in DAC output
 	EXPECT_EQ(dac_config.DAC_OutputBuffer, DAC_OUTPUTBUFFER_ENABLE);
-
-	// configure the DAC to be triggered by TIM6 through TRGO signal
-	EXPECT_EQ(dac_config.DAC_Trigger, DAC_TRIGGER_T6_TRGO);
 }
 
 TEST_F(CoreDACTest, initializeDmaHalfTransferCallback)
 {
 	EXPECT_CALL(on_half_transfer_callback, Call);
-	dma_half_transfer_callback(nullptr);
+	dma_half_transfer_callback(&dac.getHandle());
 }
 
 TEST_F(CoreDACTest, initializeDmaCompleteTransferCallback)
 {
 	EXPECT_CALL(on_complete_transfer_callback, Call);
-	dma_complete_transfer_callback(nullptr);
+	dma_complete_transfer_callback(&dac.getHandle());
 }
 
 TEST_F(CoreDACTest, terminate)