Updated clock prescaler, tested profiler and delayUs

include/sta/debug/assert.hpp

@@ -3,9 +3,8 @@
  * @brief Assertion handling.
  *
  * Configuration:
- *   * STA_ASSERT_FORCE:    Ignore debug defines and always enable assertions
+ *   * STA_ASSERT_ENABLED:	Enable assertions
- *   * DEBUG:               Enables assertions when defined
+ *	 * STA_ASSERT_FORCE:	Enable assertions. Still there for backwards compatibility.
- *   * NDEBUG:              Disables assertions when defined (overrides DEBUG)
  */
 #ifndef STA_CORE_ASSERT_HPP
 #define STA_CORE_ASSERT_HPP
@@ -24,18 +23,10 @@
 
 #include <sta/config.hpp>
 
-// Determine if module should be enabled
+// Keep STA_ASSERT_FORCE for backwards comapatibility.
-// Condition:
-//     STA_ASSERT_FORCE is defined
-//   or
-//     DEBUG is defined but not NDEBUG
 #ifdef STA_ASSERT_FORCE
-#  define STA_ASSERT_ENABLED
+#	define STA_ASSERT_ENABLED
-#else // !STA_ASSERT_FORCE
+#endif // STA_ASSERT_FORCE
-#  if defined(DEBUG) && !defined(NDEBUG)
-#    define STA_ASSERT_ENABLED
-#  endif // DEBUG && !NDEBUG
-#endif // !STA_ASSERT_FORCE
 
 
 #if defined(STA_ASSERT_ENABLED) || defined(DOXYGEN)

include/sta/debug/profile.hpp

@@ -9,7 +9,16 @@
 #define STA_DEBUGGING_PROFILING_HPP
 
 #include <sta/debug/debug.hpp>
-#ifdef STA_DEBUGGING_ENABLED
+
+#ifdef STA_PROFILING_ENABLED
+
+#ifndef STA_DEBUGGING_ENABLED
+#	error "Debugging has to be enabled in order to use profiling."
+#endif // STA_DEBUGGING_ENABLED
+
+#ifndef STA_STM32_DELAY_US_TIM
+#	error "A microsecond timer has to be defined in order to use profiling." 
+#endif // STA_STM32_DELAY_US_TIM
 
 namespace sta
 {
@@ -29,8 +38,10 @@ namespace sta
  */
 #define STA_TIME_IT(name)	sta::Profiler profiler(name);
 
-#endif // STA_DEBUGGING_ENABLED
+#else
 
 #define STA_TIME_IT(name)	((void)0)
 
+#endif // // STA_PROFILING_ENABLED
+
 #endif // STA_DEBUGGING_PROFILING_HPP

include/sta/devices/stm32/clocks.hpp

@@ -39,7 +39,7 @@ namespace sta
  *
  * @param n Index of peripheral clock
  */
-#define STA_STM32_GET_PCLK_FREQ_FN(n)               HAL_RCC_GetPCLK ## n ## Freq
+#define STA_STM32_GET_PCLK_FREQ_FN(n)                   HAL_RCC_GetPCLK ## n ## Freq
 
 /**
  * @brief Internal helper for macro expansion.
@@ -47,7 +47,31 @@ namespace sta
  * @param n PCLK index
  * @return  Function returning PCLK frequency
  */
-#define _STA_STM32_GET_PCLK_FREQ_FN(n)              STA_STM32_GET_PCLK_FREQ_FN(n)
+#define _STA_STM32_GET_PCLK_FREQ_FN(n)                  STA_STM32_GET_PCLK_FREQ_FN(n)
+
+/**
+ * @brief Get the PCLK frequency.
+ * 
+ * @param n PCLK index
+ * @return  The PCLK frequency
+ */
+#define _STA_STM32_GET_PCLK_FREQ(n)                     STA_STM32_GET_PCLK_FREQ_FN(n)()
+
+/**
+ * @brief Gets the prescaler from APBx to APBx timer clocks.
+ * 
+ * @param n PCLK index
+ * @return  The prescaler from PCLK to TIM
+ */
+#define STA_STM32_GET_PCLK_TIM_PRESCALER(n)             STA_STM32_TIM_PCLK_ ## n ## ## _PRESCALER
+
+/**
+ * @brief Internal helper for macro expansion.
+ *
+ * @param n PCLK index
+ * @return  Function returning PCLK frequency
+ */
+#define _STA_STM32_GET_PCLK_TIM_PRESCALER(n)            STA_STM32_GET_PCLK_TIM_PRESCALER(n)
 
 /**
  * @brief Map instance name to PCLK index.
@@ -56,7 +80,7 @@ namespace sta
  * @param idx   Instance index
  * @return      PCLK index
  */
-#define _STA_STM32_PCLK_IDX_MAP(type, idx)          STA_STM32_ ## type ## _ ## idx ## _PCLK_IDX
+#define _STA_STM32_PCLK_IDX_MAP(type, idx)              STA_STM32_ ## type ## _ ## idx ## _PCLK_IDX
 // Get HAL handle to PCLK index map macro
 
 /**
@@ -65,44 +89,58 @@ namespace sta
  * @param handle    HAL handle
  * @return          PCLK index
  */
-#define _STA_STM32_HANDLE_PCLK_IDX_MAP(handle)      STA_STM32_ ## handle ## _PCLK_IDX
+#define _STA_STM32_HANDLE_PCLK_IDX_MAP(handle)          STA_STM32_ ## handle ## _PCLK_IDX
-
 
 /**
- * @brief Get function returning frequency of PCLK used by TIM.
+ * @brief Get a function returning the frequency of PCLK used by TIM.
  *
  * @param n         TIM index
  */
-#define STA_STM32_GET_TIM_PCLK_FREQ_FN(n)           _STA_STM32_GET_PCLK_FREQ_FN(_STA_STM32_PCLK_IDX_MAP(TIM, n))
+#define STA_STM32_GET_TIM_PCLK_FREQ_FN(n)               _STA_STM32_GET_PCLK_FREQ_FN(_STA_STM32_PCLK_IDX_MAP(TIM, n)) 
 
 /**
- * @brief Get function returning frequency of PCLK used by SPI interface.
+ * @brief Internal helper for macro expansion.
+ *
+ * @param n         TIM index 
+ */
+#define _STA_STM32_GET_TIM_PCLK_FREQ_FN(n)              STA_STM32_GET_TIM_PCLK_FREQ_FN(n)                        
+
+/**
+ * @brief Get a function returning the frequency of PCLK used by SPI interface.
  *
  * @param n         SPI interface index
  */
-#define STA_STM32_GET_SPI_PCLK_FREQ_FN(n)           _STA_STM32_GET_PCLK_FREQ_FN(_STA_STM32_PCLK_IDX_MAP(SPI, n))
+#define STA_STM32_GET_SPI_PCLK_FREQ_FN(n)               _STA_STM32_GET_PCLK_FREQ_FN(_STA_STM32_PCLK_IDX_MAP(SPI, n))
 
 /**
- * @brief Get function returning frequency of PCLK used by I2C interface.
+ * @brief Get a function returning the frequency of PCLK used by I2C interface.
  *
  * @param n         I2C interface index
  */
-#define STA_STM32_GET_I2C_PCLK_FREQ_FN(n)           _STA_STM32_GET_PCLK_FREQ_FN(_STA_STM32_PCLK_IDX_MAP(I2C, n))
+#define STA_STM32_GET_I2C_PCLK_FREQ_FN(n)               _STA_STM32_GET_PCLK_FREQ_FN(_STA_STM32_PCLK_IDX_MAP(I2C, n))
 
 /**
- * @brief Get function returning frequency of PCLK used by USART interface.
+ * @brief Get a function returning the frequency of PCLK used by USART interface.
  *
  * @param n         USART interface index
  */
-#define STA_STM32_GET_USART_PCLK_FREQ_FN(n)         _STA_STM32_GET_PCLK_FREQ_FN(_STA_STM32_PCLK_IDX_MAP(USART, n))
+#define STA_STM32_GET_USART_PCLK_FREQ_FN(n)             _STA_STM32_GET_PCLK_FREQ_FN(_STA_STM32_PCLK_IDX_MAP(USART, n))
 
 
 /**
- * @brief Get function returning frequency of PCLK used by HAL instance.
+ * @brief Get a function returning the frequency of PCLK used by HAL instance.
  *
  * @param handle    Instance handle
  */
-#define STA_STM32_GET_HANDLE_PCLK_FREQ_FN(handle)   _STA_STM32_GET_PCLK_FREQ_FN(_STA_STM32_HANDLE_PCLK_IDX_MAP(handle))
+#define STA_STM32_GET_HANDLE_PCLK_FREQ_FN(handle)       _STA_STM32_GET_PCLK_FREQ_FN(_STA_STM32_HANDLE_PCLK_IDX_MAP(handle))
+
+/**
+ * @brief Get the PCLK to timer prescaler for TIM given by the handle.
+ * 
+ * @param handle    TIM handle
+ * @return          PCLK-TIM prescaler
+ */
+#define STA_STM32_GET_HANDLE_PCLK_TIM_PRESCALER(handle) _STA_STM32_GET_PCLK_TIM_PRESCALER(_STA_STM32_HANDLE_PCLK_IDX_MAP(handle))
 
 
 /** @} */

include/sta/devices/stm32/mcu/STM32F411xE.hpp

@@ -63,8 +63,13 @@
 #define STA_STM32_USART_2_PCLK_IDX      1 /**< USART2 to PCLK index 1 */
 #define STA_STM32_USART_6_PCLK_IDX      2 /**< USART6 to PCLK index 2 */
 
+// prescaler from APBx to APBx timer clocks
+#define STA_STM32_TIM_PCLK_1_PRESCALER  2 /**< PCLK1 has prescaler of 2 */    
+#define STA_STM32_TIM_PCLK_2_PRESCALER  1 /**< PCLK2 has prescaler of 1 */   
+
 
 // HAL handle mappings
+//
 
 // TIM to PCLK
 #define STA_STM32_htim1_PCLK_IDX        STA_STM32_TIM_1_PCLK_IDX /**< HAL TIM1 to PCLK index */

src/devices/stm32/delay.cpp

@@ -51,7 +51,7 @@ namespace sta
 		}
 
 		// Calculate TIM clock frequency
-		uint32_t clkFreq = pclkMul * STA_STM32_GET_HANDLE_PCLK_FREQ_FN(STA_STM32_DELAY_US_TIM)();
+		uint32_t clkFreq = pclkMul * STA_STM32_GET_HANDLE_PCLK_FREQ_FN(STA_STM32_DELAY_US_TIM)() * STA_STM32_GET_HANDLE_PCLK_TIM_PRESCALER(STA_STM32_DELAY_US_TIM);
 
 		// Calculate update frequency based on prescaler value
 		uint32_t prescaler = (STA_STM32_DELAY_US_TIM.Init.Prescaler) ? STA_STM32_DELAY_US_TIM.Init.Prescaler : 1;
@@ -68,33 +68,22 @@ namespace sta
     	// Check if the specified timer is usable for microsecond delays.
     	STA_ASSERT(isValidDelayUsTIM());
 
-    	// Use millisecond delays for us > 1000 and use microseconds delay for the remainder.
+		// Save the current value of the counter.
-    	delayMs(us / 1000);
+		uint32_t current = __HAL_TIM_GET_COUNTER(&STA_STM32_DELAY_US_TIM);
-    	us = us % 1000;
 
-        // __HAL_TIM_SET_COUNTER(&STA_STM32_DELAY_US_TIM, 0);
+		// Set the timer counter to zero to avoid overflows during delay-
+		__HAL_TIM_SET_COUNTER(&STA_STM32_DELAY_US_TIM, 0);
 
-        uint32_t startTime = __HAL_TIM_GET_COUNTER(&STA_STM32_DELAY_US_TIM);
+		// Wait for the desired microseconds.
+		while (__HAL_TIM_GET_COUNTER(&STA_STM32_DELAY_US_TIM) < us * gDelayUsMul);
 
-        // Check if an overflow is expected during the delay time.
+		// Set the timer counter to the previous value and add the waited duration to it.
-        if (startTime < __HAL_TIM_GET_AUTORELOAD(&STA_STM32_DELAY_US_TIM) - us * gDelayUsMul)
+		// This avoids collisions with code relying on timeUs measurements.
-        {
+		__HAL_TIM_SET_COUNTER(&STA_STM32_DELAY_US_TIM, current + us * gDelayUsMul);
-        	while (__HAL_TIM_GET_COUNTER(&STA_STM32_DELAY_US_TIM) < startTime + us * gDelayUsMul);
-        }
-        else
-        {
-        	uint32_t overflowTime = __HAL_TIM_GET_AUTORELOAD(&STA_STM32_DELAY_US_TIM) - startTime;
-        	// Wait until the overflow happens
-        	while (__HAL_TIM_GET_COUNTER(&STA_STM32_DELAY_US_TIM) > startTime);
-
-        	// Wait the remaining time after the overflow.
-        	while (__HAL_TIM_GET_COUNTER(&STA_STM32_DELAY_US_TIM) < us * gDelayUsMul - overflowTime);
-        }
     }
 
 } // namespace sta
 
 #endif // STA_STM32_DELAY_US_TIM
 
-
 #endif // STA_PLATFORM_STM32

src/devices/stm32/time.cpp

@@ -11,6 +11,7 @@
 #ifdef STA_PLATFORM_STM32
 
 #include <sta/devices/stm32/hal.hpp>
+#include <sta/devices/stm32/clocks.hpp>
 
 namespace sta
 {

src/time.cpp

@@ -14,12 +14,16 @@ namespace sta
 	uint32_t timeMs()
 	{
 		STA_NOT_IMPLEMENTED();
+
+		return 0;
 	}
 
 	STA_WEAK
 	uint32_t timeUs()
 	{
 		STA_NOT_IMPLEMENTED();
+
+		return 0;
 	}
 }  // namespace sta