Add theoretical-ish ALARM handling

Author: dzarda

fw/rbcx-coprocessor/include/Bsp_v10.hpp

@@ -178,10 +178,10 @@ inline void reinitEspStrappingPins() {
 }
 
 inline void pinsInit() {
-    pinInit(ledPins, GPIO_MODE_OUTPUT_PP, GPIO_NOPULL, GPIO_SPEED_FREQ_LOW);
+    // pinInit(ledPins, GPIO_MODE_OUTPUT_PP, GPIO_NOPULL, GPIO_SPEED_FREQ_LOW);
 
-    pinWrite(powerPin, 1);
-    pinInit(powerPin, GPIO_MODE_OUTPUT_OD, GPIO_NOPULL, GPIO_SPEED_FREQ_LOW);
+    // pinWrite(powerPin, 1);
+    // pinInit(powerPin, GPIO_MODE_OUTPUT_OD, GPIO_NOPULL, GPIO_SPEED_FREQ_LOW);
 
     for (auto button : buttonPin)
         pinInit(button, GPIO_MODE_INPUT, GPIO_PULLUP, GPIO_SPEED_FREQ_LOW);

fw/rbcx-coprocessor/include/Bsp_v11.hpp

@@ -175,10 +175,10 @@ inline void reinitEspStrappingPins() {
 }
 
 inline void pinsInit() {
-    pinInit(ledPins, GPIO_MODE_OUTPUT_PP, GPIO_NOPULL, GPIO_SPEED_FREQ_LOW);
+    // pinInit(ledPins, GPIO_MODE_OUTPUT_PP, GPIO_NOPULL, GPIO_SPEED_FREQ_LOW);
 
-    pinWrite(powerPin, 1);
-    pinInit(powerPin, GPIO_MODE_OUTPUT_OD, GPIO_NOPULL, GPIO_SPEED_FREQ_LOW);
+    // pinWrite(powerPin, 1);
+    // pinInit(powerPin, GPIO_MODE_OUTPUT_OD, GPIO_NOPULL, GPIO_SPEED_FREQ_LOW);
 
     for (auto button : buttonPin)
         pinInit(button, GPIO_MODE_INPUT, GPIO_PULLUP, GPIO_SPEED_FREQ_LOW);

fw/rbcx-coprocessor/platformio.ini

@@ -17,7 +17,7 @@ platform = ststm32@~7.0.0
 board = genericSTM32F103VC
 framework = stm32cube
 lib_deps =
-    https://github.com/RoboticsBrno/RB3204-RBCX-coproc-comm/archive/fa79ee92b39527ac0ff988277efaa71a09e9cad3.zip
+    https://github.com/RoboticsBrno/RB3204-RBCX-coproc-comm/archive/81dae0effc201174b9e55c9702d58f80d51b720b.zip
 
 build_flags =
     -Iinclude

fw/rbcx-coprocessor/src/Power.cpp

@@ -107,33 +107,52 @@ extern "C" void PVD_IRQHandler() {
     pinWrite(powerPin, 0);
 
     // Blink red LED "pretty fast"
+    // Only blink for a limited time because we don't want to cause a denial of service
+    // if we're powered from a different source (which?)
     uint32_t leds = 0;
-    while (true) {
+    for (int blink = 0; blink < 10; blink++) {
         leds ^= CoprocReq_LedsEnum_L3;
         setLeds(leds);
 
         for (volatile int i = 0; i < 200000; i++)
             ;
     }
+
+    // Reset program if power still present (powered from elsewhere)
+    HAL_NVIC_SystemReset();
 }
 
 void powerEarlyInit() {
+    pinWrite(powerPin, true);
     __HAL_RCC_PWR_CLK_ENABLE();
     __HAL_RCC_BKP_CLK_ENABLE();
 
-    // Enable PVD - will generate EXTI16(PVD_IRQn) when VDD drops.
-    // Done before disabling ALARM output to eliminate race
+    // Enable PVD - we want EXTI16(PVD_IRQn) interrupt when VDD drops.
+    // Enabled before disabling ALARM output to eliminate race
     // that could result in ALARM deactivation.
     LL_PWR_EnableBkUpAccess();
-    LL_PWR_SetPVDLevel(LL_PWR_PVDLEVEL_7);
+    // Level 7 is the highest and seems too intolerant.
+    LL_PWR_SetPVDLevel(LL_PWR_PVDLEVEL_4);
     LL_PWR_EnablePVD();
 
+    setLeds(0x1);
+
+    // Attempt to survive a transient power-up period when PVD output may fluctuate.
+    while (LL_PWR_IsActiveFlag_PVDO())
+        ;
+    __HAL_PWR_PVD_EXTI_CLEAR_FLAG();
+    __HAL_PWR_PVD_EXTI_ENABLE_RISING_EDGE();
+    __HAL_PWR_PVD_EXTI_ENABLE_IT();
+
+    HAL_NVIC_ClearPendingIRQ(PVD_IRQn);
     HAL_NVIC_SetPriority(PVD_IRQn, 0, 0);
     HAL_NVIC_EnableIRQ(PVD_IRQn);
 
+    setLeds(0x3);
+
     // Disable potential RTC ALARM -> powerPin override.
     // This way we keep VCC powered upon board power-up.
-    // This must be done very early at power-up.
+    // This must be done early at power-up.
     LL_RTC_SetOutputSource(BKP, LL_RTC_CALIB_OUTPUT_NONE);
 }
 

fw/rbcx-coprocessor/src/RtcController.cpp

@@ -8,13 +8,25 @@
 #include "stm32f1xx_ll_rtc.h"
 
 static void ensureInitialized() {
-    // Ensure RTC is running (noop in case it is)
+    // We use DR3 to indicate that RTC was already initialized in a prior life.
+    bool initialized = LL_RTC_BKP_GetRegister(BKP, LL_RTC_BKP_DR3);
+    if (initialized) {
+        // RTC clock selected signifies RTC already initialized.
+        return;
+    }
+
+    while (!LL_RCC_LSE_IsReady()) {
+    }
+
     LL_RTC_InitTypeDef init = {
         .AsynchPrescaler = 0x7FFF, // 32kHz crystal -> 1s tick
         .OutPutSource = LL_RTC_CALIB_OUTPUT_NONE,
     };
 
+    LL_RCC_EnableRTC();
+    LL_RCC_SetRTCClockSource(LL_RCC_RTC_CLKSOURCE_LSE);
     LL_RTC_Init(RTC, &init);
+    LL_RTC_BKP_SetRegister(BKP, LL_RTC_BKP_DR3, 0x1);
 }
 
 void rtcInit() {
@@ -27,13 +39,17 @@ void rtcInit() {
 
 bool rtcInitReady() { return LL_RCC_LSE_IsReady(); }
 
+uint32_t rtcFlags() {
+    return (!rtcInitReady()) | (LL_RTC_IsActiveFlag_ALR(RTC) << 1);
+}
+
 static void sendStatus() {
     CoprocStat status;
     status.which_payload = CoprocStat_rtcStat_tag,
     status.payload.rtcStat = CoprocStat_RtcStat {
         .time = rtcGetTime(),
         .alarm = rtcGetAlarm(),
-        .notReady = !rtcInitReady(),
+        .flags = CoprocStat_RtcFlags(rtcFlags()),
     };
     controlLinkTx(status);
 }
@@ -74,6 +90,7 @@ uint32_t rtcGetAlarm() {
 
 void rtcSetAlarm(uint32_t seconds) {
     ensureInitialized();
+    LL_RTC_ClearFlag_ALR(RTC);
     LL_RTC_ALARM_SetCounter(RTC, seconds);
 
     // We mirror the value into DR1 and DR2 16-bit regs

fw/rbcx-coprocessor/src/main.cpp

@@ -23,14 +23,20 @@
 static TaskWrapper<3072> mainTask;
 
 int main() {
-    powerEarlyInit();
-    clocksInit();
-    HAL_Init();
-
 #ifdef RBCX_VECT_TAB_OFFSET
     SCB->VTOR = FLASH_BASE | RBCX_VECT_TAB_OFFSET;
 #endif
 
+    // Allow POWER and LEDs drive in powerEarlyInit
+    __HAL_RCC_GPIOA_CLK_ENABLE();
+    __HAL_RCC_GPIOC_CLK_ENABLE();
+    pinInit(powerPin, GPIO_MODE_OUTPUT_PP, GPIO_NOPULL, GPIO_SPEED_FREQ_LOW);
+    pinInit(ledPins, GPIO_MODE_OUTPUT_PP, GPIO_NOPULL, GPIO_SPEED_FREQ_LOW);
+
+    powerEarlyInit();
+    clocksInit();
+    HAL_Init();
+
     pinsInit();
 
     mainTask.start("main", 1, []() {