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px4_autopilot/nuttx/configs/stm3210e-eval/src/up_idle.c

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/****************************************************************************
* configs/stm3210e-eval/src/up_idle.c
* arch/arm/src/board/up_idle.c
*
* Copyright (C) 2012 Gregory Nutt. All rights reserved.
* Authors: Gregory Nutt <gnutt@nuttx.org>
* Diego Sanchez <dsanchez@nx-engineering.com>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <debug.h>
#include <nuttx/arch.h>
#include <nuttx/clock.h>
#include <nuttx/power/pm.h>
#include <nuttx/rtc.h>
#include <arch/irq.h>
#include <arch/board/board.h>
#include "up_internal.h"
#include "stm32_pm.h"
#include "stm32_rcc.h"
#include "stm32_exti.h"
#include "stm3210e-internal.h"
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
/* Configuration ************************************************************/
/* Does the board support an IDLE LED to indicate that the board is in the
* IDLE state?
*/
#if defined(CONFIG_ARCH_LEDS) && defined(LED_IDLE)
# define BEGIN_IDLE() up_ledon(LED_IDLE)
# define END_IDLE() up_ledoff(LED_IDLE)
#else
# define BEGIN_IDLE()
# define END_IDLE()
#endif
/* Values for the RTC Alarm to wake up from the PM_STANDBY mode
* (which corresponds to STM32 stop mode). If this alarm expires,
* the logic in this file will wakeup from PM_STANDBY mode and
* transition to PM_SLEEP mode (STM32 standby mode).
*/
#ifndef CONFIG_PM_ALARM_SEC
# define CONFIG_PM_ALARM_SEC 15
#endif
#ifndef CONFIG_PM_ALARM_NSEC
# define CONFIG_PM_ALARM_NSEC 0
#endif
/* Values for the RTC Alarm to reset from the PM_SLEEP mode (STM32
* standby mode). If CONFIG_PM_SLEEP_WAKEUP is defined in the
* configuration, then the logic in this file will program the RTC
* alarm to wakeup the processor after an a delay.
*
* This feature might be useful, for example, in a system that needs to
* use minimal power but awake up to perform some task at periodic
* intervals.
*/
#ifdef CONFIG_PM_SLEEP_WAKEUP
# ifndef CONFIG_RTC_ALARM
# error "CONFIG_RTC_ALARM should be enabled to use CONFIG_PM_SLEEP_WAKEUP"
# endif
/* If CONFIG_PM_SLEEP_WAKEUP is defined, then CONFIG_PM_SLEEP_WAKEUP_SEC
* and CONFIG_PM_SLEEP_WAKEUP_NSEC define the delay until the STM32
* awakens from PM_SLEEP mode.
*/
# ifndef CONFIG_PM_SLEEP_WAKEUP_SEC
# define CONFIG_PM_SLEEP_WAKEUP_SEC 10
# endif
# ifndef CONFIG_PM_SLEEP_WAKEUP_NSEC
# define CONFIG_PM_SLEEP_WAKEUP_NSEC 0
# endif
#endif
/****************************************************************************
* Private Data
****************************************************************************/
#if defined(CONFIG_PM) && defined(CONFIG_RTC_ALARM)
static volatile bool g_alarmwakeup; /* Wakeup Alarm indicator */
#endif
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Name: up_alarmcb
*
* Description:
* RTC alarm callback
*
****************************************************************************/
#if defined(CONFIG_PM) && defined(CONFIG_RTC_ALARM)
static void up_alarmcb(void)
{
/* Note that we were awaken by an alarm */
g_alarmwakeup = true;
}
#endif
/****************************************************************************
* Name: up_alarm_exti
*
* Description:
* RTC alarm EXTI interrupt service routine
*
****************************************************************************/
#if defined(CONFIG_PM) && defined(CONFIG_RTC_ALARM)
static int up_alarm_exti(int irq, FAR void *context)
{
up_alarmcb();
return OK;
}
#endif
/****************************************************************************
* Name: up_exti_cancel
*
* Description:
* Disable the ALARM EXTI interrupt
*
****************************************************************************/
#if defined(CONFIG_PM) && defined(CONFIG_RTC_ALARM)
static void up_exti_cancel(void)
{
(void)stm32_exti_alarm(false, false, false, NULL);
}
#endif
/****************************************************************************
* Name: up_rtc_alarm
*
* Description:
* Set the alarm
*
****************************************************************************/
#if defined(CONFIG_PM) && defined(CONFIG_RTC_ALARM)
static int up_rtc_alarm(time_t tv_sec, time_t tv_nsec, bool exti)
{
struct timespec alarmtime;
int ret;
/* Configure to receive RTC Alarm EXTI interrupt */
if (exti)
{
/* TODO: Make sure that that is no pending EXTI interrupt */
(void)stm32_exti_alarm(true, true, true, up_alarm_exti);
}
/* Configure the RTC alarm to Auto Wake the system */
(void)up_rtc_gettime(&alarmtime);
alarmtime.tv_sec += tv_sec;
alarmtime.tv_nsec += tv_nsec;
/* The tv_nsec value must not exceed 1,000,000,000. That
* would be an invalid time.
*/
if (alarmtime.tv_nsec >= NSEC_PER_SEC)
{
/* Carry to the seconds */
alarmtime.tv_sec++;
alarmtime.tv_nsec -= NSEC_PER_SEC;
}
/* Set the alarm */
g_alarmwakeup = false;
ret = up_rtc_setalarm(&alarmtime, up_alarmcb);
if (ret < 0)
{
lldbg("Warning: The alarm is already set\n");
}
return ret;
}
#endif
/****************************************************************************
* Name: up_idlepm
*
* Description:
* Perform IDLE state power management.
*
****************************************************************************/
#ifdef CONFIG_PM
static void up_idlepm(void)
{
static enum pm_state_e oldstate = PM_NORMAL;
enum pm_state_e newstate;
int ret;
/* The following is logic that is done after the wake-up from PM_STANDBY
* state. It decides whether to go back to the PM_NORMAL or to the deeper
* power-saving mode PM_SLEEP: If the alarm expired with no "normal"
* wake-up event, then PM_SLEEP is entered.
*
* Logically, this code belongs at the end of the PM_STANDBY case below,
* does not work in the position for some unkown reason.
*/
if (oldstate == PM_STANDBY)
{
/* Were we awakened by the alarm? */
#ifdef CONFIG_RTC_ALARM
if (g_alarmwakeup)
{
/* Yes.. Go to SLEEP mode */
newstate = PM_SLEEP;
}
else
#endif
{
/* Resume normal operation */
newstate = PM_NORMAL;
}
}
else
{
/* Let the PM system decide, which power saving level can be obtained */
newstate = pm_checkstate();
}
/* Check for state changes */
if (newstate != oldstate)
{
llvdbg("newstate= %d oldstate=%d\n", newstate, oldstate);
sched_lock();
/* Force the global state change */
ret = pm_changestate(newstate);
if (ret < 0)
{
/* The new state change failed, revert to the preceding state */
(void)pm_changestate(oldstate);
/* No state change... */
goto errout;
}
/* Then perform board-specific, state-dependent logic here */
switch (newstate)
{
case PM_NORMAL:
{
/* If we just awakened from PM_STANDBY mode, then reconfigure
* clocking.
*/
if (oldstate == PM_STANDBY)
{
/* Re-enable clocking */
stm32_clockenable();
/* The system timer was disabled while in PM_STANDBY or
* PM_SLEEP modes. But the RTC has still be running: Reset
* the system time the current RTC time.
*/
#ifdef CONFIG_RTC
clock_synchronize();
#endif
}
}
break;
case PM_IDLE:
{
}
break;
case PM_STANDBY:
{
/* Set the alarm as an EXTI Line */
#ifdef CONFIG_RTC_ALARM
up_rtc_alarm(CONFIG_PM_ALARM_SEC, CONFIG_PM_ALARM_NSEC, true);
#endif
/* Wait 10ms */
up_mdelay(10);
/* Enter the STM32 stop mode */
(void)stm32_pmstop(false);
/* We have been re-awakened by some even: A button press?
* An alarm? Cancel any pending alarm and resume the normal
* operation.
*/
#ifdef CONFIG_RTC_ALARM
up_exti_cancel();
ret = up_rtc_cancelalarm();
if (ret < 0)
{
lldbg("Warning: Cancel alarm failed\n");
}
#endif
/* Note: See the additional PM_STANDBY related logic at the
* beginning of this function. That logic is executed after
* this point.
*/
}
break;
case PM_SLEEP:
{
/* We should not return from standby mode. The only way out
* of standby is via the reset path.
*/
/* Configure the RTC alarm to Auto Reset the system */
#ifdef CONFIG_PM_SLEEP_WAKEUP
up_rtc_alarm(CONFIG_PM_SLEEP_WAKEUP_SEC, CONFIG_PM_SLEEP_WAKEUP_NSEC, false);
#endif
/* Wait 10ms */
up_mdelay(10);
/* Enter the STM32 standby mode */
(void)stm32_pmstandby();
}
break;
default:
break;
}
/* Save the new state */
oldstate = newstate;
errout:
sched_unlock();
}
}
#else
# define up_idlepm()
#endif /* CONFIG_PM */
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: up_idle
*
* Description:
* up_idle() is the logic that will be executed when their is no other
* ready-to-run task. This is processor idle time and will continue until
* some interrupt occurs to cause a context switch from the idle task.
*
* Processing in this state may be processor-specific. e.g., this is where
* power management operations might be performed.
*
****************************************************************************/
void up_idle(void)
{
#if defined(CONFIG_SUPPRESS_INTERRUPTS) || defined(CONFIG_SUPPRESS_TIMER_INTS)
/* If the system is idle and there are no timer interrupts, then process
* "fake" timer interrupts. Hopefully, something will wake up.
*/
sched_process_timer();
#else
/* Perform IDLE mode power management */
BEGIN_IDLE();
up_idlepm();
END_IDLE();
#endif
}