skullc-peripherals/Peripherals/Inc/peripherals_hal_st.hpp

/*
 * peripherals_hal_st.hpp
 *
 *  Created on: Mar 30, 2021
 *      Author: erki
 */

#ifndef PERIPHERALS_INC_PERIPHERALS_HAL_ST_HPP_
#define PERIPHERALS_INC_PERIPHERALS_HAL_ST_HPP_

#include <main.h>

#include "peripherals_utility.hpp"

#define USE_DELAY_US

namespace Peripherals
{
namespace Hal
{
namespace St
{

template<typename Origin>
using IsrCallbackFn = void (*)(Origin*);

template<typename Origin, typename Handler, void (Handler::*func)(),
         typename Tag>
IsrCallbackFn<Origin> createCallback(Handler& h_in)
{
  static Handler* h = &h_in;
  return +[](Origin*) { (h->*func)(); };
}

struct StaticHal
{
  static void Initialize()
  {
#ifdef USE_DELAY_US
    CoreDebug->DEMCR |= CoreDebug_DEMCR_TRCENA_Msk;
    DWT->CYCCNT = 0;
    DWT->CTRL |= DWT_CTRL_CYCCNTENA_Msk;
#endif
  }

  static void Delay(const std::uint32_t milliseconds)
  {
    HAL_Delay(milliseconds);
  }

  static void DelayUs(const std::uint32_t micros)
  {
#ifdef USE_DELAY_US
    const std::uint32_t tick_start = DWT->CYCCNT;
    const std::uint32_t ticks_delay = micros * (SystemCoreClock / 1'000'000);

    while (DWT->CYCCNT - tick_start < ticks_delay)
      ;
#else
    (void) micros;
#endif
  }

  static void enableInterrupts() { __enable_irq(); }

  static void disableInterrupts() { __disable_irq(); }
};

#ifdef HAL_GPIO_MODULE_ENABLED

struct Gpio
{
  GPIO_TypeDef* port;
  std::uint16_t pin;

  Gpio() = delete;
  explicit Gpio(GPIO_TypeDef* port, const std::uint16_t pin)
      : port(port), pin(pin) {}

  void Set(const bool& state)
  {
    HAL_GPIO_WritePin(port, pin, GPIO_PinState(state));
  }

  void Toggle() { HAL_GPIO_TogglePin(port, pin); }

  bool Read() const { return HAL_GPIO_ReadPin(port, pin); }
};

#endif// HAL_GPIO_MODULE_ENABLED

template<
        typename T,
        HAL_StatusTypeDef (*transmit)(
                T*, std::uint8_t* data, std::uint16_t data_len, std::uint32_t timeout),
        HAL_StatusTypeDef (*receive)(T*, std::uint8_t* data,
                                     std::uint16_t data_len, std::uint32_t timeout)>
struct SerialInterface
{
  using underlying_handle_type = T;
  underlying_handle_type* handle;

  SerialInterface() = delete;
  explicit SerialInterface(underlying_handle_type* handle) : handle(handle) {}

  bool Transmit(std::uint8_t* data, const std::uint32_t data_len)
  {
    return transmit(handle, data, data_len, 100) == HAL_StatusTypeDef::HAL_OK;
  }

  bool Receive(std::uint8_t* data, const std::uint32_t data_len)
  {
    return receive(handle, data, data_len, 100) == HAL_StatusTypeDef::HAL_OK;
  }
};

template<typename T,
         HAL_StatusTypeDef (*transmit)(T*, std::uint8_t* data,
                                       std::uint16_t data_len),
         HAL_StatusTypeDef (*receive)(T*, std::uint8_t* data,
                                      std::uint16_t data_len)>
struct SerialInterfaceAsync
{
  using underlying_handle_type = T;
  underlying_handle_type* handle;

  SerialInterfaceAsync() = delete;
  explicit SerialInterfaceAsync(underlying_handle_type* handle)
      : handle(handle) {}

  bool Transmit(std::uint8_t* data, const std::uint32_t data_len)
  {
    return transmit(handle, data, data_len) == HAL_StatusTypeDef::HAL_OK;
  }

  bool Receive(std::uint8_t* data, const std::uint32_t data_len)
  {
    return receive(handle, data, data_len) == HAL_StatusTypeDef::HAL_OK;
  }
};

#ifdef HAL_SPI_MODULE_ENABLED

using SpiInterface =
        SerialInterface<SPI_HandleTypeDef, HAL_SPI_Transmit, HAL_SPI_Receive>;

struct SpiRegisters
{
  SpiInterface handle;
  Gpio chip_select;

  SpiRegisters() = delete;
  explicit SpiRegisters(const SpiInterface& handle, const Gpio& chip_select)
      : handle(handle), chip_select(chip_select) {}

  void WriteRegister(std::uint8_t reg, uint8_t data)
  {
    chip_select.Set(false);

    handle.Transmit(&reg, 1);
    handle.Transmit(&data, 1);

    chip_select.Set(true);
  }

  void WriteRegisterMultibyte(std::uint8_t reg, std::uint8_t* data,
                              const std::uint32_t len)
  {
    chip_select.Set(false);

    handle.Transmit(&reg, 1);
    handle.Transmit(data, len);

    chip_select.Set(true);
  }

  std::uint8_t ReadRegister(std::uint8_t reg,
                            const std::uint32_t read_delay = 0)
  {
    chip_select.Set(false);

    handle.Transmit(&reg, 1);

    std::uint8_t output = 255;

    if (read_delay)
      StaticHal::DelayUs(read_delay);

    handle.Receive(&output, 1);

    chip_select.Set(true);

    return output;
  }

  void ReadRegisterMultibyte(std::uint8_t reg, std::uint8_t* data,
                             const std::uint32_t len,
                             const std::uint32_t read_delay = 0)
  {
    chip_select.Set(false);

    handle.Transmit(&reg, 1);

    if (read_delay)
      StaticHal::DelayUs(read_delay);

    handle.Receive(data, len);

    chip_select.Set(true);
  }
};

#endif// HAL_SPI_MODULE_ENABLED

#ifdef HAL_UART_MODULE_ENABLED

using UartInterface =
        SerialInterface<UART_HandleTypeDef, HAL_UART_Transmit, HAL_UART_Receive>;
using UartInterfaceDMA =
        SerialInterfaceAsync<UART_HandleTypeDef, HAL_UART_Transmit_DMA,
                             HAL_UART_Receive_DMA>;

#endif// HAL_UART_MODULE_ENABLED

#ifdef HAL_TIM_MODULE_ENABLED

struct PwmChannel
{
  TIM_HandleTypeDef* handle;
  std::uint32_t channel;

  PwmChannel() = delete;
  explicit PwmChannel(TIM_HandleTypeDef* handle, const std::uint32_t channel)
      : handle(handle), channel(channel) {}

  void Enable() { HAL_TIM_PWM_Start(handle, channel); }

  void Disable() { HAL_TIM_PWM_Stop(handle, channel); }

  void SetCompare(const std::uint32_t compare)
  {
    __HAL_TIM_SET_COMPARE(handle, channel, compare);
  }

  std::uint32_t MaxValue() { return handle->Init.Period; }
};

#endif// HAL_TIM_MODULE_ENABLED

struct ItmSerialInterface
{
  bool Transmit(std::uint8_t* data, const std::uint32_t data_len)
  {
    for (std::uint32_t i = 0; i < data_len; i++)
    {
      ITM_SendChar(char(data[i]));
    }
    return true;
  }
};

}// namespace St
}// namespace Hal
}// namespace Peripherals

#endif /* PERIPHERALS_INC_PERIPHERALS_HAL_ST_HPP_ */