Upload method support for Nucleo WL55JC, fix common tickers test for STM32 (#522)

Author: multiplemonomials

.gitignore

@@ -107,4 +107,8 @@ cmake-variants.yaml
 CMakeUserPresets.json
 
 # CLion
-cmake-build-*/
+cmake-build-*/
+
+# Test executor runs
+test-executor-build/
+test-executor-results/

hal/include/hal/lp_ticker_api.h

@@ -188,6 +188,11 @@ uint32_t lp_ticker_read(void);
  *    we want to wake up far in the future, we will instead set a wakeup for about (rollover period/2) ticks
  *    in the future, then reschedule the timer for the correct time.
  *
+ * @note Some hardware implementations do not support setting an interrupt for after the ticker rolls over
+ *   (e.g. the STM32 LPTIM, which implements a >= comparison for interrupts rather than an == comparison).
+ *   For these implementations, it is acceptable to schedule the interrupt for the time that the ticker
+ *   rolls over. Higher level code will then reschedule the interrupt for the correct time.
+ *
  * Calling this function with timestamp of more than the supported
  * number of bits returned by ::lp_ticker_get_info results in undefined
  * behavior.

hal/include/hal/us_ticker_api.h

@@ -247,6 +247,11 @@ uint32_t (us_ticker_read)(void);
  *    we want to wake up far in the future, we will instead set a wakeup for about (rollover period/2) ticks
  *    in the future, then reschedule the timer for the correct time.
  *
+ * @note Some hardware implementations do not support setting an interrupt for after the ticker rolls over
+  *   (e.g. the STM32 LPTIM, which implements a >= comparison for interrupts rather than an == comparison).
+  *   For these implementations, it is acceptable to schedule the interrupt for the time that the ticker
+  *   rolls over. Higher level code will then reschedule the interrupt for the correct time.
+ *
  * Calling this function with timestamp of more than the supported
  * number of bits returned by ::us_ticker_get_info results in undefined
  * behavior.

hal/tests/TESTS/mbed_hal/common_tickers/main.cpp

@@ -398,8 +398,8 @@ void ticker_overflow_test(void)
 
     const uint32_t after_overflow = intf->read();
 
-    // Interrupt should NOT have fired yet
-    TEST_ASSERT_EQUAL_INT(0, intFlag);
+    // Note: at this point the interrupt may or may not have fired, depending on implementation.
+    // See lp_ticker_set_interrupt() docs for details.
 
     /* Now we are just after overflow. Wait a while assuming that ticker still counts. */
     while (intf->read() < isrTicksAfterOverflow + TICKER_DELTA) {

hal/tests/TESTS/mbed_hal/rtc_reset/CMakeLists.txt

@@ -5,7 +5,7 @@ if(NOT "DEVICE_RTC=1" IN_LIST MBED_TARGET_DEFINITIONS)
 	set(TEST_SKIPPED "RTC is not supported for this target")
 endif()
 
-if(NOT "TARGET_K64F" IN_LIST MBED_TARGET_DEFINITIONS)
+if("TARGET_K64F" IN_LIST MBED_TARGET_DEFINITIONS)
 	# Currently this test works OK, but causes the next 5-10 programming operations with OpenOCD to fail
 	set(TEST_SKIPPED "This test causes issues with this target's debug interface")
 endif()

targets/TARGET_STM/lp_ticker.c

@@ -123,7 +123,7 @@
 
 #endif // (DUAL_CORE) && (TARGET_STM32H7)
 
-
+#define LPTIM_PERIOD 0xFFFF
 
 LPTIM_HandleTypeDef LptimHandle;
 
@@ -267,7 +267,7 @@ void lp_ticker_init(void)
     LptimHandle.Init.Trigger.ActiveEdge = LPTIM_ACTIVEEDGE_FALLING;
 #endif
 #if defined(TARGET_STM32U5) || defined(TARGET_STM32U0)
-    LptimHandle.Init.Period = 0xFFFF;
+    LptimHandle.Init.Period = LPTIM_PERIOD;
 #endif
 #if defined (LPTIM_TRIGSAMPLETIME_DIRECTTRANSITION)
     LptimHandle.Init.Trigger.SampleTime = LPTIM_TRIGSAMPLETIME_DIRECTTRANSITION;
@@ -333,7 +333,7 @@ void lp_ticker_init(void)
     __HAL_LPTIM_ENABLE_IT(&LptimHandle, LPTIM_IT_CMPM);
     __HAL_LPTIM_ENABLE_IT(&LptimHandle, LPTIM_IT_CMPOK);
 
-    HAL_LPTIM_Counter_Start(&LptimHandle, 0xFFFF);
+    HAL_LPTIM_Counter_Start(&LptimHandle, LPTIM_PERIOD);
 
     /* Need to write a compare value in order to get LPTIM_FLAG_CMPOK in set_interrupt */
     __HAL_LPTIM_CLEAR_FLAG(&LptimHandle, LPTIM_FLAG_CMPOK);
@@ -465,9 +465,9 @@ void lp_ticker_set_interrupt(timestamp_t timestamp)
 
         /* If this target timestamp is close to the roll over of the ticker counter
          * and current tick is also close to the roll over, then we are in danger zone.*/
-        if (((0xFFFF - LP_TIMER_SAFE_GUARD < timestamp) || (timestamp < LP_TIMER_SAFE_GUARD)) && (0xFFFA < last_read_counter)) {
+        if (((LPTIM_PERIOD - LP_TIMER_SAFE_GUARD < timestamp) || (timestamp < LP_TIMER_SAFE_GUARD)) && (0xFFFA < last_read_counter)) {
             roll_over_flag = true;
-            /* Change the lp_delayed_counter buffer in that way so the value of (0xFFFF - LP_TIMER_SAFE_GUARD) is equal to 0.
+            /* Change the lp_delayed_counter buffer in that way so the value of (LPTIM_PERIOD - LP_TIMER_SAFE_GUARD) is equal to 0.
              * By doing this it is easy to check if the value of timestamp get outdated by delaying its programming
              * For example if LP_TIMER_SAFE_GUARD is set to 5
              * (0xFFFA + LP_TIMER_SAFE_GUARD + 1) & 0xFFFF = 0
@@ -499,23 +499,26 @@ void lp_ticker_set_interrupt(timestamp_t timestamp)
             }
         }
 
-        /* Then check if this target timestamp is not in the past, or close to wrap-around
+        /* Then check if this target timestamp is in the past and we are not close to wrap-around.
          * Let's assume last_read_counter = 0xFFFC, and we want to program timestamp = 0x100
          * The interrupt will not fire before the CMPOK flag is OK, so there are 2 cases:
          * in case CMPOK flag is set by HW after or at wrap-around, then this will fire only @0x100
          * in case CMPOK flag is set before, it will indeed fire early, as for the wrap-around case.
+         * (this is because the comparison is implemented as ">= CMP" rather than "== CMP" as indicated
+         * by the reference manual, see https://community.st.com/t5/stm32-mcus-embedded-software/lptim-compare-interruption-sometimes-is-triggered-when-it-should/td-p/85513 )
+         *
          * But that will take at least 3 cycles and the interrupt fires at the end of a cycle.
          * In our case 0xFFFC + 3 => at the transition between 0xFFFF and 0.
          * If last_read_counter was 0xFFFB, it should be at the transition between 0xFFFE and 0xFFFF.
          * There might be crossing cases where it would also fire @ 0xFFFE, but by the time we read the counter,
          * it may already have moved to the next one, so for now we've taken this as margin of error.
          */
-        if ((timestamp < last_read_counter) && (last_read_counter <= (0xFFFF - LP_TIMER_SAFE_GUARD))) {
-            /*  Workaround, because limitation */
+        if ((timestamp < last_read_counter) && (last_read_counter <= (LPTIM_PERIOD - LP_TIMER_SAFE_GUARD))) {
+            /* Workaround, because limitation. Trigger the interrupt when we are about to roll over. */
 #if defined(LPTIM_CHANNEL_1)
-            __HAL_LPTIM_COMPARE_SET(&LptimHandle, LPTIM_CHANNEL_1, ~0);
+            __HAL_LPTIM_COMPARE_SET(&LptimHandle, LPTIM_CHANNEL_1, LPTIM_PERIOD);
 #else
-            __HAL_LPTIM_COMPARE_SET(&LptimHandle, ~0);
+            __HAL_LPTIM_COMPARE_SET(&LptimHandle, LPTIM_PERIOD);
 #endif
         } else {
             /*  It is safe to write */
@@ -524,7 +527,6 @@ void lp_ticker_set_interrupt(timestamp_t timestamp)
 #else
             __HAL_LPTIM_COMPARE_SET(&LptimHandle, timestamp);
 #endif
-
         }
 
         /* We just programed the CMP so we'll need to wait for cmpok before

targets/upload_method_cfg/NUCLEO_WL55JC.cmake

@@ -0,0 +1,46 @@
+# Mbed OS upload method configuration file for target NUCLEO_WL55JC.
+# To change any of these parameters from their default values, set them in your build script between where you
+# include mbed_toolchain_setup and where you add mbed os as a subdirectory.
+
+# Notes:
+# 1. Using this device with PyOCD requires installing a pack:
+#    $ pyocd pack install stm32wl55jcix
+#    However, in my testing, PyOCD appeared to flash successfully but the code does not run correctly.
+
+
+# General config parameters
+# -------------------------------------------------------------
+set(UPLOAD_METHOD_DEFAULT MBED)
+
+# Config options for MBED
+# -------------------------------------------------------------
+
+set(MBED_UPLOAD_ENABLED TRUE)
+set(MBED_RESET_BAUDRATE 115200)
+
+# Config options for PYOCD
+# -------------------------------------------------------------
+
+#set(PYOCD_UPLOAD_ENABLED TRUE)
+#set(PYOCD_TARGET_NAME stm32wl55jcix)
+#set(PYOCD_CLOCK_SPEED 4000k)
+
+# Config options for OPENOCD
+# -------------------------------------------------------------
+
+set(OPENOCD_UPLOAD_ENABLED TRUE)
+set(OPENOCD_CHIP_CONFIG_COMMANDS
+    -f ${CMAKE_CURRENT_LIST_DIR}/openocd_cfgs/st_nucleo_wlx.cfg)
+
+# Config options for STM32Cube
+# -------------------------------------------------------------
+
+set(STM32CUBE_UPLOAD_ENABLED TRUE)
+set(STM32CUBE_CONNECT_COMMAND -c port=SWD reset=HWrst)
+set(STM32CUBE_GDBSERVER_ARGS --swd)
+
+# Config options for stlink
+# -------------------------------------------------------------
+
+set(STLINK_UPLOAD_ENABLED TRUE)
+set(STLINK_ARGS --connect-under-reset)

targets/upload_method_cfg/openocd_cfgs/st_nucleo_wlx.cfg

@@ -0,0 +1,12 @@
+# OpenOCD config file for Nucleo WLx boards
+
+adapter driver hla
+hla_layout stlink
+hla_device_desc "ST-LINK/V3"
+
+# ST-LINK V3 0483:374e
+hla_vid_pid 0x0483 0x374e
+
+transport select hla_swd
+
+source [find target/stm32wlx.cfg]