[WIP] Add actual performance measurement to scheduler

.changesets/scheduler-get-perf.md

@@ -0,0 +1,2 @@
+release: minor
+summary: Implement simple performance gathering with the scheduler

Inc/HALAL/Models/TimerDomain/TimerDomain.hpp

@@ -209,6 +209,26 @@ struct TimerPin {
     ST_LIB::TimerChannel channel;
 };
 
+struct TimerOutputChannelConfig {
+  uint32_t OCMode;        /*!< Specifies the TIM mode.
+                               This parameter can be a value of @ref TIM_Output_Compare_and_PWM_modes */
+
+  uint32_t OCPolarity;    /*!< Specifies the output polarity.
+                               This parameter can be a value of @ref TIM_Output_Compare_Polarity */
+
+  uint32_t OCNPolarity;   /*!< Specifies the complementary output polarity.
+                               This parameter can be a value of @ref TIM_Output_Compare_N_Polarity
+                               @note This parameter is valid only for timer instances supporting break feature. */
+
+  uint32_t OCIdleState;   /*!< Specifies the TIM Output Compare pin state during Idle state.
+                               This parameter can be a value of @ref TIM_Output_Compare_Idle_State
+                               @note This parameter is valid only for timer instances supporting break feature. */
+
+  uint32_t OCNIdleState;  /*!< Specifies the TIM Output Compare pin state during Idle state.
+                               This parameter can be a value of @ref TIM_Output_Compare_N_Idle_State
+                               @note This parameter is valid only for timer instances supporting break feature. */
+};
+
 #ifndef DEFAULT_PWM_FREQUENCY_MODE
 #define DEFAULT_PWM_FREQUENCY_MODE ST_LIB::PWM_Frequency_Mode::PRECISION
 #endif

Inc/HALAL/Services/Communication/UART/UART.hpp

@@ -160,6 +160,16 @@ class UART {
      */
     static bool transmit_polling(uint8_t id, span<uint8_t> data);
 
+    /**@brief	Transmits size bytes by polling.
+     *
+     * @param id Id of the UART
+     * @param data Pointer to data to be sent.
+     * @param length Length of data to be sent.
+     * @return bool Returns true if the packet has been send successfully.
+     * 			    Returns false if the UART is busy or a problem has occurred.
+     */
+    static bool transmit_polling(uint8_t id, uint8_t* data, size_t length);
+
     /**
      * @brief This method request the receive of size bytes
      *        by DMA and interrupts. Thus the data should not be used until

Inc/HALAL/Services/PWM/DualPWM.hpp

@@ -49,14 +49,12 @@ class DualPWM {
             PANIC("Timer instance is not set for DualPWM");
             return;
         }
-        TIM_OC_InitTypeDef sConfigOC = {
+        ST_LIB::TimerOutputChannelConfig sConfigOC = {
             .OCMode = TIM_OCMODE_PWM1,
-            .Pulse = 0,
 
             .OCPolarity = polarity,
             .OCNPolarity = negated_polarity,
 
-            .OCFastMode = TIM_OCFAST_DISABLE,
             .OCIdleState = TIM_OCIDLESTATE_RESET,
             .OCNIdleState = TIM_OCNIDLESTATE_RESET,
         };
@@ -274,6 +272,67 @@ class DualPWM {
             SET_BIT(timer->instance->tim->BDTR, TIM_BDTR_MOE);
         }
     }
+
+    /* NOTE: fast mode is only supported in pwms */
+    inline void enable_fast_mode() {
+      if constexpr (pin.channel == TimerChannel::CHANNEL_1 || pin.channel == TimerChannel::CHANNEL_1_NEGATED) {
+        SET_BIT(this->timer->instance->tim->CCMR1, TIM_CCMR1_OC1FE);
+      } else if constexpr (pin.channel == TimerChannel::CHANNEL_2 || pin.channel == TimerChannel::CHANNEL_2_NEGATED) {
+        SET_BIT(this->timer->instance->tim->CCMR1, TIM_CCMR1_OC2FE);
+      } else if constexpr (pin.channel == TimerChannel::CHANNEL_3 || pin.channel == TimerChannel::CHANNEL_3_NEGATED) {
+        SET_BIT(this->timer->instance->tim->CCMR2, TIM_CCMR2_OC3FE);
+      } else if constexpr (pin.channel == TimerChannel::CHANNEL_4 || pin.channel == TimerChannel::CHANNEL_4_NEGATED) {
+        SET_BIT(this->timer->instance->tim->CCMR2, TIM_CCMR2_OC4FE);
+      } else if constexpr (pin.channel == TimerChannel::CHANNEL_5) {
+        SET_BIT(this->timer->instance->tim->CCMR3, TIM_CCMR3_OC5FE);
+      } else if constexpr (pin.channel == TimerChannel::CHANNEL_6) {
+        SET_BIT(this->timer->instance->tim->CCMR3, TIM_CCMR3_OC6FE);
+      }
+
+      if constexpr (negated_pin.channel == TimerChannel::CHANNEL_1 || negated_pin.channel == TimerChannel::CHANNEL_1_NEGATED) {
+        SET_BIT(this->timer->instance->tim->CCMR1, TIM_CCMR1_OC1FE);
+      } else if constexpr (negated_pin.channel == TimerChannel::CHANNEL_2 || negated_pin.channel == TimerChannel::CHANNEL_2_NEGATED) {
+        SET_BIT(this->timer->instance->tim->CCMR1, TIM_CCMR1_OC2FE);
+      } else if constexpr (negated_pin.channel == TimerChannel::CHANNEL_3 || negated_pin.channel == TimerChannel::CHANNEL_3_NEGATED) {
+        SET_BIT(this->timer->instance->tim->CCMR2, TIM_CCMR2_OC3FE);
+      } else if constexpr (negated_pin.channel == TimerChannel::CHANNEL_4 || negated_pin.channel == TimerChannel::CHANNEL_4_NEGATED) {
+        SET_BIT(this->timer->instance->tim->CCMR2, TIM_CCMR2_OC4FE);
+      } else if constexpr (negated_pin.channel == TimerChannel::CHANNEL_5) {
+        SET_BIT(this->timer->instance->tim->CCMR3, TIM_CCMR3_OC5FE);
+      } else if constexpr (negated_pin.channel == TimerChannel::CHANNEL_6) {
+        SET_BIT(this->timer->instance->tim->CCMR3, TIM_CCMR3_OC6FE);
+      }
+    }
+
+    inline void disable_fast_mode() {
+      if constexpr (pin.channel == TimerChannel::CHANNEL_1 || pin.channel == TimerChannel::CHANNEL_1_NEGATED) {
+        CLEAR_BIT(this->timer->instance->tim->CCMR1, TIM_CCMR1_OC1FE);
+      } else if constexpr (pin.channel == TimerChannel::CHANNEL_2 || pin.channel == TimerChannel::CHANNEL_2_NEGATED) {
+        CLEAR_BIT(this->timer->instance->tim->CCMR1, TIM_CCMR1_OC2FE);
+      } else if constexpr (pin.channel == TimerChannel::CHANNEL_3 || pin.channel == TimerChannel::CHANNEL_3_NEGATED) {
+        CLEAR_BIT(this->timer->instance->tim->CCMR2, TIM_CCMR2_OC3FE);
+      } else if constexpr (pin.channel == TimerChannel::CHANNEL_4 || pin.channel == TimerChannel::CHANNEL_4_NEGATED) {
+        CLEAR_BIT(this->timer->instance->tim->CCMR2, TIM_CCMR2_OC4FE);
+      } else if constexpr (pin.channel == TimerChannel::CHANNEL_5) {
+        CLEAR_BIT(this->timer->instance->tim->CCMR3, TIM_CCMR3_OC5FE);
+      } else if constexpr (pin.channel == TimerChannel::CHANNEL_6) {
+        CLEAR_BIT(this->timer->instance->tim->CCMR3, TIM_CCMR3_OC6FE);
+      }
+
+      if constexpr (negated_pin.channel == TimerChannel::CHANNEL_1 || negated_pin.channel == TimerChannel::CHANNEL_1_NEGATED) {
+        CLEAR_BIT(this->timer->instance->tim->CCMR1, TIM_CCMR1_OC1FE);
+      } else if constexpr (negated_pin.channel == TimerChannel::CHANNEL_2 || negated_pin.channel == TimerChannel::CHANNEL_2_NEGATED) {
+        CLEAR_BIT(this->timer->instance->tim->CCMR1, TIM_CCMR1_OC2FE);
+      } else if constexpr (negated_pin.channel == TimerChannel::CHANNEL_3 || negated_pin.channel == TimerChannel::CHANNEL_3_NEGATED) {
+        CLEAR_BIT(this->timer->instance->tim->CCMR2, TIM_CCMR2_OC3FE);
+      } else if constexpr (negated_pin.channel == TimerChannel::CHANNEL_4 || negated_pin.channel == TimerChannel::CHANNEL_4_NEGATED) {
+        CLEAR_BIT(this->timer->instance->tim->CCMR2, TIM_CCMR2_OC4FE);
+      } else if constexpr (negated_pin.channel == TimerChannel::CHANNEL_5) {
+        CLEAR_BIT(this->timer->instance->tim->CCMR3, TIM_CCMR3_OC5FE);
+      } else if constexpr (negated_pin.channel == TimerChannel::CHANNEL_6) {
+        CLEAR_BIT(this->timer->instance->tim->CCMR3, TIM_CCMR3_OC6FE);
+      }
+    }
 };
 } // namespace ST_LIB
 

Inc/HALAL/Services/PWM/PWM.hpp

@@ -40,14 +40,12 @@ template <const TimerDomain::Timer& dev, const ST_LIB::TimerPin pin> class PWM {
             PANIC("Timer instance is not set for PWM");
             return;
         }
-        TIM_OC_InitTypeDef sConfigOC = {
+        ST_LIB::TimerOutputChannelConfig sConfigOC = {
             .OCMode = TIM_OCMODE_PWM1,
-            .Pulse = 0,
 
             .OCPolarity = polarity,
             .OCNPolarity = negated_polarity,
 
-            .OCFastMode = TIM_OCFAST_DISABLE,
             .OCIdleState = TIM_OCIDLESTATE_RESET,
             .OCNIdleState = TIM_OCNIDLESTATE_RESET,
         };
@@ -153,6 +151,39 @@ template <const TimerDomain::Timer& dev, const ST_LIB::TimerPin pin> class PWM {
 
     inline uint32_t get_frequency() const { return *(this->frequency); }
     inline float get_duty_cycle() const { return *(this->duty_cycle); }
+
+    /* NOTE: fast mode is only supported in pwms */
+    inline void enable_fast_mode() {
+      if constexpr (pin.channel == TimerChannel::CHANNEL_1 || pin.channel == TimerChannel::CHANNEL_1_NEGATED) {
+        SET_BIT(this->timer->instance->tim->CCMR1, TIM_CCMR1_OC1FE);
+      } else if constexpr (pin.channel == TimerChannel::CHANNEL_2 || pin.channel == TimerChannel::CHANNEL_2_NEGATED) {
+        SET_BIT(this->timer->instance->tim->CCMR1, TIM_CCMR1_OC2FE);
+      } else if constexpr (pin.channel == TimerChannel::CHANNEL_3 || pin.channel == TimerChannel::CHANNEL_3_NEGATED) {
+        SET_BIT(this->timer->instance->tim->CCMR2, TIM_CCMR2_OC3FE);
+      } else if constexpr (pin.channel == TimerChannel::CHANNEL_4 || pin.channel == TimerChannel::CHANNEL_4_NEGATED) {
+        SET_BIT(this->timer->instance->tim->CCMR2, TIM_CCMR2_OC4FE);
+      } else if constexpr (pin.channel == TimerChannel::CHANNEL_5) {
+        SET_BIT(this->timer->instance->tim->CCMR3, TIM_CCMR3_OC5FE);
+      } else if constexpr (pin.channel == TimerChannel::CHANNEL_6) {
+        SET_BIT(this->timer->instance->tim->CCMR3, TIM_CCMR3_OC6FE);
+      }
+    }
+
+    inline void disable_fast_mode() {
+      if constexpr (pin.channel == TimerChannel::CHANNEL_1 || pin.channel == TimerChannel::CHANNEL_1_NEGATED) {
+        CLEAR_BIT(this->timer->instance->tim->CCMR1, TIM_CCMR1_OC1FE);
+      } else if constexpr (pin.channel == TimerChannel::CHANNEL_2 || pin.channel == TimerChannel::CHANNEL_2_NEGATED) {
+        CLEAR_BIT(this->timer->instance->tim->CCMR1, TIM_CCMR1_OC2FE);
+      } else if constexpr (pin.channel == TimerChannel::CHANNEL_3 || pin.channel == TimerChannel::CHANNEL_3_NEGATED) {
+        CLEAR_BIT(this->timer->instance->tim->CCMR2, TIM_CCMR2_OC3FE);
+      } else if constexpr (pin.channel == TimerChannel::CHANNEL_4 || pin.channel == TimerChannel::CHANNEL_4_NEGATED) {
+        CLEAR_BIT(this->timer->instance->tim->CCMR2, TIM_CCMR2_OC4FE);
+      } else if constexpr (pin.channel == TimerChannel::CHANNEL_5) {
+        CLEAR_BIT(this->timer->instance->tim->CCMR3, TIM_CCMR3_OC5FE);
+      } else if constexpr (pin.channel == TimerChannel::CHANNEL_6) {
+        CLEAR_BIT(this->timer->instance->tim->CCMR3, TIM_CCMR3_OC6FE);
+      }
+    }
 };
 } // namespace ST_LIB
 

Inc/HALAL/Services/Time/Scheduler.hpp

@@ -17,7 +17,7 @@
 #endif
 
 #include "stm32h7xx_ll_tim_wrapper.h"
-#include "HALAL/Models/Packets/Packet.hpp"
+#include "HALAL/Services/Communication/UART/UART.hpp"
 
 #include <array>
 #include <cstdint>
@@ -27,6 +27,25 @@
 #include "stm32h7xx_hal_tim.h"
 #endif
 
+#ifndef SIM_ON
+//#define SCHEDULER_GET_LAST_N_TASKS
+#else
+struct UART {
+    struct Peripheral {
+        uint8_t ignore0;
+    };
+    uint8_t ignore1;
+};
+#endif
+
+#if !defined(SCHEDULER_GET_LAST_N_TASKS) && !defined(SLOW_CHECK_USE_READY_BITMAP)
+#define SLOW_CHECK_USE_READY_BITMAP
+#endif
+
+#if !defined(SCHEDULER_GET_LAST_N_TASKS_COUNT)
+#define SCHEDULER_GET_LAST_N_TASKS_COUNT 64
+#endif
+
 extern TIM_TypeDef* Scheduler_global_timer;
 void Scheduler_global_timer_callback(void* raw);
 void Scheduler_start(void);
@@ -38,8 +57,12 @@ struct Scheduler {
     // if it isn't it could theoretically be used as an id in set_timeout
     static constexpr uint32_t INVALID_ID = 2 * kMaxTasks;
 
-    // temporary, will be removed
-    [[deprecated]] static inline void start() {}
+    /* gets and checks the performance gathering requirements
+     * @param tim32bit: A timer or null if not gathering perf info (preferrably 32 bit)
+     * @return If the given arguments are correct
+     */
+    static bool init_perf(TIM_TypeDef* tim32bit, UART::Peripheral* uart);
+
     static void update();
     static uint64_t get_global_tick();
 

Inc/HALAL/Services/Time/TimerWrapper.hpp

@@ -564,7 +564,7 @@ template <const TimerDomain::Timer& dev> struct TimerWrapper {
     /* NOTE(vic): Both config_output_compare_channel and config_input_compare_channel
      *            Could probably be done better if not using TIM_[OC/IC]_InitTypeDef structures */
     template <ST_LIB::TimerChannel ch>
-    inline void config_output_compare_channel(const TIM_OC_InitTypeDef* OC_Config) {
+    inline void config_output_compare_channel(const ST_LIB::TimerOutputChannelConfig* OC_Config) {
         if constexpr (!((ch == TimerChannel::CHANNEL_1) || (ch == TimerChannel::CHANNEL_2) ||
                         (ch == TimerChannel::CHANNEL_3) || (ch == TimerChannel::CHANNEL_4) ||
                         (ch == TimerChannel::CHANNEL_5) || (ch == TimerChannel::CHANNEL_6))) {
@@ -700,19 +700,6 @@ template <const TimerDomain::Timer& dev> struct TimerWrapper {
             instance->tim->CCMR3 = tmpccmrx;
         }
 
-        if constexpr (ch == TimerChannel::CHANNEL_1)
-            instance->tim->CCR1 = OC_Config->Pulse;
-        else if constexpr (ch == TimerChannel::CHANNEL_2)
-            instance->tim->CCR2 = OC_Config->Pulse;
-        else if constexpr (ch == TimerChannel::CHANNEL_3)
-            instance->tim->CCR3 = OC_Config->Pulse;
-        else if constexpr (ch == TimerChannel::CHANNEL_4)
-            instance->tim->CCR4 = OC_Config->Pulse;
-        else if constexpr (ch == TimerChannel::CHANNEL_5)
-            instance->tim->CCR5 = OC_Config->Pulse;
-        else if constexpr (ch == TimerChannel::CHANNEL_6)
-            instance->tim->CCR6 = OC_Config->Pulse;
-
         instance->tim->CCER = tmpccer;
     }
 

Src/HALAL/Services/Communication/UART/UART.cpp

@@ -64,6 +64,10 @@ bool UART::transmit_polling(uint8_t id, uint8_t data) {
 }
 
 bool UART::transmit_polling(uint8_t id, span<uint8_t> data) {
+    return UART::transmit_polling(id, data.data(), data.size());
+}
+
+bool UART::transmit_polling(uint8_t id, uint8_t* data, size_t length) {
     if (not UART::registered_uart.contains(id))
         return false; // TODO: Error handler
 
@@ -72,7 +76,7 @@ bool UART::transmit_polling(uint8_t id, span<uint8_t> data) {
     if ((handle->ErrorCode & TXBUSYMASK) == 1)
         return false;
 
-    if (HAL_UART_Transmit(handle, data.data(), data.size(), 10) != HAL_OK) {
+    if (HAL_UART_Transmit(handle, data, length, 10) != HAL_OK) {
         return false; // TODO: Warning, Error during transmision
     }