Yann/feature/haptic/coredac

config/mbed_app.json

@@ -8,6 +8,10 @@
 		"USE_HAL_TIM_REGISTER_CALLBACKS": {
 			"macro_name": "USE_HAL_TIM_REGISTER_CALLBACKS",
 			"value": "1U"
+		},
+		"USE_HAL_DAC_REGISTER_CALLBACKS": {
+			"macro_name": "USE_HAL_DAC_REGISTER_CALLBACKS",
+			"value": "1U"
 		}
 	},
 	"target_overrides": {

drivers/CoreDAC/CMakeLists.txt

@@ -12,6 +12,7 @@ target_include_directories(CoreDAC
 target_sources(CoreDAC
 	PRIVATE
 	source/CoreSTM32HalBasicTimer.cpp
+	source/CoreDAC.cpp
 )
 
 if(NOT(${CMAKE_PROJECT_NAME} STREQUAL "LekaOSUnitTests"))

drivers/CoreDAC/include/CoreDAC.h

@@ -0,0 +1,49 @@
+// Leka - LekaOS
+// Copyright 2024 APF France handicap
+// SPDX-License-Identifier: Apache-2.0
+
+#pragma once
+
+#include <array>
+#include <functional>
+#include <span>
+
+#include "interface/drivers/DAC.h"
+#include "interface/drivers/STM32Hal.h"
+#include "interface/drivers/STM32HalBasicTimer.h"
+
+namespace leka {
+
+class CoreDAC : public interface::DACDMA
+{
+  public:
+	CoreDAC(interface::STM32Hal &hal, interface::STM32HalBasicTimer &hal_timer);
+
+	[[nodiscard]] auto getHandle() -> DAC_HandleTypeDef & final;
+
+	void initialize() final;
+	void terminate() final;
+
+	void registerDataToPlay(std::span<uint16_t> data) final;
+	void registerDMACallbacks(std::function<void()> const &on_half_transfer,
+							  std::function<void()> const &on_complete_transfer) final;
+
+	void start() final;
+	void stop() final;
+
+  private:
+	void _registerMspCallbacks();
+	void _initializeDMA();
+
+	interface::STM32Hal &_hal;
+	interface::STM32HalBasicTimer &_hal_timer;
+
+	DAC_HandleTypeDef _hdac {};
+	DMA_HandleTypeDef _hdma {};
+
+	std::span<uint16_t> _data;
+	std::function<void()> _on_half_transfer {};
+	std::function<void()> _on_complete_transfer {};
+};
+
+}	// namespace leka

drivers/CoreDAC/source/CoreDAC.cpp

@@ -0,0 +1,116 @@
+// Leka - LekaOS
+// Copyright 2024 APF France handicap
+// SPDX-License-Identifier: Apache-2.0
+
+#include "CoreDAC.h"
+
+using namespace leka;
+
+CoreDAC::CoreDAC(interface::STM32Hal &hal, interface::STM32HalBasicTimer &hal_timer) : _hal(hal), _hal_timer(hal_timer)
+{
+	_hdac.Instance = DAC;
+}
+
+auto CoreDAC::getHandle() -> DAC_HandleTypeDef &
+{
+	return _hdac;
+}
+
+void CoreDAC::initialize()
+{
+	_registerMspCallbacks();
+
+	_hal.HAL_DAC_Init(&_hdac);
+
+	DAC_ChannelConfTypeDef config = {};
+	config.DAC_OutputBuffer		  = DAC_OUTPUTBUFFER_ENABLE;
+	_hal_timer.linkDACTimer(&config);
+	_hal.HAL_DAC_ConfigChannel(&_hdac, &config, DAC_CHANNEL_1);
+
+	static const auto &self = *this;
+	_hal.HAL_DAC_RegisterCallback(&_hdac, HAL_DAC_CH1_HALF_COMPLETE_CB_ID,
+								  []([[maybe_unused]] DAC_HandleTypeDef *hdac) {
+									  if (self._on_half_transfer != nullptr) {
+										  self._on_half_transfer();
+									  }
+								  });
+	_hal.HAL_DAC_RegisterCallback(&_hdac, HAL_DAC_CH1_COMPLETE_CB_ID, []([[maybe_unused]] DAC_HandleTypeDef *hdac) {
+		if (self._on_complete_transfer != nullptr) {
+			self._on_complete_transfer();
+		}
+	});
+}
+
+void CoreDAC::terminate()
+{
+	_hal.HAL_DAC_DeInit(&_hdac);
+}
+
+void CoreDAC::registerDataToPlay(std::span<uint16_t> data)
+{
+	_data = data;
+}
+
+void CoreDAC::registerDMACallbacks(std::function<void()> const &on_half_transfer,
+								   std::function<void()> const &on_complete_transfer)
+{
+	_on_half_transfer	  = on_half_transfer;
+	_on_complete_transfer = on_complete_transfer;
+}
+
+void CoreDAC::start()
+{
+	_hal_timer.start();
+	_hal.HAL_DAC_Start_DMA(&_hdac, DAC_CHANNEL_1, reinterpret_cast<uint32_t *>(_data.data()), _data.size(),
+						   DAC_ALIGN_12B_R);
+}
+
+void CoreDAC::stop()
+{
+	_hal.HAL_DAC_Stop_DMA(&_hdac, DAC_CHANNEL_1);
+}
+
+void CoreDAC::_registerMspCallbacks()
+{
+	static auto &self = *this;
+
+	_hal.HAL_DAC_RegisterCallback(&_hdac, HAL_DAC_MSPINIT_CB_ID, []([[maybe_unused]] DAC_HandleTypeDef *hdac) {
+		__HAL_LINKDMA(&self._hdac, DMA_Handle1, self._hdma);
+		self._initializeDMA();
+
+		self._hal.HAL_RCC_DAC_CLK_ENABLE();
+	});
+
+	_hal.HAL_DAC_RegisterCallback(&_hdac, HAL_DAC_MSPDEINIT_CB_ID, []([[maybe_unused]] DAC_HandleTypeDef *hdac) {
+		self._hal.HAL_DMA_DeInit(&self._hdma);
+
+		self._hal.HAL_RCC_DAC_CLK_DISABLE();
+	});
+}
+
+void CoreDAC::_initializeDMA()
+{
+	_hal.HAL_RCC_DMA1_CLK_ENABLE();
+
+	_hal.HAL_NVIC_SetPriority(DMA1_Stream5_IRQn, 3, 0);
+	_hal.HAL_NVIC_EnableIRQ(DMA1_Stream5_IRQn);
+
+	_hdma.Instance = DMA1_Stream5;	 // DMA1_Stream5 is the only DMA channel for DAC
+
+	_hdma.Init.Channel			   = DMA_CHANNEL_7;
+	_hdma.Init.Direction		   = DMA_MEMORY_TO_PERIPH;
+	_hdma.Init.PeriphInc		   = DMA_PINC_DISABLE;
+	_hdma.Init.MemInc			   = DMA_MINC_ENABLE;
+	_hdma.Init.PeriphDataAlignment = DMA_PDATAALIGN_HALFWORD;
+	_hdma.Init.MemDataAlignment	   = DMA_MDATAALIGN_HALFWORD;
+	_hdma.Init.Mode				   = DMA_CIRCULAR;
+	_hdma.Init.Priority			   = DMA_PRIORITY_LOW;
+	_hdma.Init.FIFOMode			   = DMA_FIFOMODE_ENABLE;
+	_hdma.Init.FIFOThreshold	   = DMA_FIFO_THRESHOLD_HALFFULL;
+	_hdma.Init.MemBurst			   = DMA_MBURST_SINGLE;
+	// Single mem burst is more ressource consuming than 4 burst or more
+	// However the buffer apparently needs to be of a size multiple of the burst mode chosen
+	_hdma.Init.PeriphBurst = DMA_PBURST_SINGLE;
+
+	_hal.HAL_DMA_Init(&_hdma);
+}

drivers/CoreDAC/source/HAL_IRQHandlers.cpp

@@ -1,10 +1,12 @@
+#include "CoreDAC.h"
 #include "CoreSTM32HalBasicTimer.h"
 
 extern "C" {
 
 namespace audio::internal {
 	extern leka::CoreSTM32HalBasicTimer hal_timer;
-}
+	extern leka::CoreDAC coredac;
+}	// namespace audio::internal
 
 void TIM6_DAC_IRQHandler()
 {
@@ -16,4 +18,9 @@ void TIM7_DAC_IRQHandler()
 	HAL_TIM_IRQHandler(&audio::internal::hal_timer.getHandle());
 }
 
+void DMA1_Stream5_IRQHandler()
+{
+	HAL_DMA_IRQHandler(audio::internal::coredac.getHandle().DMA_Handle1);
+}
+
 }	// extern "C"

drivers/CoreSTM32Hal/include/CoreSTM32Hal.h

@@ -29,8 +29,12 @@ class CoreSTM32Hal : public interface::STM32Hal
 
 	void HAL_RCC_FMC_CLK_ENABLE() final;
 
+	void HAL_RCC_DMA1_CLK_ENABLE() final;
 	void HAL_RCC_DMA2_CLK_ENABLE() final;
 
+	void HAL_RCC_DAC_CLK_ENABLE() final;
+	void HAL_RCC_DAC_CLK_DISABLE() final;
+
 	void HAL_RCC_JPEG_CLK_ENABLE() final;
 	void HAL_RCC_JPEG_FORCE_RESET() final;
 	void HAL_RCC_JPEG_RELEASE_RESET() final;
@@ -118,6 +122,16 @@ class CoreSTM32Hal : public interface::STM32Hal
 	auto HAL_TIM_Base_Start_IT(TIM_HandleTypeDef *htim) -> HAL_StatusTypeDef final;
 	auto HAL_TIM_Base_Stop_IT(TIM_HandleTypeDef *htim) -> HAL_StatusTypeDef final;
 	auto HAL_TIM_Base_DeInit(TIM_HandleTypeDef *htim) -> HAL_StatusTypeDef final;
+
+	auto HAL_DAC_Init(DAC_HandleTypeDef *hdac) -> HAL_StatusTypeDef final;
+	auto HAL_DAC_ConfigChannel(DAC_HandleTypeDef *hdac, DAC_ChannelConfTypeDef *sConfig, uint32_t Channel)
+		-> HAL_StatusTypeDef final;
+	auto HAL_DAC_RegisterCallback(DAC_HandleTypeDef *hdac, HAL_DAC_CallbackIDTypeDef CallbackID,
+								  pDAC_CallbackTypeDef pCallback) -> HAL_StatusTypeDef final;
+	auto HAL_DAC_Start_DMA(DAC_HandleTypeDef *hdac, uint32_t Channel, uint32_t *pData, uint32_t Length,
+						   uint32_t Alignment) -> HAL_StatusTypeDef final;
+	auto HAL_DAC_Stop_DMA(DAC_HandleTypeDef *hdac, uint32_t Channel) -> HAL_StatusTypeDef final;
+	auto HAL_DAC_DeInit(DAC_HandleTypeDef *hdac) -> HAL_StatusTypeDef final;
 };
 
 }	// namespace leka

drivers/CoreSTM32Hal/source/CoreSTM32Hal.cpp

@@ -66,11 +66,26 @@ void CoreSTM32Hal::HAL_RCC_FMC_CLK_ENABLE()
 	__HAL_RCC_FMC_CLK_ENABLE();	  // NOLINT
 }
 
+void CoreSTM32Hal::HAL_RCC_DMA1_CLK_ENABLE()
+{
+	__HAL_RCC_DMA1_CLK_ENABLE();   // NOLINT
+}
+
 void CoreSTM32Hal::HAL_RCC_DMA2_CLK_ENABLE()
 {
 	__HAL_RCC_DMA2_CLK_ENABLE();   // NOLINT
 }
 
+void CoreSTM32Hal::HAL_RCC_DAC_CLK_ENABLE()
+{
+	__HAL_RCC_DAC_CLK_ENABLE();	  // NOLINT
+}
+
+void CoreSTM32Hal::HAL_RCC_DAC_CLK_DISABLE()
+{
+	__HAL_RCC_DAC_CLK_DISABLE();   // NOLINT
+}
+
 void CoreSTM32Hal::HAL_RCC_JPEG_CLK_ENABLE()
 {
 	__HAL_RCC_JPEG_CLK_ENABLE();   // NOLINT
@@ -363,4 +378,37 @@ auto CoreSTM32Hal::HAL_TIM_Base_DeInit(TIM_HandleTypeDef *htim) -> HAL_StatusTyp
 	return ::HAL_TIM_Base_DeInit(htim);
 }
 
+auto CoreSTM32Hal::HAL_DAC_Init(DAC_HandleTypeDef *hdac) -> HAL_StatusTypeDef
+{
+	return ::HAL_DAC_Init(hdac);
+}
+
+auto CoreSTM32Hal::HAL_DAC_ConfigChannel(DAC_HandleTypeDef *hdac, DAC_ChannelConfTypeDef *sConfig, uint32_t Channel)
+	-> HAL_StatusTypeDef
+{
+	return ::HAL_DAC_ConfigChannel(hdac, sConfig, Channel);
+}
+
+auto CoreSTM32Hal::HAL_DAC_RegisterCallback(DAC_HandleTypeDef *hdac, HAL_DAC_CallbackIDTypeDef CallbackID,
+											pDAC_CallbackTypeDef pCallback) -> HAL_StatusTypeDef
+{
+	return ::HAL_DAC_RegisterCallback(hdac, CallbackID, pCallback);
+}
+
+auto CoreSTM32Hal::HAL_DAC_Start_DMA(DAC_HandleTypeDef *hdac, uint32_t Channel, uint32_t *pData, uint32_t Length,
+									 uint32_t Alignment) -> HAL_StatusTypeDef
+{
+	return ::HAL_DAC_Start_DMA(hdac, Channel, pData, Length, Alignment);
+}
+
+auto CoreSTM32Hal::HAL_DAC_Stop_DMA(DAC_HandleTypeDef *hdac, uint32_t Channel) -> HAL_StatusTypeDef
+{
+	return ::HAL_DAC_Stop_DMA(hdac, Channel);
+}
+
+auto CoreSTM32Hal::HAL_DAC_DeInit(DAC_HandleTypeDef *hdac) -> HAL_StatusTypeDef
+{
+	return ::HAL_DAC_DeInit(hdac);
+}
+
 }	// namespace leka

include/interface/drivers/DAC.h

@@ -0,0 +1,38 @@
+// Leka - LekaOS
+// Copyright 2024 APF France handicap
+// SPDX-License-Identifier: Apache-2.0
+
+#pragma once
+
+#include <functional>
+#include <span>
+
+#include "interface/drivers/STM32Hal.h"
+
+namespace leka::interface {
+
+class DACBase
+{
+  public:
+	virtual ~DACBase() = default;
+
+	[[nodiscard]] virtual auto getHandle() -> DAC_HandleTypeDef & = 0;
+
+	virtual void initialize() = 0;
+	virtual void terminate()  = 0;
+
+	virtual void start() = 0;
+	virtual void stop()	 = 0;
+};
+
+class DACDMA : public DACBase
+{
+  public:
+	virtual ~DACDMA() = default;
+
+	virtual void registerDataToPlay(std::span<uint16_t> data)							 = 0;
+	virtual void registerDMACallbacks(std::function<void()> const &on_half_transfer,
+									  std::function<void()> const &on_complete_transfer) = 0;
+};
+
+}	// namespace leka::interface

include/interface/drivers/STM32Hal.h

@@ -29,8 +29,12 @@ class STM32Hal
 
 	virtual void HAL_RCC_FMC_CLK_ENABLE() = 0;
 
+	virtual void HAL_RCC_DMA1_CLK_ENABLE() = 0;
 	virtual void HAL_RCC_DMA2_CLK_ENABLE() = 0;
 
+	virtual void HAL_RCC_DAC_CLK_ENABLE()  = 0;
+	virtual void HAL_RCC_DAC_CLK_DISABLE() = 0;
+
 	virtual void HAL_RCC_JPEG_CLK_ENABLE()	  = 0;
 	virtual void HAL_RCC_JPEG_FORCE_RESET()	  = 0;
 	virtual void HAL_RCC_JPEG_RELEASE_RESET() = 0;
@@ -121,6 +125,16 @@ class STM32Hal
 	virtual auto HAL_TIM_Base_Start_IT(TIM_HandleTypeDef *htim) -> HAL_StatusTypeDef		   = 0;
 	virtual auto HAL_TIM_Base_Stop_IT(TIM_HandleTypeDef *htim) -> HAL_StatusTypeDef			   = 0;
 	virtual auto HAL_TIM_Base_DeInit(TIM_HandleTypeDef *htim) -> HAL_StatusTypeDef			   = 0;
+
+	virtual auto HAL_DAC_Init(DAC_HandleTypeDef *hdac) -> HAL_StatusTypeDef = 0;
+	virtual auto HAL_DAC_ConfigChannel(DAC_HandleTypeDef *hdac, DAC_ChannelConfTypeDef *sConfig, uint32_t Channel)
+		-> HAL_StatusTypeDef																	  = 0;
+	virtual auto HAL_DAC_RegisterCallback(DAC_HandleTypeDef *hdac, HAL_DAC_CallbackIDTypeDef CallbackID,
+										  pDAC_CallbackTypeDef pCallback) -> HAL_StatusTypeDef	  = 0;
+	virtual auto HAL_DAC_Start_DMA(DAC_HandleTypeDef *hdac, uint32_t Channel, uint32_t *pData, uint32_t Length,
+								   uint32_t Alignment) -> HAL_StatusTypeDef						  = 0;
+	virtual auto HAL_DAC_Stop_DMA(DAC_HandleTypeDef *hdac, uint32_t Channel) -> HAL_StatusTypeDef = 0;
+	virtual auto HAL_DAC_DeInit(DAC_HandleTypeDef *hdac) -> HAL_StatusTypeDef					  = 0;
 };
 
 }	// namespace leka::interface

tests/unit/headers/mbed/mbed_config.h

@@ -289,6 +289,7 @@
 #define TARGET_LSE_DRIVE_LOAD_LEVEL										  RCC_LSEDRIVE_LOW	 // set by target:MCU_STM32F7
 #define USE_HAL_JPEG_REGISTER_CALLBACKS									  1U				 // set by application
 #define USE_HAL_TIM_REGISTER_CALLBACKS									  1U				 // set by application
+#define USE_HAL_DAC_REGISTER_CALLBACKS									  1U				 // set by application
 // Macros
 #define WSF_MS_PER_TICK 1	// defined by library:cordio
 #define _RTE_				// defined by library:rtos