[clock] Refactor modules and add user-defined literals

This refactors the `:platform:clock` and related modules to remove legacy code
and simplify module partitioning and adds user-defined literals for baudrate,
bitrate and frequency.

Structural changes (breaking):
- Renamed `:platform:clock.cortex` -> `:platform:systick`. Moved `modm_clock.cpp`
  to `:platform:cortex-m` module
- Moved `modm::platform::ClockControl` for STM32 to `:platform:rcc` module.
- `modm:platform:clock` now is a module that contains common code.
- moved flash wait-state tables into modm-devices.

Refactoring (breaking):
- Renamed `modm::platform::ClockControl` -> `modm::platform::Rcc`.
- Renamed `modm::cortex::SysTickTimer` -> `modm::platform::SysTickTimer`.
- Refactored `ClockControl::setFlashLatency(Hz, mV)` -> `ClockControl::setFlashLatency<Hz, mV>()`.
  Allows latency table lookup in constexpr at compile-time.
- Added `Rcc::updateCoreFrequency<Hz>()`: Sets the internal frequency values for delay functions.

User-defined literals (breaking) added to the `modm::literals` namespace:
- Added `_Hz`, `_kHz` and `_MHz` literals. Removed and replaced usage of
  `modm::clock::Frequency` enum.
- Added `_Bd`, `_kBd` and `_MBd` literals. Removed and replaced usage of
  `modm::Uart::Baudrate` enum.
- Added `_bps`, _kbps` and `_Mbps` literals. Not used yet.

All literals are simply casting to a dimensionless `uint32_t` of integer units
to be lightweight and backwards compatible with modm.

docs/src/guide/cookbook.md

@@ -35,7 +35,7 @@ using Uart = Uart0;
 // connect both pins with a pullup on the Rx
 Uart::connect<GpioOutputD1::Tx, GpioInputD0::Rx>(Gpio::InputType::PullUp);
 // initialize to 115.2kBaud from the BSP clock configuration
-Uart::initialize<Board::systemClock, 115200>();
+Uart::initialize<Board::SystemClock, 115200_Bd>();
 
 Uart::write('H');  // Ohai there
 Uart::write('i');
@@ -59,7 +59,7 @@ modm::IODeviceWrapper<Uart> device;
 modm::IOStream stream(device);
 
 Uart::connect<GpioOutputD1::Tx>();
-Uart::initialize<Board::systemClock, 115200>();
+Uart::initialize<Board::SystemClock, 115200_Bd>();
 
 // similar to std::ostream but without formatting features
 stream << 42 << " is a nice number!" << modm::endl;

docs/src/how-modm-works.md

@@ -259,8 +259,8 @@ for keeping code size in check on very resource constrained targets, like the AV
 
 ```cpp
 Uart4::connect<GpioA0::Tx, GpioA1::Rx>(Gpio::InputType::PullUp); // pull-up in RX pin
-Uart4::initialize<Board::systemClock, 115'200>(); // Within 1% default tolerance
-Uart4::initialize<Board::systemClock, 115'200, Tolerance::Exact>();
+Uart4::initialize<Board::SystemClock, 115'200_Bd>(); // Within 1% default tolerance
+Uart4::initialize<Board::SystemClock, 115'200_Bd> Tolerance::Exact>();
 // error: The closest available baudrate exceeds the tolerance of the requested baudrate!
 ```
 
@@ -320,7 +320,7 @@ using GpioExpander = modm::Mcp23x17< Transport >;
 GpioExpander expander;
 // Connect and initialize the peripherals
 SpiMaster1::connect<GpioA0::Sck, GpioA1::Mosi, GpioA2::Miso>();
-SpiMaster1::initialize<Board::systemClock, 1MHz>();
+SpiMaster1::initialize<Board::SystemClock, 1MHz>();
 expander.initialize();
 // Bind the expander pins to a simpler name
 using Pin0 = GpioExpander::P0< expander >;

examples/arduino_uno/basic/analog_read_serial/main.cpp

@@ -14,6 +14,7 @@
 // Inspired by: http://arduino.cc/en/Tutorial/AnalogReadSerial
 
 #include <modm/board.hpp>
+using namespace modm::literals;
 
 int
 main()
@@ -23,7 +24,7 @@ main()
 	// Initialize the analog to digital converter
 	// With the AVR running at 16Mhz and a prescaler of 128 the
 	// ADC is running at 125kHz.
-	Adc::initialize<Board::systemClock, 125000>();
+	Adc::initialize<Board::SystemClock, 125_kHz>();
 	Adc::setReference(Adc::Reference::InternalVcc);
 
 	while (1)

examples/arduino_uno/basic/read_analog_voltage/main.cpp

@@ -14,6 +14,7 @@
 // Inspired by: http://arduino.cc/en/Tutorial/ReadAnalogVoltage
 
 #include <modm/board.hpp>
+using namespace modm::literals;
 
 int
 main()
@@ -23,7 +24,7 @@ main()
 	// Initialize the analog to digital converter
 	// With the AVR running at 16Mhz and a prescaler of 128 the
 	// ADC is running at 125kHz.
-	Adc::initialize<Board::systemClock, 125000>();
+	Adc::initialize<Board::SystemClock, 125_kHz>();
 	Adc::setReference(Adc::Reference::InternalVcc);
 
 	while (1)

examples/avr/1-wire/ds18b20/main.cpp

@@ -16,16 +16,16 @@
 #include <modm/io/iostream.hpp>
 
 using namespace modm::platform;
+using namespace modm::literals;
 
 using OneWirePin = GpioC2;
 using OneWireMaster = BitBangOneWireMaster<OneWirePin>;
 
 int
 main()
 {
-	using systemClock = SystemClock;
 	Uart0::connect<GpioD1::Txd, GpioD0::Rxd>();
-	Uart0::initialize<systemClock, 9600>();
+	Uart0::initialize<SystemClock, 9600_Bd>();
 
 	// Enable interrupts, this is needed for every buffered UART
 	enableInterrupts();

examples/avr/adc/basic/main.cpp

@@ -15,14 +15,14 @@
 #include <modm/io/iostream.hpp>
 
 using namespace modm::platform;
-using systemClock = SystemClock;
+using namespace modm::literals;
 
 int
 main()
 {
 	// Create a new UART object and configure it to a baudrate of 115200
 	Uart0::connect<GpioOutputD1::Txd, GpioInputD0::Rxd>();
-	Uart0::initialize<systemClock, 115200>();
+	Uart0::initialize<SystemClock, 115200_Bd>();
 
 	// Enable interrupts, this is needed for every buffered UART
 	enableInterrupts();
@@ -36,7 +36,7 @@ main()
 	// Initialize the analog to digital converter
 	// With the AVR running at 14.7456Mhz and a prescaler of 128 the
 	// ADC is running at 115kHz.
-	Adc::initialize<systemClock, 115000>();
+	Adc::initialize<SystemClock, 115_kHz>();
 	Adc::setReference(Adc::Reference::InternalVcc);
 
 	// read the value of channel 0 (=> ADC0 => PA0) and wait until

examples/avr/adc/oversample/main.cpp

@@ -14,9 +14,9 @@
 #include <modm/processing/timer.hpp>
 
 using namespace modm::platform;
+using namespace modm::literals;
 
 // Create a new UART object
-using systemClock = SystemClock;
 
 #include <modm/io/iostream.hpp>
 // Create a IOStream for complex formatting tasks
@@ -38,12 +38,12 @@ int
 main()
 {
 	Uart0::connect<GpioOutputD1::Txd, GpioInputD0::Rxd>();
-	Uart0::initialize<systemClock, 115200>();
+	Uart0::initialize<SystemClock, 115200_Bd>();
 
 	// Initialize the analog to digital converter
 	// With the AVR running at 14.7456Mhz and a prescaler of 128 the
 	// ADC is running at 115kHz.
-	Adc::initialize<systemClock, 115000>();
+	Adc::initialize<SystemClock, 115_kHz>();
 	Adc::setReference(Adc::Reference::InternalVcc);
 	Adc::enableInterrupt();
 

examples/avr/can/mcp2515/main.cpp

@@ -15,7 +15,7 @@
 #include <modm/driver/can/mcp2515.hpp>
 
 using namespace modm::platform;
-using systemClock = SystemClock;
+using namespace modm::literals;
 
 typedef GpioOutputB4 Cs;
 typedef GpioInputB2 Int;
@@ -50,12 +50,12 @@ main()
 	// Initialize SPI interface and the other pins
 	// needed by the MCP2515
 	SPI::connect<Sclk::Sck, Mosi::Mosi, Miso::Miso>();
-	SPI::initialize<systemClock, 921600>();
+	SPI::initialize<SystemClock, 921.6_kHz>();
 	Cs::setOutput();
 	Int::setInput(Gpio::InputType::PullUp);
 
 	// Configure MCP2515 and set the filters
-	mcp2515.initialize<modm::clock::MHz8, modm::Can::Bitrate::kBps125>();
+	mcp2515.initialize<8_MHz, modm::Can::Bitrate::kBps125>();
 	mcp2515.setFilter(modm::accessor::asFlash(canFilter));
 
 	// Create a new message

examples/avr/can/mcp2515_uart/main.cpp

@@ -18,7 +18,7 @@
 #include <modm/processing/timer.hpp>
 
 using namespace modm::platform;
-using systemClock = SystemClock;
+using namespace modm::literals;
 
 typedef GpioOutputB0 LedGreen;
 typedef GpioOutputB1 LedRed;
@@ -69,7 +69,7 @@ main()
 	OCR2A = 230;
 
 	Uart0::connect<GpioD1::Txd, GpioD0::Rxd>();
-	Uart0::initialize<systemClock, 115200>();
+	Uart0::initialize<SystemClock, 115200_Bd>();
 
 	// Create a IOStream for complex formatting tasks
 	modm::IODeviceWrapper< Uart0, modm::IOBuffer::BlockIfFull > device;
@@ -83,12 +83,12 @@ main()
 	// Initialize SPI interface and the other pins
 	// needed by the MCP2515
 	SPI::connect<Sclk::BitBang, Mosi::BitBang, Miso::BitBang>();
-	SPI::initialize<systemClock, 1000000>();
+	SPI::initialize<SystemClock, 1_MHz>();
 	Cs::setOutput();
 	Int::setInput(Gpio::InputType::PullUp);
 
 	// Configure MCP2515 and set the filters
-	mcp2515.initialize<modm::clock::MHz8, modm::Can::Bitrate::kBps125>();
+	mcp2515.initialize<8_MHz, modm::Can::Bitrate::kBps125>();
 	mcp2515.setFilter(modm::accessor::asFlash(canFilter));
 
 	// Create a new message

examples/avr/display/dogm128/benchmark/main.cpp

@@ -19,8 +19,8 @@
 #include "images/rca_logo_128x64.hpp"
 
 using namespace modm::platform;
+using namespace modm::literals;
 
-using systemClock = SystemClock;
 
 namespace led
 {
@@ -64,7 +64,7 @@ setup()
 	led::B::setOutput();
 
 	lcd::SPI::connect<lcd::Sck::BitBang, lcd::Mosi::BitBang>();
-	lcd::SPI::initialize<systemClock, MHz2>();
+	lcd::SPI::initialize<SystemClock, 2_MHz>();
 
 	// timer initialization
 	// compare-match-interrupt every 1 ms at 14.7456 MHz

examples/avr/display/dogm128/caged_ball/main.cpp

@@ -16,8 +16,8 @@
 #include <modm/architecture/interface/clock.hpp>
 
 using namespace modm::platform;
+using namespace modm::literals;
 
-using systemClock = SystemClock;
 
 namespace led
 {
@@ -55,7 +55,7 @@ main()
 	led::B::setOutput();
 
 	lcd::SPI::connect<lcd::Scl::BitBang, lcd::Mosi::BitBang>();
-	lcd::SPI::initialize<systemClock, MHz2>();
+	lcd::SPI::initialize<SystemClock, 2_MHz>();
 
 	display.initialize();
 

examples/avr/display/dogm128/draw/main.cpp

@@ -16,8 +16,8 @@
 #include <modm/architecture/interface/clock.hpp>
 
 using namespace modm::platform;
+using namespace modm::literals;
 
-using systemClock = SystemClock;
 
 namespace led
 {
@@ -55,7 +55,7 @@ main()
 	led::B::setOutput();
 
 	lcd::SPI::connect<lcd::Scl::BitBang, lcd::Mosi::BitBang>();
-	lcd::SPI::initialize<systemClock, MHz2>();
+	lcd::SPI::initialize<SystemClock, 2_MHz>();
 
 	display.initialize();
 

examples/avr/display/dogm128/image/main.cpp

@@ -27,8 +27,8 @@
 #include "images/image_64x64_9.hpp"
 
 using namespace modm::platform;
+using namespace modm::literals;
 
-using systemClock = SystemClock;
 
 namespace led
 {
@@ -211,7 +211,7 @@ main()
 	led::B::setOutput();
 
 	lcd::SPI::connect<lcd::Sck::BitBang, lcd::Mosi::BitBang>();
-	lcd::SPI::initialize<systemClock, MHz2>();
+	lcd::SPI::initialize<SystemClock, 2_MHz>();
 
 	display.initialize();
 

examples/avr/display/dogm128/text/main.cpp

@@ -17,8 +17,8 @@
 #include <modm/architecture/interface/clock.hpp>
 
 using namespace modm::platform;
+using namespace modm::literals;
 
-using systemClock = SystemClock;
 
 // LCD Backlight
 namespace led
@@ -57,7 +57,7 @@ main()
 	led::B::setOutput();
 
 	SPI::connect< lcd::Scl::BitBang, lcd::Mosi::BitBang, lcd::Miso::BitBang >();
-	SPI::initialize<systemClock, MHz2>();
+	SPI::initialize<SystemClock, 2_MHz>();
 
 	display.initialize();
 

examples/avr/display/dogm128/touch/main.cpp

@@ -17,7 +17,7 @@
 #include <modm/architecture/interface/clock.hpp>
 
 using namespace modm::platform;
-using systemClock = SystemClock;
+using namespace modm::literals;
 
 namespace touch
 {
@@ -63,7 +63,7 @@ int
 main()
 {
 	Uart0::connect<GpioOutputD1::Txd, GpioInputD0::Rxd>();
-	Uart0::initialize<systemClock, 115200>();
+	Uart0::initialize<SystemClock, 115200_Bd>();
 
 	// Enable interrupts, this is needed for every buffered UART
 	enableInterrupts();
@@ -83,7 +83,7 @@ main()
 	led::B::setOutput();
 
 	lcd::SPI::connect<lcd::Scl::BitBang, lcd::Mosi::BitBang>();
-	lcd::SPI::initialize<systemClock, MHz2>();
+	lcd::SPI::initialize<SystemClock, 2_MHz>();
 
 	display.initialize();
 
@@ -96,7 +96,7 @@ main()
 
 	display.update();
 
-	Adc::initialize<systemClock, 115000>();
+	Adc::initialize<SystemClock, 115_kHz>();
 	Adc::setReference(Adc::Reference::Internal2V56);
 
 	touch::Bottom::setInput();

examples/avr/display/dogm132/main.cpp

@@ -16,7 +16,7 @@
 #include <modm/ui/button_group.hpp>
 
 using namespace modm::platform;
-using systemClock = SystemClock;
+using namespace modm::literals;
 
 typedef GpioOutputD2 Cs;
 typedef GpioOutputB6 Mosi;
@@ -40,7 +40,7 @@ main()
 	Backlight::set();
 
 	SPI::connect<Sck::BitBang, Mosi::BitBang>();
-	SPI::initialize<systemClock, 1000000>();
+	SPI::initialize<SystemClock, 1_MHz>();
 
 	display.initialize();
 	display.setFont(modm::font::Assertion);

examples/avr/display/dogm163/main.cpp

@@ -16,7 +16,7 @@
 #include <modm/ui/display/font.hpp>
 
 using namespace modm::platform;
-using systemClock = SystemClock;
+using namespace modm::literals;
 
 // Graphic LCD
 namespace lcd
@@ -37,7 +37,7 @@ int
 main()
 {
 	SPI::connect<lcd::Scl::BitBang, lcd::Mosi::BitBang, lcd::Miso::BitBang>();
-	SPI::initialize<systemClock, 1000000>();
+	SPI::initialize<SystemClock, 1_MHz>();
 	lcd::Cs::setOutput();
 	lcd::Rs::setOutput();
 

examples/avr/display/siemens_s65/main.cpp

@@ -16,8 +16,8 @@
 #include <modm/ui/button_group.hpp>
 
 using namespace modm::platform;
+using namespace modm::literals;
 
-using systemClock = SystemClock;
 
 typedef GpioOutputA0 Mosi;
 typedef GpioOutputA1 Sck;
@@ -34,7 +34,7 @@ int
 main()
 {
 	SPI::connect<Sck::BitBang, Mosi::BitBang>();
-	SPI::initialize<systemClock, 1000000>();
+	SPI::initialize<SystemClock, 1_MHz>();
 
 	Backlight::setOutput();
 	Backlight::set();