2014-05-03 22:27:38 +00:00
|
|
|
/*
|
2017-06-30 07:22:17 +00:00
|
|
|
* This file is part of the MicroPython project, http://micropython.org/
|
2014-05-03 22:27:38 +00:00
|
|
|
*
|
|
|
|
* The MIT License (MIT)
|
|
|
|
*
|
|
|
|
* Copyright (c) 2013, 2014 Damien P. George
|
|
|
|
*
|
|
|
|
* Permission is hereby granted, free of charge, to any person obtaining a copy
|
|
|
|
* of this software and associated documentation files (the "Software"), to deal
|
|
|
|
* in the Software without restriction, including without limitation the rights
|
|
|
|
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
|
|
|
* copies of the Software, and to permit persons to whom the Software is
|
|
|
|
* furnished to do so, subject to the following conditions:
|
|
|
|
*
|
|
|
|
* The above copyright notice and this permission notice shall be included in
|
|
|
|
* all copies or substantial portions of the Software.
|
|
|
|
*
|
|
|
|
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
|
|
|
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
|
|
|
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
|
|
|
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
|
|
|
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
|
|
|
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
|
|
|
|
* THE SOFTWARE.
|
|
|
|
*/
|
|
|
|
|
2017-02-15 12:04:53 +00:00
|
|
|
#include "py/runtime.h"
|
2017-03-02 04:32:32 +00:00
|
|
|
#include "py/mphal.h"
|
2022-07-18 14:44:31 +00:00
|
|
|
#include "shared/runtime/softtimer.h"
|
2014-08-23 19:21:12 +00:00
|
|
|
#include "irq.h"
|
2019-10-23 05:56:14 +00:00
|
|
|
#include "pendsv.h"
|
2014-03-13 01:06:26 +00:00
|
|
|
#include "systick.h"
|
2017-02-06 04:13:30 +00:00
|
|
|
#include "pybthread.h"
|
2014-03-13 01:06:26 +00:00
|
|
|
|
2017-03-02 04:32:32 +00:00
|
|
|
extern __IO uint32_t uwTick;
|
|
|
|
|
2019-02-03 12:00:44 +00:00
|
|
|
systick_dispatch_t systick_dispatch_table[SYSTICK_DISPATCH_NUM_SLOTS];
|
|
|
|
|
|
|
|
void SysTick_Handler(void) {
|
|
|
|
// Instead of calling HAL_IncTick we do the increment here of the counter.
|
|
|
|
// This is purely for efficiency, since SysTick is called 1000 times per
|
|
|
|
// second at the highest interrupt priority.
|
|
|
|
uint32_t uw_tick = uwTick + 1;
|
|
|
|
uwTick = uw_tick;
|
|
|
|
|
2023-03-08 03:10:02 +00:00
|
|
|
// Read the systick control register. This has the side effect of clearing
|
2019-02-03 12:00:44 +00:00
|
|
|
// the COUNTFLAG bit, which makes the logic in mp_hal_ticks_us
|
|
|
|
// work properly.
|
|
|
|
SysTick->CTRL;
|
|
|
|
|
|
|
|
// Dispatch to any registered handlers in a cycle
|
|
|
|
systick_dispatch_t f = systick_dispatch_table[uw_tick & (SYSTICK_DISPATCH_NUM_SLOTS - 1)];
|
|
|
|
if (f != NULL) {
|
|
|
|
f(uw_tick);
|
|
|
|
}
|
|
|
|
|
2019-10-23 05:56:14 +00:00
|
|
|
if (soft_timer_next == uw_tick) {
|
|
|
|
pendsv_schedule_dispatch(PENDSV_DISPATCH_SOFT_TIMER, soft_timer_handler);
|
|
|
|
}
|
|
|
|
|
2019-02-03 12:00:44 +00:00
|
|
|
#if MICROPY_PY_THREAD
|
|
|
|
if (pyb_thread_enabled) {
|
|
|
|
if (pyb_thread_cur->timeslice == 0) {
|
|
|
|
if (pyb_thread_cur->run_next != pyb_thread_cur) {
|
|
|
|
SCB->ICSR = SCB_ICSR_PENDSVSET_Msk;
|
|
|
|
}
|
|
|
|
} else {
|
|
|
|
--pyb_thread_cur->timeslice;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
#endif
|
|
|
|
}
|
|
|
|
|
2017-03-02 04:32:32 +00:00
|
|
|
// We provide our own version of HAL_Delay that calls __WFI while waiting,
|
|
|
|
// and works when interrupts are disabled. This function is intended to be
|
|
|
|
// used only by the ST HAL functions.
|
2014-08-25 17:12:44 +00:00
|
|
|
void HAL_Delay(uint32_t Delay) {
|
2014-11-30 21:23:25 +00:00
|
|
|
if (query_irq() == IRQ_STATE_ENABLED) {
|
|
|
|
// IRQs enabled, so can use systick counter to do the delay
|
2017-03-02 04:32:32 +00:00
|
|
|
uint32_t start = uwTick;
|
|
|
|
// Wraparound of tick is taken care of by 2's complement arithmetic.
|
|
|
|
while (uwTick - start < Delay) {
|
|
|
|
// Enter sleep mode, waiting for (at least) the SysTick interrupt.
|
|
|
|
__WFI();
|
|
|
|
}
|
|
|
|
} else {
|
|
|
|
// IRQs disabled, use mp_hal_delay_ms routine.
|
|
|
|
mp_hal_delay_ms(Delay);
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
// Core delay function that does an efficient sleep and may switch thread context.
|
2017-03-22 01:54:43 +00:00
|
|
|
// If IRQs are enabled then we must have the GIL.
|
2017-03-02 04:32:32 +00:00
|
|
|
void mp_hal_delay_ms(mp_uint_t Delay) {
|
|
|
|
if (query_irq() == IRQ_STATE_ENABLED) {
|
|
|
|
// IRQs enabled, so can use systick counter to do the delay
|
2014-11-30 21:23:25 +00:00
|
|
|
uint32_t start = uwTick;
|
|
|
|
// Wraparound of tick is taken care of by 2's complement arithmetic.
|
2019-11-20 04:18:09 +00:00
|
|
|
do {
|
2017-03-22 01:54:43 +00:00
|
|
|
// This macro will execute the necessary idle behaviour. It may
|
|
|
|
// raise an exception, switch threads or enter sleep mode (waiting for
|
|
|
|
// (at least) the SysTick interrupt).
|
|
|
|
MICROPY_EVENT_POLL_HOOK
|
2019-11-20 04:18:09 +00:00
|
|
|
} while (uwTick - start < Delay);
|
2014-11-30 21:23:25 +00:00
|
|
|
} else {
|
|
|
|
// IRQs disabled, so need to use a busy loop for the delay.
|
|
|
|
// To prevent possible overflow of the counter we use a double loop.
|
|
|
|
const uint32_t count_1ms = HAL_RCC_GetSysClockFreq() / 4000;
|
|
|
|
for (int i = 0; i < Delay; i++) {
|
|
|
|
for (uint32_t count = 0; ++count <= count_1ms;) {
|
|
|
|
}
|
|
|
|
}
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
// delay for given number of microseconds
|
2017-03-02 04:32:32 +00:00
|
|
|
void mp_hal_delay_us(mp_uint_t usec) {
|
2014-11-30 21:23:25 +00:00
|
|
|
if (query_irq() == IRQ_STATE_ENABLED) {
|
|
|
|
// IRQs enabled, so can use systick counter to do the delay
|
2017-03-02 04:32:32 +00:00
|
|
|
uint32_t start = mp_hal_ticks_us();
|
|
|
|
while (mp_hal_ticks_us() - start < usec) {
|
2014-11-30 21:23:25 +00:00
|
|
|
}
|
|
|
|
} else {
|
|
|
|
// IRQs disabled, so need to use a busy loop for the delay
|
|
|
|
// sys freq is always a multiple of 2MHz, so division here won't lose precision
|
|
|
|
const uint32_t ucount = HAL_RCC_GetSysClockFreq() / 2000000 * usec / 2;
|
|
|
|
for (uint32_t count = 0; ++count <= ucount;) {
|
|
|
|
}
|
2014-08-25 17:12:44 +00:00
|
|
|
}
|
|
|
|
}
|
|
|
|
|
2019-02-03 11:52:31 +00:00
|
|
|
bool systick_has_passed(uint32_t start_tick, uint32_t delay_ms) {
|
2014-03-13 22:40:34 +00:00
|
|
|
return HAL_GetTick() - start_tick >= delay_ms;
|
2014-03-13 01:06:26 +00:00
|
|
|
}
|
|
|
|
|
2014-03-13 22:40:34 +00:00
|
|
|
// waits until at least delay_ms milliseconds have passed from the sampling of
|
|
|
|
// startTick. Handles overflow properly. Assumes stc was taken from
|
|
|
|
// HAL_GetTick() some time before calling this function.
|
2019-02-03 11:52:31 +00:00
|
|
|
void systick_wait_at_least(uint32_t start_tick, uint32_t delay_ms) {
|
|
|
|
while (!systick_has_passed(start_tick, delay_ms)) {
|
2014-03-13 22:40:34 +00:00
|
|
|
__WFI(); // enter sleep mode, waiting for interrupt
|
2014-03-13 01:06:26 +00:00
|
|
|
}
|
|
|
|
}
|
2014-08-23 19:21:12 +00:00
|
|
|
|
2017-03-02 04:32:32 +00:00
|
|
|
mp_uint_t mp_hal_ticks_ms(void) {
|
|
|
|
return uwTick;
|
|
|
|
}
|
|
|
|
|
2014-08-23 19:21:12 +00:00
|
|
|
// The SysTick timer counts down at 168 MHz, so we can use that knowledge
|
|
|
|
// to grab a microsecond counter.
|
|
|
|
//
|
|
|
|
// We assume that HAL_GetTickis returns milliseconds.
|
2017-03-02 04:32:32 +00:00
|
|
|
mp_uint_t mp_hal_ticks_us(void) {
|
2014-08-25 16:36:14 +00:00
|
|
|
mp_uint_t irq_state = disable_irq();
|
2014-08-23 19:21:12 +00:00
|
|
|
uint32_t counter = SysTick->VAL;
|
|
|
|
uint32_t milliseconds = HAL_GetTick();
|
2020-02-27 04:36:53 +00:00
|
|
|
uint32_t status = SysTick->CTRL;
|
2014-08-25 16:36:14 +00:00
|
|
|
enable_irq(irq_state);
|
2014-08-23 19:21:12 +00:00
|
|
|
|
2014-08-25 16:36:14 +00:00
|
|
|
// It's still possible for the countflag bit to get set if the counter was
|
|
|
|
// reloaded between reading VAL and reading CTRL. With interrupts disabled
|
|
|
|
// it definitely takes less than 50 HCLK cycles between reading VAL and
|
|
|
|
// reading CTRL, so the test (counter > 50) is to cover the case where VAL
|
|
|
|
// is +ve and very close to zero, and the COUNTFLAG bit is also set.
|
|
|
|
if ((status & SysTick_CTRL_COUNTFLAG_Msk) && counter > 50) {
|
|
|
|
// This means that the HW reloaded VAL between the time we read VAL and the
|
|
|
|
// time we read CTRL, which implies that there is an interrupt pending
|
|
|
|
// to increment the tick counter.
|
|
|
|
milliseconds++;
|
|
|
|
}
|
|
|
|
uint32_t load = SysTick->LOAD;
|
|
|
|
counter = load - counter; // Convert from decrementing to incrementing
|
2014-08-23 19:21:12 +00:00
|
|
|
|
2014-08-25 16:36:14 +00:00
|
|
|
// ((load + 1) / 1000) is the number of counts per microsecond.
|
|
|
|
//
|
|
|
|
// counter / ((load + 1) / 1000) scales from the systick clock to microseconds
|
|
|
|
// and is the same thing as (counter * 1000) / (load + 1)
|
|
|
|
return milliseconds * 1000 + (counter * 1000) / (load + 1);
|
2014-08-23 19:21:12 +00:00
|
|
|
}
|