stmhal - More systick cleanup. Fix HAL_Delay
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536dde254b
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9db719bb57
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@ -281,11 +281,13 @@ uint32_t HAL_GetTick(void)
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*/
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void HAL_Delay(__IO uint32_t Delay)
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{
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uint32_t timingdelay;
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timingdelay = HAL_GetTick() + Delay;
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while(HAL_GetTick() < timingdelay)
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{
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uint32_t start = HAL_GetTick();
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// Note that the following works (due to the magic of 2's complement numbers)
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// even when Delay causes wraparound.
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while (HAL_GetTick() - start <= Delay) {
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__WFI(); // enter sleep mode, waiting for interrupt
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}
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}
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@ -72,10 +72,10 @@ void flash_error(int n) {
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for (int i = 0; i < n; i++) {
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led_state(PYB_LED_R1, 1);
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led_state(PYB_LED_R2, 0);
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sys_tick_delay_ms(250);
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HAL_Delay(250);
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led_state(PYB_LED_R1, 0);
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led_state(PYB_LED_R2, 1);
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sys_tick_delay_ms(250);
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HAL_Delay(250);
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}
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led_state(PYB_LED_R2, 0);
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}
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@ -242,8 +242,6 @@ int main(void) {
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#endif
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#endif
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// basic sub-system init
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sys_tick_init();
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#if 0
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pendsv_init();
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#endif
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@ -275,16 +273,16 @@ int main(void) {
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while (1) {
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led_state(led, 1);
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usart_tx_strn_cooked(pyb_usart_global_debug, "on\n", 3);
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sys_tick_delay_ms(100);
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HAL_Delay(100);
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led_state(led, 0);
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usart_tx_strn_cooked(pyb_usart_global_debug, "off\n", 4);
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sys_tick_delay_ms(100);
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HAL_Delay(100);
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led_state(led, 1);
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usart_tx_strn_cooked(pyb_usart_global_debug, "on\n", 3);
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sys_tick_delay_ms(100);
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HAL_Delay(100);
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led_state(led, 0);
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usart_tx_strn_cooked(pyb_usart_global_debug, "off\n", 4);
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sys_tick_delay_ms(700);
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HAL_Delay(700);
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led = (led % 4) + 1;
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}
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@ -359,7 +357,7 @@ soft_reset:
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reset_filesystem = false;
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break;
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}
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sys_tick_delay_ms(10);
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HAL_Delay(10);
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}
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}
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#endif
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@ -375,7 +373,7 @@ soft_reset:
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// LED on to indicate creation of LFS
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led_state(PYB_LED_R2, 1);
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uint32_t stc = sys_tick_counter;
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uint32_t start_tick = HAL_GetTick();
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res = f_mkfs("0:", 0, 0);
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if (res == FR_OK) {
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@ -397,7 +395,7 @@ soft_reset:
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f_close(&fp);
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// keep LED on for at least 200ms
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sys_tick_wait_at_least(stc, 200);
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sys_tick_wait_at_least(start_tick, 200);
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led_state(PYB_LED_R2, 0);
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} else {
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__fatal_error("could not access LFS");
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@ -421,7 +419,7 @@ soft_reset:
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// LED on to indicate creation of boot.py
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led_state(PYB_LED_R2, 1);
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uint32_t stc = sys_tick_counter;
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uint32_t start_tick = HAL_GetTick();
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FIL fp;
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f_open(&fp, "0:/boot.py", FA_WRITE | FA_CREATE_ALWAYS);
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@ -431,7 +429,7 @@ soft_reset:
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f_close(&fp);
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// keep LED on for at least 200ms
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sys_tick_wait_at_least(stc, 200);
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sys_tick_wait_at_least(start_tick, 200);
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led_state(PYB_LED_R2, 0);
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}
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}
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@ -530,7 +528,7 @@ soft_reset:
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}
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accel_read_nack();
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usb_hid_send_report(data);
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sys_tick_delay_ms(15);
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HAL_Delay(15);
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}
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}
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#endif
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@ -116,7 +116,7 @@ STATIC mp_obj_t pyb_millis(void) {
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STATIC MP_DEFINE_CONST_FUN_OBJ_0(pyb_millis_obj, pyb_millis);
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STATIC mp_obj_t pyb_delay(mp_obj_t count) {
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sys_tick_delay_ms(mp_obj_get_int(count));
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HAL_Delay(mp_obj_get_int(count));
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return mp_const_none;
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}
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@ -59,7 +59,7 @@ int stdin_rx_chr(void) {
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if (pyb_usart_global_debug != PYB_USART_NONE && usart_rx_any(pyb_usart_global_debug)) {
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return usart_rx_char(pyb_usart_global_debug);
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}
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sys_tick_delay_ms(1);
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HAL_Delay(1);
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#if 0
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if (storage_needs_flush()) {
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storage_flush();
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@ -142,7 +142,7 @@ int readline(vstr_t *line, const char *prompt) {
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} else {
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escape = 0;
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}
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sys_tick_delay_ms(1);
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HAL_Delay(1);
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}
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}
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@ -2,47 +2,15 @@
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#include "misc.h"
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#include "systick.h"
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void sys_tick_init(void) {
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// SysTick_Config is now called from HAL_RCC_ClockConfig, which is called
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// from SystemClock_Config
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// SysTick_Config sets the SysTick_IRQn to be the lowest priority, but
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// we want it to be the highest priority, so fix things here.
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HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
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bool sys_tick_has_passed(uint32_t start_tick, uint32_t delay_ms) {
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return HAL_GetTick() - start_tick >= delay_ms;
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}
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void sys_tick_delay_ms(uint32_t delay_ms) {
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sys_tick_wait_at_least(HAL_GetTick(), delay_ms);
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}
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// waits until at least delay_ms milliseconds have passed from the sampling of stc
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// handles overflow properl
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// assumes stc was taken from HAL_GetTick() some time before calling this function
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// eg stc <= HAL_GetTick() for the case of no wrap around of HAL_GetTick()
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void sys_tick_wait_at_least(uint32_t stc, uint32_t delay_ms) {
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// stc_wait is the value of HAL_GetTick() that we wait for
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uint32_t stc_wait = stc + delay_ms;
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if (stc_wait < stc) {
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// stc_wait wrapped around
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while (stc <= HAL_GetTick() || HAL_GetTick() < stc_wait) {
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__WFI(); // enter sleep mode, waiting for interrupt
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}
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} else {
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// stc_wait did not wrap around
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while (stc <= HAL_GetTick() && HAL_GetTick() < stc_wait) {
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__WFI(); // enter sleep mode, waiting for interrupt
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}
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}
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}
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bool sys_tick_has_passed(uint32_t stc, uint32_t delay_ms) {
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// stc_wait is the value of HAL_GetTick() that we wait for
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uint32_t stc_wait = stc + delay_ms;
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if (stc_wait < stc) {
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// stc_wait wrapped around
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return !(stc <= HAL_GetTick() || HAL_GetTick() < stc_wait);
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} else {
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// stc_wait did not wrap around
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return !(stc <= HAL_GetTick() && HAL_GetTick() < stc_wait);
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// waits until at least delay_ms milliseconds have passed from the sampling of
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// startTick. Handles overflow properly. Assumes stc was taken from
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// HAL_GetTick() some time before calling this function.
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void sys_tick_wait_at_least(uint32_t start_tick, uint32_t delay_ms) {
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while (!sys_tick_has_passed(start_tick, delay_ms)) {
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__WFI(); // enter sleep mode, waiting for interrupt
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}
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}
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@ -1,5 +1,2 @@
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void sys_tick_init(void);
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void SysTick_Handler(void);
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void sys_tick_delay_ms(uint32_t delay_ms);
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void sys_tick_wait_at_least(uint32_t stc, uint32_t delay_ms);
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bool sys_tick_has_passed(uint32_t stc, uint32_t delay_ms);
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