mirror of
https://github.com/DarkFlippers/unleashed-firmware
synced 2024-12-22 02:33:10 +00:00
27 lines
732 B
C
27 lines
732 B
C
|
#include "api-hal-delay.h"
|
||
|
|
#include "assert.h"
|
||
|
|
#include "cmsis_os2.h"
|
||
|
|
|
||
|
|
static uint32_t clk_per_microsecond;
|
||
|
|
|
||
|
|
void delay_us_init_DWT(void) {
|
||
|
|
CoreDebug->DEMCR |= CoreDebug_DEMCR_TRCENA_Msk;
|
||
|
|
DWT->CTRL |= DWT_CTRL_CYCCNTENA_Msk;
|
||
|
|
DWT->CYCCNT = 0U;
|
||
|
|
clk_per_microsecond = SystemCoreClock / 1000000.0f;
|
||
|
|
}
|
||
|
|
|
||
|
|
void delay_us(float microseconds) {
|
||
|
|
uint32_t start = DWT->CYCCNT;
|
||
|
|
uint32_t time_ticks = microseconds * clk_per_microsecond;
|
||
|
|
while((DWT->CYCCNT - start) < time_ticks) {
|
||
|
|
};
|
||
|
|
}
|
||
|
|
|
||
|
|
// cannot be used in ISR
|
||
|
|
// TODO add delay_ISR variant
|
||
|
|
void delay(float milliseconds) {
|
||
|
|
uint32_t ticks = milliseconds / (1000.0f / osKernelGetTickFreq());
|
||
|
|
osStatus_t result = osDelay(ticks);
|
||
|
|
assert(result == osOK);
|
||
|
|
}
|