mirror of
https://github.com/DarkFlippers/unleashed-firmware
synced 2024-12-20 01:33:18 +00:00
c1c069e95f
* move f3-1 to f4, remove f3 * remove f2 * remove firmware F3 for pipeline * remove patch for F4 makefile * fix fw makefile * migrate bootloader to f4
27 lines
No EOL
732 B
C
27 lines
No EOL
732 B
C
#include "api-hal-delay.h"
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#include "assert.h"
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#include "cmsis_os2.h"
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static uint32_t clk_per_microsecond;
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void delay_us_init_DWT(void) {
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CoreDebug->DEMCR |= CoreDebug_DEMCR_TRCENA_Msk;
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DWT->CTRL |= DWT_CTRL_CYCCNTENA_Msk;
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DWT->CYCCNT = 0U;
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clk_per_microsecond = SystemCoreClock / 1000000.0f;
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}
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void delay_us(float microseconds) {
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uint32_t start = DWT->CYCCNT;
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uint32_t time_ticks = microseconds * clk_per_microsecond;
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while((DWT->CYCCNT - start) < time_ticks) {
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};
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}
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// cannot be used in ISR
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// TODO add delay_ISR variant
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void delay(float milliseconds) {
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uint32_t ticks = milliseconds / (1000.0f / osKernelGetTickFreq());
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osStatus_t result = osDelay(ticks);
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assert(result == osOK);
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} |