systick: System time counter based on Timer(systick)

Author: h2obrain

src/lib.rs

@@ -176,6 +176,8 @@ pub mod signature;
 #[cfg(feature = "device-selected")]
 pub mod spi;
 #[cfg(feature = "device-selected")]
+pub mod systick;
+#[cfg(feature = "device-selected")]
 pub mod time;
 #[cfg(feature = "device-selected")]
 pub mod timer;

src/systick.rs

@@ -0,0 +1,110 @@
+//! SYSTEMTIME based on systick
+
+use cortex_m::interrupt::free;
+use cortex_m::peripheral::SYST;
+use cortex_m_rt::exception;
+
+use crate::rcc::Clocks;
+use crate::time::Hertz;
+use crate::timer::{Event, Timer};
+
+use embedded_hal::blocking::delay::{DelayMs, DelayUs};
+
+pub trait SysTickTime {
+    fn to_systemtime<T>(self, timeout: T, clocks: Clocks) -> SysTime
+    where
+        T: Into<Hertz>;
+}
+impl SysTickTime for SYST {
+    fn to_systemtime<T>(self, timeout_hz: T, clocks: Clocks) -> SysTime
+    where
+        T: Into<Hertz>,
+    {
+        let timeout_hz = timeout_hz.into();
+
+        let mut systime = SysTickTimeStatic {
+            countdown: Timer::syst(self, timeout_hz, clocks),
+            systick: 0,
+            tick_to_ns: 1_000_000_000 / timeout_hz.0,
+        };
+
+        systime.countdown.listen(Event::TimeOut);
+
+        free(|_| unsafe {
+            SYSTIME = Some(systime);
+        });
+
+        SysTime {}
+    }
+}
+
+struct SysTickTimeStatic {
+    countdown: Timer<SYST>,
+    systick: u64,
+    tick_to_ns: u32,
+}
+
+// there can only be one!
+static mut SYSTIME: Option<SysTickTimeStatic> = None;
+
+pub struct SysTime {}
+impl SysTime {
+    /// return time in ns
+    pub fn ns(&self) -> u64 {
+        let mut tick_to_ns = 0u32;
+        free(|_| unsafe {
+            if let Some(systime) = &SYSTIME {
+                tick_to_ns = systime.tick_to_ns;
+                (&systime.systick as *const u64).read_volatile()
+            } else {
+                0
+            }
+        }) * tick_to_ns as u64
+    }
+    /// return time in us
+    pub fn us(&self) -> u64 {
+        self.ns() / 1_000_000
+    }
+    /// return time in ms
+    pub fn ms(&self) -> u64 {
+        self.ns() / 1_000_000
+    }
+    /// return time in seconds, as double
+    pub fn s(&self) -> f64 {
+        self.ns() as f64 / 1_000_000_000f64
+    }
+
+    /// delay n ns
+    ///  note: this function depends on the systick interrupt,
+    ///        so do not use it from other interrupts (with higher priority).
+    fn delay_ns_(&self, ns: u64) {
+        let timeout = self.ns() + ns;
+        while timeout >= self.ns() {}
+    }
+}
+// Implement DelayUs/DelayMs for various integer types
+macro_rules! impl_DelayIntT {
+    (for $($t:ty),+) => {$(
+        impl DelayMs<$t> for SysTime {
+            fn delay_ms(&mut self, ms: $t) {
+                self.delay_ns_(ms as u64 * 1_000_000);
+            }
+        }
+        impl DelayUs<$t> for SysTime {
+            fn delay_us(&mut self, us: $t) {
+                self.delay_ns_(us as u64 * 1_000);
+            }
+        }
+    )*}
+}
+impl_DelayIntT!(for usize,u64,u32,u16,u8,i64,i32,i16,i8);
+
+// there can only be one!
+#[exception]
+fn SysTick() {
+    free(|_| unsafe {
+        if let Some(systime) = &mut SYSTIME {
+            systime.systick += 1;
+        }
+    });
+}