From 26eef35f07698d23aafae90e1c230b52e100a334 Mon Sep 17 00:00:00 2001 From: James Young Date: Sat, 29 Feb 2020 12:00:00 -0800 Subject: 2020 February 29 Breaking Changes Update (#8064) --- tmk_core/common/chibios/timer.c | 44 +++++++++++++++++++++++++++-------------- 1 file changed, 29 insertions(+), 15 deletions(-) (limited to 'tmk_core/common/chibios/timer.c') diff --git a/tmk_core/common/chibios/timer.c b/tmk_core/common/chibios/timer.c index ed5cfe1b0..ac5a5af63 100644 --- a/tmk_core/common/chibios/timer.c +++ b/tmk_core/common/chibios/timer.c @@ -2,30 +2,44 @@ #include "timer.h" -static systime_t last_systime = 0; -static systime_t overflow = 0; -static uint32_t current_time_ms = 0; +static uint32_t reset_point = 0; +#if CH_CFG_ST_RESOLUTION < 32 +static uint32_t last_systime = 0; +static uint32_t overflow = 0; +#endif void timer_init(void) { timer_clear(); } void timer_clear(void) { - last_systime = chVTGetSystemTime(); - overflow = 0; - current_time_ms = 0; + reset_point = (uint32_t)chVTGetSystemTime(); +#if CH_CFG_ST_RESOLUTION < 32 + last_systime = reset_point; + overflow = 0; +#endif } uint16_t timer_read(void) { return (uint16_t)timer_read32(); } uint32_t timer_read32(void) { - // Note: We assume that the timer update is called at least once betweeen every wrap around of the system time - systime_t current_systime = chVTGetSystemTime(); - systime_t elapsed = current_systime - last_systime + overflow; - uint32_t elapsed_ms = ST2MS(elapsed); - current_time_ms += elapsed_ms; - overflow = elapsed - MS2ST(elapsed_ms); - last_systime = current_systime; - - return current_time_ms; + uint32_t systime = (uint32_t)chVTGetSystemTime(); + +#if CH_CFG_ST_RESOLUTION < 32 + // If/when we need to support 64-bit chips, this may need to be modified to match the native bit-ness of the MCU. + // At this point, the only SysTick resolution allowed other than 32 is 16 bit. + // In the 16-bit case, at: + // - CH_CFG_ST_FREQUENCY = 100000, overflow will occur every ~0.65 seconds + // - CH_CFG_ST_FREQUENCY = 10000, overflow will occur every ~6.5 seconds + // - CH_CFG_ST_FREQUENCY = 1000, overflow will occur every ~65 seconds + // With this implementation, as long as we ensure a timer read happens at least once during the overflow period, timing should be accurate. + if (systime < last_systime) { + overflow += ((uint32_t)1) << CH_CFG_ST_RESOLUTION; + } + + last_systime = systime; + return (uint32_t)TIME_I2MS(systime - reset_point + overflow); +#else + return (uint32_t)TIME_I2MS(systime - reset_point); +#endif } uint16_t timer_elapsed(uint16_t last) { return TIMER_DIFF_16(timer_read(), last); } -- cgit v1.2.3