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Merge pull request #31 from decaday/feat/time-driver-0-2-0
Bump embassy version, `embassy-time-driver 0.2.0` impl
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,5 @@ | ||
| #[cfg(all(feature = "_time-driver", not(feature = "time-driver-systick")))] | ||
| pub mod time_driver; | ||
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| #[cfg(feature = "time-driver-systick")] | ||
| pub mod systick_time_driver; |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,154 @@ | ||
| use core::cell::{Cell, RefCell}; | ||
| use core::task::Waker; | ||
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| use cortex_m::peripheral::syst::SystClkSource; | ||
| use cortex_m::peripheral::SYST; | ||
| use cortex_m_rt::exception; | ||
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| use critical_section::CriticalSection; | ||
| use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex; | ||
| use embassy_sync::blocking_mutex::Mutex; | ||
| use embassy_time_driver::{Driver, TICK_HZ}; | ||
| use embassy_time_queue_utils::Queue; | ||
| use portable_atomic::{AtomicU64, Ordering}; | ||
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| // Alarm state structure to manage individual alarms | ||
| struct AlarmState { | ||
| timestamp: Cell<u64>, | ||
| } | ||
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| unsafe impl Send for AlarmState {} | ||
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| impl AlarmState { | ||
| const fn new() -> Self { | ||
| Self { | ||
| timestamp: Cell::new(u64::MAX), | ||
| } | ||
| } | ||
| } | ||
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| // SysTick-based time driver implementation | ||
| pub(crate) struct SysTickDriver { | ||
| // Total number of ticks since system start | ||
| ticks: AtomicU64, | ||
| // Number of allocated alarms | ||
| alarm: Mutex<CriticalSectionRawMutex, AlarmState>, | ||
| queue: Mutex<CriticalSectionRawMutex, RefCell<Queue>>, | ||
| } | ||
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| // Constant initialization for alarm states | ||
| #[allow(clippy::declare_interior_mutable_const)] | ||
| const ALARM_STATE_NEW: AlarmState = AlarmState::new(); | ||
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| // Macro to create a static driver instance | ||
| embassy_time_driver::time_driver_impl!(static DRIVER: SysTickDriver = SysTickDriver { | ||
| ticks: AtomicU64::new(0), | ||
| alarm: Mutex::const_new(CriticalSectionRawMutex::new(), ALARM_STATE_NEW), | ||
| queue: Mutex::new(RefCell::new(Queue::new())) | ||
| }); | ||
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| impl SysTickDriver { | ||
| // Initialize the SysTick driver | ||
| fn init(&'static self, _cs: CriticalSection, mut systick: SYST) -> bool { | ||
| // Calculate the reload value | ||
| let core_clock = unsafe { crate::rcc::get_freqs() } | ||
| .hclk1 | ||
| .to_hertz() | ||
| .unwrap() | ||
| .0; | ||
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| let reload_value = match (core_clock as u64).checked_div(TICK_HZ) { | ||
| Some(div) if div > 0 && div <= 0x00FFFFFF => (div - 1) as u32, | ||
| _ => panic!("Invalid SysTick reload value"), // Frequency not achievable | ||
| }; | ||
| // let peripherals = unsafe { cortex_m::Peripherals::steal() }; | ||
| // let mut systick = peripherals.SYST; | ||
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| // Configure SysTick | ||
| systick.set_clock_source(SystClkSource::Core); // Use processor clock | ||
| systick.set_reload(reload_value); | ||
| systick.clear_current(); | ||
| systick.enable_counter(); | ||
| systick.enable_interrupt(); | ||
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| true | ||
| } | ||
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| // SysTick interrupt handler | ||
| fn on_systick(&self) { | ||
| critical_section::with(|cs| { | ||
| // Increment global tick counter | ||
| let current_ticks = self.ticks.fetch_add(1, Ordering::Relaxed); | ||
| self.check_and_trigger_alarm(current_ticks, cs); | ||
| }); | ||
| } | ||
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| // Check if an alarm is due and trigger it if necessary | ||
| #[inline] | ||
| fn check_and_trigger_alarm(&self, current_time: u64, cs: CriticalSection) { | ||
| let alarm = &self.alarm.borrow(cs); | ||
| let alarm_timestamp = alarm.timestamp.get(); | ||
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| // Check if alarm is scheduled and due | ||
| if alarm_timestamp != u64::MAX && current_time >= alarm_timestamp { | ||
| let mut next = self | ||
| .queue | ||
| .borrow(cs) | ||
| .borrow_mut() | ||
| .next_expiration(current_time); | ||
| while !self.set_alarm(cs, next) { | ||
| next = self | ||
| .queue | ||
| .borrow(cs) | ||
| .borrow_mut() | ||
| .next_expiration(self.now()); | ||
| } | ||
| } | ||
| } | ||
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| // Set alarm timestamp | ||
| fn set_alarm(&self, cs: CriticalSection, timestamp: u64) -> bool { | ||
| if self.now() >= timestamp { | ||
| // Alarm time has passed, cannot set | ||
| return false; | ||
| } | ||
| self.alarm.borrow(cs).timestamp.set(timestamp); | ||
| if self.now() >= timestamp { | ||
| self.alarm.borrow(cs).timestamp.set(u64::MAX); | ||
| return false; | ||
| } | ||
| true | ||
| } | ||
| } | ||
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| // Implement the Driver trait for SysTickDriver | ||
| impl Driver for SysTickDriver { | ||
| // Get current system time in ticks | ||
| fn now(&self) -> u64 { | ||
| self.ticks.load(Ordering::Relaxed) | ||
| } | ||
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| fn schedule_wake(&self, at: u64, waker: &Waker) { | ||
| critical_section::with(|cs| { | ||
| let mut queue = self.queue.borrow(cs).borrow_mut(); | ||
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| if queue.schedule_wake(at, waker) { | ||
| let mut next = queue.next_expiration(self.now()); | ||
| while !self.set_alarm(cs, next) { | ||
| next = queue.next_expiration(self.now()); | ||
| } | ||
| } | ||
| }) | ||
| } | ||
| } | ||
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| // Initialization function | ||
| pub(crate) fn init(cs: CriticalSection, systick: SYST) { | ||
| DRIVER.init(cs, systick); | ||
| } | ||
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| // SysTick interrupt handler (to be implemented in your interrupt vector) | ||
| #[exception] | ||
| fn SysTick() { | ||
| DRIVER.on_systick(); | ||
| } |
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