diff options
Diffstat (limited to 'rtic-monotonics/src/stm32.rs')
| -rw-r--r-- | rtic-monotonics/src/stm32.rs | 24 |
1 files changed, 9 insertions, 15 deletions
diff --git a/rtic-monotonics/src/stm32.rs b/rtic-monotonics/src/stm32.rs index 254f1302..c86005ef 100644 --- a/rtic-monotonics/src/stm32.rs +++ b/rtic-monotonics/src/stm32.rs @@ -35,8 +35,9 @@ //! ``` use crate::{Monotonic, TimeoutError, TimerQueue}; -use atomic_polyfill::{compiler_fence, AtomicU64, Ordering}; +use atomic_polyfill::{AtomicU64, Ordering}; pub use fugit::{self, ExtU64, ExtU64Ceil}; +use rtic_time::half_period_counter::calculate_now; use stm32_metapac as pac; mod _generated { @@ -166,13 +167,14 @@ macro_rules! make_timer { // Since this is not the case, it should be cleared. $timer.sr().modify(|r| r.set_uif(false)); + $tq.initialize(Self {}); + $overflow.store(0, Ordering::SeqCst); + // Start the counter. $timer.cr1().modify(|r| { r.set_cen(true); }); - $tq.initialize(Self {}); - // SAFETY: We take full ownership of the peripheral and interrupt vector, // plus we are not using any external shared resources so we won't impact // basepri/source masking based critical sections. @@ -231,18 +233,10 @@ macro_rules! make_timer { const TICK_PERIOD: Self::Duration = Self::Duration::from_ticks(1); fn now() -> Self::Instant { - // Credits to the `time-driver` of `embassy-stm32`. - // For more info, see the `imxrt` driver. - fn calc_now(period: u64, counter: $bits) -> u64 { - (period << ($bits::BITS - 1)) + u64::from(counter ^ (((period & 1) as $bits) << ($bits::BITS - 1))) - } - - // Important: period **must** be read first. - let period = $overflow.load(Ordering::Relaxed); - compiler_fence(Ordering::Acquire); - let counter = $timer.cnt().read().cnt(); - - Self::Instant::from_ticks(calc_now(period, counter)) + Self::Instant::from_ticks(calculate_now( + $overflow.load(Ordering::Relaxed), + || $timer.cnt().read().cnt() + )) } fn set_compare(instant: Self::Instant) { |