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//! A monotonic clock / counter definition.
/// # A monotonic clock / counter definition.
///
/// ## Correctness
///
/// The trait enforces that proper time-math is implemented between `Instant` and `Duration`. This
/// is a requirement on the time library that the user chooses to use.
pub trait Monotonic {
/// The time at time zero.
const ZERO: Self::Instant;
/// The duration between two timer ticks.
const TICK_PERIOD: Self::Duration;
/// The type for instant, defining an instant in time.
///
/// **Note:** In all APIs in RTIC that use instants from this monotonic, this type will be used.
type Instant: Ord
+ Copy
+ core::ops::Add<Self::Duration, Output = Self::Instant>
+ core::ops::Sub<Self::Duration, Output = Self::Instant>
+ core::ops::Sub<Self::Instant, Output = Self::Duration>;
/// The type for duration, defining an duration of time.
///
/// **Note:** In all APIs in RTIC that use duration from this monotonic, this type will be used.
type Duration;
/// Get the current time.
fn now() -> Self::Instant;
/// Set the compare value of the timer interrupt.
///
/// **Note:** This method does not need to handle race conditions of the monotonic, the timer
/// queue in RTIC checks this.
fn set_compare(instant: Self::Instant);
/// This method used to be required by an errata workaround
/// for the nrf52 family, but it has been disabled as the
/// workaround was erroneous.
#[deprecated(
since = "1.2.0",
note = "this method is erroneous and has been disabled"
)]
fn should_dequeue_check(_: Self::Instant) -> bool {
panic!("This method should not be used as it is erroneous.")
}
/// Clear the compare interrupt flag.
fn clear_compare_flag();
/// Pend the timer's interrupt.
fn pend_interrupt();
/// Optional. Runs on interrupt before any timer queue handling.
fn on_interrupt() {}
/// Optional. This is used to save power, this is called when the timer queue is not empty.
///
/// Enabling and disabling the monotonic needs to propagate to `now` so that an instant
/// based of `now()` is still valid.
///
/// NOTE: This may be called more than once.
fn enable_timer() {}
/// Optional. This is used to save power, this is called when the timer queue is empty.
///
/// Enabling and disabling the monotonic needs to propagate to `now` so that an instant
/// based of `now()` is still valid.
///
/// NOTE: This may be called more than once.
fn disable_timer() {}
}
/// Creates impl blocks for `embedded_hal::delay::DelayUs`,
/// based on `fugit::ExtU64Ceil`.
#[macro_export]
macro_rules! embedded_hal_delay_impl_fugit64 {
($t:ty) => {
impl ::embedded_hal::delay::DelayNs for $t {
fn delay_ns(&mut self, ns: u32) {
use ::fugit::ExtU64Ceil;
let now = Self::now();
let mut done = now + u64::from(ns).nanos_at_least();
if now != done {
// Compensate for sub-tick uncertainty
done += Self::TICK_PERIOD;
}
while Self::now() < done {}
}
fn delay_us(&mut self, us: u32) {
use ::fugit::ExtU64Ceil;
let now = Self::now();
let mut done = now + u64::from(us).micros_at_least();
if now != done {
// Compensate for sub-tick uncertainty
done += Self::TICK_PERIOD;
}
while Self::now() < done {}
}
fn delay_ms(&mut self, ms: u32) {
use ::fugit::ExtU64Ceil;
let now = Self::now();
let mut done = now + u64::from(ms).millis_at_least();
if now != done {
// Compensate for sub-tick uncertainty
done += Self::TICK_PERIOD;
}
while Self::now() < done {}
}
}
};
}
/// Creates impl blocks for `embedded_hal_async::delay::DelayUs`,
/// based on `fugit::ExtU64Ceil`.
#[macro_export]
macro_rules! embedded_hal_async_delay_impl_fugit64 {
($t:ty) => {
impl ::embedded_hal_async::delay::DelayNs for $t {
#[inline]
async fn delay_ns(&mut self, ns: u32) {
use ::fugit::ExtU64Ceil;
Self::delay(u64::from(ns).nanos_at_least()).await;
}
#[inline]
async fn delay_us(&mut self, us: u32) {
use ::fugit::ExtU64Ceil;
Self::delay(u64::from(us).micros_at_least()).await;
}
#[inline]
async fn delay_ms(&mut self, ms: u32) {
use ::fugit::ExtU64Ceil;
Self::delay(u64::from(ms).millis_at_least()).await;
}
}
};
}
/// Creates impl blocks for `embedded_hal::delay::DelayUs`,
/// based on `fugit::ExtU32Ceil`.
#[macro_export]
macro_rules! embedded_hal_delay_impl_fugit32 {
($t:ty) => {
impl ::embedded_hal::delay::DelayNs for $t {
fn delay_ns(&mut self, ns: u32) {
use ::fugit::ExtU32Ceil;
let now = Self::now();
let mut done = now + ns.nanos_at_least();
if now != done {
// Compensate for sub-tick uncertainty
done += Self::TICK_PERIOD;
}
while Self::now() < done {}
}
fn delay_us(&mut self, us: u32) {
use ::fugit::ExtU32Ceil;
let now = Self::now();
let mut done = now + us.micros_at_least();
if now != done {
// Compensate for sub-tick uncertainty
done += Self::TICK_PERIOD;
}
while Self::now() < done {}
}
fn delay_ms(&mut self, ms: u32) {
use ::fugit::ExtU32Ceil;
let now = Self::now();
let mut done = now + ms.millis_at_least();
if now != done {
// Compensate for sub-tick uncertainty
done += Self::TICK_PERIOD;
}
while Self::now() < done {}
}
}
};
}
/// Creates impl blocks for `embedded_hal_async::delay::DelayUs`,
/// based on `fugit::ExtU32Ceil`.
#[macro_export]
macro_rules! embedded_hal_async_delay_impl_fugit32 {
($t:ty) => {
impl ::embedded_hal_async::delay::DelayNs for $t {
#[inline]
async fn delay_ns(&mut self, ns: u32) {
use ::fugit::ExtU32Ceil;
Self::delay(ns.nanos_at_least()).await;
}
#[inline]
async fn delay_us(&mut self, us: u32) {
use ::fugit::ExtU32Ceil;
Self::delay(us.micros_at_least()).await;
}
#[inline]
async fn delay_ms(&mut self, ms: u32) {
use ::fugit::ExtU32Ceil;
Self::delay(ms.millis_at_least()).await;
}
}
};
}
|
