2020 February 29 Breaking Changes Update (#8064)

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;
+    uint32_t systime = (uint32_t)chVTGetSystemTime();
 
-    return current_time_ms;
+#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); }