3f5dc47296
* Use polled waiting on platforms that support it Due to context switching overhead waiting a very short amount of time on a sleeping thread is often not accurate and in fact not usable for timing critical usage i.e. in a driver. Thus we use polled waiting for ranges in the us range on platforms that support it instead. The fallback is the thread sleeping mechanism. This includes: * ARM platforms with CYCCNT register (ARMv7, ARMv8) this is incremented at CPU clock frequency * GD32VF103 RISC-V port with CSR_MCYCLE register this is incremented at CPU clock frequency * RP2040 ARMv6 port which uses the integrated timer peripheral which is incremented with a fixed 1MHz frequency * Use wait_us() instead of chSysPolledDelayX ...as it is powered by busy waiting now. * Add chibios waiting methods test bench
66 lines
2.5 KiB
C
66 lines
2.5 KiB
C
/* Copyright 2021 QMK
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include <ch.h>
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#include <hal.h>
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/* chThdSleepX of zero maps to infinite - so we map to a tiny delay to still yield */
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#define wait_ms(ms) \
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do { \
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if (ms != 0) { \
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chThdSleepMilliseconds(ms); \
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} else { \
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chThdSleepMicroseconds(1); \
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} \
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} while (0)
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#ifdef WAIT_US_TIMER
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void wait_us(uint16_t duration);
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#elif PORT_SUPPORTS_RT == TRUE
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# define wait_us(us) \
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do { \
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chSysPolledDelayX(US2RTC(REALTIME_COUNTER_CLOCK, us)); \
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} while (0)
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#else
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# define wait_us(us) \
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do { \
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if (us != 0) { \
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chThdSleepMicroseconds(us); \
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} else { \
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chThdSleepMicroseconds(1); \
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} \
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} while (0)
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#endif
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#include "_wait.c"
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/* For GPIOs on ARM-based MCUs, the input pins are sampled by the clock of the bus
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* to which the GPIO is connected.
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* The connected buses differ depending on the various series of MCUs.
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* And since the instruction execution clock of the CPU and the bus clock of GPIO are different,
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* there is a delay of several clocks to read the change of the input signal.
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*
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* Define this delay with the GPIO_INPUT_PIN_DELAY macro.
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* If the GPIO_INPUT_PIN_DELAY macro is not defined, the following default values will be used.
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* (A fairly large value of 0.25 microseconds is set.)
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*/
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#ifndef GPIO_INPUT_PIN_DELAY
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# define GPIO_INPUT_PIN_DELAY (CPU_CLOCK / 1000000L / 4)
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#endif
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#define waitInputPinDelay() wait_cpuclock(GPIO_INPUT_PIN_DELAY)
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