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#![no_std]
use cortex_m::peripheral::{syst::SystClkSource, DCB, DWT, SYST};
pub use fugit::{self, ExtU32};
use rtic_monotonic::Monotonic;
pub struct DwtSystick<const TIMER_HZ: u32> {
dwt: DWT,
systick: SYST,
}
impl<const TIMER_HZ: u32> DwtSystick<TIMER_HZ> {
#[inline(always)]
pub fn new(dcb: &mut DCB, dwt: DWT, systick: SYST, sysclk: u32) -> Self {
assert!(TIMER_HZ == sysclk);
dcb.enable_trace();
DWT::unlock();
unsafe { dwt.cyccnt.write(0) };
DwtSystick { dwt, systick }
}
}
impl<const TIMER_HZ: u32> Monotonic for DwtSystick<TIMER_HZ> {
const DISABLE_INTERRUPT_ON_EMPTY_QUEUE: bool = true;
type Instant = fugit::TimerInstantU32<TIMER_HZ>;
type Duration = fugit::TimerDurationU32<TIMER_HZ>;
#[inline(always)]
fn now(&mut self) -> Self::Instant {
Self::Instant::from_ticks(self.dwt.cyccnt.read())
}
unsafe fn reset(&mut self) {
self.dwt.enable_cycle_counter();
self.systick.set_clock_source(SystClkSource::Core);
self.systick.enable_counter();
self.dwt.cyccnt.write(0);
}
fn set_compare(&mut self, val: Self::Instant) {
let now = self.now();
let max = 0x00ff_ffff;
let dur = match val.checked_duration_since(now) {
None => 1,
Some(x) => max.min(x.ticks()).max(1),
};
self.systick.set_reload(dur);
self.systick.clear_current();
}
#[inline(always)]
fn zero() -> Self::Instant {
Self::Instant::from_ticks(0)
}
#[inline(always)]
fn clear_compare_flag(&mut self) {
}
}