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Fix mono delay (#843)

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* rtic-time: Compenstate for timer uncertainty

* Update changelog and incorrect cargo.lock in an example

* Fix Monotonic impls

* Fix tests

* Fix other monotonics, again

* Update changelog

* Fix example

* Fix DelayUs and DelayMs impls

* Minor coding style fix in u64 conversions

* Fix all changelogs

* Fix changelog

* Fix blocking DelayUs

* Minor monotonic rework

* Add delay precision test

* Add more tests

* Add rust-version tags to Cargo.toml

* Fix imxrt, rp2040 and systick timer

* Fix more monotonics

* Fix systick monotonic

* Some reverts

* Fix imxrt

* Fix nrf

* Fix rp2040

* Fix stm32

* Fix systick

* Fix rtic-time tests

* Bump to e-h.rc2

* Apply e-h.rc2 fixes to rtic-time

* Apply fixes from arbiter

* Fix clippy warning

* Minor beautification

* Revert previous changes

* Fix variable name

* Add blocking tests, but disable them by default
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Finomnis 2023-12-01 08:59:22 +01:00 • committed by GitHub
parent 9f5820da1d
commit 612a47ef4d
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19 changed files with 560 additions and 141 deletions
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24
rtic-monotonics/src/stm32.rs
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@ -36,7 +36,7 @@
use crate::{Monotonic, TimeoutError, TimerQueue};
use atomic_polyfill::{compiler_fence, AtomicU64, Ordering};
pub use fugit::{self, ExtU64};
pub use fugit::{self, ExtU64, ExtU64Ceil};
use stm32_metapac as pac;
mod _generated {
@ -218,31 +218,17 @@ macro_rules! make_timer {
}
}
rtic_time::embedded_hal_delay_impl_fugit64!($mono_name);
#[cfg(feature = "embedded-hal-async")]
impl embedded_hal_async::delay::DelayUs for $mono_name {
#[inline]
async fn delay_us(&mut self, us: u32) {
Self::delay((us as u64).micros()).await;
}
#[inline]
async fn delay_ms(&mut self, ms: u32) {
Self::delay((ms as u64).millis()).await;
}
}
impl embedded_hal::delay::DelayUs for $mono_name {
fn delay_us(&mut self, us: u32) {
let done = Self::now() + (us as u64).micros();
while Self::now() < done {}
}
}
rtic_time::embedded_hal_async_delay_impl_fugit64!($mono_name);
impl Monotonic for $mono_name {
type Instant = fugit::TimerInstantU64<TIMER_HZ>;
type Duration = fugit::TimerDurationU64<TIMER_HZ>;
const ZERO: Self::Instant = Self::Instant::from_ticks(0);
const TICK_PERIOD: Self::Duration = Self::Duration::from_ticks(1);
fn now() -> Self::Instant {
// Credits to the `time-driver` of `embassy-stm32`.