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Fix nrf::rtc errata workaround (#858)

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* Deprecate `should_dequeue_check`

* Fix errata by delaying the wakeup point

* Add changelog

* Fix changelog typos
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Finomnis 2023-12-06 19:36:06 +01:00 • committed by GitHub
parent 89160b7cb9
commit f377471e44
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6 changed files with 34 additions and 18 deletions
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5
rtic-monotonics/CHANGELOG.md
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@ -9,8 +9,9 @@ For each category, *Added*, *Changed*, *Fixed* add new entries at the top!
### Fixed
- Race condition in `nrf::timer`.
- Race condition in `nrf::rtc`.
- Fix race condition in `nrf::timer`.
- Fix race condition in `nrf::rtc`.
- Fix errata in `nrf::rtc`.
- Add internal counter integrity check to all half-period based monotonics.
## v1.4.0 - 2023-12-04

26
rtic-monotonics/src/nrf/rtc.rs
View file

@ -243,19 +243,29 @@ macro_rules! make_rtc {
}
}
// NOTE: To fix errata for RTC, if the release time is within 4 ticks
// we release as the RTC will not generate a compare interrupt...
fn should_dequeue_check(release_at: Self::Instant) -> bool {
Self::now() + <Self as Monotonic>::Duration::from_ticks(4) >= release_at
}
fn enable_timer() {}
fn disable_timer() {}
fn set_compare(instant: Self::Instant) {
fn set_compare(mut instant: Self::Instant) {
let rtc = unsafe { &*$rtc::PTR };
unsafe { rtc.cc[0].write(|w| w.bits(instant.ticks() as u32 & 0xff_ffff)) };
// Disable interrupts because this section is timing critical.
// We rely on the fact that this entire section runs within one
// RTC clock tick. (which it will do easily if it doesn't get
// interrupted)
critical_section::with(|_|{
let now = Self::now();
if let Some(diff) = instant.checked_duration_since(now) {
// Errata: Timer interrupts don't fire if they are scheduled less than
// two ticks in the future. Make it three, because the timer could
// tick right now.
if diff.ticks() < 3 {
instant = Self::Instant::from_ticks(now.ticks().wrapping_add(3));
}
unsafe { rtc.cc[0].write(|w| w.bits(instant.ticks() as u32 & 0xff_ffff)) };
}
});
}
fn clear_compare_flag() {