<!DOCTYPE html><html lang="en"><head><meta charset="utf-8"><meta name="viewport" content="width=device-width, initial-scale=1.0"><meta name="generator" content="rustdoc"><meta name="description" content="Source of the Rust file `rtic-monotonics/src/stm32.rs`."><title>stm32.rs - source</title><script>if(window.location.protocol!=="file:")document.head.insertAdjacentHTML("beforeend","SourceSerif4-Regular-6b053e98.ttf.woff2,FiraSans-Regular-0fe48ade.woff2,FiraSans-Medium-e1aa3f0a.woff2,SourceCodePro-Regular-8badfe75.ttf.woff2,SourceCodePro-Semibold-aa29a496.ttf.woff2".split(",").map(f=>`<link rel="preload" as="font" type="font/woff2" crossorigin href="../../static.files/${f}">`).join(""))</script><link rel="stylesheet" href="../../static.files/normalize-9960930a.css"><link rel="stylesheet" href="../../static.files/rustdoc-42caa33d.css"><meta name="rustdoc-vars" data-root-path="../../" data-static-root-path="../../static.files/" data-current-crate="rtic_monotonics" data-themes="" data-resource-suffix="" data-rustdoc-version="1.84.0 (9fc6b4312 2025-01-07)" data-channel="1.84.0" data-search-js="search-92e6798f.js" data-settings-js="settings-0f613d39.js" ><script src="../../static.files/storage-59e33391.js"></script><script defer src="../../static.files/src-script-56102188.js"></script><script defer src="../../src-files.js"></script><script defer src="../../static.files/main-5f194d8c.js"></script><noscript><link rel="stylesheet" href="../../static.files/noscript-893ab5e7.css"></noscript><link rel="alternate icon" type="image/png" href="../../static.files/favicon-32x32-6580c154.png"><link rel="icon" type="image/svg+xml" href="../../static.files/favicon-044be391.svg"></head><body class="rustdoc src"><!--[if lte IE 11]><div class="warning">This old browser is unsupported and will most likely display funky things.</div><![endif]--><nav class="sidebar"><div class="src-sidebar-title"><h2>Files</h2></div></nav><div class="sidebar-resizer"></div><main><rustdoc-search></rustdoc-search><section id="main-content" class="content"><div class="main-heading"><h1><div class="sub-heading">rtic_monotonics/</div>stm32.rs</h1><rustdoc-toolbar></rustdoc-toolbar></div><div class="example-wrap"><div data-nosnippet><pre class="src-line-numbers">
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<a href="#364" id="364">364</a></pre></div><pre class="rust"><code><span class="doccomment">//! [`Monotonic`](rtic_time::Monotonic) implementations for STM32 chips.
//!
//! Not all timers are available on all parts. Ensure that only available
//! timers are exposed by having the correct `stm32*` feature enabled for `rtic-monotonics`.
//!
//! # Example
//!
//! ```
//! use rtic_monotonics::stm32::prelude::*;
//!
//! // Define the monotonic and set it to 1MHz tick rate
//! stm32_tim2_monotonic!(Mono, 1_000_000);
//!
//! fn init() {
//! // If using `embassy-stm32` HAL, timer clock can be read out like this:
//! let timer_clock_hz = embassy_stm32::peripherals::TIM2::frequency();
//! // Or define it manually if you are using other HAL or know correct frequency:
//! let timer_clock_hz = 64_000_000;
//!
//! // Start the monotonic
//! Mono::start(timer_clock_hz);
//! }
//!
//! async fn usage() {
//! loop {
//! // Use the monotonic
//! let timestamp = Mono::now();
//! Mono::delay(100.millis()).await;
//! }
//! }
//! ```
/// Common definitions and traits for using the STM32 monotonics
</span><span class="kw">pub mod </span>prelude {
<span class="attr">#[cfg(feature = <span class="string">"stm32_tim2"</span>)]
</span><span class="kw">pub use </span><span class="kw">crate</span>::stm32_tim2_monotonic;
<span class="attr">#[cfg(feature = <span class="string">"stm32_tim3"</span>)]
</span><span class="kw">pub use </span><span class="kw">crate</span>::stm32_tim3_monotonic;
<span class="attr">#[cfg(feature = <span class="string">"stm32_tim4"</span>)]
</span><span class="kw">pub use </span><span class="kw">crate</span>::stm32_tim4_monotonic;
<span class="attr">#[cfg(feature = <span class="string">"stm32_tim5"</span>)]
</span><span class="kw">pub use </span><span class="kw">crate</span>::stm32_tim5_monotonic;
<span class="attr">#[cfg(feature = <span class="string">"stm32_tim15"</span>)]
</span><span class="kw">pub use </span><span class="kw">crate</span>::stm32_tim15_monotonic;
<span class="kw">pub use </span><span class="kw">crate</span>::Monotonic;
<span class="kw">pub use </span>fugit::{<span class="self">self</span>, ExtU64, ExtU64Ceil};
}
<span class="kw">use </span>portable_atomic::{AtomicU64, Ordering};
<span class="kw">use </span>rtic_time::{
half_period_counter::calculate_now,
timer_queue::{TimerQueue, TimerQueueBackend},
};
<span class="kw">use </span>stm32_metapac <span class="kw">as </span>pac;
<span class="kw">mod </span>_generated {
<span class="attr">#![allow(dead_code)]
#![allow(unused_imports)]
#![allow(non_snake_case)]
</span><span class="macro">include!</span>(<span class="macro">concat!</span>(<span class="macro">env!</span>(<span class="string">"OUT_DIR"</span>), <span class="string">"/_generated.rs"</span>));
}
<span class="attr">#[doc(hidden)]
#[macro_export]
</span><span class="macro">macro_rules!</span> __internal_create_stm32_timer_interrupt {
(<span class="macro-nonterminal">$mono_backend</span>:ident, <span class="macro-nonterminal">$interrupt_name</span>:ident) => {
<span class="attr">#[no_mangle]
#[allow(non_snake_case)]
</span><span class="kw">unsafe extern </span><span class="string">"C" </span><span class="kw">fn </span><span class="macro-nonterminal">$interrupt_name</span>() {
<span class="kw">use </span><span class="macro-nonterminal">$crate::TimerQueueBackend</span>;
<span class="macro-nonterminal">$crate::stm32</span>::<span class="macro-nonterminal">$mono_backend::timer_queue</span>().on_monotonic_interrupt();
}
};
}
<span class="attr">#[doc(hidden)]
#[macro_export]
</span><span class="macro">macro_rules!</span> __internal_create_stm32_timer_struct {
(<span class="macro-nonterminal">$name</span>:ident, <span class="macro-nonterminal">$mono_backend</span>:ident, <span class="macro-nonterminal">$timer</span>:ident, <span class="macro-nonterminal">$tick_rate_hz</span>:expr) => {
<span class="doccomment">/// A `Monotonic` based on an STM32 timer peripheral.
</span><span class="kw">pub struct </span><span class="macro-nonterminal">$name</span>;
<span class="kw">impl </span><span class="macro-nonterminal">$name </span>{
<span class="doccomment">/// Starts the `Monotonic`.
///
/// - `tim_clock_hz`: `TIMx` peripheral clock frequency.
///
/// Panics if it is impossible to achieve the desired monotonic tick rate based
/// on the given `tim_clock_hz` parameter. If that happens, adjust the desired monotonic tick rate.
///
/// This method must be called only once.
</span><span class="kw">pub fn </span>start(tim_clock_hz: u32) {
<span class="macro-nonterminal">$</span><span class="macro">crate::__internal_create_stm32_timer_interrupt!</span>(<span class="macro-nonterminal">$mono_backend</span>, <span class="macro-nonterminal">$timer</span>);
<span class="macro-nonterminal">$crate::stm32</span>::<span class="macro-nonterminal">$mono_backend::_start</span>(tim_clock_hz, <span class="macro-nonterminal">$tick_rate_hz</span>);
}
}
<span class="kw">impl </span><span class="macro-nonterminal">$crate::TimerQueueBasedMonotonic </span><span class="kw">for </span><span class="macro-nonterminal">$name </span>{
<span class="kw">type </span>Backend = <span class="macro-nonterminal">$crate::stm32</span>::<span class="macro-nonterminal">$mono_backend</span>;
<span class="kw">type </span>Instant = <span class="macro-nonterminal">$crate::fugit::Instant</span><
<<span class="self">Self</span>::Backend <span class="kw">as </span><span class="macro-nonterminal">$crate::TimerQueueBackend</span>>::Ticks,
<span class="number">1</span>,
{ <span class="macro-nonterminal">$tick_rate_hz </span>},
>;
<span class="kw">type </span>Duration = <span class="macro-nonterminal">$crate::fugit::Duration</span><
<<span class="self">Self</span>::Backend <span class="kw">as </span><span class="macro-nonterminal">$crate::TimerQueueBackend</span>>::Ticks,
<span class="number">1</span>,
{ <span class="macro-nonterminal">$tick_rate_hz </span>},
>;
}
<span class="macro-nonterminal">$</span><span class="macro">crate::rtic_time::impl_embedded_hal_delay_fugit!</span>(<span class="macro-nonterminal">$name</span>);
<span class="macro-nonterminal">$</span><span class="macro">crate::rtic_time::impl_embedded_hal_async_delay_fugit!</span>(<span class="macro-nonterminal">$name</span>);
};
}
<span class="doccomment">/// Create a TIM2 based monotonic and register the TIM2 interrupt for it.
///
/// See [`crate::stm32`] for more details.
///
/// # Arguments
///
/// * `name` - The name that the monotonic type will have.
/// * `tick_rate_hz` - The tick rate of the timer peripheral.
///
</span><span class="attr">#[cfg(feature = <span class="string">"stm32_tim2"</span>)]
#[macro_export]
</span><span class="macro">macro_rules!</span> stm32_tim2_monotonic {
(<span class="macro-nonterminal">$name</span>:ident, <span class="macro-nonterminal">$tick_rate_hz</span>:expr) => {
<span class="macro-nonterminal">$</span><span class="macro">crate::__internal_create_stm32_timer_struct!</span>(<span class="macro-nonterminal">$name</span>, Tim2Backend, TIM2, <span class="macro-nonterminal">$tick_rate_hz</span>);
};
}
<span class="doccomment">/// Create a TIM3 based monotonic and register the TIM3 interrupt for it.
///
/// See [`crate::stm32`] for more details.
///
/// # Arguments
///
/// * `name` - The name that the monotonic type will have.
/// * `tick_rate_hz` - The tick rate of the timer peripheral.
///
</span><span class="attr">#[cfg(feature = <span class="string">"stm32_tim3"</span>)]
#[macro_export]
</span><span class="macro">macro_rules!</span> stm32_tim3_monotonic {
(<span class="macro-nonterminal">$name</span>:ident, <span class="macro-nonterminal">$tick_rate_hz</span>:expr) => {
<span class="macro-nonterminal">$</span><span class="macro">crate::__internal_create_stm32_timer_struct!</span>(<span class="macro-nonterminal">$name</span>, Tim3Backend, TIM3, <span class="macro-nonterminal">$tick_rate_hz</span>);
};
}
<span class="doccomment">/// Create a TIM4 based monotonic and register the TIM4 interrupt for it.
///
/// See [`crate::stm32`] for more details.
///
/// # Arguments
///
/// * `name` - The name that the monotonic type will have.
/// * `tick_rate_hz` - The tick rate of the timer peripheral.
///
</span><span class="attr">#[cfg(feature = <span class="string">"stm32_tim4"</span>)]
#[macro_export]
</span><span class="macro">macro_rules!</span> stm32_tim4_monotonic {
(<span class="macro-nonterminal">$name</span>:ident, <span class="macro-nonterminal">$tick_rate_hz</span>:expr) => {
<span class="macro-nonterminal">$</span><span class="macro">crate::__internal_create_stm32_timer_struct!</span>(<span class="macro-nonterminal">$name</span>, Tim4Backend, TIM4, <span class="macro-nonterminal">$tick_rate_hz</span>);
};
}
<span class="doccomment">/// Create a TIM5 based monotonic and register the TIM5 interrupt for it.
///
/// See [`crate::stm32`] for more details.
///
/// # Arguments
///
/// * `name` - The name that the monotonic type will have.
/// * `tick_rate_hz` - The tick rate of the timer peripheral.
///
</span><span class="attr">#[cfg(feature = <span class="string">"stm32_tim5"</span>)]
#[macro_export]
</span><span class="macro">macro_rules!</span> stm32_tim5_monotonic {
(<span class="macro-nonterminal">$name</span>:ident, <span class="macro-nonterminal">$tick_rate_hz</span>:expr) => {
<span class="macro-nonterminal">$</span><span class="macro">crate::__internal_create_stm32_timer_struct!</span>(<span class="macro-nonterminal">$name</span>, Tim5Backend, TIM5, <span class="macro-nonterminal">$tick_rate_hz</span>);
};
}
<span class="doccomment">/// Create a TIM15 based monotonic and register the TIM15 interrupt for it.
///
/// See [`crate::stm32`] for more details.
///
/// # Arguments
///
/// * `name` - The name that the monotonic type will have.
/// * `tick_rate_hz` - The tick rate of the timer peripheral.
///
</span><span class="attr">#[cfg(feature = <span class="string">"stm32_tim15"</span>)]
#[macro_export]
</span><span class="macro">macro_rules!</span> stm32_tim15_monotonic {
(<span class="macro-nonterminal">$name</span>:ident, <span class="macro-nonterminal">$tick_rate_hz</span>:expr) => {
<span class="macro-nonterminal">$</span><span class="macro">crate::__internal_create_stm32_timer_struct!</span>(<span class="macro-nonterminal">$name</span>, Tim15Backend, TIM15, <span class="macro-nonterminal">$tick_rate_hz</span>);
};
}
<span class="macro">macro_rules!</span> make_timer {
(<span class="macro-nonterminal">$backend_name</span>:ident, <span class="macro-nonterminal">$timer</span>:ident, <span class="macro-nonterminal">$bits</span>:ident, <span class="macro-nonterminal">$overflow</span>:ident, <span class="macro-nonterminal">$tq</span>:ident$(, doc: ($(<span class="macro-nonterminal">$doc</span>:tt)<span class="kw-2">*</span>))<span class="question-mark">?</span>) => {
<span class="doccomment">/// Monotonic timer backend implementation.
</span>$(
<span class="attr">#[cfg_attr(docsrs, doc(cfg($(<span class="macro-nonterminal">$doc</span>)<span class="kw-2">*</span>)))]
</span>)<span class="question-mark">?
</span><span class="kw">pub struct </span><span class="macro-nonterminal">$backend_name</span>;
<span class="kw">use </span>pac::<span class="macro-nonterminal">$timer</span>;
<span class="kw">static </span><span class="macro-nonterminal">$overflow</span>: AtomicU64 = AtomicU64::new(<span class="number">0</span>);
<span class="kw">static </span><span class="macro-nonterminal">$tq</span>: TimerQueue<<span class="macro-nonterminal">$backend_name</span>> = TimerQueue::new();
<span class="kw">impl </span><span class="macro-nonterminal">$backend_name </span>{
<span class="doccomment">/// Starts the timer.
///
/// **Do not use this function directly.**
///
/// Use the prelude macros instead.
</span><span class="kw">pub fn </span>_start(tim_clock_hz: u32, timer_hz: u32) {
_generated::<span class="macro-nonterminal">$timer::enable</span>();
_generated::<span class="macro-nonterminal">$timer::reset</span>();
<span class="macro-nonterminal">$timer</span>.cr1().modify(|r| r.set_cen(<span class="bool-val">false</span>));
<span class="macro">assert!</span>((tim_clock_hz % timer_hz) == <span class="number">0</span>, <span class="string">"Unable to find suitable timer prescaler value!"</span>);
<span class="kw">let </span>psc = tim_clock_hz / timer_hz - <span class="number">1</span>;
<span class="macro-nonterminal">$timer</span>.psc().write(|r| r.set_psc(psc <span class="kw">as </span>u16));
<span class="comment">// Enable full-period interrupt.
</span><span class="macro-nonterminal">$timer</span>.dier().modify(|r| r.set_uie(<span class="bool-val">true</span>));
<span class="comment">// Configure and enable half-period interrupt
</span><span class="macro-nonterminal">$timer</span>.ccr(<span class="number">0</span>).write(|r| r.set_ccr((<span class="macro-nonterminal">$bits::MAX </span>- (<span class="macro-nonterminal">$bits::MAX </span>>> <span class="number">1</span>)).into()));
<span class="macro-nonterminal">$timer</span>.dier().modify(|r| r.set_ccie(<span class="number">0</span>, <span class="bool-val">true</span>));
<span class="comment">// Trigger an update event to load the prescaler value to the clock.
</span><span class="macro-nonterminal">$timer</span>.egr().write(|r| r.set_ug(<span class="bool-val">true</span>));
<span class="comment">// Clear timer value so it is known that we are at the first half period
</span><span class="macro-nonterminal">$timer</span>.cnt().write(|r| r.set_cnt(<span class="number">1</span>));
<span class="comment">// Triggering the update event might have raised overflow interrupts.
// Clear them to return to a known state.
</span><span class="macro-nonterminal">$timer</span>.sr().write(|r| {
r.<span class="number">0 </span>= !<span class="number">0</span>;
r.set_uif(<span class="bool-val">false</span>);
r.set_ccif(<span class="number">0</span>, <span class="bool-val">false</span>);
r.set_ccif(<span class="number">1</span>, <span class="bool-val">false</span>);
});
<span class="macro-nonterminal">$tq</span>.initialize(<span class="self">Self </span>{});
<span class="macro-nonterminal">$overflow</span>.store(<span class="number">0</span>, Ordering::SeqCst);
<span class="comment">// Start the counter.
</span><span class="macro-nonterminal">$timer</span>.cr1().modify(|r| {
r.set_cen(<span class="bool-val">true</span>);
});
<span class="comment">// SAFETY: We take full ownership of the peripheral and interrupt vector,
// plus we are not using any external shared resources so we won't impact
// basepri/source masking based critical sections.
</span><span class="kw">unsafe </span>{
<span class="kw">crate</span>::set_monotonic_prio(_generated::NVIC_PRIO_BITS, pac::Interrupt::<span class="macro-nonterminal">$timer</span>);
cortex_m::peripheral::NVIC::unmask(pac::Interrupt::<span class="macro-nonterminal">$timer</span>);
}
}
}
<span class="kw">impl </span>TimerQueueBackend <span class="kw">for </span><span class="macro-nonterminal">$backend_name </span>{
<span class="kw">type </span>Ticks = u64;
<span class="kw">fn </span>now() -> <span class="self">Self</span>::Ticks {
calculate_now(
|| <span class="macro-nonterminal">$overflow</span>.load(Ordering::Relaxed),
|| <span class="macro-nonterminal">$timer</span>.cnt().read().cnt()
)
}
<span class="kw">fn </span>set_compare(instant: <span class="self">Self</span>::Ticks) {
<span class="kw">let </span>now = <span class="self">Self</span>::now();
<span class="comment">// Since the timer may or may not overflow based on the requested compare val, we check how many ticks are left.
// `wrapping_sub` takes care of the u64 integer overflow special case.
</span><span class="kw">let </span>val = <span class="kw">if </span>instant.wrapping_sub(now) <= (<span class="macro-nonterminal">$bits::MAX </span><span class="kw">as </span>u64) {
instant <span class="kw">as </span><span class="macro-nonterminal">$bits
</span>} <span class="kw">else </span>{
<span class="comment">// In the past or will overflow
</span><span class="number">0
</span>};
<span class="macro-nonterminal">$timer</span>.ccr(<span class="number">1</span>).write(|r| r.set_ccr(val.into()));
}
<span class="kw">fn </span>clear_compare_flag() {
<span class="macro-nonterminal">$timer</span>.sr().write(|r| {
r.<span class="number">0 </span>= !<span class="number">0</span>;
r.set_ccif(<span class="number">1</span>, <span class="bool-val">false</span>);
});
}
<span class="kw">fn </span>pend_interrupt() {
cortex_m::peripheral::NVIC::pend(pac::Interrupt::<span class="macro-nonterminal">$timer</span>);
}
<span class="kw">fn </span>enable_timer() {
<span class="macro-nonterminal">$timer</span>.dier().modify(|r| r.set_ccie(<span class="number">1</span>, <span class="bool-val">true</span>));
}
<span class="kw">fn </span>disable_timer() {
<span class="macro-nonterminal">$timer</span>.dier().modify(|r| r.set_ccie(<span class="number">1</span>, <span class="bool-val">false</span>));
}
<span class="kw">fn </span>on_interrupt() {
<span class="comment">// Full period
</span><span class="kw">if </span><span class="macro-nonterminal">$timer</span>.sr().read().uif() {
<span class="macro-nonterminal">$timer</span>.sr().write(|r| {
r.<span class="number">0 </span>= !<span class="number">0</span>;
r.set_uif(<span class="bool-val">false</span>);
});
<span class="kw">let </span>prev = <span class="macro-nonterminal">$overflow</span>.fetch_add(<span class="number">1</span>, Ordering::Relaxed);
<span class="macro">assert!</span>(prev % <span class="number">2 </span>== <span class="number">1</span>, <span class="string">"Monotonic must have missed an interrupt!"</span>);
}
<span class="comment">// Half period
</span><span class="kw">if </span><span class="macro-nonterminal">$timer</span>.sr().read().ccif(<span class="number">0</span>) {
<span class="macro-nonterminal">$timer</span>.sr().write(|r| {
r.<span class="number">0 </span>= !<span class="number">0</span>;
r.set_ccif(<span class="number">0</span>, <span class="bool-val">false</span>);
});
<span class="kw">let </span>prev = <span class="macro-nonterminal">$overflow</span>.fetch_add(<span class="number">1</span>, Ordering::Relaxed);
<span class="macro">assert!</span>(prev % <span class="number">2 </span>== <span class="number">0</span>, <span class="string">"Monotonic must have missed an interrupt!"</span>);
}
}
<span class="kw">fn </span>timer_queue() -> <span class="kw-2">&</span><span class="lifetime">'static </span>TimerQueue<<span class="macro-nonterminal">$backend_name</span>> {
<span class="kw-2">&</span><span class="macro-nonterminal">$tq
</span>}
}
};
}
<span class="attr">#[cfg(feature = <span class="string">"stm32_tim2"</span>)]
</span><span class="macro">make_timer!</span>(Tim2Backend, TIM2, u32, TIMER2_OVERFLOWS, TIMER2_TQ);
<span class="attr">#[cfg(feature = <span class="string">"stm32_tim3"</span>)]
</span><span class="macro">make_timer!</span>(Tim3Backend, TIM3, u16, TIMER3_OVERFLOWS, TIMER3_TQ);
<span class="attr">#[cfg(feature = <span class="string">"stm32_tim4"</span>)]
</span><span class="macro">make_timer!</span>(Tim4Backend, TIM4, u16, TIMER4_OVERFLOWS, TIMER4_TQ);
<span class="attr">#[cfg(feature = <span class="string">"stm32_tim5"</span>)]
</span><span class="macro">make_timer!</span>(Tim5Backend, TIM5, u16, TIMER5_OVERFLOWS, TIMER5_TQ);
<span class="attr">#[cfg(feature = <span class="string">"stm32_tim15"</span>)]
</span><span class="macro">make_timer!</span>(Tim15Backend, TIM15, u16, TIMER15_OVERFLOWS, TIMER15_TQ);
</code></pre></div></section></main></body></html>