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rtic-monotonics: Add 64-bit SysTick monotonic
Counting at 1 kHz, 32 bits for counting ticks is not enough to ensure monotonicity for more than 50 days. Add a feature to change the backing storage to 64 bits.
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4 changed files with 36 additions and 7 deletions
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@ -7,6 +7,10 @@ For each category, *Added*, *Changed*, *Fixed* add new entries at the top!
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## Unreleased
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### Added
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- Feature `systick-64bit` to get 64-bit backed `TimerInstantU64` instead of `TimerInstantU32` from the SysTick-based monotonic timer
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## v1.0.1 - 2023-08-20
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### Added
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@ -48,6 +48,8 @@ defmt = ["fugit/defmt"]
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cortex-m-systick = ["dep:cortex-m"]
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systick-100hz = []
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systick-10khz = []
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# Use 64-bit wide backing storage for the Instant
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systick-64bit = []
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# Timer peripheral on the RP2040
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rp2040 = ["dep:cortex-m", "dep:rp2040-pac"]
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@ -34,10 +34,22 @@
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use super::Monotonic;
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pub use super::{TimeoutError, TimerQueue};
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use atomic_polyfill::{AtomicU32, Ordering};
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use atomic_polyfill::Ordering;
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use core::future::Future;
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use cortex_m::peripheral::SYST;
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pub use fugit::{self, ExtU32};
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pub use fugit;
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cfg_if::cfg_if! {
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if #[cfg(feature = "systick-64bit")] {
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pub use fugit::ExtU64;
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use atomic_polyfill::AtomicU64;
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static SYSTICK_CNT: AtomicU64 = AtomicU64::new(0);
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} else {
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pub use fugit::ExtU32;
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use atomic_polyfill::AtomicU32;
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static SYSTICK_CNT: AtomicU32 = AtomicU32::new(0);
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}
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}
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static SYSTICK_TIMER_QUEUE: TimerQueue<Systick> = TimerQueue::new();
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// Features should be additive, here systick-100hz gets picked if both
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// `systick-100hz` and `systick-10khz` are enabled.
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@ -94,9 +106,6 @@ impl Systick {
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}
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}
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static SYSTICK_CNT: AtomicU32 = AtomicU32::new(0);
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static SYSTICK_TIMER_QUEUE: TimerQueue<Systick> = TimerQueue::new();
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// Forward timerqueue interface
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impl Systick {
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/// Used to access the underlying timer queue
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@ -136,8 +145,15 @@ impl Systick {
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}
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impl Monotonic for Systick {
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cfg_if::cfg_if! {
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if #[cfg(feature = "systick-64bit")] {
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type Instant = fugit::TimerInstantU64<TIMER_HZ>;
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type Duration = fugit::TimerDurationU64<TIMER_HZ>;
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} else {
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type Instant = fugit::TimerInstantU32<TIMER_HZ>;
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type Duration = fugit::TimerDurationU32<TIMER_HZ>;
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}
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}
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const ZERO: Self::Instant = Self::Instant::from_ticks(0);
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@ -175,10 +191,14 @@ impl Monotonic for Systick {
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#[cfg(feature = "embedded-hal-async")]
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impl embedded_hal_async::delay::DelayUs for Systick {
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async fn delay_us(&mut self, us: u32) {
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#[cfg(feature = "systick-64bit")]
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let us = u64::from(us);
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Self::delay(us.micros()).await;
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}
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async fn delay_ms(&mut self, ms: u32) {
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#[cfg(feature = "systick-64bit")]
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let ms = u64::from(ms);
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Self::delay(ms.millis()).await;
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}
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}
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@ -67,6 +67,9 @@ impl Package {
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"cortex-m-systick,embedded-hal-async",
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"cortex-m-systick,systick-100hz,embedded-hal-async",
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"cortex-m-systick,systick-10khz,embedded-hal-async",
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"cortex-m-systick,embedded-hal-async,systick-64bit",
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"cortex-m-systick,systick-100hz,embedded-hal-async,systick-64bit",
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"cortex-m-systick,systick-10khz,embedded-hal-async,systick-64bit",
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"rp2040,embedded-hal-async",
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"nrf52810,embedded-hal-async",
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"nrf52811,embedded-hal-async",
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