stm32_timebase.cpp

#include "stm32_timebase.hpp"
 
using namespace LibXR;
 
STM32Timebase::STM32Timebase()
    : Timebase(static_cast<uint64_t>(UINT32_MAX) * 1000 + 999, UINT32_MAX)
{
}
 
MicrosecondTimestamp STM32Timebase::_get_microseconds()
{
  do
  {
    uint32_t tick_old = HAL_GetTick();
    uint32_t cnt_old = SysTick->VAL;
    uint32_t tick_new = HAL_GetTick();
    uint32_t cnt_new = SysTick->VAL;
 
    auto time_diff = tick_new - tick_old;
    uint32_t tick_load = SysTick->LOAD + 1;
    switch (time_diff)
    {
      case 0:
        return MicrosecondTimestamp(static_cast<uint64_t>(tick_new) * 1000 + 1000 -
                                    static_cast<uint64_t>(cnt_old) * 1000 / tick_load);
      case 1:
        /* 中断发生在两次读取之间 / Interrupt happened between two reads */
        return MicrosecondTimestamp(static_cast<uint64_t>(tick_new) * 1000 + 1000 -
                                    static_cast<uint64_t>(cnt_new) * 1000 / tick_load);
      default:
        /* 中断耗时过长（超过1ms），程序异常 / Indicates that interrupt took more than
         * 1ms, an error case */
        continue;
    }
  } while (true);
}
 
MillisecondTimestamp STM32Timebase::_get_milliseconds() { return HAL_GetTick(); }
 
#ifdef HAL_TIM_MODULE_ENABLED
 
TIM_HandleTypeDef* STM32TimerTimebase::htim = nullptr;
 
STM32TimerTimebase::STM32TimerTimebase(TIM_HandleTypeDef* timer)
    : Timebase(static_cast<uint64_t>(UINT32_MAX) * 1000 + 999, UINT32_MAX)
{
  htim = timer;
}
 
MicrosecondTimestamp STM32TimerTimebase::_get_microseconds()
{
  do
  {
    uint32_t tick_old = HAL_GetTick();
    uint32_t cnt_old = __HAL_TIM_GET_COUNTER(htim);
    uint32_t tick_new = HAL_GetTick();
    uint32_t cnt_new = __HAL_TIM_GET_COUNTER(htim);
 
    uint32_t autoreload = __HAL_TIM_GET_AUTORELOAD(htim) + 1;
 
    uint32_t delta_ms = tick_new - tick_old;
    switch (delta_ms)
    {
      case 0:
        return MicrosecondTimestamp(static_cast<uint64_t>(tick_new) * 1000 +
                                    static_cast<uint64_t>(cnt_old) * 1000 / autoreload);
      case 1:
        /* 中断发生在两次读取之间 / Interrupt happened between two reads */
        return MicrosecondTimestamp(static_cast<uint64_t>(tick_new) * 1000 +
                                    static_cast<uint64_t>(cnt_new) * 1000 / autoreload);
      default:
        /* 中断耗时过长（超过1ms），程序异常 / Indicates that interrupt took more than
         * 1ms, an error case */
        continue;
    }
  } while (true);
}
 
MillisecondTimestamp STM32TimerTimebase::_get_milliseconds() { return HAL_GetTick(); }
 
#endif