stm32_timebase.hpp

#pragma once
 
#include "main.h"
#include "timebase.hpp"
 
namespace LibXR
{
class STM32Timebase : public Timebase
{
 public:
  STM32Timebase() : Timebase(static_cast<uint64_t>(UINT32_MAX) * 1000 + 999, UINT32_MAX)
  {
  }
 
  TimestampUS _get_microseconds()
  {
    uint32_t ms_old = HAL_GetTick();
    uint32_t tick_value_old = SysTick->VAL;
    uint32_t ms_new = HAL_GetTick();
    uint32_t tick_value_new = SysTick->VAL;
 
    auto time_diff = ms_new - ms_old;
    uint32_t tick_load = SysTick->LOAD + 1;
    switch (time_diff)
    {
      case 0:
        return TimestampUS(static_cast<uint64_t>(ms_new) * 1000 + 1000 -
                           static_cast<uint64_t>(tick_value_old) * 1000 / tick_load);
      case 1:
        /* 中断发生在两次读取之间 / Interrupt happened between two reads */
        return TimestampUS(static_cast<uint64_t>(ms_new) * 1000 + 1000 -
                           static_cast<uint64_t>(tick_value_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 */
        ASSERT(false);
    }
 
    return 0;
  }
 
  TimestampMS _get_milliseconds() { return HAL_GetTick(); }
};
 
#ifdef HAL_TIM_MODULE_ENABLED
 
class STM32TimerTimebase : public Timebase
{
 public:
  STM32TimerTimebase(TIM_HandleTypeDef* timer)
      : Timebase(static_cast<uint64_t>(UINT32_MAX) * 1000 + 999, UINT32_MAX)
  {
    htim = timer;
  }
 
  TimestampUS _get_microseconds()
  {
    uint32_t ms_old = HAL_GetTick();
    uint32_t tick_value_old = __HAL_TIM_GET_COUNTER(htim);
    uint32_t ms_new = HAL_GetTick();
    uint32_t tick_value_new = __HAL_TIM_GET_COUNTER(htim);
 
    uint32_t autoreload = __HAL_TIM_GET_AUTORELOAD(htim) + 1;
 
    uint32_t delta_ms = ms_new - ms_old;
    switch (delta_ms)
    {
      case 0:
        return TimestampUS(static_cast<uint64_t>(ms_new) * 1000 +
                           static_cast<uint64_t>(tick_value_old) * 1000 / autoreload);
      case 1:
        /* 中断发生在两次读取之间 / Interrupt happened between two reads */
        return TimestampUS(static_cast<uint64_t>(ms_new) * 1000 +
                           static_cast<uint64_t>(tick_value_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 */
        ASSERT(false);
    }
 
    return 0;
  }
 
  TimestampMS _get_milliseconds() { return HAL_GetTick(); }
 
  static TIM_HandleTypeDef* htim;  // NOLINT
};
 
#endif
 
}  // namespace LibXR