crashtest-r0ket/firmware/core/systick/systick.c

/**************************************************************************/
/*! 
    @file     systick.c
    @author   K. Townsend (microBuilder.eu)
    @date     22 March 2010
    @version  0.10

    @section DESCRIPTION

    Controls the 24-bit 'system tick' clock, which can be used as a
    generic timer or to control time sharing with an embedded real-time
    operating system (such as FreeRTOS).

    @section Example

    @code 
    #include "core/cpu/cpu.h"
    #include "core/systick/systick.h"

    void main (void)
    {
      cpuInit();

      // Start systick timer with one tick every 10ms
      systickInit(10);

      while(1)
      {
      }
    }
    @endcode

    @section LICENSE

    Software License Agreement (BSD License)

    Copyright (c) 2010, microBuilder SARL
    All rights reserved.

    Redistribution and use in source and binary forms, with or without
    modification, are permitted provided that the following conditions are met:
    1. Redistributions of source code must retain the above copyright
    notice, this list of conditions and the following disclaimer.
    2. Redistributions in binary form must reproduce the above copyright
    notice, this list of conditions and the following disclaimer in the
    documentation and/or other materials provided with the distribution.
    3. Neither the name of the copyright holders nor the
    names of its contributors may be used to endorse or promote products
    derived from this software without specific prior written permission.

    THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
    EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
    WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
    DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
    DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
    (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
    LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
    ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
    (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
    SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
/**************************************************************************/

#include "systick.h"

volatile uint32_t systickTicks = 0;             // 1ms tick counter
volatile uint32_t systickRollovers = 0;

void tick_wrapper(void);

/**************************************************************************/
/*! 
    @brief Systick interrupt handler
*/
/**************************************************************************/
void SysTick_Handler (void)
{
  systickTicks++;

  // Increment rollover counter
  if (systickTicks == 0xFFFFFFFF) systickRollovers++;

  tick_wrapper();
}

/**************************************************************************/
/*! 
    @brief      Configures the systick timer

    @param[in]  ticks
                The number of clock cycles between each tick of the
                systick timer. for example, 'CFG_CPU_CCLK / 1000' = 
                1 millisecond.  This value must not exceed 0x00FFFFFF.
*/
/**************************************************************************/
static uint32_t systickConfig(uint32_t ticks)
{ 
  // Check if 'ticks' is greater than maximum value
  if (ticks > SYSTICK_STRELOAD_MASK)
  {
    return (1);
  }

  // Reset counter
  systickTicks = 0;
                     
  // Set reload register
  SYSTICK_STRELOAD  = (ticks & SYSTICK_STRELOAD_MASK) - 1;

  // Load the systick counter value
  SYSTICK_STCURR = 0;

  // Enable systick IRQ and timer
  SYSTICK_STCTRL = SYSTICK_STCTRL_CLKSOURCE |
                   SYSTICK_STCTRL_TICKINT |
                   SYSTICK_STCTRL_ENABLE;

  return (0);
}

/**************************************************************************/
/*! 
    @brief      Initialises the systick timer

    @param[in]  delayMs
                The number of milliseconds between each tick of the systick
                timer.
                  
    @note       The shortest possible delay is 1 millisecond, which will 
                allow fine grained delays, but will cause more load on the
                system than a 10mS delay.  The resolution of the systick
                timer needs to be balanced with the amount of processing
                time you can spare.  The delay should really only be set
                to 1 mS if you genuinely have a need for 1mS delays,
                otherwise a higher value like 5 or 10 mS is probably
                more appropriate.
*/
/**************************************************************************/
void systickInit (uint32_t delayMs)
{
  systickConfig ((CFG_CPU_CCLK / 1000) * delayMs);
}

/**************************************************************************/
/*! 
    @brief      Causes a blocking delay for 'delayTicks' ticks on the
                systick timer.  For example: systickDelay(100) would cause
                a blocking delay for 100 ticks of the systick timer.

    @param[in]  delayTicks
                The number of systick ticks to cause a blocking delay for

    @Note       This function takes into account the fact that the tick
                counter may eventually roll over to 0 once it reaches
                0xFFFFFFFF.
*/
/**************************************************************************/
void systickDelay (uint32_t delayTicks) 
{
  uint32_t curTicks;
  curTicks = systickTicks;

  // Make sure delay is at least 1 tick in case of division, etc.
  if (delayTicks == 0) delayTicks = 1;

  if (curTicks > 0xFFFFFFFF - delayTicks)
  {
    // Rollover will occur during delay
    while (systickTicks >= curTicks)
    {
      while (systickTicks < (delayTicks - (0xFFFFFFFF - curTicks)));
    }      
  }
  else
  {
    while ((systickTicks - curTicks) < delayTicks);
  }
}

/**************************************************************************/
/*! 
    @brief      Returns the current value of the systick timer counter. 
                This value is incremented by one every time an interrupt
                fires for the systick timer.
*/
/**************************************************************************/
uint32_t systickGetTicks(void)
{
  return systickTicks;
}

/**************************************************************************/
/*! 
    @brief      Returns the current value of the systick timer rollover 
                counter. This value is incremented by one every time the
                tick counter rolls over from 0xFFFFFFFF to 0.
*/
/**************************************************************************/
uint32_t systickGetRollovers(void)
{
  return systickRollovers;
}

/**************************************************************************/
/*! 
    @brief      Returns the approximate number of seconds that the
                systick timer has been running.
*/
/**************************************************************************/
uint32_t systickGetSecondsActive(void)
{
  uint32_t currentTick = systickTicks;
  uint32_t rollovers = systickRollovers;
  uint32_t secsActive = currentTick / (1000 / CFG_SYSTICK_DELAY_IN_MS);
  secsActive += rollovers * (0xFFFFFFFF / (1000 / CFG_SYSTICK_DELAY_IN_MS));

  return secsActive;
}