Fixed bug 3485500.

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@3950 35acf78f-673a-0410-8e92-d51de3d6d3f4

7 files changed, 110 insertions, 68 deletions

diff --git a/os/hal/include/hal.h b/os/hal/include/hal.h
index 3e96376a2..ff0c489a7 100644
--- a/os/hal/include/hal.h
+++ b/os/hal/include/hal.h
@@ -73,6 +73,7 @@
 /* Driver macros.                                                            */

 /*===========================================================================*/

 

+#if HAL_IMPLEMENTS_COUNTERS || defined(__DOXYGEN__)

 /**

  * @name    Time conversion utilities for the realtime counter

  * @{

@@ -123,11 +124,12 @@
  * @brief   Returns the current value of the system free running counter.

  * @note    This is an optional service that could not be implemented in

  *          all HAL implementations.

+ * @note    This function can be called from any context.

  *

  * @return              The value of the system free running counter of

  *                      type halrtcnt_t.

  *

- * @api

+ * @special

  */

 #define halGetCounterValue() hal_lld_get_counter_value()

 

@@ -135,75 +137,15 @@
  * @brief   Realtime counter frequency.

  * @note    This is an optional service that could not be implemented in

  *          all HAL implementations.

+ * @note    This function can be called from any context.

  *

  * @return              The realtime counter frequency of type halclock_t.

  *

- * @api

+ * @special

  */

 #define halGetCounterFrequency() hal_lld_get_counter_frequency()

-

-/**

- * @brief   Realtime window test.

- * @details This function verifies if the current realtime counter value

- *          lies within the specified range or not. The test takes care

- *          of the realtime counter wrapping to zero on overflow.

- * @note    When start==end then the function returns always true because the

- *          whole time range is specified.

- *

- * @par Example 1

- * Example of a guarded loop using the realtime counter. The loop implements

- * a timeout after one second.

- * @code

- *   halrtcnt_t start = halGetCounterValue();

- *   halrtcnt_t timeout  = start + S2RTT(1);

- *   while (my_condition) {

- *     if (!halIsCounterWithin(start, timeout)

- *       return TIMEOUT;

- *     // Do something.

- *   }

- *   // Continue.

- * @endcode

- *

- * @par Example 2

- * Example of a loop that lasts exactly 50 microseconds.

- * @code

- *   halrtcnt_t start = halGetCounterValue();

- *   halrtcnt_t timeout  = start + US2RTT(50);

- *   while (halIsCounterWithin(start, timeout)) {

- *     // Do something.

- *   }

- *   // Continue.

- * @endcode

- *

- * @param[in] start     the start of the time window (inclusive)

- * @param[in] end       the end of the time window (non inclusive)

- * @retval TRUE         current time within the specified time window.

- * @retval FALSE        current time not within the specified time window.

- *

- * @api

- */

-#define halIsCounterWithin(start, end)                                      \

-  (end > start ? (halGetCounterValue() >= start) &&                         \

-                 (halGetCounterValue() < end) :                             \

-                 (halGetCounterValue() >= start) ||                         \

-                 (halGetCounterValue() < end))

 /** @} */

-

-/**

- * @brief   Polled delay.

- * @note    The real delays is always few cycles in excess of the specified

- *          value.

- *

- * @param[in] ticks     number of ticks

- *

- * @api

- */

-#define halPolledDelay(ticks) {                                             \

-  halrtcnt_t start = halGetCounterValue();                                  \

-  halrtcnt_t timeout  = start + (ticks);                                    \

-  while (halIsCounterWithin(start, timeout))                                \

-    ;                                                                       \

-}

+#endif /* HAL_IMPLEMENTS_COUNTERS */

 

 /*===========================================================================*/

 /* External declarations.                                                    */

@@ -213,6 +155,10 @@
 extern "C" {

 #endif

   void halInit(void);

+#if HAL_IMPLEMENTS_COUNTERS

+  bool_t halIsCounterWithin(halrtcnt_t start, halrtcnt_t end);

+  void halPolledDelay(halrtcnt_t ticks);

+#endif /* HAL_IMPLEMENTS_COUNTERS */

 #ifdef __cplusplus

 }

 #endif

diff --git a/os/hal/platforms/STM32F1xx/hal_lld.c b/os/hal/platforms/STM32F1xx/hal_lld.c
index bc2b8b0f2..53bafb1b5 100644
--- a/os/hal/platforms/STM32F1xx/hal_lld.c
+++ b/os/hal/platforms/STM32F1xx/hal_lld.c
@@ -105,7 +105,8 @@ void hal_lld_init(void) {
                   SysTick_CTRL_TICKINT_Msk;

 

   /* DWT cycle counter enable.*/

-  DWT_CTRL |= DWT_CTRL_CYCCNTENA;

+  SCS_DEMCR |= SCS_DEMCR_TRCENA;

+  DWT_CTRL  |= DWT_CTRL_CYCCNTENA;

 

   /* PWR and BD clocks enabled.*/

   rccEnablePWRInterface(FALSE);

diff --git a/os/hal/platforms/STM32F2xx/hal_lld.c b/os/hal/platforms/STM32F2xx/hal_lld.c
index 1caa61d89..75d217c69 100644
--- a/os/hal/platforms/STM32F2xx/hal_lld.c
+++ b/os/hal/platforms/STM32F2xx/hal_lld.c
@@ -107,7 +107,8 @@ void hal_lld_init(void) {
                   SysTick_CTRL_TICKINT_Msk;

 

   /* DWT cycle counter enable.*/

-  DWT_CTRL |= DWT_CTRL_CYCCNTENA;

+  SCS_DEMCR |= SCS_DEMCR_TRCENA;

+  DWT_CTRL  |= DWT_CTRL_CYCCNTENA;

 

   /* PWR clock enabled.*/

   rccEnablePWRInterface(FALSE);

diff --git a/os/hal/platforms/STM32F4xx/hal_lld.c b/os/hal/platforms/STM32F4xx/hal_lld.c
index e7c09cc06..44de90602 100644
--- a/os/hal/platforms/STM32F4xx/hal_lld.c
+++ b/os/hal/platforms/STM32F4xx/hal_lld.c
@@ -107,7 +107,8 @@ void hal_lld_init(void) {
                   SysTick_CTRL_TICKINT_Msk;

 

   /* DWT cycle counter enable.*/

-  DWT_CTRL |= DWT_CTRL_CYCCNTENA;

+  SCS_DEMCR |= SCS_DEMCR_TRCENA;

+  DWT_CTRL  |= DWT_CTRL_CYCCNTENA;

 

   /* PWR clock enabled.*/

   rccEnablePWRInterface(FALSE);

diff --git a/os/hal/platforms/STM32L1xx/hal_lld.c b/os/hal/platforms/STM32L1xx/hal_lld.c
index df666815b..1d28df62b 100644
--- a/os/hal/platforms/STM32L1xx/hal_lld.c
+++ b/os/hal/platforms/STM32L1xx/hal_lld.c
@@ -104,7 +104,8 @@ void hal_lld_init(void) {
                   SysTick_CTRL_TICKINT_Msk;

 

   /* DWT cycle counter enable.*/

-  DWT_CTRL |= DWT_CTRL_CYCCNTENA;

+  SCS_DEMCR |= SCS_DEMCR_TRCENA;

+  DWT_CTRL  |= DWT_CTRL_CYCCNTENA;

 

   /* PWR clock enabled.*/

   rccEnablePWRInterface(FALSE);

diff --git a/os/hal/src/hal.c b/os/hal/src/hal.c
index 3cf15226a..dad579ad0 100644
--- a/os/hal/src/hal.c
+++ b/os/hal/src/hal.c
@@ -120,4 +120,75 @@ void halInit(void) {
   boardInit();

 }

 

+#if HAL_IMPLEMENTS_COUNTERS || defined(__DOXYGEN__)

+/**

+ * @brief   Realtime window test.

+ * @details This function verifies if the current realtime counter value

+ *          lies within the specified range or not. The test takes care

+ *          of the realtime counter wrapping to zero on overflow.

+ * @note    When start==end then the function returns always true because the

+ *          whole time range is specified.

+ * @note    This is an optional service that could not be implemented in

+ *          all HAL implementations.

+ * @note    This function can be called from any context.

+ *

+ * @par Example 1

+ * Example of a guarded loop using the realtime counter. The loop implements

+ * a timeout after one second.

+ * @code

+ *   halrtcnt_t start = halGetCounterValue();

+ *   halrtcnt_t timeout  = start + S2RTT(1);

+ *   while (my_condition) {

+ *     if (!halIsCounterWithin(start, timeout)

+ *       return TIMEOUT;

+ *     // Do something.

+ *   }

+ *   // Continue.

+ * @endcode

+ *

+ * @par Example 2

+ * Example of a loop that lasts exactly 50 microseconds.

+ * @code

+ *   halrtcnt_t start = halGetCounterValue();

+ *   halrtcnt_t timeout  = start + US2RTT(50);

+ *   while (halIsCounterWithin(start, timeout)) {

+ *     // Do something.

+ *   }

+ *   // Continue.

+ * @endcode

+ *

+ * @param[in] start     the start of the time window (inclusive)

+ * @param[in] end       the end of the time window (non inclusive)

+ * @retval TRUE         current time within the specified time window.

+ * @retval FALSE        current time not within the specified time window.

+ *

+ * @special

+ */

+bool_t halIsCounterWithin(halrtcnt_t start, halrtcnt_t end) {

+  halrtcnt_t now = halGetCounterValue();

+

+  return end > start ? (now >= start) && (now < end) :

+                       (now >= start) || (now < end);

+}

+

+/**

+ * @brief   Polled delay.

+ * @note    The real delays is always few cycles in excess of the specified

+ *          value.

+ * @note    This is an optional service that could not be implemented in

+ *          all HAL implementations.

+ * @note    This function can be called from any context.

+ *

+ * @param[in] ticks     number of ticks

+ *

+ * @special

+ */

+void halPolledDelay(halrtcnt_t ticks) {

+  halrtcnt_t start = halGetCounterValue();

+  halrtcnt_t timeout  = start + (ticks);

+  while (halIsCounterWithin(start, timeout))

+    ;

+}

+#endif /* HAL_IMPLEMENTS_COUNTERS */

+

 /** @} */

diff --git a/os/ports/common/ARMCMx/nvic.h b/os/ports/common/ARMCMx/nvic.h
index ec86d5ad1..e4b6757a0 100644
--- a/os/ports/common/ARMCMx/nvic.h
+++ b/os/ports/common/ARMCMx/nvic.h
@@ -229,6 +229,27 @@ typedef struct {
 #define FPDSCR_RMODE(n)         ((n##U) << 22)

 

 /**

+ * @brief Structure representing the SCS I/O space.

+ */

+typedef struct {

+  IOREG32       DHCSR;

+  IOREG32       DCRSR;

+  IOREG32       DCRDR;

+  IOREG32       DEMCR;

+} CMx_SCS;

+

+/**

+ * @brief SCS peripheral base address.

+ */

+#define SCSBase                 ((CMx_SCS *)0xE000EDF0U)

+#define SCS_DHCSR               (SCSBase->DHCSR)

+#define SCS_DCRSR               (SCSBase->DCRSR)

+#define SCS_DCRDR               (SCSBase->DCRDR)

+#define SCS_DEMCR               (SCSBase->DEMCR)

+

+#define SCS_DEMCR_TRCENA        (0x1U << 24)

+

+/**

  * @brief Structure representing the DWT I/O space.

  */

 typedef struct {