Try to make syst delay work as before

stm32-rs · Jan 19, 2025 · 4982a32 · 4982a32
1 parent a413df7
commit 4982a32
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Showing 9 changed files with 88 additions and 60 deletions.
diff --git a/examples/adc-continious-dma.rs b/examples/adc-continious-dma.rs
@@ -10,15 +10,13 @@ use crate::hal::{
         config::{Continuous, Dma as AdcDma, SampleTime, Sequence},
         AdcClaim, ClockSource, Temperature, Vref,
     },
-    delay::DelayFromCountDownTimer,
+    delay::SYSTDelayExt,
     dma::{config::DmaConfig, stream::DMAExt, TransferExt},
     gpio::GpioExt,
     pwr::PwrExt,
     rcc::{Config, RccExt},
     signature::{VrefCal, VDDA_CALIB},
     stm32::Peripherals,
-    time::ExtU32,
-    timer::Timer,
 };
 use stm32g4xx_hal as hal;
 
@@ -31,7 +29,7 @@ fn main() -> ! {
     info!("start");
 
     let dp = Peripherals::take().unwrap();
-    // let cp = cortex_m::Peripherals::take().expect("cannot take core peripherals");
+    let cp = cortex_m::Peripherals::take().expect("cannot take core peripherals");
 
     info!("rcc");
     let rcc = dp.RCC.constrain();
@@ -49,10 +47,8 @@ fn main() -> ! {
     let pa0 = gpioa.pa0.into_analog();
 
     info!("Setup Adc1");
-    // let mut delay = cp.SYST.delay(&rcc.clocks);
-    let mut delay = DelayFromCountDownTimer::new(
-        Timer::new(dp.TIM6, &rcc.clocks).start_count_down(100u32.millis()),
-    );
+    let mut delay = cp.SYST.delay(&rcc.clocks);
+
     let mut adc = dp
         .ADC1
         .claim(ClockSource::SystemClock, &rcc, &mut delay, true);

diff --git a/examples/adc-continious.rs b/examples/adc-continious.rs
@@ -6,16 +6,13 @@ use crate::hal::{
         config::{Continuous, Resolution, SampleTime, Sequence},
         AdcClaim, ClockSource, Temperature, Vref,
     },
-    delay::DelayFromCountDownTimer,
     gpio::GpioExt,
     pwr::PwrExt,
     rcc::{Config, RccExt},
     signature::{VrefCal, VDDA_CALIB},
     stm32::Peripherals,
-    time::ExtU32,
-    timer::Timer,
 };
-use stm32g4xx_hal as hal;
+use stm32g4xx_hal::{self as hal, delay::SYSTDelayExt};
 
 use cortex_m_rt::entry;
 
@@ -31,7 +28,7 @@ fn main() -> ! {
     info!("start");
 
     let dp = Peripherals::take().unwrap();
-    // let cp = cortex_m::Peripherals::take().expect("cannot take core peripherals");
+    let cp = cortex_m::Peripherals::take().expect("cannot take core peripherals");
 
     info!("rcc");
 
@@ -44,10 +41,7 @@ fn main() -> ! {
     let pa0 = gpioa.pa0.into_analog();
 
     info!("Setup Adc1");
-    // let mut delay = cp.SYST.delay(&rcc.clocks);
-    let mut delay = DelayFromCountDownTimer::new(
-        Timer::new(dp.TIM6, &rcc.clocks).start_count_down(100u32.millis()),
-    );
+    let mut delay = cp.SYST.delay(&rcc.clocks);
     let mut adc = dp
         .ADC1
         .claim(ClockSource::SystemClock, &rcc, &mut delay, true);

diff --git a/examples/adc-one-shot-dma.rs b/examples/adc-one-shot-dma.rs
@@ -8,16 +8,13 @@ use crate::hal::{
         config::{Continuous, Dma as AdcDma, Resolution, SampleTime, Sequence},
         AdcClaim, ClockSource, Temperature,
     },
-    delay::DelayFromCountDownTimer,
     dma::{config::DmaConfig, stream::DMAExt, TransferExt},
     gpio::GpioExt,
     pwr::PwrExt,
     rcc::{Config, RccExt},
     stm32::Peripherals,
-    time::ExtU32,
-    timer::Timer,
 };
-use stm32g4xx_hal as hal;
+use stm32g4xx_hal::{self as hal, delay::SYSTDelayExt};
 
 #[macro_use]
 mod utils;
@@ -30,7 +27,7 @@ fn main() -> ! {
     info!("start");
 
     let dp = Peripherals::take().unwrap();
-    // let cp = cortex_m::Peripherals::take().expect("cannot take core peripherals");
+    let cp = cortex_m::Peripherals::take().expect("cannot take core peripherals");
 
     info!("rcc");
 
@@ -49,10 +46,8 @@ fn main() -> ! {
     let pa0 = gpioa.pa0.into_analog();
 
     info!("Setup Adc1");
-    // let mut delay = cp.SYST.delay(&rcc.clocks);
-    let mut delay = DelayFromCountDownTimer::new(
-        Timer::new(dp.TIM6, &rcc.clocks).start_count_down(100u32.millis()),
-    );
+    let mut delay = cp.SYST.delay(&rcc.clocks);
+
     let mut adc = dp
         .ADC1
         .claim(ClockSource::SystemClock, &rcc, &mut delay, true);

diff --git a/examples/adc-one-shot.rs b/examples/adc-one-shot.rs
@@ -3,12 +3,9 @@
 
 use crate::hal::{
     adc::{config::SampleTime, AdcClaim},
-    delay::DelayFromCountDownTimer,
     pwr::PwrExt,
     rcc::Config,
     stm32::Peripherals,
-    time::ExtU32,
-    timer::Timer,
 };
 use hal::prelude::*;
 use stm32g4xx_hal as hal;
@@ -26,7 +23,7 @@ fn main() -> ! {
     info!("start");
 
     let dp = Peripherals::take().unwrap();
-    // let cp = cortex_m::Peripherals::take().expect("cannot take core peripherals");
+    let cp = cortex_m::Peripherals::take().expect("cannot take core peripherals");
 
     info!("rcc");
 
@@ -35,10 +32,7 @@ fn main() -> ! {
     let mut rcc = rcc.freeze(Config::hsi(), pwr);
 
     info!("Setup Adc1");
-    // let mut delay = cp.SYST.delay(&rcc.clocks);
-    let mut delay = DelayFromCountDownTimer::new(
-        Timer::new(dp.TIM6, &rcc.clocks).start_count_down(100u32.millis()),
-    );
+    let mut delay = cp.SYST.delay(&rcc.clocks);
     let mut adc = dp.ADC2.claim_and_configure(
         stm32g4xx_hal::adc::ClockSource::SystemClock,
         &rcc,

diff --git a/examples/blinky_delay.rs b/examples/blinky_delay.rs
@@ -3,8 +3,6 @@
 #![no_main]
 #![no_std]
 
-use embedded_hal::delay::DelayNs;
-use hal::delay::DelayFromCountDownTimer;
 use hal::prelude::*;
 use hal::pwr::PwrExt;
 use hal::rcc::Config;
@@ -38,7 +36,7 @@ fn main() -> ! {
 
     info!("Init Timer2 delay");
     let timer2 = Timer::new(dp.TIM2, &rcc.clocks);
-    let mut delay_tim2 = DelayFromCountDownTimer::new(timer2.start_count_down(100.millis()));
+    let mut delay_tim2 = timer2.start_count_down(100.millis()).delay();
 
     loop {
         info!("Toggle");

diff --git a/examples/comp_w_dac.rs b/examples/comp_w_dac.rs
@@ -13,22 +13,17 @@ fn main() -> ! {
     use embedded_hal_old::Direction;
     use hal::comparator::{self, ComparatorExt, ComparatorSplit};
     use hal::dac::{Dac1IntSig1, DacExt, DacOut};
-    use hal::delay::DelayFromCountDownTimer;
     use hal::gpio::GpioExt;
     use hal::rcc::RccExt;
     use hal::stm32;
-    use hal::time::ExtU32;
-    use hal::timer::Timer;
     use stm32g4xx_hal as hal;
+    use stm32g4xx_hal::delay::SYSTDelayExt;
 
     let dp = stm32::Peripherals::take().expect("cannot take peripherals");
-    // let cp = cortex_m::Peripherals::take().expect("cannot take core peripherals");
+    let cp = cortex_m::Peripherals::take().expect("cannot take core peripherals");
 
     let mut rcc = dp.RCC.constrain();
-    // let mut delay = cp.SYST.delay(&rcc.clocks);
-    let mut delay = DelayFromCountDownTimer::new(
-        Timer::new(dp.TIM6, &rcc.clocks).start_count_down(100u32.millis()),
-    );
+    let mut delay = cp.SYST.delay(&rcc.clocks);
 
     let gpioa = dp.GPIOA.split(&mut rcc);
 

diff --git a/examples/dac.rs b/examples/dac.rs
@@ -10,12 +10,10 @@
 
 use embedded_hal_old::Direction;
 use hal::dac::{DacExt, DacOut, GeneratorConfig};
-use hal::delay::DelayFromCountDownTimer;
 use hal::gpio::GpioExt;
 use hal::rcc::RccExt;
-use hal::time::ExtU32;
-use hal::timer::Timer;
 use stm32g4xx_hal as hal;
+use stm32g4xx_hal::delay::SYSTDelayExt;
 mod utils;
 extern crate cortex_m_rt as rt;
 
@@ -25,14 +23,11 @@ use rt::entry;
 #[entry]
 fn main() -> ! {
     let dp = stm32::Peripherals::take().expect("cannot take peripherals");
-    // let cp = cortex_m::Peripherals::take().expect("cannot take core peripherals");
+    let cp = cortex_m::Peripherals::take().expect("cannot take core peripherals");
 
     let mut rcc = dp.RCC.constrain();
     // cortex-m doesn't yet support hal-1 DelayNs on systick (PR #504)
-    // let mut delay = cp.SYST.delay(&rcc.clocks);
-    let mut delay = DelayFromCountDownTimer::new(
-        Timer::new(dp.TIM6, &rcc.clocks).start_count_down(100u32.millis()),
-    );
+    let mut delay = cp.SYST.delay(&rcc.clocks);
 
     let gpioa = dp.GPIOA.split(&mut rcc);
     let (dac1ch1, dac1ch2) = dp.DAC1.constrain((gpioa.pa4, gpioa.pa5), &mut rcc);

diff --git a/src/delay.rs b/src/delay.rs
@@ -38,7 +38,7 @@
 
 use crate::rcc::Clocks;
 use crate::time::MicroSecond;
-pub use cortex_m::delay::*;
+pub use cortex_m::delay::Delay;
 use cortex_m::peripheral::SYST;
 use fugit::ExtU32Ceil;
 
@@ -52,12 +52,69 @@ pub trait CountDown: embedded_hal_old::timer::CountDown {
 }
 
 pub trait SYSTDelayExt {
-    fn delay(self, clocks: &Clocks) -> Delay;
+    fn delay(self, clocks: &Clocks) -> SystDelay;
 }
 
 impl SYSTDelayExt for SYST {
-    fn delay(self, clocks: &Clocks) -> Delay {
-        Delay::new(self, clocks.ahb_clk.raw())
+    fn delay(self, clocks: &Clocks) -> SystDelay {
+        SystDelay(Delay::new(self, clocks.ahb_clk.raw()))
+    }
+}
+
+/// Delay provider
+pub struct SystDelay(Delay);
+
+impl DelayNs for SystDelay {
+    // TODO: the current fallback to 1us resolution is a stopgap until the module is reworked
+    fn delay_ns(&mut self, ns: u32) {
+        self.0.delay_us(ns.div_ceil(1000))
+    }
+    fn delay_us(&mut self, us: u32) {
+        self.0.delay_us(us);
+    }
+    fn delay_ms(&mut self, mut ms: u32) {
+        const MAX_MILLIS: u32 = u32::MAX / 1000;
+        while ms > MAX_MILLIS {
+            ms -= MAX_MILLIS;
+            DelayNs::delay_us(self, MAX_MILLIS * 1000);
+        }
+        DelayNs::delay_us(self, ms * 1000);
+    }
+}
+
+impl DelayUs<u32> for SystDelay {
+    fn delay_us(&mut self, us: u32) {
+        DelayNs::delay_us(self, us);
+    }
+}
+
+impl DelayUs<u16> for SystDelay {
+    fn delay_us(&mut self, us: u16) {
+        DelayNs::delay_us(self, us as u32);
+    }
+}
+
+impl DelayUs<u8> for SystDelay {
+    fn delay_us(&mut self, us: u8) {
+        DelayNs::delay_us(self, us as u32);
+    }
+}
+
+impl DelayMs<u32> for SystDelay {
+    fn delay_ms(&mut self, ms: u32) {
+        DelayNs::delay_ms(self, ms);
+    }
+}
+
+impl DelayMs<u16> for SystDelay {
+    fn delay_ms(&mut self, ms: u16) {
+        DelayNs::delay_ms(self, ms as u32);
+    }
+}
+
+impl DelayMs<u8> for SystDelay {
+    fn delay_ms(&mut self, ms: u8) {
+        DelayNs::delay_ms(self, ms as u32);
     }
 }
 
@@ -67,12 +124,12 @@ pub trait DelayExt {
         T: Into<MicroSecond>;
 }
 
-impl DelayExt for Delay {
+impl DelayExt for SystDelay {
     fn delay<T>(&mut self, delay: T)
     where
         T: Into<MicroSecond>,
     {
-        self.delay_us(delay.into().ticks())
+        self.0.delay_us(delay.into().ticks())
     }
 }
 

diff --git a/src/timer.rs b/src/timer.rs
@@ -3,7 +3,7 @@
 //! Pins can be used for PWM output in both push-pull mode (`Alternate`) and open-drain mode
 //! (`AlternateOD`).
 
-use crate::delay::CountDown;
+use crate::delay::{CountDown, DelayFromCountDownTimer};
 use cast::{u16, u32};
 use cortex_m::peripheral::syst::SystClkSource;
 use cortex_m::peripheral::{DCB, DWT, SYST};
@@ -287,6 +287,10 @@ macro_rules! hal {
                     self.tim.cr1.modify(|_, w| w.cen().clear_bit());
                     self.tim
                 }
+
+                pub fn delay(self) -> DelayFromCountDownTimer<Self> {
+                    DelayFromCountDownTimer::new(self)
+                }
             }
 
             impl embedded_hal_old::timer::CountDown for CountDownTimer<$TIM> {