1
 2
 3
 4
 5
 6
 7
 8
 9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89

//! Delays

use cortex_m::peripheral::syst::SystClkSource;
use cortex_m::peripheral::SYST;

use clock::GenericClockController;
use hal::blocking::delay::{DelayMs, DelayUs};
use time::Hertz;

/// System timer (SysTick) as a delay provider
pub struct Delay {
    sysclock: Hertz,
    syst: SYST,
}

impl Delay {
    /// Configures the system timer (SysTick) as a delay provider
    pub fn new(mut syst: SYST, clocks: &mut GenericClockController) -> Self {
        syst.set_clock_source(SystClkSource::Core);

        Delay {
            syst,
            sysclock: clocks.gclk0().into(),
        }
    }

    /// Releases the system timer (SysTick) resource
    pub fn free(self) -> SYST {
        self.syst
    }
}

impl DelayMs<u32> for Delay {
    fn delay_ms(&mut self, ms: u32) {
        self.delay_us(ms * 1_000);
    }
}

impl DelayMs<u16> for Delay {
    fn delay_ms(&mut self, ms: u16) {
        self.delay_ms(ms as u32);
    }
}

impl DelayMs<u8> for Delay {
    fn delay_ms(&mut self, ms: u8) {
        self.delay_ms(ms as u32);
    }
}

impl DelayUs<u32> for Delay {
    fn delay_us(&mut self, us: u32) {
        // The SysTick Reload Value register supports values between 1 and 0x00FFFFFF.
        const MAX_RVR: u32 = 0x00FF_FFFF;

        let mut total_rvr = us * (self.sysclock.0 / 1_000_000);

        while total_rvr != 0 {
            let current_rvr = if total_rvr <= MAX_RVR {
                total_rvr
            } else {
                MAX_RVR
            };

            self.syst.set_reload(current_rvr);
            self.syst.clear_current();
            self.syst.enable_counter();

            // Update the tracking variable while we are waiting...
            total_rvr -= current_rvr;

            while !self.syst.has_wrapped() {}

            self.syst.disable_counter();
        }
    }
}

impl DelayUs<u16> for Delay {
    fn delay_us(&mut self, us: u16) {
        self.delay_us(us as u32)
    }
}

impl DelayUs<u8> for Delay {
    fn delay_us(&mut self, us: u8) {
        self.delay_us(us as u32)
    }
}