135 lines
3.2 KiB
C
135 lines
3.2 KiB
C
/**
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******************************************************************************
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* @file bsp_dwt.c
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* @author Wang Hongxi
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* @author modified by Neo with annotation
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* @version V1.1.0
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* @date 2022/3/8
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* @brief
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*/
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#include "bsp_dwt.h"
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#include "cmsis_os.h"
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static DWT_Time_t SysTime;
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static uint32_t CPU_FREQ_Hz, CPU_FREQ_Hz_ms, CPU_FREQ_Hz_us;
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static uint32_t CYCCNT_RountCount;
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static uint32_t CYCCNT_LAST;
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static uint64_t CYCCNT64;
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/**
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* @brief 私有函数,用于检查DWT CYCCNT寄存器是否溢出,并更新CYCCNT_RountCount
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* @attention 此函数假设两次调用之间的时间间隔不超过一次溢出
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*
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* @todo 更好的方案是为dwt的时间更新单独设置一个任务?
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* 不过,使用dwt的初衷是定时不被中断/任务等因素影响,因此该实现仍然有其存在的意义
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*
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*/
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static void DWT_CNT_Update(void)
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{
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static volatile uint8_t bit_locker = 0;
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if (!bit_locker)
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{
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bit_locker = 1;
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volatile uint32_t cnt_now = DWT->CYCCNT;
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if (cnt_now < CYCCNT_LAST)
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CYCCNT_RountCount++;
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CYCCNT_LAST = DWT->CYCCNT;
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bit_locker = 0;
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}
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}
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void DWT_Init(uint32_t CPU_Freq_mHz)
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{
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/* 使能DWT外设 */
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CoreDebug->DEMCR |= CoreDebug_DEMCR_TRCENA_Msk;
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/* DWT CYCCNT寄存器计数清0 */
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DWT->CYCCNT = (uint32_t)0u;
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/* 使能Cortex-M DWT CYCCNT寄存器 */
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DWT->CTRL |= DWT_CTRL_CYCCNTENA_Msk;
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CPU_FREQ_Hz = CPU_Freq_mHz * 1000000;
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CPU_FREQ_Hz_ms = CPU_FREQ_Hz / 1000;
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CPU_FREQ_Hz_us = CPU_FREQ_Hz / 1000000;
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CYCCNT_RountCount = 0;
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DWT_CNT_Update();
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}
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float DWT_GetDeltaT(uint32_t *cnt_last)
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{
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volatile uint32_t cnt_now = DWT->CYCCNT;
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float dt = ((uint32_t)(cnt_now - *cnt_last)) / ((float)(CPU_FREQ_Hz));
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*cnt_last = cnt_now;
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DWT_CNT_Update();
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return dt;
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}
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double DWT_GetDeltaT64(uint32_t *cnt_last)
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{
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volatile uint32_t cnt_now = DWT->CYCCNT;
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double dt = ((uint32_t)(cnt_now - *cnt_last)) / ((double)(CPU_FREQ_Hz));
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*cnt_last = cnt_now;
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DWT_CNT_Update();
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return dt;
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}
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void DWT_SysTimeUpdate(void)
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{
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volatile uint32_t cnt_now = DWT->CYCCNT;
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static uint64_t CNT_TEMP1, CNT_TEMP2, CNT_TEMP3;
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DWT_CNT_Update();
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CYCCNT64 = (uint64_t)CYCCNT_RountCount * (uint64_t)UINT32_MAX + (uint64_t)cnt_now;
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CNT_TEMP1 = CYCCNT64 / CPU_FREQ_Hz;
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CNT_TEMP2 = CYCCNT64 - CNT_TEMP1 * CPU_FREQ_Hz;
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SysTime.s = CNT_TEMP1;
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SysTime.ms = CNT_TEMP2 / CPU_FREQ_Hz_ms;
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CNT_TEMP3 = CNT_TEMP2 - SysTime.ms * CPU_FREQ_Hz_ms;
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SysTime.us = CNT_TEMP3 / CPU_FREQ_Hz_us;
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}
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float DWT_GetTimeline_s(void)
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{
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DWT_SysTimeUpdate();
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float DWT_Timelinef32 = SysTime.s + SysTime.ms * 0.001f + SysTime.us * 0.000001f;
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return DWT_Timelinef32;
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}
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float DWT_GetTimeline_ms(void)
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{
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DWT_SysTimeUpdate();
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float DWT_Timelinef32 = SysTime.s * 1000 + SysTime.ms + SysTime.us * 0.001f;
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return DWT_Timelinef32;
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}
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uint64_t DWT_GetTimeline_us(void)
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{
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DWT_SysTimeUpdate();
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uint64_t DWT_Timelinef32 = SysTime.s * 1000000 + SysTime.ms * 1000 + SysTime.us;
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return DWT_Timelinef32;
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}
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void DWT_Delay(float Delay)
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{
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uint32_t tickstart = DWT->CYCCNT;
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float wait = Delay;
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while ((DWT->CYCCNT - tickstart) < wait * (float)CPU_FREQ_Hz)
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;
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}
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