mirror of https://github.com/ArduPilot/ardupilot
89 lines
2.4 KiB
C
89 lines
2.4 KiB
C
#ifndef _SYSTICK_H
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#define _SYSTICK_H
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#include <stm32f4xx.h>
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#include <hal_types.h>
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#include <hal.h>
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#ifdef __cplusplus
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extern "C" {
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#endif
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/** System elapsed time, in milliseconds */
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extern volatile uint64_t systick_uptime_millis;
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extern voidFuncPtr boardEmergencyHandler;
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extern void emerg_delay(uint32_t);
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/**
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* @brief Initialize and enable SysTick.
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*
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* Clocks the system timer with the core clock, turns it on, and
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* enables interrupts.
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*
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* @param reload_val Appropriate reload counter to tick every 1 ms.
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*/
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void systick_init(uint32_t reload_val);
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/**
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* Clock the system timer with the core clock and turn it on;
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* interrupt every 1 ms, for systick_timer_millis.
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*/
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static inline void systick_enable() { SysTick->CTRL = SysTick_CTRL_CLKSOURCE_Msk | SysTick_CTRL_TICKINT_Msk | SysTick_CTRL_ENABLE_Msk; }
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/**
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* Clock the system timer with the core clock, but don't turn it
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* on or enable interrupt.
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*/
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static inline void systick_disable() { SysTick->CTRL = SysTick_CTRL_CLKSOURCE_Msk; }
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/**
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* @brief Returns the system uptime, in milliseconds.
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*/
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static inline uint64_t systick_uptime(void) { return systick_uptime_millis; }
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/**
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* @brief Returns the current value of the SysTick counter.
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*/
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static inline uint32_t systick_get_count(void) { return SysTick->VAL; }
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/**
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* @brief Check for underflow.
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*
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* This function returns 1 if the SysTick timer has counted to 0 since
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* the last time it was called. However, any reads of any part of the
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* SysTick Control and Status Register SYSTICK_BASE->CSR will
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* interfere with this functionality. See the ARM Cortex M3 Technical
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* Reference Manual for more details (e.g. Table 8-3 in revision r1p1).
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*/
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static inline uint32_t systick_check_underflow(void) { return SysTick->CTRL & SysTick_CTRL_COUNTFLAG_Msk; }
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/**
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* @brief Attach a callback to be called from the SysTick exception handler.
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*
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* To detach a callback, call this function again with a null argument.
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*/
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void systick_attach_callback(Handler callback);
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void systick_detach_callback(Handler callback);
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uint32_t systick_micros(void);
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void SysTick_Handler(void);
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/*
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void HardFault_Handler(void);
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void MemManage_Handler(void);
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void BusFault_Handler(void);
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void UsageFault_Handler(void);
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*/
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void __attribute__((noreturn)) __error(uint32_t pc, uint32_t num, uint32_t lr, uint32_t flag);
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void __attribute__((noreturn)) error_throb(uint32_t num);
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#ifdef __cplusplus
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}
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#endif
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#endif
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