Merge #721

721: Added nRF monotonics r=perlindgren a=korken89

Testing completed

Co-authored-by: Emil Fresk <emil.fresk@gmail.com>

2 files changed, 9 insertions, 2 deletions

diff --git a/rtic-time/src/lib.rs b/rtic-time/src/lib.rs
index 78b57a4..9bf1485 100644
--- a/rtic-time/src/lib.rs
+++ b/rtic-time/src/lib.rs
@@ -131,7 +131,7 @@ impl<Mono: Monotonic> TimerQueue<Mono> {
             let head = self.queue.pop_if(|head| {
                 release_at = Some(head.release_at);
 
-                let should_pop = Mono::now() >= head.release_at;
+                let should_pop = Mono::should_dequeue_check(head.release_at);
                 head.was_poped.store(should_pop, Ordering::Relaxed);
 
                 should_pop
@@ -145,7 +145,7 @@ impl<Mono: Monotonic> TimerQueue<Mono> {
                     Mono::enable_timer();
                     Mono::set_compare(instant);
 
-                    if Mono::now() >= instant {
+                    if Mono::should_dequeue_check(instant) {
                         // The time for the next instant passed while handling it,
                         // continue dequeueing
                         continue;
diff --git a/rtic-time/src/monotonic.rs b/rtic-time/src/monotonic.rs
index 9b3742f..513cc07 100644
--- a/rtic-time/src/monotonic.rs
+++ b/rtic-time/src/monotonic.rs
@@ -33,6 +33,13 @@ pub trait Monotonic {
     /// queue in RTIC checks this.
     fn set_compare(instant: Self::Instant);
 
+    /// Override for the dequeue check, override with timers that have bugs.
+    ///
+    /// E.g. nRF52 RTCs needs to be dequeued if the time is within 4 ticks.
+    fn should_dequeue_check(release_at: Self::Instant) -> bool {
+        <Self as Monotonic>::now() >= release_at
+    }
+
     /// Clear the compare interrupt flag.
     fn clear_compare_flag();