diff options
Diffstat (limited to 'rtic-monotonics')
| -rw-r--r-- | rtic-monotonics/CHANGELOG.md | 5 | ||||
| -rw-r--r-- | rtic-monotonics/src/stm32.rs | 29 |
2 files changed, 28 insertions, 6 deletions
diff --git a/rtic-monotonics/CHANGELOG.md b/rtic-monotonics/CHANGELOG.md index 6e18648..7efce03 100644 --- a/rtic-monotonics/CHANGELOG.md +++ b/rtic-monotonics/CHANGELOG.md @@ -15,6 +15,11 @@ For each category, *Added*, *Changed*, *Fixed* add new entries at the top! - Update `esp32c3` dependency +### Fixed + +- STM32: Make initialization more deterministic +- STM32: Fix race condition that caused missed interrupts + ## v2.0.2 - 2024-07-05 ### Added diff --git a/rtic-monotonics/src/stm32.rs b/rtic-monotonics/src/stm32.rs index bc24b83..fbcee0c 100644 --- a/rtic-monotonics/src/stm32.rs +++ b/rtic-monotonics/src/stm32.rs @@ -246,9 +246,17 @@ macro_rules! make_timer { // Trigger an update event to load the prescaler value to the clock. $timer.egr().write(|r| r.set_ug(true)); - // The above line raises an update event which will indicate that the timer is already finished. - // Since this is not the case, it should be cleared. - $timer.sr().modify(|r| r.set_uif(false)); + // Clear timer value so it is known that we are at the first half period + $timer.cnt().write(|r| r.set_cnt(1)); + + // Triggering the update event might have raised overflow interrupts. + // Clear them to return to a known state. + $timer.sr().write(|r| { + r.0 = !0; + r.set_uif(false); + r.set_ccif(0, false); + r.set_ccif(1, false); + }); $tq.initialize(Self {}); $overflow.store(0, Ordering::SeqCst); @@ -294,7 +302,10 @@ macro_rules! make_timer { } fn clear_compare_flag() { - $timer.sr().modify(|r| r.set_ccif(1, false)); + $timer.sr().write(|r| { + r.0 = !0; + r.set_ccif(1, false); + }); } fn pend_interrupt() { @@ -312,13 +323,19 @@ macro_rules! make_timer { fn on_interrupt() { // Full period if $timer.sr().read().uif() { - $timer.sr().modify(|r| r.set_uif(false)); + $timer.sr().write(|r| { + r.0 = !0; + r.set_uif(false); + }); let prev = $overflow.fetch_add(1, Ordering::Relaxed); assert!(prev % 2 == 1, "Monotonic must have missed an interrupt!"); } // Half period if $timer.sr().read().ccif(0) { - $timer.sr().modify(|r| r.set_ccif(0, false)); + $timer.sr().write(|r| { + r.0 = !0; + r.set_ccif(0, false); + }); let prev = $overflow.fetch_add(1, Ordering::Relaxed); assert!(prev % 2 == 0, "Monotonic must have missed an interrupt!"); } |