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-rw-r--r--rtic-time/src/monotonic.rs240
1 files changed, 6 insertions, 234 deletions
diff --git a/rtic-time/src/monotonic.rs b/rtic-time/src/monotonic.rs
index e6a160d..7c9d915 100644
--- a/rtic-time/src/monotonic.rs
+++ b/rtic-time/src/monotonic.rs
@@ -1,236 +1,8 @@
-//! A monotonic clock / counter definition.
+//! Structs and traits surrounding the [`Monotonic`](crate::Monotonic) trait.
-/// # A monotonic clock / counter definition.
-///
-/// ## Correctness
-///
-/// The trait enforces that proper time-math is implemented between `Instant` and `Duration`. This
-/// is a requirement on the time library that the user chooses to use.
-pub trait Monotonic {
- /// The time at time zero.
- const ZERO: Self::Instant;
+pub use timer_queue_based_monotonic::{
+ TimerQueueBasedDuration, TimerQueueBasedInstant, TimerQueueBasedMonotonic,
+};
- /// The duration between two timer ticks.
- const TICK_PERIOD: Self::Duration;
-
- /// The type for instant, defining an instant in time.
- ///
- /// **Note:** In all APIs in RTIC that use instants from this monotonic, this type will be used.
- type Instant: Ord
- + Copy
- + core::ops::Add<Self::Duration, Output = Self::Instant>
- + core::ops::Sub<Self::Duration, Output = Self::Instant>
- + core::ops::Sub<Self::Instant, Output = Self::Duration>;
-
- /// The type for duration, defining an duration of time.
- ///
- /// **Note:** In all APIs in RTIC that use duration from this monotonic, this type will be used.
- type Duration;
-
- /// Get the current time.
- fn now() -> Self::Instant;
-
- /// Set the compare value of the timer interrupt.
- ///
- /// **Note:** This method does not need to handle race conditions of the monotonic, the timer
- /// queue in RTIC checks this.
- fn set_compare(instant: Self::Instant);
-
- /// This method used to be required by an errata workaround
- /// for the nrf52 family, but it has been disabled as the
- /// workaround was erroneous.
- #[deprecated(
- since = "1.2.0",
- note = "this method is erroneous and has been disabled"
- )]
- fn should_dequeue_check(_: Self::Instant) -> bool {
- panic!("This method should not be used as it is erroneous.")
- }
-
- /// Clear the compare interrupt flag.
- fn clear_compare_flag();
-
- /// Pend the timer's interrupt.
- fn pend_interrupt();
-
- /// Optional. Runs on interrupt before any timer queue handling.
- fn on_interrupt() {}
-
- /// Optional. This is used to save power, this is called when the timer queue is not empty.
- ///
- /// Enabling and disabling the monotonic needs to propagate to `now` so that an instant
- /// based of `now()` is still valid.
- ///
- /// NOTE: This may be called more than once.
- fn enable_timer() {}
-
- /// Optional. This is used to save power, this is called when the timer queue is empty.
- ///
- /// Enabling and disabling the monotonic needs to propagate to `now` so that an instant
- /// based of `now()` is still valid.
- ///
- /// NOTE: This may be called more than once.
- fn disable_timer() {}
-}
-
-/// Creates impl blocks for [`embedded_hal::delay::DelayNs`][DelayNs],
-/// based on [`fugit::ExtU64Ceil`][ExtU64Ceil].
-///
-/// [DelayNs]: https://docs.rs/embedded-hal/latest/embedded_hal/delay/trait.DelayNs.html
-/// [ExtU64Ceil]: https://docs.rs/fugit/latest/fugit/trait.ExtU64Ceil.html
-#[macro_export]
-macro_rules! embedded_hal_delay_impl_fugit64 {
- ($t:ty) => {
- impl ::embedded_hal::delay::DelayNs for $t {
- fn delay_ns(&mut self, ns: u32) {
- use ::fugit::ExtU64Ceil;
-
- let now = Self::now();
- let mut done = now + u64::from(ns).nanos_at_least();
- if now != done {
- // Compensate for sub-tick uncertainty
- done += Self::TICK_PERIOD;
- }
-
- while Self::now() < done {}
- }
-
- fn delay_us(&mut self, us: u32) {
- use ::fugit::ExtU64Ceil;
-
- let now = Self::now();
- let mut done = now + u64::from(us).micros_at_least();
- if now != done {
- // Compensate for sub-tick uncertainty
- done += Self::TICK_PERIOD;
- }
-
- while Self::now() < done {}
- }
-
- fn delay_ms(&mut self, ms: u32) {
- use ::fugit::ExtU64Ceil;
-
- let now = Self::now();
- let mut done = now + u64::from(ms).millis_at_least();
- if now != done {
- // Compensate for sub-tick uncertainty
- done += Self::TICK_PERIOD;
- }
-
- while Self::now() < done {}
- }
- }
- };
-}
-
-/// Creates impl blocks for [`embedded_hal_async::delay::DelayNs`][DelayNs],
-/// based on [`fugit::ExtU64Ceil`][ExtU64Ceil].
-///
-/// [DelayNs]: https://docs.rs/embedded-hal-async/latest/embedded_hal_async/delay/trait.DelayNs.html
-/// [ExtU64Ceil]: https://docs.rs/fugit/latest/fugit/trait.ExtU64Ceil.html
-#[macro_export]
-macro_rules! embedded_hal_async_delay_impl_fugit64 {
- ($t:ty) => {
- impl ::embedded_hal_async::delay::DelayNs for $t {
- #[inline]
- async fn delay_ns(&mut self, ns: u32) {
- use ::fugit::ExtU64Ceil;
- Self::delay(u64::from(ns).nanos_at_least()).await;
- }
-
- #[inline]
- async fn delay_us(&mut self, us: u32) {
- use ::fugit::ExtU64Ceil;
- Self::delay(u64::from(us).micros_at_least()).await;
- }
-
- #[inline]
- async fn delay_ms(&mut self, ms: u32) {
- use ::fugit::ExtU64Ceil;
- Self::delay(u64::from(ms).millis_at_least()).await;
- }
- }
- };
-}
-
-/// Creates impl blocks for [`embedded_hal::delay::DelayNs`][DelayNs],
-/// based on [`fugit::ExtU32Ceil`][ExtU32Ceil].
-///
-/// [DelayNs]: https://docs.rs/embedded-hal/latest/embedded_hal/delay/trait.DelayNs.html
-/// [ExtU32Ceil]: https://docs.rs/fugit/latest/fugit/trait.ExtU32Ceil.html
-#[macro_export]
-macro_rules! embedded_hal_delay_impl_fugit32 {
- ($t:ty) => {
- impl ::embedded_hal::delay::DelayNs for $t {
- fn delay_ns(&mut self, ns: u32) {
- use ::fugit::ExtU32Ceil;
-
- let now = Self::now();
- let mut done = now + ns.nanos_at_least();
- if now != done {
- // Compensate for sub-tick uncertainty
- done += Self::TICK_PERIOD;
- }
-
- while Self::now() < done {}
- }
-
- fn delay_us(&mut self, us: u32) {
- use ::fugit::ExtU32Ceil;
-
- let now = Self::now();
- let mut done = now + us.micros_at_least();
- if now != done {
- // Compensate for sub-tick uncertainty
- done += Self::TICK_PERIOD;
- }
-
- while Self::now() < done {}
- }
-
- fn delay_ms(&mut self, ms: u32) {
- use ::fugit::ExtU32Ceil;
-
- let now = Self::now();
- let mut done = now + ms.millis_at_least();
- if now != done {
- // Compensate for sub-tick uncertainty
- done += Self::TICK_PERIOD;
- }
-
- while Self::now() < done {}
- }
- }
- };
-}
-
-/// Creates impl blocks for [`embedded_hal_async::delay::DelayNs`][DelayNs],
-/// based on [`fugit::ExtU32Ceil`][ExtU32Ceil].
-///
-/// [DelayNs]: https://docs.rs/embedded-hal-async/latest/embedded_hal_async/delay/trait.DelayNs.html
-/// [ExtU32Ceil]: https://docs.rs/fugit/latest/fugit/trait.ExtU32Ceil.html
-#[macro_export]
-macro_rules! embedded_hal_async_delay_impl_fugit32 {
- ($t:ty) => {
- impl ::embedded_hal_async::delay::DelayNs for $t {
- #[inline]
- async fn delay_ns(&mut self, ns: u32) {
- use ::fugit::ExtU32Ceil;
- Self::delay(ns.nanos_at_least()).await;
- }
-
- #[inline]
- async fn delay_us(&mut self, us: u32) {
- use ::fugit::ExtU32Ceil;
- Self::delay(us.micros_at_least()).await;
- }
-
- #[inline]
- async fn delay_ms(&mut self, ms: u32) {
- use ::fugit::ExtU32Ceil;
- Self::delay(ms.millis_at_least()).await;
- }
- }
- };
-}
+mod embedded_hal_macros;
+mod timer_queue_based_monotonic;
generated by cgit v1.2.3 (git 2.25.1) at 2025-12-26 18:46:27 +0000