From 612a47ef4d09da3553145d77bf1750314bbb7b16 Mon Sep 17 00:00:00 2001
From: Finomnis <Finomnis@users.noreply.github.com>
Date: Fri, 1 Dec 2023 08:59:22 +0100
Subject: Fix mono delay (#843)

* rtic-time: Compenstate for timer uncertainty

* Update changelog and incorrect cargo.lock in an example

* Fix Monotonic impls

* Fix tests

* Fix other monotonics, again

* Update changelog

* Fix example

* Fix DelayUs and DelayMs impls

* Minor coding style fix in u64 conversions

* Fix all changelogs

* Fix changelog

* Fix blocking DelayUs

* Minor monotonic rework

* Add delay precision test

* Add more tests

* Add rust-version tags to Cargo.toml

* Fix imxrt, rp2040 and systick timer

* Fix more monotonics

* Fix systick monotonic

* Some reverts

* Fix imxrt

* Fix nrf

* Fix rp2040

* Fix stm32

* Fix systick

* Fix rtic-time tests

* Bump to e-h.rc2

* Apply e-h.rc2 fixes to rtic-time

* Apply fixes from arbiter

* Fix clippy warning

* Minor beautification

* Revert previous changes

* Fix variable name

* Add blocking tests, but disable them by default
---
 rtic-monotonics/src/systick.rs | 33 ++++++++++++---------------------
 1 file changed, 12 insertions(+), 21 deletions(-)

(limited to 'rtic-monotonics/src/systick.rs')

diff --git a/rtic-monotonics/src/systick.rs b/rtic-monotonics/src/systick.rs
index 265ca9a..9bd056c 100644
--- a/rtic-monotonics/src/systick.rs
+++ b/rtic-monotonics/src/systick.rs
@@ -40,11 +40,11 @@ use cortex_m::peripheral::SYST;
 pub use fugit;
 cfg_if::cfg_if! {
     if #[cfg(feature = "systick-64bit")] {
-        pub use fugit::ExtU64;
+        pub use fugit::{ExtU64, ExtU64Ceil};
         use atomic_polyfill::AtomicU64;
         static SYSTICK_CNT: AtomicU64 = AtomicU64::new(0);
     } else {
-        pub use fugit::ExtU32;
+        pub use fugit::{ExtU32, ExtU32Ceil};
         use atomic_polyfill::AtomicU32;
         static SYSTICK_CNT: AtomicU32 = AtomicU32::new(0);
     }
@@ -156,6 +156,7 @@ impl Monotonic for Systick {
     }
 
     const ZERO: Self::Instant = Self::Instant::from_ticks(0);
+    const TICK_PERIOD: Self::Duration = Self::Duration::from_ticks(1);
 
     fn now() -> Self::Instant {
         if Self::systick().has_wrapped() {
@@ -188,27 +189,17 @@ impl Monotonic for Systick {
     fn disable_timer() {}
 }
 
-#[cfg(feature = "embedded-hal-async")]
-impl embedded_hal_async::delay::DelayUs for Systick {
-    async fn delay_us(&mut self, us: u32) {
-        #[cfg(feature = "systick-64bit")]
-        let us = u64::from(us);
-        Self::delay(us.micros()).await;
-    }
+cfg_if::cfg_if! {
+    if #[cfg(feature = "systick-64bit")] {
+        rtic_time::embedded_hal_delay_impl_fugit64!(Systick);
 
-    async fn delay_ms(&mut self, ms: u32) {
-        #[cfg(feature = "systick-64bit")]
-        let ms = u64::from(ms);
-        Self::delay(ms.millis()).await;
-    }
-}
+        #[cfg(feature = "embedded-hal-async")]
+        rtic_time::embedded_hal_async_delay_impl_fugit64!(Systick);
+    } else {
+        rtic_time::embedded_hal_delay_impl_fugit32!(Systick);
 
-impl embedded_hal::delay::DelayUs for Systick {
-    fn delay_us(&mut self, us: u32) {
-        #[cfg(feature = "systick-64bit")]
-        let us = u64::from(us);
-        let done = Self::now() + us.micros();
-        while Self::now() < done {}
+        #[cfg(feature = "embedded-hal-async")]
+        rtic_time::embedded_hal_async_delay_impl_fugit32!(Systick);
     }
 }
 
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