Implement DELAY_NS with CYCCNT on Cortex-M7 (#12283)
This commit is contained in:
Nils Hasenbanck
Scott Lahteine
parent
f5498168ae
commit
cafabf2055
4 changed files with 74 additions and 47 deletions
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@ -30,6 +30,7 @@
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#include "HAL.h"
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#include "../../inc/MarlinConfig.h"
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#include "../shared/Delay.h"
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#if ENABLED(EEPROM_EMULATED_WITH_SRAM)
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#if STM32F7xx
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@ -80,6 +81,11 @@ uint16_t HAL_adc_result;
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// HAL initialization task
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void HAL_init(void) {
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// Needed for DELAY_NS() / DELAY_US() on CORTEX-M7
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#if (defined(__arm__) || defined(__thumb__)) && __CORTEX_M == 7
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enableCycleCounter();
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#endif
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FastIO_init();
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#if ENABLED(SDSUPPORT)
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@ -153,8 +153,6 @@ extern uint16_t HAL_adc_result;
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// Public functions
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// --------------------------------------------------------------------------
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// Memory related
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#define __bss_end __bss_end__
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@ -26,7 +26,7 @@
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#ifdef __MK20DX256__
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#include "HAL.h"
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#include "../Delay.h"
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#include "../shared/Delay.h"
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#include <Wire.h>
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@ -19,6 +19,7 @@
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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#pragma once
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/**
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* Busy wait delay cycles routines:
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@ -28,57 +29,81 @@
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* DELAY_US(count): Delay execution in microseconds
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*/
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#ifndef MARLIN_DELAY_H
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#define MARLIN_DELAY_H
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#include "../../core/macros.h"
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#include "../../core/millis_t.h"
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#if defined(__arm__) || defined(__thumb__)
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// https://blueprints.launchpad.net/gcc-arm-embedded/+spec/delay-cycles
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#if __CORTEX_M == 7
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#define nop() __asm__ __volatile__("nop;\n\t":::)
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// Cortex-M7 can use the cycle counter of the DWT unit
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// http://www.anthonyvh.com/2017/05/18/cortex_m-cycle_counter/
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FORCE_INLINE static void __delay_4cycles(uint32_t cy) { // +1 cycle
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#if ARCH_PIPELINE_RELOAD_CYCLES < 2
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#define EXTRA_NOP_CYCLES A("nop")
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#else
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#define EXTRA_NOP_CYCLES ""
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#endif
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FORCE_INLINE static void enableCycleCounter() {
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CoreDebug->DEMCR |= CoreDebug_DEMCR_TRCENA_Msk;
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__asm__ __volatile__(
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A(".syntax unified") // is to prevent CM0,CM1 non-unified syntax
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L("1")
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A("subs %[cnt],#1")
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EXTRA_NOP_CYCLES
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A("bne 1b")
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: [cnt]"+r"(cy) // output: +r means input+output
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: // input:
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: "cc" // clobbers:
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);
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}
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// Unlock DWT.
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DWT->LAR = 0xC5ACCE55;
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// Delay in cycles
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FORCE_INLINE static void DELAY_CYCLES(uint32_t x) {
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if (__builtin_constant_p(x)) {
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#define MAXNOPS 4
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if (x <= (MAXNOPS)) {
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switch (x) { case 4: nop(); case 3: nop(); case 2: nop(); case 1: nop(); }
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}
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else { // because of +1 cycle inside delay_4cycles
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const uint32_t rem = (x - 1) % (MAXNOPS);
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switch (rem) { case 3: nop(); case 2: nop(); case 1: nop(); }
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if ((x = (x - 1) / (MAXNOPS)))
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__delay_4cycles(x); // if need more then 4 nop loop is more optimal
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}
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#undef MAXNOPS
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DWT->CYCCNT = 0;
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DWT->CTRL |= DWT_CTRL_CYCCNTENA_Msk;
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}
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else if ((x >>= 2))
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__delay_4cycles(x);
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}
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#undef nop
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FORCE_INLINE volatile uint32_t getCycleCount() { return DWT->CYCCNT; }
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FORCE_INLINE static void DELAY_CYCLES(const uint32_t x) {
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const uint32_t endCycles = getCycleCount() + x;
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while (PENDING(getCycleCount(), endCycles)) { }
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}
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#else
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// https://blueprints.launchpad.net/gcc-arm-embedded/+spec/delay-cycles
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#define nop() __asm__ __volatile__("nop;\n\t":::)
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FORCE_INLINE static void __delay_4cycles(uint32_t cy) { // +1 cycle
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#if ARCH_PIPELINE_RELOAD_CYCLES < 2
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#define EXTRA_NOP_CYCLES A("nop")
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#else
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#define EXTRA_NOP_CYCLES ""
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#endif
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__asm__ __volatile__(
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A(".syntax unified") // is to prevent CM0,CM1 non-unified syntax
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L("1")
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A("subs %[cnt],#1")
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EXTRA_NOP_CYCLES
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A("bne 1b")
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: [cnt]"+r"(cy) // output: +r means input+output
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: // input:
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: "cc" // clobbers:
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);
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}
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// Delay in cycles
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FORCE_INLINE static void DELAY_CYCLES(uint32_t x) {
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if (__builtin_constant_p(x)) {
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#define MAXNOPS 4
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if (x <= (MAXNOPS)) {
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switch (x) { case 4: nop(); case 3: nop(); case 2: nop(); case 1: nop(); }
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}
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else { // because of +1 cycle inside delay_4cycles
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const uint32_t rem = (x - 1) % (MAXNOPS);
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switch (rem) { case 3: nop(); case 2: nop(); case 1: nop(); }
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if ((x = (x - 1) / (MAXNOPS)))
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__delay_4cycles(x); // if need more then 4 nop loop is more optimal
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}
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#undef MAXNOPS
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}
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else if ((x >>= 2))
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__delay_4cycles(x);
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}
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#undef nop
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#endif
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#elif defined(__AVR__)
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@ -144,5 +169,3 @@
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// Delay in microseconds
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#define DELAY_US(x) DELAY_CYCLES( (x) * (F_CPU / 1000000UL) )
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#endif // MARLIN_DELAY_H
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