embed/trezorhal: move systick from vendor to trezorhal

SConscript.firmware

@@ -211,7 +211,6 @@ SOURCE_MICROPYTHON = [
     'vendor/micropython/ports/stm32/gccollect.c',
     'vendor/micropython/ports/stm32/gchelper.s',
     'vendor/micropython/ports/stm32/pendsv.c',
-    'vendor/micropython/ports/stm32/systick.c',
 ]
 
 SOURCE_MICROPYTHON_SPEED = [
@@ -269,6 +268,7 @@ SOURCE_TREZORHAL = [
     'embed/trezorhal/sbu.c',
     'embed/trezorhal/sdcard.c',
     'embed/trezorhal/stm32.c',
+    'embed/trezorhal/systick.c',
     'embed/trezorhal/touch.c',
     'embed/trezorhal/usb.c',
     'embed/trezorhal/usbd_conf.c',

embed/trezorhal/systick.c

@@ -0,0 +1,140 @@
+/*
+ * This file is part of the MicroPython project, http://micropython.org/
+ *
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2013, 2014 Damien P. George
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#include "py/runtime.h"
+#include "py/mphal.h"
+#include "irq.h"
+#include "systick.h"
+#include "pybthread.h"
+
+extern __IO uint32_t uwTick;
+
+// We provide our own version of HAL_Delay that calls __WFI while waiting,
+// and works when interrupts are disabled.  This function is intended to be
+// used only by the ST HAL functions.
+void HAL_Delay(uint32_t Delay) {
+    if (query_irq() == IRQ_STATE_ENABLED) {
+        // IRQs enabled, so can use systick counter to do the delay
+        uint32_t start = uwTick;
+        // Wraparound of tick is taken care of by 2's complement arithmetic.
+        while (uwTick - start < Delay) {
+            // Enter sleep mode, waiting for (at least) the SysTick interrupt.
+            __WFI();
+        }
+    } else {
+        // IRQs disabled, use mp_hal_delay_ms routine.
+        mp_hal_delay_ms(Delay);
+    }
+}
+
+// Core delay function that does an efficient sleep and may switch thread context.
+// If IRQs are enabled then we must have the GIL.
+void mp_hal_delay_ms(mp_uint_t Delay) {
+    if (query_irq() == IRQ_STATE_ENABLED) {
+        // IRQs enabled, so can use systick counter to do the delay
+        uint32_t start = uwTick;
+        // Wraparound of tick is taken care of by 2's complement arithmetic.
+        while (uwTick - start < Delay) {
+            // This macro will execute the necessary idle behaviour.  It may
+            // raise an exception, switch threads or enter sleep mode (waiting for
+            // (at least) the SysTick interrupt).
+            MICROPY_EVENT_POLL_HOOK
+        }
+    } else {
+        // IRQs disabled, so need to use a busy loop for the delay.
+        // To prevent possible overflow of the counter we use a double loop.
+        const uint32_t count_1ms = HAL_RCC_GetSysClockFreq() / 4000;
+        for (int i = 0; i < Delay; i++) {
+            for (uint32_t count = 0; ++count <= count_1ms;) {
+            }
+        }
+    }
+}
+
+// delay for given number of microseconds
+void mp_hal_delay_us(mp_uint_t usec) {
+    if (query_irq() == IRQ_STATE_ENABLED) {
+        // IRQs enabled, so can use systick counter to do the delay
+        uint32_t start = mp_hal_ticks_us();
+        while (mp_hal_ticks_us() - start < usec) {
+        }
+    } else {
+        // IRQs disabled, so need to use a busy loop for the delay
+        // sys freq is always a multiple of 2MHz, so division here won't lose precision
+        const uint32_t ucount = HAL_RCC_GetSysClockFreq() / 2000000 * usec / 2;
+        for (uint32_t count = 0; ++count <= ucount;) {
+        }
+    }
+}
+
+bool sys_tick_has_passed(uint32_t start_tick, uint32_t delay_ms) {
+    return HAL_GetTick() - start_tick >= delay_ms;
+}
+
+// waits until at least delay_ms milliseconds have passed from the sampling of
+// startTick. Handles overflow properly. Assumes stc was taken from
+// HAL_GetTick() some time before calling this function.
+void sys_tick_wait_at_least(uint32_t start_tick, uint32_t delay_ms) {
+    while (!sys_tick_has_passed(start_tick, delay_ms)) {
+        __WFI(); // enter sleep mode, waiting for interrupt
+    }
+}
+
+mp_uint_t mp_hal_ticks_ms(void) {
+    return uwTick;
+}
+
+// The SysTick timer counts down at 168 MHz, so we can use that knowledge
+// to grab a microsecond counter.
+//
+// We assume that HAL_GetTickis returns milliseconds.
+mp_uint_t mp_hal_ticks_us(void) {
+    mp_uint_t irq_state = disable_irq();
+    uint32_t counter = SysTick->VAL;
+    uint32_t milliseconds = HAL_GetTick();
+    uint32_t status  = SysTick->CTRL;
+    enable_irq(irq_state);
+
+    // It's still possible for the countflag bit to get set if the counter was
+    // reloaded between reading VAL and reading CTRL. With interrupts  disabled
+    // it definitely takes less than 50 HCLK cycles between reading VAL and
+    // reading CTRL, so the test (counter > 50) is to cover the case where VAL
+    // is +ve and very close to zero, and the COUNTFLAG bit is also set.
+    if ((status & SysTick_CTRL_COUNTFLAG_Msk) && counter > 50) {
+        // This means that the HW reloaded VAL between the time we read VAL and the
+        // time we read CTRL, which implies that there is an interrupt pending
+        // to increment the tick counter.
+        milliseconds++;
+    }
+    uint32_t load = SysTick->LOAD;
+    counter = load - counter; // Convert from decrementing to incrementing
+
+    // ((load + 1) / 1000) is the number of counts per microsecond.
+    //
+    // counter / ((load + 1) / 1000) scales from the systick clock to microseconds
+    // and is the same thing as (counter * 1000) / (load + 1)
+    return milliseconds * 1000 + (counter * 1000) / (load + 1);
+}