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| author | Stefan Kerkmann <karlk90@pm.me> | 2022-07-11 15:17:05 +0200 |
|---|---|---|
| committer | GitHub <noreply@github.com> | 2022-07-11 15:17:05 +0200 |
| commit | 3f5dc472965e6a5b8efe60e33c7b6c2d18d92008 (patch) | |
| tree | c60357db5312ccbaae608c47edd77982ad1c17ad /platforms/chibios/chibios_config.h | |
| parent | 57021d63582718635f87ba661f40683e98ba59da (diff) | |
[Core] Use polled waiting on ChibiOS platforms that support it (#17607)
* Use polled waiting on platforms that support it
Due to context switching overhead waiting a very short amount of time on
a sleeping thread is often not accurate and in fact not usable for timing
critical usage i.e. in a driver. Thus we use polled waiting for ranges
in the us range on platforms that support it instead. The fallback is
the thread sleeping mechanism.
This includes:
* ARM platforms with CYCCNT register (ARMv7, ARMv8) this is
incremented at CPU clock frequency
* GD32VF103 RISC-V port with CSR_MCYCLE register this is incremented at
CPU clock frequency
* RP2040 ARMv6 port which uses the integrated timer peripheral which is
incremented with a fixed 1MHz frequency
* Use wait_us() instead of chSysPolledDelayX
...as it is powered by busy waiting now.
* Add chibios waiting methods test bench
Diffstat (limited to 'platforms/chibios/chibios_config.h')
| -rw-r--r-- | platforms/chibios/chibios_config.h | 12 |
1 files changed, 12 insertions, 0 deletions
diff --git a/platforms/chibios/chibios_config.h b/platforms/chibios/chibios_config.h index e5aa8e3d05..c7a3a98fb0 100644 --- a/platforms/chibios/chibios_config.h +++ b/platforms/chibios/chibios_config.h @@ -21,6 +21,9 @@ #if defined(MCU_RP) # define CPU_CLOCK RP_CORE_CLK +// ChibiOS uses the RP2040 timer peripheral as its real time counter, this timer +// is monotonic and running at 1MHz. +# define REALTIME_COUNTER_CLOCK 1000000 # define USE_GPIOV1 # define PAL_OUTPUT_TYPE_OPENDRAIN _Static_assert(0, "RP2040 has no Open Drain GPIO configuration, setting this is not possible"); @@ -102,6 +105,11 @@ # endif #endif +#if defined(MCU_MIMXRT1062) +# include "clock_config.h" +# define CPU_CLOCK BOARD_BOOTCLOCKRUN_CORE_CLOCK +#endif + #if defined(HT32) # define CPU_CLOCK HT32_CK_SYS_FREQUENCY # define PAL_MODE_ALTERNATE PAL_HT32_MODE_AF @@ -109,3 +117,7 @@ # define PAL_OUTPUT_TYPE_PUSHPULL PAL_HT32_MODE_DIR # define PAL_OUTPUT_SPEED_HIGHEST 0 #endif + +#if !defined(REALTIME_COUNTER_CLOCK) +# define REALTIME_COUNTER_CLOCK CPU_CLOCK +#endif |