1 files changed, 85 insertions, 25 deletions

diff --git a/platforms/chibios/timer.c b/platforms/chibios/timer.c
index 9f664e1f79..e3bdfdcc37 100644
--- a/platforms/chibios/timer.c
+++ b/platforms/chibios/timer.c
@@ -2,46 +2,106 @@
 
 #include "timer.h"
 
-static uint32_t reset_point = 0;
+static uint32_t ticks_offset = 0;
+static uint32_t last_ticks   = 0;
+static uint32_t ms_offset    = 0;
 #if CH_CFG_ST_RESOLUTION < 32
 static uint32_t last_systime = 0;
 static uint32_t overflow     = 0;
 #endif
 
-void timer_init(void) { timer_clear(); }
+// Get the current system time in ticks as a 32-bit number.
+// This function must be called from within a system lock zone (so that it can safely use and update the static data).
+static inline uint32_t get_system_time_ticks(void) {
+    uint32_t systime = (uint32_t)chVTGetSystemTimeX();
 
-void timer_clear(void) {
-    reset_point = (uint32_t)chVTGetSystemTime();
 #if CH_CFG_ST_RESOLUTION < 32
-    last_systime = reset_point;
-    overflow     = 0;
-#endif
-}
-
-uint16_t timer_read(void) { return (uint16_t)timer_read32(); }
-
-uint32_t timer_read32(void) {
-    uint32_t systime = (uint32_t)chVTGetSystemTime();
-
-#if CH_CFG_ST_RESOLUTION < 32
-    // If/when we need to support 64-bit chips, this may need to be modified to match the native bit-ness of the MCU.
-    // At this point, the only SysTick resolution allowed other than 32 is 16 bit.
-    // In the 16-bit case, at:
+    // If the real system timer resolution is less than 32 bits, provide the missing bits by checking for the counter
+    // overflow.  For this to work, this function must be called at least once for every overflow of the system timer.
+    // In the 16-bit case, the corresponding times are:
     //    - CH_CFG_ST_FREQUENCY = 100000, overflow will occur every ~0.65 seconds
     //    - CH_CFG_ST_FREQUENCY = 10000, overflow will occur every ~6.5 seconds
     //    - CH_CFG_ST_FREQUENCY = 1000, overflow will occur every ~65 seconds
-    // With this implementation, as long as we ensure a timer read happens at least once during the overflow period, timing should be accurate.
     if (systime < last_systime) {
         overflow += ((uint32_t)1) << CH_CFG_ST_RESOLUTION;
     }
-
     last_systime = systime;
-    return (uint32_t)TIME_I2MS(systime - reset_point + overflow);
-#else
-    return (uint32_t)TIME_I2MS(systime - reset_point);
+    systime += overflow;
+#endif
+
+    return systime;
+}
+
+#if CH_CFG_ST_RESOLUTION < 32
+static virtual_timer_t update_timer;
+
+// Update the system tick counter every half of the timer overflow period; this should keep the tick counter correct
+// even if something blocks timer interrupts for 1/2 of the timer overflow period.
+#    define UPDATE_INTERVAL (((sysinterval_t)1) << (CH_CFG_ST_RESOLUTION - 1))
+
+// VT callback function to keep the overflow bits of the system tick counter updated.
+static void update_fn(void *arg) {
+    (void)arg;
+    chSysLockFromISR();
+    get_system_time_ticks();
+    chVTSetI(&update_timer, UPDATE_INTERVAL, update_fn, NULL);
+    chSysUnlockFromISR();
+}
+#endif
+
+// The highest multiple of CH_CFG_ST_FREQUENCY that fits into uint32_t.  This number of ticks will necessarily
+// correspond to some integer number of seconds.
+#define OVERFLOW_ADJUST_TICKS ((uint32_t)((UINT32_MAX / CH_CFG_ST_FREQUENCY) * CH_CFG_ST_FREQUENCY))
+
+// The time in milliseconds which corresponds to OVERFLOW_ADJUST_TICKS ticks (this is a precise conversion, because
+// OVERFLOW_ADJUST_TICKS corresponds to an integer number of seconds).
+#define OVERFLOW_ADJUST_MS (TIME_I2MS(OVERFLOW_ADJUST_TICKS))
+
+void timer_init(void) {
+    timer_clear();
+#if CH_CFG_ST_RESOLUTION < 32
+    chVTObjectInit(&update_timer);
+    chVTSet(&update_timer, UPDATE_INTERVAL, update_fn, NULL);
 #endif
 }
 
-uint16_t timer_elapsed(uint16_t last) { return TIMER_DIFF_16(timer_read(), last); }
+void timer_clear(void) {
+    chSysLock();
+    ticks_offset = get_system_time_ticks();
+    last_ticks   = 0;
+    ms_offset    = 0;
+    chSysUnlock();
+}
+
+uint16_t timer_read(void) {
+    return (uint16_t)timer_read32();
+}
 
-uint32_t timer_elapsed32(uint32_t last) { return TIMER_DIFF_32(timer_read32(), last); }
+uint32_t timer_read32(void) {
+    chSysLock();
+    uint32_t ticks = get_system_time_ticks() - ticks_offset;
+    if (ticks < last_ticks) {
+        // The 32-bit tick counter overflowed and wrapped around.  We cannot just extend the counter to 64 bits here,
+        // because TIME_I2MS() may encounter overflows when handling a 64-bit argument; therefore the solution here is
+        // to subtract a reasonably large number of ticks from the tick counter to bring its value below the 32-bit
+        // limit again, and then add the equivalent number of milliseconds to the converted value.  (Adjusting just the
+        // converted value to account for 2**32 ticks is not possible in general, because 2**32 ticks may not correspond
+        // to an integer number of milliseconds).
+        ticks -= OVERFLOW_ADJUST_TICKS;
+        ticks_offset += OVERFLOW_ADJUST_TICKS;
+        ms_offset += OVERFLOW_ADJUST_MS;
+    }
+    last_ticks              = ticks;
+    uint32_t ms_offset_copy = ms_offset; // read while still holding the lock to ensure a consistent value
+    chSysUnlock();
+
+    return (uint32_t)TIME_I2MS(ticks) + ms_offset_copy;
+}
+
+uint16_t timer_elapsed(uint16_t last) {
+    return TIMER_DIFF_16(timer_read(), last);
+}
+
+uint32_t timer_elapsed32(uint32_t last) {
+    return TIMER_DIFF_32(timer_read32(), last);
+}