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-rw-r--r--platforms/chibios/_wait.h5
-rw-r--r--platforms/chibios/bootloaders/rp2040.c5
-rw-r--r--platforms/chibios/chibios_config.h12
-rw-r--r--platforms/chibios/drivers/serial.c3
-rw-r--r--platforms/chibios/drivers/vendor/RP/RP2040/serial_vendor.c2
5 files changed, 22 insertions, 5 deletions
diff --git a/platforms/chibios/_wait.h b/platforms/chibios/_wait.h
index 2f36c64a2e..21cdffe11a 100644
--- a/platforms/chibios/_wait.h
+++ b/platforms/chibios/_wait.h
@@ -30,6 +30,11 @@
#ifdef WAIT_US_TIMER
void wait_us(uint16_t duration);
+#elif PORT_SUPPORTS_RT == TRUE
+# define wait_us(us) \
+ do { \
+ chSysPolledDelayX(US2RTC(REALTIME_COUNTER_CLOCK, us)); \
+ } while (0)
#else
# define wait_us(us) \
do { \
diff --git a/platforms/chibios/bootloaders/rp2040.c b/platforms/chibios/bootloaders/rp2040.c
index 13a54036ef..bedc00f32e 100644
--- a/platforms/chibios/bootloaders/rp2040.c
+++ b/platforms/chibios/bootloaders/rp2040.c
@@ -43,9 +43,8 @@ void __late_init(void) {
if (magic_location != magic_token) {
magic_location = magic_token;
// ChibiOS is not initialized at this point, so sleeping is only
- // possible via busy waiting. The internal timer peripheral is running
- // at this point with a precision of 1us.
- chSysPolledDelayX(MS2RTC(1 * MHZ, RP2040_BOOTLOADER_DOUBLE_TAP_RESET_TIMEOUT));
+ // possible via busy waiting.
+ wait_us(RP2040_BOOTLOADER_DOUBLE_TAP_RESET_TIMEOUT * 1000U);
magic_location = 0;
return;
}
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
diff --git a/platforms/chibios/drivers/serial.c b/platforms/chibios/drivers/serial.c
index 3fae5cd3a4..0dd8e71ae8 100644
--- a/platforms/chibios/drivers/serial.c
+++ b/platforms/chibios/drivers/serial.c
@@ -20,7 +20,8 @@
# error "chSysPolledDelayX method not supported on this platform"
#else
# undef wait_us
-# define wait_us(x) chSysPolledDelayX(US2RTC(CPU_CLOCK, x))
+// Force usage of polled waiting - in case WAIT_US_TIMER is activated
+# define wait_us(us) chSysPolledDelayX(US2RTC(REALTIME_COUNTER_CLOCK, us))
#endif
#ifndef SELECT_SOFT_SERIAL_SPEED
diff --git a/platforms/chibios/drivers/vendor/RP/RP2040/serial_vendor.c b/platforms/chibios/drivers/vendor/RP/RP2040/serial_vendor.c
index d933dc1f5d..338146dadd 100644
--- a/platforms/chibios/drivers/vendor/RP/RP2040/serial_vendor.c
+++ b/platforms/chibios/drivers/vendor/RP/RP2040/serial_vendor.c
@@ -152,7 +152,7 @@ static inline void enter_rx_state(void) {
}
// Wait for ~11 bits, 1 start bit + 8 data bits + 1 stop bit + 1 bit
// headroom.
- chSysPolledDelayX(US2RTC(1 * MHZ, (1000000U * 11 / SERIAL_USART_SPEED)));
+ wait_us(1000000U * 11U / SERIAL_USART_SPEED);
// Disable tx state machine to not interfere with our tx pin manipulation
pio_sm_set_enabled(pio, tx_state_machine, false);
gpio_set_drive_strength(SERIAL_USART_TX_PIN, GPIO_DRIVE_STRENGTH_2MA);