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#pragma once
#include <inttypes.h>
#ifdef __cplusplus
extern "C" {
#endif
#if defined(__ARMEL__) || defined(__ARMEB__)
# ifndef __OPTIMIZE__
# pragma message "Compiler optimizations disabled; wait_cpuclock() won't work as designed"
# endif
# define wait_cpuclock(x) wait_cpuclock_allnop(x)
# define CLOCK_DELAY_NOP8 "nop\n\t nop\n\t nop\n\t nop\n\t nop\n\t nop\n\t nop\n\t nop\n\t"
__attribute__((always_inline))
static inline void wait_cpuclock_allnop(unsigned int n) { /* n: 1..135 */
/* The argument n must be a constant expression.
* That way, compiler optimization will remove unnecessary code. */
if (n < 1) { return; }
if (n > 8) {
unsigned int n8 = n/8;
n = n - n8*8;
switch (n8) {
case 16: asm volatile (CLOCK_DELAY_NOP8::: "memory");
case 15: asm volatile (CLOCK_DELAY_NOP8::: "memory");
case 14: asm volatile (CLOCK_DELAY_NOP8::: "memory");
case 13: asm volatile (CLOCK_DELAY_NOP8::: "memory");
case 12: asm volatile (CLOCK_DELAY_NOP8::: "memory");
case 11: asm volatile (CLOCK_DELAY_NOP8::: "memory");
case 10: asm volatile (CLOCK_DELAY_NOP8::: "memory");
case 9: asm volatile (CLOCK_DELAY_NOP8::: "memory");
case 8: asm volatile (CLOCK_DELAY_NOP8::: "memory");
case 7: asm volatile (CLOCK_DELAY_NOP8::: "memory");
case 6: asm volatile (CLOCK_DELAY_NOP8::: "memory");
case 5: asm volatile (CLOCK_DELAY_NOP8::: "memory");
case 4: asm volatile (CLOCK_DELAY_NOP8::: "memory");
case 3: asm volatile (CLOCK_DELAY_NOP8::: "memory");
case 2: asm volatile (CLOCK_DELAY_NOP8::: "memory");
case 1: asm volatile (CLOCK_DELAY_NOP8::: "memory");
case 0: break;
}
}
switch (n) {
case 8: asm volatile ("nop"::: "memory");
case 7: asm volatile ("nop"::: "memory");
case 6: asm volatile ("nop"::: "memory");
case 5: asm volatile ("nop"::: "memory");
case 4: asm volatile ("nop"::: "memory");
case 3: asm volatile ("nop"::: "memory");
case 2: asm volatile ("nop"::: "memory");
case 1: asm volatile ("nop"::: "memory");
case 0: break;
}
}
#endif
#if defined(__AVR__)
# include <util/delay.h>
# define wait_ms(ms) _delay_ms(ms)
# define wait_us(us) _delay_us(us)
# define wait_cpuclock(x) __builtin_avr_delay_cycles(x)
#elif defined PROTOCOL_CHIBIOS
# include <ch.h>
# define wait_ms(ms) \
do { \
if (ms != 0) { \
chThdSleepMilliseconds(ms); \
} else { \
chThdSleepMicroseconds(1); \
} \
} while (0)
# define wait_us(us) \
do { \
if (us != 0) { \
chThdSleepMicroseconds(us); \
} else { \
chThdSleepMicroseconds(1); \
} \
} while (0)
#elif defined PROTOCOL_ARM_ATSAM
# include "clks.h"
# define wait_ms(ms) CLK_delay_ms(ms)
# define wait_us(us) CLK_delay_us(us)
#else // Unit tests
void wait_ms(uint32_t ms);
# define wait_us(us) wait_ms(us / 1000)
#endif
#ifdef __cplusplus
}
#endif
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