Fix for counter overflow in delays based on sdk_system_get_time()
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parent
b3f658bdbf
commit
55e08de21c
3 changed files with 23 additions and 16 deletions
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@ -38,6 +38,8 @@
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#define MEASUREMENT_TIMEOUT 6000
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#define timeout_expired(start, len) ((uint32_t)(sdk_system_get_time() - (start)) >= (len))
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static const float gain_values [] = {
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[HMC5883L_GAIN_1370] = 0.73,
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[HMC5883L_GAIN_1090] = 0.92,
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@ -156,10 +158,10 @@ bool hmc5883l_get_raw_data(hmc5883l_raw_data_t *data)
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// overwrite mode register for measurement
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hmc5883l_set_operating_mode(current_mode);
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// wait for data
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uint32_t timeout = sdk_system_get_time() + MEASUREMENT_TIMEOUT;
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uint32_t start = sdk_system_get_time();
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while (!hmc5883l_data_is_ready())
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{
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if (sdk_system_get_time() >= timeout)
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if (timeout_expired(start, MEASUREMENT_TIMEOUT))
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return false;
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}
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}
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@ -141,6 +141,8 @@ static uint16_t crc_ccitt(const uint8_t *data, size_t n)
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#define spi_skip_word() do { spi_read_byte(); spi_read_byte(); } while(0)
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#define spi_skip_dword() do { spi_read_byte(); spi_read_byte(); spi_read_byte(); spi_read_byte(); } while(0)
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#define timeout_expired(start, len) ((uint32_t)(sdk_system_get_time() - (start)) >= (len))
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inline static uint16_t spi_write_word(uint16_t word)
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{
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return (spi_transfer_8(BUS, word >> 8) << 8) | spi_transfer_8(BUS, word);
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@ -154,9 +156,10 @@ inline static void spi_read_bytes(uint8_t *dst, size_t size)
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static bool wait()
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{
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uint32_t stop = sdk_system_get_time() + IO_TIMEOUT_US;
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uint32_t start = sdk_system_get_time();
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while (spi_read_byte() != 0xff)
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if (sdk_system_get_time() >= stop)
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if (timeout_expired(start, IO_TIMEOUT_US))
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return false;
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return true;
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}
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@ -208,11 +211,11 @@ inline static sdio_error_t set_error(sdio_card_t *card, sdio_error_t err)
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static sdio_error_t read_data(sdio_card_t *card, uint8_t *dst, size_t size)
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{
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uint32_t timeout = sdk_system_get_time() + IO_TIMEOUT_US;
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uint32_t start = sdk_system_get_time();
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while (true)
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{
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if (sdk_system_get_time() >= timeout)
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if (timeout_expired(start, IO_TIMEOUT_US))
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return set_error(card, SDIO_ERR_TIMEOUT);
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uint8_t b = spi_read_byte();
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@ -269,7 +272,7 @@ sdio_error_t sdio_init(sdio_card_t *card, uint8_t cs_pin, uint32_t high_freq_div
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spi_set_settings(BUS, &s);
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gpio_enable(card->cs_pin, GPIO_OUTPUT);
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uint32_t timeout = sdk_system_get_time() + INIT_TIMEOUT_US;
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uint32_t start = sdk_system_get_time();
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spi_cs_low(card);
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spi_cs_high(card);
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@ -279,7 +282,7 @@ sdio_error_t sdio_init(sdio_card_t *card, uint8_t cs_pin, uint32_t high_freq_div
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// Set card to the SPI idle mode
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while (command(card, CMD0, 0) != BV(R1_IDLE_STATE))
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{
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if (sdk_system_get_time() >= timeout)
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if (timeout_expired(start, INIT_TIMEOUT_US))
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return set_error(card, SDIO_ERR_TIMEOUT);
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}
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@ -300,7 +303,7 @@ sdio_error_t sdio_init(sdio_card_t *card, uint8_t cs_pin, uint32_t high_freq_div
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break;
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}
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if (sdk_system_get_time() >= timeout)
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if (timeout_expired(start, INIT_TIMEOUT_US))
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return set_error(card, SDIO_ERR_TIMEOUT);
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}
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@ -311,13 +314,13 @@ sdio_error_t sdio_init(sdio_card_t *card, uint8_t cs_pin, uint32_t high_freq_div
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{
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card->type = SDIO_TYPE_MMC;
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while (command(card, CMD1, 0))
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if (sdk_system_get_time() >= timeout)
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if (timeout_expired(start, INIT_TIMEOUT_US))
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return set_error(card, SDIO_ERR_TIMEOUT);
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}
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else
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{
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while (app_command(card, ACMD41, 0))
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if (sdk_system_get_time() >= timeout)
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if (timeout_expired(start, INIT_TIMEOUT_US))
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return set_error(card, SDIO_ERR_TIMEOUT);
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}
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@ -328,7 +331,7 @@ sdio_error_t sdio_init(sdio_card_t *card, uint8_t cs_pin, uint32_t high_freq_div
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{
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// SD2 or SDHC
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while (app_command(card, ACMD41, BV(30)) != 0)
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if (sdk_system_get_time() >= timeout)
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if (timeout_expired(start, INIT_TIMEOUT_US))
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return set_error(card, SDIO_ERR_TIMEOUT);
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}
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// read OCR
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@ -15,6 +15,8 @@
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#define PING_TIMEOUT 6000
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#define ROUNDTRIP 58
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#define timeout_expired(start, len) ((uint32_t)(sdk_system_get_time() - (start)) >= (len))
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void ultrasoinc_init(const ultrasonic_sensor_t *dev)
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{
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gpio_enable(dev->trigger_pin, GPIO_OUTPUT);
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@ -36,21 +38,21 @@ int32_t ultrasoinc_measure_cm(const ultrasonic_sensor_t *dev, uint32_t max_dista
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return ULTRASONIC_ERROR_PING;
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// Wait for echo
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uint32_t timeout = sdk_system_get_time() + PING_TIMEOUT;
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uint32_t start = sdk_system_get_time();
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while (!gpio_read(dev->echo_pin))
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{
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if (sdk_system_get_time() >= timeout)
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if (timeout_expired(start, PING_TIMEOUT))
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return ULTRASONIC_ERROR_PING_TIMEOUT;
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}
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// got echo, measuring
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uint32_t echo_start = sdk_system_get_time();
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uint32_t time = echo_start;
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timeout = echo_start + max_distance * ROUNDTRIP;
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uint32_t meas_timeout = echo_start + max_distance * ROUNDTRIP;
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while (gpio_read(dev->echo_pin))
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{
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time = sdk_system_get_time();
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if (time >= timeout)
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if (timeout_expired(echo_start, meas_timeout))
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return ULTRASONIC_ERROR_ECHO_TIMEOUT;
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}
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