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LPC11C24 clock driver bug fix: SysTick pending bit is checked in SCB.ICSR, which is the only right way according to the Cortex-M0 manual

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This commit is contained in:
Pavel Kirienko
2014-04-16 01:16:10 +04:00
parent a1ea05bdea
commit 1e68df6187
1 changed files with 6 additions and 12 deletions
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libuavcan_drivers/lpc11c24/driver/src/clock.cpp
+6 -12
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@@ -56,15 +56,13 @@ void init()
}
}
// Optimizer breaks this function.
__attribute__((optimize("0")))
static uint64_t sampleFromCriticalSection(const volatile uint64_t* const value)
{
const uint32_t reload = SysTick->LOAD; // SysTick counts downwards, hence the value subtracted from reload
const uint32_t reload = SysTick->LOAD + 1; // SysTick counts downwards, hence the value subtracted from reload
volatile uint64_t time = *value;
volatile uint32_t cycles = reload - SysTick->VAL;
if (NVIC_GetPendingIRQ(SysTick_IRQn))
if ((SCB->ICSR & SCB_ICSR_PENDSTSET_Msk) == SCB_ICSR_PENDSTSET_Msk)
{
/*
* The timer has overflowed either before or after CNT sample was obtained.
@@ -101,16 +99,13 @@ uavcan::MonotonicTime getMonotonic()
uavcan::UtcTime getUtc()
{
uint64_t usec = 0;
if (utc_set)
{
uint64_t usec = 0;
{
CriticalSectionLocker locker;
usec = sampleFromCriticalSection(&time_utc);
}
return uavcan::UtcTime::fromUSec(usec);
CriticalSectionLocker locker;
usec = sampleFromCriticalSection(&time_utc);
}
return uavcan::UtcTime();
return uavcan::UtcTime::fromUSec(usec);
}
uavcan::UtcDuration getPrevUtcAdjustment()
@@ -169,7 +164,6 @@ SystemClock& SystemClock::instance()
extern "C"
{
__attribute__((optimize("0")))
void SysTick_Handler()
{
using namespace uavcan_lpc11c24::clock;