flight/pios/stm32f4xx/inc/pios_delay_raw.h

   1 /**
   2  ******************************************************************************
   3  * @addtogroup PIOS PIOS Core hardware abstraction layer
   4  * @{
   5  * @addtogroup PIOS_DELAY Delay Functions
   6  * @brief PiOS Delay functionality
   7  * @{
   8  *
   9  * @file       pios_delay_raw.h
  10  * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2016-2017.
  11  *             The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
  12  * @brief      Settings functions header
  13  * @see        The GNU Public License (GPL) Version 3
  14  *
  15  *****************************************************************************/
  16 /*
  17  * This program is free software; you can redistribute it and/or modify
  18  * it under the terms of the GNU General Public License as published by
  19  * the Free Software Foundation; either version 3 of the License, or
  20  * (at your option) any later version.
  21  *
  22  * This program is distributed in the hope that it will be useful, but
  23  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  24  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  25  * for more details.
  26  *
  27  * You should have received a copy of the GNU General Public License along
  28  * with this program; if not, write to the Free Software Foundation, Inc.,
  29  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  30  */
  31 #ifndef PIOS_DELAY_RAW_H
  32 #define PIOS_DELAY_RAW_H
  33
  34 /* these should be defined by CMSIS, but they aren't */
  35 #define DWT_CTRL   (*(volatile uint32_t *)0xe0001000)
  36 #define CYCCNTENA  (1 << 0)
  37 #define DWT_CYCCNT (*(volatile uint32_t *)0xe0001004)
  38
  39 #define PIOS_DELAY_GetRaw() (DWT_CYCCNT)
  40
  41 extern uint32_t PIOS_DELAY_GetRawHz();
  42
  43 #endif /* PIOS_DELAY_RAW_H */