CAN Update

firmware/Libs/Utils/micros.c

@@ -0,0 +1,49 @@
+//
+// Created by enik on 18.02.2022.
+//
+
+#include "micros.h"
+
+#define    DWT_CYCCNT    *(volatile uint32_t*)0xE0001004
+#define    DWT_CONTROL   *(volatile uint32_t*)0xE0001000
+#define    SCB_DEMCR     *(volatile uint32_t*)0xE000EDFC
+
+static volatile bool dwt_enabled = 0;
+
+/**
+ * @brief Enable DWT Counter
+ */
+void EnableDWT(void){
+    SCB_DEMCR |= CoreDebug_DEMCR_TRCENA_Msk; // allow to use DWT
+    DWT_CONTROL |= DWT_CTRL_CYCCNTENA_Msk;   // Start DWT counter
+    dwt_enabled = 1;
+}
+
+/**
+ * @brief Delay Microseconds
+ * @param[in] val Value in microseconds to delay
+ */
+void DelayMicros(u32_t val){
+    if (!dwt_enabled) EnableDWT();
+    u32_t us_count_tic =  val * (SystemCoreClock / 1000000); // get delay value in ticks
+    DWT->CYCCNT = 0U; // zero counter value
+    while(DWT->CYCCNT < us_count_tic);
+}
+
+/**
+ * @brief Start code measure from this point
+ */
+void StartCodeMeasure(void){
+    if (!dwt_enabled) EnableDWT();
+    DWT_CYCCNT = 0; // zero counter value
+}
+
+/**
+ * @brief Stop code measure in this point
+ * @param[out] micros Value in microseconds
+ */
+void StopCodeMeasure(u32_t *micros){
+    if (!dwt_enabled){ *micros = 0; return; }
+    //*micros = DWT_CYCCNT / SystemCoreClock; // get counter value
+    *micros = DWT_CYCCNT; // get counter value
+}

firmware/Libs/Utils/micros.h

@@ -0,0 +1,21 @@
+//
+// Created by enik on 07.03.2022.
+//
+
+#ifndef _MICROS_H
+#define _MICROS_H
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "libs.h"
+
+void EnableDWT(void);
+void DelayMicros(u32_t val);
+void StartCodeMeasure(void);
+void StopCodeMeasure(u32_t *micros);
+
+#ifdef __cplusplus
+}
+#endif
+#endif // _MICROS_H