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imu test
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TuxMonkey
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//
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// Created by tuxmonkey on 2025/10/28.
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//
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/**
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* @file bsp_dwt.c
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* @brief DWT延时 软件延时库
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* @author TuxMonkey (nqx2004@gmail.com)
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* @version 1.0
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* @date 2025-07-08
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*
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* @copyright Copyright (c) 2025 DLMU-C.ONE
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*
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* @par 修改日志:
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* <table>
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* <tr><th>Date <th>Version <th>Author <th>Description
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* <tr><td>2025-07-08 <td>1.0 <td>TuxMonkey <td>内容
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* </table>
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*/
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#include "bsp_dwt.h"
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#include "bsp_dwt.h"
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#include "cmsis_os.h"
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static DWT_Time_t SysTime;
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static uint32_t CPU_FREQ_Hz, CPU_FREQ_Hz_ms, CPU_FREQ_Hz_us;
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static uint32_t CYCCNT_RountCount;
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static uint32_t CYCCNT_LAST;
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static uint64_t CYCCNT64;
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/**
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* @brief 私有函数,用于检查DWT CYCCNT寄存器是否溢出,并更新CYCCNT_RountCount
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* @attention 此函数假设两次调用之间的时间间隔不超过一次溢出
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*
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* @todo 更好的方案是为dwt的时间更新单独设置一个任务?
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* 不过,使用dwt的初衷是定时不被中断/任务等因素影响,因此该实现仍然有其存在的意义
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*
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*/
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static void DWT_CNT_Update(void)
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{
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static volatile uint8_t bit_locker = 0;
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if (!bit_locker)
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{
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bit_locker = 1;
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volatile uint32_t cnt_now = DWT->CYCCNT;
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if (cnt_now < CYCCNT_LAST)
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CYCCNT_RountCount++;
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CYCCNT_LAST = DWT->CYCCNT;
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bit_locker = 0;
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}
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}
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void DWT_Init(uint32_t CPU_Freq_mHz)
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{
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/* 使能DWT外设 */
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CoreDebug->DEMCR |= CoreDebug_DEMCR_TRCENA_Msk;
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/* DWT CYCCNT寄存器计数清0 */
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DWT->CYCCNT = (uint32_t) 0u;
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/* 使能Cortex-M DWT CYCCNT寄存器 */
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DWT->CTRL |= DWT_CTRL_CYCCNTENA_Msk;
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CPU_FREQ_Hz = CPU_Freq_mHz * 1000000;
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CPU_FREQ_Hz_ms = CPU_FREQ_Hz / 1000;
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CPU_FREQ_Hz_us = CPU_FREQ_Hz / 1000000;
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CYCCNT_RountCount = 0;
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DWT_CNT_Update();
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}
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float DWT_GetDeltaT(uint32_t *cnt_last)
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{
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volatile uint32_t cnt_now = DWT->CYCCNT;
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float dt = ((uint32_t) (cnt_now - *cnt_last)) / ((float) (CPU_FREQ_Hz));
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*cnt_last = cnt_now;
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DWT_CNT_Update();
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return dt;
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}
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double DWT_GetDeltaT64(uint32_t *cnt_last)
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{
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volatile uint32_t cnt_now = DWT->CYCCNT;
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double dt = ((uint32_t) (cnt_now - *cnt_last)) / ((double) (CPU_FREQ_Hz));
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*cnt_last = cnt_now;
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DWT_CNT_Update();
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return dt;
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}
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void DWT_SysTimeUpdate(void)
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{
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volatile uint32_t cnt_now = DWT->CYCCNT;
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static uint64_t CNT_TEMP1, CNT_TEMP2, CNT_TEMP3;
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DWT_CNT_Update();
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CYCCNT64 = (uint64_t) CYCCNT_RountCount * (uint64_t) UINT32_MAX + (uint64_t) cnt_now;
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CNT_TEMP1 = CYCCNT64 / CPU_FREQ_Hz;
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CNT_TEMP2 = CYCCNT64 - CNT_TEMP1 * CPU_FREQ_Hz;
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SysTime.s = CNT_TEMP1;
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SysTime.ms = CNT_TEMP2 / CPU_FREQ_Hz_ms;
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CNT_TEMP3 = CNT_TEMP2 - SysTime.ms * CPU_FREQ_Hz_ms;
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SysTime.us = CNT_TEMP3 / CPU_FREQ_Hz_us;
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}
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float DWT_GetTimeline_s(void)
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{
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DWT_SysTimeUpdate();
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float DWT_Timelinef32 = SysTime.s + SysTime.ms * 0.001f + SysTime.us * 0.000001f;
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return DWT_Timelinef32;
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}
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float DWT_GetTimeline_ms(void)
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{
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DWT_SysTimeUpdate();
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float DWT_Timelinef32 = SysTime.s * 1000 + SysTime.ms + SysTime.us * 0.001f;
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return DWT_Timelinef32;
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}
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uint64_t DWT_GetTimeline_us(void)
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{
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DWT_SysTimeUpdate();
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uint64_t DWT_Timelinef32 = SysTime.s * 1000000 + SysTime.ms * 1000 + SysTime.us;
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return DWT_Timelinef32;
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}
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void DWT_Delay(float Delay)
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{
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uint32_t tickstart = DWT->CYCCNT;
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float wait = Delay;
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while ((DWT->CYCCNT - tickstart) < wait * (float) CPU_FREQ_Hz);
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}
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@@ -1,8 +1,104 @@
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//
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// Created by tuxmonkey on 2025/10/28.
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//
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/**
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* @file bsp_dwt.h
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* @brief DWT延时 软件延时库头文件
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* @author TuxMonkey (nqx2004@gmail.com)
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* @version 1.0
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* @date 2025-07-08
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*
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* @copyright Copyright (c) 2025 DLMU-C.ONE
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*
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* @par 修改日志:
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* <table>
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* <tr><th>Date <th>Version <th>Author <th>Description
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* <tr><td>2025-07-08 <td>1.0 <td>TuxMonkey <td>内容
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* </table>
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*/
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#ifndef TRONONEH7_SCAFFOLD_BSP_DWT_H
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#define TRONONEH7_SCAFFOLD_BSP_DWT_H
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#ifndef _BSP_DWT_H
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#define _BSP_DWT_H
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#endif //TRONONEH7_SCAFFOLD_BSP_DWT_H
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#include "main.h"
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#include "stdint.h"
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#include "bsp_log.h"
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typedef struct
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{
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uint32_t s;
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uint16_t ms;
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uint16_t us;
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} DWT_Time_t;
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/**
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* @brief 该宏用于计算代码段执行时间,单位为秒/s,返回值为float类型
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* 首先需要创建一个float类型的变量,用于存储时间间隔
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* 计算得到的时间间隔同时还会通过RTT打印到日志终端,你也可以将你的dt变量添加到查看
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*/
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#define TIME_ELAPSE(dt, code) \
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do \
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{ \
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float tstart = DWT_GetTimeline_s(); \
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code; \
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dt = DWT_GetTimeline_s() - tstart; \
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LOGINFO("[DWT] " #dt " = %f s\r\n", dt); \
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} while (0)
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/**
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* @brief 初始化DWT,传入参数为CPU频率,单位MHz
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*
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* @param CPU_Freq_mHz c板为168MHz,A板为180MHz
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*/
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void DWT_Init(uint32_t CPU_Freq_mHz);
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/**
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* @brief 获取两次调用之间的时间间隔,单位为秒/s
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*
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* @param cnt_last 上一次调用的时间戳
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* @return float 时间间隔,单位为秒/s
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*/
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float DWT_GetDeltaT(uint32_t *cnt_last);
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/**
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* @brief 获取两次调用之间的时间间隔,单位为秒/s,高精度
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*
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* @param cnt_last 上一次调用的时间戳
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* @return double 时间间隔,单位为秒/s
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*/
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double DWT_GetDeltaT64(uint32_t *cnt_last);
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/**
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* @brief 获取当前时间,单位为秒/s,即初始化后的时间
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*
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* @return float 时间轴
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*/
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float DWT_GetTimeline_s(void);
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/**
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* @brief 获取当前时间,单位为毫秒/ms,即初始化后的时间
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*
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* @return float
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*/
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float DWT_GetTimeline_ms(void);
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/**
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* @brief 获取当前时间,单位为微秒/us,即初始化后的时间
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*
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* @return uint64_t
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*/
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uint64_t DWT_GetTimeline_us(void);
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/**
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* @brief DWT延时函数,单位为秒/s
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* @attention 该函数不受中断是否开启的影响,可以在临界区和关闭中断时使用
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* @note 禁止在__disable_irq()和__enable_irq()之间使用HAL_Delay()函数,应使用本函数
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*
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* @param Delay 延时时间,单位为秒/s
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*/
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void DWT_Delay(float Delay);
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/**
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* @brief DWT更新时间轴函数,会被三个timeline函数调用
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* @attention 如果长时间不调用timeline函数,则需要手动调用该函数更新时间轴,否则CYCCNT溢出后定时和时间轴不准确
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*/
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void DWT_SysTimeUpdate(void);
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#endif /* BSP_DWT_H_ */
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54
User_Code/bsp/dwt/bsp_dwt.md
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54
User_Code/bsp/dwt/bsp_dwt.md
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@@ -0,0 +1,54 @@
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# bsp_dwt
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DWT是stm32内部的一个"隐藏资源",他的用途是给下载器提供准确的定时,从而为调试信息加上时间戳.并在固定的时间间隔将调试数据发送到你的xxlink上.
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## 常用功能
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### 计算两次进入同一个函数的时间间隔
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```c
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static uint32_t cnt;
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float deltaT;
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deltaT=DWT_GetDeltaT(&cnt);
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```
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### 计算执行某部分代码的耗时
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```c
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float start,end;
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start=DWT_DetTimeline_ms();
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// some proc to go...
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for(uint8_t i=0;i<10;i++)
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foo();
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end = DWT_DetTimeline_ms()-start;
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```
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我们还提供了一个宏用于调试计时:
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```c
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#define TIME_ELAPSE(dt, code) \
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do \
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{ \
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float tstart = DWT_GetTimeline_s(); \
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code; \
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dt = DWT_GetTimeline_s() - tstart; \
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LOGINFO("[DWT] " #dt " = %f s\r\n", dt); \
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} while (0)
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```
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传入一个float类型的变量,并将你要执行的代码写入第二个参数:
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```c
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static float my_func_dt;
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TIME_ELAPSE(my_func_dt,
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Function1(vara);
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Function2(some, var);
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Function3(your,param);
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// something more
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);
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// my_func_dt can be used for other purpose then;
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```
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