stmhal: Add sleep_{ms,us} and ticks_{ms,us,cpu,diff} to time module.

pyb module still has pyb.delay and pyb.udelay, but these now point to
time.sleep_ms and time.sleep_us respectively.

4 files changed, 78 insertions, 37 deletions

diff --git a/stmhal/modpyb.c b/stmhal/modpyb.c
index bce8c07dc..96af7dcfc 100644
--- a/stmhal/modpyb.c
+++ b/stmhal/modpyb.c
@@ -124,29 +124,6 @@ STATIC mp_obj_t pyb_elapsed_micros(mp_obj_t start) {
 }
 STATIC MP_DEFINE_CONST_FUN_OBJ_1(pyb_elapsed_micros_obj, pyb_elapsed_micros);
 
-/// \function delay(ms)
-/// Delay for the given number of milliseconds.
-STATIC mp_obj_t pyb_delay(mp_obj_t ms_in) {
-    mp_int_t ms = mp_obj_get_int(ms_in);
-    if (ms >= 0) {
-        HAL_Delay(ms);
-    }
-    return mp_const_none;
-}
-STATIC MP_DEFINE_CONST_FUN_OBJ_1(pyb_delay_obj, pyb_delay);
-
-/// \function udelay(us)
-/// Delay for the given number of microseconds.
-STATIC mp_obj_t pyb_udelay(mp_obj_t usec_in) {
-    mp_int_t usec = mp_obj_get_int(usec_in);
-    if (usec > 0) {
-        sys_tick_udelay(usec);
-    }
-    return mp_const_none;
-}
-STATIC MP_DEFINE_CONST_FUN_OBJ_1(pyb_udelay_obj, pyb_udelay);
-
-/// \function stop()
 /// \function repl_uart(uart)
 /// Get or set the UART object that the REPL is repeated on.
 STATIC mp_obj_t pyb_repl_uart(mp_uint_t n_args, const mp_obj_t *args) {
@@ -203,8 +180,8 @@ STATIC const mp_map_elem_t pyb_module_globals_table[] = {
     { MP_OBJ_NEW_QSTR(MP_QSTR_elapsed_millis), (mp_obj_t)&pyb_elapsed_millis_obj },
     { MP_OBJ_NEW_QSTR(MP_QSTR_micros), (mp_obj_t)&pyb_micros_obj },
     { MP_OBJ_NEW_QSTR(MP_QSTR_elapsed_micros), (mp_obj_t)&pyb_elapsed_micros_obj },
-    { MP_OBJ_NEW_QSTR(MP_QSTR_delay), (mp_obj_t)&pyb_delay_obj },
-    { MP_OBJ_NEW_QSTR(MP_QSTR_udelay), (mp_obj_t)&pyb_udelay_obj },
+    { MP_OBJ_NEW_QSTR(MP_QSTR_delay), (mp_obj_t)&time_sleep_ms_obj },
+    { MP_OBJ_NEW_QSTR(MP_QSTR_udelay), (mp_obj_t)&time_sleep_us_obj },
     { MP_OBJ_NEW_QSTR(MP_QSTR_sync), (mp_obj_t)&mod_os_sync_obj },
     { MP_OBJ_NEW_QSTR(MP_QSTR_mount), (mp_obj_t)&pyb_mount_obj },
 
diff --git a/stmhal/modutime.c b/stmhal/modutime.c
index 72ed4d251..889229558 100644
--- a/stmhal/modutime.c
+++ b/stmhal/modutime.c
@@ -29,7 +29,9 @@
 #include STM32_HAL_H
 
 #include "py/nlr.h"
+#include "py/smallint.h"
 #include "py/obj.h"
+#include "systick.h"
 #include "timeutils.h"
 #include "portmodules.h"
 #include "rtc.h"
@@ -112,6 +114,18 @@ STATIC mp_obj_t time_mktime(mp_obj_t tuple) {
 }
 MP_DEFINE_CONST_FUN_OBJ_1(time_mktime_obj, time_mktime);
 
+/// \function time()
+/// Returns the number of seconds, as an integer, since 1/1/2000.
+STATIC mp_obj_t time_time(void) {
+    // get date and time
+    // note: need to call get time then get date to correctly access the registers
+    RTC_DateTypeDef date;
+    RTC_TimeTypeDef time;
+    HAL_RTC_GetTime(&RTCHandle, &time, FORMAT_BIN);
+    HAL_RTC_GetDate(&RTCHandle, &date, FORMAT_BIN);
+    return mp_obj_new_int(timeutils_seconds_since_2000(2000 + date.Year, date.Month, date.Date, time.Hours, time.Minutes, time.Seconds));
+}
+MP_DEFINE_CONST_FUN_OBJ_0(time_time_obj, time_time);
 
 /// \function sleep(seconds)
 /// Sleep for the given number of seconds.  Seconds can be a floating-point number to
@@ -130,26 +144,67 @@ STATIC mp_obj_t time_sleep(mp_obj_t seconds_o) {
 }
 MP_DEFINE_CONST_FUN_OBJ_1(time_sleep_obj, time_sleep);
 
-/// \function time()
-/// Returns the number of seconds, as an integer, since 1/1/2000.
-STATIC mp_obj_t time_time(void) {
-    // get date and time
-    // note: need to call get time then get date to correctly access the registers
-    RTC_DateTypeDef date;
-    RTC_TimeTypeDef time;
-    HAL_RTC_GetTime(&RTCHandle, &time, FORMAT_BIN);
-    HAL_RTC_GetDate(&RTCHandle, &date, FORMAT_BIN);
-    return mp_obj_new_int(timeutils_seconds_since_2000(2000 + date.Year, date.Month, date.Date, time.Hours, time.Minutes, time.Seconds));
+STATIC mp_obj_t time_sleep_ms(mp_obj_t ms_in) {
+    mp_int_t ms = mp_obj_get_int(ms_in);
+    if (ms > 0) {
+        HAL_Delay(ms);
+    }
+    return mp_const_none;
 }
-MP_DEFINE_CONST_FUN_OBJ_0(time_time_obj, time_time);
+MP_DEFINE_CONST_FUN_OBJ_1(time_sleep_ms_obj, time_sleep_ms);
+
+STATIC mp_obj_t time_sleep_us(mp_obj_t usec_in) {
+    mp_int_t usec = mp_obj_get_int(usec_in);
+    if (usec > 0) {
+        sys_tick_udelay(usec);
+    }
+    return mp_const_none;
+}
+MP_DEFINE_CONST_FUN_OBJ_1(time_sleep_us_obj, time_sleep_us);
+
+STATIC mp_obj_t time_ticks_ms(void) {
+    return MP_OBJ_NEW_SMALL_INT(HAL_GetTick() & MP_SMALL_INT_POSITIVE_MASK);
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_0(time_ticks_ms_obj, time_ticks_ms);
+
+STATIC mp_obj_t time_ticks_us(void) {
+    return MP_OBJ_NEW_SMALL_INT(sys_tick_get_microseconds() & MP_SMALL_INT_POSITIVE_MASK);
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_0(time_ticks_us_obj, time_ticks_us);
+
+STATIC mp_obj_t time_ticks_cpu(void) {
+    static bool enabled = false;
+    if (!enabled) {
+        CoreDebug->DEMCR |= CoreDebug_DEMCR_TRCENA_Msk;
+        DWT->CYCCNT = 0;
+        DWT->CTRL |= DWT_CTRL_CYCCNTENA_Msk;
+        enabled = true;
+    }
+    return MP_OBJ_NEW_SMALL_INT(DWT->CYCCNT & MP_SMALL_INT_POSITIVE_MASK);
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_0(time_ticks_cpu_obj, time_ticks_cpu);
+
+STATIC mp_obj_t time_ticks_diff(mp_obj_t start_in, mp_obj_t end_in) {
+    // we assume that the arguments come from ticks_xx so are small ints
+    uint32_t start = MP_OBJ_SMALL_INT_VALUE(start_in);
+    uint32_t end = MP_OBJ_SMALL_INT_VALUE(end_in);
+    return MP_OBJ_NEW_SMALL_INT((end - start) & MP_SMALL_INT_POSITIVE_MASK);
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_2(time_ticks_diff_obj, time_ticks_diff);
 
 STATIC const mp_map_elem_t time_module_globals_table[] = {
     { MP_OBJ_NEW_QSTR(MP_QSTR___name__), MP_OBJ_NEW_QSTR(MP_QSTR_utime) },
 
     { MP_OBJ_NEW_QSTR(MP_QSTR_localtime), (mp_obj_t)&time_localtime_obj },
     { MP_OBJ_NEW_QSTR(MP_QSTR_mktime), (mp_obj_t)&time_mktime_obj },
-    { MP_OBJ_NEW_QSTR(MP_QSTR_sleep), (mp_obj_t)&time_sleep_obj },
     { MP_OBJ_NEW_QSTR(MP_QSTR_time), (mp_obj_t)&time_time_obj },
+    { MP_OBJ_NEW_QSTR(MP_QSTR_sleep), (mp_obj_t)&time_sleep_obj },
+    { MP_OBJ_NEW_QSTR(MP_QSTR_sleep_ms), (mp_obj_t)&time_sleep_ms_obj },
+    { MP_OBJ_NEW_QSTR(MP_QSTR_sleep_us), (mp_obj_t)&time_sleep_us_obj },
+    { MP_OBJ_NEW_QSTR(MP_QSTR_ticks_ms), (mp_obj_t)&time_ticks_ms_obj },
+    { MP_OBJ_NEW_QSTR(MP_QSTR_ticks_us), (mp_obj_t)&time_ticks_us_obj },
+    { MP_OBJ_NEW_QSTR(MP_QSTR_ticks_cpu), (mp_obj_t)&time_ticks_cpu_obj },
+    { MP_OBJ_NEW_QSTR(MP_QSTR_ticks_diff), (mp_obj_t)&time_ticks_diff_obj },
 };
 
 STATIC MP_DEFINE_CONST_DICT(time_module_globals, time_module_globals_table);
diff --git a/stmhal/portmodules.h b/stmhal/portmodules.h
index 8c2ee6bf8..821e7c5b6 100644
--- a/stmhal/portmodules.h
+++ b/stmhal/portmodules.h
@@ -33,4 +33,7 @@ extern const mp_obj_module_t mp_module_usocket;
 
 // additional helper functions exported by the modules
 
+MP_DECLARE_CONST_FUN_OBJ(time_sleep_ms_obj);
+MP_DECLARE_CONST_FUN_OBJ(time_sleep_us_obj);
+
 MP_DECLARE_CONST_FUN_OBJ(mod_os_sync_obj);
diff --git a/stmhal/qstrdefsport.h b/stmhal/qstrdefsport.h
index 99a768dca..24b323828 100644
--- a/stmhal/qstrdefsport.h
+++ b/stmhal/qstrdefsport.h
@@ -407,6 +407,12 @@ Q(time)
 Q(localtime)
 Q(mktime)
 Q(sleep)
+Q(sleep_ms)
+Q(sleep_us)
+Q(ticks_ms)
+Q(ticks_us)
+Q(ticks_cpu)
+Q(ticks_diff)
 
 // for select module
 Q(uselect)