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Cortex M0+ delay routine without timers

riglesias

Hello, I´m trying to implement a small assembly routine in a cortex M0+ in order to introduce a software controlled delay in microseconds. For performing this, i wrote this small while() routine:

      while (CyclesToDelay > 0)
      {
         __no_operation();
         CyclesToDelay--;
      }


So, knowing exactly what assembly instructions are executing, the clk clock frequency, and the number of clk cycles per instruction, I can calculate the CyclesToDelay value for a desired delay to introduce.

Assembly:

__no_operation();
0002 73F8 NOP
CyclesToDelay--;
0002 73FA LDR R1, [R0]
0002 73FC SUBS R1, R1, #1
0002 73FE STR R1, [R0]
while (CyclesToDelay > 0)
0002 7400 LDR R1, [R0]
0002 7402 CMP R1, #0
0002 7404 BNE 0x000273F8


Instruction clk cycles according https://developer.arm.com/documentation/ddi0432/c/programmers-model/instruction-set-summary are:

NOP 1 clk cycles

LDR 2 clk cycles

SUBS 1 clk cycles

STR  2 clk cycles

LDR 2 clk cycles

CMP 1 clk cycles

BNE 3 clk cycles

Total clk cycles in this routine = 12 clk cycles,

CORE_CLK = 48mhz



Then,

1) 1 CORE_CLK cycle = 1 / 48 us

2) 12 CORE_CLK cycles = 12/48 us ( The number of microseconds one loop of this routine should delay)


Finally:

3)  CyclesToDelay *  (12/48) = delay_we_want_to_introduce(us) 

     or

     CyclesToDelay = delay_we_want_to_inject(us) * 48 / 12


However, measuring the delays obtained with this method does not seem to be very accurate. I dont know if this is going to be deterministic or if this is totally possible in this Cortex M0+. Feedback would be appreciated. Many thanks.

Parents
  • 0

    I was about to say that you might use the DWT CYCCNT register, as I have done for CM3 and CM4.  Alas it appears to be missing from CM0/CM0plus.

    For what it's worth, here's the code for CM3/4, it might help you in some way.

    static void init(void);

static uint32_t ticksPerMilli;

/******************************** PUBLIC API *******************************/

void delayMillis( size_t ms ) {
  if( ticksPerMilli == 0 ) {
	init();
  }

  // Reset the cycle counter and enable it, so it starts counting
  DWT->CYCCNT = 0;
  DWT->CTRL |= DWT_CTRL_CYCCNTENA_Msk;

  while( DWT->CYCCNT < (ms * ticksPerMilli) )
	;
}

void delaySeconds( size_t s ) {
  delayMillis( s * 1000 );
}

/***************************************************************************/

static void init(void) {

  // Bit mask definitions (*_Msk) are from core_cmN.h

  // To use DWT, you have to set the Trace Enable bit in DEMCR...
  CoreDebug->DEMCR |= CoreDebug_DEMCR_TRCENA_Msk;

  /*
	Trace DEMCR might not be writable from CPU (only debugger??).  If
	that is true, the 'delay via cyccnt' can't be used on this MCU.
  */
  if( !(CoreDebug->DEMCR & CoreDebug_DEMCR_TRCENA_Msk) )
	assert(0);

  // CYCCNT might not be implemented. Assertion as above
  if( DWT->CTRL & DWT_CTRL_NOCYCCNT_Msk )
	assert(0);

  // SystemCoreClock is a CMSIS Core-managed variable
  ticksPerMilli = SystemCoreClock / 1000;
}

Reply
  • 0

    I was about to say that you might use the DWT CYCCNT register, as I have done for CM3 and CM4.  Alas it appears to be missing from CM0/CM0plus.

    For what it's worth, here's the code for CM3/4, it might help you in some way.

    static void init(void);

static uint32_t ticksPerMilli;

/******************************** PUBLIC API *******************************/

void delayMillis( size_t ms ) {
  if( ticksPerMilli == 0 ) {
	init();
  }

  // Reset the cycle counter and enable it, so it starts counting
  DWT->CYCCNT = 0;
  DWT->CTRL |= DWT_CTRL_CYCCNTENA_Msk;

  while( DWT->CYCCNT < (ms * ticksPerMilli) )
	;
}

void delaySeconds( size_t s ) {
  delayMillis( s * 1000 );
}

/***************************************************************************/

static void init(void) {

  // Bit mask definitions (*_Msk) are from core_cmN.h

  // To use DWT, you have to set the Trace Enable bit in DEMCR...
  CoreDebug->DEMCR |= CoreDebug_DEMCR_TRCENA_Msk;

  /*
	Trace DEMCR might not be writable from CPU (only debugger??).  If
	that is true, the 'delay via cyccnt' can't be used on this MCU.
  */
  if( !(CoreDebug->DEMCR & CoreDebug_DEMCR_TRCENA_Msk) )
	assert(0);

  // CYCCNT might not be implemented. Assertion as above
  if( DWT->CTRL & DWT_CTRL_NOCYCCNT_Msk )
	assert(0);

  // SystemCoreClock is a CMSIS Core-managed variable
  ticksPerMilli = SystemCoreClock / 1000;
}

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