Merge branch 'develop'

Author: GOB52

src/m5_utility/compatibility_feature.cpp

@@ -8,45 +8,46 @@
   @brief Maintain compatibility with Arduino API, etc.
 */
 #include "compatibility_feature.hpp"
-#include <ctime>
-#include <chrono>
-#include <thread>
+#include <freertos/task.h>
+#include <esp_cpu.h>
 
 namespace {
-using clock                      = std::chrono::high_resolution_clock;
-const clock::time_point start_at = clock::now();
 
 }  // namespace
 
 namespace m5 {
 namespace utility {
 
-unsigned long millis()
-{
-    return std::chrono::duration_cast<std::chrono::milliseconds>(clock::now() - ::start_at).count();
-}
-unsigned long micros()
-{
-    return std::chrono::duration_cast<std::chrono::microseconds>(clock::now() - ::start_at).count();
-}
 void delay(const unsigned long ms)
 {
-#if 0
-    auto abst = clock::now() + std::chrono::milliseconds(ms);
-    std::this_thread::sleep_until(abst);
-#else
-    std::this_thread::sleep_for(std::chrono::milliseconds(ms));
-#endif
+    if (ms) {
+        if (xPortInIsrContext()) {
+            // Using busy-wait in ISR
+            const uint64_t target = esp_timer_get_time() + static_cast<uint64_t>(ms) * 1000ULL;
+            while (esp_timer_get_time() < target) { /* nop */
+            }
+        } else {
+            vTaskDelay(pdMS_TO_TICKS(ms));
+        }
+    }
 }
 
 void delayMicroseconds(const unsigned int us)
 {
-#if 0
-    auto abst = clock::now() + std::chrono::microseconds(us);
-    std::this_thread::sleep_until(abst);
-#else
-    std::this_thread::sleep_for(std::chrono::microseconds(us));
-#endif
+    if (us) {
+        // Using esp_rom_delay if less than 1ms
+        if (us < 1000 || xPortInIsrContext()) {
+            esp_rom_delay_us(us);
+            return;
+        }
+
+        // vTaskDelay + esp_rom_delay
+        vTaskDelay(pdMS_TO_TICKS(us / 1000));
+        const uint32_t us_rem = us % 1000;
+        if (us_rem) {
+            esp_rom_delay_us(us_rem);
+        }
+    }
 }
 
 }  // namespace utility

src/m5_utility/compatibility_feature.hpp

@@ -10,30 +10,38 @@
 #ifndef M5_UTILITY_COMPATIBILITY_FEATURE_HPP
 #define M5_UTILITY_COMPATIBILITY_FEATURE_HPP
 
+#include <freertos/FreeRTOS.h>
+#include <esp_timer.h>
+
 namespace m5 {
 namespace utility {
 
 ///@name Arduino API
 ///@{
 /*!
-  @brief Returns the number of milliseconds passed since the Arduino board began
-  running the current program
+  @brief Returns the number of milliseconds passed since the Arduino board began running the current program
  */
-unsigned long millis();
+inline IRAM_ATTR unsigned long millis()
+{
+    return static_cast<unsigned long>(esp_timer_get_time() / 1000ULL);
+}
 /*!
-  @brief Returns the number of microseconds since the Arduino board began
-  running the current program
+  @brief Returns the number of microseconds since the Arduino board began running the current program
 */
-unsigned long micros();
+inline IRAM_ATTR unsigned long micros()
+{
+    return static_cast<unsigned long>(esp_timer_get_time());
+}
 /*!
-  @brief Pauses the program for the amount of time (in milliseconds) specified
-  as parameter.
+  @brief Pauses the program for the amount of time (in milliseconds) specified as parameter
+  @param ms delay time (ms)
   @warning Accuracy varies depending on the environment.
 */
 void delay(const unsigned long ms);
+
 /*!
-  @brief Pauses the program for the amount of time (in microseconds) specified
-  by the parameter.
+  @brief Pauses the program for the amount of time (in microseconds) specified by the parameter
+  @param us delay time (us)
   @warning Accuracy varies depending on the environment.
 */
 void delayMicroseconds(const unsigned int us);

src/m5_utility/crc.hpp

@@ -99,6 +99,11 @@ class CRC8 {
         return do_finalize ? finalize(crc, refOut, xorout) : crc;
     }
 
+    inline void clear()
+    {
+        _crc = _init;
+    }
+
 protected:
     static inline uint8_t finalize(const uint8_t value, const bool refOut, const uint8_t xorout)
     {
@@ -192,6 +197,11 @@ class CRC16 {
         return do_finalize ? finalize(crc, refOut, xorout) : crc;
     }
 
+    inline void clear()
+    {
+        _crc = _init;
+    }
+
 protected:
     static inline uint16_t finalize(const uint16_t value, const bool refOut, const uint16_t xorout)
     {