systick.h

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#ifndef _SYSTICK_H
#define _SYSTICK_H

#include <stm32f4xx.h>
#include <hal_types.h>
#include <hal.h>


#ifdef __cplusplus
  extern "C" {
#endif

extern volatile uint64_t systick_uptime_millis;
extern voidFuncPtr boardEmergencyHandler;
extern void emerg_delay(uint32_t);


void systick_init(uint32_t reload_val);

static inline void systick_enable() {   SysTick->CTRL  = SysTick_CTRL_CLKSOURCE_Msk | SysTick_CTRL_TICKINT_Msk | SysTick_CTRL_ENABLE_Msk; }

static inline void systick_disable() {  SysTick->CTRL = SysTick_CTRL_CLKSOURCE_Msk; }

static inline uint64_t systick_uptime(void) {  return systick_uptime_millis; }
static inline uint32_t systick_get_count(void) {  return SysTick->VAL; }

static inline uint32_t systick_check_underflow(void) { return SysTick->CTRL & SysTick_CTRL_COUNTFLAG_Msk; }

void systick_attach_callback(Handler callback);
void systick_detach_callback(Handler callback);

uint32_t systick_micros(void);

void SysTick_Handler(void);


/*
void HardFault_Handler(void);
void MemManage_Handler(void);
void BusFault_Handler(void);
void UsageFault_Handler(void);
*/
void __attribute__((noreturn)) __error(uint32_t pc, uint32_t num, uint32_t lr, uint32_t flag);
void __attribute__((noreturn)) error_throb(uint32_t num);


#ifdef __cplusplus
  }
#endif

#endif