1 files changed, 31 insertions, 11 deletions

diff --git a/stmhal/systick.c b/stmhal/systick.c
index ade05d74d7..eb11de9b74 100644
--- a/stmhal/systick.c
+++ b/stmhal/systick.c
@@ -24,20 +24,36 @@
  * THE SOFTWARE.
  */
 
-#include STM32_HAL_H
-
-#include "py/obj.h"
+#include "py/mphal.h"
 #include "irq.h"
 #include "systick.h"
 #include "pybthread.h"
 
-// We provide our own version of HAL_Delay that calls __WFI while waiting, in
-// order to reduce power consumption.
-// Note: Upon entering this function we may or may not have the GIL.
+extern __IO uint32_t uwTick;
+
+// We provide our own version of HAL_Delay that calls __WFI while waiting,
+// and works when interrupts are disabled.  This function is intended to be
+// used only by the ST HAL functions.
 void HAL_Delay(uint32_t Delay) {
     if (query_irq() == IRQ_STATE_ENABLED) {
         // IRQs enabled, so can use systick counter to do the delay
-        extern __IO uint32_t uwTick;
+        uint32_t start = uwTick;
+        // Wraparound of tick is taken care of by 2's complement arithmetic.
+        while (uwTick - start < Delay) {
+            // Enter sleep mode, waiting for (at least) the SysTick interrupt.
+            __WFI();
+        }
+    } else {
+        // IRQs disabled, use mp_hal_delay_ms routine.
+        mp_hal_delay_ms(Delay);
+    }
+}
+
+// Core delay function that does an efficient sleep and may switch thread context.
+// Note: Upon entering this function we may or may not have the GIL.
+void mp_hal_delay_ms(mp_uint_t Delay) {
+    if (query_irq() == IRQ_STATE_ENABLED) {
+        // IRQs enabled, so can use systick counter to do the delay
         uint32_t start = uwTick;
         // Wraparound of tick is taken care of by 2's complement arithmetic.
         while (uwTick - start < Delay) {
@@ -64,11 +80,11 @@ void HAL_Delay(uint32_t Delay) {
 }
 
 // delay for given number of microseconds
-void sys_tick_udelay(uint32_t usec) {
+void mp_hal_delay_us(mp_uint_t usec) {
     if (query_irq() == IRQ_STATE_ENABLED) {
         // IRQs enabled, so can use systick counter to do the delay
-        uint32_t start = sys_tick_get_microseconds();
-        while (sys_tick_get_microseconds() - start < usec) {
+        uint32_t start = mp_hal_ticks_us();
+        while (mp_hal_ticks_us() - start < usec) {
         }
     } else {
         // IRQs disabled, so need to use a busy loop for the delay
@@ -92,11 +108,15 @@ void sys_tick_wait_at_least(uint32_t start_tick, uint32_t delay_ms) {
     }
 }
 
+mp_uint_t mp_hal_ticks_ms(void) {
+    return uwTick;
+}
+
 // The SysTick timer counts down at 168 MHz, so we can use that knowledge
 // to grab a microsecond counter.
 //
 // We assume that HAL_GetTickis returns milliseconds.
-uint32_t sys_tick_get_microseconds(void) {
+mp_uint_t mp_hal_ticks_us(void) {
     mp_uint_t irq_state = disable_irq();
     uint32_t counter = SysTick->VAL;
     uint32_t milliseconds = HAL_GetTick();