text: /*
   * Fencing Action Analyzer
   * Copyright (c) 2020 David Rice
   * 
   * Generic utility functions
   * 
   * SET/CLR/INV registers are used when appropriate to avoid
   * R-M-W hazards on MIPS architecture, but "bits" structures
   * are used for readability when no R-M-W hazard exists.
   *
   * Permission is hereby granted, free of charge, to any person obtaining a copy
   * of this software and associated documentation files (the "Software"), to deal
   * in the Software without restriction, including without limitation the rights
   * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
   * copies of the Software, and to permit persons to whom the Software is
   * furnished to do so, subject to the following conditions:
   * 
   * The above copyright notice and this permission notice shall be included in all
   * copies or substantial portions of the Software.
   * 
   * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
   * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
   * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
   * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
   * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
   * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
   * SOFTWARE.
   */
  
  #include <xc.h>
  
  #include <stdint.h>
  
  #include "system.h"
  #include "util.h"
  
  /* Delay for specified number of milliseconds based on CP0 core timer */
  void delay_ms(uint32_t delay) {
      uint32_t start;
      uint32_t cycles;
      
      start = (uint32_t)_CP0_GET_COUNT();
      cycles = ((CPU_FREQ / 2) / 1000) * delay;
      
      while(((uint32_t)_CP0_GET_COUNT() - start) < cycles);
  }
  
  