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RTOS: SysTimer: Extract RtosTimer as SysTimer
RtosTimer class introduced with tickless support in #4991 had to be renamed because that name was already present in rtos namespace.
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3 files changed

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‎rtos/TARGET_CORTEX/SysTimer.cpp

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/* mbed Microcontroller Library
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* Copyright (c) 2006-2012 ARM Limited
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in
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* all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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* SOFTWARE.
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*/
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#include "rtos/TARGET_CORTEX/SysTimer.h"
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#if DEVICE_LOWPOWERTIMER
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#include "hal/lp_ticker_api.h"
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#include "rtx_core_cm.h"
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extern "C" {
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#include "rtx_lib.h"
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}
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#if (defined(NO_SYSTICK))
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/**
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* Return an IRQ number that can be used in the absence of SysTick
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*
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* @return Free IRQ number that can be used
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*/
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extern "C" IRQn_Type mbed_get_m0_tick_irqn(void);
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#endif
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namespace rtos {
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namespace internal {
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SysTimer::SysTimer() :
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TimerEvent(get_lp_ticker_data()), _start_time(0), _tick(0)
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{
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_start_time = ticker_read_us(_ticker_data);
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#if (defined(NO_SYSTICK))
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NVIC_SetVector(mbed_get_m0_tick_irqn(), (uint32_t)SysTick_Handler);
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NVIC_SetPriority(mbed_get_m0_tick_irqn(), 0xFF); /* RTOS requires lowest priority */
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NVIC_EnableIRQ(mbed_get_m0_tick_irqn());
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#else
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// Ensure SysTick has the correct priority as it is still used
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// to trigger software interrupts on each tick. The period does
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// not matter since it will never start counting.
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OS_Tick_Setup(osRtxConfig.tick_freq, OS_TICK_HANDLER);
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#endif
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}
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void SysTimer::schedule_tick(uint32_t delta)
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{
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insert_absolute(_start_time + (_tick + delta) * 1000000ULL / OS_TICK_FREQ);
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}
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void SysTimer::cancel_tick()
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{
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remove();
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}
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uint32_t SysTimer::get_tick()
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{
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return _tick & 0xFFFFFFFF;
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}
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uint32_t SysTimer::update_tick()
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{
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uint64_t new_tick = ticker_read_us(_ticker_data) * OS_TICK_FREQ / 1000000;
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if (new_tick > _tick) {
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// Don't update to the current tick. Instead, update to the
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// previous tick and let the SysTick handler increment it
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// to the current value. This allows scheduling restart
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// successfully after the OS is resumed.
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new_tick--;
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}
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uint32_t elapsed_ticks = new_tick - _tick;
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_tick = new_tick;
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return elapsed_ticks;
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}
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us_timestamp_t SysTimer::get_time()
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{
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return ticker_read_us(_ticker_data);
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}
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SysTimer::~SysTimer()
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{
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}
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void SysTimer::handler()
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{
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#if (defined(NO_SYSTICK))
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NVIC_SetPendingIRQ(mbed_get_m0_tick_irqn());
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#else
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SCB->ICSR = SCB_ICSR_PENDSTSET_Msk;
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#endif
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_tick++;
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}
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}
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}
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#endif

‎rtos/TARGET_CORTEX/SysTimer.h

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/* mbed Microcontroller Library
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* Copyright (c) 2006-2012 ARM Limited
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in
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* all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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* SOFTWARE.
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*/
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#ifndef MBED_SYS_TIMER_H
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#define MBED_SYS_TIMER_H
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#if defined(DEVICE_LOWPOWERTIMER) || defined(DOXYGEN_ONLY)
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#include "platform/NonCopyable.h"
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#include "drivers/TimerEvent.h"
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namespace rtos {
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namespace internal {
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/**
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* @cond RTOS_INTERNAL
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*
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* @addtogroup rtos
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* @{
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*
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* @defgroup rtos_SysTimer SysTimer class
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* @{
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*/
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/**
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* The SysTimer class is used exclusively by RTX idle loop in TICKLESS mode.
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*
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* @note SysTimer is not the part of Mbed RTOS API.
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*/
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class SysTimer: private mbed::TimerEvent, private mbed::NonCopyable<SysTimer> {
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public:
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SysTimer();
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virtual ~SysTimer();
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/**
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* Schedule an os tick to fire
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*
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* @param delta Tick to fire at relative to current tick
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*
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* @warning If a tick is already scheduled it needs to be cancelled first!
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*/
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void schedule_tick(uint32_t delta = 1);
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/**
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* Prevent any scheduled ticks from triggering
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*/
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void cancel_tick();
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/** Get the current tick count
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*
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* @return The number of ticks since timer creation. For the os_timer this
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* should match RTX's tick count (the number of ticks since boot).
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*/
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uint32_t get_tick();
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/**
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* Update the internal tick count
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*
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* @return The number of ticks incremented
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*
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* @note Due to a scheduling issue, the number of ticks returned is decremented
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* by 1 so that a handler can be called and update to the current value.
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* This allows scheduling restart successfully after the OS is resumed.
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*/
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uint32_t update_tick();
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/**
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* Get the time
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*
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* @return Current time in microseconds
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*/
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us_timestamp_t get_time();
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protected:
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virtual void handler();
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us_timestamp_t _start_time;
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uint64_t _tick;
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};
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/**
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* @}
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* @}
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* @endcond
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*/
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}
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}
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#endif
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#endif

‎rtos/TARGET_CORTEX/mbed_rtx_idle.cpp

Lines changed: 4 additions & 100 deletions
Original file line numberDiff line numberDiff line change
@@ -36,113 +36,17 @@ using namespace mbed;
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#ifdef MBED_TICKLESS
3838

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#if (defined(NO_SYSTICK))
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/**
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* Return an IRQ number that can be used in the absence of SysTick
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*
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* @return Free IRQ number that can be used
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*/
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extern "C" IRQn_Type mbed_get_m0_tick_irqn(void);
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#endif
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class RtosTimer : private TimerEvent {
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public:
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RtosTimer(): TimerEvent(get_lp_ticker_data()), _start_time(0), _tick(0) {
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_start_time = ticker_read_us(_ticker_data);
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#if (defined(NO_SYSTICK))
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NVIC_SetVector(mbed_get_m0_tick_irqn(), (uint32_t)SysTick_Handler);
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NVIC_SetPriority(mbed_get_m0_tick_irqn(), 0xFF); /* RTOS requires lowest priority */
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NVIC_EnableIRQ(mbed_get_m0_tick_irqn());
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#else
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// Ensure SysTick has the correct priority as it is still used
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// to trigger software interrupts on each tick. The period does
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// not matter since it will never start counting.
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OS_Tick_Setup(osRtxConfig.tick_freq, OS_TICK_HANDLER);
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#endif
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};
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/**
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* Schedule an os tick to fire
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*
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* @param delta Tick to fire at relative to current tick
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*/
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void schedule_tick(uint32_t delta=1) {
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insert_absolute(_start_time + (_tick + delta) * 1000000 / OS_TICK_FREQ);
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}
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/**
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* Prevent any scheduled ticks from triggering
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*/
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void cancel_tick() {
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remove();
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}
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/**
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* Get the current tick count
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*
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* @return The number of ticks since boot. This should match RTX's tick count
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*/
86-
uint32_t get_tick() {
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return _tick & 0xFFFFFFFF;
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}
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/**
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* Update the internal tick count
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*
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* @return The number of ticks incremented
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*/
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uint32_t update_tick() {
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uint64_t new_tick = ticker_read_us(_ticker_data) * OS_TICK_FREQ / 1000000;
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if (new_tick > _tick) {
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// Don't update to the current tick. Instead, update to the
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// previous tick and let the SysTick handler increment it
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// to the current value. This allows scheduling restart
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// successfully after the OS is resumed.
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new_tick--;
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}
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uint32_t elapsed_ticks = new_tick - _tick;
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_tick = new_tick;
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return elapsed_ticks;
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}
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/**
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* Get the time
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*
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* @return Current time in microseconds
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*/
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us_timestamp_t get_time() {
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return ticker_read_us(_ticker_data);
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}
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~RtosTimer() {
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};
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protected:
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void handler() {
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#if (defined(NO_SYSTICK))
126-
NVIC_SetPendingIRQ(mbed_get_m0_tick_irqn());
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#else
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SCB->ICSR = SCB_ICSR_PENDSTSET_Msk;
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#endif
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_tick++;
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}
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us_timestamp_t _start_time;
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uint64_t _tick;
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};
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#include "rtos/TARGET_CORTEX/SysTimer.h"
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137-
static RtosTimer *os_timer;
138-
static uint64_t os_timer_data[sizeof(RtosTimer) / 8];
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static rtos::internal::SysTimer *os_timer;
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static uint64_t os_timer_data[sizeof(rtos::internal::SysTimer) / 8];
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14044
/// Enable System Timer.
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int32_t OS_Tick_Enable (void)
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{
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// Do not use SingletonPtr since this relies on the RTOS
14448
if (NULL == os_timer) {
145-
os_timer = new (os_timer_data) RtosTimer();
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os_timer = new (os_timer_data) rtos::internal::SysTimer();
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}
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// set to fire interrupt on next tick

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