Merge pull request #6052 from mprse/feature-hal-spec-ticker_k64f_drivers

us/lp ticker - port K64F platform to new HAL api

Author: cmonr

TESTS/mbed_drivers/rtc/main.cpp

@@ -21,7 +21,7 @@
 #include "rtos.h"
 #include "rtc_api.h"
 
-#if !DEVICE_RTC
+#if !DEVICE_RTC || !DEVICE_USTICKER
 #error [NOT_SUPPORTED] test not supported
 #endif
 

TESTS/mbed_hal/lp_ticker/lp_ticker_api_tests.h

@@ -44,7 +44,13 @@ void lp_ticker_info_test(void);
  */
 void lp_ticker_deepsleep_test(void);
 
-
+/** Test that the ticker does not glitch backwards due to an incorrectly implemented ripple counter driver.
+ *
+ * Given ticker is available.
+ * When ticker is enabled and counts.
+ * Then ticker does not glitch backwards due to an incorrectly implemented ripple counter driver.
+ */
+void lp_ticker_glitch_test(void);
 /**@}*/
 
 #ifdef __cplusplus

TESTS/mbed_hal/lp_ticker/main.cpp

@@ -86,6 +86,24 @@ void lp_ticker_deepsleep_test()
     TEST_ASSERT_EQUAL(1, intFlag);
 }
 
+/* Test that the ticker does not glitch backwards due to an incorrectly implemented ripple counter driver. */
+void lp_ticker_glitch_test()
+{
+    lp_ticker_init();
+
+    const ticker_info_t* p_ticker_info = lp_ticker_get_info();
+
+    uint32_t last = lp_ticker_read();
+    const uint32_t start = last;
+
+    /* Set test time to 2 sec. */
+    while (last < (start + p_ticker_info->frequency * 2)) {
+        const uint32_t cur = lp_ticker_read();
+        TEST_ASSERT(cur >= last);
+        last = cur;
+    }
+}
+
 utest::v1::status_t test_setup(const size_t number_of_cases)
 {
     GREENTEA_SETUP(20, "default_auto");
@@ -95,6 +113,7 @@ utest::v1::status_t test_setup(const size_t number_of_cases)
 Case cases[] = {
     Case("lp ticker info test", lp_ticker_info_test),
     Case("lp ticker sleep test", lp_ticker_deepsleep_test),
+    Case("lp ticker glitch test", lp_ticker_glitch_test)
 };
 
 Specification specification(test_setup, cases);

TESTS/mbed_hal/lp_us_tickers/main.cpp

@@ -26,8 +26,8 @@
 #endif
 
 #define FORCE_OVERFLOW_TEST (false)
-#define TICKER_INT_VAL 2000
-#define TICKER_DELTA 50
+#define TICKER_INT_VAL 500
+#define TICKER_DELTA 10
 
 #define LP_TICKER_OVERFLOW_DELTA 0 // this will allow to detect that ticker counter rollovers to 0
 #define HF_TICKER_OVERFLOW_DELTA 50
@@ -49,10 +49,9 @@ unsigned int ticker_overflow_delta;
 
 /* Auxiliary function to count ticker ticks elapsed during execution of N cycles of empty while loop.
  * Parameter <step> is used to disable compiler optimisation. */
-uint32_t count_ticks(volatile uint32_t cycles, uint32_t step)
+uint32_t count_ticks(uint32_t cycles, uint32_t step)
 {
-    /* Init the ticker. */
-    intf->init();
+    register uint32_t reg_cycles = cycles;
 
     core_util_critical_section_enter();
 
@@ -133,9 +132,7 @@ void ticker_info_test(void)
 /* Test that ticker interrupt fires only when the ticker counter increments to the value set by ticker_set_interrupt. */
 void ticker_interrupt_test(void)
 {
-    uint32_t ticker_timeout[] = { 100, 500, 1000, 2000 };
-
-    intf->init();
+    uint32_t ticker_timeout[] = { 100, 200, 300, 500 };
 
     for (uint32_t i = 0; i < (sizeof(ticker_timeout) / sizeof(uint32_t)); i++) {
         intFlag = 0;
@@ -152,17 +149,17 @@ void ticker_interrupt_test(void)
             TEST_ASSERT_EQUAL_INT_MESSAGE(0, intFlag, "Interrupt fired too early");
         }
 
-        /* Wait until ticker count reach value: tick_count + ticker_timeout[i].
+        /* Wait until ticker count reach value: tick_count + ticker_timeout[i] + TICKER_DELTA.
          * Interrupt should be fired after this time. */
-        while (intf->read() < (tick_count + ticker_timeout[i])) {
+        while (intf->read() < (tick_count + ticker_timeout[i] + TICKER_DELTA)) {
             /* Just wait. */
         }
 
         TEST_ASSERT_EQUAL(1, intFlag);
 
-        /* Wait until ticker count reach value: tick_count + 3 * ticker_timeout[i].
+        /* Wait until ticker count reach value: tick_count + 2 * ticker_timeout[i] + TICKER_DELTA.
          * Interrupt should not be triggered again. */
-        while (intf->read() < (tick_count + 3 * ticker_timeout[i])) {
+        while (intf->read() < (tick_count + 2 * ticker_timeout[i] + TICKER_DELTA)) {
             /* Just wait. */
         }
 
@@ -175,8 +172,6 @@ void ticker_past_test(void)
 {
     intFlag = 0;
 
-    intf->init();
-
     const uint32_t tick_count = intf->read();
 
     /* Set interrupt tick count to value in the past.
@@ -193,8 +188,6 @@ void ticker_repeat_reschedule_test(void)
 {
     intFlag = 0;
 
-    intf->init();
-
     const uint32_t tick_count = intf->read();
 
     /* Set interrupt. Interrupt should be fired when tick count is equal to:
@@ -227,8 +220,6 @@ void ticker_fire_now_test(void)
 {
     intFlag = 0;
 
-    intf->init();
-
     intf->fire_interrupt();
 
     /* On some platforms set_interrupt function sets interrupt in the nearest feature. */
@@ -256,8 +247,6 @@ void ticker_overflow_test(void)
 
     intFlag = 0;
 
-    intf->init();
-
     /* Wait for max count. */
     while (intf->read() != (max_count - ticker_overflow_delta)) {
         /* Just wait. */
@@ -296,8 +285,6 @@ void ticker_overflow_test(void)
 /* Test that the ticker increments by one on each tick. */
 void ticker_increment_test(void)
 {
-    intf->init();
-
     const ticker_info_t* p_ticker_info = intf->get_info();
 
     /* Perform test based on ticker speed. */
@@ -334,8 +321,6 @@ void ticker_speed_test(void)
     Timer timer;
     int counter = NUM_OF_CALLS;
 
-    intf->init();
-
     /* ---- Test ticker_read function. ---- */
     timer.reset();
     timer.start();
@@ -391,15 +376,38 @@ void ticker_speed_test(void)
     TEST_ASSERT(timer.read_us() < (NUM_OF_CALLS * (MAX_FUNC_EXEC_TIME_US + DELTA_FUNC_EXEC_TIME_US)));
 }
 
+/* Since according to the ticker requirements min acceptable counter size is
+ * 12 bits (low power timer)  for which max count is
+ * 4095, then all test cases must be executed in this time window.
+ * HAL ticker layer handles overflow and it is not handled in the target
+ * ticker drivers.
+ */
+void overflow_protect()
+{
+    const uint32_t ticks_now = intf->read();
+    const ticker_info_t* p_ticker_info = intf->get_info();
+
+    const uint32_t max_count = (1 << p_ticker_info->bits - 1);
+
+    if ((max_count - ticks_now) > 4000) {
+        return;
+    }
+
+    while (intf->read() > ticks_now);
+}
 
 utest::v1::status_t hf_ticker_setup(const Case *const source, const size_t index_of_case)
 {
     intf = get_us_ticker_data()->interface;
 
+    intf->init();
+
     set_us_ticker_irq_handler(ticker_event_handler_stub);
 
     ticker_overflow_delta = HF_TICKER_OVERFLOW_DELTA;
 
+    overflow_protect();
+
     return greentea_case_setup_handler(source, index_of_case);
 }
 
@@ -408,10 +416,14 @@ utest::v1::status_t lp_ticker_setup(const Case *const source, const size_t index
 {
     intf = get_lp_ticker_data()->interface;
 
+    intf->init();
+
     set_lp_ticker_irq_handler(ticker_event_handler_stub);
 
     ticker_overflow_delta = LP_TICKER_OVERFLOW_DELTA;
 
+    overflow_protect();
+
     return greentea_case_setup_handler(source, index_of_case);
 }
 #endif

hal/lp_ticker_api.h

@@ -43,6 +43,9 @@ extern "C" {
  * * See the @ref hal_ticker_shared "ticker specification"
  * * Calling any function other than lp_ticker_init after calling lp_ticker_free
  *
+ * # Potential bugs
+ * * Glitches due to ripple counter - Verified by ::lp_ticker_glitch_test
+ *
  * @see hal_lp_ticker_tests
  *
  * @{

targets/TARGET_Freescale/TARGET_MCUXpresso_MCUS/TARGET_MCU_K64F/us_ticker.c

@@ -1,5 +1,5 @@
 /* mbed Microcontroller Library
- * Copyright (c) 2006-2013 ARM Limited
+ * Copyright (c) 2006-2018 ARM Limited
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
@@ -19,7 +19,16 @@
 #include "fsl_pit.h"
 #include "fsl_clock_config.h"
 
-static int us_ticker_inited = 0;
+const ticker_info_t* us_ticker_get_info()
+{
+    static const ticker_info_t info = {
+        1000000,    // 1 MHz
+             32     // 32 bit counter
+    };
+    return &info;
+}
+
+static bool us_ticker_inited = false;
 
 static void pit_isr(void)
 {
@@ -31,72 +40,98 @@ static void pit_isr(void)
     us_ticker_irq_handler();
 }
 
+/** Initialize the high frequency ticker
+ *
+ */
 void us_ticker_init(void)
 {
-    if (us_ticker_inited) {
-        return;
-    }
-    us_ticker_inited = 1;
-    //Common for ticker/timer
+    /* Common for ticker/timer. */
     uint32_t busClock;
-    // Structure to initialize PIT
+    /* Structure to initialize PIT. */
     pit_config_t pitConfig;
 
     PIT_GetDefaultConfig(&pitConfig);
     PIT_Init(PIT, &pitConfig);
 
     busClock = CLOCK_GetFreq(kCLOCK_BusClk);
 
-    //Timer
-    PIT_SetTimerPeriod(PIT, kPIT_Chnl_0, busClock / 1000000 - 1);
-    PIT_SetTimerPeriod(PIT, kPIT_Chnl_1, 0xFFFFFFFF);
-    PIT_SetTimerChainMode(PIT, kPIT_Chnl_1, true);
-    PIT_StartTimer(PIT, kPIT_Chnl_0);
-    PIT_StartTimer(PIT, kPIT_Chnl_1);
+    /* Let the timer to count if re-init. */
+    if (!us_ticker_inited) {
 
-    //Ticker
+        PIT_SetTimerPeriod(PIT, kPIT_Chnl_0, busClock / 1000000 - 1);
+        PIT_SetTimerPeriod(PIT, kPIT_Chnl_1, 0xFFFFFFFF);
+        PIT_SetTimerChainMode(PIT, kPIT_Chnl_1, true);
+        PIT_StartTimer(PIT, kPIT_Chnl_0);
+        PIT_StartTimer(PIT, kPIT_Chnl_1);
+    }
+
+    /* Configure interrupt generation counters and disable ticker interrupts. */
+    PIT_StopTimer(PIT, kPIT_Chnl_3);
+    PIT_StopTimer(PIT, kPIT_Chnl_2);
     PIT_SetTimerPeriod(PIT, kPIT_Chnl_2, busClock / 1000000 - 1);
     PIT_SetTimerChainMode(PIT, kPIT_Chnl_3, true);
-    NVIC_SetVector(PIT3_IRQn, (uint32_t)pit_isr);
+    NVIC_SetVector(PIT3_IRQn, (uint32_t) pit_isr);
     NVIC_EnableIRQ(PIT3_IRQn);
-}
+    PIT_DisableInterrupts(PIT, kPIT_Chnl_3, kPIT_TimerInterruptEnable);
 
+    us_ticker_inited = true;
+}
 
+/** Read the current counter
+ *
+ * @return The current timer's counter value in ticks
+ */
 uint32_t us_ticker_read()
 {
-    if (!us_ticker_inited) {
-        us_ticker_init();
-    }
-
     return ~(PIT_GetCurrentTimerCount(PIT, kPIT_Chnl_1));
 }
 
+/** Disable us ticker interrupt
+ *
+ */
 void us_ticker_disable_interrupt(void)
 {
     PIT_DisableInterrupts(PIT, kPIT_Chnl_3, kPIT_TimerInterruptEnable);
 }
 
+/** Clear us ticker interrupt
+ *
+ */
 void us_ticker_clear_interrupt(void)
 {
     PIT_ClearStatusFlags(PIT, kPIT_Chnl_3, PIT_TFLG_TIF_MASK);
 }
 
+/** Set interrupt for specified timestamp
+ *
+ * @param timestamp The time in ticks when interrupt should be generated
+ */
 void us_ticker_set_interrupt(timestamp_t timestamp)
 {
-    uint32_t now_us, delta_us;
-
-    now_us = us_ticker_read();
-    delta_us = timestamp >= now_us ? timestamp - now_us : (uint32_t)((uint64_t)timestamp + 0xFFFFFFFF - now_us);
+    /* We get here absolute interrupt time which takes into account counter overflow.
+     * Since we use additional count-down timer to generate interrupt we need to calculate
+     * load value based on time-stamp.
+     */
+    const uint32_t now_ticks = us_ticker_read();
+    uint32_t delta_ticks =
+            timestamp >= now_ticks ? timestamp - now_ticks : (uint32_t)((uint64_t) timestamp + 0xFFFFFFFF - now_ticks);
+
+    if (delta_ticks == 0) {
+        /* The requested delay is less than the minimum resolution of this counter. */
+        delta_ticks = 1;
+    }
 
-    uint32_t delta = timestamp - us_ticker_read();
     PIT_StopTimer(PIT, kPIT_Chnl_3);
     PIT_StopTimer(PIT, kPIT_Chnl_2);
-    PIT_SetTimerPeriod(PIT, kPIT_Chnl_3, (uint32_t)delta_us);
+    PIT_SetTimerPeriod(PIT, kPIT_Chnl_3, delta_ticks);
     PIT_EnableInterrupts(PIT, kPIT_Chnl_3, kPIT_TimerInterruptEnable);
     PIT_StartTimer(PIT, kPIT_Chnl_3);
     PIT_StartTimer(PIT, kPIT_Chnl_2);
 }
 
+/** Fire us ticker interrupt
+ *
+ */
 void us_ticker_fire_interrupt(void)
 {
     NVIC_SetPendingIRQ(PIT3_IRQn);