Merge pull request #7508 from mprse/ticker_free

Ticker free() - requirements, pseudo code, tests, implementation

Author: Cruz Monrreal

TESTS/mbed_drivers/timer/main.cpp

@@ -103,6 +103,12 @@ static void stub_fire_interrupt(void)
     /* do nothing. */
 }
 
+/* User ticker interface function. */
+static void stub_free(void)
+{
+    /* do nothing. */
+}
+
 ticker_info_t info =
 { TICKER_FREQ_1MHZ, TICKER_BITS };
 
@@ -122,6 +128,7 @@ static const ticker_interface_t us_interface = {
     .clear_interrupt = stub_clear_interrupt,
     .set_interrupt = stub_set_interrupt,
     .fire_interrupt = stub_fire_interrupt,
+    .free = stub_free,
     .get_info = stub_get_info,
 };
 

TESTS/mbed_hal/common_tickers/main.cpp

@@ -33,6 +33,8 @@ extern "C" {
 #error [NOT_SUPPORTED] test not supported
 #endif
 
+#define US_PER_S 1000000
+
 #define FORCE_OVERFLOW_TEST (false)
 #define TICKER_INT_VAL 500
 #define TICKER_DELTA 10
@@ -43,10 +45,11 @@ extern "C" {
 #define US_TICKER_OVERFLOW_DELTA2   60
 
 #define TICKER_100_TICKS 100
+#define TICKER_500_TICKS 500
 
 #define MAX_FUNC_EXEC_TIME_US 20
 #define DELTA_FUNC_EXEC_TIME_US 5
-#define NUM_OF_CALLS 1000
+#define NUM_OF_CALLS 100
 
 #define NUM_OF_CYCLES 100000
 
@@ -149,6 +152,19 @@ void wait_cycles(volatile unsigned int cycles)
     while (cycles--);
 }
 
+/* Auxiliary function to determine how long ticker function are executed.
+ * This function returns number of us between <start_ticks> and <stop_ticks>
+ * taking into account counter roll-over, counter size and frequency.
+ */
+uint32_t diff_us(uint32_t start_ticks, uint32_t stop_ticks, const ticker_info_t * info)
+{
+    uint32_t counter_mask = ((1 << info->bits) - 1);
+
+    uint32_t diff_ticks = ((stop_ticks - start_ticks) & counter_mask);
+
+    return (uint32_t) ((uint64_t) diff_ticks * US_PER_S / info->frequency);
+}
+
 /* Test that ticker_init can be called multiple times and
  * ticker_init allows the ticker to keep counting and disables the ticker interrupt.
  */
@@ -419,64 +435,134 @@ void ticker_increment_test(void)
 /* Test that common ticker functions complete with the required amount of time. */
 void ticker_speed_test(void)
 {
-    Timer timer;
     int counter = NUM_OF_CALLS;
+    uint32_t start;
+    uint32_t stop;
+
+    const ticker_info_t * us_ticker_info = get_us_ticker_data()->interface->get_info();
+
+    /* Free function will disable the ticker. For time measurement
+     * we need to use other one if available.
+     */
+#if DEVICE_LPTICKER
+    const ticker_info_t * lp_ticker_info = get_lp_ticker_data()->interface->get_info();
+    bool us_ticker_test = (intf == get_us_ticker_data()->interface);
+#endif
 
     /* ---- Test ticker_read function. ---- */
-    timer.reset();
-    timer.start();
+    start = us_ticker_read();
     while (counter--) {
         intf->read();
     }
-    timer.stop();
+    stop = us_ticker_read();
 
-    TEST_ASSERT(timer.read_us() < (NUM_OF_CALLS * (MAX_FUNC_EXEC_TIME_US + DELTA_FUNC_EXEC_TIME_US)));
+    TEST_ASSERT(diff_us(start, stop, us_ticker_info) < (NUM_OF_CALLS * (MAX_FUNC_EXEC_TIME_US + DELTA_FUNC_EXEC_TIME_US)));
 
     /* ---- Test ticker_clear_interrupt function. ---- */
     counter = NUM_OF_CALLS;
-    timer.reset();
-    timer.start();
+    start = us_ticker_read();
     while (counter--) {
         intf->clear_interrupt();
     }
-    timer.stop();
+    stop = us_ticker_read();
 
-    TEST_ASSERT(timer.read_us() < (NUM_OF_CALLS * (MAX_FUNC_EXEC_TIME_US + DELTA_FUNC_EXEC_TIME_US)));
+    TEST_ASSERT(diff_us(start, stop, us_ticker_info) < (NUM_OF_CALLS * (MAX_FUNC_EXEC_TIME_US + DELTA_FUNC_EXEC_TIME_US)));
 
     /* ---- Test ticker_set_interrupt function. ---- */
     counter = NUM_OF_CALLS;
-    timer.reset();
-    timer.start();
+    start = us_ticker_read();
     while (counter--) {
         intf->set_interrupt(0);
     }
-    timer.stop();
+    stop = us_ticker_read();
 
-    TEST_ASSERT(timer.read_us() < (NUM_OF_CALLS * (MAX_FUNC_EXEC_TIME_US + DELTA_FUNC_EXEC_TIME_US)));
+    TEST_ASSERT(diff_us(start, stop, us_ticker_info) < (NUM_OF_CALLS * (MAX_FUNC_EXEC_TIME_US + DELTA_FUNC_EXEC_TIME_US)));
 
     /* ---- Test fire_interrupt function. ---- */
     counter = NUM_OF_CALLS;
-    timer.reset();
-    timer.start();
+    start = us_ticker_read();
     while (counter--) {
         intf->fire_interrupt();
     }
-    timer.stop();
+    stop = us_ticker_read();
 
-    TEST_ASSERT(timer.read_us() < (NUM_OF_CALLS * (MAX_FUNC_EXEC_TIME_US + DELTA_FUNC_EXEC_TIME_US)));
+    TEST_ASSERT(diff_us(start, stop, us_ticker_info) < (NUM_OF_CALLS * (MAX_FUNC_EXEC_TIME_US + DELTA_FUNC_EXEC_TIME_US)));
 
     /* ---- Test disable_interrupt function. ---- */
     counter = NUM_OF_CALLS;
-    timer.reset();
-    timer.start();
+    start = us_ticker_read();
     while (counter--) {
         intf->disable_interrupt();
     }
-    timer.stop();
+    stop = us_ticker_read();
+
+    TEST_ASSERT(diff_us(start, stop, us_ticker_info) < (NUM_OF_CALLS * (MAX_FUNC_EXEC_TIME_US + DELTA_FUNC_EXEC_TIME_US)));
+
+    /* ---- Test free function. ---- */
+#if DEVICE_LPTICKER
+    counter = NUM_OF_CALLS;
+    if (us_ticker_test) {
+        lp_ticker_init();
+    }
+    start = us_ticker_test ? lp_ticker_read() : us_ticker_read();
+    while (counter--) {
+        intf->free();
+    }
+    stop = us_ticker_test ? lp_ticker_read() : us_ticker_read();
+
+    TEST_ASSERT(diff_us(start, stop, us_ticker_info) < (NUM_OF_CALLS * (MAX_FUNC_EXEC_TIME_US + DELTA_FUNC_EXEC_TIME_US)));
+#endif
+}
+
+/* Test that ticker_free disables ticker interrupt. */
+void ticker_free_interrupt_test(void)
+{
+    overflow_protect();
+
+    uint32_t cycles_500_ticks = 50;
+    uint32_t reference_ticks_count = 0;
+
+    while(reference_ticks_count < TICKER_500_TICKS) {
+        cycles_500_ticks *= 2;
+        const uint32_t start = intf->read();
+        wait_cycles(cycles_500_ticks);
+        reference_ticks_count = intf->read() - start;
+    }
+
+    intFlag = 0;
+
+    intf->set_interrupt(intf->read() + (TICKER_500_TICKS / 2));
+    intf->free();
+    wait_cycles(cycles_500_ticks);
+    intf->init();
+    TEST_ASSERT_EQUAL(0, intFlag);
+}
+
+/* Test that ticker can be successfully re-initialized after free(). */
+void ticker_init_free_test(void)
+{
+    intf->free();
+    intf->init();
+
+    overflow_protect();
+
+    intFlag = 0;
+
+    const uint32_t tick_count = intf->read();
+
+    intf->set_interrupt(intf->read() + TICKER_INT_VAL);
+
+    while (intf->read() < (tick_count + TICKER_INT_VAL - TICKER_DELTA)) {
+        TEST_ASSERT_EQUAL_INT_MESSAGE(0, intFlag, "Interrupt fired too early");
+    }
+
+    while (intf->read() < (tick_count + TICKER_INT_VAL + TICKER_DELTA)) {
+    }
 
-    TEST_ASSERT(timer.read_us() < (NUM_OF_CALLS * (MAX_FUNC_EXEC_TIME_US + DELTA_FUNC_EXEC_TIME_US)));
+    TEST_ASSERT_EQUAL(1, intFlag);
 }
 
+
 utest::v1::status_t us_ticker_setup(const Case *const source, const size_t index_of_case)
 {
     intf = get_us_ticker_data()->interface;
@@ -551,6 +637,8 @@ Case cases[] = {
     Case("Microsecond ticker overflow test", us_ticker_setup, ticker_overflow_test, us_ticker_teardown),
     Case("Microsecond ticker increment test", us_ticker_setup, ticker_increment_test, us_ticker_teardown),
     Case("Microsecond ticker speed test", us_ticker_setup, ticker_speed_test, us_ticker_teardown),
+    Case("Microsecond ticker free interrupt test", us_ticker_setup, ticker_free_interrupt_test, us_ticker_teardown),
+    Case("Microsecond re-init after free test", us_ticker_setup, ticker_init_free_test, us_ticker_teardown),
 #if DEVICE_LPTICKER
     Case("lp ticker init is safe to call repeatedly", lp_ticker_setup, ticker_init_test, lp_ticker_teardown),
     Case("lp ticker info test", lp_ticker_setup, ticker_info_test, lp_ticker_teardown),
@@ -561,6 +649,8 @@ Case cases[] = {
     Case("lp ticker overflow test", lp_ticker_setup, ticker_overflow_test, lp_ticker_teardown),
     Case("lp ticker increment test", lp_ticker_setup, ticker_increment_test, lp_ticker_teardown),
     Case("lp ticker speed test", lp_ticker_setup, ticker_speed_test, lp_ticker_teardown),
+    Case("lp ticker free interrupt test", lp_ticker_setup, ticker_free_interrupt_test, lp_ticker_teardown),
+    Case("lp ticker re-init after free test", lp_ticker_setup, ticker_init_free_test, lp_ticker_teardown),
 #endif
 };
 

TESTS/mbed_hal/common_tickers/ticker_api_tests.h

@@ -118,6 +118,21 @@ void ticker_speed_test(void);
  */
 void ticker_overflow_test(void);
 
+/** Test ticker_free disables ticker interrupt.
+ *
+ * Given ticker is available.
+ * When ticker interrupt is set and then ticker_free is called.
+ * Then ticker interrupt is not triggered.
+ */
+void ticker_free_interrupt_test(void);
+
+/** Test that ticker can be successfully re-initialized after free().
+ *
+ * Given ticker is available.
+ * When ticker has been  re-initialized after free().
+ * Then ticker counts and generates interrupts.
+ */
+void ticker_init_free_test(void);
 /**@}*/
 
 #ifdef __cplusplus

TESTS/mbedmicro-rtos-mbed/systimer/main.cpp

@@ -99,6 +99,10 @@ void mock_ticker_fire_interrupt()
 {
 }
 
+void mock_ticker_free()
+{
+}
+
 const ticker_info_t *mock_ticker_get_info()
 {
     static const ticker_info_t mock_ticker_info = {
@@ -115,6 +119,7 @@ ticker_interface_t mock_ticker_interface = {
     .clear_interrupt = mock_ticker_clear_interrupt,
     .set_interrupt = mock_ticker_set_interrupt,
     .fire_interrupt = mock_ticker_fire_interrupt,
+    .free = mock_ticker_free,
     .get_info = mock_ticker_get_info,
 };
 

hal/mbed_lp_ticker_api.c

@@ -35,6 +35,7 @@ static const ticker_interface_t lp_interface = {
 #endif
     .fire_interrupt = lp_ticker_fire_interrupt,
     .get_info = lp_ticker_get_info,
+    .free = lp_ticker_free,
 };
 
 static const ticker_data_t lp_data = {

hal/mbed_us_ticker_api.c

@@ -27,6 +27,7 @@ static const ticker_interface_t us_interface = {
     .set_interrupt = us_ticker_set_interrupt,
     .fire_interrupt = us_ticker_fire_interrupt,
     .get_info = us_ticker_get_info,
+    .free = us_ticker_free,
 };
 
 static const ticker_data_t us_data = {

hal/ticker_api.h

@@ -64,6 +64,7 @@ typedef struct {
     void (*clear_interrupt)(void);                /**< Clear interrupt function */
     void (*set_interrupt)(timestamp_t timestamp); /**< Set interrupt function */
     void (*fire_interrupt)(void);                 /**< Fire interrupt right-away */
+    void (*free)(void);                           /**< Disable function */
     const ticker_info_t *(*get_info)(void);       /**< Return info about this ticker's implementation */
 } ticker_interface_t;
 

hal/us_ticker_api.h

@@ -73,6 +73,8 @@ extern "C" {
  * Verified by ::ticker_fire_now_test
  * * The ticker operations ticker_read, ticker_clear_interrupt, ticker_set_interrupt and ticker_fire_interrupt
  * take less than 20us to complete - Verified by ::ticker_speed_test
+ * * The function ticker_free disables the ticker interrupt - ::ticker_free_interrupt_test
+ * * The function ticker_init re-initializes ticker after has been disabled by means of ticker_free - Verified by ::ticker_init_free_test
  *
  * # Undefined behavior
  * * Calling any function other than ticker_init before the initialization of the ticker
@@ -170,6 +172,25 @@ void us_ticker_init(void);
  * except us_ticker_init(), calling any function other than init is undefined.
  *
  * @note This function stops the ticker from counting.
+ *
+ * Pseudo Code:
+ * @code
+ * uint32_t us_ticker_free()
+ * {
+ *     // Disable timer
+ *     TIMER_CTRL &= ~TIMER_CTRL_ENABLE_Msk;
+ *
+ *     // Disable the compare interrupt
+ *     TIMER_CTRL &= ~TIMER_CTRL_COMPARE_ENABLE_Msk;
+ *
+ *     // Disable timer interrupt
+ *     NVIC_DisableIRQ(TIMER_IRQn);
+ *
+ *     // Disable clock gate so processor cannot read TIMER registers
+ *     POWER_CTRL &= ~POWER_CTRL_TIMER_Msk;
+ * }
+ * @endcode
+ *
  */
 void us_ticker_free(void);
 

targets/TARGET_ARM_SSG/TARGET_BEETLE/lp_ticker.c

@@ -152,4 +152,9 @@ void lp_ticker_clear_interrupt(void)
     DualTimer_ClearInterrupt(DUALTIMER0);
 }
 
+void lp_ticker_free(void)
+{
+
+}
+
 #endif

targets/TARGET_ARM_SSG/TARGET_BEETLE/us_ticker.c

@@ -111,3 +111,8 @@ void us_ticker_disable_interrupt(void) {
 void us_ticker_clear_interrupt(void) {
     Timer_ClearInterrupt(TIMER0);
 }
+
+void us_ticker_free(void)
+{
+
+}

targets/TARGET_ARM_SSG/TARGET_CM3DS_MPS2/lp_ticker.c

@@ -108,6 +108,11 @@ void lp_ticker_fire_interrupt(void)
     cmsdk_ticker_fire_interrupt(&timer_data);
 }
 
+void lp_ticker_free(void)
+{
+
+}
+
 void TIMER1_IRQHandler(void)
 {
     cmsdk_ticker_irq_handler(&timer_data);

targets/TARGET_ARM_SSG/TARGET_CM3DS_MPS2/us_ticker.c

@@ -112,6 +112,11 @@ void us_ticker_fire_interrupt(void)
     cmsdk_ticker_fire_interrupt(&timer_data);
 }
 
+void us_ticker_free(void)
+{
+
+}
+
 void TIMER0_IRQHandler(void)
 {
     cmsdk_ticker_irq_handler(&timer_data);

targets/TARGET_ARM_SSG/TARGET_IOTSS/us_ticker.c

@@ -87,3 +87,8 @@ void us_ticker_clear_interrupt(void) {
     US_TICKER_TIMER2->TimerIntClr = 0x1;
 
 }
+
+void us_ticker_free(void)
+{
+
+}

targets/TARGET_ARM_SSG/TARGET_MPS2/us_ticker.c

@@ -81,3 +81,8 @@ void us_ticker_clear_interrupt(void) {
     US_TICKER_TIMER2->TimerIntClr = 0x1;
 
 }
+
+void us_ticker_free(void)
+{
+
+}