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Add documentation for the HAL Ticker API 

Add documentation and test header for the HAL Ticker API.
pull/7009/head
Russ Butler 2017-09-19 16:25:50 -05:00 committed by Bartek Szatkowski
parent 9f3f49aea9
commit 03d7141797
5 changed files with 489 additions and 10 deletions
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51
TESTS/mbed_hal/lp_ticker_api_tests.h Normal file
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@ -0,0 +1,51 @@
/* mbed Microcontroller Library
* Copyright (c) 2017-2017 ARM Limited
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
/** \addtogroup hal_lp_ticker_tests
* @{
*/
#ifndef LP_TICKER_API_TESTS_H
#define LP_TICKER_API_TESTS_H
#include "device.h"
#ifdef __cplusplus
extern "C" {
#endif
/** Test that the ticker has the right frequency and number of bits
*
*/
void lp_ticker_info_test(void);
/** Test that the ticker operates in deep sleep mode
*
*/
void lp_ticker_deepsleep_test(void);
/**@}*/
#ifdef __cplusplus
}
#endif
#endif
/**@}*/

103
TESTS/mbed_hal/ticker_api_tests.h Normal file
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@ -0,0 +1,103 @@
/* mbed Microcontroller Library
* Copyright (c) 2017-2017 ARM Limited
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
/** \addtogroup hal_ticker_tests */
/** @{*/
#ifndef TICKER_API_TESTS_H
#define TICKER_API_TESTS_H
#include "device.h"
#ifdef __cplusplus
extern "C" {
#endif
/** Test that ticker_init can be called multiple times
*
*/
void ticker_init_test(void);
/** Test that ticker has a valid frequency and bitwidth
*
*/
void ticker_info_test(void);
/** Test that the ticker increments by one on each tick
*
*/
void ticker_increment_test(void);
/** Test that the interrupt fires at the right time
*
*/
void ticker_interrupt_test(void);
/** Test that an interrupt is not triggered when ticker_set_interrupt is called with a time from the past
*
*/
void ticker_past_test(void);
/** Test that a ticker can be rescheduled repeatedly before the handler has been called
*
*/
void ticker_repeat_reschedule_test(void);
/** Test that ticker_fire_interrupt causes and interrupt to get fired immediately
*
*/
void ticker_fire_now_test(void);
/** Test that common ticker functions complete with the required amount of time
*
* Ensure that ticker_read, ticker_clear_interrupt, ticker_set_interrupt
* and ticker_fire_interrupt take less than 20us to complete.
*
*/
void ticker_speed_test(void);
/** Test that the ticker correctly handles overflows
*
* This test verifies that rollover is properly handled and
* that scheduling for a time after overflow works.
*
*/
void ticker_overflow_test(void);
/** Test that rescheduling does not cause drift
*
* This test verifies that repeated rescheduling does not cause a
* drift.
*
*/
void ticker_reschedule_test(void);
/** Test that the ticker is operating at the frequency it specifies
*
*/
void ticker_frequency_test(void);
/**@}*/
#ifdef __cplusplus
}
#endif
#endif
/**@}*/

45
TESTS/mbed_hal/us_ticker_api_tests.h Normal file
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@ -0,0 +1,45 @@
/* mbed Microcontroller Library
* Copyright (c) 2017-2017 ARM Limited
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
/** \addtogroup hal_us_ticker_tests */
/** @{*/
#ifndef US_TICKER_API_TESTS_H
#define US_TICKER_API_TESTS_H
#include "device.h"
#ifdef __cplusplus
extern "C" {
#endif
/** Test that the ticker has the right frequency and number of bits
*
*/
void us_ticker_info_test(void);
/**@}*/
#ifdef __cplusplus
}
#endif
#endif
/**@}*/

129
hal/lp_ticker_api.h
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@ -30,10 +30,33 @@ extern "C" {
#endif
/**
* \defgroup hal_LpTicker Low Power Ticker Functions
* \defgroup hal_lp_ticker Low Power Ticker
* Low level interface to the low power ticker of a target
*
* # Defined behavior
* * Has a reported frequency between 8KHz and 64KHz - verified by lp_ticker_info_test
* * Has a counter that is at least 12 bits wide - verified by lp_ticker_info_test
* * Continues operating in deep sleep mode - verified by lp_ticker_sleep_test
* * All behavior defined by the @ref hal_ticker_shared "ticker specification"
*
* # Undefined behavior
* * See the @ref hal_ticker_shared "ticker specification"
*
* @see hal_lp_ticker_tests
*
* @{
*/
/**
* \defgroup hal_lp_ticker_tests Low Power Ticker tests
* Tests to validate the proper implementation of the low power ticker
*
* To run the low power ticker hal tests use the command:
*
* mbed test -t <toolchain> -m <target> -n tests-mbed_hal-us_lp_ticker*,tests-mbed_hal-lp_ticker*
*
*/
typedef void (*ticker_irq_handler_type)(const ticker_data_t *const);
/** Set low power ticker IRQ handler
@ -63,39 +86,135 @@ void lp_ticker_irq_handler(void);
/** Initialize the low power ticker
*
* Initialize or re-initialize the ticker. This resets all the
* clocking and prescaler registers, along with disabling
* the compare interrupt.
*
* Pseudo Code:
* @code
* void lp_ticker_init()
* {
* // Enable clock gate so processor can read LPTMR registers
* POWER_CTRL |= POWER_CTRL_LPTMR_Msk;
*
* // Disable the timer and ensure it is powered down
* LPTMR_CTRL &= ~(LPTMR_CTRL_ENABLE_Msk | LPTMR_CTRL_COMPARE_ENABLE_Msk);
*
* // Configure divisors - no division necessary
* LPTMR_PRESCALE = 0;
* LPTMR_CTRL |= LPTMR_CTRL_ENABLE_Msk;
*
* // Install the interrupt handler
* NVIC_SetVector(LPTMR_IRQn, (uint32_t)lp_ticker_irq_handler);
* NVIC_EnableIRQ(LPTMR_IRQn);
* }
* @endcode
*/
void lp_ticker_init(void);
/** Read the current counter
/** Read the current tick
*
* @return The current timer's counter value in microseconds
* If no rollover has occurred, the seconds passed since ::lp_ticker_init
* was called can be found by dividing the ticks returned by this function
* by the frequency returned by ::lp_ticker_get_info.
*
* @return The current timer's counter value in ticks
*
* Pseudo Code:
* @code
* uint32_t lp_ticker_read()
* {
* uint16_t count;
* uint16_t last_count;
*
* // Loop until the same tick is read twice since this
* // is ripple counter on a different clock domain.
* count = LPTMR_COUNT;
* do {
* last_count = count;
* count = LPTMR_COUNT;
* } while (last_count != count);
*
* return count;
* }
* @endcode
*/
uint32_t lp_ticker_read(void);
/** Set interrupt for specified timestamp
*
* @param timestamp The time in microseconds to be set
* @param timestamp The time in ticks to be set
*
* @note no special handling needs to be done for times in the past
* as the common timer code will detect this and call
* ::lp_ticker_fire_interrupt if this is the case
*
* @note calling this function with timestamp of more than the supported
* number of bits returned by ::lp_ticker_get_info results in undefined
* behavior.
*
* Pseudo Code:
* @code
* void lp_ticker_set_interrupt(timestamp_t timestamp)
* {
* LPTMR_COMPARE = timestamp;
* LPTMR_CTRL |= LPTMR_CTRL_COMPARE_ENABLE_Msk;
* }
* @endcode
*/
void lp_ticker_set_interrupt(timestamp_t timestamp);
/** Disable low power ticker interrupt
*
* Pseudo Code:
* @code
* void lp_ticker_disable_interrupt(void)
* {
* // Disable the compare interrupt
* LPTMR_CTRL &= ~LPTMR_CTRL_COMPARE_ENABLE_Msk;
* }
* @endcode
*/
void lp_ticker_disable_interrupt(void);
/** Clear the low power ticker interrupt
*
* Pseudo Code:
* @code
* void lp_ticker_clear_interrupt(void)
* {
* // Write to the ICR (interrupt clear register) of the LPTMR
* LPTMR_ICR = LPTMR_ICR_COMPARE_Msk;
* }
* @endcode
*/
void lp_ticker_clear_interrupt(void);
/** Set pending interrupt that should be fired right away.
*
* The ticker should be initialized prior calling this function.
* Pseudo Code:
* @code
* void lp_ticker_fire_interrupt(void)
* {
* NVIC_SetPendingIRQ(LPTMR_IRQn);
* }
* @endcode
*/
void lp_ticker_fire_interrupt(void);
/** Get frequency and counter bits of this ticker.
*
* Pseudo Code:
* @code
* const ticker_info_t* lp_ticker_get_info()
* {
* static const ticker_info_t info = {
* 32768, // 32KHz
* 16 // 16 bit counter
* };
* return &info;
* }
* @endcode
*/
const ticker_info_t* lp_ticker_get_info(void);

171
hal/us_ticker_api.h
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@ -27,10 +27,80 @@ extern "C" {
#endif
/**
* \defgroup hal_UsTicker Microseconds Ticker Functions
* \defgroup hal_us_ticker Microsecond Ticker
* Low level interface to the microsecond ticker of a target
*
* # Defined behavior
* * Has a reported frequency between 250KHz and 8MHz
* * Has a counter that is at least 16 bits wide
* * All behavior defined by the @ref hal_ticker_shared "ticker specification"
*
* # Undefined behavior
* * See the @ref hal_ticker_shared "ticker specification"
*
* @see hal_us_ticker_tests
*
* @{
*/
/**
* \defgroup hal_us_ticker_tests Microsecond Ticker tests
* Tests to validate the proper implementation of the microsecond ticker
*
* To run the microsecond ticker hal tests use the command:
*
* mbed test -t <toolchain> -m <target> -n tests-mbed_hal-us_lp_ticker*,tests-mbed_hal-us_ticker*
*
* @see hal_ticker_tests
*
*/
/**
* \defgroup hal_ticker_shared Ticker Hal
* Low level interface to the ticker of a target
*
* # Defined behavior
* * The function ticker_init is safe to call repeatedly - Verified by test ::ticker_init_test
* * The function ticker_init resets the internal count and disables the ticker interrupt - Verified by test ::ticker_init_test
* * Ticker frequency is non-zero and counter is at least 8 bits - Verified by ::ticker_info_test
* * The ticker rolls over at (1 << bits) and continues counting starting from 0 - Verified by ::ticker_overflow_test
* * The ticker counts at the specified frequency +- 10% - Verified by ::ticker_frequency_test
* * The ticker increments by 1 each tick - Verified by ::ticker_increment_test
* * The ticker interrupt fires only when the ticker times increments to or past the value set by ticker_set_interrupt.
* Verified by ::ticker_interrupt_test and ::ticker_past_test
* * It is safe to call ticker_set_interrupt repeatedly before the handler is called - Verified by ::ticker_repeat_reschedule_test
* * The function ticker_fire_interrupt causes ticker_irq_handler to be called immediately from interrupt context -
* 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
*
* # Undefined behavior
* * Calling any function other than ticker_init before the initialization of the ticker
* * Whether ticker_irq_handler is called a second time if the time wraps and matches the value set by ticker_set_interrupt again
* * Calling ticker_set_interrupt with a value that has more than the supported number of bits
*
* # Potential bugs
* * Drift due to reschedule - Verified by ::ticker_reschedule_test
* * Incorrect overflow handling of timers - Verified by ::ticker_overflow_test
* * Interrupting at a time of 0 - Verified by ::ticker_overflow_test
*
* @ingroup hal_us_ticker
* @ingroup hal_lp_ticker
*/
/**
* \defgroup hal_ticker_tests Ticker Tests
* Tests to validate the proper implementation of a ticker
*
* To run the ticker hal tests use the command:
*
* mbed test -t <toolchain> -m <target> -n tests-mbed_hal-us_lp_ticker*
*
* @ingroup hal_us_ticker
* @ingroup hal_lp_ticker
*/
typedef void (*ticker_irq_handler_type)(const ticker_data_t *const);
/** Set ticker IRQ handler
@ -47,7 +117,7 @@ ticker_irq_handler_type set_us_ticker_irq_handler(ticker_irq_handler_type ticker
/** Get ticker's data
*
* @return The low power ticker data
* @return The microsecond ticker data
*/
const ticker_data_t* get_us_ticker_data(void);
@ -61,39 +131,130 @@ void us_ticker_irq_handler(void);
/** Initialize the ticker
*
* Initialize or re-initialize the ticker. This resets all the
* clocking and prescaler registers, along with disabling
* the compare interrupt.
*
* @note Initialization properties tested by ::ticker_init_test
*
* Pseudo Code:
* @code
* void us_ticker_init()
* {
* // Enable clock gate so processor can read TIMER registers
* POWER_CTRL |= POWER_CTRL_TIMER_Msk;
*
* // Disable the timer and ensure it is powered down
* TIMER_CTRL &= ~(TIMER_CTRL_ENABLE_Msk | TIMER_CTRL_COMPARE_ENABLE_Msk);
*
* // Configure divisors
* uint32_t prescale = SystemCoreClock / 1000000;
* TIMER_PRESCALE = prescale - 1;
* TIMER_CTRL |= TIMER_CTRL_ENABLE_Msk;
*
* // Install the interrupt handler
* NVIC_SetVector(TIMER_IRQn, (uint32_t)us_ticker_irq_handler);
* NVIC_EnableIRQ(TIMER_IRQn);
* }
* @endcode
*/
void us_ticker_init(void);
/** Read the current counter
/** Read the current tick
*
* @return The current timer's counter value in microseconds
* Read the current counter value without performing frequency conversions.
* If no rollover has occurred, the seconds passed since ::us_ticker_init
* was called can be found by dividing the ticks returned by this function
* by the frequency returned by ::us_ticker_get_info.
*
* @return The current timer's counter value in ticks
*
* Pseudo Code:
* @code
* uint32_t us_ticker_read()
* {
* return TIMER_COUNT;
* }
* @endcode
*/
uint32_t us_ticker_read(void);
/** Set interrupt for specified timestamp
*
* @param timestamp The time in microseconds to be set
* @param timestamp The time in ticks to be set
*
* @note no special handling needs to be done for times in the past
* as the common timer code will detect this and call
* ::us_ticker_fire_interrupt if this is the case
*
* @note calling this function with timestamp of more than the supported
* number of bits returned by ::us_ticker_get_info results in undefined
* behavior.
*
* Pseudo Code:
* @code
* void us_ticker_set_interrupt(timestamp_t timestamp)
* {
* TIMER_COMPARE = timestamp;
* TIMER_CTRL |= TIMER_CTRL_COMPARE_ENABLE_Msk;
* }
* @endcode
*/
void us_ticker_set_interrupt(timestamp_t timestamp);
/** Disable us ticker interrupt
*
* Pseudo Code:
* @code
* void us_ticker_disable_interrupt(void)
* {
* // Disable the compare interrupt
* TIMER_CTRL &= ~TIMER_CTRL_COMPARE_ENABLE_Msk;
* }
* @endcode
*/
void us_ticker_disable_interrupt(void);
/** Clear us ticker interrupt
*
* Pseudo Code:
* @code
* void us_ticker_clear_interrupt(void)
* {
* // Write to the ICR (interrupt clear register) of the TIMER
* TIMER_ICR = TIMER_ICR_COMPARE_Msk;
* }
* @endcode
*/
void us_ticker_clear_interrupt(void);
/** Set pending interrupt that should be fired right away.
*
* The ticker should be initialized prior calling this function.
*
* Pseudo Code:
* @code
* void us_ticker_fire_interrupt(void)
* {
* NVIC_SetPendingIRQ(TIMER_IRQn);
* }
* @endcode
*/
void us_ticker_fire_interrupt(void);
/** Get frequency and counter bits of this ticker.
*
* Pseudo Code:
* @code
* const ticker_info_t* us_ticker_get_info()
* {
* static const ticker_info_t info = {
* 1000000, // 1 MHz
* 32 // 32 bit counter
* };
* return &info;
* }
* @endcode
*/
const ticker_info_t* us_ticker_get_info(void);