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.

rtos/TARGET_CORTEX/SysTimer.cpp

@@ -0,0 +1,112 @@
+/* mbed Microcontroller Library
+ * Copyright (c) 2006-2012 ARM Limited
+ *
+ * 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 "rtos/TARGET_CORTEX/SysTimer.h"
+
+#if DEVICE_LOWPOWERTIMER
+
+#include "hal/lp_ticker_api.h"
+#include "rtx_core_cm.h"
+extern "C" {
+#include "rtx_lib.h"
+}
+
+#if (defined(NO_SYSTICK))
+/**
+ * Return an IRQ number that can be used in the absence of SysTick
+ *
+ * @return Free IRQ number that can be used
+ */
+extern "C" IRQn_Type mbed_get_m0_tick_irqn(void);
+#endif
+
+namespace rtos {
+namespace internal {
+
+SysTimer::SysTimer() :
+        TimerEvent(get_lp_ticker_data()), _start_time(0), _tick(0)
+{
+    _start_time = ticker_read_us(_ticker_data);
+#if (defined(NO_SYSTICK))
+    NVIC_SetVector(mbed_get_m0_tick_irqn(), (uint32_t)SysTick_Handler);
+    NVIC_SetPriority(mbed_get_m0_tick_irqn(), 0xFF); /* RTOS requires lowest priority */
+    NVIC_EnableIRQ(mbed_get_m0_tick_irqn());
+#else
+    // Ensure SysTick has the correct priority as it is still used
+    // to trigger software interrupts on each tick. The period does
+    // not matter since it will never start counting.
+    OS_Tick_Setup(osRtxConfig.tick_freq, OS_TICK_HANDLER);
+#endif
+}
+
+void SysTimer::schedule_tick(uint32_t delta)
+{
+    insert_absolute(_start_time + (_tick + delta) * 1000000ULL / OS_TICK_FREQ);
+}
+
+void SysTimer::cancel_tick()
+{
+    remove();
+}
+
+uint32_t SysTimer::get_tick()
+{
+    return _tick & 0xFFFFFFFF;
+}
+
+uint32_t SysTimer::update_tick()
+{
+    uint64_t new_tick = ticker_read_us(_ticker_data) * OS_TICK_FREQ / 1000000;
+    if (new_tick > _tick) {
+        // Don't update to the current tick. Instead, update to the
+        // previous tick and let the SysTick handler increment it
+        // to the current value. This allows scheduling restart
+        // successfully after the OS is resumed.
+        new_tick--;
+    }
+    uint32_t elapsed_ticks = new_tick - _tick;
+    _tick = new_tick;
+    return elapsed_ticks;
+}
+
+us_timestamp_t SysTimer::get_time()
+{
+    return ticker_read_us(_ticker_data);
+}
+
+SysTimer::~SysTimer()
+{
+}
+
+void SysTimer::handler()
+{
+#if (defined(NO_SYSTICK))
+    NVIC_SetPendingIRQ(mbed_get_m0_tick_irqn());
+#else
+    SCB->ICSR = SCB_ICSR_PENDSTSET_Msk;
+#endif
+    _tick++;
+}
+
+}
+}
+
+#endif

rtos/TARGET_CORTEX/SysTimer.h

@@ -0,0 +1,110 @@
+/* mbed Microcontroller Library
+ * Copyright (c) 2006-2012 ARM Limited
+ *
+ * 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.
+ */
+#ifndef MBED_SYS_TIMER_H
+#define MBED_SYS_TIMER_H
+
+#if defined(DEVICE_LOWPOWERTIMER) || defined(DOXYGEN_ONLY)
+
+#include "platform/NonCopyable.h"
+#include "drivers/TimerEvent.h"
+
+namespace rtos {
+namespace internal {
+
+/**
+ * @cond RTOS_INTERNAL
+ *
+ * @addtogroup rtos
+ * @{
+ *
+ * @defgroup rtos_SysTimer SysTimer class
+ * @{
+ */
+
+/**
+ * The SysTimer class is used exclusively by RTX idle loop in TICKLESS mode.
+ *
+ * @note SysTimer is not the part of Mbed RTOS API.
+ */
+class SysTimer: private mbed::TimerEvent, private mbed::NonCopyable<SysTimer> {
+public:
+
+    SysTimer();
+    virtual ~SysTimer();
+
+    /**
+     * Schedule an os tick to fire
+     *
+     * @param delta Tick to fire at relative to current tick
+     *
+     * @warning If a tick is already scheduled it needs to be cancelled first!
+     */
+    void schedule_tick(uint32_t delta = 1);
+
+    /**
+     * Prevent any scheduled ticks from triggering
+     */
+    void cancel_tick();
+
+    /** Get the current tick count
+     *
+     * @return The number of ticks since timer creation. For the os_timer this
+     * should match RTX's tick count (the number of ticks since boot).
+     */
+    uint32_t get_tick();
+
+    /**
+     * Update the internal tick count
+     *
+     * @return The number of ticks incremented
+     *
+     * @note Due to a scheduling issue, the number of ticks returned is decremented
+     * by 1 so that a handler can be called and update to the current value.
+     * This allows scheduling restart successfully after the OS is resumed.
+     */
+    uint32_t update_tick();
+
+    /**
+     * Get the time
+     *
+     * @return Current time in microseconds
+     */
+    us_timestamp_t get_time();
+
+protected:
+    virtual void handler();
+    us_timestamp_t _start_time;
+    uint64_t _tick;
+};
+
+/**
+ * @}
+ * @}
+ * @endcond
+ */
+
+}
+}
+
+#endif
+
+#endif

rtos/TARGET_CORTEX/mbed_rtx_idle.cpp

@@ -36,113 +36,17 @@ using namespace mbed;
 
 #ifdef MBED_TICKLESS
 
-#if (defined(NO_SYSTICK))
+#include "rtos/TARGET_CORTEX/SysTimer.h"
-/**
- * Return an IRQ number that can be used in the absence of SysTick
- *
- * @return Free IRQ number that can be used
- */
-extern "C" IRQn_Type mbed_get_m0_tick_irqn(void);
-#endif
 
-class RtosTimer : private TimerEvent {
+static rtos::internal::SysTimer *os_timer;
-public:
+static uint64_t os_timer_data[sizeof(rtos::internal::SysTimer) / 8];
-    RtosTimer(): TimerEvent(get_lp_ticker_data()), _start_time(0), _tick(0) {
-        _start_time = ticker_read_us(_ticker_data);
-#if (defined(NO_SYSTICK))
-        NVIC_SetVector(mbed_get_m0_tick_irqn(), (uint32_t)SysTick_Handler);
-        NVIC_SetPriority(mbed_get_m0_tick_irqn(), 0xFF); /* RTOS requires lowest priority */
-        NVIC_EnableIRQ(mbed_get_m0_tick_irqn());
-#else
-        // Ensure SysTick has the correct priority as it is still used
-        // to trigger software interrupts on each tick. The period does
-        // not matter since it will never start counting.
-        OS_Tick_Setup(osRtxConfig.tick_freq, OS_TICK_HANDLER);
-#endif
-    };
-
-    /**
-     * Schedule an os tick to fire
-     *
-     * @param delta Tick to fire at relative to current tick
-     */
-    void schedule_tick(uint32_t delta=1) {
-        insert_absolute(_start_time + (_tick + delta) * 1000000 /  OS_TICK_FREQ);
-    }
-
-
-    /**
-     * Prevent any scheduled ticks from triggering
-     */
-    void cancel_tick() {
-        remove();
-    }
-
-    /**
-     * Get the current tick count
-     *
-     * @return The number of ticks since boot. This should match RTX's tick count
-     */
-    uint32_t get_tick() {
-        return _tick & 0xFFFFFFFF;
-    }
-
-    /**
-     * Update the internal tick count
-     *
-     * @return The number of ticks incremented
-     */
-    uint32_t update_tick() {
-        uint64_t new_tick = ticker_read_us(_ticker_data) * OS_TICK_FREQ / 1000000;
-        if (new_tick > _tick) {
-            // Don't update to the current tick. Instead, update to the
-            // previous tick and let the SysTick handler increment it
-            // to the current value. This allows scheduling restart
-            // successfully after the OS is resumed.
-            new_tick--;
-        }
-        uint32_t elapsed_ticks = new_tick - _tick;
-        _tick = new_tick;
-        return elapsed_ticks;
-    }
-
-    /**
-     * Get the time
-     *
-     * @return Current time in microseconds
-     */
-    us_timestamp_t get_time() {
-        return ticker_read_us(_ticker_data);
-    }
-
-    ~RtosTimer() {
-
-    };
-
-protected:
-
-    void handler() {
-#if (defined(NO_SYSTICK))
-        NVIC_SetPendingIRQ(mbed_get_m0_tick_irqn());
-#else
-        SCB->ICSR = SCB_ICSR_PENDSTSET_Msk;
-#endif
-        _tick++;
-    }
-
-    us_timestamp_t _start_time;
-    uint64_t _tick;
-};
-
-static RtosTimer *os_timer;
-static uint64_t os_timer_data[sizeof(RtosTimer) / 8];
 
 /// Enable System Timer.
 int32_t OS_Tick_Enable (void)
 {
     // Do not use SingletonPtr since this relies on the RTOS
     if (NULL == os_timer) {
-        os_timer = new (os_timer_data) RtosTimer();
+        os_timer = new (os_timer_data) rtos::internal::SysTimer();
     }
 
     // set to fire interrupt on next tick