Merge pull request #2476 from bulislaw/lp_ticker

K22F/K64F: Add lp_ticker implementation and HAL lp_ticker tests

TESTS/mbed_drivers/lp_timeout/main.cpp

@@ -0,0 +1,132 @@
+/* mbed Microcontroller Library
+ * Copyright (c) 2016 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.
+ */
+
+#if !DEVICE_LOWPOWERTIMER
+    #error [NOT_SUPPORTED] Low power timer not supported for this target
+#endif
+
+#include "utest/utest.h"
+#include "unity/unity.h"
+#include "greentea-client/test_env.h"
+
+#include "mbed.h"
+#include "us_ticker_api.h"
+
+using namespace utest::v1;
+
+volatile static bool complete;
+static LowPowerTimeout lpt;
+
+/* Timeouts are quite arbitrary due to large number of boards with varying level of accuracy */
+#define LONG_TIMEOUT (100000)
+#define SHORT_TIMEOUT (600)
+
+void cb_done() {
+    complete = true;
+}
+
+#if DEVICE_SLEEP
+void lp_timeout_1s_deepsleep(void)
+{
+    complete = false;
+
+    timestamp_t start = us_ticker_read();
+    lpt.attach(&cb_done, 1);
+    deepsleep();
+    while (!complete);
+    timestamp_t end = us_ticker_read();
+
+    /* It takes longer to wake up from deep sleep */
+    TEST_ASSERT_UINT32_WITHIN(LONG_TIMEOUT, 1000000, end - start);
+    TEST_ASSERT_TRUE(complete);
+}
+
+void lp_timeout_1s_sleep(void)
+{
+    complete = false;
+
+    timestamp_t start = us_ticker_read();
+    lpt.attach(&cb_done, 1);
+    sleep();
+    while (!complete);
+    timestamp_t end = us_ticker_read();
+
+    TEST_ASSERT_UINT32_WITHIN(LONG_TIMEOUT, 1000000, end - start);
+    TEST_ASSERT_TRUE(complete);
+}
+#endif /* DEVICE_SLEEP */
+
+void lp_timeout_us(uint32_t delay_us, uint32_t tolerance)
+{
+    complete = false;
+
+    timestamp_t start = us_ticker_read();
+    lpt.attach_us(&cb_done, delay_us);
+    while (!complete);
+    timestamp_t end = us_ticker_read();
+
+    /* Using RTC which is less accurate */
+    TEST_ASSERT_UINT32_WITHIN(tolerance, delay_us, end - start);
+    TEST_ASSERT_TRUE(complete);
+}
+
+void lp_timeout_5s(void)
+{
+    lp_timeout_us(5000000, LONG_TIMEOUT);
+}
+
+void lp_timeout_1s(void)
+{
+    lp_timeout_us(1000000, LONG_TIMEOUT);
+}
+
+void lp_timeout_1ms(void)
+{
+    lp_timeout_us(1000, SHORT_TIMEOUT);
+}
+
+void lp_timeout_500us(void)
+{
+    lp_timeout_us(500, SHORT_TIMEOUT);
+
+}
+
+status_t greentea_failure_handler(const Case *const source, const failure_t reason) {
+    greentea_case_failure_abort_handler(source, reason);
+    return STATUS_CONTINUE;
+}
+
+Case cases[] = {
+    Case("500us LowPowerTimeout", lp_timeout_500us, greentea_failure_handler),
+    Case("1ms LowPowerTimeout", lp_timeout_1ms, greentea_failure_handler),
+    Case("1sec LowPowerTimeout", lp_timeout_1s, greentea_failure_handler),
+    Case("5sec LowPowerTimeout", lp_timeout_5s, greentea_failure_handler),
+#if DEVICE_SLEEP
+    Case("1sec LowPowerTimeout from sleep", lp_timeout_1s_sleep, greentea_failure_handler),
+    Case("1sec LowPowerTimeout from deepsleep", lp_timeout_1s_deepsleep, greentea_failure_handler),
+#endif /* DEVICE_SLEEP */
+};
+
+status_t greentea_test_setup(const size_t number_of_cases) {
+    GREENTEA_SETUP(20, "default_auto");
+    return greentea_test_setup_handler(number_of_cases);
+}
+
+Specification specification(greentea_test_setup, cases, greentea_test_teardown_handler);
+
+int main() {
+    Harness::run(specification);
+}

TESTS/mbed_hal/lp_ticker/main.cpp

@@ -0,0 +1,148 @@
+/* mbed Microcontroller Library
+ * Copyright (c) 2016 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.
+ */
+
+#if !DEVICE_LOWPOWERTIMER
+    #error [NOT_SUPPORTED] Low power timer not supported for this target
+#endif
+
+#include "utest/utest.h"
+#include "unity/unity.h"
+#include "greentea-client/test_env.h"
+
+#include "mbed.h"
+#include "us_ticker_api.h"
+#include "lp_ticker_api.h"
+
+using namespace utest::v1;
+
+volatile static bool complete;
+static ticker_event_t delay_event;
+static const ticker_data_t *lp_ticker_data = get_lp_ticker_data();
+
+
+/* Timeouts are quite arbitrary due to large number of boards with varying level of accuracy */
+#define LONG_TIMEOUT (100000)
+#define SHORT_TIMEOUT (600)
+
+void cb_done(uint32_t id) {
+    complete = true;
+}
+
+void lp_ticker_delay_us(uint32_t delay_us, uint32_t tolerance)
+{
+    complete = false;
+    uint32_t delay_ts;
+
+    ticker_set_handler(lp_ticker_data, cb_done);
+    ticker_remove_event(lp_ticker_data, &delay_event);
+    delay_ts = lp_ticker_read() + delay_us;
+
+    timestamp_t start = us_ticker_read();
+    ticker_insert_event(lp_ticker_data, &delay_event, delay_ts, (uint32_t)&delay_event);
+    while (!complete);
+    timestamp_t end = us_ticker_read();
+
+    TEST_ASSERT_UINT32_WITHIN(tolerance, delay_us, end - start);
+    TEST_ASSERT_TRUE(complete);
+}
+
+#if DEVICE_SLEEP
+void lp_ticker_1s_deepsleep()
+{
+    complete = false;
+    uint32_t delay_ts;
+
+    ticker_set_handler(lp_ticker_data, cb_done);
+    ticker_remove_event(lp_ticker_data, &delay_event);
+    delay_ts = lp_ticker_read() + 1000000;
+
+    timestamp_t start = us_ticker_read();
+    ticker_insert_event(lp_ticker_data, &delay_event, delay_ts, (uint32_t)&delay_event);
+    deepsleep();
+    while (!complete);
+    timestamp_t end = us_ticker_read();
+
+    TEST_ASSERT_UINT32_WITHIN(LONG_TIMEOUT, 1000000, end - start);
+    TEST_ASSERT_TRUE(complete);
+}
+
+void lp_ticker_1s_sleep()
+{
+    complete = false;
+    uint32_t delay_ts;
+
+    ticker_set_handler(lp_ticker_data, cb_done);
+    ticker_remove_event(lp_ticker_data, &delay_event);
+    delay_ts = lp_ticker_read() + 1000000;
+
+    timestamp_t start = us_ticker_read();
+    ticker_insert_event(lp_ticker_data, &delay_event, delay_ts, (uint32_t)&delay_event);
+    sleep();
+    while (!complete);
+    timestamp_t end = us_ticker_read();
+
+    TEST_ASSERT_UINT32_WITHIN(LONG_TIMEOUT, 1000000, end - start);
+    TEST_ASSERT_TRUE(complete);
+}
+#endif /* DEVICE_SLEEP */
+
+void lp_ticker_500us(void)
+{
+    lp_ticker_delay_us(500, SHORT_TIMEOUT);
+}
+
+void lp_ticker_1ms(void)
+{
+    lp_ticker_delay_us(1000, SHORT_TIMEOUT);
+}
+
+void lp_ticker_1s(void)
+{
+    lp_ticker_delay_us(1000000, LONG_TIMEOUT);
+}
+
+void lp_ticker_5s(void)
+{
+    lp_ticker_delay_us(5000000, LONG_TIMEOUT);
+}
+
+status_t greentea_failure_handler(const Case *const source, const failure_t reason) {
+    greentea_case_failure_abort_handler(source, reason);
+    return STATUS_CONTINUE;
+}
+
+Case cases[] = {
+    Case("500us lp_ticker", lp_ticker_500us, greentea_failure_handler),
+    Case("1ms lp_ticker", lp_ticker_1ms, greentea_failure_handler),
+    Case("1s lp_ticker", lp_ticker_1s, greentea_failure_handler),
+    Case("5s lp_ticker", lp_ticker_5s, greentea_failure_handler),
+#if DEVICE_SLEEP
+    Case("1s lp_ticker sleep", lp_ticker_1s_sleep, greentea_failure_handler),
+    Case("1s lp_ticker deepsleep", lp_ticker_1s_deepsleep, greentea_failure_handler),
+#endif /* DEVICE_SLEEP */
+};
+
+status_t greentea_test_setup(const size_t number_of_cases) {
+    GREENTEA_SETUP(20, "default_auto");
+    lp_ticker_data->interface->init();
+    return greentea_test_setup_handler(number_of_cases);
+}
+
+Specification specification(greentea_test_setup, cases, greentea_test_teardown_handler);
+
+int main() {
+    Harness::run(specification);
+}

hal/api/Ticker.h

@@ -63,6 +63,7 @@ public:
     }
 
     Ticker(const ticker_data_t *data) : TimerEvent(data) {
+        data->interface->init();
     }
 
     /** Attach a function to be called by the Ticker, specifiying the interval in seconds

hal/targets.json

@@ -524,7 +524,7 @@
         "inherits": ["Target"],
         "progen": {"target": "frdm-k22f"},
         "detect_code": ["0231"],
-        "device_has": ["ANALOGIN", "ANALOGOUT", "ERROR_RED", "I2C", "I2CSLAVE", "INTERRUPTIN", "PORTIN", "PORTINOUT", "PORTOUT", "PWMOUT", "RTC", "SERIAL", "SLEEP", "SPI", "SPISLAVE", "STDIO_MESSAGES"],
+        "device_has": ["ANALOGIN", "ANALOGOUT", "ERROR_RED", "I2C", "I2CSLAVE", "INTERRUPTIN", "LOWPOWERTIMER", "PORTIN", "PORTINOUT", "PORTOUT", "PWMOUT", "RTC", "SERIAL", "SLEEP", "SPI", "SPISLAVE", "STDIO_MESSAGES"],
         "release_versions": ["2", "5"]
     },
     "KL27Z": {
@@ -565,7 +565,7 @@
         "inherits": ["Target"],
         "progen": {"target": "frdm-k64f"},
         "detect_code": ["0240"],
-        "device_has": ["ANALOGIN", "ANALOGOUT", "ERROR_RED", "I2C", "I2CSLAVE", "INTERRUPTIN", "PORTIN", "PORTINOUT", "PORTOUT", "PWMOUT", "RTC", "SERIAL", "SERIAL_FC", "SLEEP", "SPI", "SPISLAVE", "STDIO_MESSAGES", "STORAGE"],
+        "device_has": ["ANALOGIN", "ANALOGOUT", "ERROR_RED", "I2C", "I2CSLAVE", "INTERRUPTIN", "LOWPOWERTIMER", "PORTIN", "PORTINOUT", "PORTOUT", "PWMOUT", "RTC", "SERIAL", "SERIAL_FC", "SLEEP", "SPI", "SPISLAVE", "STDIO_MESSAGES", "STORAGE"],
         "features": ["IPV4", "STORAGE"],
         "release_versions": ["2", "5"]
     },
@@ -1647,7 +1647,7 @@
                 "template": ["uvision5_arm_beetle_soc.uvproj.tmpl"]
             }
         },
-        "device_has": ["ANALOGIN", "CLCD", "I2C", "INTERRUPTIN", "LOWPOWERTIMER", "PORTIN", "PORTINOUT", "PORTOUT", "SERIAL", "SPI"],
+        "device_has": ["ANALOGIN", "CLCD", "I2C", "INTERRUPTIN", "LOWPOWERTIMER", "PORTIN", "PORTINOUT", "PORTOUT", "SERIAL", "SLEEP", "SPI"],
         "features": ["BLE"],
         "release_versions": ["2", "5"]
     },

hal/targets/hal/TARGET_ARM_SSG/TARGET_BEETLE/sleep.c

@@ -0,0 +1,29 @@
+/* mbed Microcontroller Library
+ * Copyright (c) 2016 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.
+ */
+#include "sleep_api.h"
+#include "cmsis.h"
+
+ void sleep(void)
+ {
+    SystemPowerSuspend(POWER_MODE_SLEEP);
+    SystemPowerResume(POWER_MODE_SLEEP);
+ }
+
+void deepsleep(void)
+{
+    SystemPowerSuspend(POWER_MODE_DEEP_SLEEP);
+    SystemPowerResume(POWER_MODE_DEEP_SLEEP);
+}

hal/targets/hal/TARGET_Freescale/TARGET_KSDK2_MCUS/api/lp_ticker.c

@@ -0,0 +1,172 @@
+/* mbed Microcontroller Library
+ * Copyright (c) 2016 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.
+ */
+
+#if DEVICE_LOWPOWERTIMER
+
+#include "lp_ticker_api.h"
+#include "fsl_rtc.h"
+#include "fsl_lptmr.h"
+#include "cmsis.h"
+#include "rtc_api.h"
+
+#define MAX_SEC_BITS (12)
+#define MAX_SEC_MASK ((1 << MAX_SEC_BITS) - 1)
+#define SEC_IN_USEC (1000000)
+#define OSC32K_CLK_HZ (32768)
+#define MAX_LPTMR_SLEEP ((1 << 16) - 1)
+
+static bool lp_ticker_inited = false;
+static int lptmr_schedule = 0;
+
+static void rtc_isr(void)
+{
+    RTC_DisableInterrupts(RTC, kRTC_AlarmInterruptEnable);
+    RTC->TAR = 0; /* Write clears the IRQ flag */
+
+    /* Wait subsecond remainder if any */
+    if (lptmr_schedule) {
+        LPTMR_SetTimerPeriod(LPTMR0, lptmr_schedule);
+        LPTMR_EnableInterrupts(LPTMR0, kLPTMR_TimerInterruptEnable);
+        LPTMR_StartTimer(LPTMR0);
+    } else {
+        lp_ticker_irq_handler();
+    }
+}
+
+static void lptmr_isr(void)
+{
+    LPTMR_ClearStatusFlags(LPTMR0, kLPTMR_TimerCompareFlag);
+    LPTMR_StopTimer(LPTMR0);
+
+    lp_ticker_irq_handler();
+}
+
+/** Initialize the low power ticker
+ *
+ */
+void lp_ticker_init(void)
+{
+    lptmr_config_t lptmrConfig;
+
+    if (lp_ticker_inited) {
+        return;
+    }
+    lp_ticker_inited = true;
+
+    /* Setup low resolution clock - RTC */
+    if (!rtc_isenabled()) {
+        rtc_init();
+        RTC_DisableInterrupts(RTC, kRTC_AlarmInterruptEnable | kRTC_SecondsInterruptEnable);
+        RTC_StartTimer(RTC);
+    }
+
+    NVIC_ClearPendingIRQ(RTC_IRQn);
+    NVIC_SetVector(RTC_IRQn, (uint32_t)rtc_isr);
+    NVIC_EnableIRQ(RTC_IRQn);
+
+    /* Setup high resolution clock - LPTMR */
+    LPTMR_GetDefaultConfig(&lptmrConfig);
+    /* Use 32kHz drive */
+    CLOCK_SetXtal32Freq(OSC32K_CLK_HZ);
+    lptmrConfig.prescalerClockSource = kLPTMR_PrescalerClock_2;
+    LPTMR_Init(LPTMR0, &lptmrConfig);
+    LPTMR_EnableInterrupts(LPTMR0, kLPTMR_TimerInterruptEnable);
+    NVIC_ClearPendingIRQ(LPTMR0_IRQn);
+    NVIC_SetVector(LPTMR0_IRQn, (uint32_t)lptmr_isr);
+    EnableIRQ(LPTMR0_IRQn);
+}
+
+/** Read the current counter
+ *
+ * @return The current timer's counter value in microseconds
+ */
+uint32_t lp_ticker_read(void)
+{
+    uint32_t sec, pre;
+
+    if (!lp_ticker_inited) {
+        lp_ticker_init();
+    }
+
+    sec = RTC->TSR; /* 32b: Seconds */
+    pre = RTC->TPR; /* 16b: Increments every 32.768kHz clock cycle (30us) */
+
+    /* Final value: 11b (4095) for sec and 21b for usec (pre can reach 1,000,000us which is close to 1<<20) */
+    uint32_t ret = (((sec & MAX_SEC_MASK) * SEC_IN_USEC) + (((uint64_t)pre * SEC_IN_USEC) / OSC32K_CLK_HZ));
+
+    return ret;
+}
+
+/** Set interrupt for specified timestamp
+ *
+ * @param timestamp The time in microseconds to be set
+ */
+void lp_ticker_set_interrupt(timestamp_t timestamp)
+{
+    uint32_t now_us, delta_us, delta_ticks;
+
+    if (!lp_ticker_inited) {
+        lp_ticker_init();
+    }
+
+    lptmr_schedule = 0;
+    now_us = lp_ticker_read();
+    delta_us = timestamp > now_us ? timestamp - now_us : (uint32_t)((uint64_t)timestamp + 0xFFFFFFFF - now_us);
+
+    /* Checking if LPTRM can handle this sleep */
+    delta_ticks = USEC_TO_COUNT(delta_us, CLOCK_GetFreq(kCLOCK_Er32kClk));
+    if (delta_ticks > MAX_LPTMR_SLEEP) {
+        /* Using RTC if wait time is over 16b (2s @32kHz) */
+        uint32_t delta_sec;
+
+        delta_us += COUNT_TO_USEC(RTC->TPR, CLOCK_GetFreq(kCLOCK_Er32kClk)); /* Accounting for started second */
+        delta_sec = delta_us / SEC_IN_USEC;
+        delta_us -= delta_sec * SEC_IN_USEC;
+
+        RTC->TAR = RTC->TSR + delta_sec - 1;
+
+        RTC_EnableInterrupts(RTC, kRTC_AlarmInterruptEnable);
+
+        /* Set aditional, subsecond, sleep time */
+        if (delta_us) {
+            lptmr_schedule = USEC_TO_COUNT(delta_us, CLOCK_GetFreq(kCLOCK_Er32kClk));
+        }
+    } else {
+        /* Below RTC resolution using LPTMR */
+        LPTMR_SetTimerPeriod(LPTMR0, delta_ticks);
+        LPTMR_EnableInterrupts(LPTMR0, kLPTMR_TimerInterruptEnable);
+        LPTMR_StartTimer(LPTMR0);
+    }
+}
+
+/** Disable low power ticker interrupt
+ *
+ */
+void lp_ticker_disable_interrupt(void)
+{
+    LPTMR_DisableInterrupts(LPTMR0, kLPTMR_TimerInterruptEnable);
+    RTC_DisableInterrupts(RTC, kRTC_AlarmInterruptEnable);
+}
+
+/** Clear the low power ticker interrupt
+ *
+ */
+void lp_ticker_clear_interrupt(void)
+{
+    RTC->TAR = 0; /* Write clears the IRQ flag */
+    LPTMR_ClearStatusFlags(LPTMR0, kLPTMR_TimerCompareFlag);
+}
+#endif /* DEVICE_LOWPOWERTIMER */