mirror of https://github.com/ARMmbed/mbed-os.git
Merge pull request #5548 from fkjagodzinski/test-systimer
Tests for SysTimer (the idle loop timer for tickless mode)pull/6246/head
Cruz Monrreal
GitHub
commit
acad33ac13
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/* mbed Microcontroller Library
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* Copyright (c) 2017 ARM Limited
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#if !MBED_TICKLESS
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#error [NOT_SUPPORTED] Tickless mode not supported for this target.
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#endif
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#if !DEVICE_LOWPOWERTIMER
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#error [NOT_SUPPORTED] Current SysTimer implementation requires lp ticker support.
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#endif
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#include "mbed.h"
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#include "greentea-client/test_env.h"
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#include "unity.h"
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#include "utest.h"
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extern "C" {
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#include "rtx_lib.h"
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}
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#include "rtos/TARGET_CORTEX/SysTimer.h"
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#define TEST_TICKS 42UL
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#define DELAY_DELTA_US 2500ULL
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using namespace utest::v1;
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const us_timestamp_t DELAY_US = 1000000ULL * TEST_TICKS / OS_TICK_FREQ;
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// Override the handler() -- the SysTick interrupt must not be set as pending by the test code.
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class SysTimerTest: public rtos::internal::SysTimer {
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private:
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Semaphore _sem;
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virtual void handler()
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{
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increment_tick();
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_sem.release();
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}
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public:
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SysTimerTest() :
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SysTimer(), _sem(0, 1)
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{
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}
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virtual ~SysTimerTest()
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{
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}
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int32_t sem_wait(uint32_t millisec)
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{
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return _sem.wait(millisec);
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}
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};
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/** Test tick count is zero upon creation
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*
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* Given a SysTimer
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* When the timer is created
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* Then tick count is zero
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*/
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void test_created_with_zero_tick_count(void)
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{
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SysTimerTest st;
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TEST_ASSERT_EQUAL_UINT32(0, st.get_tick());
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}
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/** Test tick count is updated correctly
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*
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* Given a SysTimer
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* When @a update_tick method is called immediately after creation
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* Then the tick count is not updated
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* When @a update_tick is called again after a delay
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* Then the tick count is updated
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* and the number of ticks incremented is equal TEST_TICKS - 1
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* When @a update_tick is called again without a delay
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* Then the tick count is not updated
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*/
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void test_update_tick(void)
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{
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SysTimerTest st;
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TEST_ASSERT_EQUAL_UINT32(0, st.update_tick());
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TEST_ASSERT_EQUAL_UINT32(0, st.get_tick());
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us_timestamp_t test_ticks_elapsed_ts = st.get_time() + DELAY_US;
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while (st.get_time() <= test_ticks_elapsed_ts) {}
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TEST_ASSERT_EQUAL_UINT32(TEST_TICKS - 1, st.update_tick());
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TEST_ASSERT_EQUAL_UINT32(TEST_TICKS - 1, st.get_tick());
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TEST_ASSERT_EQUAL_UINT32(0, st.update_tick());
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TEST_ASSERT_EQUAL_UINT32(TEST_TICKS - 1, st.get_tick());
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}
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/** Test get_time returns correct time
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*
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* Given a SysTimer
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* When @a get_time method is called before and after a delay
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* Then time difference is equal the delay
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*/
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void test_get_time(void)
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{
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SysTimerTest st;
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us_timestamp_t t1 = st.get_time();
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wait_us(DELAY_US);
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us_timestamp_t t2 = st.get_time();
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TEST_ASSERT_UINT64_WITHIN(DELAY_DELTA_US, DELAY_US, t2 - t1);
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}
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/** Test cancel_tick
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*
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* Given a SysTimer with a scheduled tick
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* When @a cancel_tick is called before the given number of ticks elapse
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* Then the handler is never called
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* and the tick count is not incremented
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*/
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void test_cancel_tick(void)
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{
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SysTimerTest st;
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st.cancel_tick();
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st.schedule_tick(TEST_TICKS);
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st.cancel_tick();
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int32_t sem_slots = st.sem_wait((DELAY_US + DELAY_DELTA_US) / 1000ULL);
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TEST_ASSERT_EQUAL_INT32(0, sem_slots);
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TEST_ASSERT_EQUAL_UINT32(0, st.get_tick());
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}
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/** Test schedule zero
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*
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* Given a SysTimer
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* When a tick is scheduled with delta = 0 ticks
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* Then the handler is called instantly
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*/
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void test_schedule_zero(void)
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{
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SysTimerTest st;
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st.schedule_tick(0UL);
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int32_t sem_slots = st.sem_wait(0UL);
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TEST_ASSERT_EQUAL_INT32(1, sem_slots);
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}
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/** Test handler called once
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*
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* Given a SysTimer with a tick scheduled with delta = TEST_TICKS
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* When the handler is called
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* Then the tick count is incremented by 1
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* and elapsed time is equal 1000000ULL * TEST_TICKS / OS_TICK_FREQ;
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* When more time elapses
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* Then the handler is not called again
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*/
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void test_handler_called_once(void)
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{
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SysTimerTest st;
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st.schedule_tick(TEST_TICKS);
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us_timestamp_t t1 = st.get_time();
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int32_t sem_slots = st.sem_wait(0);
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TEST_ASSERT_EQUAL_INT32(0, sem_slots);
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sem_slots = st.sem_wait(osWaitForever);
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us_timestamp_t t2 = st.get_time();
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TEST_ASSERT_EQUAL_INT32(1, sem_slots);
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TEST_ASSERT_EQUAL_UINT32(1, st.get_tick());
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TEST_ASSERT_UINT64_WITHIN(DELAY_DELTA_US, DELAY_US, t2 - t1);
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sem_slots = st.sem_wait((DELAY_US + DELAY_DELTA_US) / 1000ULL);
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TEST_ASSERT_EQUAL_INT32(0, sem_slots);
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TEST_ASSERT_EQUAL_UINT32(1, st.get_tick());
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}
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/** Test wake up from sleep
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*
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* Given a SysTimer with a tick scheduled in the future
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* and a core in sleep mode
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* When given time elapses
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* Then the uC is woken up from sleep
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* and the tick handler is called
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* and measured time matches requested delay
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*/
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void test_sleep(void)
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{
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Timer timer;
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SysTimerTest st;
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sleep_manager_lock_deep_sleep();
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timer.start();
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st.schedule_tick(TEST_TICKS);
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TEST_ASSERT_FALSE_MESSAGE(sleep_manager_can_deep_sleep(), "Deep sleep should be disallowed");
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while (st.sem_wait(0) != 1) {
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sleep();
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}
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timer.stop();
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sleep_manager_unlock_deep_sleep();
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TEST_ASSERT_UINT64_WITHIN(DELAY_DELTA_US, DELAY_US, timer.read_high_resolution_us());
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}
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#if DEVICE_LOWPOWERTIMER
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/** Test wake up from deepsleep
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*
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* Given a SysTimer with a tick scheduled in the future
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* and a core in deepsleep mode
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* When given time elapses
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* Then the uC is woken up from deepsleep
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* and the tick handler is called
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* and measured time matches requested delay
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*/
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void test_deepsleep(void)
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{
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/*
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* Since deepsleep() may shut down the UART peripheral, we wait for 10ms
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* to allow for hardware serial buffers to completely flush.
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* This should be replaced with a better function that checks if the
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* hardware buffers are empty. However, such an API does not exist now,
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* so we'll use the wait_ms() function for now.
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*/
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wait_ms(10);
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// Regular Timer might be disabled during deepsleep.
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LowPowerTimer lptimer;
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SysTimerTest st;
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lptimer.start();
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st.schedule_tick(TEST_TICKS);
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TEST_ASSERT_TRUE_MESSAGE(sleep_manager_can_deep_sleep(), "Deep sleep should be allowed");
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while (st.sem_wait(0) != 1) {
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sleep();
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}
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lptimer.stop();
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TEST_ASSERT_UINT64_WITHIN(DELAY_DELTA_US, DELAY_US, lptimer.read_high_resolution_us());
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}
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#endif
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utest::v1::status_t test_setup(const size_t number_of_cases)
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{
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GREENTEA_SETUP(5, "default_auto");
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return verbose_test_setup_handler(number_of_cases);
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}
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Case cases[] = {
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Case("Tick count is zero upon creation", test_created_with_zero_tick_count),
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Case("Tick count is updated correctly", test_update_tick),
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Case("Time is updated correctly", test_get_time),
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Case("Tick can be cancelled", test_cancel_tick),
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Case("Schedule zero ticks", test_schedule_zero),
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Case("Handler called once", test_handler_called_once),
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Case("Wake up from sleep", test_sleep),
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#if DEVICE_LOWPOWERTIMER
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Case("Wake up from deep sleep", test_deepsleep),
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#endif
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};
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Specification specification(test_setup, cases);
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int main()
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{
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return !Harness::run(specification);
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}
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@ -0,0 +1,126 @@
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/* mbed Microcontroller Library
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* Copyright (c) 2006-2012 ARM Limited
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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||||
* 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
|
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* SOFTWARE.
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*/
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#include "rtos/TARGET_CORTEX/SysTimer.h"
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#if DEVICE_LOWPOWERTIMER
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#include "hal/lp_ticker_api.h"
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#include "rtx_core_cm.h"
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extern "C" {
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#include "rtx_lib.h"
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}
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#if (defined(NO_SYSTICK))
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/**
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* Return an IRQ number that can be used in the absence of SysTick
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*
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* @return Free IRQ number that can be used
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*/
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extern "C" IRQn_Type mbed_get_m0_tick_irqn(void);
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#endif
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namespace rtos {
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namespace internal {
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SysTimer::SysTimer() :
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TimerEvent(get_lp_ticker_data()), _start_time(0), _tick(0)
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{
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_start_time = ticker_read_us(_ticker_data);
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}
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void SysTimer::setup_irq()
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{
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#if (defined(NO_SYSTICK))
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NVIC_SetVector(mbed_get_m0_tick_irqn(), (uint32_t)SysTick_Handler);
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NVIC_SetPriority(mbed_get_m0_tick_irqn(), 0xFF); /* RTOS requires lowest priority */
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NVIC_EnableIRQ(mbed_get_m0_tick_irqn());
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#else
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// Ensure SysTick has the correct priority as it is still used
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// to trigger software interrupts on each tick. The period does
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// not matter since it will never start counting.
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OS_Tick_Setup(osRtxConfig.tick_freq, OS_TICK_HANDLER);
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#endif
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}
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void SysTimer::schedule_tick(uint32_t delta)
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{
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insert_absolute(_start_time + (_tick + delta) * 1000000ULL / OS_TICK_FREQ);
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}
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void SysTimer::cancel_tick()
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{
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remove();
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}
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uint32_t SysTimer::get_tick()
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{
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return _tick & 0xFFFFFFFF;
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}
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uint32_t SysTimer::update_tick()
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{
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uint64_t new_tick = (ticker_read_us(_ticker_data) - _start_time) * OS_TICK_FREQ / 1000000;
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if (new_tick > _tick) {
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// Don't update to the current tick. Instead, update to the
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// previous tick and let the SysTick handler increment it
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// to the current value. This allows scheduling restart
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// successfully after the OS is resumed.
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new_tick--;
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}
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uint32_t elapsed_ticks = new_tick - _tick;
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_tick = new_tick;
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return elapsed_ticks;
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}
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us_timestamp_t SysTimer::get_time()
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{
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return ticker_read_us(_ticker_data);
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}
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SysTimer::~SysTimer()
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{
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}
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void SysTimer::set_irq_pending()
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{
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#if (defined(NO_SYSTICK))
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NVIC_SetPendingIRQ(mbed_get_m0_tick_irqn());
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#else
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SCB->ICSR = SCB_ICSR_PENDSTSET_Msk;
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#endif
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}
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void SysTimer::increment_tick()
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{
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_tick++;
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}
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void SysTimer::handler()
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{
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set_irq_pending();
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increment_tick();
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}
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}
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}
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#endif
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@ -0,0 +1,117 @@
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/* 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
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#define MBED_SYS_TIMER_H
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#if defined(DEVICE_LOWPOWERTIMER) || defined(DOXYGEN_ONLY)
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#include "platform/NonCopyable.h"
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#include "drivers/TimerEvent.h"
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namespace rtos {
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namespace internal {
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/**
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* @cond RTOS_INTERNAL
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*
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* @addtogroup rtos
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* @{
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*
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* @defgroup rtos_SysTimer SysTimer class
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* @{
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*/
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/**
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* The SysTimer class is used exclusively by RTX idle loop in TICKLESS mode.
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*
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* @note SysTimer is not the part of Mbed RTOS API.
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*/
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class SysTimer: private mbed::TimerEvent, private mbed::NonCopyable<SysTimer> {
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public:
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SysTimer();
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virtual ~SysTimer();
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/**
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* Enable an IRQ/SysTick with the correct priority.
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*/
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static void setup_irq();
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/**
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* Schedule an os tick to fire
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*
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* @param delta Tick to fire at relative to current tick
|
||||
*
|
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* @warning If a tick is already scheduled it needs to be cancelled first!
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*/
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void schedule_tick(uint32_t delta = 1);
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/**
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* Prevent any scheduled ticks from triggering
|
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*/
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void cancel_tick();
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/** Get the current tick count
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*
|
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* @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).
|
||||
*/
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uint32_t get_tick();
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/**
|
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* Update the internal tick count
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||||
*
|
||||
* @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.
|
||||
*/
|
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uint32_t update_tick();
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|
||||
/**
|
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* Get the time
|
||||
*
|
||||
* @return Current time in microseconds
|
||||
*/
|
||||
us_timestamp_t get_time();
|
||||
|
||||
protected:
|
||||
virtual void handler();
|
||||
void increment_tick();
|
||||
static void set_irq_pending();
|
||||
us_timestamp_t _start_time;
|
||||
uint64_t _tick;
|
||||
};
|
||||
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
* @endcond
|
||||
*/
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
#endif
|
||||
|
|
@ -36,113 +36,18 @@ using namespace mbed;
|
|||
|
||||
#ifdef MBED_TICKLESS
|
||||
|
||||
#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
|
||||
#include "rtos/TARGET_CORTEX/SysTimer.h"
|
||||
|
||||
class RtosTimer : private TimerEvent {
|
||||
public:
|
||||
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];
|
||||
static rtos::internal::SysTimer *os_timer;
|
||||
static uint64_t os_timer_data[sizeof(rtos::internal::SysTimer) / 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();
|
||||
os_timer->setup_irq();
|
||||
}
|
||||
|
||||
// set to fire interrupt on next tick
|
||||
|
|
|
|||
Loading…
Reference in New Issue