ARMmbed
/
mbed-os
mirror of https://github.com/ARMmbed/mbed-os.git
1
0
Fork 0
Code Issues Projects Releases Wiki Activity

Merge pull request #5548 from fkjagodzinski/test-systimer 

Tests for SysTimer (the idle loop timer for tickless mode)
pull/6246/head
Cruz Monrreal 2018-02-28 18:47:10 -06:00 committed by GitHub
parent 3d1174a215 d83ed63a31
commit acad33ac13
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
4 changed files with 522 additions and 100 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

274
TESTS/mbedmicro-rtos-mbed/systimer/main.cpp Normal file
View File

@ -0,0 +1,274 @@
/* mbed Microcontroller Library
* Copyright (c) 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.
*/
#if !MBED_TICKLESS
#error [NOT_SUPPORTED] Tickless mode not supported for this target.
#endif
#if !DEVICE_LOWPOWERTIMER
#error [NOT_SUPPORTED] Current SysTimer implementation requires lp ticker support.
#endif
#include "mbed.h"
#include "greentea-client/test_env.h"
#include "unity.h"
#include "utest.h"
extern "C" {
#include "rtx_lib.h"
}
#include "rtos/TARGET_CORTEX/SysTimer.h"
#define TEST_TICKS 42UL
#define DELAY_DELTA_US 2500ULL
using namespace utest::v1;
const us_timestamp_t DELAY_US = 1000000ULL * TEST_TICKS / OS_TICK_FREQ;
// Override the handler() -- the SysTick interrupt must not be set as pending by the test code.
class SysTimerTest: public rtos::internal::SysTimer {
private:
Semaphore _sem;
virtual void handler()
{
increment_tick();
_sem.release();
}
public:
SysTimerTest() :
SysTimer(), _sem(0, 1)
{
}
virtual ~SysTimerTest()
{
}
int32_t sem_wait(uint32_t millisec)
{
return _sem.wait(millisec);
}
};
/** Test tick count is zero upon creation
*
* Given a SysTimer
* When the timer is created
* Then tick count is zero
*/
void test_created_with_zero_tick_count(void)
{
SysTimerTest st;
TEST_ASSERT_EQUAL_UINT32(0, st.get_tick());
}
/** Test tick count is updated correctly
*
* Given a SysTimer
* When @a update_tick method is called immediately after creation
* Then the tick count is not updated
* When @a update_tick is called again after a delay
* Then the tick count is updated
* and the number of ticks incremented is equal TEST_TICKS - 1
* When @a update_tick is called again without a delay
* Then the tick count is not updated
*/
void test_update_tick(void)
{
SysTimerTest st;
TEST_ASSERT_EQUAL_UINT32(0, st.update_tick());
TEST_ASSERT_EQUAL_UINT32(0, st.get_tick());
us_timestamp_t test_ticks_elapsed_ts = st.get_time() + DELAY_US;
while (st.get_time() <= test_ticks_elapsed_ts) {}
TEST_ASSERT_EQUAL_UINT32(TEST_TICKS - 1, st.update_tick());
TEST_ASSERT_EQUAL_UINT32(TEST_TICKS - 1, st.get_tick());
TEST_ASSERT_EQUAL_UINT32(0, st.update_tick());
TEST_ASSERT_EQUAL_UINT32(TEST_TICKS - 1, st.get_tick());
}
/** Test get_time returns correct time
*
* Given a SysTimer
* When @a get_time method is called before and after a delay
* Then time difference is equal the delay
*/
void test_get_time(void)
{
SysTimerTest st;
us_timestamp_t t1 = st.get_time();
wait_us(DELAY_US);
us_timestamp_t t2 = st.get_time();
TEST_ASSERT_UINT64_WITHIN(DELAY_DELTA_US, DELAY_US, t2 - t1);
}
/** Test cancel_tick
*
* Given a SysTimer with a scheduled tick
* When @a cancel_tick is called before the given number of ticks elapse
* Then the handler is never called
* and the tick count is not incremented
*/
void test_cancel_tick(void)
{
SysTimerTest st;
st.cancel_tick();
st.schedule_tick(TEST_TICKS);
st.cancel_tick();
int32_t sem_slots = st.sem_wait((DELAY_US + DELAY_DELTA_US) / 1000ULL);
TEST_ASSERT_EQUAL_INT32(0, sem_slots);
TEST_ASSERT_EQUAL_UINT32(0, st.get_tick());
}
/** Test schedule zero
*
* Given a SysTimer
* When a tick is scheduled with delta = 0 ticks
* Then the handler is called instantly
*/
void test_schedule_zero(void)
{
SysTimerTest st;
st.schedule_tick(0UL);
int32_t sem_slots = st.sem_wait(0UL);
TEST_ASSERT_EQUAL_INT32(1, sem_slots);
}
/** Test handler called once
*
* Given a SysTimer with a tick scheduled with delta = TEST_TICKS
* When the handler is called
* Then the tick count is incremented by 1
* and elapsed time is equal 1000000ULL * TEST_TICKS / OS_TICK_FREQ;
* When more time elapses
* Then the handler is not called again
*/
void test_handler_called_once(void)
{
SysTimerTest st;
st.schedule_tick(TEST_TICKS);
us_timestamp_t t1 = st.get_time();
int32_t sem_slots = st.sem_wait(0);
TEST_ASSERT_EQUAL_INT32(0, sem_slots);
sem_slots = st.sem_wait(osWaitForever);
us_timestamp_t t2 = st.get_time();
TEST_ASSERT_EQUAL_INT32(1, sem_slots);
TEST_ASSERT_EQUAL_UINT32(1, st.get_tick());
TEST_ASSERT_UINT64_WITHIN(DELAY_DELTA_US, DELAY_US, t2 - t1);
sem_slots = st.sem_wait((DELAY_US + DELAY_DELTA_US) / 1000ULL);
TEST_ASSERT_EQUAL_INT32(0, sem_slots);
TEST_ASSERT_EQUAL_UINT32(1, st.get_tick());
}
/** Test wake up from sleep
*
* Given a SysTimer with a tick scheduled in the future
* and a core in sleep mode
* When given time elapses
* Then the uC is woken up from sleep
* and the tick handler is called
* and measured time matches requested delay
*/
void test_sleep(void)
{
Timer timer;
SysTimerTest st;
sleep_manager_lock_deep_sleep();
timer.start();
st.schedule_tick(TEST_TICKS);
TEST_ASSERT_FALSE_MESSAGE(sleep_manager_can_deep_sleep(), "Deep sleep should be disallowed");
while (st.sem_wait(0) != 1) {
sleep();
}
timer.stop();
sleep_manager_unlock_deep_sleep();
TEST_ASSERT_UINT64_WITHIN(DELAY_DELTA_US, DELAY_US, timer.read_high_resolution_us());
}
#if DEVICE_LOWPOWERTIMER
/** Test wake up from deepsleep
*
* Given a SysTimer with a tick scheduled in the future
* and a core in deepsleep mode
* When given time elapses
* Then the uC is woken up from deepsleep
* and the tick handler is called
* and measured time matches requested delay
*/
void test_deepsleep(void)
{
/*
* Since deepsleep() may shut down the UART peripheral, we wait for 10ms
* to allow for hardware serial buffers to completely flush.
* This should be replaced with a better function that checks if the
* hardware buffers are empty. However, such an API does not exist now,
* so we'll use the wait_ms() function for now.
*/
wait_ms(10);
// Regular Timer might be disabled during deepsleep.
LowPowerTimer lptimer;
SysTimerTest st;
lptimer.start();
st.schedule_tick(TEST_TICKS);
TEST_ASSERT_TRUE_MESSAGE(sleep_manager_can_deep_sleep(), "Deep sleep should be allowed");
while (st.sem_wait(0) != 1) {
sleep();
}
lptimer.stop();
TEST_ASSERT_UINT64_WITHIN(DELAY_DELTA_US, DELAY_US, lptimer.read_high_resolution_us());
}
#endif
utest::v1::status_t test_setup(const size_t number_of_cases)
{
GREENTEA_SETUP(5, "default_auto");
return verbose_test_setup_handler(number_of_cases);
}
Case cases[] = {
Case("Tick count is zero upon creation", test_created_with_zero_tick_count),
Case("Tick count is updated correctly", test_update_tick),
Case("Time is updated correctly", test_get_time),
Case("Tick can be cancelled", test_cancel_tick),
Case("Schedule zero ticks", test_schedule_zero),
Case("Handler called once", test_handler_called_once),
Case("Wake up from sleep", test_sleep),
#if DEVICE_LOWPOWERTIMER
Case("Wake up from deep sleep", test_deepsleep),
#endif
};
Specification specification(test_setup, cases);
int main()
{
return !Harness::run(specification);
}

126
rtos/TARGET_CORTEX/SysTimer.cpp Normal file
View File

@ -0,0 +1,126 @@
/* 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);
}
void SysTimer::setup_irq()
{
#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) - _start_time) * 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::set_irq_pending()
{
#if (defined(NO_SYSTICK))
NVIC_SetPendingIRQ(mbed_get_m0_tick_irqn());
#else
SCB->ICSR = SCB_ICSR_PENDSTSET_Msk;
#endif
}
void SysTimer::increment_tick()
{
_tick++;
}
void SysTimer::handler()
{
set_irq_pending();
increment_tick();
}
}
}
#endif

117
rtos/TARGET_CORTEX/SysTimer.h Normal file
View File

@ -0,0 +1,117 @@
/* 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();
/**
* Enable an IRQ/SysTick with the correct priority.
*/
static void setup_irq();
/**
* 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();
void increment_tick();
static void set_irq_pending();
us_timestamp_t _start_time;
uint64_t _tick;
};
/**
* @}
* @}
* @endcond
*/
}
}
#endif
#endif

105
rtos/TARGET_CORTEX/mbed_rtx_idle.cpp
View File

@ -36,113 +36,18 @@ using namespace mbed;
#ifdef MBED_TICKLESS #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. /// Enable System Timer.
int32_t OS_Tick_Enable (void) int32_t OS_Tick_Enable (void)
{ {
// Do not use SingletonPtr since this relies on the RTOS // Do not use SingletonPtr since this relies on the RTOS
if (NULL == os_timer) { 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 // set to fire interrupt on next tick