Release candidate for mbed-os-5.3.6

TESTS/events/queue/main.cpp

@@ -70,7 +70,7 @@ SIMPLE_POSTS_TEST(0)
 
 
 void time_func(Timer *t, int ms) {
-    TEST_ASSERT_INT_WITHIN(2, ms, t->read_ms());
+    TEST_ASSERT_INT_WITHIN(5, ms, t->read_ms());
     t->reset();
 }
 

TESTS/events/timing/main.cpp

@@ -0,0 +1,122 @@
+#include "mbed_events.h"
+#include "mbed.h"
+#include "rtos.h"
+#include "greentea-client/test_env.h"
+#include "unity.h"
+#include "utest.h"
+#include <cstdlib>
+#include <cmath>
+
+using namespace utest::v1;
+
+
+// Test delay
+#ifndef TEST_EVENTS_TIMING_TIME
+#define TEST_EVENTS_TIMING_TIME 20000
+#endif
+
+#ifndef TEST_EVENTS_TIMING_MEAN
+#define TEST_EVENTS_TIMING_MEAN 25
+#endif
+
+#ifndef M_PI
+#define M_PI 3.14159265358979323846264338327950288
+#endif
+
+// Random number generation to skew timing values
+float gauss(float mu, float sigma) {
+    float x = (float)rand() / ((float)RAND_MAX+1);
+    float y = (float)rand() / ((float)RAND_MAX+1);
+    float x2pi = x*2.0*M_PI;
+    float g2rad = sqrt(-2.0 * log(1.0-y));
+    float z = cos(x2pi) * g2rad;
+    return mu + z*sigma;
+}
+
+float chisq(float sigma) {
+    return pow(gauss(0, sqrt(sigma)), 2);
+}
+
+
+Timer timer;
+DigitalOut led(LED1);
+
+equeue_sema_t sema;
+
+// Timer timing test
+void timer_timing_test() {
+    timer.reset();
+    timer.start();
+    int prev = timer.read_us();
+
+    while (prev < TEST_EVENTS_TIMING_TIME*1000) {
+        int next = timer.read_us();
+        if (next < prev) {
+            printf("backwards drift %d -> %d (%08x -> %08x)\r\n",
+                prev, next, prev, next);
+        }
+        TEST_ASSERT(next >= prev);
+        prev = next;
+    }
+}
+
+// equeue tick timing test
+void tick_timing_test() {
+    unsigned start = equeue_tick();
+    int prev = 0;
+
+    while (prev < TEST_EVENTS_TIMING_TIME) {
+        int next = equeue_tick() - start;
+        if (next < prev) {
+            printf("backwards drift %d -> %d (%08x -> %08x)\r\n",
+                prev, next, prev, next);
+        }
+        TEST_ASSERT(next >= prev);
+        prev = next;
+    }
+}
+
+// equeue semaphore timing test
+void semaphore_timing_test() {
+    srand(0);
+    timer.reset();
+    timer.start();
+
+    int err = equeue_sema_create(&sema);
+    TEST_ASSERT_EQUAL(0, err);
+
+    while (timer.read_ms() < TEST_EVENTS_TIMING_TIME) {
+        int delay = chisq(TEST_EVENTS_TIMING_MEAN);
+
+        int start = timer.read_us();
+        equeue_sema_wait(&sema, delay);
+        int taken = timer.read_us() - start;
+
+        printf("delay %dms => error %dus\r\n", delay, abs(1000*delay - taken));
+        TEST_ASSERT_INT_WITHIN(5000, taken, delay * 1000);
+
+        led = !led;
+    }
+
+    equeue_sema_destroy(&sema);
+}
+
+
+// Test setup
+utest::v1::status_t test_setup(const size_t number_of_cases) {
+    GREENTEA_SETUP((number_of_cases+1)*TEST_EVENTS_TIMING_TIME, "default_auto");
+    return verbose_test_setup_handler(number_of_cases);
+}
+
+const Case cases[] = {
+    Case("Testing accuracy of timer", timer_timing_test),
+    Case("Testing accuracy of equeue tick", tick_timing_test),
+    Case("Testing accuracy of equeue semaphore", semaphore_timing_test),
+};
+
+Specification specification(test_setup, cases);
+
+int main() {
+    return !Harness::run(specification);
+}
+

events/equeue/equeue_mbed.cpp

@@ -26,15 +26,15 @@
 
 // Ticker operations
 static bool equeue_tick_inited = false;
-static unsigned equeue_minutes = 0;
+static volatile unsigned equeue_minutes = 0;
 static unsigned equeue_timer[
         (sizeof(Timer)+sizeof(unsigned)-1)/sizeof(unsigned)];
 static unsigned equeue_ticker[
         (sizeof(Ticker)+sizeof(unsigned)-1)/sizeof(unsigned)];
 
 static void equeue_tick_update() {
+    equeue_minutes += reinterpret_cast<Timer*>(equeue_timer)->read_ms();
     reinterpret_cast<Timer*>(equeue_timer)->reset();
-    equeue_minutes += 1;
 }
 
 static void equeue_tick_init() {
@@ -48,7 +48,7 @@ static void equeue_tick_init() {
     equeue_minutes = 0;
     reinterpret_cast<Timer*>(equeue_timer)->start();
     reinterpret_cast<Ticker*>(equeue_ticker)
-            ->attach_us(equeue_tick_update, (1 << 16)*1000);
+            ->attach_us(equeue_tick_update, 1000 << 16);
 
     equeue_tick_inited = true;
 }
@@ -58,8 +58,15 @@ unsigned equeue_tick() {
         equeue_tick_init();
     }
 
-    unsigned equeue_ms = reinterpret_cast<Timer*>(equeue_timer)->read_ms();
-    return (equeue_minutes << 16) + equeue_ms;
+    unsigned minutes;
+    unsigned ms;
+
+    do {
+        minutes = equeue_minutes;
+        ms = reinterpret_cast<Timer*>(equeue_timer)->read_ms();
+    } while (minutes != equeue_minutes);
+
+    return minutes + ms;
 }
 
 

features/unsupported/USBDevice/USBDevice/TARGET_STM/USBHAL_STM32F769NI.h

@@ -135,7 +135,7 @@ USBHAL::USBHAL(void) {
     /*  bulk/int 64 bytes in FS  */
     HAL_PCDEx_SetTxFiFo(&hpcd, 0, (MAX_PACKET_SIZE_EP0/4)+1);
     /*  bulk/int bytes in FS */
-    HAL_PCDEx_SetTxFiFo(&hpcd, 1, (MAX_PACKET_SIZE_EP1/4));
+    HAL_PCDEx_SetTxFiFo(&hpcd, 1, (MAX_PACKET_SIZE_EP1/4)+1);
     HAL_PCDEx_SetTxFiFo(&hpcd, 2, (MAX_PACKET_SIZE_EP2/4));
     /* ISOchronous */
     HAL_PCDEx_SetTxFiFo(&hpcd, 3, (MAX_PACKET_SIZE_EP3/4));

features/unsupported/USBDevice/USBDevice/TARGET_STM/USBHAL_STM32L476VG.h

@@ -131,7 +131,7 @@ USBHAL::USBHAL(void) {
     /*  bulk/int 64 bytes in FS  */
     HAL_PCDEx_SetTxFiFo(&hpcd, 0, (MAX_PACKET_SIZE_EP0/4)+1);
     /*  bulk/int bytes in FS */
-    HAL_PCDEx_SetTxFiFo(&hpcd, 1, (MAX_PACKET_SIZE_EP1/4));
+    HAL_PCDEx_SetTxFiFo(&hpcd, 1, (MAX_PACKET_SIZE_EP1/4)+1);
     HAL_PCDEx_SetTxFiFo(&hpcd, 2, (MAX_PACKET_SIZE_EP2/4));
     /* ISOchronous */
     HAL_PCDEx_SetTxFiFo(&hpcd, 3, (MAX_PACKET_SIZE_EP3/4));

features/unsupported/USBDevice/USBDevice/TARGET_STM/USBHAL_STM_144_64pins.h

@@ -121,7 +121,7 @@ USBHAL::USBHAL(void) {
     /*  bulk/int 64 bytes in FS  */
     HAL_PCDEx_SetTxFiFo(&hpcd, 0, (MAX_PACKET_SIZE_EP0/4)+1);
     /*  bulk/int bytes in FS */
-    HAL_PCDEx_SetTxFiFo(&hpcd, 1, (MAX_PACKET_SIZE_EP1/4));
+    HAL_PCDEx_SetTxFiFo(&hpcd, 1, (MAX_PACKET_SIZE_EP1/4)+1);
     HAL_PCDEx_SetTxFiFo(&hpcd, 2, (MAX_PACKET_SIZE_EP2/4));
     /* ISOchronous */
     HAL_PCDEx_SetTxFiFo(&hpcd, 3, (MAX_PACKET_SIZE_EP3/4));

features/unsupported/USBDevice/USBDevice/USBHAL.h

@@ -27,6 +27,10 @@
 //#define __packed __attribute__ ((__packed__))
 //#endif
 
+#ifdef __GNUC__
+#define __packed __attribute__ ((__packed__))
+#endif
+
 class USBHAL {
 public:
     /* Configuration */

mbed.h

@@ -16,13 +16,13 @@
 #ifndef MBED_H
 #define MBED_H
 
-#define MBED_LIBRARY_VERSION 136
+#define MBED_LIBRARY_VERSION 137
 
 #if MBED_CONF_RTOS_PRESENT
 // RTOS present, this is valid only for mbed OS 5
 #define MBED_MAJOR_VERSION 5
 #define MBED_MINOR_VERSION 3
-#define MBED_PATCH_VERSION 5
+#define MBED_PATCH_VERSION 6
 
 #else
 // mbed 2

targets/TARGET_Freescale/TARGET_MCUXpresso_MCUS/TARGET_KL27Z/spi_api.c

@@ -65,7 +65,7 @@ void spi_format(spi_t *obj, int bits, int mode, int slave)
     spi_master_config_t master_config;
     spi_slave_config_t slave_config;
 
-    if ((bits != 8) || (bits != 16)) {
+    if ((bits != 8) && (bits != 16)) {
         error("Only 8bits and 16bits SPI supported");
         return;
     }

targets/TARGET_Freescale/TARGET_MCUXpresso_MCUS/TARGET_KL43Z/spi_api.c

@@ -65,7 +65,7 @@ void spi_format(spi_t *obj, int bits, int mode, int slave)
     spi_master_config_t master_config;
     spi_slave_config_t slave_config;
 
-    if ((bits != 8) || (bits != 16)) {
+    if ((bits != 8) && (bits != 16)) {
         error("Only 8bits and 16bits SPI supported");
         return;
     }

targets/TARGET_NUVOTON/TARGET_M451/TARGET_NUMAKER_PFM_M453/objects.h

@@ -117,9 +117,6 @@ struct pwmout_s {
 };
 
 struct sleep_s {
-    uint32_t start_us;
-    uint32_t end_us;
-    uint32_t period_us;
     int powerdown;
 };
 

targets/TARGET_NUVOTON/TARGET_M451/device/TOOLCHAIN_GCC_ARM/m451_retarget.c

@@ -11,10 +11,13 @@
 
 #include "M451Series.h"
 #include <errno.h>
+#include "nu_miscutil.h"
 
 extern uint32_t __mbed_sbrk_start;
 extern uint32_t __mbed_krbs_start;
 
+#define NU_HEAP_ALIGN       32
+
 /**
  * The default implementation of _sbrk() (in common/retarget.cpp) for GCC_ARM requires one-region model (heap and stack share one region), which doesn't
  * fit two-region model (heap and stack are two distinct regions), for example, NUMAKER-PFM-NUC472 locates heap on external SRAM. Define __wrap__sbrk() to
@@ -23,8 +26,8 @@ extern uint32_t __mbed_krbs_start;
 void *__wrap__sbrk(int incr)
 {
     static uint32_t heap_ind = (uint32_t) &__mbed_sbrk_start;
-    uint32_t heap_ind_old = heap_ind;
-    uint32_t heap_ind_new = (heap_ind_old + incr + 7) & ~7;
+    uint32_t heap_ind_old = NU_ALIGN_UP(heap_ind, NU_HEAP_ALIGN);
+    uint32_t heap_ind_new = NU_ALIGN_UP(heap_ind_old + incr, NU_HEAP_ALIGN);
 
     if (heap_ind_new > &__mbed_krbs_start) {
         errno = ENOMEM;

targets/TARGET_NUVOTON/TARGET_M451/sleep.c

@@ -25,8 +25,6 @@
 #include "objects.h"
 #include "PeripheralPins.h"
 
-void us_ticker_prepare_sleep(struct sleep_s *obj);
-void us_ticker_wakeup_from_sleep(struct sleep_s *obj);
 static void mbed_enter_sleep(struct sleep_s *obj);
 static void mbed_exit_sleep(struct sleep_s *obj);
 
@@ -57,8 +55,7 @@ void deepsleep(void)
     mbed_exit_sleep(&sleep_obj);
 }
 
-
-void mbed_enter_sleep(struct sleep_s *obj)
+static void mbed_enter_sleep(struct sleep_s *obj)
 {
     // Check if serial allows entering power-down mode
     if (obj->powerdown) {
@@ -77,16 +74,7 @@ void mbed_enter_sleep(struct sleep_s *obj)
         obj->powerdown = pwmout_allow_powerdown();
     }
     // TODO: Check if other peripherals allow entering power-down mode
-
-    obj->start_us = lp_ticker_read();
-    // Let us_ticker prepare for power-down or reject it.
-    us_ticker_prepare_sleep(obj);
-
-    // NOTE(STALE): To pass mbed-drivers test, timer requires to be fine-grained, so its implementation needs HIRC rather than LIRC/LXT as its clock source.
-    //       But as CLK_PowerDown()/CLK_Idle() is called, HIRC will be disabled and timer cannot keep counting and alarm. To overcome the dilemma, 
-    //       just make CPU halt and compromise power saving.
-    // NOTE: As CLK_PowerDown()/CLK_Idle() is called, HIRC/HXT will be disabled in normal mode, but not in ICE mode. This may cause confusion in development.
-
+
     if (obj->powerdown) {   // Power-down mode (HIRC/HXT disabled, LIRC/LXT enabled)
         SYS_UnlockReg();
         CLK_PowerDown();
@@ -101,14 +89,9 @@ void mbed_enter_sleep(struct sleep_s *obj)
     __NOP();
     __NOP();
     __NOP();
-
-    obj->end_us = lp_ticker_read();
-    obj->period_us = (obj->end_us > obj->start_us) ? (obj->end_us - obj->start_us) : (uint32_t) ((uint64_t) obj->end_us + 0xFFFFFFFFu - obj->start_us);
-    // Let us_ticker recover from power-down.
-    us_ticker_wakeup_from_sleep(obj);
 }
 
-void mbed_exit_sleep(struct sleep_s *obj)
+static void mbed_exit_sleep(struct sleep_s *obj)
 {
     // TODO: TO BE CONTINUED