Test with MAX32670, add upload method and fix ticker bug

hal/include/hal/lp_ticker_api.h

@@ -174,7 +174,8 @@ void lp_ticker_free(void);
  */
 uint32_t lp_ticker_read(void);
 
-/** Set interrupt for specified timestamp
+/**
+ * @brief Set interrupt for specified timestamp
  *
  * @param timestamp The time in ticks to be set. Guaranteed to be between 0 and 2^bits-1, where bits is
  *    the number of bits returned by ::lp_ticker_get_info
@@ -199,6 +200,7 @@ uint32_t lp_ticker_read(void);
  * @code
  * void lp_ticker_set_interrupt(timestamp_t timestamp)
  * {
+ *     lp_ticker_clear_interrupt();
  *     LPTMR_COMPARE = timestamp;
  *     LPTMR_CTRL |= LPTMR_CTRL_COMPARE_ENABLE_Msk;
  * }
@@ -222,8 +224,8 @@ void lp_ticker_disable_interrupt(void);
 /**
  * @brief Clear the low power ticker interrupt.
  *
- * This is required to be called from the interrupt handler to stop the interrupt handler
- * from being executed again after it returns. This does not do anything if called before the interrupt
+ * This is called from Mbed's interrupt handler and should clear the interrupt flag in the peripheral to stop
+ * the interrupt from being executed again after it returns. This does not do anything if called before the interrupt
  * fires (e.g. it doesn't cancel the interrupt if it's set in the future).
  *
  * Pseudo Code:

hal/include/hal/us_ticker_api.h

@@ -233,7 +233,8 @@ void us_ticker_free(void);
 // note: parenthesis around the function name make sure this isn't replaced by the us_ticker_read() macro version.
 uint32_t (us_ticker_read)(void);
 
-/** Set interrupt for specified timestamp
+/**
+ * @brief Set interrupt to fire at specified timestamp.
  *
  * @param timestamp The time in ticks to be set. Guaranteed to be between 0 and 2^bits-1, where bits is
  *    the number of bits returned by us_ticker_get_info()
@@ -247,7 +248,7 @@ uint32_t (us_ticker_read)(void);
  *    in the future, then reschedule the timer for the correct time.
  *
  * Calling this function with timestamp of more than the supported
- * number of bits returned by ::lp_ticker_get_info results in undefined
+ * number of bits returned by ::us_ticker_get_info results in undefined
  * behavior.
  *
  * If the timer interrupt is pending when this function is called (e.g. due to the ticker being set,
@@ -258,6 +259,7 @@ uint32_t (us_ticker_read)(void);
  * @code
  * void us_ticker_set_interrupt(timestamp_t timestamp)
  * {
+ *     us_ticker_clear_interrupt();
  *     TIMER_COMPARE = timestamp;
  *     TIMER_CTRL |= TIMER_CTRL_COMPARE_ENABLE_Msk;
  * }
@@ -281,8 +283,8 @@ void us_ticker_disable_interrupt(void);
 /**
  * @brief Clear the us ticker interrupt.
  *
- * This is required to be called from the interrupt handler to stop the interrupt handler
- * from being executed again after it returns. This does not do anything if called before the interrupt
+ * This is called from Mbed's interrupt handler and should clear the interrupt flag in the peripheral to stop
+ * the interrupt from being executed again after it returns. This does not do anything if called before the interrupt
  * fires (e.g. it doesn't cancel the interrupt if it's set in the future).
  *
  * Pseudo Code:

hal/tests/TESTS/mbed_hal/common_tickers/main.cpp

@@ -271,30 +271,29 @@ void ticker_interrupt_test(void)
 void ticker_disable_test()
 {
     intFlag = 0;
+    const uint32_t ticksFor1ms = lroundf(intf->get_info()->frequency * .001f);
 
-    const uint32_t ticksFor100us = lroundf(intf->get_info()->frequency * .0001f);
-
-    // Set an interrupt for 100us in the future, then disable it immediately
-    intf->set_interrupt(intf->read() + ticksFor100us);
+    // Set an interrupt for 1ms in the future, then disable it immediately
+    intf->set_interrupt(intf->read() + ticksFor1ms);
     intf->disable_interrupt();
 
     // Verify that it does not fire. Note that we cannot use wait_us here as it uses the us ticker
     // which is currently suspended.
-    wait_ns(200000);
+    wait_ns(2000000);
     TEST_ASSERT_EQUAL_INT(0, intFlag);
 
     // Now reset the interrupt again.
-    intf->set_interrupt(intf->read() + ticksFor100us);
+    intf->set_interrupt(intf->read() + ticksFor1ms);
 
     // Should not have fired yet
     TEST_ASSERT_EQUAL_INT_MESSAGE(0, intFlag, "Ticker fired during set_interrupt() while disabled! Check that set_interrupt() function clears pending timer compare.");
 
     // Still not yet
-    wait_ns(20000);
+    wait_ns(200000);
     TEST_ASSERT_EQUAL_INT(0, intFlag);
 
     // NOW it should have fired
-    wait_ns(170000);
+    wait_ns(1700000);
     TEST_ASSERT_EQUAL_INT(1, intFlag);
 }
 

targets/TARGET_Freescale/TARGET_MCUXpresso_MCUS/TARGET_MCU_K64F/device/TOOLCHAIN_GCC_ARM/MK64FN1M0xxx12.ld

@@ -214,13 +214,13 @@ SECTIONS
 
 #if MBED_CONF_PLATFORM_CRASH_CAPTURE_ENABLED
   /* Stick the crash data ram at the start of sram_l */
-  .crash_data_ram : ALIGN(8)
+  .crash_data_ram (NOLOAD): ALIGN(8)
   {
     __CRASH_DATA_RAM__ = .;
     __CRASH_DATA_RAM_START__ = .; /* Create a global symbol at data start */
     KEEP(*(.keep.crash_data_ram))
-    *(.m_crash_data_ram)     /* This is a user defined section */
     . += M_CRASH_DATA_RAM_SIZE;
+    *(.m_crash_data_ram)     /* This is a user defined section */
     . = ALIGN(8);
     __CRASH_DATA_RAM_END__ = .; /* Define a global symbol at data end */
   } > m_sram_l :sram_l

targets/TARGET_Maxim/TARGET_MAX32670/device/TOOLCHAIN_GCC_ARM/max32670.ld

@@ -38,17 +38,14 @@
 #endif
 
 STACK_SIZE = MBED_CONF_TARGET_BOOT_STACK_SIZE;
+M_CRASH_DATA_RAM_SIZE = 0x100;
 
 #define VECTORS_SIZE           (((NVIC_NUM_VECTORS * 4) + 7) & 0xFFFFFFF8) 
 
 MEMORY
 {
-    FLASH (rx)   : ORIGIN = MBED_APP_START, LENGTH = MBED_APP_SIZE
-    RAM   (rwx)  : ORIGIN = (MBED_RAM_START + VECTORS_SIZE), LENGTH = MBED_RAM_SIZE - VECTORS_SIZE
-    RAM_0 (rwx)  : ORIGIN = 0x20000000, LENGTH = 0x4000
-    RAM_1 (rwx)  : ORIGIN = 0x20004000, LENGTH = 0x4000
-    RAM_2 (rwx)  : ORIGIN = 0x20008000, LENGTH = 0x8000
-    RAM_3 (rwx)  : ORIGIN = 0x20010000, LENGTH = 0x8000
+    FLASH (rx)   : ORIGIN = MBED_CONFIGURED_ROM_START, LENGTH = MBED_CONFIGURED_ROM_SIZE
+    RAM   (rwx)  : ORIGIN = MBED_RAM_BANK_IRAM1_START, LENGTH = MBED_RAM_BANK_IRAM1_SIZE
 }
 
 
@@ -82,6 +79,12 @@ ENTRY(Reset_Handler)
 
 SECTIONS
 {
+    /* Space for interrupt vectors in RAM */
+    .ram_vector (NOLOAD):
+    {
+        . += VECTORS_SIZE;
+    } > RAM
+
     .text :
     {
         KEEP(*(.isr_vector))

targets/TARGET_Maxim/TARGET_MAX32670/lp_ticker.c

@@ -164,10 +164,12 @@ const ticker_info_t *lp_ticker_get_info(void)
 #define LP_TIMER_WIDTH    32
 
 //******************************************************************************
+
+static bool already_initialized = false;
+
 void lp_ticker_init(void)
 {    
     mxc_tmr_cfg_t cfg;
-    unsigned int count;
 
     cfg.pres    = LP_TIMER_PRESCALE;   
     cfg.mode    = TMR_MODE_COMPARE;        
@@ -177,36 +179,38 @@ void lp_ticker_init(void)
     cfg.pol     = 0;                  
 
     // Disable and deconfigure
-    MXC_TMR_Shutdown(LP_TIMER);
-    MXC_TMR_ClearFlags(LP_TIMER);
+    uint32_t prevCount = 0;
+    if (already_initialized) {
+        MXC_TMR_Shutdown(LP_TIMER);
+        MXC_TMR_ClearFlags(LP_TIMER);
 
-    count = MXC_TMR_GetCount(LP_TIMER);
+        prevCount = MXC_TMR_GetCount(LP_TIMER);
+    }
 
     // Configure and enable
     MXC_TMR_Init(LP_TIMER, &cfg, 0);
     MXC_TMR_EnableWakeup(LP_TIMER, &cfg);
-    MXC_TMR_SetCount(LP_TIMER, count);
+    MXC_TMR_SetCount(LP_TIMER, prevCount);
 
     // Enable interrupts
-    MXC_TMR_EnableInt(LP_TIMER);
     NVIC_SetVector(LP_TIMER_IRQn, (uint32_t)lp_ticker_irq_handler);
     NVIC_EnableIRQ(LP_TIMER_IRQn);
 
-#if MBED_CONF_TARGET_LP_TICKER_TIMER == 0
-    MXC_GCR->pm |= MXC_F_GCR_PM_LPTMR0_WE;
-#elif MBED_CONF_TARGET_LP_TICKER_TIMER == 1
-    MXC_GCR->pm |= MXC_F_GCR_PM_LPTMR1_WE;
-#endif
-
+    // Make sure ERTCO oscillator stays enabled in low-power mode
     MXC_PWRSEQ->lpcn |= MXC_F_PWRSEQ_LPCN_ERTCO_EN;
 
+    // Enable wakeup from sleep via LP timer
     MXC_LP_EnableTimerWakeup(LP_TIMER);
+
     MXC_TMR_Start(LP_TIMER);
+
+    already_initialized = true;
 }
 
 //******************************************************************************
 void lp_ticker_free(void)
 {
+    NVIC_DisableIRQ(LP_TIMER_IRQn);
     MXC_TMR_Shutdown(LP_TIMER);
 }
 
@@ -227,13 +231,15 @@ uint32_t lp_ticker_read(void)
 void lp_ticker_set_interrupt(timestamp_t timestamp)
 {
     //MXC_TMR_SetCompare(LP_TIMER, (timestamp) ? timestamp : 1);
+    lp_ticker_clear_interrupt();
+    MXC_TMR_EnableInt(LP_TIMER);
     LP_TIMER->cmp = timestamp ? timestamp : 1;
 }
 
 //******************************************************************************
 void lp_ticker_disable_interrupt(void)
 {
-    NVIC_DisableIRQ(LP_TIMER_IRQn);
+    MXC_TMR_DisableInt(LP_TIMER);
 }
 
 //******************************************************************************

targets/TARGET_Maxim/TARGET_MAX32670/us_ticker.c

@@ -57,40 +57,47 @@
 
 
 //******************************************************************************
+
+static bool already_initialized = false;
+
 void us_ticker_init(void)
 {
     mxc_tmr_cfg_t cfg;
-    unsigned int count;
 
     cfg.pres    = US_TIMER_PRESCALE;   
     cfg.mode    = TMR_MODE_COMPARE;        
     cfg.bitMode = TMR_BIT_MODE_32;  
     cfg.clock   = MXC_TMR_APB_CLK;        
     cfg.cmp_cnt = 0;//MXC_TMR_GetCompare(US_TIMER);              
-    cfg.pol     = 0;                  
+    cfg.pol     = 0;
 
-    // Disable and deconfigure
-    MXC_TMR_Shutdown(US_TIMER);
-    MXC_TMR_ClearFlags(US_TIMER);
+    uint32_t prevCount = 0;
+    if (already_initialized) {
+        // Disable and deconfigure
+        MXC_TMR_DisableInt(US_TIMER);
+        MXC_TMR_Shutdown(US_TIMER);
+        MXC_TMR_ClearFlags(US_TIMER);
 
-    count = MXC_TMR_GetCount(US_TIMER);
+        prevCount = MXC_TMR_GetCount(US_TIMER);
+    }
 
     // Configure and enable
     MXC_TMR_Init(US_TIMER, &cfg, 0);
-    MXC_TMR_SetCount(US_TIMER, count);
+    MXC_TMR_SetCount(US_TIMER, prevCount);
     MXC_TMR_Start(US_TIMER);
 
-    MXC_TMR_EnableInt(US_TIMER);
-
     // Enable interrupts
     NVIC_SetVector(US_TIMER_IRQn, (uint32_t)us_ticker_irq_handler);
     NVIC_EnableIRQ(US_TIMER_IRQn);
+
+    already_initialized = true;
 }
 
 //******************************************************************************
 void us_ticker_free(void)
 {
     MXC_TMR_Shutdown(US_TIMER);
+    NVIC_DisableIRQ(US_TIMER_IRQn);
 }
 
 //******************************************************************************
@@ -103,7 +110,9 @@ uint32_t us_ticker_read(void)
 //******************************************************************************
 void us_ticker_set_interrupt(timestamp_t timestamp)
 {
+    us_ticker_clear_interrupt();
     MXC_TMR_SetCompare(US_TIMER, (timestamp) ? timestamp : 1);
+    MXC_TMR_EnableInt(US_TIMER);
 }
 
 //******************************************************************************
@@ -115,7 +124,7 @@ void us_ticker_fire_interrupt(void)
 //******************************************************************************
 void us_ticker_disable_interrupt(void)
 {
-    NVIC_DisableIRQ(US_TIMER_IRQn);
+    MXC_TMR_DisableInt(US_TIMER);
 }
 
 //******************************************************************************

targets/targets.json5

@@ -6937,7 +6937,8 @@ mode is recommended for target MCUs with small amounts of flash and RAM.",
                 "small"
             ]
         },
-        "device_name": "MAX32670"
+        "device_name": "MAX32670",
+        "is_mcu_family_target": true
     },
     "MAX32670EVKIT": {
         "inherits": [

targets/upload_method_cfg/MAX32670EVKIT.cmake

@@ -0,0 +1,41 @@
+# Mbed OS upload method configuration file for target MAX32670EVKIT.
+# To change any of these parameters from their default values, set them in your build script between where you
+# include app.cmake and where you add mbed os as a subdirectory.
+
+# Notes:
+# 1. For the MBED upload method to work, you may need to update the DAPLink firmware as described here:
+#    https://github.com/analogdevicesinc/max32625pico-firmware-images
+#    My board shipped with firmware that claimed it was an MAX32630FTHR, causing
+#    "ERROR: The target board you compiled for is not connected to your system"
+# 2. MAX32670 support did not land in upstream OpenOCD until Aug 2025. As of this writing, you need to compile
+#    it yourself from the git version (or use the OpenOCD that is distributed with the Maxim SDK).
+#    However, this should be resolved with the release of OpenOCD 1.0, which is imminent.
+# 3. PyOCD does not work as of Sep 2025:
+#    0000691 I DAP is not accessible after reset; attempting reconnect [dap]
+#    0000795 E Error during board uninit: [session]
+#    0000805 C No ACK received [__main__]
+
+# General config parameters
+# -------------------------------------------------------------
+set(UPLOAD_METHOD_DEFAULT MBED)
+
+# Config options for MBED
+# -------------------------------------------------------------
+
+set(MBED_UPLOAD_ENABLED TRUE)
+set(MBED_RESET_BAUDRATE 115200)
+
+# Config options for OPENOCD
+# -------------------------------------------------------------
+
+set(OPENOCD_UPLOAD_ENABLED TRUE)
+set(OPENOCD_CHIP_CONFIG_COMMANDS
+        -f interface/cmsis-dap.cfg
+        -s ${CMAKE_CURRENT_LIST_DIR}/openocd_cfgs/max32xxx
+        -f target/max32670.cfg)
+
+# Config options for PYOCD
+# -------------------------------------------------------------
+set(PYOCD_UPLOAD_ENABLED FALSE)
+set(PYOCD_TARGET_NAME max32670)
+set(PYOCD_CLOCK_SPEED 4000k)