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Add some defensive programming in the default tickless mode in case the application supplied post tick hook takes a long time to complete.

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This commit is contained in:
Richard Barry 2013-10-08 12:33:46 +00:00
parent aedf7824cb
commit 0c56f5018d
6 changed files with 106 additions and 7 deletions
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14
FreeRTOS/Source/portable/GCC/ARM_CM3/port.c
View file

@ -547,12 +547,24 @@ void xPortSysTickHandler( void )
if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 ) if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 )
{ {
unsigned long ulCalculatedLoadValue;
/* The tick interrupt has already executed, and the SysTick /* The tick interrupt has already executed, and the SysTick
count reloaded with ulReloadValue. Reset the count reloaded with ulReloadValue. Reset the
portNVIC_SYSTICK_LOAD_REG with whatever remains of this tick portNVIC_SYSTICK_LOAD_REG with whatever remains of this tick
period. */ period. */
portNVIC_SYSTICK_LOAD_REG = ( ulTimerCountsForOneTick - 1UL ) - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG ); ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ) - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG );
/* Don't allow a tiny value, or values that have somehow
underflowed because the post sleep hook did something
that took too long. */
if( ( ulCalculatedLoadValue < ulStoppedTimerCompensation ) || ( ulCalculatedLoadValue > ulTimerCountsForOneTick ) )
{
ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL );
}
portNVIC_SYSTICK_LOAD_REG = ulCalculatedLoadValue;
/* The tick interrupt handler will already have pended the tick /* The tick interrupt handler will already have pended the tick
processing in the kernel. As the pending tick will be processing in the kernel. As the pending tick will be
processed as soon as this function exits, the tick value processed as soon as this function exits, the tick value

14
FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c
View file

@ -590,12 +590,24 @@ void xPortSysTickHandler( void )
if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 ) if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 )
{ {
unsigned long ulCalculatedLoadValue;
/* The tick interrupt has already executed, and the SysTick /* The tick interrupt has already executed, and the SysTick
count reloaded with ulReloadValue. Reset the count reloaded with ulReloadValue. Reset the
portNVIC_SYSTICK_LOAD_REG with whatever remains of this tick portNVIC_SYSTICK_LOAD_REG with whatever remains of this tick
period. */ period. */
portNVIC_SYSTICK_LOAD_REG = ( ulTimerCountsForOneTick - 1UL ) - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG ); ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ) - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG );
/* Don't allow a tiny value, or values that have somehow
underflowed because the post sleep hook did something
that took too long. */
if( ( ulCalculatedLoadValue < ulStoppedTimerCompensation ) || ( ulCalculatedLoadValue > ulTimerCountsForOneTick ) )
{
ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL );
}
portNVIC_SYSTICK_LOAD_REG = ulCalculatedLoadValue;
/* The tick interrupt handler will already have pended the tick /* The tick interrupt handler will already have pended the tick
processing in the kernel. As the pending tick will be processing in the kernel. As the pending tick will be
processed as soon as this function exits, the tick value processed as soon as this function exits, the tick value

14
FreeRTOS/Source/portable/IAR/ARM_CM3/port.c
View file

@ -440,12 +440,24 @@ void xPortSysTickHandler( void )
if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 ) if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 )
{ {
unsigned long ulCalculatedLoadValue;
/* The tick interrupt has already executed, and the SysTick /* The tick interrupt has already executed, and the SysTick
count reloaded with ulReloadValue. Reset the count reloaded with ulReloadValue. Reset the
portNVIC_SYSTICK_LOAD_REG with whatever remains of this tick portNVIC_SYSTICK_LOAD_REG with whatever remains of this tick
period. */ period. */
portNVIC_SYSTICK_LOAD_REG = ( ulTimerCountsForOneTick - 1UL ) - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG ); ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ) - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG );
/* Don't allow a tiny value, or values that have somehow
underflowed because the post sleep hook did something
that took too long. */
if( ( ulCalculatedLoadValue < ulStoppedTimerCompensation ) || ( ulCalculatedLoadValue > ulTimerCountsForOneTick ) )
{
ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL );
}
portNVIC_SYSTICK_LOAD_REG = ulCalculatedLoadValue;
/* The tick interrupt handler will already have pended the tick /* The tick interrupt handler will already have pended the tick
processing in the kernel. As the pending tick will be processing in the kernel. As the pending tick will be
processed as soon as this function exits, the tick value processed as soon as this function exits, the tick value

43
FreeRTOS/Source/portable/IAR/ARM_CM4F/port.c
View file

@ -154,6 +154,11 @@ extern void vPortStartFirstTask( void );
*/ */
extern void vPortEnableVFP( void ); extern void vPortEnableVFP( void );
/*
* Used to catch tasks that attempt to return from their implementing function.
*/
static void prvTaskExitError( void );
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* /*
@ -208,7 +213,7 @@ portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( portSTACK_TYPE ) pxCode; /* PC */ *pxTopOfStack = ( portSTACK_TYPE ) pxCode; /* PC */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = 0; /* LR */ *pxTopOfStack = ( portSTACK_TYPE ) prvTaskExitError; /* LR */
/* Save code space by skipping register initialisation. */ /* Save code space by skipping register initialisation. */
pxTopOfStack -= 5; /* R12, R3, R2 and R1. */ pxTopOfStack -= 5; /* R12, R3, R2 and R1. */
@ -225,6 +230,20 @@ portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
static void prvTaskExitError( void )
{
/* A function that implements a task must not exit or attempt to return to
its caller as there is nothing to return to. If a task wants to exit it
should instead call vTaskDelete( NULL ).
Artificially force an assert() to be triggered if configASSERT() is
defined, then stop here so application writers can catch the error. */
configASSERT( uxCriticalNesting == ~0UL );
portDISABLE_INTERRUPTS();
for( ;; );
}
/*-----------------------------------------------------------*/
/* /*
* See header file for description. * See header file for description.
*/ */
@ -393,9 +412,17 @@ void xPortSysTickHandler( void )
to be unsuspended then abandon the low power entry. */ to be unsuspended then abandon the low power entry. */
if( eTaskConfirmSleepModeStatus() == eAbortSleep ) if( eTaskConfirmSleepModeStatus() == eAbortSleep )
{ {
/* Restart from whatever is left in the count register to complete
this tick period. */
portNVIC_SYSTICK_LOAD_REG = portNVIC_SYSTICK_CURRENT_VALUE_REG;
/* Restart SysTick. */ /* Restart SysTick. */
portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT; portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
/* Reset the reload register to the value required for normal tick
periods. */
portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
/* Re-enable interrupts - see comments above __disable_interrupt() /* Re-enable interrupts - see comments above __disable_interrupt()
call above. */ call above. */
__enable_interrupt(); __enable_interrupt();
@ -439,12 +466,24 @@ void xPortSysTickHandler( void )
if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 ) if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 )
{ {
unsigned long ulCalculatedLoadValue;
/* The tick interrupt has already executed, and the SysTick /* The tick interrupt has already executed, and the SysTick
count reloaded with ulReloadValue. Reset the count reloaded with ulReloadValue. Reset the
portNVIC_SYSTICK_LOAD_REG with whatever remains of this tick portNVIC_SYSTICK_LOAD_REG with whatever remains of this tick
period. */ period. */
portNVIC_SYSTICK_LOAD_REG = ( ulTimerCountsForOneTick - 1UL ) - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG ); ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ) - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG );
/* Don't allow a tiny value, or values that have somehow
underflowed because the post sleep hook did something
that took too long. */
if( ( ulCalculatedLoadValue < ulStoppedTimerCompensation ) || ( ulCalculatedLoadValue > ulTimerCountsForOneTick ) )
{
ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL );
}
portNVIC_SYSTICK_LOAD_REG = ulCalculatedLoadValue;
/* The tick interrupt handler will already have pended the tick /* The tick interrupt handler will already have pended the tick
processing in the kernel. As the pending tick will be processing in the kernel. As the pending tick will be
processed as soon as this function exits, the tick value processed as soon as this function exits, the tick value

14
FreeRTOS/Source/portable/RVDS/ARM_CM3/port.c
View file

@ -516,12 +516,24 @@ void xPortSysTickHandler( void )
if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 ) if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 )
{ {
unsigned long ulCalculatedLoadValue;
/* The tick interrupt has already executed, and the SysTick /* The tick interrupt has already executed, and the SysTick
count reloaded with ulReloadValue. Reset the count reloaded with ulReloadValue. Reset the
portNVIC_SYSTICK_LOAD_REG with whatever remains of this tick portNVIC_SYSTICK_LOAD_REG with whatever remains of this tick
period. */ period. */
portNVIC_SYSTICK_LOAD_REG = ( ulTimerCountsForOneTick - 1UL ) - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG ); ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ) - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG );
/* Don't allow a tiny value, or values that have somehow
underflowed because the post sleep hook did something
that took too long. */
if( ( ulCalculatedLoadValue < ulStoppedTimerCompensation ) || ( ulCalculatedLoadValue > ulTimerCountsForOneTick ) )
{
ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL );
}
portNVIC_SYSTICK_LOAD_REG = ulCalculatedLoadValue;
/* The tick interrupt handler will already have pended the tick /* The tick interrupt handler will already have pended the tick
processing in the kernel. As the pending tick will be processing in the kernel. As the pending tick will be
processed as soon as this function exits, the tick value processed as soon as this function exits, the tick value

14
FreeRTOS/Source/portable/RVDS/ARM_CM4F/port.c
View file

@ -587,12 +587,24 @@ void xPortSysTickHandler( void )
if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 ) if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 )
{ {
unsigned long ulCalculatedLoadValue;
/* The tick interrupt has already executed, and the SysTick /* The tick interrupt has already executed, and the SysTick
count reloaded with ulReloadValue. Reset the count reloaded with ulReloadValue. Reset the
portNVIC_SYSTICK_LOAD_REG with whatever remains of this tick portNVIC_SYSTICK_LOAD_REG with whatever remains of this tick
period. */ period. */
portNVIC_SYSTICK_LOAD_REG = ( ulTimerCountsForOneTick - 1UL ) - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG ); ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ) - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG );
/* Don't allow a tiny value, or values that have somehow
underflowed because the post sleep hook did something
that took too long. */
if( ( ulCalculatedLoadValue < ulStoppedTimerCompensation ) || ( ulCalculatedLoadValue > ulTimerCountsForOneTick ) )
{
ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL );
}
portNVIC_SYSTICK_LOAD_REG = ulCalculatedLoadValue;
/* The tick interrupt handler will already have pended the tick /* The tick interrupt handler will already have pended the tick
processing in the kernel. As the pending tick will be processing in the kernel. As the pending tick will be
processed as soon as this function exits, the tick value processed as soon as this function exits, the tick value