mirror of
https://github.com/FreeRTOS/FreeRTOS-Kernel.git
synced 2025-05-11 23:59:03 -04:00
Updates to the Cortex-M tickless idle code to reduce clock slippage.
Updates to prevent the vTaskSwitchContext() function being removed from GCC builds when link time optimisation is used.
This commit is contained in:
Richard Barry
parent
7ee26c1b5e
commit
464c2660ad
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@ -75,7 +75,7 @@
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#include "FreeRTOS.h"
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#include "task.h"
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#if configMAX_SYSCALL_INTERRUPT_PRIORITY == 0
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#if( configMAX_SYSCALL_INTERRUPT_PRIORITY == 0 )
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#error configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to 0. See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html
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#endif
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@ -132,14 +132,6 @@ calculations. */
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have bit-0 clear, as it is loaded into the PC on exit from an ISR. */
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#define portSTART_ADDRESS_MASK ( ( StackType_t ) 0xfffffffeUL )
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/* Required to allow portasm.asm access the configMAX_SYSCALL_INTERRUPT_PRIORITY
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setting. */
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const uint32_t ulMaxSyscallInterruptPriority = configMAX_SYSCALL_INTERRUPT_PRIORITY;
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/* Each task maintains its own interrupt status in the critical nesting
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variable. */
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static UBaseType_t uxCriticalNesting = 0xaaaaaaaa;
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/*
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* Setup the timer to generate the tick interrupts. The implementation in this
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* file is weak to allow application writers to change the timer used to
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@ -164,10 +156,18 @@ static void prvTaskExitError( void );
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/*-----------------------------------------------------------*/
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/* Required to allow portasm.asm access the configMAX_SYSCALL_INTERRUPT_PRIORITY
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setting. */
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const uint32_t ulMaxSyscallInterruptPriority = configMAX_SYSCALL_INTERRUPT_PRIORITY;
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/* Each task maintains its own interrupt status in the critical nesting
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variable. */
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static UBaseType_t uxCriticalNesting = 0xaaaaaaaa;
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/*
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* The number of SysTick increments that make up one tick period.
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*/
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#if configUSE_TICKLESS_IDLE == 1
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#if( configUSE_TICKLESS_IDLE == 1 )
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static uint32_t ulTimerCountsForOneTick = 0;
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#endif /* configUSE_TICKLESS_IDLE */
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@ -175,7 +175,7 @@ static void prvTaskExitError( void );
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* The maximum number of tick periods that can be suppressed is limited by the
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* 24 bit resolution of the SysTick timer.
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*/
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#if configUSE_TICKLESS_IDLE == 1
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#if( configUSE_TICKLESS_IDLE == 1 )
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static uint32_t xMaximumPossibleSuppressedTicks = 0;
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#endif /* configUSE_TICKLESS_IDLE */
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@ -183,7 +183,7 @@ static void prvTaskExitError( void );
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* Compensate for the CPU cycles that pass while the SysTick is stopped (low
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* power functionality only.
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*/
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#if configUSE_TICKLESS_IDLE == 1
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#if( configUSE_TICKLESS_IDLE == 1 )
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static uint32_t ulStoppedTimerCompensation = 0;
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#endif /* configUSE_TICKLESS_IDLE */
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@ -384,12 +384,12 @@ void xPortSysTickHandler( void )
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}
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/*-----------------------------------------------------------*/
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#if configUSE_TICKLESS_IDLE == 1
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#if( configUSE_TICKLESS_IDLE == 1 )
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#pragma WEAK( vPortSuppressTicksAndSleep )
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void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime )
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{
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uint32_t ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements, ulSysTickCTRL;
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uint32_t ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements;
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TickType_t xModifiableIdleTime;
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/* Make sure the SysTick reload value does not overflow the counter. */
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@ -466,23 +466,41 @@ void xPortSysTickHandler( void )
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}
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configPOST_SLEEP_PROCESSING( xExpectedIdleTime );
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/* Stop SysTick. Again, the time the SysTick is stopped for is
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accounted for as best it can be, but using the tickless mode will
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inevitably result in some tiny drift of the time maintained by the
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kernel with respect to calendar time. */
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ulSysTickCTRL = portNVIC_SYSTICK_CTRL_REG;
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portNVIC_SYSTICK_CTRL_REG = ( ulSysTickCTRL & ~portNVIC_SYSTICK_ENABLE_BIT );
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/* Re-enable interrupts - see comments above __disable_interrupt()
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call above. */
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/* Re-enable interrupts to allow the interrupt that brought the MCU
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out of sleep mode to execute immediately. see comments above
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__disable_interrupt() call above. */
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__asm( " cpsie i" );
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__asm( " dsb" );
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__asm( " isb" );
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if( ( ulSysTickCTRL & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 )
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/* Disable interrupts again because the clock is about to be stopped
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and interrupts that execute while the clock is stopped will increase
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any slippage between the time maintained by the RTOS and calendar
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time. */
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__asm( " cpsid i" );
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__asm( " dsb" );
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__asm( " isb" );
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/* Disable the SysTick clock without reading the
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portNVIC_SYSTICK_CTRL_REG register to ensure the
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portNVIC_SYSTICK_COUNT_FLAG_BIT is not cleared if it is set. Again,
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the time the SysTick is stopped for is accounted for as best it can
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be, but using the tickless mode will inevitably result in some tiny
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drift of the time maintained by the kernel with respect to calendar
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time*/
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portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT );
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/* Determine if the SysTick clock has already counted to zero and
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been set back to the current reload value (the reload back being
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correct for the entire expected idle time) or if the SysTick is yet
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to count to zero (in which case an interrupt other than the SysTick
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must have brought the system out of sleep mode). */
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if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 )
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{
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uint32_t ulCalculatedLoadValue;
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/* The tick interrupt has already executed, and the SysTick
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count reloaded with ulReloadValue. Reset the
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/* The tick interrupt is already pending, and the SysTick count
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reloaded with ulReloadValue. Reset the
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portNVIC_SYSTICK_LOAD_REG with whatever remains of this tick
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period. */
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ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ) - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG );
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@ -497,11 +515,9 @@ void xPortSysTickHandler( void )
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portNVIC_SYSTICK_LOAD_REG = ulCalculatedLoadValue;
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/* The tick interrupt handler will already have pended the tick
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processing in the kernel. As the pending tick will be
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processed as soon as this function exits, the tick value
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maintained by the tick is stepped forward by one less than the
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time spent waiting. */
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/* As the pending tick will be processed as soon as this
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function exits, the tick value maintained by the tick is stepped
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forward by one less than the time spent waiting. */
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ulCompleteTickPeriods = xExpectedIdleTime - 1UL;
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}
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else
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@ -523,21 +539,18 @@ void xPortSysTickHandler( void )
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/* Restart SysTick so it runs from portNVIC_SYSTICK_LOAD_REG
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again, then set portNVIC_SYSTICK_LOAD_REG back to its standard
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value. The critical section is used to ensure the tick interrupt
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can only execute once in the case that the reload register is near
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zero. */
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value. */
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portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;
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portENTER_CRITICAL();
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{
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portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT;
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vTaskStepTick( ulCompleteTickPeriods );
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portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
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}
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portEXIT_CRITICAL();
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portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT;
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vTaskStepTick( ulCompleteTickPeriods );
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portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
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/* Exit with interrpts enabled. */
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__asm( " cpsie i" );
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}
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}
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#endif /* #if configUSE_TICKLESS_IDLE */
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#endif /* configUSE_TICKLESS_IDLE */
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/*-----------------------------------------------------------*/
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/*
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@ -620,7 +633,7 @@ void vPortSetupTimerInterrupt( void )
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devices by calling NVIC_SetPriorityGrouping( 0 ); before starting the
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scheduler. Note however that some vendor specific peripheral libraries
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assume a non-zero priority group setting, in which cases using a value
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of zero will result in unpredicable behaviour. */
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of zero will result in unpredictable behaviour. */
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configASSERT( ( portAIRCR_REG & portPRIORITY_GROUP_MASK ) <= ulMaxPRIGROUPValue );
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}
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@ -79,7 +79,7 @@
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#error This port can only be used when the project options are configured to enable hardware floating point support.
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#endif
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#if configMAX_SYSCALL_INTERRUPT_PRIORITY == 0
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#if( configMAX_SYSCALL_INTERRUPT_PRIORITY == 0 )
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#error configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to 0. See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html
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#endif
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@ -141,14 +141,6 @@ calculations. */
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have bit-0 clear, as it is loaded into the PC on exit from an ISR. */
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#define portSTART_ADDRESS_MASK ( ( StackType_t ) 0xfffffffeUL )
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/* Required to allow portasm.asm access the configMAX_SYSCALL_INTERRUPT_PRIORITY
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setting. */
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const uint32_t ulMaxSyscallInterruptPriority = configMAX_SYSCALL_INTERRUPT_PRIORITY;
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/* Each task maintains its own interrupt status in the critical nesting
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variable. */
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static UBaseType_t uxCriticalNesting = 0xaaaaaaaa;
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/*
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* Setup the timer to generate the tick interrupts. The implementation in this
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* file is weak to allow application writers to change the timer used to
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@ -178,10 +170,18 @@ static void prvTaskExitError( void );
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/*-----------------------------------------------------------*/
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/* Required to allow portasm.asm access the configMAX_SYSCALL_INTERRUPT_PRIORITY
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setting. */
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const uint32_t ulMaxSyscallInterruptPriority = configMAX_SYSCALL_INTERRUPT_PRIORITY;
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/* Each task maintains its own interrupt status in the critical nesting
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variable. */
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static UBaseType_t uxCriticalNesting = 0xaaaaaaaa;
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/*
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* The number of SysTick increments that make up one tick period.
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*/
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#if configUSE_TICKLESS_IDLE == 1
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#if( configUSE_TICKLESS_IDLE == 1 )
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static uint32_t ulTimerCountsForOneTick = 0;
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#endif /* configUSE_TICKLESS_IDLE */
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@ -189,7 +189,7 @@ static void prvTaskExitError( void );
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* The maximum number of tick periods that can be suppressed is limited by the
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* 24 bit resolution of the SysTick timer.
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*/
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#if configUSE_TICKLESS_IDLE == 1
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#if( configUSE_TICKLESS_IDLE == 1 )
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static uint32_t xMaximumPossibleSuppressedTicks = 0;
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#endif /* configUSE_TICKLESS_IDLE */
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@ -197,7 +197,7 @@ static void prvTaskExitError( void );
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* Compensate for the CPU cycles that pass while the SysTick is stopped (low
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* power functionality only.
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*/
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#if configUSE_TICKLESS_IDLE == 1
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#if( configUSE_TICKLESS_IDLE == 1 )
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static uint32_t ulStoppedTimerCompensation = 0;
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#endif /* configUSE_TICKLESS_IDLE */
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@ -409,12 +409,12 @@ void xPortSysTickHandler( void )
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}
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/*-----------------------------------------------------------*/
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#if configUSE_TICKLESS_IDLE == 1
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#if( configUSE_TICKLESS_IDLE == 1 )
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#pragma WEAK( vPortSuppressTicksAndSleep )
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void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime )
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{
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uint32_t ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements, ulSysTickCTRL;
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uint32_t ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements;
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TickType_t xModifiableIdleTime;
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/* Make sure the SysTick reload value does not overflow the counter. */
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@ -491,23 +491,41 @@ void xPortSysTickHandler( void )
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}
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configPOST_SLEEP_PROCESSING( xExpectedIdleTime );
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/* Stop SysTick. Again, the time the SysTick is stopped for is
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accounted for as best it can be, but using the tickless mode will
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inevitably result in some tiny drift of the time maintained by the
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kernel with respect to calendar time. */
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ulSysTickCTRL = portNVIC_SYSTICK_CTRL_REG;
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portNVIC_SYSTICK_CTRL_REG = ( ulSysTickCTRL & ~portNVIC_SYSTICK_ENABLE_BIT );
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/* Re-enable interrupts - see comments above __disable_interrupt()
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call above. */
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/* Re-enable interrupts to allow the interrupt that brought the MCU
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out of sleep mode to execute immediately. see comments above
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__disable_interrupt() call above. */
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__asm( " cpsie i" );
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__asm( " dsb" );
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__asm( " isb" );
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if( ( ulSysTickCTRL & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 )
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/* Disable interrupts again because the clock is about to be stopped
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and interrupts that execute while the clock is stopped will increase
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any slippage between the time maintained by the RTOS and calendar
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time. */
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__asm( " cpsid i" );
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__asm( " dsb" );
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__asm( " isb" );
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/* Disable the SysTick clock without reading the
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portNVIC_SYSTICK_CTRL_REG register to ensure the
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portNVIC_SYSTICK_COUNT_FLAG_BIT is not cleared if it is set. Again,
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the time the SysTick is stopped for is accounted for as best it can
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be, but using the tickless mode will inevitably result in some tiny
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drift of the time maintained by the kernel with respect to calendar
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time*/
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portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT );
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/* Determine if the SysTick clock has already counted to zero and
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been set back to the current reload value (the reload back being
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correct for the entire expected idle time) or if the SysTick is yet
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to count to zero (in which case an interrupt other than the SysTick
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must have brought the system out of sleep mode). */
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if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 )
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{
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uint32_t ulCalculatedLoadValue;
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/* The tick interrupt has already executed, and the SysTick
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count reloaded with ulReloadValue. Reset the
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/* The tick interrupt is already pending, and the SysTick count
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reloaded with ulReloadValue. Reset the
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portNVIC_SYSTICK_LOAD_REG with whatever remains of this tick
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period. */
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ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ) - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG );
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@ -522,11 +540,9 @@ void xPortSysTickHandler( void )
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portNVIC_SYSTICK_LOAD_REG = ulCalculatedLoadValue;
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/* The tick interrupt handler will already have pended the tick
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processing in the kernel. As the pending tick will be
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processed as soon as this function exits, the tick value
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maintained by the tick is stepped forward by one less than the
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time spent waiting. */
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/* As the pending tick will be processed as soon as this
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function exits, the tick value maintained by the tick is stepped
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forward by one less than the time spent waiting. */
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ulCompleteTickPeriods = xExpectedIdleTime - 1UL;
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}
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else
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@ -548,21 +564,18 @@ void xPortSysTickHandler( void )
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/* Restart SysTick so it runs from portNVIC_SYSTICK_LOAD_REG
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again, then set portNVIC_SYSTICK_LOAD_REG back to its standard
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value. The critical section is used to ensure the tick interrupt
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can only execute once in the case that the reload register is near
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zero. */
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value. */
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portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;
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portENTER_CRITICAL();
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{
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portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT;
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vTaskStepTick( ulCompleteTickPeriods );
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portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
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}
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portEXIT_CRITICAL();
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portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT;
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vTaskStepTick( ulCompleteTickPeriods );
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portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
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/* Exit with interrpts enabled. */
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__asm( " cpsie i" );
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}
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}
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#endif /* #if configUSE_TICKLESS_IDLE */
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#endif /* configUSE_TICKLESS_IDLE */
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/*-----------------------------------------------------------*/
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/*
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@ -573,7 +586,7 @@ void xPortSysTickHandler( void )
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void vPortSetupTimerInterrupt( void )
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{
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/* Calculate the constants required to configure the tick interrupt. */
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#if configUSE_TICKLESS_IDLE == 1
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#if( configUSE_TICKLESS_IDLE == 1 )
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{
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ulTimerCountsForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ );
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xMaximumPossibleSuppressedTicks = portMAX_24_BIT_NUMBER / ulTimerCountsForOneTick;
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@ -645,7 +658,7 @@ void vPortSetupTimerInterrupt( void )
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devices by calling NVIC_SetPriorityGrouping( 0 ); before starting the
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scheduler. Note however that some vendor specific peripheral libraries
|
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assume a non-zero priority group setting, in which cases using a value
|
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of zero will result in unpredicable behaviour. */
|
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of zero will result in unpredictable behaviour. */
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configASSERT( ( portAIRCR_REG & portPRIORITY_GROUP_MASK ) <= ulMaxPRIGROUPValue );
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}
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@ -101,10 +101,6 @@ debugger. */
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#define portTASK_RETURN_ADDRESS prvTaskExitError
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#endif
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/* Each task maintains its own interrupt status in the critical nesting
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variable. */
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static UBaseType_t uxCriticalNesting = 0xaaaaaaaa;
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|
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/*
|
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* Setup the timer to generate the tick interrupts.
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*/
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@ -129,6 +125,12 @@ static void prvTaskExitError( void );
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/*-----------------------------------------------------------*/
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/* Each task maintains its own interrupt status in the critical nesting
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variable. */
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static UBaseType_t uxCriticalNesting = 0xaaaaaaaa;
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/*-----------------------------------------------------------*/
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/*
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* See header file for description.
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*/
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@ -220,8 +222,11 @@ BaseType_t xPortStartScheduler( void )
|
|||
/* Should never get here as the tasks will now be executing! Call the task
|
||||
exit error function to prevent compiler warnings about a static function
|
||||
not being called in the case that the application writer overrides this
|
||||
functionality by defining configTASK_RETURN_ADDRESS. */
|
||||
functionality by defining configTASK_RETURN_ADDRESS. Call
|
||||
vTaskSwitchContext() so link time optimisation does not remove the
|
||||
symbol. */
|
||||
prvTaskExitError();
|
||||
vTaskSwitchContext();
|
||||
|
||||
/* Should not get here! */
|
||||
return 0;
|
||||
|
|
|
|||
|
|
@ -144,10 +144,6 @@ debugger. */
|
|||
#define portTASK_RETURN_ADDRESS prvTaskExitError
|
||||
#endif
|
||||
|
||||
/* Each task maintains its own interrupt status in the critical nesting
|
||||
variable. */
|
||||
static UBaseType_t uxCriticalNesting = 0xaaaaaaaa;
|
||||
|
||||
/*
|
||||
* Setup the timer to generate the tick interrupts. The implementation in this
|
||||
* file is weak to allow application writers to change the timer used to
|
||||
|
|
@ -174,10 +170,14 @@ static void prvTaskExitError( void );
|
|||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* Each task maintains its own interrupt status in the critical nesting
|
||||
variable. */
|
||||
static UBaseType_t uxCriticalNesting = 0xaaaaaaaa;
|
||||
|
||||
/*
|
||||
* The number of SysTick increments that make up one tick period.
|
||||
*/
|
||||
#if configUSE_TICKLESS_IDLE == 1
|
||||
#if( configUSE_TICKLESS_IDLE == 1 )
|
||||
static uint32_t ulTimerCountsForOneTick = 0;
|
||||
#endif /* configUSE_TICKLESS_IDLE */
|
||||
|
||||
|
|
@ -185,7 +185,7 @@ static void prvTaskExitError( void );
|
|||
* The maximum number of tick periods that can be suppressed is limited by the
|
||||
* 24 bit resolution of the SysTick timer.
|
||||
*/
|
||||
#if configUSE_TICKLESS_IDLE == 1
|
||||
#if( configUSE_TICKLESS_IDLE == 1 )
|
||||
static uint32_t xMaximumPossibleSuppressedTicks = 0;
|
||||
#endif /* configUSE_TICKLESS_IDLE */
|
||||
|
||||
|
|
@ -193,7 +193,7 @@ static void prvTaskExitError( void );
|
|||
* Compensate for the CPU cycles that pass while the SysTick is stopped (low
|
||||
* power functionality only.
|
||||
*/
|
||||
#if configUSE_TICKLESS_IDLE == 1
|
||||
#if( configUSE_TICKLESS_IDLE == 1 )
|
||||
static uint32_t ulStoppedTimerCompensation = 0;
|
||||
#endif /* configUSE_TICKLESS_IDLE */
|
||||
|
||||
|
|
@ -202,7 +202,7 @@ static void prvTaskExitError( void );
|
|||
* FreeRTOS API functions are not called from interrupts that have been assigned
|
||||
* a priority above configMAX_SYSCALL_INTERRUPT_PRIORITY.
|
||||
*/
|
||||
#if ( configASSERT_DEFINED == 1 )
|
||||
#if( configASSERT_DEFINED == 1 )
|
||||
static uint8_t ucMaxSysCallPriority = 0;
|
||||
static uint32_t ulMaxPRIGROUPValue = 0;
|
||||
static const volatile uint8_t * const pcInterruptPriorityRegisters = ( const volatile uint8_t * const ) portNVIC_IP_REGISTERS_OFFSET_16;
|
||||
|
|
@ -370,8 +370,11 @@ BaseType_t xPortStartScheduler( void )
|
|||
/* Should never get here as the tasks will now be executing! Call the task
|
||||
exit error function to prevent compiler warnings about a static function
|
||||
not being called in the case that the application writer overrides this
|
||||
functionality by defining configTASK_RETURN_ADDRESS. */
|
||||
functionality by defining configTASK_RETURN_ADDRESS. Call
|
||||
vTaskSwitchContext() so link time optimisation does not remove the
|
||||
symbol. */
|
||||
prvTaskExitError();
|
||||
vTaskSwitchContext();
|
||||
|
||||
/* Should not get here! */
|
||||
return 0;
|
||||
|
|
@ -471,7 +474,7 @@ void xPortSysTickHandler( void )
|
|||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
#if configUSE_TICKLESS_IDLE == 1
|
||||
#if( configUSE_TICKLESS_IDLE == 1 )
|
||||
|
||||
__attribute__((weak)) void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime )
|
||||
{
|
||||
|
|
@ -551,13 +554,28 @@ void xPortSysTickHandler( void )
|
|||
}
|
||||
configPOST_SLEEP_PROCESSING( xExpectedIdleTime );
|
||||
|
||||
/* Re-enable interrupts - see comments above the cpsid instruction()
|
||||
above. */
|
||||
/* Re-enable interrupts to allow the interrupt that brought the MCU
|
||||
out of sleep mode to execute immediately. see comments above
|
||||
__disable_interrupt() call above. */
|
||||
__asm volatile( "cpsie i" ::: "memory" );
|
||||
__asm volatile( "dsb" );
|
||||
__asm volatile( "isb" );
|
||||
|
||||
/* Disable interrupts again because the clock is about to be stopped
|
||||
and interrupts that execute while the clock is stopped will increase
|
||||
any slippage between the time maintained by the RTOS and calendar
|
||||
time. */
|
||||
__asm volatile( "cpsid i" ::: "memory" );
|
||||
__asm volatile( "dsb" );
|
||||
__asm volatile( "isb" );
|
||||
|
||||
/* Disable the SysTick clock without reading the
|
||||
portNVIC_SYSTICK_CTRL_REG register to ensure the
|
||||
portNVIC_SYSTICK_COUNT_FLAG_BIT is not cleared if it is set. */
|
||||
portNVIC_SYSTICK_COUNT_FLAG_BIT is not cleared if it is set. Again,
|
||||
the time the SysTick is stopped for is accounted for as best it can
|
||||
be, but using the tickless mode will inevitably result in some tiny
|
||||
drift of the time maintained by the kernel with respect to calendar
|
||||
time*/
|
||||
portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT );
|
||||
|
||||
/* Determine if the SysTick clock has already counted to zero and
|
||||
|
|
@ -569,8 +587,8 @@ void xPortSysTickHandler( void )
|
|||
{
|
||||
uint32_t ulCalculatedLoadValue;
|
||||
|
||||
/* The tick interrupt has already executed, and the SysTick
|
||||
count reloaded with ulReloadValue. Reset the
|
||||
/* The tick interrupt is already pending, and the SysTick count
|
||||
reloaded with ulReloadValue. Reset the
|
||||
portNVIC_SYSTICK_LOAD_REG with whatever remains of this tick
|
||||
period. */
|
||||
ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ) - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG );
|
||||
|
|
@ -585,11 +603,9 @@ void xPortSysTickHandler( void )
|
|||
|
||||
portNVIC_SYSTICK_LOAD_REG = ulCalculatedLoadValue;
|
||||
|
||||
/* The tick interrupt handler will already have pended the tick
|
||||
processing in the kernel. As the pending tick will be
|
||||
processed as soon as this function exits, the tick value
|
||||
maintained by the tick is stepped forward by one less than the
|
||||
time spent waiting. */
|
||||
/* As the pending tick will be processed as soon as this
|
||||
function exits, the tick value maintained by the tick is stepped
|
||||
forward by one less than the time spent waiting. */
|
||||
ulCompleteTickPeriods = xExpectedIdleTime - 1UL;
|
||||
}
|
||||
else
|
||||
|
|
@ -611,21 +627,18 @@ void xPortSysTickHandler( void )
|
|||
|
||||
/* Restart SysTick so it runs from portNVIC_SYSTICK_LOAD_REG
|
||||
again, then set portNVIC_SYSTICK_LOAD_REG back to its standard
|
||||
value. The critical section is used to ensure the tick interrupt
|
||||
can only execute once in the case that the reload register is near
|
||||
zero. */
|
||||
value. */
|
||||
portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;
|
||||
portENTER_CRITICAL();
|
||||
{
|
||||
portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT;
|
||||
vTaskStepTick( ulCompleteTickPeriods );
|
||||
portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
|
||||
}
|
||||
portEXIT_CRITICAL();
|
||||
portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT;
|
||||
vTaskStepTick( ulCompleteTickPeriods );
|
||||
portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
|
||||
|
||||
/* Exit with interrpts enabled. */
|
||||
__asm volatile( "cpsie i" ::: "memory" );
|
||||
}
|
||||
}
|
||||
|
||||
#endif /* #if configUSE_TICKLESS_IDLE */
|
||||
#endif /* configUSE_TICKLESS_IDLE */
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/*
|
||||
|
|
@ -635,7 +648,7 @@ void xPortSysTickHandler( void )
|
|||
__attribute__(( weak )) void vPortSetupTimerInterrupt( void )
|
||||
{
|
||||
/* Calculate the constants required to configure the tick interrupt. */
|
||||
#if configUSE_TICKLESS_IDLE == 1
|
||||
#if( configUSE_TICKLESS_IDLE == 1 )
|
||||
{
|
||||
ulTimerCountsForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ );
|
||||
xMaximumPossibleSuppressedTicks = portMAX_24_BIT_NUMBER / ulTimerCountsForOneTick;
|
||||
|
|
@ -707,7 +720,7 @@ __attribute__(( weak )) void vPortSetupTimerInterrupt( void )
|
|||
devices by calling NVIC_SetPriorityGrouping( 0 ); before starting the
|
||||
scheduler. Note however that some vendor specific peripheral libraries
|
||||
assume a non-zero priority group setting, in which cases using a value
|
||||
of zero will result in unpredicable behaviour. */
|
||||
of zero will result in unpredictable behaviour. */
|
||||
configASSERT( ( portAIRCR_REG & portPRIORITY_GROUP_MASK ) <= ulMaxPRIGROUPValue );
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -152,10 +152,6 @@ debugger. */
|
|||
#define portTASK_RETURN_ADDRESS prvTaskExitError
|
||||
#endif
|
||||
|
||||
/* Each task maintains its own interrupt status in the critical nesting
|
||||
variable. */
|
||||
static UBaseType_t uxCriticalNesting = 0xaaaaaaaa;
|
||||
|
||||
/*
|
||||
* Setup the timer to generate the tick interrupts. The implementation in this
|
||||
* file is weak to allow application writers to change the timer used to
|
||||
|
|
@ -187,10 +183,14 @@ static void prvTaskExitError( void );
|
|||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* Each task maintains its own interrupt status in the critical nesting
|
||||
variable. */
|
||||
static UBaseType_t uxCriticalNesting = 0xaaaaaaaa;
|
||||
|
||||
/*
|
||||
* The number of SysTick increments that make up one tick period.
|
||||
*/
|
||||
#if configUSE_TICKLESS_IDLE == 1
|
||||
#if( configUSE_TICKLESS_IDLE == 1 )
|
||||
static uint32_t ulTimerCountsForOneTick = 0;
|
||||
#endif /* configUSE_TICKLESS_IDLE */
|
||||
|
||||
|
|
@ -198,7 +198,7 @@ static void prvTaskExitError( void );
|
|||
* The maximum number of tick periods that can be suppressed is limited by the
|
||||
* 24 bit resolution of the SysTick timer.
|
||||
*/
|
||||
#if configUSE_TICKLESS_IDLE == 1
|
||||
#if( configUSE_TICKLESS_IDLE == 1 )
|
||||
static uint32_t xMaximumPossibleSuppressedTicks = 0;
|
||||
#endif /* configUSE_TICKLESS_IDLE */
|
||||
|
||||
|
|
@ -206,7 +206,7 @@ static void prvTaskExitError( void );
|
|||
* Compensate for the CPU cycles that pass while the SysTick is stopped (low
|
||||
* power functionality only.
|
||||
*/
|
||||
#if configUSE_TICKLESS_IDLE == 1
|
||||
#if( configUSE_TICKLESS_IDLE == 1 )
|
||||
static uint32_t ulStoppedTimerCompensation = 0;
|
||||
#endif /* configUSE_TICKLESS_IDLE */
|
||||
|
||||
|
|
@ -215,7 +215,7 @@ static void prvTaskExitError( void );
|
|||
* FreeRTOS API functions are not called from interrupts that have been assigned
|
||||
* a priority above configMAX_SYSCALL_INTERRUPT_PRIORITY.
|
||||
*/
|
||||
#if ( configASSERT_DEFINED == 1 )
|
||||
#if( configASSERT_DEFINED == 1 )
|
||||
static uint8_t ucMaxSysCallPriority = 0;
|
||||
static uint32_t ulMaxPRIGROUPValue = 0;
|
||||
static const volatile uint8_t * const pcInterruptPriorityRegisters = ( const volatile uint8_t * const ) portNVIC_IP_REGISTERS_OFFSET_16;
|
||||
|
|
@ -412,8 +412,11 @@ BaseType_t xPortStartScheduler( void )
|
|||
/* Should never get here as the tasks will now be executing! Call the task
|
||||
exit error function to prevent compiler warnings about a static function
|
||||
not being called in the case that the application writer overrides this
|
||||
functionality by defining configTASK_RETURN_ADDRESS. */
|
||||
functionality by defining configTASK_RETURN_ADDRESS. Call
|
||||
vTaskSwitchContext() so link time optimisation does not remove the
|
||||
symbol. */
|
||||
prvTaskExitError();
|
||||
vTaskSwitchContext();
|
||||
|
||||
/* Should not get here! */
|
||||
return 0;
|
||||
|
|
@ -533,11 +536,11 @@ void xPortSysTickHandler( void )
|
|||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
#if configUSE_TICKLESS_IDLE == 1
|
||||
#if( configUSE_TICKLESS_IDLE == 1 )
|
||||
|
||||
__attribute__((weak)) void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime )
|
||||
{
|
||||
uint32_t ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements, ulSysTickCTRL;
|
||||
uint32_t ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements;
|
||||
TickType_t xModifiableIdleTime;
|
||||
|
||||
/* Make sure the SysTick reload value does not overflow the counter. */
|
||||
|
|
@ -613,23 +616,41 @@ void xPortSysTickHandler( void )
|
|||
}
|
||||
configPOST_SLEEP_PROCESSING( xExpectedIdleTime );
|
||||
|
||||
/* Stop SysTick. Again, the time the SysTick is stopped for is
|
||||
accounted for as best it can be, but using the tickless mode will
|
||||
inevitably result in some tiny drift of the time maintained by the
|
||||
kernel with respect to calendar time. */
|
||||
ulSysTickCTRL = portNVIC_SYSTICK_CTRL_REG;
|
||||
portNVIC_SYSTICK_CTRL_REG = ( ulSysTickCTRL & ~portNVIC_SYSTICK_ENABLE_BIT );
|
||||
|
||||
/* Re-enable interrupts - see comments above the cpsid instruction()
|
||||
above. */
|
||||
/* Re-enable interrupts to allow the interrupt that brought the MCU
|
||||
out of sleep mode to execute immediately. see comments above
|
||||
__disable_interrupt() call above. */
|
||||
__asm volatile( "cpsie i" ::: "memory" );
|
||||
__asm volatile( "dsb" );
|
||||
__asm volatile( "isb" );
|
||||
|
||||
if( ( ulSysTickCTRL & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 )
|
||||
/* Disable interrupts again because the clock is about to be stopped
|
||||
and interrupts that execute while the clock is stopped will increase
|
||||
any slippage between the time maintained by the RTOS and calendar
|
||||
time. */
|
||||
__asm volatile( "cpsid i" ::: "memory" );
|
||||
__asm volatile( "dsb" );
|
||||
__asm volatile( "isb" );
|
||||
|
||||
/* Disable the SysTick clock without reading the
|
||||
portNVIC_SYSTICK_CTRL_REG register to ensure the
|
||||
portNVIC_SYSTICK_COUNT_FLAG_BIT is not cleared if it is set. Again,
|
||||
the time the SysTick is stopped for is accounted for as best it can
|
||||
be, but using the tickless mode will inevitably result in some tiny
|
||||
drift of the time maintained by the kernel with respect to calendar
|
||||
time*/
|
||||
portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT );
|
||||
|
||||
/* Determine if the SysTick clock has already counted to zero and
|
||||
been set back to the current reload value (the reload back being
|
||||
correct for the entire expected idle time) or if the SysTick is yet
|
||||
to count to zero (in which case an interrupt other than the SysTick
|
||||
must have brought the system out of sleep mode). */
|
||||
if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 )
|
||||
{
|
||||
uint32_t ulCalculatedLoadValue;
|
||||
|
||||
/* The tick interrupt has already executed, and the SysTick
|
||||
count reloaded with ulReloadValue. Reset the
|
||||
/* The tick interrupt is already pending, and the SysTick count
|
||||
reloaded with ulReloadValue. Reset the
|
||||
portNVIC_SYSTICK_LOAD_REG with whatever remains of this tick
|
||||
period. */
|
||||
ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ) - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG );
|
||||
|
|
@ -644,11 +665,9 @@ void xPortSysTickHandler( void )
|
|||
|
||||
portNVIC_SYSTICK_LOAD_REG = ulCalculatedLoadValue;
|
||||
|
||||
/* The tick interrupt handler will already have pended the tick
|
||||
processing in the kernel. As the pending tick will be
|
||||
processed as soon as this function exits, the tick value
|
||||
maintained by the tick is stepped forward by one less than the
|
||||
time spent waiting. */
|
||||
/* As the pending tick will be processed as soon as this
|
||||
function exits, the tick value maintained by the tick is stepped
|
||||
forward by one less than the time spent waiting. */
|
||||
ulCompleteTickPeriods = xExpectedIdleTime - 1UL;
|
||||
}
|
||||
else
|
||||
|
|
@ -670,17 +689,14 @@ void xPortSysTickHandler( void )
|
|||
|
||||
/* Restart SysTick so it runs from portNVIC_SYSTICK_LOAD_REG
|
||||
again, then set portNVIC_SYSTICK_LOAD_REG back to its standard
|
||||
value. The critical section is used to ensure the tick interrupt
|
||||
can only execute once in the case that the reload register is near
|
||||
zero. */
|
||||
value. */
|
||||
portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;
|
||||
portENTER_CRITICAL();
|
||||
{
|
||||
portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT;
|
||||
vTaskStepTick( ulCompleteTickPeriods );
|
||||
portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
|
||||
}
|
||||
portEXIT_CRITICAL();
|
||||
portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT;
|
||||
vTaskStepTick( ulCompleteTickPeriods );
|
||||
portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
|
||||
|
||||
/* Exit with interrpts enabled. */
|
||||
__asm volatile( "cpsie i" ::: "memory" );
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -694,7 +710,7 @@ void xPortSysTickHandler( void )
|
|||
__attribute__(( weak )) void vPortSetupTimerInterrupt( void )
|
||||
{
|
||||
/* Calculate the constants required to configure the tick interrupt. */
|
||||
#if configUSE_TICKLESS_IDLE == 1
|
||||
#if( configUSE_TICKLESS_IDLE == 1 )
|
||||
{
|
||||
ulTimerCountsForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ );
|
||||
xMaximumPossibleSuppressedTicks = portMAX_24_BIT_NUMBER / ulTimerCountsForOneTick;
|
||||
|
|
@ -781,7 +797,7 @@ static void vPortEnableVFP( void )
|
|||
devices by calling NVIC_SetPriorityGrouping( 0 ); before starting the
|
||||
scheduler. Note however that some vendor specific peripheral libraries
|
||||
assume a non-zero priority group setting, in which cases using a value
|
||||
of zero will result in unpredicable behaviour. */
|
||||
of zero will result in unpredictable behaviour. */
|
||||
configASSERT( ( portAIRCR_REG & portPRIORITY_GROUP_MASK ) <= ulMaxPRIGROUPValue );
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -118,25 +118,25 @@
|
|||
#define portVECTACTIVE_MASK ( 0xFFUL )
|
||||
|
||||
/* Constants required to manipulate the VFP. */
|
||||
#define portFPCCR ( ( volatile uint32_t * ) 0xe000ef34 ) /* Floating point context control register. */
|
||||
#define portASPEN_AND_LSPEN_BITS ( 0x3UL << 30UL )
|
||||
#define portFPCCR ( ( volatile uint32_t * ) 0xe000ef34 ) /* Floating point context control register. */
|
||||
#define portASPEN_AND_LSPEN_BITS ( 0x3UL << 30UL )
|
||||
|
||||
/* Constants required to set up the initial stack. */
|
||||
#define portINITIAL_XPSR ( 0x01000000 )
|
||||
#define portINITIAL_EXEC_RETURN ( 0xfffffffd )
|
||||
#define portINITIAL_XPSR ( 0x01000000 )
|
||||
#define portINITIAL_EXEC_RETURN ( 0xfffffffd )
|
||||
|
||||
/* The systick is a 24-bit counter. */
|
||||
#define portMAX_24_BIT_NUMBER ( 0xffffffUL )
|
||||
|
||||
/* For strict compliance with the Cortex-M spec the task start address should
|
||||
have bit-0 clear, as it is loaded into the PC on exit from an ISR. */
|
||||
#define portSTART_ADDRESS_MASK ( ( StackType_t ) 0xfffffffeUL )
|
||||
|
||||
/* A fiddle factor to estimate the number of SysTick counts that would have
|
||||
occurred while the SysTick counter is stopped during tickless idle
|
||||
calculations. */
|
||||
#define portMISSED_COUNTS_FACTOR ( 45UL )
|
||||
|
||||
/* For strict compliance with the Cortex-M spec the task start address should
|
||||
have bit-0 clear, as it is loaded into the PC on exit from an ISR. */
|
||||
#define portSTART_ADDRESS_MASK ( ( StackType_t ) 0xfffffffeUL )
|
||||
|
||||
/* Let the user override the pre-loading of the initial LR with the address of
|
||||
prvTaskExitError() in case it messes up unwinding of the stack in the
|
||||
debugger. */
|
||||
|
|
@ -146,10 +146,6 @@ debugger. */
|
|||
#define portTASK_RETURN_ADDRESS prvTaskExitError
|
||||
#endif
|
||||
|
||||
/* Each task maintains its own interrupt status in the critical nesting
|
||||
variable. */
|
||||
static UBaseType_t uxCriticalNesting = 0xaaaaaaaa;
|
||||
|
||||
/*
|
||||
* Setup the timer to generate the tick interrupts. The implementation in this
|
||||
* file is weak to allow application writers to change the timer used to
|
||||
|
|
@ -172,7 +168,7 @@ static void prvPortStartFirstTask( void ) __attribute__ (( naked ));
|
|||
/*
|
||||
* Function to enable the VFP.
|
||||
*/
|
||||
static void vPortEnableVFP( void ) __attribute__ (( naked ));
|
||||
static void vPortEnableVFP( void ) __attribute__ (( naked ));
|
||||
|
||||
/*
|
||||
* Used to catch tasks that attempt to return from their implementing function.
|
||||
|
|
@ -181,10 +177,14 @@ static void prvTaskExitError( void );
|
|||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* Each task maintains its own interrupt status in the critical nesting
|
||||
variable. */
|
||||
static UBaseType_t uxCriticalNesting = 0xaaaaaaaa;
|
||||
|
||||
/*
|
||||
* The number of SysTick increments that make up one tick period.
|
||||
*/
|
||||
#if configUSE_TICKLESS_IDLE == 1
|
||||
#if( configUSE_TICKLESS_IDLE == 1 )
|
||||
static uint32_t ulTimerCountsForOneTick = 0;
|
||||
#endif /* configUSE_TICKLESS_IDLE */
|
||||
|
||||
|
|
@ -192,7 +192,7 @@ static void prvTaskExitError( void );
|
|||
* The maximum number of tick periods that can be suppressed is limited by the
|
||||
* 24 bit resolution of the SysTick timer.
|
||||
*/
|
||||
#if configUSE_TICKLESS_IDLE == 1
|
||||
#if( configUSE_TICKLESS_IDLE == 1 )
|
||||
static uint32_t xMaximumPossibleSuppressedTicks = 0;
|
||||
#endif /* configUSE_TICKLESS_IDLE */
|
||||
|
||||
|
|
@ -200,7 +200,7 @@ static void prvTaskExitError( void );
|
|||
* Compensate for the CPU cycles that pass while the SysTick is stopped (low
|
||||
* power functionality only.
|
||||
*/
|
||||
#if configUSE_TICKLESS_IDLE == 1
|
||||
#if( configUSE_TICKLESS_IDLE == 1 )
|
||||
static uint32_t ulStoppedTimerCompensation = 0;
|
||||
#endif /* configUSE_TICKLESS_IDLE */
|
||||
|
||||
|
|
@ -209,7 +209,7 @@ static void prvTaskExitError( void );
|
|||
* FreeRTOS API functions are not called from interrupts that have been assigned
|
||||
* a priority above configMAX_SYSCALL_INTERRUPT_PRIORITY.
|
||||
*/
|
||||
#if ( configASSERT_DEFINED == 1 )
|
||||
#if( configASSERT_DEFINED == 1 )
|
||||
static uint8_t ucMaxSysCallPriority = 0;
|
||||
static uint32_t ulMaxPRIGROUPValue = 0;
|
||||
static const volatile uint8_t * const pcInterruptPriorityRegisters = ( const volatile uint8_t * const ) portNVIC_IP_REGISTERS_OFFSET_16;
|
||||
|
|
@ -400,8 +400,11 @@ BaseType_t xPortStartScheduler( void )
|
|||
/* Should never get here as the tasks will now be executing! Call the task
|
||||
exit error function to prevent compiler warnings about a static function
|
||||
not being called in the case that the application writer overrides this
|
||||
functionality by defining configTASK_RETURN_ADDRESS. */
|
||||
functionality by defining configTASK_RETURN_ADDRESS. Call
|
||||
vTaskSwitchContext() so link time optimisation does not remove the
|
||||
symbol. */
|
||||
prvTaskExitError();
|
||||
vTaskSwitchContext();
|
||||
|
||||
/* Should not get here! */
|
||||
return 0;
|
||||
|
|
@ -523,11 +526,11 @@ void xPortSysTickHandler( void )
|
|||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
#if configUSE_TICKLESS_IDLE == 1
|
||||
#if( configUSE_TICKLESS_IDLE == 1 )
|
||||
|
||||
__attribute__((weak)) void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime )
|
||||
{
|
||||
uint32_t ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements, ulSysTickCTRL;
|
||||
uint32_t ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements;
|
||||
TickType_t xModifiableIdleTime;
|
||||
|
||||
/* Make sure the SysTick reload value does not overflow the counter. */
|
||||
|
|
@ -603,23 +606,41 @@ void xPortSysTickHandler( void )
|
|||
}
|
||||
configPOST_SLEEP_PROCESSING( xExpectedIdleTime );
|
||||
|
||||
/* Stop SysTick. Again, the time the SysTick is stopped for is
|
||||
accounted for as best it can be, but using the tickless mode will
|
||||
inevitably result in some tiny drift of the time maintained by the
|
||||
kernel with respect to calendar time. */
|
||||
ulSysTickCTRL = portNVIC_SYSTICK_CTRL_REG;
|
||||
portNVIC_SYSTICK_CTRL_REG = ( ulSysTickCTRL & ~portNVIC_SYSTICK_ENABLE_BIT );
|
||||
|
||||
/* Re-enable interrupts - see comments above the cpsid instruction()
|
||||
above. */
|
||||
/* Re-enable interrupts to allow the interrupt that brought the MCU
|
||||
out of sleep mode to execute immediately. see comments above
|
||||
__disable_interrupt() call above. */
|
||||
__asm volatile( "cpsie i" ::: "memory" );
|
||||
__asm volatile( "dsb" );
|
||||
__asm volatile( "isb" );
|
||||
|
||||
if( ( ulSysTickCTRL & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 )
|
||||
/* Disable interrupts again because the clock is about to be stopped
|
||||
and interrupts that execute while the clock is stopped will increase
|
||||
any slippage between the time maintained by the RTOS and calendar
|
||||
time. */
|
||||
__asm volatile( "cpsid i" ::: "memory" );
|
||||
__asm volatile( "dsb" );
|
||||
__asm volatile( "isb" );
|
||||
|
||||
/* Disable the SysTick clock without reading the
|
||||
portNVIC_SYSTICK_CTRL_REG register to ensure the
|
||||
portNVIC_SYSTICK_COUNT_FLAG_BIT is not cleared if it is set. Again,
|
||||
the time the SysTick is stopped for is accounted for as best it can
|
||||
be, but using the tickless mode will inevitably result in some tiny
|
||||
drift of the time maintained by the kernel with respect to calendar
|
||||
time*/
|
||||
portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT );
|
||||
|
||||
/* Determine if the SysTick clock has already counted to zero and
|
||||
been set back to the current reload value (the reload back being
|
||||
correct for the entire expected idle time) or if the SysTick is yet
|
||||
to count to zero (in which case an interrupt other than the SysTick
|
||||
must have brought the system out of sleep mode). */
|
||||
if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 )
|
||||
{
|
||||
uint32_t ulCalculatedLoadValue;
|
||||
|
||||
/* The tick interrupt has already executed, and the SysTick
|
||||
count reloaded with ulReloadValue. Reset the
|
||||
/* The tick interrupt is already pending, and the SysTick count
|
||||
reloaded with ulReloadValue. Reset the
|
||||
portNVIC_SYSTICK_LOAD_REG with whatever remains of this tick
|
||||
period. */
|
||||
ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ) - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG );
|
||||
|
|
@ -634,11 +655,9 @@ void xPortSysTickHandler( void )
|
|||
|
||||
portNVIC_SYSTICK_LOAD_REG = ulCalculatedLoadValue;
|
||||
|
||||
/* The tick interrupt handler will already have pended the tick
|
||||
processing in the kernel. As the pending tick will be
|
||||
processed as soon as this function exits, the tick value
|
||||
maintained by the tick is stepped forward by one less than the
|
||||
time spent waiting. */
|
||||
/* As the pending tick will be processed as soon as this
|
||||
function exits, the tick value maintained by the tick is stepped
|
||||
forward by one less than the time spent waiting. */
|
||||
ulCompleteTickPeriods = xExpectedIdleTime - 1UL;
|
||||
}
|
||||
else
|
||||
|
|
@ -660,17 +679,14 @@ void xPortSysTickHandler( void )
|
|||
|
||||
/* Restart SysTick so it runs from portNVIC_SYSTICK_LOAD_REG
|
||||
again, then set portNVIC_SYSTICK_LOAD_REG back to its standard
|
||||
value. The critical section is used to ensure the tick interrupt
|
||||
can only execute once in the case that the reload register is near
|
||||
zero. */
|
||||
value. */
|
||||
portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;
|
||||
portENTER_CRITICAL();
|
||||
{
|
||||
portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT;
|
||||
vTaskStepTick( ulCompleteTickPeriods );
|
||||
portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
|
||||
}
|
||||
portEXIT_CRITICAL();
|
||||
portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT;
|
||||
vTaskStepTick( ulCompleteTickPeriods );
|
||||
portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
|
||||
|
||||
/* Exit with interrpts enabled. */
|
||||
__asm volatile( "cpsie i" ::: "memory" );
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -684,7 +700,7 @@ void xPortSysTickHandler( void )
|
|||
__attribute__(( weak )) void vPortSetupTimerInterrupt( void )
|
||||
{
|
||||
/* Calculate the constants required to configure the tick interrupt. */
|
||||
#if configUSE_TICKLESS_IDLE == 1
|
||||
#if( configUSE_TICKLESS_IDLE == 1 )
|
||||
{
|
||||
ulTimerCountsForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ );
|
||||
xMaximumPossibleSuppressedTicks = portMAX_24_BIT_NUMBER / ulTimerCountsForOneTick;
|
||||
|
|
@ -771,7 +787,7 @@ static void vPortEnableVFP( void )
|
|||
devices by calling NVIC_SetPriorityGrouping( 0 ); before starting the
|
||||
scheduler. Note however that some vendor specific peripheral libraries
|
||||
assume a non-zero priority group setting, in which cases using a value
|
||||
of zero will result in unpredicable behaviour. */
|
||||
of zero will result in unpredictable behaviour. */
|
||||
configASSERT( ( portAIRCR_REG & portPRIORITY_GROUP_MASK ) <= ulMaxPRIGROUPValue );
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -78,7 +78,7 @@
|
|||
#include "FreeRTOS.h"
|
||||
#include "task.h"
|
||||
|
||||
#if configMAX_SYSCALL_INTERRUPT_PRIORITY == 0
|
||||
#if( configMAX_SYSCALL_INTERRUPT_PRIORITY == 0 )
|
||||
#error configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to 0. See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html
|
||||
#endif
|
||||
|
||||
|
|
@ -142,10 +142,6 @@ FreeRTOS.org versions prior to V4.3.0 did not include this definition. */
|
|||
#define configKERNEL_INTERRUPT_PRIORITY 255
|
||||
#endif
|
||||
|
||||
/* Each task maintains its own interrupt status in the critical nesting
|
||||
variable. */
|
||||
static UBaseType_t uxCriticalNesting = 0xaaaaaaaa;
|
||||
|
||||
/*
|
||||
* Setup the timer to generate the tick interrupts. The implementation in this
|
||||
* file is weak to allow application writers to change the timer used to
|
||||
|
|
@ -170,10 +166,14 @@ static void prvTaskExitError( void );
|
|||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* Each task maintains its own interrupt status in the critical nesting
|
||||
variable. */
|
||||
static UBaseType_t uxCriticalNesting = 0xaaaaaaaa;
|
||||
|
||||
/*
|
||||
* The number of SysTick increments that make up one tick period.
|
||||
*/
|
||||
#if configUSE_TICKLESS_IDLE == 1
|
||||
#if( configUSE_TICKLESS_IDLE == 1 )
|
||||
static uint32_t ulTimerCountsForOneTick = 0;
|
||||
#endif /* configUSE_TICKLESS_IDLE */
|
||||
|
||||
|
|
@ -181,7 +181,7 @@ static void prvTaskExitError( void );
|
|||
* The maximum number of tick periods that can be suppressed is limited by the
|
||||
* 24 bit resolution of the SysTick timer.
|
||||
*/
|
||||
#if configUSE_TICKLESS_IDLE == 1
|
||||
#if( configUSE_TICKLESS_IDLE == 1 )
|
||||
static uint32_t xMaximumPossibleSuppressedTicks = 0;
|
||||
#endif /* configUSE_TICKLESS_IDLE */
|
||||
|
||||
|
|
@ -189,7 +189,7 @@ static void prvTaskExitError( void );
|
|||
* Compensate for the CPU cycles that pass while the SysTick is stopped (low
|
||||
* power functionality only.
|
||||
*/
|
||||
#if configUSE_TICKLESS_IDLE == 1
|
||||
#if( configUSE_TICKLESS_IDLE == 1 )
|
||||
static uint32_t ulStoppedTimerCompensation = 0;
|
||||
#endif /* configUSE_TICKLESS_IDLE */
|
||||
|
||||
|
|
@ -198,7 +198,7 @@ static void prvTaskExitError( void );
|
|||
* FreeRTOS API functions are not called from interrupts that have been assigned
|
||||
* a priority above configMAX_SYSCALL_INTERRUPT_PRIORITY.
|
||||
*/
|
||||
#if ( configASSERT_DEFINED == 1 )
|
||||
#if( configASSERT_DEFINED == 1 )
|
||||
static uint8_t ucMaxSysCallPriority = 0;
|
||||
static uint32_t ulMaxPRIGROUPValue = 0;
|
||||
static const volatile uint8_t * const pcInterruptPriorityRegisters = ( const volatile uint8_t * const ) portNVIC_IP_REGISTERS_OFFSET_16;
|
||||
|
|
@ -246,6 +246,10 @@ static void prvTaskExitError( void )
|
|||
*/
|
||||
BaseType_t xPortStartScheduler( void )
|
||||
{
|
||||
/* configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to 0.
|
||||
See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
|
||||
configASSERT( configMAX_SYSCALL_INTERRUPT_PRIORITY );
|
||||
|
||||
#if( configASSERT_DEFINED == 1 )
|
||||
{
|
||||
volatile uint32_t ulOriginalPriority;
|
||||
|
|
@ -383,11 +387,11 @@ void xPortSysTickHandler( void )
|
|||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
#if configUSE_TICKLESS_IDLE == 1
|
||||
#if( configUSE_TICKLESS_IDLE == 1 )
|
||||
|
||||
__weak void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime )
|
||||
{
|
||||
uint32_t ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements, ulSysTickCTRL;
|
||||
uint32_t ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements;
|
||||
TickType_t xModifiableIdleTime;
|
||||
|
||||
/* Make sure the SysTick reload value does not overflow the counter. */
|
||||
|
|
@ -417,7 +421,6 @@ void xPortSysTickHandler( void )
|
|||
__DSB();
|
||||
__ISB();
|
||||
|
||||
|
||||
/* If a context switch is pending or a task is waiting for the scheduler
|
||||
to be unsuspended then abandon the low power entry. */
|
||||
if( eTaskConfirmSleepModeStatus() == eAbortSleep )
|
||||
|
|
@ -464,23 +467,41 @@ void xPortSysTickHandler( void )
|
|||
}
|
||||
configPOST_SLEEP_PROCESSING( xExpectedIdleTime );
|
||||
|
||||
/* Stop SysTick. Again, the time the SysTick is stopped for is
|
||||
accounted for as best it can be, but using the tickless mode will
|
||||
inevitably result in some tiny drift of the time maintained by the
|
||||
kernel with respect to calendar time. */
|
||||
ulSysTickCTRL = portNVIC_SYSTICK_CTRL_REG;
|
||||
portNVIC_SYSTICK_CTRL_REG = ( ulSysTickCTRL & ~portNVIC_SYSTICK_ENABLE_BIT );
|
||||
|
||||
/* Re-enable interrupts - see comments above __disable_interrupt()
|
||||
call above. */
|
||||
/* Re-enable interrupts to allow the interrupt that brought the MCU
|
||||
out of sleep mode to execute immediately. see comments above
|
||||
__disable_interrupt() call above. */
|
||||
__enable_interrupt();
|
||||
__DSB();
|
||||
__ISB();
|
||||
|
||||
if( ( ulSysTickCTRL & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 )
|
||||
/* Disable interrupts again because the clock is about to be stopped
|
||||
and interrupts that execute while the clock is stopped will increase
|
||||
any slippage between the time maintained by the RTOS and calendar
|
||||
time. */
|
||||
__disable_interrupt();
|
||||
__DSB();
|
||||
__ISB();
|
||||
|
||||
/* Disable the SysTick clock without reading the
|
||||
portNVIC_SYSTICK_CTRL_REG register to ensure the
|
||||
portNVIC_SYSTICK_COUNT_FLAG_BIT is not cleared if it is set. Again,
|
||||
the time the SysTick is stopped for is accounted for as best it can
|
||||
be, but using the tickless mode will inevitably result in some tiny
|
||||
drift of the time maintained by the kernel with respect to calendar
|
||||
time*/
|
||||
portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT );
|
||||
|
||||
/* Determine if the SysTick clock has already counted to zero and
|
||||
been set back to the current reload value (the reload back being
|
||||
correct for the entire expected idle time) or if the SysTick is yet
|
||||
to count to zero (in which case an interrupt other than the SysTick
|
||||
must have brought the system out of sleep mode). */
|
||||
if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 )
|
||||
{
|
||||
uint32_t ulCalculatedLoadValue;
|
||||
|
||||
/* The tick interrupt has already executed, and the SysTick
|
||||
count reloaded with ulReloadValue. Reset the
|
||||
/* The tick interrupt is already pending, and the SysTick count
|
||||
reloaded with ulReloadValue. Reset the
|
||||
portNVIC_SYSTICK_LOAD_REG with whatever remains of this tick
|
||||
period. */
|
||||
ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ) - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG );
|
||||
|
|
@ -495,11 +516,9 @@ void xPortSysTickHandler( void )
|
|||
|
||||
portNVIC_SYSTICK_LOAD_REG = ulCalculatedLoadValue;
|
||||
|
||||
/* The tick interrupt handler will already have pended the tick
|
||||
processing in the kernel. As the pending tick will be
|
||||
processed as soon as this function exits, the tick value
|
||||
maintained by the tick is stepped forward by one less than the
|
||||
time spent waiting. */
|
||||
/* As the pending tick will be processed as soon as this
|
||||
function exits, the tick value maintained by the tick is stepped
|
||||
forward by one less than the time spent waiting. */
|
||||
ulCompleteTickPeriods = xExpectedIdleTime - 1UL;
|
||||
}
|
||||
else
|
||||
|
|
@ -521,21 +540,18 @@ void xPortSysTickHandler( void )
|
|||
|
||||
/* Restart SysTick so it runs from portNVIC_SYSTICK_LOAD_REG
|
||||
again, then set portNVIC_SYSTICK_LOAD_REG back to its standard
|
||||
value. The critical section is used to ensure the tick interrupt
|
||||
can only execute once in the case that the reload register is near
|
||||
zero. */
|
||||
value. */
|
||||
portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;
|
||||
portENTER_CRITICAL();
|
||||
{
|
||||
portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT;
|
||||
vTaskStepTick( ulCompleteTickPeriods );
|
||||
portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
|
||||
}
|
||||
portEXIT_CRITICAL();
|
||||
portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT;
|
||||
vTaskStepTick( ulCompleteTickPeriods );
|
||||
portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
|
||||
|
||||
/* Exit with interrpts enabled. */
|
||||
__enable_interrupt();
|
||||
}
|
||||
}
|
||||
|
||||
#endif /* #if configUSE_TICKLESS_IDLE */
|
||||
#endif /* configUSE_TICKLESS_IDLE */
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/*
|
||||
|
|
@ -571,7 +587,7 @@ __weak void vPortSetupTimerInterrupt( void )
|
|||
uint8_t ucCurrentPriority;
|
||||
|
||||
/* Obtain the number of the currently executing interrupt. */
|
||||
__asm volatile( "mrs %0, ipsr" : "=r"( ulCurrentInterrupt ) );
|
||||
__asm volatile( "mrs %0, ipsr" : "=r"( ulCurrentInterrupt ) :: "memory" );
|
||||
|
||||
/* Is the interrupt number a user defined interrupt? */
|
||||
if( ulCurrentInterrupt >= portFIRST_USER_INTERRUPT_NUMBER )
|
||||
|
|
@ -617,7 +633,7 @@ __weak void vPortSetupTimerInterrupt( void )
|
|||
devices by calling NVIC_SetPriorityGrouping( 0 ); before starting the
|
||||
scheduler. Note however that some vendor specific peripheral libraries
|
||||
assume a non-zero priority group setting, in which cases using a value
|
||||
of zero will result in unpredicable behaviour. */
|
||||
of zero will result in unpredictable behaviour. */
|
||||
configASSERT( ( portAIRCR_REG & portPRIORITY_GROUP_MASK ) <= ulMaxPRIGROUPValue );
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -85,6 +85,9 @@ extern "C" {
|
|||
*-----------------------------------------------------------
|
||||
*/
|
||||
|
||||
/* IAR includes. */
|
||||
#include <intrinsics.h>
|
||||
|
||||
/* Type definitions. */
|
||||
#define portCHAR char
|
||||
#define portFLOAT float
|
||||
|
|
@ -138,7 +141,7 @@ typedef unsigned long UBaseType_t;
|
|||
#define configUSE_PORT_OPTIMISED_TASK_SELECTION 1
|
||||
#endif
|
||||
|
||||
#if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1
|
||||
#if( configUSE_PORT_OPTIMISED_TASK_SELECTION == 1 )
|
||||
|
||||
/* Check the configuration. */
|
||||
#if( configMAX_PRIORITIES > 32 )
|
||||
|
|
@ -151,7 +154,6 @@ typedef unsigned long UBaseType_t;
|
|||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
#include <intrinsics.h>
|
||||
#define portGET_HIGHEST_PRIORITY( uxTopPriority, uxReadyPriorities ) uxTopPriority = ( 31UL - ( ( uint32_t ) __CLZ( ( uxReadyPriorities ) ) ) )
|
||||
|
||||
#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
|
||||
|
|
|
|||
|
|
@ -71,7 +71,7 @@
|
|||
* Implementation of functions defined in portable.h for the ARM CM4F port.
|
||||
*----------------------------------------------------------*/
|
||||
|
||||
/* Compiler includes. */
|
||||
/* IAR includes. */
|
||||
#include <intrinsics.h>
|
||||
|
||||
/* Scheduler includes. */
|
||||
|
|
@ -82,7 +82,7 @@
|
|||
#error This port can only be used when the project options are configured to enable hardware floating point support.
|
||||
#endif
|
||||
|
||||
#if configMAX_SYSCALL_INTERRUPT_PRIORITY == 0
|
||||
#if( configMAX_SYSCALL_INTERRUPT_PRIORITY == 0 )
|
||||
#error configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to 0. See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html
|
||||
#endif
|
||||
|
||||
|
|
@ -150,10 +150,6 @@ calculations. */
|
|||
have bit-0 clear, as it is loaded into the PC on exit from an ISR. */
|
||||
#define portSTART_ADDRESS_MASK ( ( StackType_t ) 0xfffffffeUL )
|
||||
|
||||
/* Each task maintains its own interrupt status in the critical nesting
|
||||
variable. */
|
||||
static UBaseType_t uxCriticalNesting = 0xaaaaaaaa;
|
||||
|
||||
/*
|
||||
* Setup the timer to generate the tick interrupts. The implementation in this
|
||||
* file is weak to allow application writers to change the timer used to
|
||||
|
|
@ -183,10 +179,14 @@ static void prvTaskExitError( void );
|
|||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* Each task maintains its own interrupt status in the critical nesting
|
||||
variable. */
|
||||
static UBaseType_t uxCriticalNesting = 0xaaaaaaaa;
|
||||
|
||||
/*
|
||||
* The number of SysTick increments that make up one tick period.
|
||||
*/
|
||||
#if configUSE_TICKLESS_IDLE == 1
|
||||
#if( configUSE_TICKLESS_IDLE == 1 )
|
||||
static uint32_t ulTimerCountsForOneTick = 0;
|
||||
#endif /* configUSE_TICKLESS_IDLE */
|
||||
|
||||
|
|
@ -194,7 +194,7 @@ static void prvTaskExitError( void );
|
|||
* The maximum number of tick periods that can be suppressed is limited by the
|
||||
* 24 bit resolution of the SysTick timer.
|
||||
*/
|
||||
#if configUSE_TICKLESS_IDLE == 1
|
||||
#if( configUSE_TICKLESS_IDLE == 1 )
|
||||
static uint32_t xMaximumPossibleSuppressedTicks = 0;
|
||||
#endif /* configUSE_TICKLESS_IDLE */
|
||||
|
||||
|
|
@ -202,7 +202,7 @@ static void prvTaskExitError( void );
|
|||
* Compensate for the CPU cycles that pass while the SysTick is stopped (low
|
||||
* power functionality only.
|
||||
*/
|
||||
#if configUSE_TICKLESS_IDLE == 1
|
||||
#if( configUSE_TICKLESS_IDLE == 1 )
|
||||
static uint32_t ulStoppedTimerCompensation = 0;
|
||||
#endif /* configUSE_TICKLESS_IDLE */
|
||||
|
||||
|
|
@ -211,7 +211,7 @@ static void prvTaskExitError( void );
|
|||
* FreeRTOS API functions are not called from interrupts that have been assigned
|
||||
* a priority above configMAX_SYSCALL_INTERRUPT_PRIORITY.
|
||||
*/
|
||||
#if ( configASSERT_DEFINED == 1 )
|
||||
#if( configASSERT_DEFINED == 1 )
|
||||
static uint8_t ucMaxSysCallPriority = 0;
|
||||
static uint32_t ulMaxPRIGROUPValue = 0;
|
||||
static const volatile uint8_t * const pcInterruptPriorityRegisters = ( const volatile uint8_t * const ) portNVIC_IP_REGISTERS_OFFSET_16;
|
||||
|
|
@ -424,11 +424,11 @@ void xPortSysTickHandler( void )
|
|||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
#if configUSE_TICKLESS_IDLE == 1
|
||||
#if( configUSE_TICKLESS_IDLE == 1 )
|
||||
|
||||
__weak void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime )
|
||||
{
|
||||
uint32_t ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements, ulSysTickCTRL;
|
||||
uint32_t ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements;
|
||||
TickType_t xModifiableIdleTime;
|
||||
|
||||
/* Make sure the SysTick reload value does not overflow the counter. */
|
||||
|
|
@ -458,7 +458,6 @@ void xPortSysTickHandler( void )
|
|||
__DSB();
|
||||
__ISB();
|
||||
|
||||
|
||||
/* If a context switch is pending or a task is waiting for the scheduler
|
||||
to be unsuspended then abandon the low power entry. */
|
||||
if( eTaskConfirmSleepModeStatus() == eAbortSleep )
|
||||
|
|
@ -505,23 +504,41 @@ void xPortSysTickHandler( void )
|
|||
}
|
||||
configPOST_SLEEP_PROCESSING( xExpectedIdleTime );
|
||||
|
||||
/* Stop SysTick. Again, the time the SysTick is stopped for is
|
||||
accounted for as best it can be, but using the tickless mode will
|
||||
inevitably result in some tiny drift of the time maintained by the
|
||||
kernel with respect to calendar time. */
|
||||
ulSysTickCTRL = portNVIC_SYSTICK_CTRL_REG;
|
||||
portNVIC_SYSTICK_CTRL_REG = ( ulSysTickCTRL & ~portNVIC_SYSTICK_ENABLE_BIT );
|
||||
|
||||
/* Re-enable interrupts - see comments above __disable_interrupt()
|
||||
call above. */
|
||||
/* Re-enable interrupts to allow the interrupt that brought the MCU
|
||||
out of sleep mode to execute immediately. see comments above
|
||||
__disable_interrupt() call above. */
|
||||
__enable_interrupt();
|
||||
__DSB();
|
||||
__ISB();
|
||||
|
||||
if( ( ulSysTickCTRL & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 )
|
||||
/* Disable interrupts again because the clock is about to be stopped
|
||||
and interrupts that execute while the clock is stopped will increase
|
||||
any slippage between the time maintained by the RTOS and calendar
|
||||
time. */
|
||||
__disable_interrupt();
|
||||
__DSB();
|
||||
__ISB();
|
||||
|
||||
/* Disable the SysTick clock without reading the
|
||||
portNVIC_SYSTICK_CTRL_REG register to ensure the
|
||||
portNVIC_SYSTICK_COUNT_FLAG_BIT is not cleared if it is set. Again,
|
||||
the time the SysTick is stopped for is accounted for as best it can
|
||||
be, but using the tickless mode will inevitably result in some tiny
|
||||
drift of the time maintained by the kernel with respect to calendar
|
||||
time*/
|
||||
portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT );
|
||||
|
||||
/* Determine if the SysTick clock has already counted to zero and
|
||||
been set back to the current reload value (the reload back being
|
||||
correct for the entire expected idle time) or if the SysTick is yet
|
||||
to count to zero (in which case an interrupt other than the SysTick
|
||||
must have brought the system out of sleep mode). */
|
||||
if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 )
|
||||
{
|
||||
uint32_t ulCalculatedLoadValue;
|
||||
|
||||
/* The tick interrupt has already executed, and the SysTick
|
||||
count reloaded with ulReloadValue. Reset the
|
||||
/* The tick interrupt is already pending, and the SysTick count
|
||||
reloaded with ulReloadValue. Reset the
|
||||
portNVIC_SYSTICK_LOAD_REG with whatever remains of this tick
|
||||
period. */
|
||||
ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ) - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG );
|
||||
|
|
@ -536,11 +553,9 @@ void xPortSysTickHandler( void )
|
|||
|
||||
portNVIC_SYSTICK_LOAD_REG = ulCalculatedLoadValue;
|
||||
|
||||
/* The tick interrupt handler will already have pended the tick
|
||||
processing in the kernel. As the pending tick will be
|
||||
processed as soon as this function exits, the tick value
|
||||
maintained by the tick is stepped forward by one less than the
|
||||
time spent waiting. */
|
||||
/* As the pending tick will be processed as soon as this
|
||||
function exits, the tick value maintained by the tick is stepped
|
||||
forward by one less than the time spent waiting. */
|
||||
ulCompleteTickPeriods = xExpectedIdleTime - 1UL;
|
||||
}
|
||||
else
|
||||
|
|
@ -562,21 +577,18 @@ void xPortSysTickHandler( void )
|
|||
|
||||
/* Restart SysTick so it runs from portNVIC_SYSTICK_LOAD_REG
|
||||
again, then set portNVIC_SYSTICK_LOAD_REG back to its standard
|
||||
value. The critical section is used to ensure the tick interrupt
|
||||
can only execute once in the case that the reload register is near
|
||||
zero. */
|
||||
value. */
|
||||
portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;
|
||||
portENTER_CRITICAL();
|
||||
{
|
||||
portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT;
|
||||
vTaskStepTick( ulCompleteTickPeriods );
|
||||
portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
|
||||
}
|
||||
portEXIT_CRITICAL();
|
||||
portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT;
|
||||
vTaskStepTick( ulCompleteTickPeriods );
|
||||
portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
|
||||
|
||||
/* Exit with interrpts enabled. */
|
||||
__enable_interrupt();
|
||||
}
|
||||
}
|
||||
|
||||
#endif /* #if configUSE_TICKLESS_IDLE */
|
||||
#endif /* configUSE_TICKLESS_IDLE */
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/*
|
||||
|
|
@ -612,7 +624,7 @@ __weak void vPortSetupTimerInterrupt( void )
|
|||
uint8_t ucCurrentPriority;
|
||||
|
||||
/* Obtain the number of the currently executing interrupt. */
|
||||
__asm volatile( "mrs %0, ipsr" : "=r"( ulCurrentInterrupt ) );
|
||||
__asm volatile( "mrs %0, ipsr" : "=r"( ulCurrentInterrupt ) :: "memory" );
|
||||
|
||||
/* Is the interrupt number a user defined interrupt? */
|
||||
if( ulCurrentInterrupt >= portFIRST_USER_INTERRUPT_NUMBER )
|
||||
|
|
@ -658,7 +670,7 @@ __weak void vPortSetupTimerInterrupt( void )
|
|||
devices by calling NVIC_SetPriorityGrouping( 0 ); before starting the
|
||||
scheduler. Note however that some vendor specific peripheral libraries
|
||||
assume a non-zero priority group setting, in which cases using a value
|
||||
of zero will result in unpredicable behaviour. */
|
||||
of zero will result in unpredictable behaviour. */
|
||||
configASSERT( ( portAIRCR_REG & portPRIORITY_GROUP_MASK ) <= ulMaxPRIGROUPValue );
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -84,6 +84,9 @@ extern "C" {
|
|||
*-----------------------------------------------------------
|
||||
*/
|
||||
|
||||
/* IAR includes. */
|
||||
#include <intrinsics.h>
|
||||
|
||||
/* Type definitions. */
|
||||
#define portCHAR char
|
||||
#define portFLOAT float
|
||||
|
|
@ -137,7 +140,7 @@ typedef unsigned long UBaseType_t;
|
|||
#define configUSE_PORT_OPTIMISED_TASK_SELECTION 1
|
||||
#endif
|
||||
|
||||
#if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1
|
||||
#if( configUSE_PORT_OPTIMISED_TASK_SELECTION == 1 )
|
||||
|
||||
/* Check the configuration. */
|
||||
#if( configMAX_PRIORITIES > 32 )
|
||||
|
|
@ -150,7 +153,6 @@ typedef unsigned long UBaseType_t;
|
|||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
#include <intrinsics.h>
|
||||
#define portGET_HIGHEST_PRIORITY( uxTopPriority, uxReadyPriorities ) uxTopPriority = ( 31UL - ( ( uint32_t ) __CLZ( ( uxReadyPriorities ) ) ) )
|
||||
|
||||
#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
|
||||
|
|
|
|||
|
|
@ -71,7 +71,7 @@
|
|||
* Implementation of functions defined in portable.h for the ARM CM4F port.
|
||||
*----------------------------------------------------------*/
|
||||
|
||||
/* Compiler includes. */
|
||||
/* IAR includes. */
|
||||
#include <intrinsics.h>
|
||||
|
||||
/* Scheduler includes. */
|
||||
|
|
@ -82,7 +82,7 @@
|
|||
#error This port can only be used when the project options are configured to enable hardware floating point support.
|
||||
#endif
|
||||
|
||||
#if configMAX_SYSCALL_INTERRUPT_PRIORITY == 0
|
||||
#if( configMAX_SYSCALL_INTERRUPT_PRIORITY == 0 )
|
||||
#error configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to 0. See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html
|
||||
#endif
|
||||
|
||||
|
|
@ -144,10 +144,6 @@ calculations. */
|
|||
have bit-0 clear, as it is loaded into the PC on exit from an ISR. */
|
||||
#define portSTART_ADDRESS_MASK ( ( StackType_t ) 0xfffffffeUL )
|
||||
|
||||
/* Each task maintains its own interrupt status in the critical nesting
|
||||
variable. */
|
||||
static UBaseType_t uxCriticalNesting = 0xaaaaaaaa;
|
||||
|
||||
/*
|
||||
* Setup the timer to generate the tick interrupts. The implementation in this
|
||||
* file is weak to allow application writers to change the timer used to
|
||||
|
|
@ -177,10 +173,14 @@ static void prvTaskExitError( void );
|
|||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* Each task maintains its own interrupt status in the critical nesting
|
||||
variable. */
|
||||
static UBaseType_t uxCriticalNesting = 0xaaaaaaaa;
|
||||
|
||||
/*
|
||||
* The number of SysTick increments that make up one tick period.
|
||||
*/
|
||||
#if configUSE_TICKLESS_IDLE == 1
|
||||
#if( configUSE_TICKLESS_IDLE == 1 )
|
||||
static uint32_t ulTimerCountsForOneTick = 0;
|
||||
#endif /* configUSE_TICKLESS_IDLE */
|
||||
|
||||
|
|
@ -188,7 +188,7 @@ static void prvTaskExitError( void );
|
|||
* The maximum number of tick periods that can be suppressed is limited by the
|
||||
* 24 bit resolution of the SysTick timer.
|
||||
*/
|
||||
#if configUSE_TICKLESS_IDLE == 1
|
||||
#if( configUSE_TICKLESS_IDLE == 1 )
|
||||
static uint32_t xMaximumPossibleSuppressedTicks = 0;
|
||||
#endif /* configUSE_TICKLESS_IDLE */
|
||||
|
||||
|
|
@ -196,7 +196,7 @@ static void prvTaskExitError( void );
|
|||
* Compensate for the CPU cycles that pass while the SysTick is stopped (low
|
||||
* power functionality only.
|
||||
*/
|
||||
#if configUSE_TICKLESS_IDLE == 1
|
||||
#if( configUSE_TICKLESS_IDLE == 1 )
|
||||
static uint32_t ulStoppedTimerCompensation = 0;
|
||||
#endif /* configUSE_TICKLESS_IDLE */
|
||||
|
||||
|
|
@ -205,7 +205,7 @@ static void prvTaskExitError( void );
|
|||
* FreeRTOS API functions are not called from interrupts that have been assigned
|
||||
* a priority above configMAX_SYSCALL_INTERRUPT_PRIORITY.
|
||||
*/
|
||||
#if ( configASSERT_DEFINED == 1 )
|
||||
#if( configASSERT_DEFINED == 1 )
|
||||
static uint8_t ucMaxSysCallPriority = 0;
|
||||
static uint32_t ulMaxPRIGROUPValue = 0;
|
||||
static const volatile uint8_t * const pcInterruptPriorityRegisters = ( const volatile uint8_t * const ) portNVIC_IP_REGISTERS_OFFSET_16;
|
||||
|
|
@ -265,6 +265,10 @@ static void prvTaskExitError( void )
|
|||
*/
|
||||
BaseType_t xPortStartScheduler( void )
|
||||
{
|
||||
/* configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to 0.
|
||||
See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
|
||||
configASSERT( configMAX_SYSCALL_INTERRUPT_PRIORITY );
|
||||
|
||||
#if( configASSERT_DEFINED == 1 )
|
||||
{
|
||||
volatile uint32_t ulOriginalPriority;
|
||||
|
|
@ -408,11 +412,11 @@ void xPortSysTickHandler( void )
|
|||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
#if configUSE_TICKLESS_IDLE == 1
|
||||
#if( configUSE_TICKLESS_IDLE == 1 )
|
||||
|
||||
__weak void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime )
|
||||
{
|
||||
uint32_t ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements, ulSysTickCTRL;
|
||||
uint32_t ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements;
|
||||
TickType_t xModifiableIdleTime;
|
||||
|
||||
/* Make sure the SysTick reload value does not overflow the counter. */
|
||||
|
|
@ -488,23 +492,41 @@ void xPortSysTickHandler( void )
|
|||
}
|
||||
configPOST_SLEEP_PROCESSING( xExpectedIdleTime );
|
||||
|
||||
/* Stop SysTick. Again, the time the SysTick is stopped for is
|
||||
accounted for as best it can be, but using the tickless mode will
|
||||
inevitably result in some tiny drift of the time maintained by the
|
||||
kernel with respect to calendar time. */
|
||||
ulSysTickCTRL = portNVIC_SYSTICK_CTRL_REG;
|
||||
portNVIC_SYSTICK_CTRL_REG = ( ulSysTickCTRL & ~portNVIC_SYSTICK_ENABLE_BIT );
|
||||
|
||||
/* Re-enable interrupts - see comments above __disable_interrupt()
|
||||
call above. */
|
||||
/* Re-enable interrupts to allow the interrupt that brought the MCU
|
||||
out of sleep mode to execute immediately. see comments above
|
||||
__disable_interrupt() call above. */
|
||||
__enable_interrupt();
|
||||
__DSB();
|
||||
__ISB();
|
||||
|
||||
if( ( ulSysTickCTRL & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 )
|
||||
/* Disable interrupts again because the clock is about to be stopped
|
||||
and interrupts that execute while the clock is stopped will increase
|
||||
any slippage between the time maintained by the RTOS and calendar
|
||||
time. */
|
||||
__disable_interrupt();
|
||||
__DSB();
|
||||
__ISB();
|
||||
|
||||
/* Disable the SysTick clock without reading the
|
||||
portNVIC_SYSTICK_CTRL_REG register to ensure the
|
||||
portNVIC_SYSTICK_COUNT_FLAG_BIT is not cleared if it is set. Again,
|
||||
the time the SysTick is stopped for is accounted for as best it can
|
||||
be, but using the tickless mode will inevitably result in some tiny
|
||||
drift of the time maintained by the kernel with respect to calendar
|
||||
time*/
|
||||
portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT );
|
||||
|
||||
/* Determine if the SysTick clock has already counted to zero and
|
||||
been set back to the current reload value (the reload back being
|
||||
correct for the entire expected idle time) or if the SysTick is yet
|
||||
to count to zero (in which case an interrupt other than the SysTick
|
||||
must have brought the system out of sleep mode). */
|
||||
if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 )
|
||||
{
|
||||
uint32_t ulCalculatedLoadValue;
|
||||
|
||||
/* The tick interrupt has already executed, and the SysTick
|
||||
count reloaded with ulReloadValue. Reset the
|
||||
/* The tick interrupt is already pending, and the SysTick count
|
||||
reloaded with ulReloadValue. Reset the
|
||||
portNVIC_SYSTICK_LOAD_REG with whatever remains of this tick
|
||||
period. */
|
||||
ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ) - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG );
|
||||
|
|
@ -519,11 +541,9 @@ void xPortSysTickHandler( void )
|
|||
|
||||
portNVIC_SYSTICK_LOAD_REG = ulCalculatedLoadValue;
|
||||
|
||||
/* The tick interrupt handler will already have pended the tick
|
||||
processing in the kernel. As the pending tick will be
|
||||
processed as soon as this function exits, the tick value
|
||||
maintained by the tick is stepped forward by one less than the
|
||||
time spent waiting. */
|
||||
/* As the pending tick will be processed as soon as this
|
||||
function exits, the tick value maintained by the tick is stepped
|
||||
forward by one less than the time spent waiting. */
|
||||
ulCompleteTickPeriods = xExpectedIdleTime - 1UL;
|
||||
}
|
||||
else
|
||||
|
|
@ -545,21 +565,18 @@ void xPortSysTickHandler( void )
|
|||
|
||||
/* Restart SysTick so it runs from portNVIC_SYSTICK_LOAD_REG
|
||||
again, then set portNVIC_SYSTICK_LOAD_REG back to its standard
|
||||
value. The critical section is used to ensure the tick interrupt
|
||||
can only execute once in the case that the reload register is near
|
||||
zero. */
|
||||
value. */
|
||||
portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;
|
||||
portENTER_CRITICAL();
|
||||
{
|
||||
portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT;
|
||||
vTaskStepTick( ulCompleteTickPeriods );
|
||||
portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
|
||||
}
|
||||
portEXIT_CRITICAL();
|
||||
portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT;
|
||||
vTaskStepTick( ulCompleteTickPeriods );
|
||||
portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
|
||||
|
||||
/* Exit with interrpts enabled. */
|
||||
__enable_interrupt();
|
||||
}
|
||||
}
|
||||
|
||||
#endif /* #if configUSE_TICKLESS_IDLE */
|
||||
#endif /* configUSE_TICKLESS_IDLE */
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/*
|
||||
|
|
@ -595,7 +612,7 @@ __weak void vPortSetupTimerInterrupt( void )
|
|||
uint8_t ucCurrentPriority;
|
||||
|
||||
/* Obtain the number of the currently executing interrupt. */
|
||||
__asm volatile( "mrs %0, ipsr" : "=r"( ulCurrentInterrupt ) );
|
||||
__asm volatile( "mrs %0, ipsr" : "=r"( ulCurrentInterrupt ) :: "memory" );
|
||||
|
||||
/* Is the interrupt number a user defined interrupt? */
|
||||
if( ulCurrentInterrupt >= portFIRST_USER_INTERRUPT_NUMBER )
|
||||
|
|
@ -641,7 +658,7 @@ __weak void vPortSetupTimerInterrupt( void )
|
|||
devices by calling NVIC_SetPriorityGrouping( 0 ); before starting the
|
||||
scheduler. Note however that some vendor specific peripheral libraries
|
||||
assume a non-zero priority group setting, in which cases using a value
|
||||
of zero will result in unpredicable behaviour. */
|
||||
of zero will result in unpredictable behaviour. */
|
||||
configASSERT( ( portAIRCR_REG & portPRIORITY_GROUP_MASK ) <= ulMaxPRIGROUPValue );
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -84,6 +84,9 @@ extern "C" {
|
|||
*-----------------------------------------------------------
|
||||
*/
|
||||
|
||||
/* IAR includes. */
|
||||
#include <intrinsics.h>
|
||||
|
||||
/* Type definitions. */
|
||||
#define portCHAR char
|
||||
#define portFLOAT float
|
||||
|
|
@ -137,7 +140,7 @@ typedef unsigned long UBaseType_t;
|
|||
#define configUSE_PORT_OPTIMISED_TASK_SELECTION 1
|
||||
#endif
|
||||
|
||||
#if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1
|
||||
#if( configUSE_PORT_OPTIMISED_TASK_SELECTION == 1 )
|
||||
|
||||
/* Check the configuration. */
|
||||
#if( configMAX_PRIORITIES > 32 )
|
||||
|
|
@ -150,7 +153,6 @@ typedef unsigned long UBaseType_t;
|
|||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
#include <intrinsics.h>
|
||||
#define portGET_HIGHEST_PRIORITY( uxTopPriority, uxReadyPriorities ) uxTopPriority = ( 31UL - ( ( uint32_t ) __CLZ( ( uxReadyPriorities ) ) ) )
|
||||
|
||||
#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
|
||||
|
|
|
|||
|
|
@ -196,7 +196,7 @@ static void prvTaskExitError( void );
|
|||
/*
|
||||
* The number of SysTick increments that make up one tick period.
|
||||
*/
|
||||
#if configUSE_TICKLESS_IDLE == 1
|
||||
#if( configUSE_TICKLESS_IDLE == 1 )
|
||||
static uint32_t ulTimerCountsForOneTick = 0;
|
||||
#endif /* configUSE_TICKLESS_IDLE */
|
||||
|
||||
|
|
@ -204,7 +204,7 @@ static void prvTaskExitError( void );
|
|||
* The maximum number of tick periods that can be suppressed is limited by the
|
||||
* 24 bit resolution of the SysTick timer.
|
||||
*/
|
||||
#if configUSE_TICKLESS_IDLE == 1
|
||||
#if( configUSE_TICKLESS_IDLE == 1 )
|
||||
static uint32_t xMaximumPossibleSuppressedTicks = 0;
|
||||
#endif /* configUSE_TICKLESS_IDLE */
|
||||
|
||||
|
|
@ -212,7 +212,7 @@ static void prvTaskExitError( void );
|
|||
* Compensate for the CPU cycles that pass while the SysTick is stopped (low
|
||||
* power functionality only.
|
||||
*/
|
||||
#if configUSE_TICKLESS_IDLE == 1
|
||||
#if( configUSE_TICKLESS_IDLE == 1 )
|
||||
static uint32_t ulStoppedTimerCompensation = 0;
|
||||
#endif /* configUSE_TICKLESS_IDLE */
|
||||
|
||||
|
|
@ -535,7 +535,7 @@ void xPortSysTickHandler( void ) iv IVT_INT_SysTick ics ICS_AUTO
|
|||
|
||||
void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime )
|
||||
{
|
||||
uint32_t ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements, ulSysTickCTRL;
|
||||
uint32_t ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements;
|
||||
TickType_t xModifiableIdleTime;
|
||||
|
||||
/* Make sure the SysTick reload value does not overflow the counter. */
|
||||
|
|
@ -611,25 +611,41 @@ void xPortSysTickHandler( void ) iv IVT_INT_SysTick ics ICS_AUTO
|
|||
}
|
||||
configPOST_SLEEP_PROCESSING( xExpectedIdleTime );
|
||||
|
||||
/* Stop SysTick. Again, the time the SysTick is stopped for is
|
||||
accounted for as best it can be, but using the tickless mode will
|
||||
inevitably result in some tiny drift of the time maintained by the
|
||||
kernel with respect to calendar time. */
|
||||
ulSysTickCTRL = portNVIC_SYSTICK_CTRL_REG;
|
||||
portNVIC_SYSTICK_CTRL_REG = ( ulSysTickCTRL & ~portNVIC_SYSTICK_ENABLE_BIT );
|
||||
|
||||
/* Re-enable interrupts - see comments above the cpsid instruction()
|
||||
above. */
|
||||
/* Re-enable interrupts to allow the interrupt that brought the MCU
|
||||
out of sleep mode to execute immediately. see comments above
|
||||
__disable_interrupt() call above. */
|
||||
__asm { "cpsie i" };
|
||||
__asm { "wfi" };
|
||||
__asm { "isb" };
|
||||
__asm { "dsb" };
|
||||
__asm { "isb" };
|
||||
|
||||
if( ( ulSysTickCTRL & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 )
|
||||
/* Disable interrupts again because the clock is about to be stopped
|
||||
and interrupts that execute while the clock is stopped will increase
|
||||
any slippage between the time maintained by the RTOS and calendar
|
||||
time. */
|
||||
__asm { "cpsid i" };
|
||||
__asm { "dsb" };
|
||||
__asm { "isb" };
|
||||
|
||||
/* Disable the SysTick clock without reading the
|
||||
portNVIC_SYSTICK_CTRL_REG register to ensure the
|
||||
portNVIC_SYSTICK_COUNT_FLAG_BIT is not cleared if it is set. Again,
|
||||
the time the SysTick is stopped for is accounted for as best it can
|
||||
be, but using the tickless mode will inevitably result in some tiny
|
||||
drift of the time maintained by the kernel with respect to calendar
|
||||
time*/
|
||||
portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT );
|
||||
|
||||
/* Determine if the SysTick clock has already counted to zero and
|
||||
been set back to the current reload value (the reload back being
|
||||
correct for the entire expected idle time) or if the SysTick is yet
|
||||
to count to zero (in which case an interrupt other than the SysTick
|
||||
must have brought the system out of sleep mode). */
|
||||
if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 )
|
||||
{
|
||||
uint32_t ulCalculatedLoadValue;
|
||||
|
||||
/* The tick interrupt has already executed, and the SysTick
|
||||
count reloaded with ulReloadValue. Reset the
|
||||
/* The tick interrupt is already pending, and the SysTick count
|
||||
reloaded with ulReloadValue. Reset the
|
||||
portNVIC_SYSTICK_LOAD_REG with whatever remains of this tick
|
||||
period. */
|
||||
ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ) - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG );
|
||||
|
|
@ -644,11 +660,9 @@ void xPortSysTickHandler( void ) iv IVT_INT_SysTick ics ICS_AUTO
|
|||
|
||||
portNVIC_SYSTICK_LOAD_REG = ulCalculatedLoadValue;
|
||||
|
||||
/* The tick interrupt handler will already have pended the tick
|
||||
processing in the kernel. As the pending tick will be
|
||||
processed as soon as this function exits, the tick value
|
||||
maintained by the tick is stepped forward by one less than the
|
||||
time spent waiting. */
|
||||
/* As the pending tick will be processed as soon as this
|
||||
function exits, the tick value maintained by the tick is stepped
|
||||
forward by one less than the time spent waiting. */
|
||||
ulCompleteTickPeriods = xExpectedIdleTime - 1UL;
|
||||
}
|
||||
else
|
||||
|
|
@ -665,22 +679,19 @@ void xPortSysTickHandler( void ) iv IVT_INT_SysTick ics ICS_AUTO
|
|||
|
||||
/* The reload value is set to whatever fraction of a single tick
|
||||
period remains. */
|
||||
portNVIC_SYSTICK_LOAD_REG = ( ( ulCompleteTickPeriods + 1 ) * ulTimerCountsForOneTick ) - ulCompletedSysTickDecrements;
|
||||
portNVIC_SYSTICK_LOAD_REG = ( ( ulCompleteTickPeriods + 1UL ) * ulTimerCountsForOneTick ) - ulCompletedSysTickDecrements;
|
||||
}
|
||||
|
||||
/* Restart SysTick so it runs from portNVIC_SYSTICK_LOAD_REG
|
||||
again, then set portNVIC_SYSTICK_LOAD_REG back to its standard
|
||||
value. The critical section is used to ensure the tick interrupt
|
||||
can only execute once in the case that the reload register is near
|
||||
zero. */
|
||||
value. */
|
||||
portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;
|
||||
portENTER_CRITICAL();
|
||||
{
|
||||
portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT;
|
||||
vTaskStepTick( ulCompleteTickPeriods );
|
||||
portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
|
||||
}
|
||||
portEXIT_CRITICAL();
|
||||
portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT;
|
||||
vTaskStepTick( ulCompleteTickPeriods );
|
||||
portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
|
||||
|
||||
/* Exit with interrpts enabled. */
|
||||
__asm { "cpsie i" };
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -696,7 +707,7 @@ void xPortSysTickHandler( void ) iv IVT_INT_SysTick ics ICS_AUTO
|
|||
void vPortSetupTimerInterrupt( void )
|
||||
{
|
||||
/* Calculate the constants required to configure the tick interrupt. */
|
||||
#if configUSE_TICKLESS_IDLE == 1
|
||||
#if( configUSE_TICKLESS_IDLE == 1 )
|
||||
{
|
||||
ulTimerCountsForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ );
|
||||
xMaximumPossibleSuppressedTicks = portMAX_24_BIT_NUMBER / ulTimerCountsForOneTick;
|
||||
|
|
@ -812,7 +823,7 @@ BaseType_t xReturn;
|
|||
devices by calling NVIC_SetPriorityGrouping( 0 ); before starting the
|
||||
scheduler. Note however that some vendor specific peripheral libraries
|
||||
assume a non-zero priority group setting, in which cases using a value
|
||||
of zero will result in unpredicable behaviour. */
|
||||
of zero will result in unpredictable behaviour. */
|
||||
configASSERT( ( portAIRCR_REG & portPRIORITY_GROUP_MASK ) <= ulMaxPRIGROUPValue );
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -114,9 +114,6 @@ is defined. */
|
|||
#define portNVIC_PENDSVCLEAR_BIT ( 1UL << 27UL )
|
||||
#define portNVIC_PEND_SYSTICK_CLEAR_BIT ( 1UL << 25UL )
|
||||
|
||||
/* Masks off all bits but the VECTACTIVE bits in the ICSR register. */
|
||||
#define portVECTACTIVE_MASK ( 0xFFUL )
|
||||
|
||||
#define portNVIC_PENDSV_PRI ( ( ( uint32_t ) configKERNEL_INTERRUPT_PRIORITY ) << 16UL )
|
||||
#define portNVIC_SYSTICK_PRI ( ( ( uint32_t ) configKERNEL_INTERRUPT_PRIORITY ) << 24UL )
|
||||
|
||||
|
|
@ -130,6 +127,9 @@ is defined. */
|
|||
#define portPRIORITY_GROUP_MASK ( 0x07UL << 8UL )
|
||||
#define portPRIGROUP_SHIFT ( 8UL )
|
||||
|
||||
/* Masks off all bits but the VECTACTIVE bits in the ICSR register. */
|
||||
#define portVECTACTIVE_MASK ( 0xFFUL )
|
||||
|
||||
/* Constants required to set up the initial stack. */
|
||||
#define portINITIAL_XPSR ( 0x01000000 )
|
||||
|
||||
|
|
@ -145,10 +145,6 @@ calculations. */
|
|||
have bit-0 clear, as it is loaded into the PC on exit from an ISR. */
|
||||
#define portSTART_ADDRESS_MASK ( ( StackType_t ) 0xfffffffeUL )
|
||||
|
||||
/* Each task maintains its own interrupt status in the critical nesting
|
||||
variable. */
|
||||
static UBaseType_t uxCriticalNesting = 0xaaaaaaaa;
|
||||
|
||||
/*
|
||||
* Setup the timer to generate the tick interrupts. The implementation in this
|
||||
* file is weak to allow application writers to change the timer used to
|
||||
|
|
@ -175,10 +171,14 @@ static void prvTaskExitError( void );
|
|||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* Each task maintains its own interrupt status in the critical nesting
|
||||
variable. */
|
||||
static UBaseType_t uxCriticalNesting = 0xaaaaaaaa;
|
||||
|
||||
/*
|
||||
* The number of SysTick increments that make up one tick period.
|
||||
*/
|
||||
#if configUSE_TICKLESS_IDLE == 1
|
||||
#if( configUSE_TICKLESS_IDLE == 1 )
|
||||
static uint32_t ulTimerCountsForOneTick = 0;
|
||||
#endif /* configUSE_TICKLESS_IDLE */
|
||||
|
||||
|
|
@ -186,7 +186,7 @@ static void prvTaskExitError( void );
|
|||
* The maximum number of tick periods that can be suppressed is limited by the
|
||||
* 24 bit resolution of the SysTick timer.
|
||||
*/
|
||||
#if configUSE_TICKLESS_IDLE == 1
|
||||
#if( configUSE_TICKLESS_IDLE == 1 )
|
||||
static uint32_t xMaximumPossibleSuppressedTicks = 0;
|
||||
#endif /* configUSE_TICKLESS_IDLE */
|
||||
|
||||
|
|
@ -194,7 +194,7 @@ static void prvTaskExitError( void );
|
|||
* Compensate for the CPU cycles that pass while the SysTick is stopped (low
|
||||
* power functionality only.
|
||||
*/
|
||||
#if configUSE_TICKLESS_IDLE == 1
|
||||
#if( configUSE_TICKLESS_IDLE == 1 )
|
||||
static uint32_t ulStoppedTimerCompensation = 0;
|
||||
#endif /* configUSE_TICKLESS_IDLE */
|
||||
|
||||
|
|
@ -313,6 +313,10 @@ BaseType_t xPortStartScheduler( void )
|
|||
/* Read the value back to see how many bits stuck. */
|
||||
ucMaxPriorityValue = *pucFirstUserPriorityRegister;
|
||||
|
||||
/* The kernel interrupt priority should be set to the lowest
|
||||
priority. */
|
||||
configASSERT( ucMaxPriorityValue == ( configKERNEL_INTERRUPT_PRIORITY & ucMaxPriorityValue ) );
|
||||
|
||||
/* Use the same mask on the maximum system call priority. */
|
||||
ucMaxSysCallPriority = configMAX_SYSCALL_INTERRUPT_PRIORITY & ucMaxPriorityValue;
|
||||
|
||||
|
|
@ -467,11 +471,11 @@ void xPortSysTickHandler( void )
|
|||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
#if configUSE_TICKLESS_IDLE == 1
|
||||
#if( configUSE_TICKLESS_IDLE == 1 )
|
||||
|
||||
__weak void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime )
|
||||
{
|
||||
uint32_t ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements, ulSysTickCTRL;
|
||||
uint32_t ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements;
|
||||
TickType_t xModifiableIdleTime;
|
||||
|
||||
/* Make sure the SysTick reload value does not overflow the counter. */
|
||||
|
|
@ -547,23 +551,41 @@ void xPortSysTickHandler( void )
|
|||
}
|
||||
configPOST_SLEEP_PROCESSING( xExpectedIdleTime );
|
||||
|
||||
/* Stop SysTick. Again, the time the SysTick is stopped for is
|
||||
accounted for as best it can be, but using the tickless mode will
|
||||
inevitably result in some tiny drift of the time maintained by the
|
||||
kernel with respect to calendar time. */
|
||||
ulSysTickCTRL = portNVIC_SYSTICK_CTRL_REG;
|
||||
portNVIC_SYSTICK_CTRL_REG = ( ulSysTickCTRL & ~portNVIC_SYSTICK_ENABLE_BIT );
|
||||
|
||||
/* Re-enable interrupts - see comments above __disable_irq() call
|
||||
above. */
|
||||
/* Re-enable interrupts to allow the interrupt that brought the MCU
|
||||
out of sleep mode to execute immediately. see comments above
|
||||
__disable_interrupt() call above. */
|
||||
__enable_irq();
|
||||
__dsb( portSY_FULL_READ_WRITE );
|
||||
__isb( portSY_FULL_READ_WRITE );
|
||||
|
||||
if( ( ulSysTickCTRL & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 )
|
||||
/* Disable interrupts again because the clock is about to be stopped
|
||||
and interrupts that execute while the clock is stopped will increase
|
||||
any slippage between the time maintained by the RTOS and calendar
|
||||
time. */
|
||||
__disable_irq();
|
||||
__dsb( portSY_FULL_READ_WRITE );
|
||||
__isb( portSY_FULL_READ_WRITE );
|
||||
|
||||
/* Disable the SysTick clock without reading the
|
||||
portNVIC_SYSTICK_CTRL_REG register to ensure the
|
||||
portNVIC_SYSTICK_COUNT_FLAG_BIT is not cleared if it is set. Again,
|
||||
the time the SysTick is stopped for is accounted for as best it can
|
||||
be, but using the tickless mode will inevitably result in some tiny
|
||||
drift of the time maintained by the kernel with respect to calendar
|
||||
time*/
|
||||
portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT );
|
||||
|
||||
/* Determine if the SysTick clock has already counted to zero and
|
||||
been set back to the current reload value (the reload back being
|
||||
correct for the entire expected idle time) or if the SysTick is yet
|
||||
to count to zero (in which case an interrupt other than the SysTick
|
||||
must have brought the system out of sleep mode). */
|
||||
if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 )
|
||||
{
|
||||
uint32_t ulCalculatedLoadValue;
|
||||
|
||||
/* The tick interrupt has already executed, and the SysTick
|
||||
count reloaded with ulReloadValue. Reset the
|
||||
/* The tick interrupt is already pending, and the SysTick count
|
||||
reloaded with ulReloadValue. Reset the
|
||||
portNVIC_SYSTICK_LOAD_REG with whatever remains of this tick
|
||||
period. */
|
||||
ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ) - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG );
|
||||
|
|
@ -578,11 +600,9 @@ void xPortSysTickHandler( void )
|
|||
|
||||
portNVIC_SYSTICK_LOAD_REG = ulCalculatedLoadValue;
|
||||
|
||||
/* The tick interrupt handler will already have pended the tick
|
||||
processing in the kernel. As the pending tick will be
|
||||
processed as soon as this function exits, the tick value
|
||||
maintained by the tick is stepped forward by one less than the
|
||||
time spent waiting. */
|
||||
/* As the pending tick will be processed as soon as this
|
||||
function exits, the tick value maintained by the tick is stepped
|
||||
forward by one less than the time spent waiting. */
|
||||
ulCompleteTickPeriods = xExpectedIdleTime - 1UL;
|
||||
}
|
||||
else
|
||||
|
|
@ -604,17 +624,14 @@ void xPortSysTickHandler( void )
|
|||
|
||||
/* Restart SysTick so it runs from portNVIC_SYSTICK_LOAD_REG
|
||||
again, then set portNVIC_SYSTICK_LOAD_REG back to its standard
|
||||
value. The critical section is used to ensure the tick interrupt
|
||||
can only execute once in the case that the reload register is near
|
||||
zero. */
|
||||
value. */
|
||||
portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;
|
||||
portENTER_CRITICAL();
|
||||
{
|
||||
portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT;
|
||||
vTaskStepTick( ulCompleteTickPeriods );
|
||||
portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
|
||||
}
|
||||
portEXIT_CRITICAL();
|
||||
portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT;
|
||||
vTaskStepTick( ulCompleteTickPeriods );
|
||||
portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
|
||||
|
||||
/* Exit with interrpts enabled. */
|
||||
__enable_irq();
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -626,12 +643,12 @@ void xPortSysTickHandler( void )
|
|||
* Setup the SysTick timer to generate the tick interrupts at the required
|
||||
* frequency.
|
||||
*/
|
||||
#if configOVERRIDE_DEFAULT_TICK_CONFIGURATION == 0
|
||||
#if( configOVERRIDE_DEFAULT_TICK_CONFIGURATION == 0 )
|
||||
|
||||
void vPortSetupTimerInterrupt( void )
|
||||
{
|
||||
/* Calculate the constants required to configure the tick interrupt. */
|
||||
#if configUSE_TICKLESS_IDLE == 1
|
||||
#if( configUSE_TICKLESS_IDLE == 1 )
|
||||
{
|
||||
ulTimerCountsForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ );
|
||||
xMaximumPossibleSuppressedTicks = portMAX_24_BIT_NUMBER / ulTimerCountsForOneTick;
|
||||
|
|
@ -714,7 +731,7 @@ __asm uint32_t vPortGetIPSR( void )
|
|||
devices by calling NVIC_SetPriorityGrouping( 0 ); before starting the
|
||||
scheduler. Note however that some vendor specific peripheral libraries
|
||||
assume a non-zero priority group setting, in which cases using a value
|
||||
of zero will result in unpredicable behaviour. */
|
||||
of zero will result in unpredictable behaviour. */
|
||||
configASSERT( ( portAIRCR_REG & portPRIORITY_GROUP_MASK ) <= ulMaxPRIGROUPValue );
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -156,10 +156,6 @@ calculations. */
|
|||
have bit-0 clear, as it is loaded into the PC on exit from an ISR. */
|
||||
#define portSTART_ADDRESS_MASK ( ( StackType_t ) 0xfffffffeUL )
|
||||
|
||||
/* Each task maintains its own interrupt status in the critical nesting
|
||||
variable. */
|
||||
static UBaseType_t uxCriticalNesting = 0xaaaaaaaa;
|
||||
|
||||
/*
|
||||
* Setup the timer to generate the tick interrupts. The implementation in this
|
||||
* file is weak to allow application writers to change the timer used to
|
||||
|
|
@ -191,10 +187,14 @@ static void prvTaskExitError( void );
|
|||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* Each task maintains its own interrupt status in the critical nesting
|
||||
variable. */
|
||||
static UBaseType_t uxCriticalNesting = 0xaaaaaaaa;
|
||||
|
||||
/*
|
||||
* The number of SysTick increments that make up one tick period.
|
||||
*/
|
||||
#if configUSE_TICKLESS_IDLE == 1
|
||||
#if( configUSE_TICKLESS_IDLE == 1 )
|
||||
static uint32_t ulTimerCountsForOneTick = 0;
|
||||
#endif /* configUSE_TICKLESS_IDLE */
|
||||
|
||||
|
|
@ -202,7 +202,7 @@ static void prvTaskExitError( void );
|
|||
* The maximum number of tick periods that can be suppressed is limited by the
|
||||
* 24 bit resolution of the SysTick timer.
|
||||
*/
|
||||
#if configUSE_TICKLESS_IDLE == 1
|
||||
#if( configUSE_TICKLESS_IDLE == 1 )
|
||||
static uint32_t xMaximumPossibleSuppressedTicks = 0;
|
||||
#endif /* configUSE_TICKLESS_IDLE */
|
||||
|
||||
|
|
@ -210,7 +210,7 @@ static void prvTaskExitError( void );
|
|||
* Compensate for the CPU cycles that pass while the SysTick is stopped (low
|
||||
* power functionality only.
|
||||
*/
|
||||
#if configUSE_TICKLESS_IDLE == 1
|
||||
#if( configUSE_TICKLESS_IDLE == 1 )
|
||||
static uint32_t ulStoppedTimerCompensation = 0;
|
||||
#endif /* configUSE_TICKLESS_IDLE */
|
||||
|
||||
|
|
@ -561,11 +561,11 @@ void xPortSysTickHandler( void )
|
|||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
#if configUSE_TICKLESS_IDLE == 1
|
||||
#if( configUSE_TICKLESS_IDLE == 1 )
|
||||
|
||||
__weak void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime )
|
||||
{
|
||||
uint32_t ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements, ulSysTickCTRL;
|
||||
uint32_t ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements;
|
||||
TickType_t xModifiableIdleTime;
|
||||
|
||||
/* Make sure the SysTick reload value does not overflow the counter. */
|
||||
|
|
@ -641,23 +641,41 @@ void xPortSysTickHandler( void )
|
|||
}
|
||||
configPOST_SLEEP_PROCESSING( xExpectedIdleTime );
|
||||
|
||||
/* Stop SysTick. Again, the time the SysTick is stopped for is
|
||||
accounted for as best it can be, but using the tickless mode will
|
||||
inevitably result in some tiny drift of the time maintained by the
|
||||
kernel with respect to calendar time. */
|
||||
ulSysTickCTRL = portNVIC_SYSTICK_CTRL_REG;
|
||||
portNVIC_SYSTICK_CTRL_REG = ( ulSysTickCTRL & ~portNVIC_SYSTICK_ENABLE_BIT );
|
||||
|
||||
/* Re-enable interrupts - see comments above __disable_irq() call
|
||||
above. */
|
||||
/* Re-enable interrupts to allow the interrupt that brought the MCU
|
||||
out of sleep mode to execute immediately. see comments above
|
||||
__disable_interrupt() call above. */
|
||||
__enable_irq();
|
||||
__dsb( portSY_FULL_READ_WRITE );
|
||||
__isb( portSY_FULL_READ_WRITE );
|
||||
|
||||
if( ( ulSysTickCTRL & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 )
|
||||
/* Disable interrupts again because the clock is about to be stopped
|
||||
and interrupts that execute while the clock is stopped will increase
|
||||
any slippage between the time maintained by the RTOS and calendar
|
||||
time. */
|
||||
__disable_irq();
|
||||
__dsb( portSY_FULL_READ_WRITE );
|
||||
__isb( portSY_FULL_READ_WRITE );
|
||||
|
||||
/* Disable the SysTick clock without reading the
|
||||
portNVIC_SYSTICK_CTRL_REG register to ensure the
|
||||
portNVIC_SYSTICK_COUNT_FLAG_BIT is not cleared if it is set. Again,
|
||||
the time the SysTick is stopped for is accounted for as best it can
|
||||
be, but using the tickless mode will inevitably result in some tiny
|
||||
drift of the time maintained by the kernel with respect to calendar
|
||||
time*/
|
||||
portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT );
|
||||
|
||||
/* Determine if the SysTick clock has already counted to zero and
|
||||
been set back to the current reload value (the reload back being
|
||||
correct for the entire expected idle time) or if the SysTick is yet
|
||||
to count to zero (in which case an interrupt other than the SysTick
|
||||
must have brought the system out of sleep mode). */
|
||||
if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 )
|
||||
{
|
||||
uint32_t ulCalculatedLoadValue;
|
||||
|
||||
/* The tick interrupt has already executed, and the SysTick
|
||||
count reloaded with ulReloadValue. Reset the
|
||||
/* The tick interrupt is already pending, and the SysTick count
|
||||
reloaded with ulReloadValue. Reset the
|
||||
portNVIC_SYSTICK_LOAD_REG with whatever remains of this tick
|
||||
period. */
|
||||
ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ) - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG );
|
||||
|
|
@ -672,11 +690,9 @@ void xPortSysTickHandler( void )
|
|||
|
||||
portNVIC_SYSTICK_LOAD_REG = ulCalculatedLoadValue;
|
||||
|
||||
/* The tick interrupt handler will already have pended the tick
|
||||
processing in the kernel. As the pending tick will be
|
||||
processed as soon as this function exits, the tick value
|
||||
maintained by the tick is stepped forward by one less than the
|
||||
time spent waiting. */
|
||||
/* As the pending tick will be processed as soon as this
|
||||
function exits, the tick value maintained by the tick is stepped
|
||||
forward by one less than the time spent waiting. */
|
||||
ulCompleteTickPeriods = xExpectedIdleTime - 1UL;
|
||||
}
|
||||
else
|
||||
|
|
@ -698,17 +714,14 @@ void xPortSysTickHandler( void )
|
|||
|
||||
/* Restart SysTick so it runs from portNVIC_SYSTICK_LOAD_REG
|
||||
again, then set portNVIC_SYSTICK_LOAD_REG back to its standard
|
||||
value. The critical section is used to ensure the tick interrupt
|
||||
can only execute once in the case that the reload register is near
|
||||
zero. */
|
||||
value. */
|
||||
portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;
|
||||
portENTER_CRITICAL();
|
||||
{
|
||||
portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT;
|
||||
vTaskStepTick( ulCompleteTickPeriods );
|
||||
portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
|
||||
}
|
||||
portEXIT_CRITICAL();
|
||||
portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT;
|
||||
vTaskStepTick( ulCompleteTickPeriods );
|
||||
portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
|
||||
|
||||
/* Exit with interrpts enabled. */
|
||||
__enable_irq();
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -725,7 +738,7 @@ void xPortSysTickHandler( void )
|
|||
void vPortSetupTimerInterrupt( void )
|
||||
{
|
||||
/* Calculate the constants required to configure the tick interrupt. */
|
||||
#if configUSE_TICKLESS_IDLE == 1
|
||||
#if( configUSE_TICKLESS_IDLE == 1 )
|
||||
{
|
||||
ulTimerCountsForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ );
|
||||
xMaximumPossibleSuppressedTicks = portMAX_24_BIT_NUMBER / ulTimerCountsForOneTick;
|
||||
|
|
@ -808,7 +821,7 @@ __asm uint32_t vPortGetIPSR( void )
|
|||
devices by calling NVIC_SetPriorityGrouping( 0 ); before starting the
|
||||
scheduler. Note however that some vendor specific peripheral libraries
|
||||
assume a non-zero priority group setting, in which cases using a value
|
||||
of zero will result in unpredicable behaviour. */
|
||||
of zero will result in unpredictable behaviour. */
|
||||
configASSERT( ( portAIRCR_REG & portPRIORITY_GROUP_MASK ) <= ulMaxPRIGROUPValue );
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -139,20 +139,16 @@ is defined. */
|
|||
#define portINITIAL_EXEC_RETURN ( 0xfffffffd )
|
||||
|
||||
/* The systick is a 24-bit counter. */
|
||||
#define portMAX_24_BIT_NUMBER ( 0xffffffUL )
|
||||
#define portMAX_24_BIT_NUMBER ( 0xffffffUL )
|
||||
|
||||
/* A fiddle factor to estimate the number of SysTick counts that would have
|
||||
occurred while the SysTick counter is stopped during tickless idle
|
||||
calculations. */
|
||||
#define portMISSED_COUNTS_FACTOR ( 45UL )
|
||||
#define portMISSED_COUNTS_FACTOR ( 45UL )
|
||||
|
||||
/* For strict compliance with the Cortex-M spec the task start address should
|
||||
have bit-0 clear, as it is loaded into the PC on exit from an ISR. */
|
||||
#define portSTART_ADDRESS_MASK ( ( StackType_t ) 0xfffffffeUL )
|
||||
|
||||
/* Each task maintains its own interrupt status in the critical nesting
|
||||
variable. */
|
||||
static UBaseType_t uxCriticalNesting = 0xaaaaaaaa;
|
||||
#define portSTART_ADDRESS_MASK ( ( StackType_t ) 0xfffffffeUL )
|
||||
|
||||
/*
|
||||
* Setup the timer to generate the tick interrupts. The implementation in this
|
||||
|
|
@ -185,10 +181,14 @@ static void prvTaskExitError( void );
|
|||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* Each task maintains its own interrupt status in the critical nesting
|
||||
variable. */
|
||||
static UBaseType_t uxCriticalNesting = 0xaaaaaaaa;
|
||||
|
||||
/*
|
||||
* The number of SysTick increments that make up one tick period.
|
||||
*/
|
||||
#if configUSE_TICKLESS_IDLE == 1
|
||||
#if( configUSE_TICKLESS_IDLE == 1 )
|
||||
static uint32_t ulTimerCountsForOneTick = 0;
|
||||
#endif /* configUSE_TICKLESS_IDLE */
|
||||
|
||||
|
|
@ -196,7 +196,7 @@ static void prvTaskExitError( void );
|
|||
* The maximum number of tick periods that can be suppressed is limited by the
|
||||
* 24 bit resolution of the SysTick timer.
|
||||
*/
|
||||
#if configUSE_TICKLESS_IDLE == 1
|
||||
#if( configUSE_TICKLESS_IDLE == 1 )
|
||||
static uint32_t xMaximumPossibleSuppressedTicks = 0;
|
||||
#endif /* configUSE_TICKLESS_IDLE */
|
||||
|
||||
|
|
@ -204,7 +204,7 @@ static void prvTaskExitError( void );
|
|||
* Compensate for the CPU cycles that pass while the SysTick is stopped (low
|
||||
* power functionality only.
|
||||
*/
|
||||
#if configUSE_TICKLESS_IDLE == 1
|
||||
#if( configUSE_TICKLESS_IDLE == 1 )
|
||||
static uint32_t ulStoppedTimerCompensation = 0;
|
||||
#endif /* configUSE_TICKLESS_IDLE */
|
||||
|
||||
|
|
@ -547,11 +547,11 @@ void xPortSysTickHandler( void )
|
|||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
#if configUSE_TICKLESS_IDLE == 1
|
||||
#if( configUSE_TICKLESS_IDLE == 1 )
|
||||
|
||||
__weak void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime )
|
||||
{
|
||||
uint32_t ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements, ulSysTickCTRL;
|
||||
uint32_t ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements;
|
||||
TickType_t xModifiableIdleTime;
|
||||
|
||||
/* Make sure the SysTick reload value does not overflow the counter. */
|
||||
|
|
@ -627,23 +627,41 @@ void xPortSysTickHandler( void )
|
|||
}
|
||||
configPOST_SLEEP_PROCESSING( xExpectedIdleTime );
|
||||
|
||||
/* Stop SysTick. Again, the time the SysTick is stopped for is
|
||||
accounted for as best it can be, but using the tickless mode will
|
||||
inevitably result in some tiny drift of the time maintained by the
|
||||
kernel with respect to calendar time. */
|
||||
ulSysTickCTRL = portNVIC_SYSTICK_CTRL_REG;
|
||||
portNVIC_SYSTICK_CTRL_REG = ( ulSysTickCTRL & ~portNVIC_SYSTICK_ENABLE_BIT );
|
||||
|
||||
/* Re-enable interrupts - see comments above __disable_irq() call
|
||||
above. */
|
||||
/* Re-enable interrupts to allow the interrupt that brought the MCU
|
||||
out of sleep mode to execute immediately. see comments above
|
||||
__disable_interrupt() call above. */
|
||||
__enable_irq();
|
||||
__dsb( portSY_FULL_READ_WRITE );
|
||||
__isb( portSY_FULL_READ_WRITE );
|
||||
|
||||
if( ( ulSysTickCTRL & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 )
|
||||
/* Disable interrupts again because the clock is about to be stopped
|
||||
and interrupts that execute while the clock is stopped will increase
|
||||
any slippage between the time maintained by the RTOS and calendar
|
||||
time. */
|
||||
__disable_irq();
|
||||
__dsb( portSY_FULL_READ_WRITE );
|
||||
__isb( portSY_FULL_READ_WRITE );
|
||||
|
||||
/* Disable the SysTick clock without reading the
|
||||
portNVIC_SYSTICK_CTRL_REG register to ensure the
|
||||
portNVIC_SYSTICK_COUNT_FLAG_BIT is not cleared if it is set. Again,
|
||||
the time the SysTick is stopped for is accounted for as best it can
|
||||
be, but using the tickless mode will inevitably result in some tiny
|
||||
drift of the time maintained by the kernel with respect to calendar
|
||||
time*/
|
||||
portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT );
|
||||
|
||||
/* Determine if the SysTick clock has already counted to zero and
|
||||
been set back to the current reload value (the reload back being
|
||||
correct for the entire expected idle time) or if the SysTick is yet
|
||||
to count to zero (in which case an interrupt other than the SysTick
|
||||
must have brought the system out of sleep mode). */
|
||||
if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 )
|
||||
{
|
||||
uint32_t ulCalculatedLoadValue;
|
||||
|
||||
/* The tick interrupt has already executed, and the SysTick
|
||||
count reloaded with ulReloadValue. Reset the
|
||||
/* The tick interrupt is already pending, and the SysTick count
|
||||
reloaded with ulReloadValue. Reset the
|
||||
portNVIC_SYSTICK_LOAD_REG with whatever remains of this tick
|
||||
period. */
|
||||
ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ) - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG );
|
||||
|
|
@ -658,11 +676,9 @@ void xPortSysTickHandler( void )
|
|||
|
||||
portNVIC_SYSTICK_LOAD_REG = ulCalculatedLoadValue;
|
||||
|
||||
/* The tick interrupt handler will already have pended the tick
|
||||
processing in the kernel. As the pending tick will be
|
||||
processed as soon as this function exits, the tick value
|
||||
maintained by the tick is stepped forward by one less than the
|
||||
time spent waiting. */
|
||||
/* As the pending tick will be processed as soon as this
|
||||
function exits, the tick value maintained by the tick is stepped
|
||||
forward by one less than the time spent waiting. */
|
||||
ulCompleteTickPeriods = xExpectedIdleTime - 1UL;
|
||||
}
|
||||
else
|
||||
|
|
@ -684,17 +700,14 @@ void xPortSysTickHandler( void )
|
|||
|
||||
/* Restart SysTick so it runs from portNVIC_SYSTICK_LOAD_REG
|
||||
again, then set portNVIC_SYSTICK_LOAD_REG back to its standard
|
||||
value. The critical section is used to ensure the tick interrupt
|
||||
can only execute once in the case that the reload register is near
|
||||
zero. */
|
||||
value. */
|
||||
portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;
|
||||
portENTER_CRITICAL();
|
||||
{
|
||||
portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT;
|
||||
vTaskStepTick( ulCompleteTickPeriods );
|
||||
portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
|
||||
}
|
||||
portEXIT_CRITICAL();
|
||||
portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT;
|
||||
vTaskStepTick( ulCompleteTickPeriods );
|
||||
portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
|
||||
|
||||
/* Exit with interrpts enabled. */
|
||||
__enable_irq();
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -706,12 +719,12 @@ void xPortSysTickHandler( void )
|
|||
* Setup the SysTick timer to generate the tick interrupts at the required
|
||||
* frequency.
|
||||
*/
|
||||
#if configOVERRIDE_DEFAULT_TICK_CONFIGURATION == 0
|
||||
#if( configOVERRIDE_DEFAULT_TICK_CONFIGURATION == 0 )
|
||||
|
||||
void vPortSetupTimerInterrupt( void )
|
||||
{
|
||||
/* Calculate the constants required to configure the tick interrupt. */
|
||||
#if configUSE_TICKLESS_IDLE == 1
|
||||
#if( configUSE_TICKLESS_IDLE == 1 )
|
||||
{
|
||||
ulTimerCountsForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ );
|
||||
xMaximumPossibleSuppressedTicks = portMAX_24_BIT_NUMBER / ulTimerCountsForOneTick;
|
||||
|
|
@ -794,7 +807,7 @@ __asm uint32_t vPortGetIPSR( void )
|
|||
devices by calling NVIC_SetPriorityGrouping( 0 ); before starting the
|
||||
scheduler. Note however that some vendor specific peripheral libraries
|
||||
assume a non-zero priority group setting, in which cases using a value
|
||||
of zero will result in unpredicable behaviour. */
|
||||
of zero will result in unpredictable behaviour. */
|
||||
configASSERT( ( portAIRCR_REG & portPRIORITY_GROUP_MASK ) <= ulMaxPRIGROUPValue );
|
||||
}
|
||||
|
||||
|
|
|
|||
Loading…
Reference in a new issue