mirror of
https://github.com/FreeRTOS/FreeRTOS-Kernel.git
synced 2025-04-19 21:11:57 -04:00
Update port layers to make better use of the xTaskIncrementTick() return value.
This commit is contained in:
Richard Barry
parent
c75c01ffdf
commit
62c0ae0926
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@ -56,19 +56,19 @@
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***************************************************************************
|
||||
|
||||
|
||||
http://www.FreeRTOS.org - Documentation, books, training, latest versions,
|
||||
http://www.FreeRTOS.org - Documentation, books, training, latest versions,
|
||||
license and Real Time Engineers Ltd. contact details.
|
||||
|
||||
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
|
||||
including FreeRTOS+Trace - an indispensable productivity tool, and our new
|
||||
fully thread aware and reentrant UDP/IP stack.
|
||||
|
||||
http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
|
||||
Integrity Systems, who sell the code with commercial support,
|
||||
http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
|
||||
Integrity Systems, who sell the code with commercial support,
|
||||
indemnification and middleware, under the OpenRTOS brand.
|
||||
|
||||
http://www.SafeRTOS.com - High Integrity Systems also provide a safety
|
||||
engineered and independently SIL3 certified version for use in safety and
|
||||
|
||||
http://www.SafeRTOS.com - High Integrity Systems also provide a safety
|
||||
engineered and independently SIL3 certified version for use in safety and
|
||||
mission critical applications that require provable dependability.
|
||||
*/
|
||||
|
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@ -81,14 +81,14 @@
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/*
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Changes from V2.5.2
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+ The critical section management functions have been changed. These no
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longer modify the stack and are safe to use at all optimisation levels.
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The functions are now also the same for both ARM and THUMB modes.
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Changes from V2.6.0
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+ Removed the 'static' from the definition of vNonPreemptiveTick() to
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+ Removed the 'static' from the definition of vNonPreemptiveTick() to
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allow the demo to link when using the cooperative scheduler.
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Changes from V3.2.4
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@ -114,7 +114,7 @@ volatile unsigned long ulCriticalNesting = 9999UL;
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/* ISR to handle manual context switches (from a call to taskYIELD()). */
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void vPortYieldProcessor( void ) __attribute__((interrupt("SWI"), naked));
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/*
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/*
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* The scheduler can only be started from ARM mode, hence the inclusion of this
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* function here.
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*/
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@ -132,15 +132,15 @@ void vPortISRStartFirstTask( void )
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/*
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* Called by portYIELD() or taskYIELD() to manually force a context switch.
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*
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* When a context switch is performed from the task level the saved task
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* When a context switch is performed from the task level the saved task
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* context is made to look as if it occurred from within the tick ISR. This
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* way the same restore context function can be used when restoring the context
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* saved from the ISR or that saved from a call to vPortYieldProcessor.
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*/
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void vPortYieldProcessor( void )
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{
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/* Within an IRQ ISR the link register has an offset from the true return
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address, but an SWI ISR does not. Add the offset manually so the same
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/* Within an IRQ ISR the link register has an offset from the true return
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address, but an SWI ISR does not. Add the offset manually so the same
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ISR return code can be used in both cases. */
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__asm volatile ( "ADD LR, LR, #4" );
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@ -151,31 +151,34 @@ void vPortYieldProcessor( void )
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__asm volatile ( "bl vTaskSwitchContext" );
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/* Restore the context of the new task. */
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portRESTORE_CONTEXT();
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portRESTORE_CONTEXT();
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}
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/*-----------------------------------------------------------*/
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/*
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/*
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* The ISR used for the scheduler tick.
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*/
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void vTickISR( void ) __attribute__((naked));
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void vTickISR( void )
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{
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/* Save the context of the interrupted task. */
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portSAVE_CONTEXT();
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portSAVE_CONTEXT();
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/* Increment the RTOS tick count, then look for the highest priority
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/* Increment the RTOS tick count, then look for the highest priority
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task that is ready to run. */
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__asm volatile( "bl xTaskIncrementTick" );
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#if configUSE_PREEMPTION == 1
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__asm volatile( "bl vTaskSwitchContext" );
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#endif
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__asm volatile
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(
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" bl xTaskIncrementTick \t\n" \
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" cmp r0, #0 \t\n" \
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" beq SkipContextSwitch \t\n" \
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" bl vTaskSwitchContext \t\n" \
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"SkipContextSwitch: \t\n"
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);
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/* Ready for the next interrupt. */
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T0_IR = portTIMER_MATCH_ISR_BIT;
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VICVectAddr = portCLEAR_VIC_INTERRUPT;
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/* Restore the context of the new task. */
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portRESTORE_CONTEXT();
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}
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@ -194,7 +197,7 @@ void vTickISR( void )
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void vPortDisableInterruptsFromThumb( void )
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{
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__asm volatile (
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__asm volatile (
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"STMDB SP!, {R0} \n\t" /* Push R0. */
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"MRS R0, CPSR \n\t" /* Get CPSR. */
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"ORR R0, R0, #0xC0 \n\t" /* Disable IRQ, FIQ. */
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@ -202,14 +205,14 @@ void vTickISR( void )
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"LDMIA SP!, {R0} \n\t" /* Pop R0. */
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"BX R14" ); /* Return back to thumb. */
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}
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void vPortEnableInterruptsFromThumb( void )
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{
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__asm volatile (
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"STMDB SP!, {R0} \n\t" /* Push R0. */
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"MRS R0, CPSR \n\t" /* Get CPSR. */
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"BIC R0, R0, #0xC0 \n\t" /* Enable IRQ, FIQ. */
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"MSR CPSR, R0 \n\t" /* Write back modified value. */
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__asm volatile (
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"STMDB SP!, {R0} \n\t" /* Push R0. */
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"MRS R0, CPSR \n\t" /* Get CPSR. */
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"BIC R0, R0, #0xC0 \n\t" /* Enable IRQ, FIQ. */
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"MSR CPSR, R0 \n\t" /* Write back modified value. */
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"LDMIA SP!, {R0} \n\t" /* Pop R0. */
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"BX R14" ); /* Return back to thumb. */
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}
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@ -223,14 +226,14 @@ in a variable, which is then saved as part of the stack context. */
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void vPortEnterCritical( void )
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{
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/* Disable interrupts as per portDISABLE_INTERRUPTS(); */
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__asm volatile (
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__asm volatile (
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"STMDB SP!, {R0} \n\t" /* Push R0. */
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"MRS R0, CPSR \n\t" /* Get CPSR. */
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"ORR R0, R0, #0xC0 \n\t" /* Disable IRQ, FIQ. */
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"MSR CPSR, R0 \n\t" /* Write back modified value. */
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"LDMIA SP!, {R0}" ); /* Pop R0. */
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/* Now interrupts are disabled ulCriticalNesting can be accessed
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/* Now interrupts are disabled ulCriticalNesting can be accessed
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directly. Increment ulCriticalNesting to keep a count of how many times
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portENTER_CRITICAL() has been called. */
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ulCriticalNesting++;
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@ -248,11 +251,11 @@ void vPortExitCritical( void )
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if( ulCriticalNesting == portNO_CRITICAL_NESTING )
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{
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/* Enable interrupts as per portEXIT_CRITICAL(). */
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__asm volatile (
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"STMDB SP!, {R0} \n\t" /* Push R0. */
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"MRS R0, CPSR \n\t" /* Get CPSR. */
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"BIC R0, R0, #0xC0 \n\t" /* Enable IRQ, FIQ. */
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"MSR CPSR, R0 \n\t" /* Write back modified value. */
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__asm volatile (
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"STMDB SP!, {R0} \n\t" /* Push R0. */
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"MRS R0, CPSR \n\t" /* Get CPSR. */
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"BIC R0, R0, #0xC0 \n\t" /* Enable IRQ, FIQ. */
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"MSR CPSR, R0 \n\t" /* Write back modified value. */
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"LDMIA SP!, {R0}" ); /* Pop R0. */
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}
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}
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@ -167,8 +167,14 @@ void vPortYieldProcessor( void )
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/* Increment the RTOS tick count, then look for the highest priority
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task that is ready to run. */
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__asm volatile( "bl xTaskIncrementTick" );
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__asm volatile( "bl vTaskSwitchContext" );
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__asm volatile
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(
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" bl xTaskIncrementTick \t\n" \
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" cmp r0, #0 \t\n" \
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" beq SkipContextSwitch \t\n" \
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" bl vTaskSwitchContext \t\n" \
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"SkipContextSwitch: \t\n"
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);
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/* Ready for the next interrupt. */
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T0IR = 2;
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@ -74,10 +74,10 @@ vPortStartFirstTask:
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; Manual context switch function. This is the SWI hander.
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;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
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vPortYieldProcessor:
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ADD LR, LR, #4 ; Add 4 to the LR to make the LR appear exactly
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; as if the context was saved during and IRQ
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ADD LR, LR, #4 ; Add 4 to the LR to make the LR appear exactly
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; as if the context was saved during and IRQ
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; handler.
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portSAVE_CONTEXT ; Save the context of the current task...
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LDR R0, =vTaskSwitchContext ; before selecting the next task to execute.
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mov lr, pc
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@ -94,10 +94,13 @@ vPortPreemptiveTick:
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LDR R0, =xTaskIncrementTick ; Increment the tick count - this may wake a task.
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mov lr, pc
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BX R0
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CMP R0, #0
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BEQ SkipContextSwitch
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LDR R0, =vTaskSwitchContext ; Select the next task to execute.
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mov lr, pc
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BX R0
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SkipContextSwitch
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LDR R14, =AT91C_BASE_PITC ; Clear the PIT interrupt
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LDR R0, [R14, #PITC_PIVR ]
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@ -56,19 +56,19 @@
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***************************************************************************
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||||
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||||
|
||||
http://www.FreeRTOS.org - Documentation, books, training, latest versions,
|
||||
http://www.FreeRTOS.org - Documentation, books, training, latest versions,
|
||||
license and Real Time Engineers Ltd. contact details.
|
||||
|
||||
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
|
||||
including FreeRTOS+Trace - an indispensable productivity tool, and our new
|
||||
fully thread aware and reentrant UDP/IP stack.
|
||||
|
||||
http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
|
||||
Integrity Systems, who sell the code with commercial support,
|
||||
http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
|
||||
Integrity Systems, who sell the code with commercial support,
|
||||
indemnification and middleware, under the OpenRTOS brand.
|
||||
|
||||
http://www.SafeRTOS.com - High Integrity Systems also provide a safety
|
||||
engineered and independently SIL3 certified version for use in safety and
|
||||
|
||||
http://www.SafeRTOS.com - High Integrity Systems also provide a safety
|
||||
engineered and independently SIL3 certified version for use in safety and
|
||||
mission critical applications that require provable dependability.
|
||||
*/
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#include "FreeRTOSConfig.h"
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@ -81,7 +81,7 @@
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EXPORT vTickISR
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EXPORT vPortYield
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EXPORT xPortStartScheduler
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RSEG CODE
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/*
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@ -94,13 +94,13 @@
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*/
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vTickISR:
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portSAVE_CONTEXT
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call #xTaskIncrementTick
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#if configUSE_PREEMPTION == 1
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call #vTaskSwitchContext
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#endif
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call #xTaskIncrementTick
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cmp.w #0x0, R12
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jeq SkipContextSwitch
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call #vTaskSwitchContext
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SkipContextSwitch:
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portRESTORE_CONTEXT
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/*-----------------------------------------------------------*/
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@ -111,16 +111,16 @@ vTickISR:
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vPortYield:
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/* Mimic an interrupt by pushing the SR. */
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push SR
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push SR
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/* Now the SR is stacked we can disable interrupts. */
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dint
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dint
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/* Save the context of the current task. */
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portSAVE_CONTEXT
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portSAVE_CONTEXT
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/* Switch to the highest priority task that is ready to run. */
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call #vTaskSwitchContext
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call #vTaskSwitchContext
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/* Restore the context of the new task. */
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portRESTORE_CONTEXT
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@ -140,14 +140,14 @@ xPortStartScheduler:
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/* Restore the context of the first task that is going to run. */
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portRESTORE_CONTEXT
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/*-----------------------------------------------------------*/
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/* Install vTickISR as the timer A0 interrupt. */
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ASEG
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ORG 0xFFE0 + TIMERA0_VECTOR
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_vTickISR_: DC16 vTickISR
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END
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@ -56,19 +56,19 @@
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***************************************************************************
|
||||
|
||||
|
||||
http://www.FreeRTOS.org - Documentation, books, training, latest versions,
|
||||
http://www.FreeRTOS.org - Documentation, books, training, latest versions,
|
||||
license and Real Time Engineers Ltd. contact details.
|
||||
|
||||
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
|
||||
including FreeRTOS+Trace - an indispensable productivity tool, and our new
|
||||
fully thread aware and reentrant UDP/IP stack.
|
||||
|
||||
http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
|
||||
Integrity Systems, who sell the code with commercial support,
|
||||
http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
|
||||
Integrity Systems, who sell the code with commercial support,
|
||||
indemnification and middleware, under the OpenRTOS brand.
|
||||
|
||||
http://www.SafeRTOS.com - High Integrity Systems also provide a safety
|
||||
engineered and independently SIL3 certified version for use in safety and
|
||||
|
||||
http://www.SafeRTOS.com - High Integrity Systems also provide a safety
|
||||
engineered and independently SIL3 certified version for use in safety and
|
||||
mission critical applications that require provable dependability.
|
||||
*/
|
||||
#include "msp430.h"
|
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@ -95,7 +95,7 @@ portSAVE_CONTEXT macro
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mov_x sp, 0( r12 )
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endm
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/*-----------------------------------------------------------*/
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portRESTORE_CONTEXT macro
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mov_x &pxCurrentTCB, r12
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@ -131,11 +131,10 @@ vPortTickISR:
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portSAVE_CONTEXT
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calla #xTaskIncrementTick
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#if configUSE_PREEMPTION == 1
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calla #vTaskSwitchContext
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#endif
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cmp.w #0x0, R12
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jeq SkipContextSwitch
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calla #vTaskSwitchContext
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SkipContextSwitch:
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portRESTORE_CONTEXT
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/*-----------------------------------------------------------*/
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|
|
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@ -86,12 +86,12 @@ vPortStartFirstTask:
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RSEG CODE:CODE
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vPortTickISR:
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portSAVE_CONTEXT ; Save the context of the current task.
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call xTaskIncrementTick ; Call the timer tick function.
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#if configUSE_PREEMPTION == 1
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call vTaskSwitchContext ; Call the scheduler to select the next task.
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#endif
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portRESTORE_CONTEXT ; Restore the context of the next task to run.
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portSAVE_CONTEXT ; Save the context of the current task.
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call xTaskIncrementTick ; Call the timer tick function.
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cmpw ax, #0x00
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skz
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call vTaskSwitchContext ; Call the scheduler to select the next task.
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portRESTORE_CONTEXT ; Restore the context of the next task to run.
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reti
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|
|
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|
|
@ -56,19 +56,19 @@
|
|||
***************************************************************************
|
||||
|
||||
|
||||
http://www.FreeRTOS.org - Documentation, books, training, latest versions,
|
||||
http://www.FreeRTOS.org - Documentation, books, training, latest versions,
|
||||
license and Real Time Engineers Ltd. contact details.
|
||||
|
||||
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
|
||||
including FreeRTOS+Trace - an indispensable productivity tool, and our new
|
||||
fully thread aware and reentrant UDP/IP stack.
|
||||
|
||||
http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
|
||||
Integrity Systems, who sell the code with commercial support,
|
||||
http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
|
||||
Integrity Systems, who sell the code with commercial support,
|
||||
indemnification and middleware, under the OpenRTOS brand.
|
||||
|
||||
http://www.SafeRTOS.com - High Integrity Systems also provide a safety
|
||||
engineered and independently SIL3 certified version for use in safety and
|
||||
|
||||
http://www.SafeRTOS.com - High Integrity Systems also provide a safety
|
||||
engineered and independently SIL3 certified version for use in safety and
|
||||
mission critical applications that require provable dependability.
|
||||
*/
|
||||
|
||||
|
|
@ -97,6 +97,12 @@ FreeRTOS.org V4.3.0. */
|
|||
#define configKERNEL_INTERRUPT_PRIORITY 1
|
||||
#endif
|
||||
|
||||
/* Use _T1Interrupt as the interrupt handler name if the application writer has
|
||||
not provided their own. */
|
||||
#ifndef configTICK_INTERRUPT_HANDLER
|
||||
#define configTICK_INTERRUPT_HANDLER _T1Interrupt
|
||||
#endif /* configTICK_INTERRUPT_HANDLER */
|
||||
|
||||
/* The program counter is only 23 bits. */
|
||||
#define portUNUSED_PR_BITS 0x7f
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||||
|
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|
|
@ -107,7 +113,7 @@ unsigned portBASE_TYPE uxCriticalNesting = 0xef;
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#error If configKERNEL_INTERRUPT_PRIORITY is not 1 then the #32 in the following macros needs changing to equal the portINTERRUPT_BITS value, which is ( configKERNEL_INTERRUPT_PRIORITY << 5 )
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||||
#endif
|
||||
|
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#ifdef MPLAB_PIC24_PORT
|
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#if defined( __PIC24E__ ) || defined ( __PIC24F__ ) || defined( __PIC24FK__ ) || defined( __PIC24H__ )
|
||||
|
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#ifdef __HAS_EDS__
|
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#define portRESTORE_CONTEXT() \
|
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|
|
@ -151,7 +157,7 @@ unsigned portBASE_TYPE uxCriticalNesting = 0xef;
|
|||
#endif /* __HAS_EDS__ */
|
||||
#endif /* MPLAB_PIC24_PORT */
|
||||
|
||||
#ifdef MPLAB_DSPIC_PORT
|
||||
#if defined( __dsPIC30F__ ) || defined ( __dsPIC33E__ ) || defined( __dsPIC33F__ )
|
||||
|
||||
#define portRESTORE_CONTEXT() \
|
||||
asm volatile( "MOV _pxCurrentTCB, W0 \n" /* Restore the stack pointer for the task. */ \
|
||||
|
|
@ -185,10 +191,14 @@ unsigned portBASE_TYPE uxCriticalNesting = 0xef;
|
|||
|
||||
#endif /* MPLAB_DSPIC_PORT */
|
||||
|
||||
#ifndef portRESTORE_CONTEXT
|
||||
#error Unrecognised device selected
|
||||
#endif
|
||||
|
||||
/*
|
||||
* Setup the timer used to generate the tick interrupt.
|
||||
*/
|
||||
static void prvSetupTimerInterrupt( void );
|
||||
void vApplicationSetupTickTimerInterrupt( void );
|
||||
|
||||
/*
|
||||
* See header file for description.
|
||||
|
|
@ -196,7 +206,7 @@ static void prvSetupTimerInterrupt( void );
|
|||
portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters )
|
||||
{
|
||||
unsigned short usCode;
|
||||
portBASE_TYPE i;
|
||||
unsigned portBASE_TYPE i;
|
||||
|
||||
const portSTACK_TYPE xInitialStack[] =
|
||||
{
|
||||
|
|
@ -284,7 +294,7 @@ const portSTACK_TYPE xInitialStack[] =
|
|||
portBASE_TYPE xPortStartScheduler( void )
|
||||
{
|
||||
/* Setup a timer for the tick ISR. */
|
||||
prvSetupTimerInterrupt();
|
||||
vApplicationSetupTickTimerInterrupt();
|
||||
|
||||
/* Restore the context of the first task to run. */
|
||||
portRESTORE_CONTEXT();
|
||||
|
|
@ -308,7 +318,7 @@ void vPortEndScheduler( void )
|
|||
/*
|
||||
* Setup a timer for a regular tick.
|
||||
*/
|
||||
static void prvSetupTimerInterrupt( void )
|
||||
__attribute__(( weak )) void vApplicationSetupTickTimerInterrupt( void )
|
||||
{
|
||||
const unsigned long ulCompareMatch = ( ( configCPU_CLOCK_HZ / portTIMER_PRESCALE ) / configTICK_RATE_HZ ) - 1;
|
||||
|
||||
|
|
@ -353,7 +363,7 @@ void vPortExitCritical( void )
|
|||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
void __attribute__((__interrupt__, auto_psv)) _T1Interrupt( void )
|
||||
void __attribute__((__interrupt__, auto_psv)) configTICK_INTERRUPT_HANDLER( void )
|
||||
{
|
||||
/* Clear the timer interrupt. */
|
||||
IFS0bits.T1IF = 0;
|
||||
|
|
|
|||
|
|
@ -130,11 +130,13 @@ vPreemptiveTick
|
|||
LDR R0, =xTaskIncrementTick ; Increment the tick count.
|
||||
MOV LR, PC ; This may make a delayed task ready
|
||||
BX R0 ; to run.
|
||||
|
||||
|
||||
CMP R0, #0
|
||||
BEQ SkipContextSwitch
|
||||
LDR R0, =vTaskSwitchContext ; Find the highest priority task that
|
||||
MOV LR, PC ; is ready to run.
|
||||
BX R0
|
||||
|
||||
SkipContextSwitch
|
||||
MOV R0, #T0MATCHBIT ; Clear the timer event
|
||||
LDR R1, =T0IR
|
||||
STR R0, [R1]
|
||||
|
|
|
|||
|
|
@ -90,11 +90,10 @@ _vTickISR:
|
|||
portSAVE_CONTEXT
|
||||
|
||||
call #_xTaskIncrementTick
|
||||
|
||||
#if configUSE_PREEMPTION == 1
|
||||
call #_vTaskSwitchContext
|
||||
#endif
|
||||
|
||||
cmp.w #0x00, r15
|
||||
jeq _SkipContextSwitch
|
||||
call #_vTaskSwitchContext
|
||||
_SkipContextSwitch:
|
||||
portRESTORE_CONTEXT
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
|
|
|
|||
Loading…
Reference in a new issue