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https://github.com/FreeRTOS/FreeRTOS-Kernel.git
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Performance optimisation.
This commit is contained in:
Richard Barry
parent
b53d20dfd2
commit
a8d03f24e3
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@ -25,11 +25,11 @@
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***************************************************************************
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Please ensure to read the configuration and relevant port sections of the
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Please ensure to read the configuration and relevant port sections of the
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online documentation.
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+++ http://www.FreeRTOS.org +++
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Documentation, latest information, license and contact details.
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Documentation, latest information, license and contact details.
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+++ http://www.SafeRTOS.com +++
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A version that is certified for use in safety critical systems.
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@ -60,7 +60,6 @@
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#define portNVIC_SYSTICK_LOAD ( ( volatile unsigned portLONG *) 0xe000e014 )
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#define portNVIC_INT_CTRL ( ( volatile unsigned portLONG *) 0xe000ed04 )
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#define portNVIC_SYSPRI2 ( ( volatile unsigned portLONG *) 0xe000ed20 )
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#define portNVIC_SYSPRI1 ( ( volatile unsigned portLONG *) 0xe000ed1c )
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#define portNVIC_SYSTICK_CLK 0x00000004
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#define portNVIC_SYSTICK_INT 0x00000002
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#define portNVIC_SYSTICK_ENABLE 0x00000001
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@ -88,16 +87,14 @@ unsigned portBASE_TYPE uxCriticalNesting = 0xaaaaaaaa;
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static void prvSetupTimerInterrupt( void );
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/*
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* Set the MSP/PSP to a known value.
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* Exception handlers.
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*/
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extern void vSetMSP( unsigned long ulValue );
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extern void vSetPSP( unsigned long ulValue );
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void xPortSysTickHandler( void );
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/*
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* Utilities called from the assembler code.
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* Start first task is a separate function so it can be tested in isolation.
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*/
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void vPortSwitchContext( void );
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void vPortIncrementTick( void );
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extern void vPortStartFirstTask( unsigned portLONG ulValue );
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/*-----------------------------------------------------------*/
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@ -112,7 +109,7 @@ portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE
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pxTopOfStack--;
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*pxTopOfStack = ( portSTACK_TYPE ) pxCode; /* PC */
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pxTopOfStack--;
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*pxTopOfStack = 0xfffffffd; /* LR */
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*pxTopOfStack = 0; /* LR */
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pxTopOfStack -= 5; /* R12, R3, R2 and R1. */
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*pxTopOfStack = ( portSTACK_TYPE ) pvParameters; /* R0 */
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pxTopOfStack -= 9; /* R11, R10, R9, R8, R7, R6, R5 and R4. */
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@ -136,12 +133,7 @@ portBASE_TYPE xPortStartScheduler( void )
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prvSetupTimerInterrupt();
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/* Start the first task. */
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vSetPSP( 0 );
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vSetMSP( *((unsigned portLONG *) 0 ) );
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*(portNVIC_INT_CTRL) |= portNVIC_PENDSVSET;
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/* Enable interrupts */
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portENABLE_INTERRUPTS();
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vPortStartFirstTask( *((unsigned portLONG *) 0 ) );
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/* Should not get here! */
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return 0;
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@ -183,6 +175,16 @@ void vPortExitCritical( void )
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}
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/*-----------------------------------------------------------*/
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void xPortSysTickHandler( void )
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{
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vTaskIncrementTick();
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/* If using preemption, also force a context switch. */
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#if configUSE_PREEMPTION == 1
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*(portNVIC_INT_CTRL) |= portNVIC_PENDSVSET;
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#endif
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}
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/*-----------------------------------------------------------*/
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/*
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* Setup the systick timer to generate the tick interrupts at the required
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@ -196,19 +198,3 @@ void prvSetupTimerInterrupt( void )
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}
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/*-----------------------------------------------------------*/
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void vPortSwitchContext( void )
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{
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vPortSetInterruptMask();
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vTaskSwitchContext();
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vPortClearInterruptMask();
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}
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/*-----------------------------------------------------------*/
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void vPortIncrementTick( void )
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{
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vPortSetInterruptMask();
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vTaskIncrementTick();
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vPortClearInterruptMask();
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}
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@ -25,11 +25,11 @@
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***************************************************************************
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Please ensure to read the configuration and relevant port sections of the
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Please ensure to read the configuration and relevant port sections of the
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online documentation.
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+++ http://www.FreeRTOS.org +++
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Documentation, latest information, license and contact details.
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Documentation, latest information, license and contact details.
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+++ http://www.SafeRTOS.com +++
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A version that is certified for use in safety critical systems.
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@ -61,23 +61,18 @@ FreeRTOS.org versions prior to V4.3.0 did not include this definition. */
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thumb
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EXTERN vPortYieldFromISR
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EXTERN vPortSwitchContext
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EXTERN vPortIncrementTick
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EXTERN uxCriticalNesting
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EXTERN pxCurrentTCB
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EXTERN vTaskSwitchContext
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PUBLIC vSetPSP
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PUBLIC vSetMSP
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PUBLIC xPortPendSVHandler
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PUBLIC xPortSysTickHandler
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PUBLIC vPortSetInterruptMask
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PUBLIC vPortClearInterruptMask
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PUBLIC vPortSVCHandler
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PUBLIC vPortStartFirstTask
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vSetPSP:
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msr psp, r0
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bx lr
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/*-----------------------------------------------------------*/
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vSetMSP
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@ -88,67 +83,34 @@ vSetMSP
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xPortPendSVHandler:
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mrs r0, psp
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cbz r0, no_save
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/* Save the context into the TCB. */
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stmdb r0!, {r4-r11}
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sub r0, r0, #0x04
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ldr r1, =uxCriticalNesting
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ldr r2, =pxCurrentTCB
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ldr r3, =pxCurrentTCB /* Get the location of the current TCB. */
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ldr r2, [r3]
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ldr r1, =uxCriticalNesting /* Save the remaining registers and the critical nesting count onto the task stack. */
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ldr r1, [r1]
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ldr r2, [r2]
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str r1, [r0]
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str r0, [r2]
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no_save:
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push {r14}
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bl vPortSwitchContext
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pop {r14}
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/* Restore the context. */
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ldr r1, =pxCurrentTCB
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ldr r1, [r1]
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ldr r0, [r1]
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ldmia r0!, {r1, r4-r11}
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ldr r2, =uxCriticalNesting
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str r1, [r2]
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stmdb r0!, {r1,r4-r11}
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str r0, [r2] /* Save the new top of stack into the first member of the TCB. */
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stmdb sp!, {r3, r14}
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bl vTaskSwitchContext
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ldmia sp!, {r3, r14}
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ldr r1, [r3]
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ldr r2, =uxCriticalNesting
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ldr r0, [r1] /* The first item in pxCurrentTCB is the task top of stack. */
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ldmia r0!, {r1, r4-r11} /* Pop the registers and the critical nesting count. */
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str r1, [r2] /* Save the new critical nesting value into ulCriticalNesting. */
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msr psp, r0
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orr r14, r14, #0xd
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/* Exit with interrupts in the state required by the task. */
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cbnz r1, sv_disable_interrupts
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orr r14, r14, #13
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cbnz r1, sv_disable_interrupts /* If the nesting count is greater than 0 we need to exit with interrupts masked. */
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bx r14
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sv_disable_interrupts:
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mov r1, #configKERNEL_INTERRUPT_PRIORITY
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msr basepri, R1
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msr basepri, r1
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bx r14
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/*-----------------------------------------------------------*/
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xPortSysTickHandler:
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/* Call the scheduler tick function. */
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push {r14}
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bl vPortIncrementTick
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pop {r14}
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/* If using preemption, also force a context switch. */
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#if configUSE_PREEMPTION == 1
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push {r14}
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bl vPortYieldFromISR
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pop {r14}
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#endif
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/* Exit with interrupts in the correct state. */
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ldr r2, =uxCriticalNesting
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ldr r2, [r2]
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cbnz r2, tick_disable_interrupts
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bx r14
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tick_disable_interrupts:
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mov r1, #configKERNEL_INTERRUPT_PRIORITY
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msr basepri, R1
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bx r14
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/*-----------------------------------------------------------*/
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vPortSetInterruptMask:
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@ -171,5 +133,23 @@ vPortClearInterruptMask:
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/*-----------------------------------------------------------*/
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vPortSVCHandler;
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ldr r3, =pxCurrentTCB
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ldr r1, [r3]
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ldr r0, [r1]
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ldmia r0!, {r1, r4-r11}
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ldr r2, =uxCriticalNesting
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str r1, [r2]
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msr psp, r0
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orr r14, r14, #13
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bx r14
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/*-----------------------------------------------------------*/
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vPortStartFirstTask
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msr msp, r0
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svc 0
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END
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