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Introduce the prvTaskExitError() function for all ARM_CMn ports.
Introduce the configTASK_RETURN_ADDRESS macro for the GCC ARM_CMn ports. Improve time slippage penalty when entering tickless mode is abandoned.
This commit is contained in:
Richard Barry
parent
81e141ad86
commit
aedf7824cb
7 changed files with 217 additions and 29 deletions
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@ -86,6 +86,15 @@
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/* Constants required to set up the initial stack. */
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#define portINITIAL_XPSR ( 0x01000000 )
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/* Let the user override the pre-loading of the initial LR with the address of
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prvTaskExitError() in case is messes up unwinding of the stack in the
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debugger. */
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#ifdef configTASK_RETURN_ADDRESS
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#define portTASK_RETURN_ADDRESS configTASK_RETURN_ADDRESS
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#else
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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 unsigned portBASE_TYPE uxCriticalNesting = 0xaaaaaaaa;
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@ -126,7 +135,7 @@ 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 = ( portSTACK_TYPE ) prvTaskExitError; /* LR */
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*pxTopOfStack = ( portSTACK_TYPE ) portTASK_RETURN_ADDRESS; /* 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 -= 8; /* R11..R4. */
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@ -118,6 +118,15 @@ occurred while the SysTick counter is stopped during tickless idle
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calculations. */
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#define portMISSED_COUNTS_FACTOR ( 45UL )
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/* Let the user override the pre-loading of the initial LR with the address of
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prvTaskExitError() in case is messes up unwinding of the stack in the
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debugger. */
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#ifdef configTASK_RETURN_ADDRESS
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#define portTASK_RETURN_ADDRESS configTASK_RETURN_ADDRESS
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#else
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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 unsigned portBASE_TYPE uxCriticalNesting = 0xaaaaaaaa;
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@ -141,6 +150,11 @@ void vPortSVCHandler( void ) __attribute__ (( naked ));
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*/
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static void prvPortStartFirstTask( void ) __attribute__ (( naked ));
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/*
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* Used to catch tasks that attempt to return from their implementing function.
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*/
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static void prvTaskExitError( void );
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/*-----------------------------------------------------------*/
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/*
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@ -191,7 +205,7 @@ 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 = 0; /* LR */
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*pxTopOfStack = ( portSTACK_TYPE ) portTASK_RETURN_ADDRESS; /* 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 -= 8; /* R11, R10, R9, R8, R7, R6, R5 and R4. */
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@ -200,6 +214,20 @@ portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE
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}
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/*-----------------------------------------------------------*/
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static void prvTaskExitError( void )
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{
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/* A function that implements a task must not exit or attempt to return to
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its caller as there is nothing to return to. If a task wants to exit it
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should instead call vTaskDelete( NULL ).
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Artificially force an assert() to be triggered if configASSERT() is
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defined, then stop here so application writers can catch the error. */
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configASSERT( uxCriticalNesting == ~0UL );
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portDISABLE_INTERRUPTS();
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for( ;; );
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}
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/*-----------------------------------------------------------*/
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void vPortSVCHandler( void )
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{
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__asm volatile (
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@ -465,8 +493,16 @@ void xPortSysTickHandler( void )
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to be unsuspended then abandon the low power entry. */
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if( eTaskConfirmSleepModeStatus() == eAbortSleep )
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{
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/* Restart from whatever is left in the count register to complete
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this tick period. */
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portNVIC_SYSTICK_LOAD_REG = portNVIC_SYSTICK_CURRENT_VALUE_REG;
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/* Restart SysTick. */
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portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
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/* Reset the reload register to the value required for normal tick
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periods. */
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portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
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/* Re-enable interrupts - see comments above the cpsid instruction()
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above. */
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@ -120,6 +120,15 @@ occurred while the SysTick counter is stopped during tickless idle
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calculations. */
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#define portMISSED_COUNTS_FACTOR ( 45UL )
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/* Let the user override the pre-loading of the initial LR with the address of
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prvTaskExitError() in case is messes up unwinding of the stack in the
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debugger. */
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#ifdef configTASK_RETURN_ADDRESS
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#define portTASK_RETURN_ADDRESS configTASK_RETURN_ADDRESS
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#else
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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 unsigned portBASE_TYPE uxCriticalNesting = 0xaaaaaaaa;
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@ -148,6 +157,11 @@ static void prvPortStartFirstTask( void ) __attribute__ (( naked ));
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*/
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static void vPortEnableVFP( void ) __attribute__ (( naked ));
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/*
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* Used to catch tasks that attempt to return from their implementing function.
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*/
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static void prvTaskExitError( void );
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/*-----------------------------------------------------------*/
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/*
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@ -174,7 +188,7 @@ static void prvPortStartFirstTask( void ) __attribute__ (( naked ));
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#endif /* configUSE_TICKLESS_IDLE */
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/*
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* Used by the portASSERT_IF_INTERRUPT_PRIORITY_INVALID() macro to ensure
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* Used by the portASSERT_IF_INTERRUPT_PRIORITY_INVALID() macro to ensure
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* FreeRTOS API functions are not called from interrupts that have been assigned
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* a priority above configMAX_SYSCALL_INTERRUPT_PRIORITY.
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*/
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@ -202,7 +216,7 @@ 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 = 0; /* LR */
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*pxTopOfStack = ( portSTACK_TYPE ) portTASK_RETURN_ADDRESS; /* LR */
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/* Save code space by skipping register initialisation. */
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pxTopOfStack -= 5; /* R12, R3, R2 and R1. */
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@ -219,6 +233,20 @@ portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE
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}
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/*-----------------------------------------------------------*/
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static void prvTaskExitError( void )
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{
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/* A function that implements a task must not exit or attempt to return to
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its caller as there is nothing to return to. If a task wants to exit it
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should instead call vTaskDelete( NULL ).
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Artificially force an assert() to be triggered if configASSERT() is
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defined, then stop here so application writers can catch the error. */
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configASSERT( uxCriticalNesting == ~0UL );
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portDISABLE_INTERRUPTS();
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for( ;; );
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}
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/*-----------------------------------------------------------*/
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void vPortSVCHandler( void )
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{
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__asm volatile (
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@ -406,7 +434,7 @@ void xPortPendSVHandler( void )
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(
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" mrs r0, psp \n"
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" \n"
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" ldr r3, pxCurrentTCBConst \n" /* Get the location of the current TCB. */
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" ldr r3, pxCurrentTCBConst \n" /* Get the location of the current TCB. */
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" ldr r2, [r3] \n"
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" \n"
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" tst r14, #0x10 \n" /* Is the task using the FPU context? If so, push high vfp registers. */
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@ -435,6 +463,14 @@ void xPortPendSVHandler( void )
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" vldmiaeq r0!, {s16-s31} \n"
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" \n"
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" msr psp, r0 \n"
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" \n"
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#ifdef WORKAROUND_PMU_CM001 /* XMC4000 specific errata workaround. */
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#if WORKAROUND_PMU_CM001 == 1
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" push { r14 } \n"
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" pop { pc } \n"
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#endif
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#endif
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" \n"
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" bx r14 \n"
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" \n"
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" .align 2 \n"
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@ -500,9 +536,17 @@ void xPortSysTickHandler( void )
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to be unsuspended then abandon the low power entry. */
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if( eTaskConfirmSleepModeStatus() == eAbortSleep )
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{
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/* Restart from whatever is left in the count register to complete
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this tick period. */
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portNVIC_SYSTICK_LOAD_REG = portNVIC_SYSTICK_CURRENT_VALUE_REG;
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/* Restart SysTick. */
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portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
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/* Reset the reload register to the value required for normal tick
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periods. */
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portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
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/* Re-enable interrupts - see comments above the cpsid instruction()
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above. */
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__asm volatile( "cpsie i" );
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