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Introduce the prvTaskExitError() function for all ARM_CMn ports.

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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 2013-10-08 11:30:40 +00:00
parent 81e141ad86
commit aedf7824cb
7 changed files with 217 additions and 29 deletions
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31
FreeRTOS/Source/portable/IAR/ARM_CM3/port.c
View file

@ -97,7 +97,7 @@
#define portNVIC_PENDSV_PRI ( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 16UL )
#define portNVIC_SYSTICK_PRI ( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 24UL )
/* Constants required to check the validity of an interrupt prority. */
/* Constants required to check the validity of an interrupt priority. */
#define portFIRST_USER_INTERRUPT_NUMBER ( 16 )
#define portNVIC_IP_REGISTERS_OFFSET_16 ( 0xE000E3F0 )
#define portAIRCR_REG ( * ( ( volatile unsigned long * ) 0xE000ED0C ) )
@ -146,6 +146,11 @@ void xPortSysTickHandler( void );
*/
extern void vPortStartFirstTask( void );
/*
* Used to catch tasks that attempt to return from their implementing function.
*/
static void prvTaskExitError( void );
/*-----------------------------------------------------------*/
/*
@ -196,7 +201,7 @@ portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE
pxTopOfStack--;
*pxTopOfStack = ( portSTACK_TYPE ) pxCode; /* PC */
pxTopOfStack--;
*pxTopOfStack = 0; /* LR */
*pxTopOfStack = ( portSTACK_TYPE ) prvTaskExitError; /* LR */
pxTopOfStack -= 5; /* R12, R3, R2 and R1. */
*pxTopOfStack = ( portSTACK_TYPE ) pvParameters; /* R0 */
pxTopOfStack -= 8; /* R11, R10, R9, R8, R7, R6, R5 and R4. */
@ -205,6 +210,20 @@ portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE
}
/*-----------------------------------------------------------*/
static void prvTaskExitError( void )
{
/* A function that implements a task must not exit or attempt to return to
its caller as there is nothing to return to. If a task wants to exit it
should instead call vTaskDelete( NULL ).
Artificially force an assert() to be triggered if configASSERT() is
defined, then stop here so application writers can catch the error. */
configASSERT( uxCriticalNesting == ~0UL );
portDISABLE_INTERRUPTS();
for( ;; );
}
/*-----------------------------------------------------------*/
/*
* See header file for description.
*/
@ -367,8 +386,16 @@ void xPortSysTickHandler( void )
to be unsuspended then abandon the low power entry. */
if( eTaskConfirmSleepModeStatus() == eAbortSleep )
{
/* Restart from whatever is left in the count register to complete
this tick period. */
portNVIC_SYSTICK_LOAD_REG = portNVIC_SYSTICK_CURRENT_VALUE_REG;
/* Restart SysTick. */
portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
/* Reset the reload register to the value required for normal tick
periods. */
portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
/* Re-enable interrupts - see comments above __disable_interrupt()
call above. */

48
FreeRTOS/Source/portable/IAR/ARM_CM4F/portasm.s
View file

@ -81,11 +81,11 @@
/*-----------------------------------------------------------*/
xPortPendSVHandler:
mrs r0, psp
mrs r0, psp
/* Get the location of the current TCB. */
ldr r3, =pxCurrentTCB
ldr r2, [r3]
ldr r3, =pxCurrentTCB
ldr r2, [r3]
/* Is the task using the FPU context? If so, push high vfp registers. */
tst r14, #0x10
@ -93,34 +93,42 @@ xPortPendSVHandler:
vstmdbeq r0!, {s16-s31}
/* Save the core registers. */
stmdb r0!, {r4-r11, r14}
stmdb r0!, {r4-r11, r14}
/* Save the new top of stack into the first member of the TCB. */
str r0, [r2]
stmdb sp!, {r3, r14}
mov r0, #configMAX_SYSCALL_INTERRUPT_PRIORITY
msr basepri, r0
bl vTaskSwitchContext
bl vTaskSwitchContext
mov r0, #0
msr basepri, r0
ldmia sp!, {r3, r14}
/* The first item in pxCurrentTCB is the task top of stack. */
ldr r1, [r3]
ldr r1, [r3]
ldr r0, [r1]
/* Pop the core registers. */
ldmia r0!, {r4-r11, r14}
/* Is the task using the FPU context? If so, pop the high vfp registers
/* Is the task using the FPU context? If so, pop the high vfp registers
too. */
tst r14, #0x10
it eq
vldmiaeq r0!, {s16-s31}
msr psp, r0
bx r14
msr psp, r0
#ifdef WORKAROUND_PMU_CM001 /* XMC4000 specific errata */
#if WORKAROUND_PMU_CM001 == 1
push { r14 }
pop { pc }
#endif
#endif
bx r14
/*-----------------------------------------------------------*/
@ -130,7 +138,7 @@ ulPortSetInterruptMask:
mov r1, #configMAX_SYSCALL_INTERRUPT_PRIORITY
msr basepri, r1
bx r14
/*-----------------------------------------------------------*/
vPortClearInterruptMask:
@ -148,7 +156,7 @@ vPortSVCHandler:
ldmia r0!, {r4-r11, r14}
msr psp, r0
mov r0, #0
msr basepri, r0
msr basepri, r0
bx r14
/*-----------------------------------------------------------*/
@ -170,13 +178,13 @@ vPortEnableVFP:
/* The FPU enable bits are in the CPACR. */
ldr.w r0, =0xE000ED88
ldr r1, [r0]
/* Enable CP10 and CP11 coprocessors, then save back. */
orr r1, r1, #( 0xf << 20 )
str r1, [r0]
bx r14
bx r14
END