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Make CM3/4 tick configuration a weak function to allow application writers to use an alternative tick source.

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This commit is contained in:
Richard Barry 2012-10-29 15:56:26 +00:00
parent 5e7c99d2aa
commit ba686260ca
9 changed files with 338 additions and 214 deletions
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4
FreeRTOS/Source/include/FreeRTOS.h
View file

@ -535,11 +535,11 @@ typedef portBASE_TYPE (*pdTASK_HOOK_CODE)( void * );
#endif
#ifndef configPRE_SLEEP_PROCESSING
#define configPRE_SLEEP_PROCESSING()
#define configPRE_SLEEP_PROCESSING( x )
#endif
#ifndef configPOST_SLEEP_PROCESSING
#define configPOST_SLEEP_PROCESSING()
#define configPOST_SLEEP_PROCESSING( x )
#endif
#endif /* INC_FREERTOS_H */

52
FreeRTOS/Source/portable/GCC/ARM_CM3/port.c
View file

@ -83,15 +83,7 @@ FreeRTOS.org versions prior to V4.4.0 did not include this definition. */
#ifndef configSYSTICK_CLOCK_HZ
#define configSYSTICK_CLOCK_HZ configCPU_CLOCK_HZ
#if configUSE_TICKLESS_IDLE == 1
static const unsigned long ulStoppedTimerCompensation = 45UL;
#endif
#else /* configSYSTICK_CLOCK_HZ */
#if configUSE_TICKLESS_IDLE == 1
/* Assumes the SysTick clock is slower than the CPU clock. */
static const unsigned long ulStoppedTimerCompensation = 45UL / ( configCPU_CLOCK_HZ / configSYSTICK_CLOCK_HZ );
#endif
#endif /* configSYSTICK_CLOCK_HZ */
#endif
/* Constants required to manipulate the core. Registers first... */
#define portNVIC_SYSTICK_CTRL_REG ( * ( ( volatile unsigned long * ) 0xe000e010 ) )
@ -123,9 +115,11 @@ variable. */
static unsigned portBASE_TYPE uxCriticalNesting = 0xaaaaaaaa;
/*
* Setup the timer to generate the tick interrupts.
* 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
* generate the tick interrupt.
*/
static void prvSetupTimerInterrupt( void );
void vPortSetupTimerInterrupt( void );
/*
* Exception handlers.
@ -144,7 +138,9 @@ static void prvPortStartFirstTask( void ) __attribute__ (( naked ));
/*
* The number of SysTick increments that make up one tick period.
*/
static unsigned long ulTimerReloadValueForOneTick = 0;
#if configUSE_TICKLESS_IDLE == 1
static unsigned long ulTimerReloadValueForOneTick = 0;
#endif
/*
* The maximum number of tick periods that can be suppressed is limited by the
@ -154,6 +150,13 @@ static unsigned long ulTimerReloadValueForOneTick = 0;
static unsigned long xMaximumPossibleSuppressedTicks = 0;
#endif /* configUSE_TICKLESS_IDLE */
/*
* Compensate for the CPU cycles that pass while the SysTick is stopped (low
* power functionality only.
*/
#if configUSE_TICKLESS_IDLE == 1
static unsigned long ulStoppedTimerCompensation = 0;
#endif /* configUSE_TICKLESS_IDLE */
/*-----------------------------------------------------------*/
@ -226,7 +229,7 @@ portBASE_TYPE xPortStartScheduler( void )
/* Start the timer that generates the tick ISR. Interrupts are disabled
here already. */
prvSetupTimerInterrupt();
vPortSetupTimerInterrupt();
/* Initialise the critical nesting count ready for the first task. */
uxCriticalNesting = 0;
@ -295,6 +298,9 @@ __attribute__(( naked )) void vPortClearInterruptMask( unsigned long ulNewMaskVa
" bx lr \n" \
:::"r0" \
);
/* Just to avoid compiler warnings. */
( void ) ulNewMaskValue;
}
/*-----------------------------------------------------------*/
@ -340,6 +346,10 @@ void xPortSysTickHandler( void )
portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
#endif
/* Only reset the systick load register if configUSE_TICKLESS_IDLE is set to
1. If it is set to 0 tickless idle is not being used. If it is set to a
value other than 0 or 1 then a timer other than the SysTick is being used
to generate the tick interrupt. */
#if configUSE_TICKLESS_IDLE == 1
portNVIC_SYSTICK_LOAD_REG = ulTimerReloadValueForOneTick;
#endif
@ -403,9 +413,12 @@ void xPortSysTickHandler( void )
portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
/* Sleep until something happens. */
configPRE_SLEEP_PROCESSING();
configPRE_SLEEP_PROCESSING( xExpectedIdleTime );
if( xExpectedIdleTime > 0 )
{
__asm volatile( "wfi" );
configPOST_SLEEP_PROCESSING();
}
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
@ -460,16 +473,19 @@ void xPortSysTickHandler( void )
* Setup the systick timer to generate the tick interrupts at the required
* frequency.
*/
void prvSetupTimerInterrupt( void )
__attribute__(( weak )) void vPortSetupTimerInterrupt( void )
{
/* Calculate the constants required to configure the tick interrupt. */
ulTimerReloadValueForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;
#if configUSE_TICKLESS_IDLE == 1
{
ulTimerReloadValueForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;
xMaximumPossibleSuppressedTicks = 0xffffffUL / ( ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL );
ulStoppedTimerCompensation = 45UL / ( configCPU_CLOCK_HZ / configSYSTICK_CLOCK_HZ );
}
#endif /* configUSE_TICKLESS_IDLE */
/* Configure SysTick to interrupt at the requested rate. */
portNVIC_SYSTICK_LOAD_REG = ulTimerReloadValueForOneTick;
portNVIC_SYSTICK_LOAD_REG = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;;
portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
}
/*-----------------------------------------------------------*/

50
FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c
View file

@ -80,15 +80,7 @@
#ifndef configSYSTICK_CLOCK_HZ
#define configSYSTICK_CLOCK_HZ configCPU_CLOCK_HZ
#if configUSE_TICKLESS_IDLE == 1
static const unsigned long ulStoppedTimerCompensation = 45UL;
#endif
#else /* configSYSTICK_CLOCK_HZ */
#if configUSE_TICKLESS_IDLE == 1
/* Assumes the SysTick clock is slower than the CPU clock. */
static const unsigned long ulStoppedTimerCompensation = 45UL / ( configCPU_CLOCK_HZ / configSYSTICK_CLOCK_HZ );
#endif
#endif /* configSYSTICK_CLOCK_HZ */
#endif
/* Constants required to manipulate the core. Registers first... */
#define portNVIC_SYSTICK_CTRL_REG ( * ( ( volatile unsigned long * ) 0xe000e010 ) )
@ -125,9 +117,11 @@ variable. */
static unsigned portBASE_TYPE uxCriticalNesting = 0xaaaaaaaa;
/*
* Setup the timer to generate the tick interrupts.
* 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
* generate the tick interrupt.
*/
static void prvSetupTimerInterrupt( void );
void vPortSetupTimerInterrupt( void );
/*
* Exception handlers.
@ -151,7 +145,9 @@ static void prvPortStartFirstTask( void ) __attribute__ (( naked ));
/*
* The number of SysTick increments that make up one tick period.
*/
static unsigned long ulTimerReloadValueForOneTick = 0;
#if configUSE_TICKLESS_IDLE == 1
static unsigned long ulTimerReloadValueForOneTick = 0;
#endif
/*
* The maximum number of tick periods that can be suppressed is limited by the
@ -161,6 +157,13 @@ static unsigned long ulTimerReloadValueForOneTick = 0;
static unsigned long xMaximumPossibleSuppressedTicks = 0;
#endif /* configUSE_TICKLESS_IDLE */
/*
* Compensate for the CPU cycles that pass while the SysTick is stopped (low
* power functionality only.
*/
#if configUSE_TICKLESS_IDLE == 1
static unsigned long ulStoppedTimerCompensation = 0;
#endif /* configUSE_TICKLESS_IDLE */
/*-----------------------------------------------------------*/
@ -244,7 +247,7 @@ portBASE_TYPE xPortStartScheduler( void )
/* Start the timer that generates the tick ISR. Interrupts are disabled
here already. */
prvSetupTimerInterrupt();
vPortSetupTimerInterrupt();
/* Initialise the critical nesting count ready for the first task. */
uxCriticalNesting = 0;
@ -375,6 +378,10 @@ void xPortSysTickHandler( void )
portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
#endif
/* Only reset the systick load register if configUSE_TICKLESS_IDLE is set to
1. If it is set to 0 tickless idle is not being used. If it is set to a
value other than 0 or 1 then a timer other than the SysTick is being used
to generate the tick interrupt. */
#if configUSE_TICKLESS_IDLE == 1
portNVIC_SYSTICK_LOAD_REG = ulTimerReloadValueForOneTick;
#endif
@ -438,9 +445,12 @@ void xPortSysTickHandler( void )
portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
/* Sleep until something happens. */
configPRE_SLEEP_PROCESSING();
configPRE_SLEEP_PROCESSING( xExpectedIdleTime );
if( xExpectedIdleTime > 0 )
{
__asm volatile( "wfi" );
configPOST_SLEEP_PROCESSING();
}
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
@ -495,17 +505,19 @@ void xPortSysTickHandler( void )
* Setup the systick timer to generate the tick interrupts at the required
* frequency.
*/
void prvSetupTimerInterrupt( void )
__attribute__(( weak )) void vPortSetupTimerInterrupt( void )
{
/* Calculate the constants required to configure the tick interrupt. */
ulTimerReloadValueForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;
#if configUSE_TICKLESS_IDLE == 1
{
ulTimerReloadValueForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;
xMaximumPossibleSuppressedTicks = 0xffffffUL / ( ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL );
ulStoppedTimerCompensation = 45UL / ( configCPU_CLOCK_HZ / configSYSTICK_CLOCK_HZ );
}
#endif /* configUSE_TICKLESS_IDLE */
/* Configure SysTick to interrupt at the requested rate. */
portNVIC_SYSTICK_LOAD_REG = ulTimerReloadValueForOneTick;
portNVIC_SYSTICK_LOAD_REG = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;;
portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
}
/*-----------------------------------------------------------*/

2
FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h
View file

@ -111,9 +111,7 @@ extern "C" {
/* Scheduler utilities. */
extern void vPortYieldFromISR( void );
#define portYIELD() vPortYieldFromISR()
#define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) vPortYieldFromISR()
/*-----------------------------------------------------------*/

55
FreeRTOS/Source/portable/IAR/ARM_CM3/port.c
View file

@ -70,6 +70,9 @@
* Implementation of functions defined in portable.h for the ARM CM3 port.
*----------------------------------------------------------*/
/* IAR includes. */
#include <intrinsics.h>
/* Scheduler includes. */
#include "FreeRTOS.h"
#include "task.h"
@ -80,15 +83,7 @@
#ifndef configSYSTICK_CLOCK_HZ
#define configSYSTICK_CLOCK_HZ configCPU_CLOCK_HZ
#if configUSE_TICKLESS_IDLE == 1
static const unsigned long ulStoppedTimerCompensation = 45UL;
#endif
#else /* configSYSTICK_CLOCK_HZ */
#if configUSE_TICKLESS_IDLE == 1
/* Assumes the SysTick clock is slower than the CPU clock. */
static const unsigned long ulStoppedTimerCompensation = 45UL / ( configCPU_CLOCK_HZ / configSYSTICK_CLOCK_HZ );
#endif
#endif /* configSYSTICK_CLOCK_HZ */
#endif
/* Constants required to manipulate the core. Registers first... */
#define portNVIC_SYSTICK_CTRL_REG ( * ( ( volatile unsigned long * ) 0xe000e010 ) )
@ -123,9 +118,11 @@ variable. */
static unsigned portBASE_TYPE uxCriticalNesting = 0xaaaaaaaa;
/*
* Setup the timer to generate the tick interrupts.
* 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
* generate the tick interrupt.
*/
static void prvSetupTimerInterrupt( void );
void vPortSetupTimerInterrupt( void );
/*
* Exception handlers.
@ -142,7 +139,9 @@ extern void vPortStartFirstTask( void );
/*
* The number of SysTick increments that make up one tick period.
*/
static unsigned long ulTimerReloadValueForOneTick = 0;
#if configUSE_TICKLESS_IDLE == 1
static unsigned long ulTimerReloadValueForOneTick = 0;
#endif
/*
* The maximum number of tick periods that can be suppressed is limited by the
@ -152,6 +151,14 @@ static unsigned long ulTimerReloadValueForOneTick = 0;
static unsigned long xMaximumPossibleSuppressedTicks = 0;
#endif /* configUSE_TICKLESS_IDLE */
/*
* Compensate for the CPU cycles that pass while the SysTick is stopped (low
* power functionality only.
*/
#if configUSE_TICKLESS_IDLE == 1
static unsigned long ulStoppedTimerCompensation = 0;
#endif /* configUSE_TICKLESS_IDLE */
/*-----------------------------------------------------------*/
/*
@ -186,7 +193,7 @@ portBASE_TYPE xPortStartScheduler( void )
/* Start the timer that generates the tick ISR. Interrupts are disabled
here already. */
prvSetupTimerInterrupt();
vPortSetupTimerInterrupt();
/* Initialise the critical nesting count ready for the first task. */
uxCriticalNesting = 0;
@ -237,6 +244,10 @@ void xPortSysTickHandler( void )
portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
#endif
/* Only reset the systick load register if configUSE_TICKLESS_IDLE is set to
1. If it is set to 0 tickless idle is not being used. If it is set to a
value other than 0 or 1 then a timer other than the SysTick is being used
to generate the tick interrupt. */
#if configUSE_TICKLESS_IDLE == 1
portNVIC_SYSTICK_LOAD_REG = ulTimerReloadValueForOneTick;
#endif
@ -300,9 +311,12 @@ void xPortSysTickHandler( void )
portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
/* Sleep until something happens. */
configPRE_SLEEP_PROCESSING();
configPRE_SLEEP_PROCESSING( xExpectedIdleTime );
if( xExpectedIdleTime > 0 )
{
__WFI();
configPOST_SLEEP_PROCESSING();
}
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
@ -357,16 +371,19 @@ void xPortSysTickHandler( void )
* Setup the systick timer to generate the tick interrupts at the required
* frequency.
*/
void prvSetupTimerInterrupt( void )
__weak void vPortSetupTimerInterrupt( void )
{
/* Configure the constants required to setup the tick interrupt. */
ulTimerReloadValueForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;
/* Calculate the constants required to configure the tick interrupt. */
#if configUSE_TICKLESS_IDLE == 1
{
ulTimerReloadValueForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;
xMaximumPossibleSuppressedTicks = 0xffffffUL / ( ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL );
ulStoppedTimerCompensation = 45UL / ( configCPU_CLOCK_HZ / configSYSTICK_CLOCK_HZ );
}
#endif /* configUSE_TICKLESS_IDLE */
/* Configure SysTick to interrupt at the requested rate. */
portNVIC_SYSTICK_LOAD_REG = ulTimerReloadValueForOneTick;
portNVIC_SYSTICK_LOAD_REG = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;;
portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
}
/*-----------------------------------------------------------*/

55
FreeRTOS/Source/portable/IAR/ARM_CM4F/port.c
View file

@ -70,6 +70,9 @@
* Implementation of functions defined in portable.h for the ARM CM4F port.
*----------------------------------------------------------*/
/* Compiler includes. */
#include <intrinsics.h>
/* Scheduler includes. */
#include "FreeRTOS.h"
#include "task.h"
@ -84,15 +87,7 @@
#ifndef configSYSTICK_CLOCK_HZ
#define configSYSTICK_CLOCK_HZ configCPU_CLOCK_HZ
#if configUSE_TICKLESS_IDLE == 1
static const unsigned long ulStoppedTimerCompensation = 45UL;
#endif
#else /* configSYSTICK_CLOCK_HZ */
#if configUSE_TICKLESS_IDLE == 1
/* Assumes the SysTick clock is slower than the CPU clock. */
static const unsigned long ulStoppedTimerCompensation = 45UL / ( configCPU_CLOCK_HZ / configSYSTICK_CLOCK_HZ );
#endif
#endif /* configSYSTICK_CLOCK_HZ */
#endif
/* Constants required to manipulate the core. Registers first... */
#define portNVIC_SYSTICK_CTRL_REG ( * ( ( volatile unsigned long * ) 0xe000e010 ) )
@ -125,9 +120,11 @@ variable. */
static unsigned portBASE_TYPE uxCriticalNesting = 0xaaaaaaaa;
/*
* Setup the timer to generate the tick interrupts.
* 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
* generate the tick interrupt.
*/
static void prvSetupTimerInterrupt( void );
void vPortSetupTimerInterrupt( void );
/*
* Exception handlers.
@ -149,7 +146,9 @@ extern void vPortEnableVFP( void );
/*
* The number of SysTick increments that make up one tick period.
*/
static unsigned long ulTimerReloadValueForOneTick = 0;
#if configUSE_TICKLESS_IDLE == 1
static unsigned long ulTimerReloadValueForOneTick = 0;
#endif
/*
* The maximum number of tick periods that can be suppressed is limited by the
@ -159,6 +158,14 @@ static unsigned long ulTimerReloadValueForOneTick = 0;
static unsigned long xMaximumPossibleSuppressedTicks = 0;
#endif /* configUSE_TICKLESS_IDLE */
/*
* Compensate for the CPU cycles that pass while the SysTick is stopped (low
* power functionality only.
*/
#if configUSE_TICKLESS_IDLE == 1
static unsigned long ulStoppedTimerCompensation = 0;
#endif /* configUSE_TICKLESS_IDLE */
/*-----------------------------------------------------------*/
/*
@ -205,7 +212,7 @@ portBASE_TYPE xPortStartScheduler( void )
/* Start the timer that generates the tick ISR. Interrupts are disabled
here already. */
prvSetupTimerInterrupt();
vPortSetupTimerInterrupt();
/* Initialise the critical nesting count ready for the first task. */
uxCriticalNesting = 0;
@ -262,6 +269,10 @@ void xPortSysTickHandler( void )
portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
#endif
/* Only reset the systick load register if configUSE_TICKLESS_IDLE is set to
1. If it is set to 0 tickless idle is not being used. If it is set to a
value other than 0 or 1 then a timer other than the SysTick is being used
to generate the tick interrupt. */
#if configUSE_TICKLESS_IDLE == 1
portNVIC_SYSTICK_LOAD_REG = ulTimerReloadValueForOneTick;
#endif
@ -325,9 +336,12 @@ void xPortSysTickHandler( void )
portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
/* Sleep until something happens. */
configPRE_SLEEP_PROCESSING();
configPRE_SLEEP_PROCESSING( xExpectedIdleTime );
if( xExpectedIdleTime > 0 )
{
__WFI();
configPOST_SLEEP_PROCESSING();
}
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
@ -382,16 +396,19 @@ void xPortSysTickHandler( void )
* Setup the systick timer to generate the tick interrupts at the required
* frequency.
*/
void prvSetupTimerInterrupt( void )
__weak void vPortSetupTimerInterrupt( void )
{
/* Configure the constants required to setup the tick interrupt. */
ulTimerReloadValueForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;
/* Calculate the constants required to configure the tick interrupt. */
#if configUSE_TICKLESS_IDLE == 1
{
ulTimerReloadValueForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;
xMaximumPossibleSuppressedTicks = 0xffffffUL / ( ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL );
ulStoppedTimerCompensation = 45UL / ( configCPU_CLOCK_HZ / configSYSTICK_CLOCK_HZ );
}
#endif /* configUSE_TICKLESS_IDLE */
/* Configure SysTick to interrupt at the requested rate. */
portNVIC_SYSTICK_LOAD_REG = ulTimerReloadValueForOneTick;
portNVIC_SYSTICK_LOAD_REG = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;;
portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
}
/*-----------------------------------------------------------*/

68
FreeRTOS/Source/portable/RVDS/ARM_CM3/port.c
View file

@ -84,15 +84,16 @@
#ifndef configSYSTICK_CLOCK_HZ
#define configSYSTICK_CLOCK_HZ configCPU_CLOCK_HZ
#if configUSE_TICKLESS_IDLE == 1
static const unsigned long ulStoppedTimerCompensation = 45UL;
#endif
#else /* configSYSTICK_CLOCK_HZ */
#if configUSE_TICKLESS_IDLE == 1
/* Assumes the SysTick clock is slower than the CPU clock. */
static const unsigned long ulStoppedTimerCompensation = 45UL / ( configCPU_CLOCK_HZ / configSYSTICK_CLOCK_HZ );
#endif
#endif /* configSYSTICK_CLOCK_HZ */
#endif
/* The __weak attribute does not work as you might expect with the Keil tools
so the configOVERRIDE_DEFAULT_TICK_CONFIGURATION constant must be set to 1 if
the application writer wants to provide their own implementation of
vPortSetupTimerInterrupt(). Ensure configOVERRIDE_DEFAULT_TICK_CONFIGURATION
is defined. */
#ifndef configOVERRIDE_DEFAULT_TICK_CONFIGURATION
#define configOVERRIDE_DEFAULT_TICK_CONFIGURATION 0
#endif
/* Constants required to manipulate the core. Registers first... */
#define portNVIC_SYSTICK_CTRL_REG ( * ( ( volatile unsigned long * ) 0xe000e010 ) )
@ -120,9 +121,11 @@ variable. */
static unsigned portBASE_TYPE uxCriticalNesting = 0xaaaaaaaa;
/*
* Setup the timer to generate the tick interrupts.
* 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
* generate the tick interrupt.
*/
static void prvSetupTimerInterrupt( void );
void vPortSetupTimerInterrupt( void );
/*
* Exception handlers.
@ -141,7 +144,9 @@ static void prvStartFirstTask( void );
/*
* The number of SysTick increments that make up one tick period.
*/
static unsigned long ulTimerReloadValueForOneTick = 0;
#if configUSE_TICKLESS_IDLE == 1
static unsigned long ulTimerReloadValueForOneTick = 0;
#endif
/*
* The maximum number of tick periods that can be suppressed is limited by the
@ -151,6 +156,14 @@ static unsigned long ulTimerReloadValueForOneTick = 0;
static unsigned long xMaximumPossibleSuppressedTicks = 0;
#endif /* configUSE_TICKLESS_IDLE */
/*
* Compensate for the CPU cycles that pass while the SysTick is stopped (low
* power functionality only.
*/
#if configUSE_TICKLESS_IDLE == 1
static unsigned long ulStoppedTimerCompensation = 0;
#endif /* configUSE_TICKLESS_IDLE */
/*-----------------------------------------------------------*/
/*
@ -219,7 +232,7 @@ portBASE_TYPE xPortStartScheduler( void )
/* Start the timer that generates the tick ISR. Interrupts are disabled
here already. */
prvSetupTimerInterrupt();
vPortSetupTimerInterrupt();
/* Initialise the critical nesting count ready for the first task. */
uxCriticalNesting = 0;
@ -305,6 +318,10 @@ void xPortSysTickHandler( void )
}
#endif
/* Only reset the systick load register if configUSE_TICKLESS_IDLE is set to
1. If it is set to 0 tickless idle is not being used. If it is set to a
value other than 0 or 1 then a timer other than the SysTick is being used
to generate the tick interrupt. */
#if configUSE_TICKLESS_IDLE == 1
portNVIC_SYSTICK_LOAD_REG = ulTimerReloadValueForOneTick;
#endif
@ -368,9 +385,12 @@ void xPortSysTickHandler( void )
portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
/* Sleep until something happens. */
configPRE_SLEEP_PROCESSING();
configPRE_SLEEP_PROCESSING( xExpectedIdleTime );
if( xExpectedIdleTime > 0 )
{
__wfi();
configPOST_SLEEP_PROCESSING();
}
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
@ -426,18 +446,25 @@ void xPortSysTickHandler( void )
* Setup the SysTick timer to generate the tick interrupts at the required
* frequency.
*/
void prvSetupTimerInterrupt( void )
{
#if configOVERRIDE_DEFAULT_TICK_CONFIGURATION == 0
void vPortSetupTimerInterrupt( void )
{
/* Calculate the constants required to configure the tick interrupt. */
ulTimerReloadValueForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;
#if configUSE_TICKLESS_IDLE == 1
{
ulTimerReloadValueForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;
xMaximumPossibleSuppressedTicks = 0xffffffUL / ( ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL );
ulStoppedTimerCompensation = 45UL / ( configCPU_CLOCK_HZ / configSYSTICK_CLOCK_HZ );
}
#endif /* configUSE_TICKLESS_IDLE */
/* Configure SysTick to interrupt at the requested rate. */
portNVIC_SYSTICK_LOAD_REG = ulTimerReloadValueForOneTick;
portNVIC_SYSTICK_LOAD_REG = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;;
portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
}
}
#endif /* configOVERRIDE_DEFAULT_TICK_CONFIGURATION */
/*-----------------------------------------------------------*/
__asm unsigned long ulPortSetInterruptMask( void )
@ -449,7 +476,6 @@ __asm unsigned long ulPortSetInterruptMask( void )
msr basepri, r1
bx r14
}
/*-----------------------------------------------------------*/
__asm void vPortClearInterruptMask( unsigned long ulNewMask )

70
FreeRTOS/Source/portable/RVDS/ARM_CM4F/port.c
View file

@ -84,15 +84,16 @@
#ifndef configSYSTICK_CLOCK_HZ
#define configSYSTICK_CLOCK_HZ configCPU_CLOCK_HZ
#if configUSE_TICKLESS_IDLE == 1
static const unsigned long ulStoppedTimerCompensation = 45UL;
#endif
#else /* configSYSTICK_CLOCK_HZ */
#if configUSE_TICKLESS_IDLE == 1
/* Assumes the SysTick clock is slower than the CPU clock. */
static const unsigned long ulStoppedTimerCompensation = 45UL / ( configCPU_CLOCK_HZ / configSYSTICK_CLOCK_HZ );
#endif
#endif /* configSYSTICK_CLOCK_HZ */
#endif
/* The __weak attribute does not work as you might expect with the Keil tools
so the configOVERRIDE_DEFAULT_TICK_CONFIGURATION constant must be set to 1 if
the application writer wants to provide their own implementation of
vPortSetupTimerInterrupt(). Ensure configOVERRIDE_DEFAULT_TICK_CONFIGURATION
is defined. */
#ifndef configOVERRIDE_DEFAULT_TICK_CONFIGURATION
#define configOVERRIDE_DEFAULT_TICK_CONFIGURATION 0
#endif
/* Constants required to manipulate the core. Registers first... */
#define portNVIC_SYSTICK_CTRL_REG ( * ( ( volatile unsigned long * ) 0xe000e010 ) )
@ -125,9 +126,11 @@ variable. */
static unsigned portBASE_TYPE uxCriticalNesting = 0xaaaaaaaa;
/*
* Setup the timer to generate the tick interrupts.
* 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
* generate the tick interrupt.
*/
static void prvSetupTimerInterrupt( void );
void vPortSetupTimerInterrupt( void );
/*
* Exception handlers.
@ -150,7 +153,9 @@ static void prvEnableVFP( void );
/*
* The number of SysTick increments that make up one tick period.
*/
static unsigned long ulTimerReloadValueForOneTick = 0;
#if configUSE_TICKLESS_IDLE == 1
static unsigned long ulTimerReloadValueForOneTick = 0;
#endif
/*
* The maximum number of tick periods that can be suppressed is limited by the
@ -160,6 +165,14 @@ static unsigned long ulTimerReloadValueForOneTick = 0;
static unsigned long xMaximumPossibleSuppressedTicks = 0;
#endif /* configUSE_TICKLESS_IDLE */
/*
* Compensate for the CPU cycles that pass while the SysTick is stopped (low
* power functionality only.
*/
#if configUSE_TICKLESS_IDLE == 1
static unsigned long ulStoppedTimerCompensation = 0;
#endif /* configUSE_TICKLESS_IDLE */
/*-----------------------------------------------------------*/
/*
@ -257,7 +270,7 @@ portBASE_TYPE xPortStartScheduler( void )
/* Start the timer that generates the tick ISR. Interrupts are disabled
here already. */
prvSetupTimerInterrupt();
vPortSetupTimerInterrupt();
/* Initialise the critical nesting count ready for the first task. */
uxCriticalNesting = 0;
@ -368,6 +381,10 @@ void xPortSysTickHandler( void )
}
#endif
/* Only reset the systick load register if configUSE_TICKLESS_IDLE is set to
1. If it is set to 0 tickless idle is not being used. If it is set to a
value other than 0 or 1 then a timer other than the SysTick is being used
to generate the tick interrupt. */
#if configUSE_TICKLESS_IDLE == 1
portNVIC_SYSTICK_LOAD_REG = ulTimerReloadValueForOneTick;
#endif
@ -431,9 +448,12 @@ void xPortSysTickHandler( void )
portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
/* Sleep until something happens. */
configPRE_SLEEP_PROCESSING();
configPRE_SLEEP_PROCESSING( xExpectedIdleTime );
if( xExpectedIdleTime > 0 )
{
__wfi();
configPOST_SLEEP_PROCESSING();
}
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
@ -486,21 +506,28 @@ void xPortSysTickHandler( void )
/*-----------------------------------------------------------*/
/*
* Setup the systick timer to generate the tick interrupts at the required
* Setup the SysTick timer to generate the tick interrupts at the required
* frequency.
*/
void prvSetupTimerInterrupt( void )
{
#if configOVERRIDE_DEFAULT_TICK_CONFIGURATION == 0
void vPortSetupTimerInterrupt( void )
{
/* Calculate the constants required to configure the tick interrupt. */
ulTimerReloadValueForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;
#if configUSE_TICKLESS_IDLE == 1
{
ulTimerReloadValueForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;
xMaximumPossibleSuppressedTicks = 0xffffffUL / ( ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL );
ulStoppedTimerCompensation = 45UL / ( configCPU_CLOCK_HZ / configSYSTICK_CLOCK_HZ );
}
#endif /* configUSE_TICKLESS_IDLE */
/* Configure SysTick to interrupt at the requested rate. */
portNVIC_SYSTICK_LOAD_REG = ulTimerReloadValueForOneTick;
portNVIC_SYSTICK_LOAD_REG = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;;
portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
}
}
#endif /* configOVERRIDE_DEFAULT_TICK_CONFIGURATION */
/*-----------------------------------------------------------*/
__asm unsigned long ulPortSetInterruptMask( void )
@ -512,7 +539,6 @@ __asm unsigned long ulPortSetInterruptMask( void )
msr basepri, r1
bx r14
}
/*-----------------------------------------------------------*/
__asm void vPortClearInterruptMask( unsigned long ulNewMask )

38
FreeRTOS/Source/tasks.c
View file

@ -463,8 +463,13 @@ static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TY
/*
* Return the amount of time, in ticks, that will pass before the kernel will
* next move a task from the Blocked state to the Running state.
*
* This conditional compilation should use inequality to 0, not equality to 1.
* This is to ensure portSUPPRESS_TICKS_AND_SLEEP() can be called when user
* defined low power mode implementations require configUSE_TICKLESS_IDLE to be
* set to a value other than 1.
*/
#if ( configUSE_TICKLESS_IDLE == 1 )
#if ( configUSE_TICKLESS_IDLE != 0 )
static portTickType prvGetExpectedIdleTime( void ) PRIVILEGED_FUNCTION;
@ -1314,9 +1319,11 @@ void vTaskSuspendAll( void )
}
/*----------------------------------------------------------*/
portTickType prvGetExpectedIdleTime( void )
{
portTickType xReturn;
#if ( configUSE_TICKLESS_IDLE != 0 )
portTickType prvGetExpectedIdleTime( void )
{
portTickType xReturn;
if( pxCurrentTCB->uxPriority > tskIDLE_PRIORITY )
{
@ -1335,7 +1342,9 @@ portTickType xReturn;
}
return xReturn;
}
}
#endif /* configUSE_TICKLESS_IDLE != 0 */
/*----------------------------------------------------------*/
signed portBASE_TYPE xTaskResumeAll( void )
@ -1627,7 +1636,11 @@ unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )
#endif
/*----------------------------------------------------------*/
#if ( configUSE_TICKLESS_IDLE == 1 )
/* This conditional compilation should use inequality to 0, not equality to 1.
This is to ensure vTaskStepTick() is available when user defined low power mode
implementations require configUSE_TICKLESS_IDLE to be set to a value other than
1. */
#if ( configUSE_TICKLESS_IDLE != 0 )
void vTaskStepTick( portTickType xTicksToJump )
{
@ -2146,7 +2159,11 @@ static portTASK_FUNCTION( prvIdleTask, pvParameters )
}
#endif
#if ( configUSE_TICKLESS_IDLE == 1 )
/* This conditional compilation should use inequality to 0, not equality
to 1. This is to ensure portSUPPRESS_TICKS_AND_SLEEP() is called when
user defined low power mode implementations require
configUSE_TICKLESS_IDLE to be set to a value other than 1. */
#if ( configUSE_TICKLESS_IDLE != 0 )
{
portTickType xExpectedIdleTime;
/* If the expected idle time is 1 then the idle time would end at
@ -2156,10 +2173,6 @@ static portTASK_FUNCTION( prvIdleTask, pvParameters )
routines returns. */
const portTickType xMinimumExpectedIdleTime = ( portTickType ) 2;
/* Don't enter low power if there are still tasks waiting
deletion. */
if( uxTasksDeleted == 0 )
{
/* It is not desirable to suspend then resume the scheduler on
each iteration of the idle task. Therefore, a preliminary
test of the expected idle time is performed without the
@ -2185,7 +2198,6 @@ static portTASK_FUNCTION( prvIdleTask, pvParameters )
xTaskResumeAll();
}
}
}
#endif
}
} /*lint !e715 pvParameters is not accessed but all task functions require the same prototype. */
@ -2328,7 +2340,7 @@ static void prvCheckTasksWaitingTermination( void )
/* ucTasksDeleted is used to prevent vTaskSuspendAll() being called
too often in the idle task. */
if( uxTasksDeleted > ( unsigned portBASE_TYPE ) 0U )
while( uxTasksDeleted > ( unsigned portBASE_TYPE ) 0U )
{
vTaskSuspendAll();
xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );