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https://github.com/FreeRTOS/FreeRTOS-Kernel.git
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Improvements to the Cortex-M ports:
- Clear the SysTick current value register before starting the SysTick (only required if something uses SysTick before starting the scheduler). - Ensure atomic operations are thread safe by executing clrex in the context switch.
This commit is contained in:
Richard Barry
parent
6c975cd46a
commit
c296e2cff8
23 changed files with 139 additions and 40 deletions
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@ -76,8 +76,9 @@
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#include "task.h"
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/* Constants required to manipulate the NVIC. */
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#define portNVIC_SYSTICK_CTRL ( ( volatile uint32_t *) 0xe000e010 )
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#define portNVIC_SYSTICK_LOAD ( ( volatile uint32_t *) 0xe000e014 )
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#define portNVIC_SYSTICK_CTRL ( ( volatile uint32_t * ) 0xe000e010 )
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#define portNVIC_SYSTICK_LOAD ( ( volatile uint32_t * ) 0xe000e014 )
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#define portNVIC_SYSTICK_CURRENT_VALUE ( ( volatile uint32_t * ) 0xe000e018 )
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#define portNVIC_INT_CTRL ( ( volatile uint32_t *) 0xe000ed04 )
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#define portNVIC_SYSPRI2 ( ( volatile uint32_t *) 0xe000ed20 )
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#define portNVIC_SYSTICK_CLK 0x00000004
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@ -310,7 +311,7 @@ void xPortPendSVHandler( void )
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" mov r5, r9 \n"
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" mov r6, r10 \n"
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" mov r7, r11 \n"
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" stmia r0!, {r4-r7} \n"
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" stmia r0!, {r4-r7} \n"
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" \n"
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" push {r3, r14} \n"
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" cpsid i \n"
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@ -330,7 +331,7 @@ void xPortPendSVHandler( void )
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" msr psp, r0 \n" /* Remember the new top of stack for the task. */
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" \n"
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" sub r0, r0, #32 \n" /* Go back for the low registers that are not automatically restored. */
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" ldmia r0!, {r4-r7} \n" /* Pop low registers. */
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" ldmia r0!, {r4-r7} \n" /* Pop low registers. */
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" \n"
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" bx r3 \n"
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" \n"
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@ -363,6 +364,10 @@ uint32_t ulPreviousMask;
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*/
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void prvSetupTimerInterrupt( void )
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{
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/* Stop and reset the SysTick. */
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*(portNVIC_SYSTICK_CTRL) = 0UL;
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*(portNVIC_SYSTICK_CURRENT_VALUE) = 0UL;
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/* Configure SysTick to interrupt at the requested rate. */
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*(portNVIC_SYSTICK_LOAD) = ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;
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*(portNVIC_SYSTICK_CTRL) = portNVIC_SYSTICK_CLK | portNVIC_SYSTICK_INT | portNVIC_SYSTICK_ENABLE;
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@ -410,6 +410,7 @@ void xPortPendSVHandler( void )
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" \n"
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" stmdb r0!, {r4-r11} \n" /* Save the remaining registers. */
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" str r0, [r2] \n" /* Save the new top of stack into the first member of the TCB. */
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" clrex \n" /* Ensure thread safety of atomic operations. */
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" \n"
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" stmdb sp!, {r3, r14} \n"
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" mov r0, %0 \n"
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@ -622,6 +623,10 @@ __attribute__(( weak )) void vPortSetupTimerInterrupt( void )
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}
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#endif /* configUSE_TICKLESS_IDLE */
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/* Stop and clear the SysTick. */
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portNVIC_SYSTICK_CTRL_REG = 0UL;
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portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;
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/* Configure SysTick to interrupt at the requested rate. */
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portNVIC_SYSTICK_LOAD_REG = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;
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portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT );
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@ -89,6 +89,7 @@ task.h is included from an application file. */
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/* Constants required to access and manipulate the NVIC. */
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#define portNVIC_SYSTICK_CTRL_REG ( * ( ( volatile uint32_t * ) 0xe000e010 ) )
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#define portNVIC_SYSTICK_LOAD_REG ( * ( ( volatile uint32_t * ) 0xe000e014 ) )
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#define portNVIC_SYSTICK_CURRENT_VALUE_REG ( * ( ( volatile uint32_t * ) 0xe000e018 ) )
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#define portNVIC_SYSPRI2_REG ( * ( ( volatile uint32_t * ) 0xe000ed20 ) )
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#define portNVIC_SYSPRI1_REG ( * ( ( volatile uint32_t * ) 0xe000ed1c ) )
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#define portNVIC_SYS_CTRL_STATE_REG ( * ( ( volatile uint32_t * ) 0xe000ed24 ) )
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@ -449,6 +450,7 @@ void xPortPendSVHandler( void )
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" mrs r1, control \n"
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" stmdb r0!, {r1, r4-r11} \n" /* Save the remaining registers. */
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" str r0, [r2] \n" /* Save the new top of stack into the first member of the TCB. */
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" clrex \n" /* Ensure thread safety of atomic operations. */
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" \n"
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" stmdb sp!, {r3, r14} \n"
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" mov r0, %0 \n"
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@ -500,6 +502,10 @@ uint32_t ulDummy;
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*/
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static void prvSetupTimerInterrupt( void )
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{
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/* Reset the SysTick timer. */
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portNVIC_SYSTICK_CTRL_REG = 0UL;
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portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;
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/* Configure SysTick to interrupt at the requested rate. */
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portNVIC_SYSTICK_LOAD_REG = ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;
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portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK | portNVIC_SYSTICK_INT | portNVIC_SYSTICK_ENABLE;
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@ -449,8 +449,8 @@ void xPortPendSVHandler( void )
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" vstmdbeq r0!, {s16-s31} \n"
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" \n"
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" stmdb r0!, {r4-r11, r14} \n" /* Save the core registers. */
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" \n"
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" str r0, [r2] \n" /* Save the new top of stack into the first member of the TCB. */
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" clrex \n" /* Ensure thread safety of atomic operations. */
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" \n"
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" stmdb sp!, {r3} \n"
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" mov r0, %0 \n"
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@ -679,6 +679,10 @@ __attribute__(( weak )) void vPortSetupTimerInterrupt( void )
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}
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#endif /* configUSE_TICKLESS_IDLE */
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/* Stop and clear the SysTick. */
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portNVIC_SYSTICK_CTRL_REG = 0UL;
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portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;
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/* Configure SysTick to interrupt at the requested rate. */
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portNVIC_SYSTICK_LOAD_REG = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;
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portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT );
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@ -91,6 +91,7 @@ task.h is included from an application file. */
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/* Constants required to access and manipulate the NVIC. */
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#define portNVIC_SYSTICK_CTRL_REG ( * ( ( volatile uint32_t * ) 0xe000e010 ) )
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#define portNVIC_SYSTICK_LOAD_REG ( * ( ( volatile uint32_t * ) 0xe000e014 ) )
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#define portNVIC_SYSTICK_CURRENT_VALUE_REG ( * ( ( volatile uint32_t * ) 0xe000e018 ) )
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#define portNVIC_SYSPRI2_REG ( * ( ( volatile uint32_t * ) 0xe000ed20 ) )
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#define portNVIC_SYSPRI1_REG ( * ( ( volatile uint32_t * ) 0xe000ed1c ) )
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#define portNVIC_SYS_CTRL_STATE_REG ( * ( ( volatile uint32_t * ) 0xe000ed24 ) )
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@ -196,7 +197,7 @@ static void prvSVCHandler( uint32_t *pulRegisters ) __attribute__(( noinline ))
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* Function to enable the VFP.
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*/
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static void vPortEnableVFP( void ) __attribute__ (( naked ));
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/*
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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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@ -225,12 +226,12 @@ StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t px
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*pxTopOfStack = 0; /* LR */
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pxTopOfStack -= 5; /* R12, R3, R2 and R1. */
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*pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */
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/* A save method is being used that requires each task to maintain its
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own exec return value. */
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pxTopOfStack--;
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*pxTopOfStack = portINITIAL_EXEC_RETURN;
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pxTopOfStack -= 9; /* R11, R10, R9, R8, R7, R6, R5 and R4. */
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if( xRunPrivileged == pdTRUE )
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@ -476,6 +477,7 @@ void xPortPendSVHandler( void )
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" mrs r1, control \n"
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" stmdb r0!, {r1, r4-r11, r14} \n" /* Save the remaining registers. */
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" str r0, [r2] \n" /* Save the new top of stack into the first member of the TCB. */
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" clrex \n" /* Ensure thread safety of atomic operations. */
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" \n"
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" stmdb sp!, {r3} \n"
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" mov r0, %0 \n"
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@ -533,6 +535,10 @@ uint32_t ulDummy;
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*/
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static void prvSetupTimerInterrupt( void )
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{
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/* Clear the SysTick. */
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portNVIC_SYSTICK_CTRL_REG = 0UL;
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portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;
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/* Configure SysTick to interrupt at the requested rate. */
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portNVIC_SYSTICK_LOAD_REG = ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;
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portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK | portNVIC_SYSTICK_INT | portNVIC_SYSTICK_ENABLE;
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@ -437,8 +437,8 @@ void xPortPendSVHandler( void )
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" vstmdbeq r0!, {s16-s31} \n"
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" \n"
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" stmdb r0!, {r4-r11, r14} \n" /* Save the core registers. */
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" \n"
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" str r0, [r2] \n" /* Save the new top of stack into the first member of the TCB. */
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" clrex \n" /* Ensure thread safety of atomic operations. */
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" \n"
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" stmdb sp!, {r3} \n"
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" mov r0, %0 \n"
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@ -669,6 +669,10 @@ __attribute__(( weak )) void vPortSetupTimerInterrupt( void )
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}
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#endif /* configUSE_TICKLESS_IDLE */
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/* Stop and clear the SysTick. */
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portNVIC_SYSTICK_CTRL_REG = 0UL;
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portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;
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/* Configure SysTick to interrupt at the requested rate. */
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portNVIC_SYSTICK_LOAD_REG = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;
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portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT );
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