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https://github.com/FreeRTOS/FreeRTOS-Kernel.git
synced 2025-08-19 09:38:32 -04:00
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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@ -341,6 +342,10 @@ 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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@ -407,6 +407,7 @@ __asm void xPortPendSVHandler( void )
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stmdb r0!, {r4-r11} /* Save the remaining registers. */
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str r0, [r2] /* Save the new top of stack into the first member of the TCB. */
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clrex /* Ensure thread safety of atomic operations. */
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stmdb sp!, {r3, r14}
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mov r0, #configMAX_SYSCALL_INTERRUPT_PRIORITY
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@ -621,6 +622,10 @@ void xPortSysTickHandler( 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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@ -479,6 +479,9 @@ __asm void xPortPendSVHandler( void )
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/* Save the new top of stack into the first member of the TCB. */
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str r0, [r2]
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/* Ensure thread safety of atomic operations. */
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clrex
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stmdb sp!, {r3}
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mov r0, #configMAX_SYSCALL_INTERRUPT_PRIORITY
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msr basepri, r0
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@ -696,7 +699,7 @@ void xPortSysTickHandler( void )
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* Setup the SysTick timer to generate the tick interrupts at the required
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* frequency.
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*/
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#if configOVERRIDE_DEFAULT_TICK_CONFIGURATION == 0
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#if( configOVERRIDE_DEFAULT_TICK_CONFIGURATION == 0 )
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void vPortSetupTimerInterrupt( void )
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{
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@ -709,6 +712,10 @@ void xPortSysTickHandler( 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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@ -206,7 +207,7 @@ static void vPortEnableVFP( void );
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* Utility function.
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*/
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static uint32_t prvPortGetIPSR( void );
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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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@ -297,7 +298,7 @@ uint32_t ulReg;
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__asm void vPortSVCHandler( void )
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{
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extern prvSVCHandler
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PRESERVE8
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/* Assumes psp was in use. */
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@ -424,7 +425,7 @@ BaseType_t xPortStartScheduler( void )
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__asm void prvStartFirstTask( void )
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{
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PRESERVE8
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ldr r0, =0xE000ED08 /* Use the NVIC offset register to locate the stack. */
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ldr r0, [r0]
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ldr r0, [r0]
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@ -491,6 +492,7 @@ __asm void xPortPendSVHandler( void )
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mrs r1, control
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stmdb r0!, {r1, r4-r11, r14} /* Save the remaining registers. */
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str r0, [r2] /* Save the new top of stack into the first member of the TCB. */
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clrex /* Ensure thread safety of atomic operations. */
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stmdb sp!, {r3}
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mov r0, #configMAX_SYSCALL_INTERRUPT_PRIORITY
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@ -544,6 +546,10 @@ 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. */
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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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@ -553,18 +559,18 @@ static void prvSetupTimerInterrupt( void )
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__asm void vPortSwitchToUserMode( void )
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{
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PRESERVE8
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mrs r0, control
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orr r0, #1
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msr control, r0
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bx r14
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}
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/*-----------------------------------------------------------*/
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__asm void vPortEnableVFP( void )
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{
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PRESERVE8
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ldr.w r0, =0xE000ED88 /* The FPU enable bits are in the CPACR. */
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ldr r1, [r0]
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@ -682,7 +688,7 @@ extern uint32_t __SRAM_segment_end__;
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extern uint32_t __privileged_data_start__;
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extern uint32_t __privileged_data_end__;
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int32_t lIndex;
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uint32_t ul;
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@ -463,6 +463,9 @@ __asm void xPortPendSVHandler( void )
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/* Save the new top of stack into the first member of the TCB. */
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str r0, [r2]
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/* Ensure thread safety of atomic operations. */
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clrex
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stmdb sp!, {r3}
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mov r0, #configMAX_SYSCALL_INTERRUPT_PRIORITY
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cpsid i
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@ -695,6 +698,10 @@ void xPortSysTickHandler( 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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