/*\r
- FreeRTOS V7.2.0 - Copyright (C) 2012 Real Time Engineers Ltd.\r
+ FreeRTOS V7.3.0 - Copyright (C) 2012 Real Time Engineers Ltd.\r
\r
+ FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT\r
+ http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.\r
\r
***************************************************************************\r
* *\r
FreeRTOS WEB site.\r
\r
1 tab == 4 spaces!\r
- \r
+\r
***************************************************************************\r
* *\r
* Having a problem? Start by reading the FAQ "My application does *\r
- * not run, what could be wrong? *\r
+ * not run, what could be wrong?" *\r
* *\r
* http://www.FreeRTOS.org/FAQHelp.html *\r
* *\r
***************************************************************************\r
\r
- \r
- http://www.FreeRTOS.org - Documentation, training, latest information, \r
- license and contact details.\r
- \r
+\r
+ http://www.FreeRTOS.org - Documentation, training, latest versions, license\r
+ and contact details.\r
+\r
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,\r
including FreeRTOS+Trace - an indispensable productivity tool.\r
\r
- Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell \r
- the code with commercial support, indemnification, and middleware, under \r
+ Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell\r
+ the code with commercial support, indemnification, and middleware, under\r
the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also\r
- provide a safety engineered and independently SIL3 certified version under \r
+ provide a safety engineered and independently SIL3 certified version under\r
the SafeRTOS brand: http://www.SafeRTOS.com.\r
*/\r
\r
#error This port can only be used when the project options are configured to enable hardware floating point support.\r
#endif\r
\r
-/* Constants required to manipulate the NVIC. */\r
-#define portNVIC_SYSTICK_CTRL ( ( volatile unsigned long * ) 0xe000e010 )\r
-#define portNVIC_SYSTICK_LOAD ( ( volatile unsigned long * ) 0xe000e014 )\r
-#define portNVIC_INT_CTRL ( ( volatile unsigned long * ) 0xe000ed04 )\r
-#define portNVIC_SYSPRI2 ( ( volatile unsigned long * ) 0xe000ed20 )\r
-#define portNVIC_SYSTICK_CLK 0x00000004\r
-#define portNVIC_SYSTICK_INT 0x00000002\r
-#define portNVIC_SYSTICK_ENABLE 0x00000001\r
-#define portNVIC_PENDSVSET 0x10000000\r
-#define portNVIC_PENDSV_PRI ( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 16 )\r
-#define portNVIC_SYSTICK_PRI ( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 24 )\r
+#ifndef configSYSTICK_CLOCK_HZ\r
+ #define configSYSTICK_CLOCK_HZ configCPU_CLOCK_HZ\r
+#endif\r
+\r
+/* Constants required to manipulate the core. Registers first... */\r
+#define portNVIC_SYSTICK_CTRL_REG ( * ( ( volatile unsigned long * ) 0xe000e010 ) )\r
+#define portNVIC_SYSTICK_LOAD_REG ( * ( ( volatile unsigned long * ) 0xe000e014 ) )\r
+#define portNVIC_SYSTICK_CURRENT_VALUE_REG ( * ( ( volatile unsigned long * ) 0xe000e018 ) )\r
+#define portNVIC_INT_CTRL_REG ( * ( ( volatile unsigned long * ) 0xe000ed04 ) )\r
+#define portNVIC_SYSPRI2_REG ( * ( ( volatile unsigned long * ) 0xe000ed20 ) )\r
+/* ...then bits in the registers. */\r
+#define portNVIC_SYSTICK_CLK_BIT ( 1UL << 2UL )\r
+#define portNVIC_SYSTICK_INT_BIT ( 1UL << 1UL )\r
+#define portNVIC_SYSTICK_ENABLE_BIT ( 1UL << 0UL )\r
+#define portNVIC_SYSTICK_COUNT_FLAG_BIT ( 1UL << 16UL )\r
+#define portNVIC_PENDSVSET_BIT ( 1UL << 28UL )\r
+#define portNVIC_PENDSVCLEAR_BIT ( 1UL << 27UL )\r
+#define portNVIC_PEND_SYSTICK_CLEAR_BIT ( 1UL << 25UL )\r
+\r
+#define portNVIC_PENDSV_PRI ( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 16UL )\r
+#define portNVIC_SYSTICK_PRI ( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 24UL )\r
\r
/* Constants required to manipulate the VFP. */\r
#define portFPCCR ( ( volatile unsigned long * ) 0xe000ef34 ) /* Floating point context control register. */\r
static unsigned portBASE_TYPE uxCriticalNesting = 0xaaaaaaaa;\r
\r
/*\r
- * Setup the timer to generate the tick interrupts.\r
+ * Setup the timer to generate the tick interrupts. The implementation in this\r
+ * file is weak to allow application writers to change the timer used to\r
+ * generate the tick interrupt.\r
*/\r
-static void prvSetupTimerInterrupt( void );\r
+void vPortSetupTimerInterrupt( void );\r
\r
/*\r
* Exception handlers.\r
/*\r
* Start first task is a separate function so it can be tested in isolation.\r
*/\r
-static void vPortStartFirstTask( void ) __attribute__ (( naked ));\r
+static void prvPortStartFirstTask( void ) __attribute__ (( naked ));\r
\r
/*\r
* Function to enable the VFP.\r
*/\r
static void vPortEnableVFP( void ) __attribute__ (( naked ));\r
\r
+/*-----------------------------------------------------------*/\r
+\r
+/*\r
+ * The number of SysTick increments that make up one tick period.\r
+ */\r
+#if configUSE_TICKLESS_IDLE == 1\r
+ static unsigned long ulTimerReloadValueForOneTick = 0;\r
+#endif\r
+\r
+/*\r
+ * The maximum number of tick periods that can be suppressed is limited by the\r
+ * 24 bit resolution of the SysTick timer.\r
+ */\r
+#if configUSE_TICKLESS_IDLE == 1\r
+ static unsigned long xMaximumPossibleSuppressedTicks = 0;\r
+#endif /* configUSE_TICKLESS_IDLE */\r
+\r
+/*\r
+ * Compensate for the CPU cycles that pass while the SysTick is stopped (low\r
+ * power functionality only.\r
+ */\r
+#if configUSE_TICKLESS_IDLE == 1\r
+ static unsigned long ulStoppedTimerCompensation = 0;\r
+#endif /* configUSE_TICKLESS_IDLE */\r
\r
/*-----------------------------------------------------------*/\r
\r
}\r
/*-----------------------------------------------------------*/\r
\r
-static void vPortStartFirstTask( void )\r
+static void prvPortStartFirstTask( void )\r
{\r
__asm volatile(\r
" ldr r0, =0xE000ED08 \n" /* Use the NVIC offset register to locate the stack. */\r
*/\r
portBASE_TYPE xPortStartScheduler( void )\r
{\r
- /* configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to 0. \r
+ /* configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to 0.\r
See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */\r
configASSERT( configMAX_SYSCALL_INTERRUPT_PRIORITY );\r
\r
- /* Make PendSV and SysTick the lowest priority interrupts. */\r
- *(portNVIC_SYSPRI2) |= portNVIC_PENDSV_PRI;\r
- *(portNVIC_SYSPRI2) |= portNVIC_SYSTICK_PRI;\r
+ /* Make PendSV, CallSV and SysTick the same priroity as the kernel. */\r
+ portNVIC_SYSPRI2_REG |= portNVIC_PENDSV_PRI;\r
+ portNVIC_SYSPRI2_REG |= portNVIC_SYSTICK_PRI;\r
\r
/* Start the timer that generates the tick ISR. Interrupts are disabled\r
here already. */\r
- prvSetupTimerInterrupt();\r
+ vPortSetupTimerInterrupt();\r
\r
/* Initialise the critical nesting count ready for the first task. */\r
uxCriticalNesting = 0;\r
*( portFPCCR ) |= portASPEN_AND_LSPEN_BITS;\r
\r
/* Start the first task. */\r
- vPortStartFirstTask();\r
+ prvPortStartFirstTask();\r
\r
/* Should not get here! */\r
return 0;\r
void vPortYieldFromISR( void )\r
{\r
/* Set a PendSV to request a context switch. */\r
- *(portNVIC_INT_CTRL) = portNVIC_PENDSVSET;\r
+ portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;\r
}\r
/*-----------------------------------------------------------*/\r
\r
}\r
/*-----------------------------------------------------------*/\r
\r
+__attribute__(( naked )) unsigned long ulPortSetInterruptMask( void )\r
+{\r
+ __asm volatile \\r
+ ( \\r
+ " mrs r0, basepri \n" \\r
+ " mov r1, %0 \n" \\r
+ " msr basepri, r1 \n" \\r
+ " bx lr \n" \\r
+ :: "i" ( configMAX_SYSCALL_INTERRUPT_PRIORITY ) : "r0", "r1" \\r
+ );\r
+\r
+ /* This return will not be reached but is necessary to prevent compiler\r
+ warnings. */\r
+ return 0;\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+__attribute__(( naked )) void vPortClearInterruptMask( unsigned long ulNewMaskValue )\r
+{\r
+ __asm volatile \\r
+ ( \\r
+ " msr basepri, r0 \n" \\r
+ " bx lr \n" \\r
+ :::"r0" \\r
+ );\r
+\r
+ /* Just to avoid compiler warnings. */\r
+ ( void ) ulNewMaskValue;\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
void xPortPendSVHandler( void )\r
{\r
/* This is a naked function. */\r
\r
void xPortSysTickHandler( void )\r
{\r
-unsigned long ulDummy;\r
-\r
/* If using preemption, also force a context switch. */\r
#if configUSE_PREEMPTION == 1\r
- *(portNVIC_INT_CTRL) = portNVIC_PENDSVSET;\r
+ portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;\r
+ #endif\r
+\r
+ /* Only reset the systick load register if configUSE_TICKLESS_IDLE is set to\r
+ 1. If it is set to 0 tickless idle is not being used. If it is set to a\r
+ value other than 0 or 1 then a timer other than the SysTick is being used\r
+ to generate the tick interrupt. */\r
+ #if configUSE_TICKLESS_IDLE == 1\r
+ portNVIC_SYSTICK_LOAD_REG = ulTimerReloadValueForOneTick;\r
#endif\r
\r
- ulDummy = portSET_INTERRUPT_MASK_FROM_ISR();\r
+ ( void ) portSET_INTERRUPT_MASK_FROM_ISR();\r
{\r
vTaskIncrementTick();\r
}\r
- portCLEAR_INTERRUPT_MASK_FROM_ISR( ulDummy );\r
+ portCLEAR_INTERRUPT_MASK_FROM_ISR( 0 );\r
}\r
/*-----------------------------------------------------------*/\r
\r
+#if configUSE_TICKLESS_IDLE == 1\r
+\r
+ __attribute__((weak)) void vPortSuppressTicksAndSleep( portTickType xExpectedIdleTime )\r
+ {\r
+ unsigned long ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickIncrements;\r
+ portTickType xModifiableIdleTime;\r
+\r
+ /* Make sure the SysTick reload value does not overflow the counter. */\r
+ if( xExpectedIdleTime > xMaximumPossibleSuppressedTicks )\r
+ {\r
+ xExpectedIdleTime = xMaximumPossibleSuppressedTicks;\r
+ }\r
+\r
+ /* Calculate the reload value required to wait xExpectedIdleTime\r
+ tick periods. -1 is used because this code will execute part way\r
+ through one of the tick periods, and the fraction of a tick period is\r
+ accounted for later. */\r
+ ulReloadValue = ( ulTimerReloadValueForOneTick * ( xExpectedIdleTime - 1UL ) );\r
+ if( ulReloadValue > ulStoppedTimerCompensation )\r
+ {\r
+ ulReloadValue -= ulStoppedTimerCompensation;\r
+ }\r
+\r
+ /* Stop the SysTick momentarily. The time the SysTick is stopped for\r
+ is accounted for as best it can be, but using the tickless mode will\r
+ inevitably result in some tiny drift of the time maintained by the\r
+ kernel with respect to calendar time. */\r
+ portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT;\r
+\r
+ /* Adjust the reload value to take into account that the current time\r
+ slice is already partially complete. */\r
+ ulReloadValue += ( portNVIC_SYSTICK_LOAD_REG - ( portNVIC_SYSTICK_LOAD_REG - portNVIC_SYSTICK_CURRENT_VALUE_REG ) );\r
+\r
+ /* Enter a critical section but don't use the taskENTER_CRITICAL()\r
+ method as that will mask interrupts that should exit sleep mode. */\r
+ __asm volatile( "cpsid i" );\r
+\r
+ /* If a context switch is pending or a task is waiting for the scheduler\r
+ to be unsuspended then abandon the low power entry. */\r
+ if( eTaskConfirmSleepModeStatus() == eAbortSleep )\r
+ {\r
+ /* Restart SysTick. */\r
+ portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;\r
+\r
+ /* Re-enable interrupts - see comments above the cpsid instruction()\r
+ above. */\r
+ __asm volatile( "cpsie i" );\r
+ }\r
+ else\r
+ {\r
+ /* Set the new reload value. */\r
+ portNVIC_SYSTICK_LOAD_REG = ulReloadValue;\r
+\r
+ /* Clear the SysTick count flag and set the count value back to\r
+ zero. */\r
+ portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;\r
+\r
+ /* Restart SysTick. */\r
+ portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;\r
+\r
+ /* Sleep until something happens. configPRE_SLEEP_PROCESSING() can\r
+ set its parameter to 0 to indicate that its implementation contains\r
+ its own wait for interrupt or wait for event instruction, and so wfi\r
+ should not be executed again. However, the original expected idle\r
+ time variable must remain unmodified, so a copy is taken. */\r
+ xModifiableIdleTime = xExpectedIdleTime;\r
+ configPRE_SLEEP_PROCESSING( xModifiableIdleTime );\r
+ if( xModifiableIdleTime > 0 )\r
+ {\r
+ __asm volatile( "wfi" );\r
+ }\r
+ configPOST_SLEEP_PROCESSING( xExpectedIdleTime );\r
+\r
+ /* Stop SysTick. Again, the time the SysTick is stopped for is\r
+ accounted for as best it can be, but using the tickless mode will\r
+ inevitably result in some tiny drift of the time maintained by the\r
+ kernel with respect to calendar time. */\r
+ portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT;\r
+\r
+ /* Re-enable interrupts - see comments above the cpsid instruction()\r
+ above. */\r
+ __asm volatile( "cpsie i" );\r
+\r
+ if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 )\r
+ {\r
+ /* The tick interrupt has already executed, and the SysTick\r
+ count reloaded with the portNVIC_SYSTICK_LOAD_REG value.\r
+ Reset the portNVIC_SYSTICK_LOAD_REG with whatever remains of\r
+ this tick period. */\r
+ portNVIC_SYSTICK_LOAD_REG = ulTimerReloadValueForOneTick - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG );\r
+\r
+ /* The tick interrupt handler will already have pended the tick\r
+ processing in the kernel. As the pending tick will be\r
+ processed as soon as this function exits, the tick value\r
+ maintained by the tick is stepped forward by one less than the\r
+ time spent waiting. */\r
+ ulCompleteTickPeriods = xExpectedIdleTime - 1UL;\r
+ }\r
+ else\r
+ {\r
+ /* Something other than the tick interrupt ended the sleep.\r
+ Work out how long the sleep lasted. */\r
+ ulCompletedSysTickIncrements = ( xExpectedIdleTime * ulTimerReloadValueForOneTick ) - portNVIC_SYSTICK_CURRENT_VALUE_REG;\r
+\r
+ /* How many complete tick periods passed while the processor\r
+ was waiting? */\r
+ ulCompleteTickPeriods = ulCompletedSysTickIncrements / ulTimerReloadValueForOneTick;\r
+\r
+ /* The reload value is set to whatever fraction of a single tick\r
+ period remains. */\r
+ portNVIC_SYSTICK_LOAD_REG = ( ( ulCompleteTickPeriods + 1 ) * ulTimerReloadValueForOneTick ) - ulCompletedSysTickIncrements;\r
+ }\r
+\r
+ /* Restart SysTick so it runs from portNVIC_SYSTICK_LOAD_REG\r
+ again, then set portNVIC_SYSTICK_LOAD_REG back to its standard\r
+ value. */\r
+ portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;\r
+ portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;\r
+\r
+ vTaskStepTick( ulCompleteTickPeriods );\r
+ }\r
+ }\r
+\r
+#endif /* #if configUSE_TICKLESS_IDLE */\r
+/*-----------------------------------------------------------*/\r
+\r
/*\r
* Setup the systick timer to generate the tick interrupts at the required\r
* frequency.\r
*/\r
-void prvSetupTimerInterrupt( void )\r
+__attribute__(( weak )) void vPortSetupTimerInterrupt( void )\r
{\r
+ /* Calculate the constants required to configure the tick interrupt. */\r
+ #if configUSE_TICKLESS_IDLE == 1\r
+ {\r
+ ulTimerReloadValueForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;\r
+ xMaximumPossibleSuppressedTicks = 0xffffffUL / ( ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL );\r
+ ulStoppedTimerCompensation = 45UL / ( configCPU_CLOCK_HZ / configSYSTICK_CLOCK_HZ );\r
+ }\r
+ #endif /* configUSE_TICKLESS_IDLE */\r
+\r
/* Configure SysTick to interrupt at the requested rate. */\r
- *(portNVIC_SYSTICK_LOAD) = ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;\r
- *(portNVIC_SYSTICK_CTRL) = portNVIC_SYSTICK_CLK | portNVIC_SYSTICK_INT | portNVIC_SYSTICK_ENABLE;\r
+ portNVIC_SYSTICK_LOAD_REG = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;;\r
+ portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;\r
}\r
/*-----------------------------------------------------------*/\r
\r
projects / freertos / blobdiff