| /* |
| * FreeRTOS Kernel V10.5.1 |
| * Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved. |
| * |
| * SPDX-License-Identifier: MIT |
| * |
| * Permission is hereby granted, free of charge, to any person obtaining a copy of |
| * this software and associated documentation files (the "Software"), to deal in |
| * the Software without restriction, including without limitation the rights to |
| * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of |
| * the Software, and to permit persons to whom the Software is furnished to do so, |
| * subject to the following conditions: |
| * |
| * The above copyright notice and this permission notice shall be included in all |
| * copies or substantial portions of the Software. |
| * |
| * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
| * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS |
| * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR |
| * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER |
| * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN |
| * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. |
| * |
| * https://www.FreeRTOS.org |
| * https://github.com/FreeRTOS |
| * |
| */ |
| |
| /*----------------------------------------------------------- |
| * Implementation of functions defined in portable.h for the ARM CM0 port. |
| *----------------------------------------------------------*/ |
| |
| /* IAR includes. */ |
| #include "intrinsics.h" |
| |
| /* Scheduler includes. */ |
| #include "FreeRTOS.h" |
| #include "task.h" |
| |
| /* Constants required to manipulate the NVIC. */ |
| #define portNVIC_SYSTICK_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000e010 ) ) |
| #define portNVIC_SYSTICK_LOAD_REG ( *( ( volatile uint32_t * ) 0xe000e014 ) ) |
| #define portNVIC_SYSTICK_CURRENT_VALUE_REG ( *( ( volatile uint32_t * ) 0xe000e018 ) ) |
| #define portNVIC_INT_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000ed04 ) ) |
| #define portNVIC_SHPR3_REG ( *( ( volatile uint32_t * ) 0xe000ed20 ) ) |
| #define portNVIC_SYSTICK_CLK_BIT ( 1UL << 2UL ) |
| #define portNVIC_SYSTICK_INT_BIT ( 1UL << 1UL ) |
| #define portNVIC_SYSTICK_ENABLE_BIT ( 1UL << 0UL ) |
| #define portNVIC_SYSTICK_COUNT_FLAG_BIT ( 1UL << 16UL ) |
| #define portNVIC_PEND_SYSTICK_SET_BIT ( 1UL << 26UL ) |
| #define portNVIC_PEND_SYSTICK_CLEAR_BIT ( 1UL << 25UL ) |
| #define portMIN_INTERRUPT_PRIORITY ( 255UL ) |
| #define portNVIC_PENDSV_PRI ( portMIN_INTERRUPT_PRIORITY << 16UL ) |
| #define portNVIC_SYSTICK_PRI ( portMIN_INTERRUPT_PRIORITY << 24UL ) |
| |
| /* Constants required to set up the initial stack. */ |
| #define portINITIAL_XPSR ( 0x01000000 ) |
| |
| /* For backward compatibility, ensure configKERNEL_INTERRUPT_PRIORITY is |
| * defined. The value 255 should also ensure backward compatibility. |
| * FreeRTOS.org versions prior to V4.3.0 did not include this definition. */ |
| #ifndef configKERNEL_INTERRUPT_PRIORITY |
| #define configKERNEL_INTERRUPT_PRIORITY 0 |
| #endif |
| |
| /* Each task maintains its own interrupt status in the critical nesting |
| * variable. */ |
| static UBaseType_t uxCriticalNesting = 0xaaaaaaaa; |
| |
| /* The systick is a 24-bit counter. */ |
| #define portMAX_24_BIT_NUMBER ( 0xffffffUL ) |
| |
| /* A fiddle factor to estimate the number of SysTick counts that would have |
| * occurred while the SysTick counter is stopped during tickless idle |
| * calculations. */ |
| #ifndef portMISSED_COUNTS_FACTOR |
| #define portMISSED_COUNTS_FACTOR ( 94UL ) |
| #endif |
| |
| /* The number of SysTick increments that make up one tick period. */ |
| #if ( configUSE_TICKLESS_IDLE == 1 ) |
| static uint32_t ulTimerCountsForOneTick = 0; |
| #endif /* configUSE_TICKLESS_IDLE */ |
| |
| /* The maximum number of tick periods that can be suppressed is limited by the |
| * 24 bit resolution of the SysTick timer. */ |
| #if ( configUSE_TICKLESS_IDLE == 1 ) |
| static uint32_t 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 uint32_t ulStoppedTimerCompensation = 0; |
| #endif /* configUSE_TICKLESS_IDLE */ |
| |
| /* Let the user override the default SysTick clock rate. If defined by the |
| * user, this symbol must equal the SysTick clock rate when the CLK bit is 0 in the |
| * configuration register. */ |
| #ifndef configSYSTICK_CLOCK_HZ |
| #define configSYSTICK_CLOCK_HZ ( configCPU_CLOCK_HZ ) |
| /* Ensure the SysTick is clocked at the same frequency as the core. */ |
| #define portNVIC_SYSTICK_CLK_BIT_CONFIG ( portNVIC_SYSTICK_CLK_BIT ) |
| #else |
| /* Select the option to clock SysTick not at the same frequency as the core. */ |
| #define portNVIC_SYSTICK_CLK_BIT_CONFIG ( 0 ) |
| #endif |
| |
| /* |
| * 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. |
| */ |
| void vPortSetupTimerInterrupt( void ); |
| |
| /* |
| * Exception handlers. |
| */ |
| void xPortSysTickHandler( void ); |
| |
| /* |
| * Start first task is a separate function so it can be tested in isolation. |
| */ |
| extern void vPortStartFirstTask( void ); |
| |
| /* |
| * Used to catch tasks that attempt to return from their implementing function. |
| */ |
| static void prvTaskExitError( void ); |
| |
| /*-----------------------------------------------------------*/ |
| |
| /* |
| * See header file for description. |
| */ |
| StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack, |
| TaskFunction_t pxCode, |
| void * pvParameters ) |
| { |
| /* Simulate the stack frame as it would be created by a context switch |
| * interrupt. */ |
| pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */ |
| *pxTopOfStack = portINITIAL_XPSR; /* xPSR */ |
| pxTopOfStack--; |
| *pxTopOfStack = ( StackType_t ) pxCode; /* PC */ |
| pxTopOfStack--; |
| *pxTopOfStack = ( StackType_t ) prvTaskExitError; /* LR */ |
| pxTopOfStack -= 5; /* R12, R3, R2 and R1. */ |
| *pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */ |
| pxTopOfStack -= 8; /* R11..R4. */ |
| |
| return pxTopOfStack; |
| } |
| /*-----------------------------------------------------------*/ |
| |
| 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. |
| */ |
| BaseType_t xPortStartScheduler( void ) |
| { |
| /* Make PendSV and SysTick the lowest priority interrupts. */ |
| portNVIC_SHPR3_REG |= portNVIC_PENDSV_PRI; |
| portNVIC_SHPR3_REG |= portNVIC_SYSTICK_PRI; |
| |
| /* Start the timer that generates the tick ISR. Interrupts are disabled |
| * here already. */ |
| vPortSetupTimerInterrupt(); |
| |
| /* Initialise the critical nesting count ready for the first task. */ |
| uxCriticalNesting = 0; |
| |
| /* Start the first task. */ |
| vPortStartFirstTask(); |
| |
| /* Should not get here! */ |
| return 0; |
| } |
| /*-----------------------------------------------------------*/ |
| |
| void vPortEndScheduler( void ) |
| { |
| /* Not implemented in ports where there is nothing to return to. |
| * Artificially force an assert. */ |
| configASSERT( uxCriticalNesting == 1000UL ); |
| } |
| /*-----------------------------------------------------------*/ |
| |
| void vPortYield( void ) |
| { |
| /* Set a PendSV to request a context switch. */ |
| portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET; |
| |
| /* Barriers are normally not required but do ensure the code is completely |
| * within the specified behaviour for the architecture. */ |
| __DSB(); |
| __ISB(); |
| } |
| /*-----------------------------------------------------------*/ |
| |
| void vPortEnterCritical( void ) |
| { |
| portDISABLE_INTERRUPTS(); |
| uxCriticalNesting++; |
| __DSB(); |
| __ISB(); |
| } |
| /*-----------------------------------------------------------*/ |
| |
| void vPortExitCritical( void ) |
| { |
| configASSERT( uxCriticalNesting ); |
| uxCriticalNesting--; |
| |
| if( uxCriticalNesting == 0 ) |
| { |
| portENABLE_INTERRUPTS(); |
| } |
| } |
| /*-----------------------------------------------------------*/ |
| |
| void xPortSysTickHandler( void ) |
| { |
| uint32_t ulPreviousMask; |
| |
| ulPreviousMask = portSET_INTERRUPT_MASK_FROM_ISR(); |
| { |
| /* Increment the RTOS tick. */ |
| if( xTaskIncrementTick() != pdFALSE ) |
| { |
| /* Pend a context switch. */ |
| portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET; |
| } |
| } |
| portCLEAR_INTERRUPT_MASK_FROM_ISR( ulPreviousMask ); |
| } |
| /*-----------------------------------------------------------*/ |
| |
| /* |
| * Setup the systick timer to generate the tick interrupts at the required |
| * frequency. |
| */ |
| __weak void vPortSetupTimerInterrupt( void ) |
| { |
| /* Calculate the constants required to configure the tick interrupt. */ |
| #if ( configUSE_TICKLESS_IDLE == 1 ) |
| { |
| ulTimerCountsForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ); |
| xMaximumPossibleSuppressedTicks = portMAX_24_BIT_NUMBER / ulTimerCountsForOneTick; |
| ulStoppedTimerCompensation = portMISSED_COUNTS_FACTOR / ( configCPU_CLOCK_HZ / configSYSTICK_CLOCK_HZ ); |
| } |
| #endif /* configUSE_TICKLESS_IDLE */ |
| |
| /* Stop and reset the SysTick. */ |
| portNVIC_SYSTICK_CTRL_REG = 0UL; |
| portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; |
| |
| /* Configure SysTick to interrupt at the requested rate. */ |
| portNVIC_SYSTICK_LOAD_REG = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL; |
| portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT_CONFIG | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT ); |
| } |
| /*-----------------------------------------------------------*/ |
| |
| #if ( configUSE_TICKLESS_IDLE == 1 ) |
| |
| __weak void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ) |
| { |
| uint32_t ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements, ulSysTickDecrementsLeft; |
| TickType_t xModifiableIdleTime; |
| |
| /* Make sure the SysTick reload value does not overflow the counter. */ |
| if( xExpectedIdleTime > xMaximumPossibleSuppressedTicks ) |
| { |
| xExpectedIdleTime = xMaximumPossibleSuppressedTicks; |
| } |
| |
| /* Enter a critical section but don't use the taskENTER_CRITICAL() |
| * method as that will mask interrupts that should exit sleep mode. */ |
| __disable_interrupt(); |
| __DSB(); |
| __ISB(); |
| |
| /* If a context switch is pending or a task is waiting for the scheduler |
| * to be unsuspended then abandon the low power entry. */ |
| if( eTaskConfirmSleepModeStatus() == eAbortSleep ) |
| { |
| /* Re-enable interrupts - see comments above the __disable_interrupt() |
| * call above. */ |
| __enable_interrupt(); |
| } |
| else |
| { |
| /* Stop the SysTick momentarily. The time the SysTick is stopped for |
| * is accounted for as best it can be, but using the tickless mode will |
| * inevitably result in some tiny drift of the time maintained by the |
| * kernel with respect to calendar time. */ |
| portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT_CONFIG | portNVIC_SYSTICK_INT_BIT ); |
| |
| /* Use the SysTick current-value register to determine the number of |
| * SysTick decrements remaining until the next tick interrupt. If the |
| * current-value register is zero, then there are actually |
| * ulTimerCountsForOneTick decrements remaining, not zero, because the |
| * SysTick requests the interrupt when decrementing from 1 to 0. */ |
| ulSysTickDecrementsLeft = portNVIC_SYSTICK_CURRENT_VALUE_REG; |
| |
| if( ulSysTickDecrementsLeft == 0 ) |
| { |
| ulSysTickDecrementsLeft = ulTimerCountsForOneTick; |
| } |
| |
| /* Calculate the reload value required to wait xExpectedIdleTime |
| * tick periods. -1 is used because this code normally executes part |
| * way through the first tick period. But if the SysTick IRQ is now |
| * pending, then clear the IRQ, suppressing the first tick, and correct |
| * the reload value to reflect that the second tick period is already |
| * underway. The expected idle time is always at least two ticks. */ |
| ulReloadValue = ulSysTickDecrementsLeft + ( ulTimerCountsForOneTick * ( xExpectedIdleTime - 1UL ) ); |
| |
| if( ( portNVIC_INT_CTRL_REG & portNVIC_PEND_SYSTICK_SET_BIT ) != 0 ) |
| { |
| portNVIC_INT_CTRL_REG = portNVIC_PEND_SYSTICK_CLEAR_BIT; |
| ulReloadValue -= ulTimerCountsForOneTick; |
| } |
| |
| if( ulReloadValue > ulStoppedTimerCompensation ) |
| { |
| ulReloadValue -= ulStoppedTimerCompensation; |
| } |
| |
| /* Set the new reload value. */ |
| portNVIC_SYSTICK_LOAD_REG = ulReloadValue; |
| |
| /* Clear the SysTick count flag and set the count value back to |
| * zero. */ |
| portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; |
| |
| /* Restart SysTick. */ |
| portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; |
| |
| /* Sleep until something happens. configPRE_SLEEP_PROCESSING() can |
| * set its parameter to 0 to indicate that its implementation contains |
| * its own wait for interrupt or wait for event instruction, and so wfi |
| * should not be executed again. However, the original expected idle |
| * time variable must remain unmodified, so a copy is taken. */ |
| xModifiableIdleTime = xExpectedIdleTime; |
| configPRE_SLEEP_PROCESSING( xModifiableIdleTime ); |
| |
| if( xModifiableIdleTime > 0 ) |
| { |
| __DSB(); |
| __WFI(); |
| __ISB(); |
| } |
| |
| configPOST_SLEEP_PROCESSING( xExpectedIdleTime ); |
| |
| /* Re-enable interrupts to allow the interrupt that brought the MCU |
| * out of sleep mode to execute immediately. See comments above |
| * the __disable_interrupt() call above. */ |
| __enable_interrupt(); |
| __DSB(); |
| __ISB(); |
| |
| /* Disable interrupts again because the clock is about to be stopped |
| * and interrupts that execute while the clock is stopped will increase |
| * any slippage between the time maintained by the RTOS and calendar |
| * time. */ |
| __disable_interrupt(); |
| __DSB(); |
| __ISB(); |
| |
| /* Disable the SysTick clock without reading the |
| * portNVIC_SYSTICK_CTRL_REG register to ensure the |
| * portNVIC_SYSTICK_COUNT_FLAG_BIT is not cleared if it is set. Again, |
| * the time the SysTick is stopped for is accounted for as best it can |
| * be, but using the tickless mode will inevitably result in some tiny |
| * drift of the time maintained by the kernel with respect to calendar |
| * time*/ |
| portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT_CONFIG | portNVIC_SYSTICK_INT_BIT ); |
| |
| /* Determine whether the SysTick has already counted to zero. */ |
| if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 ) |
| { |
| uint32_t ulCalculatedLoadValue; |
| |
| /* The tick interrupt ended the sleep (or is now pending), and |
| * a new tick period has started. Reset portNVIC_SYSTICK_LOAD_REG |
| * with whatever remains of the new tick period. */ |
| ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ) - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG ); |
| |
| /* Don't allow a tiny value, or values that have somehow |
| * underflowed because the post sleep hook did something |
| * that took too long or because the SysTick current-value register |
| * is zero. */ |
| if( ( ulCalculatedLoadValue <= ulStoppedTimerCompensation ) || ( ulCalculatedLoadValue > ulTimerCountsForOneTick ) ) |
| { |
| ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ); |
| } |
| |
| portNVIC_SYSTICK_LOAD_REG = ulCalculatedLoadValue; |
| |
| /* As the pending tick will be processed as soon as this |
| * function exits, the tick value maintained by the tick is stepped |
| * forward by one less than the time spent waiting. */ |
| ulCompleteTickPeriods = xExpectedIdleTime - 1UL; |
| } |
| else |
| { |
| /* Something other than the tick interrupt ended the sleep. */ |
| |
| /* Use the SysTick current-value register to determine the |
| * number of SysTick decrements remaining until the expected idle |
| * time would have ended. */ |
| ulSysTickDecrementsLeft = portNVIC_SYSTICK_CURRENT_VALUE_REG; |
| #if ( portNVIC_SYSTICK_CLK_BIT_CONFIG != portNVIC_SYSTICK_CLK_BIT ) |
| { |
| /* If the SysTick is not using the core clock, the current- |
| * value register might still be zero here. In that case, the |
| * SysTick didn't load from the reload register, and there are |
| * ulReloadValue decrements remaining in the expected idle |
| * time, not zero. */ |
| if( ulSysTickDecrementsLeft == 0 ) |
| { |
| ulSysTickDecrementsLeft = ulReloadValue; |
| } |
| } |
| #endif /* portNVIC_SYSTICK_CLK_BIT_CONFIG */ |
| |
| /* Work out how long the sleep lasted rounded to complete tick |
| * periods (not the ulReload value which accounted for part |
| * ticks). */ |
| ulCompletedSysTickDecrements = ( xExpectedIdleTime * ulTimerCountsForOneTick ) - ulSysTickDecrementsLeft; |
| |
| /* How many complete tick periods passed while the processor |
| * was waiting? */ |
| ulCompleteTickPeriods = ulCompletedSysTickDecrements / ulTimerCountsForOneTick; |
| |
| /* The reload value is set to whatever fraction of a single tick |
| * period remains. */ |
| portNVIC_SYSTICK_LOAD_REG = ( ( ulCompleteTickPeriods + 1UL ) * ulTimerCountsForOneTick ) - ulCompletedSysTickDecrements; |
| } |
| |
| /* Restart SysTick so it runs from portNVIC_SYSTICK_LOAD_REG again, |
| * then set portNVIC_SYSTICK_LOAD_REG back to its standard value. If |
| * the SysTick is not using the core clock, temporarily configure it to |
| * use the core clock. This configuration forces the SysTick to load |
| * from portNVIC_SYSTICK_LOAD_REG immediately instead of at the next |
| * cycle of the other clock. Then portNVIC_SYSTICK_LOAD_REG is ready |
| * to receive the standard value immediately. */ |
| portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; |
| portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT; |
| #if ( portNVIC_SYSTICK_CLK_BIT_CONFIG == portNVIC_SYSTICK_CLK_BIT ) |
| { |
| portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL; |
| } |
| #else |
| { |
| /* The temporary usage of the core clock has served its purpose, |
| * as described above. Resume usage of the other clock. */ |
| portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT; |
| |
| if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 ) |
| { |
| /* The partial tick period already ended. Be sure the SysTick |
| * counts it only once. */ |
| portNVIC_SYSTICK_CURRENT_VALUE_REG = 0; |
| } |
| |
| portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL; |
| portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT_CONFIG | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT; |
| } |
| #endif /* portNVIC_SYSTICK_CLK_BIT_CONFIG */ |
| |
| /* Step the tick to account for any tick periods that elapsed. */ |
| vTaskStepTick( ulCompleteTickPeriods ); |
| |
| /* Exit with interrupts enabled. */ |
| __enable_interrupt(); |
| } |
| } |
| |
| #endif /* configUSE_TICKLESS_IDLE */ |
