mbed-os
Dependents: cobaLCDJoyMotor_Thread odometry_omni_3roda_v3 odometry_omni_3roda_v1 odometry_omni_3roda_v2 ... more
Diff: rtos/TARGET_CORTEX/mbed_rtx_idle.cpp
- Revision:
- 0:b74591d5ab33
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/rtos/TARGET_CORTEX/mbed_rtx_idle.cpp Mon Dec 11 17:54:04 2017 +0000 @@ -0,0 +1,254 @@ +/* mbed Microcontroller Library + * Copyright (c) 2006-2012 ARM Limited + * + * 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. + */ + +#include "rtos/rtos_idle.h" +#include "platform/mbed_sleep.h" +#include "TimerEvent.h" +#include "lp_ticker_api.h" +#include "rtx_core_cm.h" +#include "mbed_critical.h" +#include "mbed_assert.h" +#include <new> +#include "rtx_os.h" +extern "C" { +#include "rtx_lib.h" +} + +using namespace mbed; + +#ifdef MBED_TICKLESS + +#if (defined(NO_SYSTICK)) +/** + * Return an IRQ number that can be used in the absence of SysTick + * + * @return Free IRQ number that can be used + */ +extern "C" IRQn_Type mbed_get_m0_tick_irqn(void); +#endif + +class RtosTimer : private TimerEvent { +public: + RtosTimer(): TimerEvent(get_lp_ticker_data()), _start_time(0), _tick(0) { + _start_time = ticker_read_us(_ticker_data); +#if (defined(NO_SYSTICK)) + NVIC_SetVector(mbed_get_m0_tick_irqn(), (uint32_t)SysTick_Handler); + NVIC_SetPriority(mbed_get_m0_tick_irqn(), 0xFF); /* RTOS requires lowest priority */ + NVIC_EnableIRQ(mbed_get_m0_tick_irqn()); +#else + // Ensure SysTick has the correct priority as it is still used + // to trigger software interrupts on each tick. The period does + // not matter since it will never start counting. + OS_Tick_Setup(osRtxConfig.tick_freq, OS_TICK_HANDLER); +#endif + }; + + /** + * Schedule an os tick to fire + * + * @param delta Tick to fire at relative to current tick + */ + void schedule_tick(uint32_t delta=1) { + insert_absolute(_start_time + (_tick + delta) * 1000000 / OS_TICK_FREQ); + } + + + /** + * Prevent any scheduled ticks from triggering + */ + void cancel_tick() { + remove(); + } + + /** + * Get the current tick count + * + * @return The number of ticks since boot. This should match RTX's tick count + */ + uint32_t get_tick() { + return _tick & 0xFFFFFFFF; + } + + /** + * Update the internal tick count + * + * @return The number of ticks incremented + */ + uint32_t update_tick() { + uint64_t new_tick = ticker_read_us(_ticker_data) * OS_TICK_FREQ / 1000000; + if (new_tick > _tick) { + // Don't update to the current tick. Instead, update to the + // previous tick and let the SysTick handler increment it + // to the current value. This allows scheduling restart + // successfully after the OS is resumed. + new_tick--; + } + uint32_t elapsed_ticks = new_tick - _tick; + _tick = new_tick; + return elapsed_ticks; + } + + /** + * Get the time + * + * @return Current time in microseconds + */ + us_timestamp_t get_time() { + return ticker_read_us(_ticker_data); + } + + ~RtosTimer() { + + }; + +protected: + + void handler() { +#if (defined(NO_SYSTICK)) + NVIC_SetPendingIRQ(mbed_get_m0_tick_irqn()); +#else + SCB->ICSR = SCB_ICSR_PENDSTSET_Msk; +#endif + _tick++; + } + + us_timestamp_t _start_time; + uint64_t _tick; +}; + +static RtosTimer *os_timer; +static uint64_t os_timer_data[sizeof(RtosTimer) / 8]; + +/// Enable System Timer. +int32_t OS_Tick_Enable (void) +{ + // Do not use SingletonPtr since this relies on the RTOS + if (NULL == os_timer) { + os_timer = new (os_timer_data) RtosTimer(); + } + + // set to fire interrupt on next tick + os_timer->schedule_tick(); + + return 0; +} + +/// Disable System Timer. +int32_t OS_Tick_Disable (void) +{ + os_timer->cancel_tick(); + + return 0; +} + +/// Acknowledge System Timer IRQ. +int32_t OS_Tick_AcknowledgeIRQ (void) +{ + os_timer->schedule_tick(); + + return 0; +} + +/// Get System Timer count. +uint32_t OS_Tick_GetCount (void) +{ + return os_timer->get_time() & 0xFFFFFFFF; +} + +// Get OS Tick IRQ number. +int32_t OS_Tick_GetIRQn (void) { + return -1; +} + +// Get OS Tick overflow status. +uint32_t OS_Tick_GetOverflow (void) { + return 0; +} + +// Get OS Tick interval. +uint32_t OS_Tick_GetInterval (void) { + return 1000; +} + +static void default_idle_hook(void) +{ + uint32_t elapsed_ticks = 0; + + core_util_critical_section_enter(); + uint32_t ticks_to_sleep = svcRtxKernelSuspend(); + MBED_ASSERT(os_timer->get_tick() == svcRtxKernelGetTickCount()); + if (ticks_to_sleep) { + os_timer->schedule_tick(ticks_to_sleep); + + sleep_manager_lock_deep_sleep(); + sleep(); + sleep_manager_unlock_deep_sleep(); + + os_timer->cancel_tick(); + // calculate how long we slept + elapsed_ticks = os_timer->update_tick(); + } + svcRtxKernelResume(elapsed_ticks); + core_util_critical_section_exit(); +} + +#elif defined(FEATURE_UVISOR) + +static void default_idle_hook(void) +{ + /* uVisor can't sleep. See <https://github.com/ARMmbed/uvisor/issues/420> + * for details. */ +} + +#else + +static void default_idle_hook(void) +{ + // critical section to complete sleep with locked deepsleep + core_util_critical_section_enter(); + sleep_manager_lock_deep_sleep(); + sleep(); + sleep_manager_unlock_deep_sleep(); + core_util_critical_section_exit(); +} + +#endif // MBED_TICKLESS + +static void (*idle_hook_fptr)(void) = &default_idle_hook; + +void rtos_attach_idle_hook(void (*fptr)(void)) +{ + //Attach the specified idle hook, or the default idle hook in case of a NULL pointer + if (fptr != NULL) { + idle_hook_fptr = fptr; + } else { + idle_hook_fptr = default_idle_hook; + } +} + +extern "C" void rtos_idle_loop(void) +{ + //Continuously call the idle hook function pointer + while (1) { + idle_hook_fptr(); + } +}