mbed-os
Dependents: cobaLCDJoyMotor_Thread odometry_omni_3roda_v3 odometry_omni_3roda_v1 odometry_omni_3roda_v2 ... more
rtos/TARGET_CORTEX/mbed_rtx_idle.cpp
- Committer:
- be_bryan
- Date:
- 2017-12-11
- Revision:
- 0:b74591d5ab33
File content as of revision 0:b74591d5ab33:
/* 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(); } }