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Diff: Source/portable/RVDS/ARM_CM3/port.c
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--- a/Source/portable/RVDS/ARM_CM3/port.c Fri Jan 24 14:56:04 2014 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,696 +0,0 @@ -/* - FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd. - All rights reserved - - VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. - - *************************************************************************** - * * - * FreeRTOS provides completely free yet professionally developed, * - * robust, strictly quality controlled, supported, and cross * - * platform software that has become a de facto standard. * - * * - * Help yourself get started quickly and support the FreeRTOS * - * project by purchasing a FreeRTOS tutorial book, reference * - * manual, or both from: http://www.FreeRTOS.org/Documentation * - * * - * Thank you! * - * * - *************************************************************************** - - This file is part of the FreeRTOS distribution. - - FreeRTOS is free software; you can redistribute it and/or modify it under - the terms of the GNU General Public License (version 2) as published by the - Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception. - - >>! NOTE: The modification to the GPL is included to allow you to distribute - >>! a combined work that includes FreeRTOS without being obliged to provide - >>! the source code for proprietary components outside of the FreeRTOS - >>! kernel. - - FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY - WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS - FOR A PARTICULAR PURPOSE. Full license text is available from the following - link: http://www.freertos.org/a00114.html - - 1 tab == 4 spaces! - - *************************************************************************** - * * - * Having a problem? Start by reading the FAQ "My application does * - * not run, what could be wrong?" * - * * - * http://www.FreeRTOS.org/FAQHelp.html * - * * - *************************************************************************** - - http://www.FreeRTOS.org - Documentation, books, training, latest versions, - license and Real Time Engineers Ltd. contact details. - - http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, - including FreeRTOS+Trace - an indispensable productivity tool, a DOS - compatible FAT file system, and our tiny thread aware UDP/IP stack. - - http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High - Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS - licenses offer ticketed support, indemnification and middleware. - - http://www.SafeRTOS.com - High Integrity Systems also provide a safety - engineered and independently SIL3 certified version for use in safety and - mission critical applications that require provable dependability. - - 1 tab == 4 spaces! -*/ - -/*----------------------------------------------------------- - * Implementation of functions defined in portable.h for the ARM CM3 port. - *----------------------------------------------------------*/ - -/* Scheduler includes. */ -#include "FreeRTOS.h" -#include "task.h" - -#ifndef configKERNEL_INTERRUPT_PRIORITY - #define configKERNEL_INTERRUPT_PRIORITY 255 -#endif - -#if configMAX_SYSCALL_INTERRUPT_PRIORITY == 0 - #error configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to 0. See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html -#endif - -#ifndef configSYSTICK_CLOCK_HZ - #define configSYSTICK_CLOCK_HZ configCPU_CLOCK_HZ -#endif - -/* The __weak attribute does not work as you might expect with the Keil tools -so the configOVERRIDE_DEFAULT_TICK_CONFIGURATION constant must be set to 1 if -the application writer wants to provide their own implementation of -vPortSetupTimerInterrupt(). Ensure configOVERRIDE_DEFAULT_TICK_CONFIGURATION -is defined. */ -#ifndef configOVERRIDE_DEFAULT_TICK_CONFIGURATION - #define configOVERRIDE_DEFAULT_TICK_CONFIGURATION 0 -#endif - -/* Constants required to manipulate the core. Registers first... */ -#define portNVIC_SYSTICK_CTRL_REG ( * ( ( volatile unsigned long * ) 0xe000e010 ) ) -#define portNVIC_SYSTICK_LOAD_REG ( * ( ( volatile unsigned long * ) 0xe000e014 ) ) -#define portNVIC_SYSTICK_CURRENT_VALUE_REG ( * ( ( volatile unsigned long * ) 0xe000e018 ) ) -#define portNVIC_SYSPRI2_REG ( * ( ( volatile unsigned long * ) 0xe000ed20 ) ) -/* ...then bits in the registers. */ -#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_PENDSVCLEAR_BIT ( 1UL << 27UL ) -#define portNVIC_PEND_SYSTICK_CLEAR_BIT ( 1UL << 25UL ) - -#define portNVIC_PENDSV_PRI ( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 16UL ) -#define portNVIC_SYSTICK_PRI ( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 24UL ) - -/* Constants required to check the validity of an interrupt priority. */ -#define portFIRST_USER_INTERRUPT_NUMBER ( 16 ) -#define portNVIC_IP_REGISTERS_OFFSET_16 ( 0xE000E3F0 ) -#define portAIRCR_REG ( * ( ( volatile unsigned long * ) 0xE000ED0C ) ) -#define portMAX_8_BIT_VALUE ( ( unsigned char ) 0xff ) -#define portTOP_BIT_OF_BYTE ( ( unsigned char ) 0x80 ) -#define portMAX_PRIGROUP_BITS ( ( unsigned char ) 7 ) -#define portPRIORITY_GROUP_MASK ( 0x07UL << 8UL ) -#define portPRIGROUP_SHIFT ( 8UL ) - -/* Constants required to set up the initial stack. */ -#define portINITIAL_XPSR ( 0x01000000 ) - -/* Constants used with memory barrier intrinsics. */ -#define portSY_FULL_READ_WRITE ( 15 ) - -/* 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. */ -#define portMISSED_COUNTS_FACTOR ( 45UL ) - -/* Each task maintains its own interrupt status in the critical nesting -variable. */ -static unsigned portBASE_TYPE uxCriticalNesting = 0xaaaaaaaa; - -/* - * 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 xPortPendSVHandler( void ); -void xPortSysTickHandler( void ); -void vPortSVCHandler( void ); - -/* - * Start first task is a separate function so it can be tested in isolation. - */ -static void prvStartFirstTask( void ); - -/* - * Used to catch tasks that attempt to return from their implementing function. - */ -static void prvTaskExitError( void ); - -/*-----------------------------------------------------------*/ - -/* - * The number of SysTick increments that make up one tick period. - */ -#if configUSE_TICKLESS_IDLE == 1 - static unsigned long 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 unsigned long 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 unsigned long ulStoppedTimerCompensation = 0; -#endif /* configUSE_TICKLESS_IDLE */ - -/* - * Used by the portASSERT_IF_INTERRUPT_PRIORITY_INVALID() macro to ensure - * FreeRTOS API functions are not called from interrupts that have been assigned - * a priority above configMAX_SYSCALL_INTERRUPT_PRIORITY. - */ -#if ( configASSERT_DEFINED == 1 ) - static unsigned char ucMaxSysCallPriority = 0; - static unsigned long ulMaxPRIGROUPValue = 0; - static const volatile unsigned char * const pcInterruptPriorityRegisters = ( unsigned char * ) portNVIC_IP_REGISTERS_OFFSET_16; -#endif /* configASSERT_DEFINED */ - -/*-----------------------------------------------------------*/ - -/* - * See header file for description. - */ -portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE 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 = ( portSTACK_TYPE ) pxCode; /* PC */ - pxTopOfStack--; - *pxTopOfStack = ( portSTACK_TYPE ) prvTaskExitError; /* LR */ - - pxTopOfStack -= 5; /* R12, R3, R2 and R1. */ - *pxTopOfStack = ( portSTACK_TYPE ) pvParameters; /* R0 */ - pxTopOfStack -= 8; /* R11, R10, R9, R8, R7, R6, R5 and 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( ;; ); -} -/*-----------------------------------------------------------*/ - -__asm void vPortSVCHandler( void ) -{ - PRESERVE8 - - ldr r3, =pxCurrentTCB /* Restore the context. */ - ldr r1, [r3] /* Use pxCurrentTCBConst to get the pxCurrentTCB address. */ - ldr r0, [r1] /* The first item in pxCurrentTCB is the task top of stack. */ - ldmia r0!, {r4-r11} /* Pop the registers that are not automatically saved on exception entry and the critical nesting count. */ - msr psp, r0 /* Restore the task stack pointer. */ - mov r0, #0 - msr basepri, r0 - orr r14, #0xd - bx r14 -} -/*-----------------------------------------------------------*/ - -__asm void prvStartFirstTask( void ) -{ - PRESERVE8 - - /* Use the NVIC offset register to locate the stack. */ - ldr r0, =0xE000ED08 - ldr r0, [r0] - ldr r0, [r0] - /* Set the msp back to the start of the stack. */ - msr msp, r0 - /* Globally enable interrupts. */ - cpsie i - /* Call SVC to start the first task. */ - svc 0 - nop -} -/*-----------------------------------------------------------*/ - -/* - * See header file for description. - */ -portBASE_TYPE xPortStartScheduler( void ) -{ - #if( configASSERT_DEFINED == 1 ) - { - volatile unsigned long ulOriginalPriority; - volatile char * const pcFirstUserPriorityRegister = ( char * ) ( portNVIC_IP_REGISTERS_OFFSET_16 + portFIRST_USER_INTERRUPT_NUMBER ); - volatile unsigned char ucMaxPriorityValue; - - /* Determine the maximum priority from which ISR safe FreeRTOS API - functions can be called. ISR safe functions are those that end in - "FromISR". FreeRTOS maintains separate thread and ISR API functions to - ensure interrupt entry is as fast and simple as possible. - - Save the interrupt priority value that is about to be clobbered. */ - ulOriginalPriority = *pcFirstUserPriorityRegister; - - /* Determine the number of priority bits available. First write to all - possible bits. */ - *pcFirstUserPriorityRegister = portMAX_8_BIT_VALUE; - - /* Read the value back to see how many bits stuck. */ - ucMaxPriorityValue = *pcFirstUserPriorityRegister; - - /* Use the same mask on the maximum system call priority. */ - ucMaxSysCallPriority = configMAX_SYSCALL_INTERRUPT_PRIORITY & ucMaxPriorityValue; - - /* Calculate the maximum acceptable priority group value for the number - of bits read back. */ - ulMaxPRIGROUPValue = portMAX_PRIGROUP_BITS; - while( ( ucMaxPriorityValue & portTOP_BIT_OF_BYTE ) == portTOP_BIT_OF_BYTE ) - { - ulMaxPRIGROUPValue--; - ucMaxPriorityValue <<= ( unsigned char ) 0x01; - } - - /* Shift the priority group value back to its position within the AIRCR - register. */ - ulMaxPRIGROUPValue <<= portPRIGROUP_SHIFT; - ulMaxPRIGROUPValue &= portPRIORITY_GROUP_MASK; - - /* Restore the clobbered interrupt priority register to its original - value. */ - *pcFirstUserPriorityRegister = ulOriginalPriority; - } - #endif /* conifgASSERT_DEFINED */ - - /* Make PendSV and SysTick the lowest priority interrupts. */ - portNVIC_SYSPRI2_REG |= portNVIC_PENDSV_PRI; - portNVIC_SYSPRI2_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. */ - prvStartFirstTask(); - - /* Should not get here! */ - return 0; -} -/*-----------------------------------------------------------*/ - -void vPortEndScheduler( void ) -{ - /* It is unlikely that the CM3 port will require this function as there - is nothing to return to. */ -} -/*-----------------------------------------------------------*/ - -void vPortYield( void ) -{ - /* Set a PendSV to request a context switch. */ - portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; - - /* Barriers are normally not required but do ensure the code is completely - within the specified behaviour for the architecture. */ - __dsb( portSY_FULL_READ_WRITE ); - __isb( portSY_FULL_READ_WRITE ); -} -/*-----------------------------------------------------------*/ - -void vPortEnterCritical( void ) -{ - portDISABLE_INTERRUPTS(); - uxCriticalNesting++; - __dsb( portSY_FULL_READ_WRITE ); - __isb( portSY_FULL_READ_WRITE ); -} -/*-----------------------------------------------------------*/ - -void vPortExitCritical( void ) -{ - uxCriticalNesting--; - if( uxCriticalNesting == 0 ) - { - portENABLE_INTERRUPTS(); - } -} -/*-----------------------------------------------------------*/ - -__asm void xPortPendSVHandler( void ) -{ - extern uxCriticalNesting; - extern pxCurrentTCB; - extern vTaskSwitchContext; - - PRESERVE8 - - mrs r0, psp - - ldr r3, =pxCurrentTCB /* Get the location of the current TCB. */ - ldr r2, [r3] - - stmdb r0!, {r4-r11} /* Save the remaining registers. */ - str r0, [r2] /* Save the new top of stack into the first member of the TCB. */ - - stmdb sp!, {r3, r14} - mov r0, #configMAX_SYSCALL_INTERRUPT_PRIORITY - msr basepri, r0 - bl vTaskSwitchContext - mov r0, #0 - msr basepri, r0 - ldmia sp!, {r3, r14} - - ldr r1, [r3] - ldr r0, [r1] /* The first item in pxCurrentTCB is the task top of stack. */ - ldmia r0!, {r4-r11} /* Pop the registers and the critical nesting count. */ - msr psp, r0 - bx r14 - nop -} -/*-----------------------------------------------------------*/ - -void xPortSysTickHandler( void ) -{ - /* The SysTick runs at the lowest interrupt priority, so when this interrupt - executes all interrupts must be unmasked. There is therefore no need to - save and then restore the interrupt mask value as its value is already - known. */ - ( void ) portSET_INTERRUPT_MASK_FROM_ISR(); - { - /* Increment the RTOS tick. */ - if( xTaskIncrementTick() != pdFALSE ) - { - /* A context switch is required. Context switching is performed in - the PendSV interrupt. Pend the PendSV interrupt. */ - portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; - } - } - portCLEAR_INTERRUPT_MASK_FROM_ISR( 0 ); -} -/*-----------------------------------------------------------*/ - -#if configUSE_TICKLESS_IDLE == 1 - - __weak void vPortSuppressTicksAndSleep( portTickType xExpectedIdleTime ) - { - unsigned long ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements; - portTickType xModifiableIdleTime; - - /* Make sure the SysTick reload value does not overflow the counter. */ - if( xExpectedIdleTime > xMaximumPossibleSuppressedTicks ) - { - xExpectedIdleTime = xMaximumPossibleSuppressedTicks; - } - - /* 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 | portNVIC_SYSTICK_INT_BIT; - - /* Calculate the reload value required to wait xExpectedIdleTime - tick periods. -1 is used because this code will execute part way - through one of the tick periods. */ - ulReloadValue = portNVIC_SYSTICK_CURRENT_VALUE_REG + ( ulTimerCountsForOneTick * ( xExpectedIdleTime - 1UL ) ); - if( ulReloadValue > ulStoppedTimerCompensation ) - { - ulReloadValue -= ulStoppedTimerCompensation; - } - - /* Enter a critical section but don't use the taskENTER_CRITICAL() - method as that will mask interrupts that should exit sleep mode. */ - __disable_irq(); - - /* 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 ) - { - /* Restart from whatever is left in the count register to complete - this tick period. */ - portNVIC_SYSTICK_LOAD_REG = portNVIC_SYSTICK_CURRENT_VALUE_REG; - - /* Restart SysTick. */ - portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT; - - /* Reset the reload register to the value required for normal tick - periods. */ - portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL; - - /* Re-enable interrupts - see comments above __disable_irq() call - above. */ - __enable_irq(); - } - else - { - /* 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_CLK_BIT | portNVIC_SYSTICK_INT_BIT | 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( portSY_FULL_READ_WRITE ); - __wfi(); - __isb( portSY_FULL_READ_WRITE ); - } - configPOST_SLEEP_PROCESSING( xExpectedIdleTime ); - - /* Stop SysTick. 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 | portNVIC_SYSTICK_INT_BIT; - - /* Re-enable interrupts - see comments above __disable_irq() call - above. */ - __enable_irq(); - - if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 ) - { - unsigned long ulCalculatedLoadValue; - - /* The tick interrupt has already executed, and the SysTick - count reloaded with ulReloadValue. Reset the - portNVIC_SYSTICK_LOAD_REG with whatever remains of this 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. */ - if( ( ulCalculatedLoadValue < ulStoppedTimerCompensation ) || ( ulCalculatedLoadValue > ulTimerCountsForOneTick ) ) - { - ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ); - } - - portNVIC_SYSTICK_LOAD_REG = ulCalculatedLoadValue; - - /* The tick interrupt handler will already have pended the tick - processing in the kernel. 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. - Work out how long the sleep lasted rounded to complete tick - periods (not the ulReload value which accounted for part - ticks). */ - ulCompletedSysTickDecrements = ( xExpectedIdleTime * ulTimerCountsForOneTick ) - portNVIC_SYSTICK_CURRENT_VALUE_REG; - - /* 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 + 1 ) * ulTimerCountsForOneTick ) - ulCompletedSysTickDecrements; - } - - /* Restart SysTick so it runs from portNVIC_SYSTICK_LOAD_REG - again, then set portNVIC_SYSTICK_LOAD_REG back to its standard - value. The critical section is used to ensure the tick interrupt - can only execute once in the case that the reload register is near - zero. */ - portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; - portENTER_CRITICAL(); - { - portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT; - vTaskStepTick( ulCompleteTickPeriods ); - portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL; - } - portEXIT_CRITICAL(); - } - } - -#endif /* #if configUSE_TICKLESS_IDLE */ - -/*-----------------------------------------------------------*/ - -/* - * Setup the SysTick timer to generate the tick interrupts at the required - * frequency. - */ -#if configOVERRIDE_DEFAULT_TICK_CONFIGURATION == 0 - - 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 */ - - /* 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 | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT; - } - -#endif /* configOVERRIDE_DEFAULT_TICK_CONFIGURATION */ -/*-----------------------------------------------------------*/ - -__asm unsigned long ulPortSetInterruptMask( void ) -{ - PRESERVE8 - - mrs r0, basepri - mov r1, #configMAX_SYSCALL_INTERRUPT_PRIORITY - msr basepri, r1 - bx r14 -} -/*-----------------------------------------------------------*/ - -__asm void vPortClearInterruptMask( unsigned long ulNewMask ) -{ - PRESERVE8 - - msr basepri, r0 - bx r14 -} -/*-----------------------------------------------------------*/ - -__asm unsigned long vPortGetIPSR( void ) -{ - PRESERVE8 - - mrs r0, ipsr - bx r14 -} -/*-----------------------------------------------------------*/ - -#if( configASSERT_DEFINED == 1 ) - - void vPortValidateInterruptPriority( void ) - { - unsigned long ulCurrentInterrupt; - unsigned char ucCurrentPriority; - - /* Obtain the number of the currently executing interrupt. */ - ulCurrentInterrupt = vPortGetIPSR(); - - /* Is the interrupt number a user defined interrupt? */ - if( ulCurrentInterrupt >= portFIRST_USER_INTERRUPT_NUMBER ) - { - /* Look up the interrupt's priority. */ - ucCurrentPriority = pcInterruptPriorityRegisters[ ulCurrentInterrupt ]; - - /* The following assertion will fail if a service routine (ISR) for - an interrupt that has been assigned a priority above - configMAX_SYSCALL_INTERRUPT_PRIORITY calls an ISR safe FreeRTOS API - function. ISR safe FreeRTOS API functions must *only* be called - from interrupts that have been assigned a priority at or below - configMAX_SYSCALL_INTERRUPT_PRIORITY. - - Numerically low interrupt priority numbers represent logically high - interrupt priorities, therefore the priority of the interrupt must - be set to a value equal to or numerically *higher* than - configMAX_SYSCALL_INTERRUPT_PRIORITY. - - Interrupts that use the FreeRTOS API must not be left at their - default priority of zero as that is the highest possible priority, - which is guaranteed to be above configMAX_SYSCALL_INTERRUPT_PRIORITY, - and therefore also guaranteed to be invalid. - - FreeRTOS maintains separate thread and ISR API functions to ensure - interrupt entry is as fast and simple as possible. - - The following links provide detailed information: - http://www.freertos.org/RTOS-Cortex-M3-M4.html - http://www.freertos.org/FAQHelp.html */ - configASSERT( ucCurrentPriority >= ucMaxSysCallPriority ); - } - - /* Priority grouping: The interrupt controller (NVIC) allows the bits - that define each interrupt's priority to be split between bits that - define the interrupt's pre-emption priority bits and bits that define - the interrupt's sub-priority. For simplicity all bits must be defined - to be pre-emption priority bits. The following assertion will fail if - this is not the case (if some bits represent a sub-priority). - - If the application only uses CMSIS libraries for interrupt - configuration then the correct setting can be achieved on all Cortex-M - devices by calling NVIC_SetPriorityGrouping( 0 ); before starting the - scheduler. Note however that some vendor specific peripheral libraries - assume a non-zero priority group setting, in which cases using a value - of zero will result in unpredicable behaviour. */ - configASSERT( ( portAIRCR_REG & portPRIORITY_GROUP_MASK ) <= ulMaxPRIGROUPValue ); - } - -#endif /* configASSERT_DEFINED */ - -