Nordic port. Notes for Richard -- the work items we discussed about for nrf52840-dk and Wiced_CY still remain. The only reason for this commit is we want to test out submodule.
Yuhui.Zheng
5 years ago
parent
35bc9d7938
commit
0fe36e497d
@ -0,0 +1,148 @@
|
|||||||
|
/*
|
||||||
|
* FreeRTOS Kernel V10.0.0
|
||||||
|
* Copyright (C) 2017 Amazon.com, Inc. or its affiliates. All Rights Reserved.
|
||||||
|
*
|
||||||
|
* 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. If you wish to use our Amazon
|
||||||
|
* FreeRTOS name, please do so in a fair use way that does not cause confusion.
|
||||||
|
*
|
||||||
|
* 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.
|
||||||
|
*
|
||||||
|
* http://www.FreeRTOS.org
|
||||||
|
* http://aws.amazon.com/freertos
|
||||||
|
*
|
||||||
|
* 1 tab == 4 spaces!
|
||||||
|
*/
|
||||||
|
|
||||||
|
/*-----------------------------------------------------------
|
||||||
|
* Implementation of functions defined in portable.h for the ARM CM4F port.
|
||||||
|
*----------------------------------------------------------*/
|
||||||
|
|
||||||
|
/* Scheduler includes. */
|
||||||
|
#include "FreeRTOS.h"
|
||||||
|
#include "task.h"
|
||||||
|
|
||||||
|
/*
|
||||||
|
* Start first task is a separate function so it can be tested in isolation.
|
||||||
|
*/
|
||||||
|
void vPortStartFirstTask( void ) __attribute__ (( naked ));
|
||||||
|
|
||||||
|
/*
|
||||||
|
* Exception handlers.
|
||||||
|
*/
|
||||||
|
void vPortSVCHandler( void ) __attribute__ (( naked ));
|
||||||
|
void xPortPendSVHandler( void ) __attribute__ (( naked ));
|
||||||
|
|
||||||
|
|
||||||
|
/*-----------------------------------------------------------*/
|
||||||
|
|
||||||
|
void vPortStartFirstTask( void )
|
||||||
|
{
|
||||||
|
__asm volatile(
|
||||||
|
#if defined(__SES_ARM)
|
||||||
|
" ldr r0, =_vectors \n" /* Locate the stack using _vectors table. */
|
||||||
|
#else
|
||||||
|
" ldr r0, =__isr_vector \n" /* Locate the stack using __isr_vector table. */
|
||||||
|
#endif
|
||||||
|
" ldr r0, [r0] \n"
|
||||||
|
" msr msp, r0 \n" /* Set the msp back to the start of the stack. */
|
||||||
|
" cpsie i \n" /* Globally enable interrupts. */
|
||||||
|
" cpsie f \n"
|
||||||
|
" dsb \n"
|
||||||
|
" isb \n"
|
||||||
|
#ifdef SOFTDEVICE_PRESENT
|
||||||
|
/* Block kernel interrupts only (PendSV) before calling SVC */
|
||||||
|
" mov r0, %0 \n"
|
||||||
|
" msr basepri, r0 \n"
|
||||||
|
#endif
|
||||||
|
" svc 0 \n" /* System call to start first task. */
|
||||||
|
" \n"
|
||||||
|
" .align 2 \n"
|
||||||
|
#ifdef SOFTDEVICE_PRESENT
|
||||||
|
::"i"(configKERNEL_INTERRUPT_PRIORITY << (8 - configPRIO_BITS))
|
||||||
|
#endif
|
||||||
|
);
|
||||||
|
}
|
||||||
|
|
||||||
|
/*-----------------------------------------------------------*/
|
||||||
|
|
||||||
|
void vPortSVCHandler( void )
|
||||||
|
{
|
||||||
|
__asm volatile (
|
||||||
|
" ldr r3, =pxCurrentTCB \n" /* Restore the context. */
|
||||||
|
" ldr r1, [r3] \n" /* Use pxCurrentTCBConst to get the pxCurrentTCB address. */
|
||||||
|
" ldr r0, [r1] \n" /* The first item in pxCurrentTCB is the task top of stack. */
|
||||||
|
" ldmia r0!, {r4-r11, r14} \n" /* Pop the registers that are not automatically saved on exception entry and the critical nesting count. */
|
||||||
|
" msr psp, r0 \n" /* Restore the task stack pointer. */
|
||||||
|
" isb \n"
|
||||||
|
" mov r0, #0 \n"
|
||||||
|
" msr basepri, r0 \n"
|
||||||
|
" bx r14 \n"
|
||||||
|
" \n"
|
||||||
|
" .align 2 \n"
|
||||||
|
);
|
||||||
|
}
|
||||||
|
|
||||||
|
/*-----------------------------------------------------------*/
|
||||||
|
|
||||||
|
void xPortPendSVHandler( void )
|
||||||
|
{
|
||||||
|
/* This is a naked function. */
|
||||||
|
|
||||||
|
__asm volatile
|
||||||
|
(
|
||||||
|
" mrs r0, psp \n"
|
||||||
|
" isb \n"
|
||||||
|
" \n"
|
||||||
|
" ldr r3, =pxCurrentTCB \n" /* Get the location of the current TCB. */
|
||||||
|
" ldr r2, [r3] \n"
|
||||||
|
" \n"
|
||||||
|
" tst r14, #0x10 \n" /* Is the task using the FPU context? If so, push high vfp registers. */
|
||||||
|
" it eq \n"
|
||||||
|
" vstmdbeq r0!, {s16-s31} \n"
|
||||||
|
" \n"
|
||||||
|
" stmdb r0!, {r4-r11, r14} \n" /* Save the core registers. */
|
||||||
|
" \n"
|
||||||
|
" str r0, [r2] \n" /* Save the new top of stack into the first member of the TCB. */
|
||||||
|
" \n"
|
||||||
|
" stmdb sp!, {r3} \n"
|
||||||
|
" mov r0, %0 \n"
|
||||||
|
" msr basepri, r0 \n"
|
||||||
|
" dsb \n"
|
||||||
|
" isb \n"
|
||||||
|
" bl vTaskSwitchContext \n"
|
||||||
|
" mov r0, #0 \n"
|
||||||
|
" msr basepri, r0 \n"
|
||||||
|
" ldmia sp!, {r3} \n"
|
||||||
|
" \n"
|
||||||
|
" ldr r1, [r3] \n" /* The first item in pxCurrentTCB is the task top of stack. */
|
||||||
|
" ldr r0, [r1] \n"
|
||||||
|
" \n"
|
||||||
|
" ldmia r0!, {r4-r11, r14} \n" /* Pop the core registers. */
|
||||||
|
" \n"
|
||||||
|
" tst r14, #0x10 \n" /* Is the task using the FPU context? If so, pop the high vfp registers too. */
|
||||||
|
" it eq \n"
|
||||||
|
" vldmiaeq r0!, {s16-s31} \n"
|
||||||
|
" \n"
|
||||||
|
" msr psp, r0 \n"
|
||||||
|
" isb \n"
|
||||||
|
" \n"
|
||||||
|
" \n"
|
||||||
|
" bx r14 \n"
|
||||||
|
" \n"
|
||||||
|
" .align 2 \n"
|
||||||
|
::"i"(configMAX_SYSCALL_INTERRUPT_PRIORITY << (8 - configPRIO_BITS))
|
||||||
|
);
|
||||||
|
}
|
||||||
@ -0,0 +1,357 @@
|
|||||||
|
/*
|
||||||
|
* FreeRTOS Kernel V10.0.0
|
||||||
|
* Copyright (C) 2017 Amazon.com, Inc. or its affiliates. All Rights Reserved.
|
||||||
|
*
|
||||||
|
* 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. If you wish to use our Amazon
|
||||||
|
* FreeRTOS name, please do so in a fair use way that does not cause confusion.
|
||||||
|
*
|
||||||
|
* 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.
|
||||||
|
*
|
||||||
|
* http://www.FreeRTOS.org
|
||||||
|
* http://aws.amazon.com/freertos
|
||||||
|
*
|
||||||
|
* 1 tab == 4 spaces!
|
||||||
|
*/
|
||||||
|
|
||||||
|
/*-----------------------------------------------------------
|
||||||
|
* Implementation of functions defined in portable.h for the ARM CM4F port.
|
||||||
|
*----------------------------------------------------------*/
|
||||||
|
|
||||||
|
/* Scheduler includes. */
|
||||||
|
#include "FreeRTOS.h"
|
||||||
|
#include "task.h"
|
||||||
|
#ifdef SOFTDEVICE_PRESENT
|
||||||
|
#include "nrf_soc.h"
|
||||||
|
#include "app_util.h"
|
||||||
|
#include "app_util_platform.h"
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#if !(__FPU_USED) && !(__LINT__)
|
||||||
|
#error This port can only be used when the project options are configured to enable hardware floating point support.
|
||||||
|
#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
|
||||||
|
|
||||||
|
/* Constants used to detect a Cortex-M7 r0p1 core, which should use the ARM_CM7
|
||||||
|
r0p1 port. */
|
||||||
|
#define portCORTEX_M4_r0p1_ID ( 0x410FC241UL )
|
||||||
|
|
||||||
|
/* Constants required to check the validity of an interrupt priority. */
|
||||||
|
#define portFIRST_USER_INTERRUPT_NUMBER ( 16 )
|
||||||
|
#define portMAX_8_BIT_VALUE ( ( uint8_t ) 0xff )
|
||||||
|
#define portTOP_BIT_OF_BYTE ( ( uint8_t ) 0x80 )
|
||||||
|
|
||||||
|
/* Constants required to set up the initial stack. */
|
||||||
|
#define portINITIAL_XPSR (((xPSR_Type){.b.T = 1}).w)
|
||||||
|
#define portINITIAL_EXEC_RETURN ( 0xfffffffd )
|
||||||
|
|
||||||
|
/* Let the user override the pre-loading of the initial LR with the address of
|
||||||
|
prvTaskExitError() in case is messes up unwinding of the stack in the
|
||||||
|
debugger. */
|
||||||
|
#ifdef configTASK_RETURN_ADDRESS
|
||||||
|
#define portTASK_RETURN_ADDRESS configTASK_RETURN_ADDRESS
|
||||||
|
#else
|
||||||
|
#define portTASK_RETURN_ADDRESS prvTaskExitError
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/* Each task maintains its own interrupt status in the critical nesting
|
||||||
|
variable. */
|
||||||
|
static UBaseType_t uxCriticalNesting = 0;
|
||||||
|
|
||||||
|
/*
|
||||||
|
* 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.
|
||||||
|
*/
|
||||||
|
extern 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 );
|
||||||
|
|
||||||
|
/*
|
||||||
|
* Function to enable the VFP.
|
||||||
|
*/
|
||||||
|
static void vPortEnableVFP( void );
|
||||||
|
|
||||||
|
/*
|
||||||
|
* Used to catch tasks that attempt to return from their implementing function.
|
||||||
|
*/
|
||||||
|
static void prvTaskExitError( void );
|
||||||
|
|
||||||
|
/*-----------------------------------------------------------*/
|
||||||
|
|
||||||
|
/*
|
||||||
|
* 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 uint8_t ucMaxSysCallPriority = 0;
|
||||||
|
static uint32_t ulMaxPRIGROUPValue = 0;
|
||||||
|
#endif /* configASSERT_DEFINED */
|
||||||
|
|
||||||
|
/*-----------------------------------------------------------*/
|
||||||
|
|
||||||
|
/*
|
||||||
|
* 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. */
|
||||||
|
|
||||||
|
/* Offset added to account for the way the MCU uses the stack on entry/exit
|
||||||
|
of interrupts, and to ensure alignment. */
|
||||||
|
pxTopOfStack--;
|
||||||
|
|
||||||
|
*pxTopOfStack = portINITIAL_XPSR; /* xPSR */
|
||||||
|
pxTopOfStack--;
|
||||||
|
*pxTopOfStack = ( StackType_t ) pxCode; /* PC */
|
||||||
|
pxTopOfStack--;
|
||||||
|
*pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS; /* LR */
|
||||||
|
|
||||||
|
/* Save code space by skipping register initialisation. */
|
||||||
|
pxTopOfStack -= 5; /* R12, R3, R2 and R1. */
|
||||||
|
*pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */
|
||||||
|
|
||||||
|
/* A save method is being used that requires each task to maintain its
|
||||||
|
own exec return value. */
|
||||||
|
pxTopOfStack--;
|
||||||
|
*pxTopOfStack = portINITIAL_EXEC_RETURN;
|
||||||
|
|
||||||
|
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 ( ;; );
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
/*-----------------------------------------------------------*/
|
||||||
|
|
||||||
|
/*
|
||||||
|
* See header file for description.
|
||||||
|
*/
|
||||||
|
BaseType_t xPortStartScheduler( void )
|
||||||
|
{
|
||||||
|
/* configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to 0.
|
||||||
|
See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
|
||||||
|
configASSERT( configMAX_SYSCALL_INTERRUPT_PRIORITY );
|
||||||
|
|
||||||
|
/* This port is designed for nRF52, this is Cortex-M4 r0p1. */
|
||||||
|
configASSERT( SCB->CPUID == portCORTEX_M4_r0p1_ID );
|
||||||
|
|
||||||
|
#if ( configASSERT_DEFINED == 1 )
|
||||||
|
{
|
||||||
|
volatile uint32_t ulOriginalPriority;
|
||||||
|
volatile uint8_t * const pucFirstUserPriorityRegister = &NVIC->IP[0];
|
||||||
|
volatile uint8_t 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 = *pucFirstUserPriorityRegister;
|
||||||
|
|
||||||
|
/* Determine the number of priority bits available. First write to all
|
||||||
|
possible bits. */
|
||||||
|
*pucFirstUserPriorityRegister = portMAX_8_BIT_VALUE;
|
||||||
|
|
||||||
|
/* Read the value back to see how many bits stuck. */
|
||||||
|
ucMaxPriorityValue = *pucFirstUserPriorityRegister;
|
||||||
|
|
||||||
|
/* 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 = SCB_AIRCR_PRIGROUP_Msk >> SCB_AIRCR_PRIGROUP_Pos;
|
||||||
|
while ( ( ucMaxPriorityValue & portTOP_BIT_OF_BYTE ) == portTOP_BIT_OF_BYTE )
|
||||||
|
{
|
||||||
|
ulMaxPRIGROUPValue--;
|
||||||
|
ucMaxPriorityValue <<= ( uint8_t ) 0x01;
|
||||||
|
}
|
||||||
|
|
||||||
|
/* Remove any bits that are more than actually existing. */
|
||||||
|
ulMaxPRIGROUPValue &= SCB_AIRCR_PRIGROUP_Msk >> SCB_AIRCR_PRIGROUP_Pos;
|
||||||
|
|
||||||
|
/* Restore the clobbered interrupt priority register to its original
|
||||||
|
value. */
|
||||||
|
*pucFirstUserPriorityRegister = ulOriginalPriority;
|
||||||
|
}
|
||||||
|
#endif /* conifgASSERT_DEFINED */
|
||||||
|
|
||||||
|
/* Make PendSV the lowest priority interrupts. */
|
||||||
|
NVIC_SetPriority(PendSV_IRQn, configKERNEL_INTERRUPT_PRIORITY);
|
||||||
|
|
||||||
|
/* 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;
|
||||||
|
|
||||||
|
/* Ensure the VFP is enabled - it should be anyway. */
|
||||||
|
vPortEnableVFP();
|
||||||
|
|
||||||
|
/* Lazy save always. */
|
||||||
|
FPU->FPCCR |= FPU_FPCCR_ASPEN_Msk | FPU_FPCCR_LSPEN_Msk;
|
||||||
|
|
||||||
|
/* Finally this port requires SEVONPEND to be active */
|
||||||
|
SCB->SCR |= SCB_SCR_SEVONPEND_Msk;
|
||||||
|
|
||||||
|
/* Start the first task. */
|
||||||
|
vPortStartFirstTask();
|
||||||
|
|
||||||
|
/* Should never get here as the tasks will now be executing! Call the task
|
||||||
|
exit error function to prevent compiler warnings about a static function
|
||||||
|
not being called in the case that the application writer overrides this
|
||||||
|
functionality by defining configTASK_RETURN_ADDRESS. */
|
||||||
|
prvTaskExitError();
|
||||||
|
|
||||||
|
/* 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 vPortEnterCritical( void )
|
||||||
|
{
|
||||||
|
portDISABLE_INTERRUPTS();
|
||||||
|
uxCriticalNesting++;
|
||||||
|
|
||||||
|
/* This is not the interrupt safe version of the enter critical function so
|
||||||
|
assert() if it is being called from an interrupt context. Only API
|
||||||
|
functions that end in "FromISR" can be used in an interrupt. Only assert if
|
||||||
|
the critical nesting count is 1 to protect against recursive calls if the
|
||||||
|
assert function also uses a critical section. */
|
||||||
|
if ( uxCriticalNesting == 1 )
|
||||||
|
{
|
||||||
|
configASSERT( ( SCB->ICSR & SCB_ICSR_VECTACTIVE_Msk ) == 0 );
|
||||||
|
}
|
||||||
|
}
|
||||||
|
/*-----------------------------------------------------------*/
|
||||||
|
|
||||||
|
void vPortExitCritical( void )
|
||||||
|
{
|
||||||
|
configASSERT( uxCriticalNesting );
|
||||||
|
uxCriticalNesting--;
|
||||||
|
if ( uxCriticalNesting == 0 )
|
||||||
|
{
|
||||||
|
portENABLE_INTERRUPTS();
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
/*-----------------------------------------------------------*/
|
||||||
|
|
||||||
|
/* This is a naked function. */
|
||||||
|
static void vPortEnableVFP( void )
|
||||||
|
{
|
||||||
|
SCB->CPACR |= 0xf << 20;
|
||||||
|
}
|
||||||
|
/*-----------------------------------------------------------*/
|
||||||
|
|
||||||
|
#if ( configASSERT_DEFINED == 1 )
|
||||||
|
|
||||||
|
void vPortValidateInterruptPriority( void )
|
||||||
|
{
|
||||||
|
uint32_t ulCurrentInterrupt;
|
||||||
|
uint8_t ucCurrentPriority;
|
||||||
|
IPSR_Type ipsr;
|
||||||
|
|
||||||
|
/* Obtain the number of the currently executing interrupt. */
|
||||||
|
ipsr.w = __get_IPSR();
|
||||||
|
ulCurrentInterrupt = ipsr.b.ISR;
|
||||||
|
|
||||||
|
/* Is the interrupt number a user defined interrupt? */
|
||||||
|
if ( ulCurrentInterrupt >= portFIRST_USER_INTERRUPT_NUMBER )
|
||||||
|
{
|
||||||
|
/* Look up the interrupt's priority. */
|
||||||
|
ucCurrentPriority = NVIC->IP[ ulCurrentInterrupt - portFIRST_USER_INTERRUPT_NUMBER ];
|
||||||
|
|
||||||
|
/* 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( NVIC_GetPriorityGrouping() <= ulMaxPRIGROUPValue );
|
||||||
|
}
|
||||||
|
|
||||||
|
#endif /* configASSERT_DEFINED */
|
||||||
@ -0,0 +1,299 @@
|
|||||||
|
/*
|
||||||
|
* FreeRTOS Kernel V10.0.0
|
||||||
|
* Copyright (C) 2017 Amazon.com, Inc. or its affiliates. All Rights Reserved.
|
||||||
|
*
|
||||||
|
* 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. If you wish to use our Amazon
|
||||||
|
* FreeRTOS name, please do so in a fair use way that does not cause confusion.
|
||||||
|
*
|
||||||
|
* 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.
|
||||||
|
*
|
||||||
|
* http://www.FreeRTOS.org
|
||||||
|
* http://aws.amazon.com/freertos
|
||||||
|
*
|
||||||
|
* 1 tab == 4 spaces!
|
||||||
|
*/
|
||||||
|
|
||||||
|
/* Scheduler includes. */
|
||||||
|
#include "FreeRTOS.h"
|
||||||
|
#include "task.h"
|
||||||
|
#include "app_util.h"
|
||||||
|
|
||||||
|
#ifdef SOFTDEVICE_PRESENT
|
||||||
|
#include "nrf_soc.h"
|
||||||
|
#include "nrf_sdh.h"
|
||||||
|
#include "app_error.h"
|
||||||
|
#include "app_util_platform.h"
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/*-----------------------------------------------------------
|
||||||
|
* Implementation of functions defined in portable.h for the ARM CM4F port.
|
||||||
|
* CMSIS compatible layer to menage SysTick ticking source.
|
||||||
|
*----------------------------------------------------------*/
|
||||||
|
|
||||||
|
#if configTICK_SOURCE == FREERTOS_USE_SYSTICK
|
||||||
|
|
||||||
|
|
||||||
|
#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 ( SysTick_CTRL_CLKSOURCE_Msk )
|
||||||
|
#else
|
||||||
|
/* The way the SysTick is clocked is not modified in case it is not the same
|
||||||
|
as the core. */
|
||||||
|
#define portNVIC_SYSTICK_CLK_BIT ( 0 )
|
||||||
|
#endif
|
||||||
|
|
||||||
|
|
||||||
|
#if configUSE_TICKLESS_IDLE == 1
|
||||||
|
#error SysTick port for RF52 does not support tickless idle. Use RTC mode instead.
|
||||||
|
#endif /* configUSE_TICKLESS_IDLE */
|
||||||
|
|
||||||
|
/*-----------------------------------------------------------*/
|
||||||
|
|
||||||
|
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. */
|
||||||
|
SCB->ICSR = SCB_ICSR_PENDSVSET_Msk;
|
||||||
|
__SEV();
|
||||||
|
}
|
||||||
|
}
|
||||||
|
portCLEAR_INTERRUPT_MASK_FROM_ISR( 0 );
|
||||||
|
}
|
||||||
|
|
||||||
|
/*-----------------------------------------------------------*/
|
||||||
|
|
||||||
|
/*
|
||||||
|
* Setup the systick timer to generate the tick interrupts at the required
|
||||||
|
* frequency.
|
||||||
|
*/
|
||||||
|
void vPortSetupTimerInterrupt( void )
|
||||||
|
{
|
||||||
|
/* Set interrupt priority */
|
||||||
|
NVIC_SetPriority(SysTick_IRQn, configKERNEL_INTERRUPT_PRIORITY);
|
||||||
|
/* Configure SysTick to interrupt at the requested rate. */
|
||||||
|
SysTick->LOAD = ROUNDED_DIV(configSYSTICK_CLOCK_HZ, configTICK_RATE_HZ) - 1UL;
|
||||||
|
SysTick->CTRL = ( portNVIC_SYSTICK_CLK_BIT | SysTick_CTRL_TICKINT_Msk | SysTick_CTRL_ENABLE_Msk );
|
||||||
|
}
|
||||||
|
|
||||||
|
/*-----------------------------------------------------------*/
|
||||||
|
|
||||||
|
#elif configTICK_SOURCE == FREERTOS_USE_RTC
|
||||||
|
|
||||||
|
#if configUSE_16_BIT_TICKS == 1
|
||||||
|
#error This port does not support 16 bit ticks.
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#include "nrf_rtc.h"
|
||||||
|
#include "nrf_drv_clock.h"
|
||||||
|
|
||||||
|
/*-----------------------------------------------------------*/
|
||||||
|
|
||||||
|
void xPortSysTickHandler( void )
|
||||||
|
{
|
||||||
|
#if configUSE_TICKLESS_IDLE == 1
|
||||||
|
nrf_rtc_event_clear(portNRF_RTC_REG, NRF_RTC_EVENT_COMPARE_0);
|
||||||
|
#endif
|
||||||
|
|
||||||
|
BaseType_t switch_req = pdFALSE;
|
||||||
|
uint32_t isrstate = portSET_INTERRUPT_MASK_FROM_ISR();
|
||||||
|
|
||||||
|
uint32_t systick_counter = nrf_rtc_counter_get(portNRF_RTC_REG);
|
||||||
|
nrf_rtc_event_clear(portNRF_RTC_REG, NRF_RTC_EVENT_TICK);
|
||||||
|
|
||||||
|
if (configUSE_DISABLE_TICK_AUTO_CORRECTION_DEBUG == 0)
|
||||||
|
{
|
||||||
|
/* check FreeRTOSConfig.h file for more details on configUSE_DISABLE_TICK_AUTO_CORRECTION_DEBUG */
|
||||||
|
TickType_t diff;
|
||||||
|
diff = (systick_counter - xTaskGetTickCount()) & portNRF_RTC_MAXTICKS;
|
||||||
|
|
||||||
|
/* At most 1 step if scheduler is suspended - the xTaskIncrementTick
|
||||||
|
* would return the tick state from the moment when suspend function was called. */
|
||||||
|
if ((diff > 1) && (xTaskGetSchedulerState() != taskSCHEDULER_RUNNING))
|
||||||
|
{
|
||||||
|
diff = 1;
|
||||||
|
}
|
||||||
|
while ((diff--) > 0)
|
||||||
|
{
|
||||||
|
switch_req |= xTaskIncrementTick();
|
||||||
|
}
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
switch_req = xTaskIncrementTick();
|
||||||
|
}
|
||||||
|
|
||||||
|
/* Increment the RTOS tick as usual which checks if there is a need for rescheduling */
|
||||||
|
if ( switch_req != pdFALSE )
|
||||||
|
{
|
||||||
|
/* A context switch is required. Context switching is performed in
|
||||||
|
the PendSV interrupt. Pend the PendSV interrupt. */
|
||||||
|
SCB->ICSR = SCB_ICSR_PENDSVSET_Msk;
|
||||||
|
__SEV();
|
||||||
|
}
|
||||||
|
|
||||||
|
portCLEAR_INTERRUPT_MASK_FROM_ISR( isrstate );
|
||||||
|
}
|
||||||
|
|
||||||
|
/*
|
||||||
|
* Setup the RTC time to generate the tick interrupts at the required
|
||||||
|
* frequency.
|
||||||
|
*/
|
||||||
|
void vPortSetupTimerInterrupt( void )
|
||||||
|
{
|
||||||
|
/* Request LF clock */
|
||||||
|
nrf_drv_clock_lfclk_request(NULL);
|
||||||
|
|
||||||
|
/* Configure SysTick to interrupt at the requested rate. */
|
||||||
|
nrf_rtc_prescaler_set(portNRF_RTC_REG, portNRF_RTC_PRESCALER);
|
||||||
|
nrf_rtc_int_enable (portNRF_RTC_REG, RTC_INTENSET_TICK_Msk);
|
||||||
|
nrf_rtc_task_trigger (portNRF_RTC_REG, NRF_RTC_TASK_CLEAR);
|
||||||
|
nrf_rtc_task_trigger (portNRF_RTC_REG, NRF_RTC_TASK_START);
|
||||||
|
nrf_rtc_event_enable(portNRF_RTC_REG, RTC_EVTEN_OVRFLW_Msk);
|
||||||
|
|
||||||
|
NVIC_SetPriority(portNRF_RTC_IRQn, configKERNEL_INTERRUPT_PRIORITY);
|
||||||
|
NVIC_EnableIRQ(portNRF_RTC_IRQn);
|
||||||
|
}
|
||||||
|
|
||||||
|
#if configUSE_TICKLESS_IDLE == 1
|
||||||
|
|
||||||
|
void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime )
|
||||||
|
{
|
||||||
|
/*
|
||||||
|
* Implementation note:
|
||||||
|
*
|
||||||
|
* To help debugging the option configUSE_TICKLESS_IDLE_SIMPLE_DEBUG was presented.
|
||||||
|
* This option would make sure that even if program execution was stopped inside
|
||||||
|
* this function no more than expected number of ticks would be skipped.
|
||||||
|
*
|
||||||
|
* Normally RTC works all the time even if firmware execution was stopped
|
||||||
|
* and that may lead to skipping too much of ticks.
|
||||||
|
*/
|
||||||
|
TickType_t enterTime;
|
||||||
|
|
||||||
|
/* Make sure the SysTick reload value does not overflow the counter. */
|
||||||
|
if ( xExpectedIdleTime > portNRF_RTC_MAXTICKS - configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
|
||||||
|
{
|
||||||
|
xExpectedIdleTime = portNRF_RTC_MAXTICKS - configEXPECTED_IDLE_TIME_BEFORE_SLEEP;
|
||||||
|
}
|
||||||
|
/* Block all the interrupts globally */
|
||||||
|
#ifdef SOFTDEVICE_PRESENT
|
||||||
|
do{
|
||||||
|
uint8_t dummy = 0;
|
||||||
|
uint32_t err_code = sd_nvic_critical_region_enter(&dummy);
|
||||||
|
APP_ERROR_CHECK(err_code);
|
||||||
|
}while (0);
|
||||||
|
#else
|
||||||
|
__disable_irq();
|
||||||
|
#endif
|
||||||
|
|
||||||
|
enterTime = nrf_rtc_counter_get(portNRF_RTC_REG);
|
||||||
|
|
||||||
|
if ( eTaskConfirmSleepModeStatus() != eAbortSleep )
|
||||||
|
{
|
||||||
|
TickType_t xModifiableIdleTime;
|
||||||
|
TickType_t wakeupTime = (enterTime + xExpectedIdleTime) & portNRF_RTC_MAXTICKS;
|
||||||
|
|
||||||
|
/* Stop tick events */
|
||||||
|
nrf_rtc_int_disable(portNRF_RTC_REG, NRF_RTC_INT_TICK_MASK);
|
||||||
|
|
||||||
|
/* Configure CTC interrupt */
|
||||||
|
nrf_rtc_cc_set(portNRF_RTC_REG, 0, wakeupTime);
|
||||||
|
nrf_rtc_event_clear(portNRF_RTC_REG, NRF_RTC_EVENT_COMPARE_0);
|
||||||
|
nrf_rtc_int_enable(portNRF_RTC_REG, NRF_RTC_INT_COMPARE0_MASK);
|
||||||
|
|
||||||
|
__DSB();
|
||||||
|
|
||||||
|
/* 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 )
|
||||||
|
{
|
||||||
|
#if 0 // With FreeRTOS sd_app_evt_wait increases power consumption with FreeRTOS compared to _WFE (NRFFOSDK-11174)
|
||||||
|
#ifdef SOFTDEVICE_PRESENT
|
||||||
|
if (nrf_sdh_is_enabled())
|
||||||
|
{
|
||||||
|
uint32_t err_code = sd_app_evt_wait();
|
||||||
|
APP_ERROR_CHECK(err_code);
|
||||||
|
}
|
||||||
|
else
|
||||||
|
#endif
|
||||||
|
#endif // (NRFFOSDK-11174)
|
||||||
|
{
|
||||||
|
/* No SD - we would just block interrupts globally.
|
||||||
|
* BASEPRI cannot be used for that because it would prevent WFE from wake up.
|
||||||
|
*/
|
||||||
|
do{
|
||||||
|
__WFE();
|
||||||
|
} while (0 == (NVIC->ISPR[0] | NVIC->ISPR[1]));
|
||||||
|
}
|
||||||
|
}
|
||||||
|
configPOST_SLEEP_PROCESSING( xExpectedIdleTime );
|
||||||
|
|
||||||
|
nrf_rtc_int_disable(portNRF_RTC_REG, NRF_RTC_INT_COMPARE0_MASK);
|
||||||
|
nrf_rtc_event_clear(portNRF_RTC_REG, NRF_RTC_EVENT_COMPARE_0);
|
||||||
|
|
||||||
|
/* Correct the system ticks */
|
||||||
|
{
|
||||||
|
TickType_t diff;
|
||||||
|
TickType_t exitTime;
|
||||||
|
|
||||||
|
nrf_rtc_event_clear(portNRF_RTC_REG, NRF_RTC_EVENT_TICK);
|
||||||
|
nrf_rtc_int_enable (portNRF_RTC_REG, NRF_RTC_INT_TICK_MASK);
|
||||||
|
|
||||||
|
exitTime = nrf_rtc_counter_get(portNRF_RTC_REG);
|
||||||
|
diff = (exitTime - enterTime) & portNRF_RTC_MAXTICKS;
|
||||||
|
|
||||||
|
/* It is important that we clear pending here so that our corrections are latest and in sync with tick_interrupt handler */
|
||||||
|
NVIC_ClearPendingIRQ(portNRF_RTC_IRQn);
|
||||||
|
|
||||||
|
if ((configUSE_TICKLESS_IDLE_SIMPLE_DEBUG) && (diff > xExpectedIdleTime))
|
||||||
|
{
|
||||||
|
diff = xExpectedIdleTime;
|
||||||
|
}
|
||||||
|
|
||||||
|
if (diff > 0)
|
||||||
|
{
|
||||||
|
vTaskStepTick(diff);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
#ifdef SOFTDEVICE_PRESENT
|
||||||
|
uint32_t err_code = sd_nvic_critical_region_exit(0);
|
||||||
|
APP_ERROR_CHECK(err_code);
|
||||||
|
#else
|
||||||
|
__enable_irq();
|
||||||
|
#endif
|
||||||
|
}
|
||||||
|
|
||||||
|
#endif // configUSE_TICKLESS_IDLE
|
||||||
|
|
||||||
|
#else // configTICK_SOURCE
|
||||||
|
#error Unsupported configTICK_SOURCE value
|
||||||
|
#endif // configTICK_SOURCE == FREERTOS_USE_SYSTICK
|
||||||
@ -0,0 +1,36 @@
|
|||||||
|
/*
|
||||||
|
* FreeRTOS Kernel V10.0.0
|
||||||
|
* Copyright (C) 2017 Amazon.com, Inc. or its affiliates. All Rights Reserved.
|
||||||
|
*
|
||||||
|
* 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. If you wish to use our Amazon
|
||||||
|
* FreeRTOS name, please do so in a fair use way that does not cause confusion.
|
||||||
|
*
|
||||||
|
* 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.
|
||||||
|
*
|
||||||
|
* http://www.FreeRTOS.org
|
||||||
|
* http://aws.amazon.com/freertos
|
||||||
|
*
|
||||||
|
* 1 tab == 4 spaces!
|
||||||
|
*/
|
||||||
|
|
||||||
|
|
||||||
|
#ifndef PORTMACRO_H
|
||||||
|
#define PORTMACRO_H
|
||||||
|
|
||||||
|
#include "portmacro_cmsis.h"
|
||||||
|
|
||||||
|
#endif /* PORTMACRO_H */
|
||||||
|
|
||||||
@ -0,0 +1,187 @@
|
|||||||
|
/*
|
||||||
|
* FreeRTOS Kernel V10.0.0
|
||||||
|
* Copyright (C) 2017 Amazon.com, Inc. or its affiliates. All Rights Reserved.
|
||||||
|
*
|
||||||
|
* 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. If you wish to use our Amazon
|
||||||
|
* FreeRTOS name, please do so in a fair use way that does not cause confusion.
|
||||||
|
*
|
||||||
|
* 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.
|
||||||
|
*
|
||||||
|
* http://www.FreeRTOS.org
|
||||||
|
* http://aws.amazon.com/freertos
|
||||||
|
*
|
||||||
|
* 1 tab == 4 spaces!
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef PORTMACRO_CMSIS_H
|
||||||
|
#define PORTMACRO_CMSIS_H
|
||||||
|
#include "app_util.h"
|
||||||
|
|
||||||
|
#ifdef __cplusplus
|
||||||
|
extern "C" {
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/*-----------------------------------------------------------
|
||||||
|
* Port specific definitions.
|
||||||
|
*
|
||||||
|
* The settings in this file configure FreeRTOS correctly for the
|
||||||
|
* given hardware and compiler.
|
||||||
|
*
|
||||||
|
* These settings should not be altered.
|
||||||
|
*-----------------------------------------------------------
|
||||||
|
*/
|
||||||
|
|
||||||
|
/* Type definitions. */
|
||||||
|
#define portCHAR char
|
||||||
|
#define portFLOAT float
|
||||||
|
#define portDOUBLE double
|
||||||
|
#define portLONG long
|
||||||
|
#define portSHORT short
|
||||||
|
#define portSTACK_TYPE uint32_t
|
||||||
|
#define portBASE_TYPE long
|
||||||
|
|
||||||
|
typedef portSTACK_TYPE StackType_t;
|
||||||
|
typedef long BaseType_t;
|
||||||
|
typedef unsigned long UBaseType_t;
|
||||||
|
|
||||||
|
#if ( configUSE_16_BIT_TICKS == 1 )
|
||||||
|
typedef uint16_t TickType_t;
|
||||||
|
#define portMAX_DELAY ( TickType_t ) 0xffff
|
||||||
|
#else
|
||||||
|
typedef uint32_t TickType_t;
|
||||||
|
#define portMAX_DELAY ( TickType_t ) 0xffffffffUL
|
||||||
|
|
||||||
|
/* 32-bit tick type on a 32-bit architecture, so reads of the tick count do
|
||||||
|
not need to be guarded with a critical section. */
|
||||||
|
#define portTICK_TYPE_IS_ATOMIC 1
|
||||||
|
#endif
|
||||||
|
/*-----------------------------------------------------------*/
|
||||||
|
|
||||||
|
/* Architecture specifics. */
|
||||||
|
#define portSTACK_GROWTH ( -1 )
|
||||||
|
#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ )
|
||||||
|
#define portBYTE_ALIGNMENT 8
|
||||||
|
|
||||||
|
/* RTC register */
|
||||||
|
#define portNRF_RTC_REG NRF_RTC1
|
||||||
|
/* IRQn used by the selected RTC */
|
||||||
|
#define portNRF_RTC_IRQn RTC1_IRQn
|
||||||
|
/* Constants required to manipulate the NVIC. */
|
||||||
|
#define portNRF_RTC_PRESCALER ( (uint32_t) (ROUNDED_DIV(configSYSTICK_CLOCK_HZ, configTICK_RATE_HZ) - 1) )
|
||||||
|
/* Maximum RTC ticks */
|
||||||
|
#define portNRF_RTC_MAXTICKS ((1U<<24)-1U)
|
||||||
|
/*-----------------------------------------------------------*/
|
||||||
|
|
||||||
|
/* Scheduler utilities. */
|
||||||
|
#define portYIELD() do \
|
||||||
|
{ \
|
||||||
|
/* Set a PendSV to request a context switch. */ \
|
||||||
|
SCB->ICSR = SCB_ICSR_PENDSVSET_Msk; \
|
||||||
|
__SEV(); \
|
||||||
|
/* Barriers are normally not required but do ensure the code is completely \
|
||||||
|
within the specified behaviour for the architecture. */ \
|
||||||
|
__DSB(); \
|
||||||
|
__ISB(); \
|
||||||
|
}while (0)
|
||||||
|
|
||||||
|
#define portEND_SWITCHING_ISR( xSwitchRequired ) if ( (xSwitchRequired) != pdFALSE ) portYIELD()
|
||||||
|
#define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x )
|
||||||
|
/*-----------------------------------------------------------*/
|
||||||
|
|
||||||
|
/* Critical section management. */
|
||||||
|
extern void vPortEnterCritical( void );
|
||||||
|
extern void vPortExitCritical( void );
|
||||||
|
#define portSET_INTERRUPT_MASK_FROM_ISR() ulPortRaiseBASEPRI()
|
||||||
|
#define portCLEAR_INTERRUPT_MASK_FROM_ISR(x) vPortSetBASEPRI(x)
|
||||||
|
#define portDISABLE_INTERRUPTS() vPortRaiseBASEPRI()
|
||||||
|
#define portENABLE_INTERRUPTS() vPortSetBASEPRI(0)
|
||||||
|
#define portENTER_CRITICAL() vPortEnterCritical()
|
||||||
|
#define portEXIT_CRITICAL() vPortExitCritical()
|
||||||
|
|
||||||
|
/*-----------------------------------------------------------*/
|
||||||
|
|
||||||
|
/* Task function macros as described on the FreeRTOS.org WEB site. These are
|
||||||
|
not necessary for to use this port. They are defined so the common demo files
|
||||||
|
(which build with all the ports) will build. */
|
||||||
|
#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters )
|
||||||
|
#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters )
|
||||||
|
/*-----------------------------------------------------------*/
|
||||||
|
|
||||||
|
/* Tickless idle/low power functionality. */
|
||||||
|
#ifndef portSUPPRESS_TICKS_AND_SLEEP
|
||||||
|
extern void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime );
|
||||||
|
#define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ) vPortSuppressTicksAndSleep( xExpectedIdleTime )
|
||||||
|
#endif
|
||||||
|
/*-----------------------------------------------------------*/
|
||||||
|
|
||||||
|
/* Architecture specific optimisations. */
|
||||||
|
#ifndef configUSE_PORT_OPTIMISED_TASK_SELECTION
|
||||||
|
#define configUSE_PORT_OPTIMISED_TASK_SELECTION 1
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1
|
||||||
|
|
||||||
|
/* Count leading zeros helper. */
|
||||||
|
#define ucPortCountLeadingZeros( bits ) __CLZ( bits )
|
||||||
|
|
||||||
|
/* Check the configuration. */
|
||||||
|
#if ( configMAX_PRIORITIES > 32 )
|
||||||
|
#error configUSE_PORT_OPTIMISED_TASK_SELECTION can only be set to 1 when configMAX_PRIORITIES is less than or equal to 32. It is very rare that a system requires more than 10 to 15 difference priorities as tasks that share a priority will time slice.
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/* Store/clear the ready priorities in a bit map. */
|
||||||
|
#define portRECORD_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) |= ( 1UL << ( uxPriority ) )
|
||||||
|
#define portRESET_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) &= ~( 1UL << ( uxPriority ) )
|
||||||
|
|
||||||
|
/*-----------------------------------------------------------*/
|
||||||
|
|
||||||
|
#define portGET_HIGHEST_PRIORITY( uxTopPriority, uxReadyPriorities ) uxTopPriority = ( 31 - ucPortCountLeadingZeros( ( uxReadyPriorities ) ) )
|
||||||
|
|
||||||
|
#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
|
||||||
|
|
||||||
|
/*-----------------------------------------------------------*/
|
||||||
|
|
||||||
|
#ifdef configASSERT
|
||||||
|
void vPortValidateInterruptPriority( void );
|
||||||
|
#define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() vPortValidateInterruptPriority()
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/*-----------------------------------------------------------*/
|
||||||
|
|
||||||
|
#define vPortSetBASEPRI( ulNewMaskValue ) __set_BASEPRI(ulNewMaskValue)
|
||||||
|
|
||||||
|
/*-----------------------------------------------------------*/
|
||||||
|
|
||||||
|
#define vPortRaiseBASEPRI( ) vPortSetBASEPRI(configMAX_SYSCALL_INTERRUPT_PRIORITY << (8 - configPRIO_BITS))
|
||||||
|
|
||||||
|
/*-----------------------------------------------------------*/
|
||||||
|
|
||||||
|
__STATIC_INLINE uint32_t ulPortRaiseBASEPRI( void )
|
||||||
|
{
|
||||||
|
uint32_t ulOriginalBASEPRI = __get_BASEPRI();
|
||||||
|
vPortRaiseBASEPRI();
|
||||||
|
return ulOriginalBASEPRI;
|
||||||
|
}
|
||||||
|
|
||||||
|
/*-----------------------------------------------------------*/
|
||||||
|
|
||||||
|
|
||||||
|
#ifdef __cplusplus
|
||||||
|
}
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#endif /* PORTMACRO_CMSIS_H */
|
||||||
|
|
||||||
Loading…
Reference in New Issue