313 lines
11 KiB
C
313 lines
11 KiB
C
/*
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* FreeRTOS Kernel V10.0.0
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* Copyright (C) 2017 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy of
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* this software and associated documentation files (the "Software"), to deal in
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* the Software without restriction, including without limitation the rights to
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* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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* the Software, and to permit persons to whom the Software is furnished to do so,
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* subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in all
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* copies or substantial portions of the Software. If you wish to use our Amazon
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* FreeRTOS name, please do so in a fair use way that does not cause confusion.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*
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* http://www.FreeRTOS.org
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* http://aws.amazon.com/freertos
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*
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* 1 tab == 4 spaces!
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*/
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/* Scheduler includes. */
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#include "FreeRTOS.h"
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#include "task.h"
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#include "app_util.h"
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#ifdef SOFTDEVICE_PRESENT
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#include "nrf_soc.h"
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#include "nrf_sdh.h"
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#include "app_error.h"
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#include "app_util_platform.h"
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#endif
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/*-----------------------------------------------------------
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* Implementation of functions defined in portable.h for the ARM CM4F port.
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* CMSIS compatible layer to menage SysTick ticking source.
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*----------------------------------------------------------*/
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#if configTICK_SOURCE == FREERTOS_USE_SYSTICK
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#ifndef configSYSTICK_CLOCK_HZ
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#define configSYSTICK_CLOCK_HZ configCPU_CLOCK_HZ
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/* Ensure the SysTick is clocked at the same frequency as the core. */
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#define portNVIC_SYSTICK_CLK_BIT ( SysTick_CTRL_CLKSOURCE_Msk )
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#else
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/* The way the SysTick is clocked is not modified in case it is not the same
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as the core. */
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#define portNVIC_SYSTICK_CLK_BIT ( 0 )
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#endif
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#if configUSE_TICKLESS_IDLE == 1
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#error SysTick port for RF52 does not support tickless idle. Use RTC mode instead.
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#endif /* configUSE_TICKLESS_IDLE */
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/*-----------------------------------------------------------*/
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void xPortSysTickHandler( void )
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{
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/* The SysTick runs at the lowest interrupt priority, so when this interrupt
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executes all interrupts must be unmasked. There is therefore no need to
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save and then restore the interrupt mask value as its value is already
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known. */
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( void ) portSET_INTERRUPT_MASK_FROM_ISR();
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{
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/* Increment the RTOS tick. */
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if ( xTaskIncrementTick() != pdFALSE )
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{
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/* A context switch is required. Context switching is performed in
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the PendSV interrupt. Pend the PendSV interrupt. */
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SCB->ICSR = SCB_ICSR_PENDSVSET_Msk;
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__SEV();
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}
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}
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portCLEAR_INTERRUPT_MASK_FROM_ISR( 0 );
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}
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/*-----------------------------------------------------------*/
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/*
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* Setup the systick timer to generate the tick interrupts at the required
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* frequency.
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*/
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void vPortSetupTimerInterrupt( void )
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{
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/* Set interrupt priority */
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NVIC_SetPriority(SysTick_IRQn, configKERNEL_INTERRUPT_PRIORITY);
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/* Configure SysTick to interrupt at the requested rate. */
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SysTick->LOAD = ROUNDED_DIV(configSYSTICK_CLOCK_HZ, configTICK_RATE_HZ) - 1UL;
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SysTick->CTRL = ( portNVIC_SYSTICK_CLK_BIT | SysTick_CTRL_TICKINT_Msk | SysTick_CTRL_ENABLE_Msk );
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}
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/*-----------------------------------------------------------*/
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#elif configTICK_SOURCE == FREERTOS_USE_RTC
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#if configUSE_16_BIT_TICKS == 1
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#error This port does not support 16 bit ticks.
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#endif
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#include "nrf_rtc.h"
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#include "nrf_drv_clock.h"
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/*-----------------------------------------------------------*/
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void xPortSysTickHandler( void )
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{
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#if configUSE_TICKLESS_IDLE == 1
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nrf_rtc_event_clear(portNRF_RTC_REG, NRF_RTC_EVENT_COMPARE_0);
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#endif
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BaseType_t switch_req = pdFALSE;
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uint32_t isrstate = portSET_INTERRUPT_MASK_FROM_ISR();
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uint32_t systick_counter = nrf_rtc_counter_get(portNRF_RTC_REG);
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nrf_rtc_event_clear(portNRF_RTC_REG, NRF_RTC_EVENT_TICK);
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if (configUSE_DISABLE_TICK_AUTO_CORRECTION_DEBUG == 0)
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{
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/* check FreeRTOSConfig.h file for more details on configUSE_DISABLE_TICK_AUTO_CORRECTION_DEBUG */
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TickType_t diff;
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diff = (systick_counter - xTaskGetTickCount()) & portNRF_RTC_MAXTICKS;
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/* At most 1 step if scheduler is suspended - the xTaskIncrementTick
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* would return the tick state from the moment when suspend function was called. */
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if ((diff > 1) && (xTaskGetSchedulerState() != taskSCHEDULER_RUNNING))
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{
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diff = 1;
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}
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while ((diff--) > 0)
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{
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switch_req |= xTaskIncrementTick();
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}
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}
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else
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{
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switch_req = xTaskIncrementTick();
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}
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/* Increment the RTOS tick as usual which checks if there is a need for rescheduling */
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if ( switch_req != pdFALSE )
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{
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/* A context switch is required. Context switching is performed in
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the PendSV interrupt. Pend the PendSV interrupt. */
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SCB->ICSR = SCB_ICSR_PENDSVSET_Msk;
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__SEV();
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}
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portCLEAR_INTERRUPT_MASK_FROM_ISR( isrstate );
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}
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/*
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* Setup the RTC time to generate the tick interrupts at the required
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* frequency.
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*/
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void vPortSetupTimerInterrupt( void )
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{
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/* Request LF clock */
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nrf_drv_clock_lfclk_request(NULL);
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/* Configure SysTick to interrupt at the requested rate. */
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nrf_rtc_prescaler_set(portNRF_RTC_REG, portNRF_RTC_PRESCALER);
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nrf_rtc_int_enable (portNRF_RTC_REG, RTC_INTENSET_TICK_Msk);
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nrf_rtc_task_trigger (portNRF_RTC_REG, NRF_RTC_TASK_CLEAR);
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nrf_rtc_task_trigger (portNRF_RTC_REG, NRF_RTC_TASK_START);
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nrf_rtc_event_enable(portNRF_RTC_REG, RTC_EVTEN_OVRFLW_Msk);
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NVIC_SetPriority(portNRF_RTC_IRQn, configKERNEL_INTERRUPT_PRIORITY);
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NVIC_EnableIRQ(portNRF_RTC_IRQn);
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}
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#if configUSE_TICKLESS_IDLE == 1
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void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime )
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{
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/*
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* Implementation note:
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*
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* To help debugging the option configUSE_TICKLESS_IDLE_SIMPLE_DEBUG was presented.
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* This option would make sure that even if program execution was stopped inside
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* this function no more than expected number of ticks would be skipped.
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*
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* Normally RTC works all the time even if firmware execution was stopped
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* and that may lead to skipping too much of ticks.
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*/
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TickType_t enterTime;
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/* Make sure the SysTick reload value does not overflow the counter. */
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if ( xExpectedIdleTime > portNRF_RTC_MAXTICKS - configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
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{
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xExpectedIdleTime = portNRF_RTC_MAXTICKS - configEXPECTED_IDLE_TIME_BEFORE_SLEEP;
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}
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/* Block all the interrupts globally */
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#ifdef SOFTDEVICE_PRESENT
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do{
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uint8_t dummy = 0;
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uint32_t err_code = sd_nvic_critical_region_enter(&dummy);
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APP_ERROR_CHECK(err_code);
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}while (0);
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#else
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__disable_irq();
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#endif
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enterTime = nrf_rtc_counter_get(portNRF_RTC_REG);
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if ( eTaskConfirmSleepModeStatus() != eAbortSleep )
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{
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TickType_t xModifiableIdleTime;
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TickType_t wakeupTime = (enterTime + xExpectedIdleTime) & portNRF_RTC_MAXTICKS;
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/* Stop tick events */
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nrf_rtc_int_disable(portNRF_RTC_REG, NRF_RTC_INT_TICK_MASK);
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/* Configure CTC interrupt */
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nrf_rtc_cc_set(portNRF_RTC_REG, 0, wakeupTime);
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nrf_rtc_event_clear(portNRF_RTC_REG, NRF_RTC_EVENT_COMPARE_0);
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nrf_rtc_int_enable(portNRF_RTC_REG, NRF_RTC_INT_COMPARE0_MASK);
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__DSB();
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/* Sleep until something happens. configPRE_SLEEP_PROCESSING() can
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* set its parameter to 0 to indicate that its implementation contains
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* its own wait for interrupt or wait for event instruction, and so wfi
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* should not be executed again. However, the original expected idle
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* time variable must remain unmodified, so a copy is taken. */
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xModifiableIdleTime = xExpectedIdleTime;
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configPRE_SLEEP_PROCESSING( xModifiableIdleTime );
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if ( xModifiableIdleTime > 0 )
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{
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#ifdef SOFTDEVICE_PRESENT
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if (nrf_sdh_is_enabled())
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{
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// Fix ERRATA 87 (https://infocenter.nordicsemi.com/index.jsp?topic=%252Fcom.nordic.infocenter.sdk5.v11.0.0%252Findex.html&cp=4_0_0)
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// Clear FPU interrupt before going to sleep. This prevent unexpected wake-up.
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#define FPU_EXCEPTION_MASK 0x0000009F
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/* Clear exceptions and PendingIRQ from the FPU unit */
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__set_FPSCR(__get_FPSCR() & ~(FPU_EXCEPTION_MASK));
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(void) __get_FPSCR();
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NVIC_ClearPendingIRQ(FPU_IRQn);
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uint32_t err_code = sd_app_evt_wait();
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APP_ERROR_CHECK(err_code);
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}
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else
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#endif
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{
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// Fix ERRATA 87 (https://infocenter.nordicsemi.com/index.jsp?topic=%252Fcom.nordic.infocenter.sdk5.v11.0.0%252Findex.html&cp=4_0_0)
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// Clear FPU interrupt before going to sleep. This prevent unexpected wake-up.
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#define FPU_EXCEPTION_MASK 0x0000009F
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/* Clear exceptions and PendingIRQ from the FPU unit */
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__set_FPSCR(__get_FPSCR() & ~(FPU_EXCEPTION_MASK));
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(void) __get_FPSCR();
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NVIC_ClearPendingIRQ(FPU_IRQn);
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/* No SD - we would just block interrupts globally.
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* BASEPRI cannot be used for that because it would prevent WFE from wake up.
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*/
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do{
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__WFE();
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} while (0 == (NVIC->ISPR[0] | NVIC->ISPR[1]));
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}
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}
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configPOST_SLEEP_PROCESSING( xExpectedIdleTime );
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nrf_rtc_int_disable(portNRF_RTC_REG, NRF_RTC_INT_COMPARE0_MASK);
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nrf_rtc_event_clear(portNRF_RTC_REG, NRF_RTC_EVENT_COMPARE_0);
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/* Correct the system ticks */
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{
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TickType_t diff;
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TickType_t exitTime;
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nrf_rtc_event_clear(portNRF_RTC_REG, NRF_RTC_EVENT_TICK);
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nrf_rtc_int_enable (portNRF_RTC_REG, NRF_RTC_INT_TICK_MASK);
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exitTime = nrf_rtc_counter_get(portNRF_RTC_REG);
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diff = (exitTime - enterTime) & portNRF_RTC_MAXTICKS;
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/* It is important that we clear pending here so that our corrections are latest and in sync with tick_interrupt handler */
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NVIC_ClearPendingIRQ(portNRF_RTC_IRQn);
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if ((configUSE_TICKLESS_IDLE_SIMPLE_DEBUG) && (diff > xExpectedIdleTime))
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{
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diff = xExpectedIdleTime;
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}
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if (diff > 0)
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{
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vTaskStepTick(diff);
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}
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}
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}
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#ifdef SOFTDEVICE_PRESENT
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uint32_t err_code = sd_nvic_critical_region_exit(0);
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APP_ERROR_CHECK(err_code);
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#else
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__enable_irq();
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#endif
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}
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#endif // configUSE_TICKLESS_IDLE
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#else // configTICK_SOURCE
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#error Unsupported configTICK_SOURCE value
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#endif // configTICK_SOURCE == FREERTOS_USE_SYSTICK
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