/* FreeRTOS V8.2.1 - Copyright (C) 2015 Real Time Engineers Ltd. All rights reserved VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. 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 on the following link: http://www.freertos.org/a00114.html *************************************************************************** * * * FreeRTOS provides completely free yet professionally developed, * * robust, strictly quality controlled, supported, and cross * * platform software that is more than just the market leader, it * * is the industry's de facto standard. * * * * Help yourself get started quickly while simultaneously helping * * to support the FreeRTOS project by purchasing a FreeRTOS * * tutorial book, reference manual, or both: * * http://www.FreeRTOS.org/Documentation * * * *************************************************************************** http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading the FAQ page "My application does not run, what could be wrong?". Have you defined configASSERT()? http://www.FreeRTOS.org/support - In return for receiving this top quality embedded software for free we request you assist our global community by participating in the support forum. http://www.FreeRTOS.org/training - Investing in training allows your team to be as productive as possible as early as possible. Now you can receive FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers Ltd, and the world's leading authority on the world's leading RTOS. 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.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate. Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS. http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS licenses offer ticketed support, indemnification and commercial 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! */ /* Scheduler includes. */ #include "FreeRTOS.h" #include "task.h" #include "app_util.h" #include "nrf_log.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; } } 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; } 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 #ifdef SOFTDEVICE_PRESENT static inline void waitCpuCoreEvent() { if (nrf_sdh_is_enabled()) { uint32_t err_code = sd_app_evt_wait(); APP_ERROR_CHECK(err_code); } else { __WFE(); } } #else static inline void waitCpuCoreEvent() { __WFE(); } #endif void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ) { /* Upon entry the scheduler is suspended, RTC is still generating tick interrupts. */ /* Choose a maximum idle time much less than available maximum to allow for safe RTC counter * bounds checking after wakeup from sleep. */ TickType_t maxIdleTime = portNRF_RTC_MAXTICKS / 2 - configEXPECTED_IDLE_TIME_BEFORE_SLEEP; if ( xExpectedIdleTime > maxIdleTime ) { xExpectedIdleTime = maxIdleTime; } /* Block RTC interrupts only. All other interrupt remain active so that they * can execute directly after WFE and possibly schedule RTOS tasks. */ #ifdef SOFTDEVICE_PRESENT do{ uint32_t err_code = sd_nvic_DisableIRQ(portNRF_RTC_IRQn); APP_ERROR_CHECK(err_code); }while (0); #else NVIC_DisableIRQ(portNRF_RTC_IRQn); #endif /* * 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; 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 ) { { while (1) { uint32_t currentTime; /* Clear prior pending CPU events to ensure that sd_app_evt_wait() will wait * on useful wakeup event rather than wakeup immediately due to events which * have occurred since we last went to sleep. * The only reasons to exit from idle are: * - There is a task scheduled to run * - The expected idle time has elapsed */ __SEV(); __WFE(); if (eTaskConfirmSleepModeStatus() == eAbortSleep) { break; } currentTime = nrf_rtc_counter_get(portNRF_RTC_REG); /* Is current RTC count outside of the window that CPU is expected to sleep? * Account for case where RTC wakeup time may overflow. */ if (wakeupTime < enterTime) { if (currentTime >= wakeupTime && currentTime < enterTime) { break; } } else { if (currentTime < enterTime || currentTime >= wakeupTime) { break; } } waitCpuCoreEvent(); } } } 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_EnableIRQ(portNRF_RTC_IRQn); APP_ERROR_CHECK(err_code); #else NVIC_EnableIRQ(portNRF_RTC_IRQn); #endif } #endif // configUSE_TICKLESS_IDLE #else // configTICK_SOURCE #error Unsupported configTICK_SOURCE value #endif // configTICK_SOURCE == FREERTOS_USE_SYSTICK