diff options
Diffstat (limited to 'thirdparty/nRF5_SDK_15.0.0_a53641a/external/freertos/portable/CMSIS')
6 files changed, 1536 insertions, 0 deletions
diff --git a/thirdparty/nRF5_SDK_15.0.0_a53641a/external/freertos/portable/CMSIS/nrf51/port_cmsis.c b/thirdparty/nRF5_SDK_15.0.0_a53641a/external/freertos/portable/CMSIS/nrf51/port_cmsis.c new file mode 100644 index 0000000..d6d209f --- /dev/null +++ b/thirdparty/nRF5_SDK_15.0.0_a53641a/external/freertos/portable/CMSIS/nrf51/port_cmsis.c @@ -0,0 +1,243 @@ +/* + * 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 CM0 port. + *----------------------------------------------------------*/ + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" +#ifdef SOFTDEVICE_PRESENT +#include "nrf_soc.h" +#endif + +/* Make sure that all elements in isr state fits in uint32_t element*/ +#include "portmacro_cmsis.h" +STATIC_ASSERT(sizeof(portISRState_t) == sizeof(uint32_t)); + +/* Constants used for assertion check of the selected CPU */ +#define portCORTEX_M0_r0p0_ID ( 0x410CC200UL ) + +/* 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; + +#ifdef SOFTDEVICE_PRESENT +/* Flag that is set when yielding should be done after critical section exiting */ +static UBaseType_t uxYieldFlag = 0; +#endif + +/* + * 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 ); + +/* + * Used to catch tasks that attempt to return from their implementing function. + */ +static void prvTaskExitError( void ); + + +/*-----------------------------------------------------------*/ + +/* + * 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 */ + + 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 ) +{ + /* This port can be used only on Cortex-M0 processor */ + configASSERT( SCB->CPUID == portCORTEX_M0_r0p0_ID ); + + /* 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; + + /* 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 vPortTaskYield( void ) +{ +#ifdef SOFTDEVICE_PRESENT + if (uxCriticalNesting > 0) + { + uxYieldFlag = 1; + } + else + { + portPendSVSchedule(); + } +#else + portPendSVSchedule(); +#endif +} +/*-----------------------------------------------------------*/ + +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(); +#ifdef SOFTDEVICE_PRESENT + if (uxYieldFlag) + { + uxYieldFlag = 0; + portPendSVSchedule(); + } +#endif + } +} +/*-----------------------------------------------------------*/ + +void vPortSafeTaskSwitchContext( void ) +{ + uint32_t isrstate = portSET_INTERRUPT_MASK_FROM_ISR(); + vTaskSwitchContext(); + portCLEAR_INTERRUPT_MASK_FROM_ISR(isrstate); +} diff --git a/thirdparty/nRF5_SDK_15.0.0_a53641a/external/freertos/portable/CMSIS/nrf51/port_cmsis_systick.c b/thirdparty/nRF5_SDK_15.0.0_a53641a/external/freertos/portable/CMSIS/nrf51/port_cmsis_systick.c new file mode 100644 index 0000000..1eb0a7b --- /dev/null +++ b/thirdparty/nRF5_SDK_15.0.0_a53641a/external/freertos/portable/CMSIS/nrf51/port_cmsis_systick.c @@ -0,0 +1,233 @@ +/* + * 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" + +/*----------------------------------------------------------- + * Implementation of functions defined in portable.h for the ARM CM0 port. + * CMSIS compatible layer to menage SysTick ticking source. + *----------------------------------------------------------*/ + +#if configTICK_SOURCE == FREERTOS_USE_SYSTICK + +#error NRF51 does not support SysTick module + +/*-----------------------------------------------------------*/ + +#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 + + /* Configure CTC interrupt */ + 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 ) + { +#ifdef SOFTDEVICE_PRESENT + + uint32_t err_code = sd_app_evt_wait(); + APP_ERROR_CHECK(err_code); +#else + /* 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])); +#endif + } + 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 diff --git a/thirdparty/nRF5_SDK_15.0.0_a53641a/external/freertos/portable/CMSIS/nrf51/portmacro_cmsis.h b/thirdparty/nRF5_SDK_15.0.0_a53641a/external/freertos/portable/CMSIS/nrf51/portmacro_cmsis.h new file mode 100644 index 0000000..dd540b7 --- /dev/null +++ b/thirdparty/nRF5_SDK_15.0.0_a53641a/external/freertos/portable/CMSIS/nrf51/portmacro_cmsis.h @@ -0,0 +1,216 @@ +/* + * 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" +#include "nordic_common.h" +#ifdef SOFTDEVICE_PRESENT +#include "nrf_soc.h" +#include "softdevice_handler.h" +#include "app_error.h" +#include "app_util_platform.h" +#endif + +#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) +/*-----------------------------------------------------------*/ + +/* Internal auxiliary macro */ +#define portPendSVSchedule() 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) + +/* Scheduler utilities. */ +#define portYIELD() vPortTaskYield() + +#define portEND_SWITCHING_ISR( xSwitchRequired ) if ( (xSwitchRequired) != pdFALSE ) { portPendSVSchedule(); } +#define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x ) +/*-----------------------------------------------------------*/ + +/* Critical section management. */ +extern void vPortEnterCritical( void ); +extern void vPortExitCritical( void ); +extern void vPortTaskYield( void ); +#define portSET_INTERRUPT_MASK_FROM_ISR() ulPortDisableISR() +#define portCLEAR_INTERRUPT_MASK_FROM_ISR(x) vPortRestoreISR(x) +#define portDISABLE_INTERRUPTS() vPortDisableISR() +#define portENABLE_INTERRUPTS() vPortEnableISR() +#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 + +/*-----------------------------------------------------------*/ + +__STATIC_INLINE void vPortDisableISR(void) +{ +#ifdef SOFTDEVICE_PRESENT + uint8_t dummy = 0; + uint32_t err_code = sd_nvic_critical_region_enter(&dummy); + APP_ERROR_CHECK(err_code); +#else + __disable_irq(); +#endif +} + +__STATIC_INLINE void vPortEnableISR(void) +{ +#ifdef SOFTDEVICE_PRESENT + uint32_t err_code = sd_nvic_critical_region_exit(0); + APP_ERROR_CHECK(err_code); +#else + __enable_irq(); +#endif +} + +/* Union used to remember current ISR state. + * It concentrates information about ISR state and internal SD state into 32 bit variable. */ +typedef union +{ + uint32_t u32; //< 32 bit access to the variable + uint8_t sd_nested; //< Soft device nested element + bool irq_nested; //< Global was disabled +}portISRState_t; + +__STATIC_INLINE uint32_t ulPortDisableISR(void) +{ + portISRState_t isrs = {0}; +#ifdef SOFTDEVICE_PRESENT + uint32_t err_code = sd_nvic_critical_region_enter(&isrs.sd_nested); + APP_ERROR_CHECK(err_code); +#else + uint32_t primask = __get_PRIMASK(); + if(primask == 0) + { + __disable_irq(); + } + else + { + isrs.irq_nested = true; + } +#endif + return isrs.u32; +} + +__STATIC_INLINE void vPortRestoreISR(uint32_t state) +{ + portISRState_t isrs = {state}; +#ifdef SOFTDEVICE_PRESENT + uint32_t err_code = sd_nvic_critical_region_exit(isrs.sd_nested); + APP_ERROR_CHECK(err_code); +#else + if(!isrs.irq_nested) + { + __enable_irq(); + } +#endif +} + +/*-----------------------------------------------------------*/ + + +#ifdef __cplusplus +} +#endif + +#endif /* PORTMACRO_CMSIS_H */ + diff --git a/thirdparty/nRF5_SDK_15.0.0_a53641a/external/freertos/portable/CMSIS/nrf52/port_cmsis.c b/thirdparty/nRF5_SDK_15.0.0_a53641a/external/freertos/portable/CMSIS/nrf52/port_cmsis.c new file mode 100644 index 0000000..2fbec43 --- /dev/null +++ b/thirdparty/nRF5_SDK_15.0.0_a53641a/external/freertos/portable/CMSIS/nrf52/port_cmsis.c @@ -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 */ diff --git a/thirdparty/nRF5_SDK_15.0.0_a53641a/external/freertos/portable/CMSIS/nrf52/port_cmsis_systick.c b/thirdparty/nRF5_SDK_15.0.0_a53641a/external/freertos/portable/CMSIS/nrf52/port_cmsis_systick.c new file mode 100644 index 0000000..e927cb9 --- /dev/null +++ b/thirdparty/nRF5_SDK_15.0.0_a53641a/external/freertos/portable/CMSIS/nrf52/port_cmsis_systick.c @@ -0,0 +1,300 @@ +/* + * 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" +#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; + __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 diff --git a/thirdparty/nRF5_SDK_15.0.0_a53641a/external/freertos/portable/CMSIS/nrf52/portmacro_cmsis.h b/thirdparty/nRF5_SDK_15.0.0_a53641a/external/freertos/portable/CMSIS/nrf52/portmacro_cmsis.h new file mode 100644 index 0000000..3d2dee5 --- /dev/null +++ b/thirdparty/nRF5_SDK_15.0.0_a53641a/external/freertos/portable/CMSIS/nrf52/portmacro_cmsis.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 */ + |