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- /*
- * 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
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