Improve efficiency even further. Introduce the configMAX_SYSCALL_INTERRUPT_PRIORITY feature.
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@ -76,7 +76,7 @@
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/* Each task maintains its own interrupt status in the critical nesting
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variable. */
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unsigned portBASE_TYPE uxCriticalNesting = 0xaaaaaaaa;
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static unsigned portBASE_TYPE uxCriticalNesting = 0xaaaaaaaa;
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/*
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* Setup the timer to generate the tick interrupts.
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@ -111,8 +111,7 @@ portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE
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*pxTopOfStack = 0; /* LR */
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pxTopOfStack -= 5; /* R12, R3, R2 and R1. */
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*pxTopOfStack = ( portSTACK_TYPE ) pvParameters; /* R0 */
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pxTopOfStack -= 9; /* R11, R10, R9, R8, R7, R6, R5 and R4. */
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*pxTopOfStack = 0x00000000; /* uxCriticalNesting. */
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pxTopOfStack -= 8; /* R11, R10, R9, R8, R7, R6, R5 and R4. */
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return pxTopOfStack;
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}
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@ -125,9 +124,7 @@ __asm void vPortSVCHandler( void )
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ldr r3, =pxCurrentTCB /* Restore the context. */
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ldr r1, [r3] /* Use pxCurrentTCBConst to get the pxCurrentTCB address. */
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ldr r0, [r1] /* The first item in pxCurrentTCB is the task top of stack. */
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ldmia r0!, {r1, r4-r11} /* Pop the registers that are not automatically saved on exception entry and the critical nesting count. */
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ldr r2, =uxCriticalNesting /* Restore the critical nesting count used by the task. */
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str r1, [r2]
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ldmia r0!, {r4-r11} /* Pop the registers that are not automatically saved on exception entry and the critical nesting count. */
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msr psp, r0 /* Restore the task stack pointer. */
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mov r0, #0
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msr basepri, r0
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@ -140,8 +137,14 @@ __asm void vPortStartFirstTask( unsigned long ulValue )
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{
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PRESERVE8
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msr msp, r0 /* Set the msp back to the start of the stack. */
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svc 0 /* System call to start first task. */
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/* Use the NVIC offset register to locate the stack. */
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ldr r0, =0xE000ED08
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ldr r0, [r0]
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ldr r0, [r0]
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/* Set the msp back to the start of the stack. */
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msr msp, r0
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/* Call SVC to start the first task. */
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svc 0
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}
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/*-----------------------------------------------------------*/
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@ -158,6 +161,9 @@ portBASE_TYPE xPortStartScheduler( void )
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here already. */
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prvSetupTimerInterrupt();
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/* Initialise the critical nesting count ready for the first task. */
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uxCriticalNesting = 0;
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/* Start the first task. */
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vPortStartFirstTask( *((unsigned portLONG *) 0 ) );
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@ -177,10 +183,6 @@ void vPortYieldFromISR( void )
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{
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/* Set a PendSV to request a context switch. */
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*(portNVIC_INT_CTRL) |= portNVIC_PENDSVSET;
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/* This function is also called in response to a Yield(), so we want
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the yield to occur immediately. */
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portENABLE_INTERRUPTS();
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}
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/*-----------------------------------------------------------*/
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@ -211,44 +213,43 @@ __asm void xPortPendSVHandler( void )
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mrs r0, psp
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ldr r3, =pxCurrentTCB /* Get the location of the current TCB. */
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ldr r3, =pxCurrentTCB /* Get the location of the current TCB. */
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ldr r2, [r3]
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ldr r1, =uxCriticalNesting /* Save the remaining registers and the critical nesting count onto the task stack. */
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ldr r1, [r1]
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stmdb r0!, {r1,r4-r11}
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stmdb r0!, {r4-r11} /* Save the remaining registers. */
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str r0, [r2] /* Save the new top of stack into the first member of the TCB. */
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stmdb sp!, {r3, r14}
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bl vTaskSwitchContext
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stmdb sp!, {r3, r14}
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mov r0, #configMAX_SYSCALL_INTERRUPT_PRIORITY
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msr basepri, r0
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bl vTaskSwitchContext
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mov r0, #0
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msr basepri, r0
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ldmia sp!, {r3, r14}
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ldr r1, [r3]
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ldr r2, =uxCriticalNesting
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ldr r0, [r1] /* The first item in pxCurrentTCB is the task top of stack. */
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ldmia r0!, {r1, r4-r11} /* Pop the registers and the critical nesting count. */
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ldmia r0!, {r4-r11} /* Pop the registers and the critical nesting count. */
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str r1, [r2] /* Save the new critical nesting value into ulCriticalNesting. */
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msr psp, r0
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orr r14, #0xd
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cbnz r1, sv_disable_interrupts /* If the nesting count is greater than 0 we need to exit with interrupts masked. */
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bx r14
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sv_disable_interrupts
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mov r1, #configKERNEL_INTERRUPT_PRIORITY
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msr basepri, r1
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bx r14
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}
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/*-----------------------------------------------------------*/
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void xPortSysTickHandler( void )
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{
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unsigned portLONG ulDummy;
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/* If using preemption, also force a context switch. */
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#if configUSE_PREEMPTION == 1
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*(portNVIC_INT_CTRL) |= portNVIC_PENDSVSET;
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#endif
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vTaskIncrementTick();
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ulDummy = portSET_INTERRUPT_MASK_FROM_ISR();
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{
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vTaskIncrementTick();
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}
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portCLEAR_INTERRUPT_MASK_FROM_ISR();
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}
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/*-----------------------------------------------------------*/
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@ -269,7 +270,7 @@ __asm void vPortSetInterruptMask( void )
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PRESERVE8
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push { r0 }
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mov r0, #configKERNEL_INTERRUPT_PRIORITY
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mov r0, #configMAX_SYSCALL_INTERRUPT_PRIORITY
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msr basepri, r0
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pop { r0 }
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bx r14
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@ -106,10 +106,13 @@ extern void vPortClearInterruptMask( void );
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extern void vPortEnterCritical( void );
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extern void vPortExitCritical( void );
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#define portDISABLE_INTERRUPTS() vPortSetInterruptMask()
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#define portENABLE_INTERRUPTS() vPortClearInterruptMask()
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#define portENTER_CRITICAL() vPortEnterCritical()
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#define portEXIT_CRITICAL() vPortExitCritical()
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#define portDISABLE_INTERRUPTS() vPortSetInterruptMask()
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#define portENABLE_INTERRUPTS() vPortClearInterruptMask()
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#define portENTER_CRITICAL() vPortEnterCritical()
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#define portEXIT_CRITICAL() vPortExitCritical()
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#define portSET_INTERRUPT_MASK_FROM_ISR() 0;vPortSetInterruptMask()
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#define portCLEAR_INTERRUPT_MASK_FROM_ISR(x) vPortClearInterruptMask()
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/*-----------------------------------------------------------*/
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/* Task function macros as described on the FreeRTOS.org WEB site. */
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