323 lines
11 KiB
C
323 lines
11 KiB
C
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/* USER CODE BEGIN Header */
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/**
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******************************************************************************
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* @file freertos_port.c
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* @author MCD Application Team
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* @brief Custom porting of FreeRTOS functionalities
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******************************************************************************
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* @attention
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*
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* Copyright (c) 2026 STMicroelectronics.
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* All rights reserved.
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*
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* This software is licensed under terms that can be found in the LICENSE file
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* in the root directory of this software component.
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* If no LICENSE file comes with this software, it is provided AS-IS.
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*
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******************************************************************************
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*/
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/* USER CODE END Header */
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/* Includes ------------------------------------------------------------------*/
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#include "app_common.h"
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#include "FreeRTOS.h"
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#include "task.h"
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#include "stm32_lpm.h"
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#include <limits.h>
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/* Private typedef -----------------------------------------------------------*/
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typedef struct
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{
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uint32_t LpTimeLeftOnEntry;
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uint8_t LpTimerFreeRTOS_Id;
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} LpTimerContext_t;
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/* Private defines -----------------------------------------------------------*/
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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 ( 1UL << 2UL )
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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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#define CPU_CLOCK_KHZ ( configCPU_CLOCK_HZ / 1000 )
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/* Constants required to manipulate the core. Registers first... */
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#define portNVIC_SYSTICK_CTRL_REG ( * ( ( volatile uint32_t * ) 0xe000e010 ) )
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#define portNVIC_SYSTICK_LOAD_REG ( * ( ( volatile uint32_t * ) 0xe000e014 ) )
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#define portNVIC_SYSTICK_CURRENT_VALUE_REG ( * ( ( volatile uint32_t * ) 0xe000e018 ) )
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#define portNVIC_SYSTICK_INT_BIT ( 1UL << 1UL )
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#define portNVIC_SYSTICK_ENABLE_BIT ( 1UL << 0UL )
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#define portNVIC_SYSTICK_COUNT_FLAG_BIT ( 1UL << 16UL )
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/* Private macros ------------------------------------------------------------*/
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/* Private variables ---------------------------------------------------------*/
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/*
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* The number of SysTick increments that make up one tick period.
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*/
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#if ( CFG_LPM_SUPPORTED != 0)
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static uint32_t ulTimerCountsForOneTick;
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static LpTimerContext_t LpTimerContext;
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#endif
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/* Global variables ----------------------------------------------------------*/
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/* Private function prototypes -----------------------------------------------*/
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#if ( CFG_LPM_SUPPORTED != 0)
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static void LpTimerInit( void );
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static void LpTimerCb( void );
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static void LpTimerStart( uint32_t time_to_sleep );
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static void LpEnter( void );
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static uint32_t LpGetElapsedTime( void );
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void vPortSetupTimerInterrupt( void );
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#endif
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/* Functions Definition ------------------------------------------------------*/
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/**
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* @brief Implement the tickless feature
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*
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*
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* @param: xExpectedIdleTime is given in number of FreeRTOS Ticks
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* @retval: None
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*/
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void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime )
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{
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/* If low power is not used, do not stop the SysTick and continue execution */
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#if ( CFG_LPM_SUPPORTED != 0)
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/**
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* Although this is not documented as such, when xExpectedIdleTime = 0xFFFFFFFF = (~0),
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* it likely means the system may enter low power for ever ( from a FreeRTOS point of view ).
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* Otherwise, for a FreeRTOS tick set to 1ms, that would mean it is requested to wakeup in 8 years from now.
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* When the system may enter low power mode for ever, FreeRTOS is not really interested to maintain a
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* systick count and when the system exits from low power mode, there is no need to update the count with
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* the time spent in low power mode
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*/
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uint32_t ulCompleteTickPeriods;
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/* Stop the SysTick to avoid the interrupt to occur while in the critical section.
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* Otherwise, this will prevent the device to enter low power mode
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* At this time, an update of the systick will not be considered
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*
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*/
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portNVIC_SYSTICK_CTRL_REG &= ~portNVIC_SYSTICK_ENABLE_BIT;
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/* Enter a critical section but don't use the taskENTER_CRITICAL()
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method as that will mask interrupts that should exit sleep mode. */
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__disable_irq();
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__DSB();
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__ISB();
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/* If a context switch is pending or a task is waiting for the scheduler
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to be unsuspended then abandon the low power entry. */
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if( eTaskConfirmSleepModeStatus() == eAbortSleep )
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{
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/* Restart SysTick. */
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portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT;
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/* Re-enable interrupts - see comments above __disable_interrupt()
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call above. */
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__enable_irq();
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}
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else
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{
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if (xExpectedIdleTime != (~0))
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{
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/* Remove one tick to wake up before the event occurs */
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xExpectedIdleTime--;
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/* Start the low power timer */
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LpTimerStart( xExpectedIdleTime );
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}
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/* Enter low power mode */
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LpEnter( );
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if (xExpectedIdleTime != (~0))
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{
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/**
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* Get the number of FreeRTOS ticks that has been suppressed
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* In the current implementation, this shall be kept in critical section
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* so that the timer server return the correct elapsed time
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*/
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ulCompleteTickPeriods = LpGetElapsedTime( );
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vTaskStepTick( ulCompleteTickPeriods );
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}
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/* Restart SysTick */
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portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;
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portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT;
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portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
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/* Exit with interrUpts enabled. */
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__enable_irq();
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}
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#endif
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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 and initialize a low power timer
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* The current implementation is kept as close as possible to the default tickless
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* mode provided.
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* The systick is still used when there is no need to go in low power mode.
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* When the system needs to enter low power mode, the tick is suppressed and a low power timer
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* is used over that time
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* Note that in sleep mode, the system clock is still running and the default tickless implementation
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* using systick could have been kept.
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* However, as at that time, it is not yet known whereas the low power mode that will be used is stop mode or
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* sleep mode, it is easier and simpler to go with a low power timer as soon as the tick need to be
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* suppressed.
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*/
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#if ( CFG_LPM_SUPPORTED != 0)
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void vPortSetupTimerInterrupt( void )
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{
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LpTimerInit( );
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/* Calculate the constants required to configure the tick interrupt. */
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ulTimerCountsForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ );
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/* Stop and clear the SysTick. */
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portNVIC_SYSTICK_CTRL_REG = 0UL;
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portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;
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/* Configure SysTick to interrupt at the requested rate. */
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portNVIC_SYSTICK_LOAD_REG = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;
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portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT );
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}
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#endif
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/**
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* @brief The current implementation uses the hw_timerserver to provide a low power timer
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* This may be replaced by another low power timer.
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*
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* @param None
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* @retval None
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*/
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#if ( CFG_LPM_SUPPORTED != 0)
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static void LpTimerInit( void )
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{
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( void ) HW_TS_Create(CFG_TIM_PROC_ID_ISR, &(LpTimerContext.LpTimerFreeRTOS_Id), hw_ts_SingleShot, LpTimerCb);
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return;
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}
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#endif
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/**
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* @brief Low power timer callback
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*
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* @param None
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* @retval None
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*/
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#if ( CFG_LPM_SUPPORTED != 0)
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static void LpTimerCb( void )
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{
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/**
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* Nothing to be done
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*/
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return;
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}
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#endif
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/**
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* @brief Request to start a low power timer ( running is stop mode )
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*
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* @param time_to_sleep : Number of FreeRTOS ticks
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* @retval None
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*/
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#if ( CFG_LPM_SUPPORTED != 0)
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static void LpTimerStart( uint32_t time_to_sleep )
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{
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uint64_t time;
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/* Converts the number of FreeRTOS ticks into hw timer tick */
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if (time_to_sleep > (ULLONG_MAX / 1e12)) /* Prevent overflow in else statement */
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{
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time = 0xFFFF0000; /* Maximum value equal to 24 days */
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}
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else
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{
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/* The result always fits in uint32_t and is always less than 0xFFFF0000 */
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time = time_to_sleep * 1000000000000ULL;
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time = (uint64_t)( time / ( CFG_TS_TICK_VAL_PS * configTICK_RATE_HZ ));
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}
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HW_TS_Start(LpTimerContext.LpTimerFreeRTOS_Id, (uint32_t)time);
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/**
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* There might be other timers already running in the timer server that may elapse
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* before this one.
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* Store how long before the next event so that on wakeup, it will be possible to calculate
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* how long the tick has been suppressed
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*/
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LpTimerContext.LpTimeLeftOnEntry = HW_TS_RTC_ReadLeftTicksToCount( );
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return;
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}
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#endif
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/**
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* @brief Enter low power mode
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*
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* @param None
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* @retval None
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*/
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#if ( CFG_LPM_SUPPORTED != 0)
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static void LpEnter( void )
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{
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#if ( CFG_LPM_SUPPORTED == 1)
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UTIL_LPM_EnterLowPower();
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#endif
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return;
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}
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#endif
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/**
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* @brief Read how long the tick has been suppressed
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*
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* @param None
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* @retval The number of tick rate (FreeRTOS tick)
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*/
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#if ( CFG_LPM_SUPPORTED != 0)
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static uint32_t LpGetElapsedTime( void )
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{
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uint64_t val_ticks, time_ps;
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uint32_t LpTimeLeftOnExit;
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LpTimeLeftOnExit = HW_TS_RTC_ReadLeftTicksToCount();
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/* This cannot overflow. Max result is ~ 1.6e13 */
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time_ps = (uint64_t)((CFG_TS_TICK_VAL_PS) * (uint64_t)(LpTimerContext.LpTimeLeftOnEntry - LpTimeLeftOnExit));
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/* time_ps can be less than 1 RTOS tick in following situations
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* a) MCU didn't go to STOP2 due to wake-up unrelated to Timer Server or woke up from STOP2 very shortly after.
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* Advancing RTOS clock by 1 FreeRTOS tick doesn't hurt in this case.
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* b) vPortSuppressTicksAndSleep(xExpectedIdleTime) was called with xExpectedIdleTime = 2 which is minimum value defined by configEXPECTED_IDLE_TIME_BEFORE_SLEEP.
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* The xExpectedIdleTime is decremented by one RTOS tick to wake-up in advance.
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* Ex: RTOS tick is 1ms, the timer Server wakes the MCU in ~977 us. RTOS clock should be advanced by 1 ms.
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* */
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if(time_ps <= (1e12 / configTICK_RATE_HZ)) /* time_ps < RTOS tick */
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{
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val_ticks = 1;
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}
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else
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{
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/* Convert pS time into OS ticks */
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val_ticks = time_ps * configTICK_RATE_HZ; /* This cannot overflow. Max result is ~ 1.6e16 */
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val_ticks = (uint64_t)(val_ticks / (1e12)); /* The result always fits in uint32_t */
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}
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/**
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* The system may have been out from another reason than the timer
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* Stop the timer after the elapsed time is calculated other wise, HW_TS_RTC_ReadLeftTicksToCount()
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* may return 0xFFFF ( TIMER LIST EMPTY )
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* It does not hurt stopping a timer that exists but is not running.
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*/
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HW_TS_Stop(LpTimerContext.LpTimerFreeRTOS_Id);
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return (uint32_t)val_ticks;
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}
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#endif
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