Add port-optimised task selection for ARMv8-M

portable/ARMv8M/non_secure/port.c

@@ -495,13 +495,13 @@ PRIVILEGED_DATA static volatile uint32_t ulCriticalNesting = 0xaaaaaaaaUL;
  * FreeRTOS API functions are not called from interrupts that have been assigned
  * a priority above configMAX_SYSCALL_INTERRUPT_PRIORITY.
  */
-#if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_BASEPRI == 1 ) )
+#if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_ARMV8M_MAIN_EXTENSION == 1 ) )
 
     static uint8_t ucMaxSysCallPriority = 0;
     static uint32_t ulMaxPRIGROUPValue = 0;
     static const volatile uint8_t * const pcInterruptPriorityRegisters = ( const volatile uint8_t * ) portNVIC_IP_REGISTERS_OFFSET_16;
 
-#endif /* #if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_BASEPRI == 1 ) ) */
+#endif /* #if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_ARMV8M_MAIN_EXTENSION == 1 ) ) */
 
 #if ( configUSE_TICKLESS_IDLE == 1 )
 
@@ -1614,7 +1614,7 @@ StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack,
 
 BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */
 {
-    #if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_BASEPRI == 1 ) )
+    #if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_ARMV8M_MAIN_EXTENSION == 1 ) )
     {
         volatile uint32_t ulOriginalPriority;
         volatile uint32_t ulImplementedPrioBits = 0;
@@ -1695,7 +1695,7 @@ BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */
          * value. */
         portNVIC_SHPR2_REG = ulOriginalPriority;
     }
-    #endif /* #if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_BASEPRI == 1 ) ) */
+    #endif /* #if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_ARMV8M_MAIN_EXTENSION == 1 ) ) */
 
     /* Make PendSV, CallSV and SysTick the same priority as the kernel. */
     portNVIC_SHPR3_REG |= portNVIC_PENDSV_PRI;
@@ -1936,7 +1936,7 @@ BaseType_t xPortIsInsideInterrupt( void )
 }
 /*-----------------------------------------------------------*/
 
-#if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_BASEPRI == 1 ) )
+#if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_ARMV8M_MAIN_EXTENSION == 1 ) )
 
     void vPortValidateInterruptPriority( void )
     {
@@ -1994,5 +1994,5 @@ BaseType_t xPortIsInsideInterrupt( void )
         configASSERT( ( portAIRCR_REG & portPRIORITY_GROUP_MASK ) <= ulMaxPRIGROUPValue );
     }
 
-#endif /* #if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_BASEPRI == 1 ) ) */
+#endif /* #if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_ARMV8M_MAIN_EXTENSION == 1 ) ) */
 /*-----------------------------------------------------------*/

portable/ARMv8M/non_secure/portable/GCC/ARM_CM23/portmacro.h

@@ -48,9 +48,9 @@
 /**
  * Architecture specifics.
  */
-#define portARCH_NAME         "Cortex-M23"
-#define portHAS_BASEPRI       0
-#define portDONT_DISCARD      __attribute__( ( used ) )
+#define portARCH_NAME                       "Cortex-M23"
+#define portHAS_ARMV8M_MAIN_EXTENSION       0
+#define portDONT_DISCARD                    __attribute__( ( used ) )
 /*-----------------------------------------------------------*/
 
 /* ARMv8-M common port configurations. */

portable/ARMv8M/non_secure/portable/GCC/ARM_CM23_NTZ/portmacro.h

@@ -48,9 +48,9 @@
 /**
  * Architecture specifics.
  */
-#define portARCH_NAME         "Cortex-M23"
-#define portHAS_BASEPRI       0
-#define portDONT_DISCARD      __attribute__( ( used ) )
+#define portARCH_NAME                       "Cortex-M23"
+#define portHAS_ARMV8M_MAIN_EXTENSION       0
+#define portDONT_DISCARD                    __attribute__( ( used ) )
 /*-----------------------------------------------------------*/
 
 /* ARMv8-M common port configurations. */

portable/ARMv8M/non_secure/portable/GCC/ARM_CM33/portmacro.h

@@ -49,7 +49,7 @@
  * Architecture specifics.
  */
 #define portARCH_NAME                       "Cortex-M33"
-#define portHAS_BASEPRI                     1
+#define portHAS_ARMV8M_MAIN_EXTENSION       1
 #define portDONT_DISCARD                    __attribute__( ( used ) )
 /*-----------------------------------------------------------*/
 

portable/ARMv8M/non_secure/portable/GCC/ARM_CM33_NTZ/portmacro.h

@@ -49,7 +49,7 @@
  * Architecture specifics.
  */
 #define portARCH_NAME                       "Cortex-M33"
-#define portHAS_BASEPRI                     1
+#define portHAS_ARMV8M_MAIN_EXTENSION       1
 #define portDONT_DISCARD                    __attribute__( ( used ) )
 /*-----------------------------------------------------------*/
 

portable/ARMv8M/non_secure/portable/GCC/ARM_CM35P/portmacro.h

@@ -49,7 +49,7 @@
  * Architecture specifics.
  */
 #define portARCH_NAME                       "Cortex-M35P"
-#define portHAS_BASEPRI                     1
+#define portHAS_ARMV8M_MAIN_EXTENSION       1
 #define portDONT_DISCARD                    __attribute__( ( used ) )
 /*-----------------------------------------------------------*/
 

portable/ARMv8M/non_secure/portable/GCC/ARM_CM55/portmacro.h

@@ -54,7 +54,7 @@
  * Architecture specifics.
  */
 #define portARCH_NAME                       "Cortex-M55"
-#define portHAS_BASEPRI                     1
+#define portHAS_ARMV8M_MAIN_EXTENSION       1
 #define portDONT_DISCARD                    __attribute__( ( used ) )
 /*-----------------------------------------------------------*/
 

portable/ARMv8M/non_secure/portable/GCC/ARM_CM85/portmacro.h

@@ -54,7 +54,7 @@
  * Architecture specifics.
  */
 #define portARCH_NAME                       "Cortex-M85"
-#define portHAS_BASEPRI                     1
+#define portHAS_ARMV8M_MAIN_EXTENSION       1
 #define portDONT_DISCARD                    __attribute__( ( used ) )
 /*-----------------------------------------------------------*/
 

portable/ARMv8M/non_secure/portable/IAR/ARM_CM23/portmacro.h

@@ -48,9 +48,9 @@
 /**
  * Architecture specifics.
  */
-#define portARCH_NAME         "Cortex-M23"
-#define portHAS_BASEPRI       0
-#define portDONT_DISCARD      __root
+#define portARCH_NAME                       "Cortex-M23"
+#define portHAS_ARMV8M_MAIN_EXTENSION       0
+#define portDONT_DISCARD                    __root
 /*-----------------------------------------------------------*/
 
 /* ARMv8-M common port configurations. */

portable/ARMv8M/non_secure/portable/IAR/ARM_CM23_NTZ/portmacro.h

@@ -48,9 +48,9 @@
 /**
  * Architecture specifics.
  */
-#define portARCH_NAME         "Cortex-M23"
-#define portHAS_BASEPRI       0
-#define portDONT_DISCARD      __root
+#define portARCH_NAME                       "Cortex-M23"
+#define portHAS_ARMV8M_MAIN_EXTENSION       0
+#define portDONT_DISCARD                    __root
 /*-----------------------------------------------------------*/
 
 /* ARMv8-M common port configurations. */

portable/ARMv8M/non_secure/portable/IAR/ARM_CM33/portmacro.h

@@ -49,7 +49,7 @@
  * Architecture specifics.
  */
 #define portARCH_NAME                       "Cortex-M33"
-#define portHAS_BASEPRI                     1
+#define portHAS_ARMV8M_MAIN_EXTENSION       1
 #define portDONT_DISCARD                    __root
 /*-----------------------------------------------------------*/
 

portable/ARMv8M/non_secure/portable/IAR/ARM_CM33_NTZ/portmacro.h

@@ -49,7 +49,7 @@
  * Architecture specifics.
  */
 #define portARCH_NAME                       "Cortex-M33"
-#define portHAS_BASEPRI                     1
+#define portHAS_ARMV8M_MAIN_EXTENSION       1
 #define portDONT_DISCARD                    __root
 /*-----------------------------------------------------------*/
 

portable/ARMv8M/non_secure/portable/IAR/ARM_CM35P/portmacro.h

@@ -49,7 +49,7 @@
  * Architecture specifics.
  */
 #define portARCH_NAME                       "Cortex-M35P"
-#define portHAS_BASEPRI                     1
+#define portHAS_ARMV8M_MAIN_EXTENSION       1
 #define portDONT_DISCARD                    __root
 /*-----------------------------------------------------------*/
 

portable/ARMv8M/non_secure/portable/IAR/ARM_CM55/portmacro.h

@@ -54,7 +54,7 @@
  * Architecture specifics.
  */
 #define portARCH_NAME                       "Cortex-M55"
-#define portHAS_BASEPRI                     1
+#define portHAS_ARMV8M_MAIN_EXTENSION       1
 #define portDONT_DISCARD                    __root
 /*-----------------------------------------------------------*/
 

portable/ARMv8M/non_secure/portable/IAR/ARM_CM85/portmacro.h

@@ -54,7 +54,7 @@
  * Architecture specifics.
  */
 #define portARCH_NAME                       "Cortex-M85"
-#define portHAS_BASEPRI                     1
+#define portHAS_ARMV8M_MAIN_EXTENSION       1
 #define portDONT_DISCARD                    __root
 /*-----------------------------------------------------------*/
 

portable/ARMv8M/non_secure/portmacrocommon.h

@@ -81,8 +81,8 @@ typedef unsigned long    UBaseType_t;
     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. */
+    /* 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
 #else
     #error configTICK_TYPE_WIDTH_IN_BITS set to unsupported tick type width.
@@ -307,7 +307,7 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
  * system calls.
  */
 #ifdef configASSERT
-    #if ( portHAS_BASEPRI == 1 )
+    #if ( portHAS_ARMV8M_MAIN_EXTENSION == 1 )
         void vPortValidateInterruptPriority( void );
         #define portASSERT_IF_INTERRUPT_PRIORITY_INVALID()    vPortValidateInterruptPriority()
     #endif
@@ -364,49 +364,49 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
 
 #if ( configENABLE_TRUSTZONE == 1 )
 
-/**
- * @brief Allocate a secure context for the task.
- *
- * Tasks are not created with a secure context. Any task that is going to call
- * secure functions must call portALLOCATE_SECURE_CONTEXT() to allocate itself a
- * secure context before it calls any secure function.
- *
- * @param[in] ulSecureStackSize The size of the secure stack to be allocated.
- */
+    /**
+     * @brief Allocate a secure context for the task.
+     *
+     * Tasks are not created with a secure context. Any task that is going to call
+     * secure functions must call portALLOCATE_SECURE_CONTEXT() to allocate itself a
+     * secure context before it calls any secure function.
+     *
+     * @param[in] ulSecureStackSize The size of the secure stack to be allocated.
+     */
     #define portALLOCATE_SECURE_CONTEXT( ulSecureStackSize )    vPortAllocateSecureContext( ulSecureStackSize )
 
-/**
- * @brief Called when a task is deleted to delete the task's secure context,
- * if it has one.
- *
- * @param[in] pxTCB The TCB of the task being deleted.
- */
+    /**
+     * @brief Called when a task is deleted to delete the task's secure context,
+     * if it has one.
+     *
+     * @param[in] pxTCB The TCB of the task being deleted.
+     */
     #define portCLEAN_UP_TCB( pxTCB )                           vPortFreeSecureContext( ( uint32_t * ) pxTCB )
 #endif /* configENABLE_TRUSTZONE */
 /*-----------------------------------------------------------*/
 
 #if ( configENABLE_MPU == 1 )
 
-/**
- * @brief Checks whether or not the processor is privileged.
- *
- * @return 1 if the processor is already privileged, 0 otherwise.
- */
+    /**
+     * @brief Checks whether or not the processor is privileged.
+     *
+     * @return 1 if the processor is already privileged, 0 otherwise.
+     */
     #define portIS_PRIVILEGED()      xIsPrivileged()
 
-/**
- * @brief Raise an SVC request to raise privilege.
- *
- * The SVC handler checks that the SVC was raised from a system call and only
- * then it raises the privilege. If this is called from any other place,
- * the privilege is not raised.
- */
+    /**
+     * @brief Raise an SVC request to raise privilege.
+     *
+     * The SVC handler checks that the SVC was raised from a system call and only
+     * then it raises the privilege. If this is called from any other place,
+     * the privilege is not raised.
+     */
     #define portRAISE_PRIVILEGE()    __asm volatile ( "svc %0 \n" ::"i" ( portSVC_RAISE_PRIVILEGE ) : "memory" );
 
-/**
- * @brief Lowers the privilege level by setting the bit 0 of the CONTROL
- * register.
- */
+    /**
+     * @brief Lowers the privilege level by setting the bit 0 of the CONTROL
+     * register.
+     */
     #define portRESET_PRIVILEGE()    vResetPrivilege()
 #else
     #define portIS_PRIVILEGED()
@@ -435,6 +435,56 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
 #define portMEMORY_BARRIER()    __asm volatile ( "" ::: "memory" )
 /*-----------------------------------------------------------*/
 
+/* Select correct value of configUSE_PORT_OPTIMISED_TASK_SELECTION
+ * based on whether or not Mainline extension is implemented. */
+#ifndef configUSE_PORT_OPTIMISED_TASK_SELECTION
+    #if ( portHAS_ARMV8M_MAIN_EXTENSION == 1 )
+        #define configUSE_PORT_OPTIMISED_TASK_SELECTION 1
+    #else
+        #define configUSE_PORT_OPTIMISED_TASK_SELECTION 0
+    #endif
+#endif /* #ifndef configUSE_PORT_OPTIMISED_TASK_SELECTION */
+
+/**
+ * @brief Port-optimised task selection.
+ */
+#if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 1 )
+
+    /**
+     * @brief Count the number of leading zeros in a 32-bit value.
+     */
+    static portFORCE_INLINE uint32_t ulPortCountLeadingZeros( uint32_t ulBitmap )
+    {
+        uint32_t ulReturn;
+
+        __asm volatile ( "clz %0, %1" : "=r" ( ulReturn ) : "r" ( ulBitmap ) : "memory" );
+
+        return ulReturn;
+    }
+
+    /* 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 different priorities as tasks that share a priority will time slice.
+    #endif
+
+    #if ( portHAS_ARMV8M_MAIN_EXTENSION == 0 )
+        #error ARMv8-M baseline implementations (such as Cortex-M23) do not support port-optimised task selection.  Please set configUSE_PORT_OPTIMISED_TASK_SELECTION to 0 or leave it undefined.
+    #endif
+
+    /**
+     * @brief 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 ) )
+
+    /**
+     * @brief Get the priority of the highest-priority task that is ready to execute.
+     */
+    #define portGET_HIGHEST_PRIORITY( uxTopPriority, uxReadyPriorities )   uxTopPriority = ( 31UL - ulPortCountLeadingZeros( ( uxReadyPriorities ) ) )
+
+#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
+/*-----------------------------------------------------------*/
+
 /* *INDENT-OFF* */
 #ifdef __cplusplus
     }

portable/GCC/ARM_CM23/non_secure/port.c

@@ -495,13 +495,13 @@ PRIVILEGED_DATA static volatile uint32_t ulCriticalNesting = 0xaaaaaaaaUL;
  * FreeRTOS API functions are not called from interrupts that have been assigned
  * a priority above configMAX_SYSCALL_INTERRUPT_PRIORITY.
  */
-#if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_BASEPRI == 1 ) )
+#if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_ARMV8M_MAIN_EXTENSION == 1 ) )
 
     static uint8_t ucMaxSysCallPriority = 0;
     static uint32_t ulMaxPRIGROUPValue = 0;
     static const volatile uint8_t * const pcInterruptPriorityRegisters = ( const volatile uint8_t * ) portNVIC_IP_REGISTERS_OFFSET_16;
 
-#endif /* #if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_BASEPRI == 1 ) ) */
+#endif /* #if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_ARMV8M_MAIN_EXTENSION == 1 ) ) */
 
 #if ( configUSE_TICKLESS_IDLE == 1 )
 
@@ -1614,7 +1614,7 @@ StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack,
 
 BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */
 {
-    #if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_BASEPRI == 1 ) )
+    #if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_ARMV8M_MAIN_EXTENSION == 1 ) )
     {
         volatile uint32_t ulOriginalPriority;
         volatile uint32_t ulImplementedPrioBits = 0;
@@ -1695,7 +1695,7 @@ BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */
          * value. */
         portNVIC_SHPR2_REG = ulOriginalPriority;
     }
-    #endif /* #if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_BASEPRI == 1 ) ) */
+    #endif /* #if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_ARMV8M_MAIN_EXTENSION == 1 ) ) */
 
     /* Make PendSV, CallSV and SysTick the same priority as the kernel. */
     portNVIC_SHPR3_REG |= portNVIC_PENDSV_PRI;
@@ -1936,7 +1936,7 @@ BaseType_t xPortIsInsideInterrupt( void )
 }
 /*-----------------------------------------------------------*/
 
-#if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_BASEPRI == 1 ) )
+#if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_ARMV8M_MAIN_EXTENSION == 1 ) )
 
     void vPortValidateInterruptPriority( void )
     {
@@ -1994,5 +1994,5 @@ BaseType_t xPortIsInsideInterrupt( void )
         configASSERT( ( portAIRCR_REG & portPRIORITY_GROUP_MASK ) <= ulMaxPRIGROUPValue );
     }
 
-#endif /* #if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_BASEPRI == 1 ) ) */
+#endif /* #if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_ARMV8M_MAIN_EXTENSION == 1 ) ) */
 /*-----------------------------------------------------------*/