/* If FreeRTOS is not running, then we rely on RIT service to call this function,
* otherwise we rely on FreeRTOS tick hook to provide system timer
*/
static void hl_periodic_service(void)
{
sys_watchdog_feed();
/* If FreeRTOS is running, user should use a dedicated task to call mesh service,
* so we will not call it if freertos is running
*/
if (taskSCHEDULER_RUNNING == xTaskGetSchedulerState()) {
g_system_uptime_ms += MS_PER_TICK();
/* We don't need RIT if FreeRTOS is running */
if (sys_rit_running()) {
sys_rit_disable();
/* The timer value so far may be an odd number, and if MS_PER_TICK() is not 1
* then we may increment it like 12, 22, 32, etc. so round this number once.
*/
g_system_uptime_ms = (g_system_uptime_ms / 10) * 10;
}
}
else {
g_system_uptime_ms += g_time_per_rit_isr_ms;
wireless_service();
/**
* Small hack to support interrupts if FreeRTOS is not running :
* FreeRTOS API resets our base priority register, then all
* interrupts higher priority than IP_SYSCALL will not get locked out.
* @see more notes at isr_priorities.h. @see IP_SYSCALL
*/
__set_BASEPRI(0);
}
}
/**
* This function is called periodically by the timer ISR
*/
static inline void sys_background_service(void)
{
/* FreeRTOS task is used to service the wireless_service() function, otherwise if FreeRTOS
* is not running, timer ISR will call this function to carry out mesh networking logic.
*/
wireless_service();
/* I used a small hack to reset base priority to zero periodically incorrectly assuming that
* FreeRTOS API sets the base priority to non-zero, but it turned out that the problem was
* that the vPortEnterCritical() and vPortExitCritical() functions were using the critical
* nesting count variable that was not initialized to zero by the port.c file!
*/
// __set_BASEPRI(0);
}
/* If FreeRTOS is not running, then we rely on rit service to call this function,
* otherwise we rely on FreeRTOS tick hook to provide system timer
*/
static void hl_periodic_service(void)
{
const uint32_t timer_ms = sys_get_uptime_ms();
/* If FreeRTOS is running, user should use a dedicated task to call mesh service,
* so we will not call it if freertos is running
*/
if (taskSCHEDULER_RUNNING == xTaskGetSchedulerState()) {
m_system_uptime_ms += MS_PER_TICK();
/* We don't need RIT if FreeRTOS is running */
if (sys_rit_running()) {
sys_rit_disable();
/* Round up uptime_ms because if ms per tick is 10, then we don't want to
* increment this timer by 10 from an odd number because % 10 won't work.
*/
m_system_uptime_ms = (m_system_uptime_ms / 10) * 10;
}
}
else {
m_system_uptime_ms += m_time_per_rit_isr_ms;
wireless_service();
/**
* Small hack to support interrupts if FreeRTOS is not running :
* FreeRTOS API resets our base priority register, then all
* interrupts higher priority than IP_SYSCALL will not get locked out.
* @see more notes at isr_priorities.h. @see IP_SYSCALL
*/
__set_BASEPRI(0);
}
/**
* Call SD timer function at 100Hz.
* Feed the watchdog too while we're at it.
*/
if (0 == (timer_ms % 10)) {
sd_timerproc();
sys_watchdog_feed();
}
}
bool run(void *p)
{
wireless_service(); ///< This is a non-polling function if FreeRTOS is running.
return true;
}
