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ARMv8M: Ensure SysTick timer is disabled when modifying SysTick regs #660

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ARMv8M: Ensure SysTick timer is disabled when modifying SysTick regs #660

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portable/ARMv8M: Ensure SysTick timer is disabled when modifying SysT…
paulbartell Apr 6, 2023
897e9a5
Address PR comments.
paulbartell Apr 10, 2023
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107 changes: 82 additions & 25 deletions portable/ARMv8M/non_secure/port.c
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Original file line number Diff line number Diff line change
Expand Up @@ -393,7 +393,7 @@ PRIVILEGED_DATA static volatile uint32_t ulCriticalNesting = 0xaaaaaaaaUL;
#if ( configUSE_TICKLESS_IDLE == 1 )
__attribute__( ( weak ) ) void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime )
{
uint32_t ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements, ulSysTickDecrementsLeft;
uint32_t ulControlStatusValue, ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements, ulSysTickDecrementsLeft;
TickType_t xModifiableIdleTime;

/* Make sure the SysTick reload value does not overflow the counter. */
Expand Down Expand Up @@ -422,7 +422,7 @@ PRIVILEGED_DATA static volatile uint32_t ulCriticalNesting = 0xaaaaaaaaUL;
* is accounted for as best it can be, but using the tickless mode will
* inevitably result in some tiny drift of the time maintained by the
* kernel with respect to calendar time. */
portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT_CONFIG | portNVIC_SYSTICK_INT_BIT );
portNVIC_SYSTICK_CTRL_REG &= ~( portNVIC_SYSTICK_ENABLE_BIT );
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The original code:

  • writes 0 to the ENABLE bit, disabling the timer, which is the desired behaviour.
  • writes 0 to the systick interrupt enable bit, preventing a systick interrupt from becoming pended should the systick value count down to zero.
  • writes 0 to the COUNTFLAG bit, which leaves the COUNTFLAG unchanged, which is necessary as it is checked later to determine if the systick value counted to zero while its interrupt was disabled.
  • writes 0 to the CLKSOURCE bit, the effect of which is implementation defined, so should be reconsidered.

The new code:

  • performs a read-modify-write operation, so reads the COUNTFLAG, potentially clearing it, which I belive introduced a bug as the COUNTFLAG is checked later in the code.

Therefore I think the original code is (more) correct, and the updated code is incorrect.

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@RichardBarry The remaining bits of SYSTICK_CTRL are labeled RES0. According to the arm glossary it is implementation-defined whether or not writes or zero or one to these bits have any side effects.

Given this, the read-modify-write operations better comply with ARM's recommendations in the Armv8-M Architecture Reference Manual and Glossary.


/* Use the SysTick current-value register to determine the number of
* SysTick decrements remaining until the next tick interrupt. If the
Expand Down Expand Up @@ -458,8 +458,7 @@ PRIVILEGED_DATA static volatile uint32_t ulCriticalNesting = 0xaaaaaaaaUL;
/* Set the new reload value. */
portNVIC_SYSTICK_LOAD_REG = ulReloadValue;

/* Clear the SysTick count flag and set the count value back to
* zero. */
/* Clear the SysTick count flag and set the count value back to 0. */
portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;

/* Restart SysTick. */
Expand Down Expand Up @@ -497,17 +496,29 @@ PRIVILEGED_DATA static volatile uint32_t ulCriticalNesting = 0xaaaaaaaaUL;
__asm volatile ( "dsb" );
__asm volatile ( "isb" );

/* Disable the SysTick clock without reading the
* portNVIC_SYSTICK_CTRL_REG register to ensure the
* portNVIC_SYSTICK_COUNT_FLAG_BIT is not cleared if it is set. Again,
* the time the SysTick is stopped for is accounted for as best it can
/*
* Read the contents of the portNVIC_SYSTICK_CTRL_REG register into
* ulControlStatusValue to ensure portNVIC_SYSTICK_COUNT_FLAG_BIT is taken
* into account later on.
*/
ulControlStatusValue = portNVIC_SYSTICK_CTRL_REG;

/* Disable the SysTick timer. */
ulControlStatusValue &= ~( portNVIC_SYSTICK_ENABLE_BIT );
portNVIC_SYSTICK_CTRL_REG = ulControlStatusValue;

/* Update ulControlStatusValue */
ulControlStatusValue |= portNVIC_SYSTICK_CTRL_REG;

/*
* The time the SysTick is stopped for is accounted for as best it can
* be, but using the tickless mode will inevitably result in some tiny
* drift of the time maintained by the kernel with respect to calendar
* time*/
portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT_CONFIG | portNVIC_SYSTICK_INT_BIT );
* time.
*/

/* Determine whether the SysTick has already counted to zero. */
if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 )
if( ( ulControlStatusValue & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 )
{
uint32_t ulCalculatedLoadValue;

Expand All @@ -531,6 +542,9 @@ PRIVILEGED_DATA static volatile uint32_t ulCriticalNesting = 0xaaaaaaaaUL;
* function exits, the tick value maintained by the tick is stepped
* forward by one less than the time spent waiting. */
ulCompleteTickPeriods = xExpectedIdleTime - 1UL;

/* Clear portNVIC_SYSTICK_COUNT_FLAG_BIT */
ulControlStatusValue &= ~( portNVIC_SYSTICK_COUNT_FLAG_BIT );
}
else
{
Expand Down Expand Up @@ -568,34 +582,64 @@ PRIVILEGED_DATA static volatile uint32_t ulCriticalNesting = 0xaaaaaaaaUL;
portNVIC_SYSTICK_LOAD_REG = ( ( ulCompleteTickPeriods + 1UL ) * ulTimerCountsForOneTick ) - ulCompletedSysTickDecrements;
}

/* Restart SysTick so it runs from portNVIC_SYSTICK_LOAD_REG again,
/*
* Restart SysTick so it runs from portNVIC_SYSTICK_LOAD_REG again,
* then set portNVIC_SYSTICK_LOAD_REG back to its standard value. If
* the SysTick is not using the core clock, temporarily configure it to
* use the core clock. This configuration forces the SysTick to load
* use the core clock. This configuration forces the SysTick to load
* from portNVIC_SYSTICK_LOAD_REG immediately instead of at the next
* cycle of the other clock. Then portNVIC_SYSTICK_LOAD_REG is ready
* to receive the standard value immediately. */
* cycle of the external clock. Then portNVIC_SYSTICK_LOAD_REG is ready
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I belive the other clock can also be internal - if a peripheral time is considered internal - but I may be wrong.

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would you prefer the term "implementation-defined clock?"

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@paulbartell paulbartell Apr 10, 2023 •
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The ARM documentation refers to this as the "IMPLEMENTATION DEFINED external reference clock."

* to receive the standard value immediately.
*/

portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;
portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;

#if ( portNVIC_SYSTICK_CLK_BIT_CONFIG == portNVIC_SYSTICK_CLK_BIT )
{
portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;

/* Enable SysTick */
portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT;
}
#else
{
/* The temporary usage of the core clock has served its purpose,
* as described above. Resume usage of the other clock. */
portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT;
/* Temporarily switch to core clock */
ulControlStatusValue |= portNVIC_SYSTICK_CLK_BIT;
portNVIC_SYSTICK_CTRL_REG = ulControlStatusValue;

/* Enable SysTick */
ulControlStatusValue |= portNVIC_SYSTICK_ENABLE_BIT;
portNVIC_SYSTICK_CTRL_REG = ulControlStatusValue;

/* Read portNVIC_SYSTICK_CTRL_REG into ulControlStatusValue */
ulControlStatusValue |= portNVIC_SYSTICK_CTRL_REG;

/* Disable SysTick */
ulControlStatusValue &= ~( portNVIC_SYSTICK_ENABLE_BIT );
portNVIC_SYSTICK_CTRL_REG = ulControlStatusValue;

/* Update ulControlStatusValue */
ulControlStatusValue |= portNVIC_SYSTICK_CTRL_REG;

if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 )
/* Switch back to external clock. */
ulControlStatusValue &= ~( portNVIC_SYSTICK_CLK_BIT );
portNVIC_SYSTICK_CTRL_REG = ulControlStatusValue;

if( ( ulControlStatusValue & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 )
{
/* The partial tick period already ended. Be sure the SysTick
* counts it only once. */
portNVIC_SYSTICK_CURRENT_VALUE_REG = 0;

/* Clear portNVIC_SYSTICK_COUNT_FLAG_BIT */
ulControlStatusValue &= ~( portNVIC_SYSTICK_COUNT_FLAG_BIT );
}

portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT_CONFIG | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;

/* Enable SysTick */
ulControlStatusValue |= ( portNVIC_SYSTICK_ENABLE_BIT | portNVIC_SYSTICK_INT_BIT );
portNVIC_SYSTICK_CTRL_REG = ulControlStatusValue;
}
#endif /* portNVIC_SYSTICK_CLK_BIT_CONFIG */

Expand All @@ -620,13 +664,26 @@ __attribute__( ( weak ) ) void vPortSetupTimerInterrupt( void ) /* PRIVILEGED_FU
}
#endif /* configUSE_TICKLESS_IDLE */

/* Stop and reset the SysTick. */
portNVIC_SYSTICK_CTRL_REG = 0UL;
/* Stop the SysTick timer, clear the value. */
portNVIC_SYSTICK_CTRL_REG &= ~( portNVIC_SYSTICK_ENABLE_BIT );
portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;

/* Configure SysTick to interrupt at the requested rate. */
/* Configure SysTick to interrupt at the requested rate with the request clock source. */
portNVIC_SYSTICK_LOAD_REG = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;
portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT_CONFIG | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;

/* Set or clear the portNVIC_SYSTICK_CLK_BIT as required. */

#if ( portNVIC_SYSTICK_CLK_BIT_CONFIG == portNVIC_SYSTICK_CLK_BIT )
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{
portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_CLK_BIT;
}
#else /* portNVIC_SYSTICK_CLK_BIT_CONFIG == 0 */
{
portNVIC_SYSTICK_CTRL_REG &= ~( portNVIC_SYSTICK_CLK_BIT_CONFIG );
}
#endif /* portNVIC_SYSTICK_CLK_BIT_CONFIG */

portNVIC_SYSTICK_CTRL_REG |= ( portNVIC_SYSTICK_ENABLE_BIT | portNVIC_SYSTICK_INT_BIT );
}
/*-----------------------------------------------------------*/

Expand Down
107 changes: 82 additions & 25 deletions portable/GCC/ARM_CM23/non_secure/port.c
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Original file line number Diff line number Diff line change
Expand Up @@ -393,7 +393,7 @@ PRIVILEGED_DATA static volatile uint32_t ulCriticalNesting = 0xaaaaaaaaUL;
#if ( configUSE_TICKLESS_IDLE == 1 )
__attribute__( ( weak ) ) void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime )
{
uint32_t ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements, ulSysTickDecrementsLeft;
uint32_t ulControlStatusValue, ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements, ulSysTickDecrementsLeft;
TickType_t xModifiableIdleTime;

/* Make sure the SysTick reload value does not overflow the counter. */
Expand Down Expand Up @@ -422,7 +422,7 @@ PRIVILEGED_DATA static volatile uint32_t ulCriticalNesting = 0xaaaaaaaaUL;
* is accounted for as best it can be, but using the tickless mode will
* inevitably result in some tiny drift of the time maintained by the
* kernel with respect to calendar time. */
portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT_CONFIG | portNVIC_SYSTICK_INT_BIT );
portNVIC_SYSTICK_CTRL_REG &= ~( portNVIC_SYSTICK_ENABLE_BIT );

/* Use the SysTick current-value register to determine the number of
* SysTick decrements remaining until the next tick interrupt. If the
Expand Down Expand Up @@ -458,8 +458,7 @@ PRIVILEGED_DATA static volatile uint32_t ulCriticalNesting = 0xaaaaaaaaUL;
/* Set the new reload value. */
portNVIC_SYSTICK_LOAD_REG = ulReloadValue;

/* Clear the SysTick count flag and set the count value back to
* zero. */
/* Clear the SysTick count flag and set the count value back to 0. */
portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;

/* Restart SysTick. */
Expand Down Expand Up @@ -497,17 +496,29 @@ PRIVILEGED_DATA static volatile uint32_t ulCriticalNesting = 0xaaaaaaaaUL;
__asm volatile ( "dsb" );
__asm volatile ( "isb" );

/* Disable the SysTick clock without reading the
* portNVIC_SYSTICK_CTRL_REG register to ensure the
* portNVIC_SYSTICK_COUNT_FLAG_BIT is not cleared if it is set. Again,
* the time the SysTick is stopped for is accounted for as best it can
/*
* Read the contents of the portNVIC_SYSTICK_CTRL_REG register into
* ulControlStatusValue to ensure portNVIC_SYSTICK_COUNT_FLAG_BIT is taken
* into account later on.
*/
ulControlStatusValue = portNVIC_SYSTICK_CTRL_REG;

/* Disable the SysTick timer. */
ulControlStatusValue &= ~( portNVIC_SYSTICK_ENABLE_BIT );
portNVIC_SYSTICK_CTRL_REG = ulControlStatusValue;

/* Update ulControlStatusValue */
ulControlStatusValue |= portNVIC_SYSTICK_CTRL_REG;

/*
* The time the SysTick is stopped for is accounted for as best it can
* be, but using the tickless mode will inevitably result in some tiny
* drift of the time maintained by the kernel with respect to calendar
* time*/
portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT_CONFIG | portNVIC_SYSTICK_INT_BIT );
* time.
*/

/* Determine whether the SysTick has already counted to zero. */
if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 )
if( ( ulControlStatusValue & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 )
{
uint32_t ulCalculatedLoadValue;

Expand All @@ -531,6 +542,9 @@ PRIVILEGED_DATA static volatile uint32_t ulCriticalNesting = 0xaaaaaaaaUL;
* function exits, the tick value maintained by the tick is stepped
* forward by one less than the time spent waiting. */
ulCompleteTickPeriods = xExpectedIdleTime - 1UL;

/* Clear portNVIC_SYSTICK_COUNT_FLAG_BIT */
ulControlStatusValue &= ~( portNVIC_SYSTICK_COUNT_FLAG_BIT );
}
else
{
Expand Down Expand Up @@ -568,34 +582,64 @@ PRIVILEGED_DATA static volatile uint32_t ulCriticalNesting = 0xaaaaaaaaUL;
portNVIC_SYSTICK_LOAD_REG = ( ( ulCompleteTickPeriods + 1UL ) * ulTimerCountsForOneTick ) - ulCompletedSysTickDecrements;
}

/* Restart SysTick so it runs from portNVIC_SYSTICK_LOAD_REG again,
/*
* Restart SysTick so it runs from portNVIC_SYSTICK_LOAD_REG again,
* then set portNVIC_SYSTICK_LOAD_REG back to its standard value. If
* the SysTick is not using the core clock, temporarily configure it to
* use the core clock. This configuration forces the SysTick to load
* use the core clock. This configuration forces the SysTick to load
* from portNVIC_SYSTICK_LOAD_REG immediately instead of at the next
* cycle of the other clock. Then portNVIC_SYSTICK_LOAD_REG is ready
* to receive the standard value immediately. */
* cycle of the external clock. Then portNVIC_SYSTICK_LOAD_REG is ready
* to receive the standard value immediately.
*/

portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;
portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;

#if ( portNVIC_SYSTICK_CLK_BIT_CONFIG == portNVIC_SYSTICK_CLK_BIT )
{
portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;

/* Enable SysTick */
portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT;
}
#else
{
/* The temporary usage of the core clock has served its purpose,
* as described above. Resume usage of the other clock. */
portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT;
/* Temporarily switch to core clock */
ulControlStatusValue |= portNVIC_SYSTICK_CLK_BIT;
portNVIC_SYSTICK_CTRL_REG = ulControlStatusValue;

/* Enable SysTick */
ulControlStatusValue |= portNVIC_SYSTICK_ENABLE_BIT;
portNVIC_SYSTICK_CTRL_REG = ulControlStatusValue;

/* Read portNVIC_SYSTICK_CTRL_REG into ulControlStatusValue */
ulControlStatusValue |= portNVIC_SYSTICK_CTRL_REG;

/* Disable SysTick */
ulControlStatusValue &= ~( portNVIC_SYSTICK_ENABLE_BIT );
portNVIC_SYSTICK_CTRL_REG = ulControlStatusValue;

/* Update ulControlStatusValue */
ulControlStatusValue |= portNVIC_SYSTICK_CTRL_REG;

if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 )
/* Switch back to external clock. */
ulControlStatusValue &= ~( portNVIC_SYSTICK_CLK_BIT );
portNVIC_SYSTICK_CTRL_REG = ulControlStatusValue;

if( ( ulControlStatusValue & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 )
{
/* The partial tick period already ended. Be sure the SysTick
* counts it only once. */
portNVIC_SYSTICK_CURRENT_VALUE_REG = 0;

/* Clear portNVIC_SYSTICK_COUNT_FLAG_BIT */
ulControlStatusValue &= ~( portNVIC_SYSTICK_COUNT_FLAG_BIT );
}

portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT_CONFIG | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;

/* Enable SysTick */
ulControlStatusValue |= ( portNVIC_SYSTICK_ENABLE_BIT | portNVIC_SYSTICK_INT_BIT );
portNVIC_SYSTICK_CTRL_REG = ulControlStatusValue;
}
#endif /* portNVIC_SYSTICK_CLK_BIT_CONFIG */

Expand All @@ -620,13 +664,26 @@ __attribute__( ( weak ) ) void vPortSetupTimerInterrupt( void ) /* PRIVILEGED_FU
}
#endif /* configUSE_TICKLESS_IDLE */

/* Stop and reset the SysTick. */
portNVIC_SYSTICK_CTRL_REG = 0UL;
/* Stop the SysTick timer, clear the value. */
portNVIC_SYSTICK_CTRL_REG &= ~( portNVIC_SYSTICK_ENABLE_BIT );
portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;

/* Configure SysTick to interrupt at the requested rate. */
/* Configure SysTick to interrupt at the requested rate with the request clock source. */
portNVIC_SYSTICK_LOAD_REG = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;
portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT_CONFIG | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;

/* Set or clear the portNVIC_SYSTICK_CLK_BIT as required. */

#if ( portNVIC_SYSTICK_CLK_BIT_CONFIG == portNVIC_SYSTICK_CLK_BIT )
{
portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_CLK_BIT;
}
#else /* portNVIC_SYSTICK_CLK_BIT_CONFIG == 0 */
{
portNVIC_SYSTICK_CTRL_REG &= ~( portNVIC_SYSTICK_CLK_BIT_CONFIG );
}
#endif /* portNVIC_SYSTICK_CLK_BIT_CONFIG */

portNVIC_SYSTICK_CTRL_REG |= ( portNVIC_SYSTICK_ENABLE_BIT | portNVIC_SYSTICK_INT_BIT );
}
/*-----------------------------------------------------------*/

Expand Down
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