bsp: Disable SysTick ISR if FreeRTOS is enabled

Signed-off-by: Zixun LI <[email protected]>

Author: HiFiPhile

hw/bsp/at32f402_405/family.c

@@ -75,16 +75,17 @@ void board_init(void)
   /* vbus ignore */
   board_vbus_sense_init();
 
-  /* configure systick */
-  SysTick_Config(system_core_clock / 1000);
-
-  #if CFG_TUSB_OS == OPT_OS_FREERTOS
+  #if CFG_TUSB_OS == OPT_OS_NONE
+    /* configure systick */
+    SysTick_Config(system_core_clock / 1000);
+    NVIC_SetPriority(OTGHS_IRQn, 0);
+    NVIC_SetPriority(OTGFS1_IRQn, 0);
+  #elif CFG_TUSB_OS == OPT_OS_FREERTOS
+    // Explicitly disable systick to prevent its ISR runs before scheduler start
+    SysTick->CTRL &= ~1U;
     // If freeRTOS is used, IRQ priority is limit by max syscall ( smaller is higher )
     NVIC_SetPriority(OTGHS_IRQn, configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY);
     NVIC_SetPriority(OTGFS1_IRQn, configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY);
-  #else
-    NVIC_SetPriority(OTGHS_IRQn, 0);
-    NVIC_SetPriority(OTGFS1_IRQn, 0);
   #endif
 
   /* config led and key */

hw/bsp/at32f435_437/family.c

@@ -76,6 +76,8 @@ void board_init(void) {
 
   SysTick_Config(SystemCoreClock / 1000);
 #if CFG_TUSB_OS == OPT_OS_FREERTOS
+  // Explicitly disable systick to prevent its ISR runs before scheduler start
+  SysTick->CTRL &= ~1U;
   // If freeRTOS is used, IRQ priority is limit by max syscall ( smaller is higher )
   NVIC_SetPriority(OTGFS1_IRQn, configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY);
   NVIC_SetPriority(OTGFS2_IRQn, configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY);

hw/bsp/imxrt/family.c

@@ -120,8 +120,9 @@ void board_init(void) {
 #if CFG_TUSB_OS == OPT_OS_NONE
   // 1ms tick timer
   SysTick_Config(SystemCoreClock / 1000);
-
 #elif CFG_TUSB_OS == OPT_OS_FREERTOS
+  // Explicitly disable systick to prevent its ISR runs before scheduler start
+  SysTick->CTRL &= ~1U;
   // If freeRTOS is used, IRQ priority is limit by max syscall ( smaller is higher )
   NVIC_SetPriority(USB_OTG1_IRQn, configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY);
   #ifdef USBPHY2

hw/bsp/kinetis_k/family.c

@@ -61,6 +61,8 @@ void board_init(void) {
   // 1ms tick timer
   SysTick_Config(SystemCoreClock / 1000);
 #elif CFG_TUSB_OS == OPT_OS_FREERTOS
+  // Explicitly disable systick to prevent its ISR runs before scheduler start
+  SysTick->CTRL &= ~1U;
   // If freeRTOS is used, IRQ priority is limit by max syscall ( smaller is higher )
   NVIC_SetPriority(USB0_IRQn, configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY );
 #endif

hw/bsp/kinetis_kl/family.c

@@ -59,6 +59,8 @@ void board_init(void)
   // 1ms tick timer
   SysTick_Config(SystemCoreClock / 1000);
 #elif CFG_TUSB_OS == OPT_OS_FREERTOS
+  // Explicitly disable systick to prevent its ISR runs before scheduler start
+  SysTick->CTRL &= ~1U;
   // If freeRTOS is used, IRQ priority is limit by max syscall ( smaller is higher )
   NVIC_SetPriority(USB0_IRQn, configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY );
 #endif

hw/bsp/lpc11/family.c

@@ -74,6 +74,8 @@ void board_init(void) {
   // 1ms tick timer
   SysTick_Config(SystemCoreClock / 1000);
 #elif CFG_TUSB_OS == OPT_OS_FREERTOS
+  // Explicitly disable systick to prevent its ISR runs before scheduler start
+  SysTick->CTRL &= ~1U;
   // If freeRTOS is used, IRQ priority is limit by max syscall ( smaller is higher )
   NVIC_SetPriority(USB0_IRQn, configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY );
 #endif

hw/bsp/lpc13/family.c

@@ -54,6 +54,8 @@ void board_init(void) {
   // 1ms tick timer
   SysTick_Config(SystemCoreClock / 1000);
 #elif CFG_TUSB_OS == OPT_OS_FREERTOS
+  // Explicitly disable systick to prevent its ISR runs before scheduler start
+  SysTick->CTRL &= ~1U;
   // If freeRTOS is used, IRQ priority is limit by max syscall ( smaller is higher )
   NVIC_SetPriority(USB0_IRQn, configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY );
 #endif

hw/bsp/lpc15/family.c

@@ -77,10 +77,12 @@ void board_init(void)
 {
   SystemCoreClockUpdate();
 
+#if CFG_TUSB_OS == OPT_OS_NONE
   // 1ms tick timer
   SysTick_Config(SystemCoreClock / 1000);
-
-#if CFG_TUSB_OS == OPT_OS_FREERTOS
+#elif CFG_TUSB_OS == OPT_OS_FREERTOS
+  // Explicitly disable systick to prevent its ISR runs before scheduler start
+  SysTick->CTRL &= ~1U;
   // If freeRTOS is used, IRQ priority is limit by max syscall ( smaller is higher )
   NVIC_SetPriority(USB0_IRQn, configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY );
 #endif

hw/bsp/lpc17/family.c

@@ -54,6 +54,8 @@ void board_init(void) {
   // 1ms tick timer
   SysTick_Config(SystemCoreClock / 1000);
 #elif CFG_TUSB_OS == OPT_OS_FREERTOS
+  // Explicitly disable systick to prevent its ISR runs before scheduler start
+  SysTick->CTRL &= ~1U;
   // If freeRTOS is used, IRQ priority is limit by max syscall ( smaller is higher )
   NVIC_SetPriority(USB_IRQn, configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY );
 #endif

hw/bsp/lpc18/family.c

@@ -83,6 +83,8 @@ void board_init(void) {
   // 1ms tick timer
   SysTick_Config(SystemCoreClock / 1000);
 #elif CFG_TUSB_OS == OPT_OS_FREERTOS
+  // Explicitly disable systick to prevent its ISR runs before scheduler start
+  SysTick->CTRL &= ~1U;
   // If freeRTOS is used, IRQ priority is limit by max syscall ( smaller is higher )
   NVIC_SetPriority(USB0_IRQn, configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY);
   NVIC_SetPriority(USB1_IRQn, configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY);