Additional FreeRTOS adjustments (#555)

earlephilhower · web-flow · commit 88d213a30b15 · 2022-04-27T03:53:07.000-07:00
Use low power WFE when idle.

Set PORT.C to built `-O0` always because it seems to occasinally end
up with interrupts disabled in task code, causing the SYSTICK never to
fire and killing task switching.

No need for dynamic exceptions.  We don't move the execbase.
diff --git a/libraries/FreeRTOS/lib/FreeRTOS-Kernel b/libraries/FreeRTOS/lib/FreeRTOS-Kernel
@@ -1 +1 @@
-Subproject commit 6668d41acd8fb9cd8b78255ebff1ab346b1ad357
+Subproject commit 1af47324849c0ac62202554f2879f2656187e834
diff --git a/libraries/FreeRTOS/src/FreeRTOSConfig.h b/libraries/FreeRTOS/src/FreeRTOSConfig.h
@@ -113,7 +113,7 @@ command interpreter running. */
 #define configCOMMAND_INT_MAX_OUTPUT_SIZE 2048
 
 
-#define configUSE_DYNAMIC_EXCEPTION_HANDLERS 1
+#define configUSE_DYNAMIC_EXCEPTION_HANDLERS 0
 #define configSUPPORT_PICO_SYNC_INTEROP 1
 #define configSUPPORT_PICO_TIME_INTEROP 1
 
diff --git a/libraries/FreeRTOS/src/port.c b/libraries/FreeRTOS/src/port.c
@@ -1 +1,4 @@
+// Port.c seems to leave interrupts disabled occasionally when built w/anything other than -O0
+
+#pragma GCC optimize ("O0")
 #include "../lib/FreeRTOS-Kernel/portable/ThirdParty/GCC/RP2040/port.c"
diff --git a/libraries/FreeRTOS/src/variantHooks.cpp b/libraries/FreeRTOS/src/variantHooks.cpp
@@ -163,7 +163,7 @@ void vApplicationIdleHook( void ) __attribute__((weak));
 
 void vApplicationIdleHook( void )
 {
-    //__wfe(); // Low power idle if nothing to do...
+    __wfe(); // Low power idle if nothing to do...
 }
 
 #endif /* configUSE_IDLE_HOOK == 1 */

Original file line number	Diff line number	Diff line change
`@@ -163,7 +163,7 @@ void vApplicationIdleHook( void ) __attribute__((weak));`
`163`	`163`
`164`	`164`	`void vApplicationIdleHook( void )`
`165`	`165`	`{`
`166`		`- //__wfe(); // Low power idle if nothing to do...`
	`166`	`+ __wfe(); // Low power idle if nothing to do...`
`167`	`167`	`}`
`168`	`168`
`169`	`169`	`#endif /* configUSE_IDLE_HOOK == 1 */`