Merge branch 'master' into fix-micros

Author: hathach

cores/nRF5/Arduino.h

@@ -36,6 +36,7 @@ void setup( void ) ;
 void loop( void ) ;
 
 void suspendLoop(void);
+void resumeLoop(void);
 
 #include "WVariant.h"
 

cores/nRF5/freertos/portable/CMSIS/nrf52/port_cmsis_systick.c

@@ -182,7 +182,13 @@ void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime )
         configPRE_SLEEP_PROCESSING( xModifiableIdleTime );
         if ( xModifiableIdleTime > 0 )
         {
-#if 0  // With FreeRTOS sd_app_evt_wait increases power consumption with FreeRTOS compared to _WFE (NRFFOSDK-11174)
+#if (__FPU_USED == 1)
+            // nRF52832 errata 87: prevent FPU from keeping CPU on
+            // https://infocenter.nordicsemi.com/topic/errata_nRF52832_Rev2/ERR/nRF52832/Rev2/latest/anomaly_832_87.html?cp=4_2_1_0_1_24
+            __set_FPSCR(__get_FPSCR() & ~(0x0000009F));
+            (void) __get_FPSCR();
+            NVIC_ClearPendingIRQ(FPU_IRQn);
+#endif
 #ifdef SOFTDEVICE_PRESENT // TODO
             uint8_t sd_en = 0;
             (void) sd_softdevice_is_enabled(&sd_en);
@@ -193,7 +199,6 @@ void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime )
             }
             else
 #endif
-#endif // (NRFFOSDK-11174)
             {
                 /* No SD -  we would just block interrupts globally.
                 * BASEPRI cannot be used for that because it would prevent WFE from wake up.
@@ -227,15 +232,34 @@ void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime )
                 diff = xExpectedIdleTime;
             }
 
-            if (diff > 0)
-            {
-                vTaskStepTick(diff);
+            // nRF-provided fix for delay() wakeup 1ms spin-loop power waste
+            // See https://devzone.nordicsemi.com/f/nordic-q-a/63828/vtaskdelay-on-nrf52-freertos-port-wastes-cpu-power
+            BaseType_t switch_req = pdFALSE;
 
+            if (diff > 1)
+            {
+                vTaskStepTick(diff - 1);
+               
                 // If dwt cycle count is enable, adjust it as welll
                 if ( (CoreDebug->DEMCR & CoreDebug_DEMCR_TRCENA_Msk) && (DWT->CTRL & DWT_CTRL_CYCCNTENA_Msk) )
                 {
                   DWT->CYCCNT += ((diff * 1000000) / configTICK_RATE_HZ) * 64;
                 }
+              
+                switch_req = xTaskIncrementTick();
+            }
+            else if (diff == 1)
+            {
+                switch_req = xTaskIncrementTick();
+            }
+
+            /* Increment the RTOS tick as usual which checks if there is a need for rescheduling */
+            if ( switch_req != pdFALSE )
+            {
+                /* A context switch is required.  Context switching is performed in
+                   the PendSV interrupt.  Pend the PendSV interrupt. */
+                SCB->ICSR = SCB_ICSR_PENDSVSET_Msk;
+                __SEV();
             }
         }
     }

cores/nRF5/main.cpp

@@ -100,6 +100,18 @@ void suspendLoop(void)
   vTaskSuspend(_loopHandle);
 }
 
+void resumeLoop(void)
+{
+  if ( isInISR() ) 
+  {
+    xTaskResumeFromISR(_loopHandle);
+  } 
+  else
+  {
+    vTaskResume(_loopHandle);
+  }
+}
+
 extern "C"
 {
 

libraries/Adafruit_LittleFS/src/littlefs/lfs_util.h

@@ -168,6 +168,7 @@ void lfs_crc(uint32_t *crc, const void *buffer, size_t size);
 // Allocate memory, only used if buffers are not provided to littlefs
 static inline void *lfs_malloc(size_t size) {
 #ifndef LFS_NO_MALLOC
+    extern void *pvPortMalloc( size_t xWantedSize );
     return pvPortMalloc(size);
 #else
     (void)size;
@@ -178,6 +179,7 @@ static inline void *lfs_malloc(size_t size) {
 // Deallocate memory, only used if buffers are not provided to littlefs
 static inline void lfs_free(void *p) {
 #ifndef LFS_NO_MALLOC
+    extern void vPortFree( void *pv );
     vPortFree(p);
 #else
     (void)p;

libraries/Wire/Wire.h

@@ -39,6 +39,7 @@ class TwoWire : public Stream
     void begin(uint8_t);
     void end();
     void setClock(uint32_t);
+    void setPins(uint8_t pinSDA, uint8_t pinSCL);
 
     void beginTransmission(uint8_t);
     uint8_t endTransmission(bool stopBit);

libraries/Wire/Wire_nRF52.cpp

@@ -127,6 +127,12 @@ void TwoWire::setClock(uint32_t baudrate) {
   }
 }
 
+void TwoWire::setPins(uint8_t pinSDA, uint8_t pinSCL)
+{
+    this->_uc_pinSDA = g_ADigitalPinMap[pinSDA];
+    this->_uc_pinSCL = g_ADigitalPinMap[pinSCL];
+}
+
 void TwoWire::end() {
   if (master)
   {