further delay() revision for #114

Author: feilipu

library.properties

@@ -1,5 +1,5 @@
 name=FreeRTOS
-version=10.4.6-5
+version=10.4.6-6
 author=Richard Barry <[email protected]>
 maintainer=Phillip Stevens <[email protected]>
 sentence=<h3>FreeRTOS Real Time Operating System implemented for AVR (Uno, Nano, Leonardo, Mega).</h3>

readme.md

@@ -36,7 +36,7 @@ Watchdog period options:
 
 Note that Timer resolution (or granularity) is affected by integer math division and the time slice selected. Trying to measure 50ms, using a 120ms time slice for example, won't work.
 
-The Arduino `delay()` function has been redefined to automatically use the FreeRTOS `vTaskDelay()` function when the delay required is one Tick or longer, so that simple Arduino example sketches and tutorials work as expected. If you would like to measure a short millisecond delay of less than one Tick, then preferably use [`millis()`](https://www.arduino.cc/reference/en/language/functions/time/millis/) (or with greater granularity use [`micros()`](https://www.arduino.cc/reference/en/language/functions/time/micros/)) to achieve this outcome (for example see [BlinkWithoutDelay](https://docs.arduino.cc/built-in-examples/digital/BlinkWithoutDelay)). However, when the delay requested is less than one Tick then the original Arduino `delay()` function will be automatically selected.
+The Arduino `delay()` function has been redefined to automatically use the FreeRTOS `vTaskDelay()` function when the delay required is one Tick or longer, by setting `configUSE_PORT_DELAY` to `1`, so that simple Arduino example sketches and tutorials work as expected. If you would like to measure a short millisecond delay of less than one Tick, then preferably use [`millis()`](https://www.arduino.cc/reference/en/language/functions/time/millis/) (or with greater granularity use [`micros()`](https://www.arduino.cc/reference/en/language/functions/time/micros/)) to achieve this outcome (for example see [BlinkWithoutDelay](https://docs.arduino.cc/built-in-examples/digital/BlinkWithoutDelay)). However, when the delay requested is less than one Tick then the original Arduino `delay()` function will be automatically selected.
 
 The 8-bit AVR Timer0 has been added as an option for the experienced user. Please examine the source code to figure out how to use it. Reconfiguring Timer0 for FreeRTOS will break Arduino `millis()` and `micros()` though, as these functions rely on Timer0.
 

src/FreeRTOSConfig.h

@@ -43,15 +43,9 @@
  * See https://www.freertos.org/a00110.html.
  *----------------------------------------------------------*/
 
-// And on to the things the same no matter the AVR type...
+/* And on to the things the same no matter the AVR type... */
 #define configUSE_PREEMPTION                1
 
-// Define configUSE_IDLE_HOOK
-#ifndef configUSE_IDLE_HOOK
-    #define configUSE_IDLE_HOOK             1
-#endif
-
-#define configUSE_TICK_HOOK                 0
 #define configCPU_CLOCK_HZ                  ( ( uint32_t ) F_CPU )          // This F_CPU variable set by the environment
 #define configMAX_PRIORITIES                4
 #define configIDLE_SHOULD_YIELD             1
@@ -74,6 +68,13 @@
 #define configSUPPORT_DYNAMIC_ALLOCATION    1
 #define configSUPPORT_STATIC_ALLOCATION     0
 
+#define configUSE_IDLE_HOOK                 1
+#define configUSE_TICK_HOOK                 0
+
+/* Delay definition - here, the user can choose which delay implementation is required.
+ * The default is to change nothing. */
+#define configUSE_PORT_DELAY                1
+
 /* Timer definitions. */
 #define configUSE_TIMERS                    1
 #define configTIMER_TASK_PRIORITY           configMAX_PRIORITIES-1

src/port.c

@@ -44,7 +44,7 @@
 /* Start tasks with interrupts enabled. */
 #define portFLAGS_INT_ENABLED           ( (StackType_t) 0x80 )
 
-#if defined( portUSE_WDTO)
+#if defined( portUSE_WDTO )
     #define portSCHEDULER_ISR           WDT_vect
 
 #elif defined( portUSE_TIMER0 )
@@ -90,7 +90,7 @@ extern volatile TCB_t * volatile pxCurrentTCB;
     Updated to match avr-libc 2.0.0
 */
 
-#if defined( portUSE_WDTO)
+#if defined( portUSE_WDTO )
 
 static __inline__
 __attribute__ ((__always_inline__))
@@ -156,7 +156,7 @@ void wdt_interrupt_enable (const uint8_t value)
     Updated to match avr-libc 2.0.0
 */
 
-#if defined( portUSE_WDTO)
+#if defined( portUSE_WDTO )
 
 static __inline__
 __attribute__ ((__always_inline__))
@@ -649,11 +649,13 @@ void vPortEndScheduler( void )
 #undef delay
 #endif
 
+extern void delay ( unsigned long ms );
+
 void vPortDelay( const uint32_t ms ) __attribute__ ((hot, flatten));
 void vPortDelay( const uint32_t ms )
 {
     if ( ms < portTICK_PERIOD_MS )
-        delay( ms );
+        delay( (unsigned long) (ms) );
     else
         vTaskDelay( (TickType_t) (ms) / portTICK_PERIOD_MS );
 }
@@ -710,7 +712,7 @@ void vPortYieldFromTick( void )
 }
 /*-----------------------------------------------------------*/
 
-#if defined(portUSE_WDTO)
+#if defined( portUSE_WDTO )
     /*
      * Setup WDT to generate a tick interrupt.
      */
@@ -723,7 +725,7 @@ void prvSetupTimerInterrupt( void )
     wdt_interrupt_enable( portUSE_WDTO );
 }
 
-#elif defined (portUSE_TIMER0)
+#elif defined( portUSE_TIMER0 )
     /*
      * Setup Timer0 compare match A to generate a tick interrupt.
      */

src/portable.h

@@ -85,13 +85,18 @@
     #define portARCH_NAME               NULL
 #endif
 
+#if configUSE_PORT_DELAY == 1
 /*
- * Delay is implemented as either Arduino delay() if the delay is less than one Tick,
- * or otherwise FreeRTOS vTaskDelay().
- *
+ * If configUSE_PORT_DELAY is defined,
+ * delay() is implemented as either the Arduino delay()
+ * if the delay is less than one Tick, or
+ * otherwise as FreeRTOS vTaskDelay() for longer delays.
  */
+
 #ifndef delay
-#define delay                           vPortDelay
+    #define delay                       vPortDelay
+#endif
+
 #endif
 
 #ifndef configSTACK_ALLOCATION_FROM_SEPARATE_HEAP