Merge pull request #3368 from hathach/disable_isr

bsp: Disable SysTick ISR if FreeRTOS is enabled

47 files changed, 117 insertions, 31 deletions

diff --git a/hw/bsp/at32f402_405/family.c b/hw/bsp/at32f402_405/family.c
index beac1a7f8..a6c2217fe 100644
--- a/hw/bsp/at32f402_405/family.c
+++ b/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 from running 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 */
diff --git a/hw/bsp/at32f435_437/family.c b/hw/bsp/at32f435_437/family.c
index 4bd6ee73c..01dd429f8 100644
--- a/hw/bsp/at32f435_437/family.c
+++ b/hw/bsp/at32f435_437/family.c
@@ -74,12 +74,14 @@ void board_init(void) {
   /* vbus ignore */
   board_vbus_sense_init();
 
-  SysTick_Config(SystemCoreClock / 1000);
 #if CFG_TUSB_OS == OPT_OS_FREERTOS
+  // Explicitly disable systick to prevent its ISR from running 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);
 #else
+  SysTick_Config(SystemCoreClock / 1000);
   NVIC_SetPriority(OTGFS1_IRQn, 0);
   NVIC_SetPriority(OTGFS2_IRQn, 0);
 #endif
diff --git a/hw/bsp/imxrt/family.c b/hw/bsp/imxrt/family.c
index 84b083e29..18833da80 100644
--- a/hw/bsp/imxrt/family.c
+++ b/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 from running 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
diff --git a/hw/bsp/kinetis_k/family.c b/hw/bsp/kinetis_k/family.c
index 816c5c87e..98ef52739 100644
--- a/hw/bsp/kinetis_k/family.c
+++ b/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 from running 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
diff --git a/hw/bsp/kinetis_kl/family.c b/hw/bsp/kinetis_kl/family.c
index 000006372..c257f4b2b 100644
--- a/hw/bsp/kinetis_kl/family.c
+++ b/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 from running 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
diff --git a/hw/bsp/lpc11/family.c b/hw/bsp/lpc11/family.c
index b5371632c..c9f18bd2f 100644
--- a/hw/bsp/lpc11/family.c
+++ b/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 from running 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
diff --git a/hw/bsp/lpc13/family.c b/hw/bsp/lpc13/family.c
index 1faa54485..e212c6a63 100644
--- a/hw/bsp/lpc13/family.c
+++ b/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 from running 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
diff --git a/hw/bsp/lpc15/family.c b/hw/bsp/lpc15/family.c
index e23fdec43..5f22df175 100644
--- a/hw/bsp/lpc15/family.c
+++ b/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 from running 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
diff --git a/hw/bsp/lpc17/family.c b/hw/bsp/lpc17/family.c
index 1edab6cd4..ba59fccca 100644
--- a/hw/bsp/lpc17/family.c
+++ b/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 from running 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
diff --git a/hw/bsp/lpc18/family.c b/hw/bsp/lpc18/family.c
index 0db5c83b6..6c02c711f 100644
--- a/hw/bsp/lpc18/family.c
+++ b/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 from running 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);
diff --git a/hw/bsp/lpc40/family.c b/hw/bsp/lpc40/family.c
index b8bc99452..5ea95e9b8 100644
--- a/hw/bsp/lpc40/family.c
+++ b/hw/bsp/lpc40/family.c
@@ -89,6 +89,8 @@ 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 from running 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
diff --git a/hw/bsp/lpc43/family.c b/hw/bsp/lpc43/family.c
index 591090c36..f440fb119 100644
--- a/hw/bsp/lpc43/family.c
+++ b/hw/bsp/lpc43/family.c
@@ -100,6 +100,8 @@ 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 from running 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
diff --git a/hw/bsp/lpc51/family.c b/hw/bsp/lpc51/family.c
index c963b76bd..bec86f87f 100644
--- a/hw/bsp/lpc51/family.c
+++ b/hw/bsp/lpc51/family.c
@@ -57,6 +57,8 @@ 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 from running 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
diff --git a/hw/bsp/lpc54/family.c b/hw/bsp/lpc54/family.c
index 094866d9b..7bb73afbc 100644
--- a/hw/bsp/lpc54/family.c
+++ b/hw/bsp/lpc54/family.c
@@ -108,10 +108,12 @@ void board_init(void) {
   // Init 96 MHz clock
   BootClockFROHF96M();
 
+#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 from running 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
diff --git a/hw/bsp/lpc55/family.c b/hw/bsp/lpc55/family.c
index f1ef58926..ad0e502b5 100644
--- a/hw/bsp/lpc55/family.c
+++ b/hw/bsp/lpc55/family.c
@@ -147,7 +147,7 @@ void board_init(void) {
   SysTick_Config(SystemCoreClock / 1000);
 
 #elif CFG_TUSB_OS == OPT_OS_FREERTOS
-  // Explicitly disable systick to prevent its ISR runs before scheduler start
+  // Explicitly disable systick to prevent its ISR from running before scheduler start
   SysTick->CTRL &= ~1U;
 
   // If freeRTOS is used, IRQ priority is limit by max syscall ( smaller is higher )
diff --git a/hw/bsp/maxim/family.c b/hw/bsp/maxim/family.c
index 92b5adb6d..7ad7d6ff9 100644
--- a/hw/bsp/maxim/family.c
+++ b/hw/bsp/maxim/family.c
@@ -66,6 +66,8 @@ 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 from running 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
diff --git a/hw/bsp/mcx/family.c b/hw/bsp/mcx/family.c
index e1accf941..3b91678b1 100644
--- a/hw/bsp/mcx/family.c
+++ b/hw/bsp/mcx/family.c
@@ -68,6 +68,8 @@ 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 from running before scheduler start
+  SysTick->CTRL &= ~1U;
   // If freeRTOS is used, IRQ priority is limit by max syscall ( smaller is higher )
   #if CFG_TUSB_MCU == OPT_MCU_MCXN9
   NVIC_SetPriority(USB0_FS_IRQn, configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY);
diff --git a/hw/bsp/mm32/family.c b/hw/bsp/mm32/family.c
index 979efb6ca..663c30818 100644
--- a/hw/bsp/mm32/family.c
+++ b/hw/bsp/mm32/family.c
@@ -70,8 +70,13 @@ void board_init(void) {
 //   usb clock
   USB_DeviceClockInit();
 
+#if CFG_TUSB_OS == OPT_OS_NONE
   SysTick_Config(SystemCoreClock / 1000);
   NVIC_SetPriority(SysTick_IRQn, 0x0);
+#elif CFG_TUSB_OS == OPT_OS_FREERTOS
+  // Explicitly disable systick to prevent its ISR from running before scheduler start
+  SysTick->CTRL &= ~1U;
+#endif
 
   RCC_AHBPeriphClockCmd(RCC_AHBENR_GPIOA, ENABLE);
 
diff --git a/hw/bsp/msp432e4/family.c b/hw/bsp/msp432e4/family.c
index 9a3b48b66..0e1b0528a 100644
--- a/hw/bsp/msp432e4/family.c
+++ b/hw/bsp/msp432e4/family.c
@@ -85,6 +85,8 @@ void board_init(void)
 #if CFG_TUSB_OS == OPT_OS_NONE
   SysTick_Config(SystemCoreClock / 1000);
 #elif CFG_TUSB_OS == OPT_OS_FREERTOS
+  // Explicitly disable systick to prevent its ISR from running 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
diff --git a/hw/bsp/nuc100_120/family.c b/hw/bsp/nuc100_120/family.c
index d04dc6657..752af2a56 100644
--- a/hw/bsp/nuc100_120/family.c
+++ b/hw/bsp/nuc100_120/family.c
@@ -72,6 +72,9 @@ void board_init(void)
 #if CFG_TUSB_OS  == OPT_OS_NONE
   // 1ms tick timer
   SysTick_Config(48000000 / 1000);
+#elif CFG_TUSB_OS == OPT_OS_FREERTOS
+  // Explicitly disable systick to prevent its ISR from running before scheduler start
+  SysTick->CTRL &= ~1U;
 #endif
 
   GPIO_SetMode(LED_PORT, 1UL << LED_PIN, GPIO_PMD_OUTPUT);
diff --git a/hw/bsp/ra/family.c b/hw/bsp/ra/family.c
index 0fd24e493..1f75b47c1 100644
--- a/hw/bsp/ra/family.c
+++ b/hw/bsp/ra/family.c
@@ -118,6 +118,9 @@ void board_init(void) {
 
 #if CFG_TUSB_OS == OPT_OS_NONE
   SysTick_Config(SystemCoreClock / 1000);
+#elif CFG_TUSB_OS == OPT_OS_FREERTOS
+  // Explicitly disable systick to prevent its ISR from running before scheduler start
+  SysTick->CTRL &= ~1U;
 #endif
 
   board_led_write(false);
diff --git a/hw/bsp/samd11/family.c b/hw/bsp/samd11/family.c
index 62e060c8e..6cbf02412 100644
--- a/hw/bsp/samd11/family.c
+++ b/hw/bsp/samd11/family.c
@@ -86,7 +86,12 @@ void board_init(void)
 
   // 1ms tick timer (samd SystemCoreClock may not correct)
   SystemCoreClock = CONF_CPU_FREQUENCY;
+#if CFG_TUSB_OS == OPT_OS_NONE
   SysTick_Config(CONF_CPU_FREQUENCY / 1000);
+#elif CFG_TUSB_OS == OPT_OS_FREERTOS
+  // Explicitly disable systick to prevent its ISR from running before scheduler start
+  SysTick->CTRL &= ~1U;
+#endif
 
   // Led init
   gpio_set_pin_direction(LED_PIN, GPIO_DIRECTION_OUT);
diff --git a/hw/bsp/samd2x_l2x/family.c b/hw/bsp/samd2x_l2x/family.c
index 67da1294e..a2dc8a8d4 100644
--- a/hw/bsp/samd2x_l2x/family.c
+++ b/hw/bsp/samd2x_l2x/family.c
@@ -154,6 +154,9 @@ void board_init(void) {
   SystemCoreClock = CONF_CPU_FREQUENCY;
 #if CFG_TUSB_OS == OPT_OS_NONE
   SysTick_Config(CONF_CPU_FREQUENCY / 1000);
+#elif CFG_TUSB_OS == OPT_OS_FREERTOS
+  // Explicitly disable systick to prevent its ISR from running before scheduler start
+  SysTick->CTRL &= ~1U;
 #endif
 
   // Led init
diff --git a/hw/bsp/samd5x_e5x/family.c b/hw/bsp/samd5x_e5x/family.c
index df6f19d0f..5a7105894 100644
--- a/hw/bsp/samd5x_e5x/family.c
+++ b/hw/bsp/samd5x_e5x/family.c
@@ -103,7 +103,13 @@ void board_init(void) {
   // Update SystemCoreClock since it is hard coded with asf4 and not correct
   // Init 1ms tick timer (samd SystemCoreClock may not correct)
   SystemCoreClock = CONF_CPU_FREQUENCY;
+
+#if CFG_TUSB_OS == OPT_OS_NONE
   SysTick_Config(CONF_CPU_FREQUENCY / 1000);
+#elif CFG_TUSB_OS == OPT_OS_FREERTOS
+  // Explicitly disable systick to prevent its ISR from running before scheduler start
+  SysTick->CTRL &= ~1U;
+#endif
 
   // Led init
   gpio_set_pin_direction(LED_PIN, GPIO_DIRECTION_OUT);
diff --git a/hw/bsp/same7x/family.c b/hw/bsp/same7x/family.c
index 572c83588..6feefa3b5 100644
--- a/hw/bsp/same7x/family.c
+++ b/hw/bsp/same7x/family.c
@@ -129,6 +129,11 @@ void board_init(void) {
 #if CFG_TUSB_OS == OPT_OS_NONE
   // 1ms tick timer (SystemCoreClock may not be correct after init)
   SysTick_Config(CONF_CPU_FREQUENCY / 1000);
+#elif CFG_TUSB_OS == OPT_OS_FREERTOS
+  // Explicitly disable systick to prevent its ISR from running before scheduler start
+  SysTick->CTRL &= ~1U;
+  // If freeRTOS is used, IRQ priority is limit by max syscall ( smaller is higher )
+  NVIC_SetPriority((IRQn_Type) ID_USBHS, configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY);
 #endif
 
   // Enable USB clock
diff --git a/hw/bsp/samg/family.c b/hw/bsp/samg/family.c
index 234dc0ec0..5c5fc3c14 100644
--- a/hw/bsp/samg/family.c
+++ b/hw/bsp/samg/family.c
@@ -88,6 +88,8 @@ void board_init(void) {
   // 1ms tick timer (samd SystemCoreClock may not correct)
   SysTick_Config(CONF_CPU_FREQUENCY / 1000);
 #elif CFG_TUSB_OS == OPT_OS_FREERTOS
+  // Explicitly disable systick to prevent its ISR from running before scheduler start
+  SysTick->CTRL &= ~1U;
   NVIC_SetPriority(UDP_IRQn, configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY);
 #endif
 
diff --git a/hw/bsp/stm32c0/family.c b/hw/bsp/stm32c0/family.c
index 09704b527..ba8b14dd1 100644
--- a/hw/bsp/stm32c0/family.c
+++ b/hw/bsp/stm32c0/family.c
@@ -68,7 +68,7 @@ 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
+  // Explicitly disable systick to prevent its ISR from running before scheduler start
   SysTick->CTRL &= ~1U;
 
   // If freeRTOS is used, IRQ priority is limit by max syscall ( smaller is higher )
diff --git a/hw/bsp/stm32f0/family.c b/hw/bsp/stm32f0/family.c
index ea1373e6c..b99b0a8cc 100644
--- a/hw/bsp/stm32f0/family.c
+++ b/hw/bsp/stm32f0/family.c
@@ -62,7 +62,7 @@ void board_init(void) {
   SysTick_Config(SystemCoreClock / 1000);
 
 #elif CFG_TUSB_OS == OPT_OS_FREERTOS
-  // Explicitly disable systick to prevent its ISR runs before scheduler start
+  // Explicitly disable systick to prevent its ISR from running before scheduler start
   SysTick->CTRL &= ~1U;
 
   // If freeRTOS is used, IRQ priority is limit by max syscall ( smaller is higher )
diff --git a/hw/bsp/stm32f1/family.c b/hw/bsp/stm32f1/family.c
index 29785397f..3147061cf 100644
--- a/hw/bsp/stm32f1/family.c
+++ b/hw/bsp/stm32f1/family.c
@@ -77,8 +77,9 @@ 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 from running before scheduler start
+  SysTick->CTRL &= ~1U;
   // If freeRTOS is used, IRQ priority is limit by max syscall ( smaller is higher )
   NVIC_SetPriority(USB_HP_CAN1_TX_IRQn, configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY);
   NVIC_SetPriority(USB_LP_CAN1_RX0_IRQn, configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY);
diff --git a/hw/bsp/stm32f2/family.c b/hw/bsp/stm32f2/family.c
index c1333382a..8ea8ec5a5 100644
--- a/hw/bsp/stm32f2/family.c
+++ b/hw/bsp/stm32f2/family.c
@@ -56,6 +56,9 @@ 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 from running before scheduler start
+  SysTick->CTRL &= ~1U;
   #endif
 
   all_rcc_clk_enable();
diff --git a/hw/bsp/stm32f3/family.c b/hw/bsp/stm32f3/family.c
index 84612d416..95bcc7882 100644
--- a/hw/bsp/stm32f3/family.c
+++ b/hw/bsp/stm32f3/family.c
@@ -68,10 +68,13 @@ void USBWakeUp_RMP_IRQHandler(void) {
 void board_init(void) {
   SystemClock_Config();
 
-  #if CFG_TUSB_OS == OPT_OS_NONE
+#if CFG_TUSB_OS == OPT_OS_NONE
   // 1ms tick timer
   SysTick_Config(SystemCoreClock / 1000);
-  #endif
+#elif CFG_TUSB_OS == OPT_OS_FREERTOS
+  // Explicitly disable systick to prevent its ISR from running before scheduler start
+  SysTick->CTRL &= ~1U;
+#endif
 
   // Remap the USB interrupts
   __HAL_RCC_SYSCFG_CLK_ENABLE();
diff --git a/hw/bsp/stm32f4/family.c b/hw/bsp/stm32f4/family.c
index 6e02b0575..025f6a08c 100644
--- a/hw/bsp/stm32f4/family.c
+++ b/hw/bsp/stm32f4/family.c
@@ -102,7 +102,7 @@ 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
+  // Explicitly disable systick to prevent its ISR from running before scheduler start
   SysTick->CTRL &= ~1U;
 
   // If freeRTOS is used, IRQ priority is limit by max syscall ( smaller is higher )
diff --git a/hw/bsp/stm32f7/family.c b/hw/bsp/stm32f7/family.c
index 38dfaa3bc..ac22c606f 100644
--- a/hw/bsp/stm32f7/family.c
+++ b/hw/bsp/stm32f7/family.c
@@ -105,7 +105,7 @@ void board_init(void) {
   SysTick_Config(SystemCoreClock / 1000);
 
 #elif CFG_TUSB_OS == OPT_OS_FREERTOS
-  // Explicitly disable systick to prevent its ISR runs before scheduler start
+  // Explicitly disable systick to prevent its ISR from running before scheduler start
   SysTick->CTRL &= ~1U;
 
   // If freeRTOS is used, IRQ priority is limit by max syscall ( smaller is higher )
diff --git a/hw/bsp/stm32g0/family.c b/hw/bsp/stm32g0/family.c
index 67b0b3f1c..7b86aedb4 100644
--- a/hw/bsp/stm32g0/family.c
+++ b/hw/bsp/stm32g0/family.c
@@ -65,7 +65,7 @@ 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
+  // Explicitly disable systick to prevent its ISR from running before scheduler start
   SysTick->CTRL &= ~1U;
 
   // If freeRTOS is used, IRQ priority is limit by max syscall ( smaller is higher )
diff --git a/hw/bsp/stm32g4/family.c b/hw/bsp/stm32g4/family.c
index 49ef86db9..d8afa0f95 100644
--- a/hw/bsp/stm32g4/family.c
+++ b/hw/bsp/stm32g4/family.c
@@ -77,7 +77,7 @@ 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
+  // Explicitly disable systick to prevent its ISR from running before scheduler start
   SysTick->CTRL &= ~1U;
 
   // If freeRTOS is used, IRQ priority is limit by max syscall ( smaller is higher )
diff --git a/hw/bsp/stm32h5/family.c b/hw/bsp/stm32h5/family.c
index 26ba34ac3..983944b1c 100644
--- a/hw/bsp/stm32h5/family.c
+++ b/hw/bsp/stm32h5/family.c
@@ -88,7 +88,7 @@ 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
+  // Explicitly disable systick to prevent its ISR from running before scheduler start
   SysTick->CTRL &= ~1U;
 
   // If freeRTOS is used, IRQ priority is limit by max syscall ( smaller is higher )
diff --git a/hw/bsp/stm32h7/family.c b/hw/bsp/stm32h7/family.c
index 7b618b2e4..054d7855f 100644
--- a/hw/bsp/stm32h7/family.c
+++ b/hw/bsp/stm32h7/family.c
@@ -130,7 +130,7 @@ void board_init(void) {
   SysTick_Config(SystemCoreClock / 1000u);
 
 #elif CFG_TUSB_OS == OPT_OS_FREERTOS
-  // Explicitly disable systick to prevent its ISR runs before scheduler start
+  // Explicitly disable systick to prevent its ISR from running before scheduler start
   SysTick->CTRL &= ~1UL;
 
   // If freeRTOS is used, IRQ priority is limit by max syscall ( smaller is higher )
diff --git a/hw/bsp/stm32h7rs/family.c b/hw/bsp/stm32h7rs/family.c
index 6192f7a40..784c92465 100644
--- a/hw/bsp/stm32h7rs/family.c
+++ b/hw/bsp/stm32h7rs/family.c
@@ -304,7 +304,7 @@ void board_init(void) {
   SysTick_Config(SystemCoreClock / 1000);
 
 #elif CFG_TUSB_OS == OPT_OS_FREERTOS
-  // Explicitly disable systick to prevent its ISR runs before scheduler start
+  // Explicitly disable systick to prevent its ISR from running before scheduler start
   SysTick->CTRL &= ~1U;
 
   // If freeRTOS is used, IRQ priority is limit by max syscall ( smaller is higher )
diff --git a/hw/bsp/stm32l0/family.c b/hw/bsp/stm32l0/family.c
index b28903e00..6aeab1259 100644
--- a/hw/bsp/stm32l0/family.c
+++ b/hw/bsp/stm32l0/family.c
@@ -54,7 +54,7 @@ void board_init(void) {
   SysTick_Config(SystemCoreClock / 1000);
 
 #elif CFG_TUSB_OS == OPT_OS_FREERTOS
-  // Explicitly disable systick to prevent its ISR runs before scheduler start
+  // Explicitly disable systick to prevent its ISR from running before scheduler start
   SysTick->CTRL &= ~1U;
 
   // If freeRTOS is used, IRQ priority is limit by max syscall ( smaller is higher )
diff --git a/hw/bsp/stm32l4/family.c b/hw/bsp/stm32l4/family.c
index 114a6a483..e69ae8e3b 100644
--- a/hw/bsp/stm32l4/family.c
+++ b/hw/bsp/stm32l4/family.c
@@ -78,6 +78,8 @@ 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 from running before scheduler start
+  SysTick->CTRL &= ~1U;
   // If freeRTOS is used, IRQ priority is limit by max syscall ( smaller is higher )
 #if defined(USB_OTG_FS)
   NVIC_SetPriority(OTG_FS_IRQn, configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY );
diff --git a/hw/bsp/stm32n6/family.c b/hw/bsp/stm32n6/family.c
index 58be4867d..567bb7294 100644
--- a/hw/bsp/stm32n6/family.c
+++ b/hw/bsp/stm32n6/family.c
@@ -140,7 +140,7 @@ void board_init(void) {
   SysTick_Config(SystemCoreClock / 1000);
 
 #elif CFG_TUSB_OS == OPT_OS_FREERTOS
-  // Explicitly disable systick to prevent its ISR runs before scheduler start
+  // Explicitly disable systick to prevent its ISR from running before scheduler start
   SysTick->CTRL &= ~1U;
 
   // If freeRTOS is used, IRQ priority is limit by max syscall ( smaller is higher )
diff --git a/hw/bsp/stm32u0/family.c b/hw/bsp/stm32u0/family.c
index bf2503865..50b513d8f 100644
--- a/hw/bsp/stm32u0/family.c
+++ b/hw/bsp/stm32u0/family.c
@@ -70,6 +70,14 @@ void board_init(void) {
 #endif
   __HAL_RCC_PWR_CLK_ENABLE();
 
+#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 from running before scheduler start
+  SysTick->CTRL &= ~1U;
+#endif
+
   // LED
   GPIO_InitTypeDef  GPIO_InitStruct;
   GPIO_InitStruct.Pin = LED_PIN;
diff --git a/hw/bsp/stm32u5/family.c b/hw/bsp/stm32u5/family.c
index 032c01f34..0af497366 100644
--- a/hw/bsp/stm32u5/family.c
+++ b/hw/bsp/stm32u5/family.c
@@ -90,6 +90,9 @@ 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 from running before scheduler start
+  SysTick->CTRL &= ~1U;
 #endif
 
   GPIO_InitTypeDef GPIO_InitStruct;
diff --git a/hw/bsp/stm32wb/family.c b/hw/bsp/stm32wb/family.c
index 93aba02fa..153d10a09 100644
--- a/hw/bsp/stm32wb/family.c
+++ b/hw/bsp/stm32wb/family.c
@@ -64,7 +64,7 @@ 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
+  // Explicitly disable systick to prevent its ISR from running before scheduler start
   SysTick->CTRL &= ~1U;
 
   // If freeRTOS is used, IRQ priority is limit by max syscall ( smaller is higher )
diff --git a/hw/bsp/stm32wba/family.c b/hw/bsp/stm32wba/family.c
index 923ea197c..8dc6547ae 100644
--- a/hw/bsp/stm32wba/family.c
+++ b/hw/bsp/stm32wba/family.c
@@ -131,7 +131,7 @@ 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
+  // Explicitly disable systick to prevent its ISR from running before scheduler start
   SysTick->CTRL &= ~1U;
 
   // If freeRTOS is used, IRQ priority is limit by max syscall ( smaller is higher )
diff --git a/hw/bsp/tm4c/family.c b/hw/bsp/tm4c/family.c
index 4e5491005..ee1fa2a3c 100644
--- a/hw/bsp/tm4c/family.c
+++ b/hw/bsp/tm4c/family.c
@@ -77,6 +77,8 @@ 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 from running 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
diff --git a/hw/bsp/xmc4000/family.c b/hw/bsp/xmc4000/family.c
index 1acce024b..6fef53025 100644
--- a/hw/bsp/xmc4000/family.c
+++ b/hw/bsp/xmc4000/family.c
@@ -78,7 +78,7 @@ void board_init(void) {
   SysTick_Config(SystemCoreClock / 1000);
 
 #elif CFG_TUSB_OS == OPT_OS_FREERTOS
-  // Explicitly disable systick to prevent its ISR runs before scheduler start
+  // Explicitly disable systick to prevent its ISR from running before scheduler start
   SysTick->CTRL &= ~1U;
 
   // If freeRTOS is used, IRQ priority is limit by max syscall ( smaller is higher )