esp-idf/components/freertos/port/port_common.c

/*
 * SPDX-FileCopyrightText: 2021 Espressif Systems (Shanghai) CO LTD
 *
 * SPDX-License-Identifier: Apache-2.0
 */

#include <string.h>
#include "FreeRTOS.h"
#include "task.h"
#include "portmacro.h"
#include "esp_system.h"
#include "esp_heap_caps_init.h"
#include "esp_int_wdt.h"
#include "esp_task_wdt.h"
#include "esp_task.h"
#include "esp_private/crosscore_int.h"
#include "esp_private/startup_internal.h"    /* Required by g_spiram_ok. [refactor-todo] for g_spiram_ok */
#include "esp_log.h"
#include "soc/soc_memory_types.h"
#include "soc/dport_access.h"
#include "sdkconfig.h"
#include "esp_freertos_hooks.h"

#if CONFIG_IDF_TARGET_ESP32
#include "esp32/spiram.h"
#elif CONFIG_IDF_TARGET_ESP32S2
#include "esp32s2/spiram.h"
#elif CONFIG_IDF_TARGET_ESP32S3
#include "esp32s3/spiram.h"
#elif CONFIG_IDF_TARGET_ESP32C3 || CONFIG_IDF_TARGET_ESP32H2
// SPIRAM is not supported on ESP32-C3
#endif

#if CONFIG_SPIRAM_MALLOC_RESERVE_INTERNAL
static const char* TAG = "cpu_start";
#endif

/* Architecture-agnostic parts of the FreeRTOS ESP-IDF port layer can go here.
 *
 * The actual call flow will be to call esp_startup_start_app() in <ARCH>/port.c,
 * which will then call esp_startup_start_app_common()
 */

// Duplicate of inaccessible xSchedulerRunning; needed at startup to avoid counting nesting
volatile unsigned port_xSchedulerRunning[portNUM_PROCESSORS] = {0};

// For now, running FreeRTOS on one core and a bare metal on the other (or other OSes)
// is not supported. For now CONFIG_FREERTOS_UNICORE and CONFIG_ESP_SYSTEM_SINGLE_CORE_MODE
// should mirror each other's values.
//
// And since this should be true, we can just check for CONFIG_FREERTOS_UNICORE.
#if CONFIG_FREERTOS_UNICORE != CONFIG_ESP_SYSTEM_SINGLE_CORE_MODE
    #error "FreeRTOS and system configuration mismatch regarding the use of multiple cores."
#endif

static void main_task(void* args);

#ifdef CONFIG_ESP_SYSTEM_GDBSTUB_RUNTIME
void esp_gdbstub_init(void);
#endif // CONFIG_ESP_SYSTEM_GDBSTUB_RUNTIME

extern void app_main(void);

void esp_startup_start_app_common(void)
{
#if CONFIG_ESP_INT_WDT
    esp_int_wdt_init();
    //Initialize the interrupt watch dog for CPU0.
    esp_int_wdt_cpu_init();
#endif

    esp_crosscore_int_init();

#ifdef CONFIG_ESP_SYSTEM_GDBSTUB_RUNTIME
    esp_gdbstub_init();
#endif // CONFIG_ESP_SYSTEM_GDBSTUB_RUNTIME

    portBASE_TYPE res = xTaskCreatePinnedToCore(&main_task, "main",
                                                ESP_TASK_MAIN_STACK, NULL,
                                                ESP_TASK_MAIN_PRIO, NULL, ESP_TASK_MAIN_CORE);
    assert(res == pdTRUE);
    (void)res;
}

#if !CONFIG_FREERTOS_UNICORE
static volatile bool s_other_cpu_startup_done = false;
static bool other_cpu_startup_idle_hook_cb(void)
{
    s_other_cpu_startup_done = true;
    return true;
}
#endif

static void main_task(void* args)
{
#if !CONFIG_FREERTOS_UNICORE
    // Wait for FreeRTOS initialization to finish on other core, before replacing its startup stack
    esp_register_freertos_idle_hook_for_cpu(other_cpu_startup_idle_hook_cb, !xPortGetCoreID());
    while (!s_other_cpu_startup_done) {
        ;
    }
    esp_deregister_freertos_idle_hook_for_cpu(other_cpu_startup_idle_hook_cb, !xPortGetCoreID());
#endif

    // [refactor-todo] check if there is a way to move the following block to esp_system startup
    heap_caps_enable_nonos_stack_heaps();

    // Now we have startup stack RAM available for heap, enable any DMA pool memory
#if CONFIG_SPIRAM_MALLOC_RESERVE_INTERNAL
    if (g_spiram_ok) {
        esp_err_t r = esp_spiram_reserve_dma_pool(CONFIG_SPIRAM_MALLOC_RESERVE_INTERNAL);
        if (r != ESP_OK) {
            ESP_EARLY_LOGE(TAG, "Could not reserve internal/DMA pool (error 0x%x)", r);
            abort();
        }
    }
#endif

    //Initialize task wdt if configured to do so
#ifdef CONFIG_ESP_TASK_WDT_PANIC
    ESP_ERROR_CHECK(esp_task_wdt_init(CONFIG_ESP_TASK_WDT_TIMEOUT_S, true));
#elif CONFIG_ESP_TASK_WDT
    ESP_ERROR_CHECK(esp_task_wdt_init(CONFIG_ESP_TASK_WDT_TIMEOUT_S, false));
#endif

    //Add IDLE 0 to task wdt
#ifdef CONFIG_ESP_TASK_WDT_CHECK_IDLE_TASK_CPU0
    TaskHandle_t idle_0 = xTaskGetIdleTaskHandleForCPU(0);
    if(idle_0 != NULL){
        ESP_ERROR_CHECK(esp_task_wdt_add(idle_0));
    }
#endif
    //Add IDLE 1 to task wdt
#ifdef CONFIG_ESP_TASK_WDT_CHECK_IDLE_TASK_CPU1
    TaskHandle_t idle_1 = xTaskGetIdleTaskHandleForCPU(1);
    if(idle_1 != NULL){
        ESP_ERROR_CHECK(esp_task_wdt_add(idle_1));
    }
#endif

    app_main();
    vTaskDelete(NULL);
}

// -------------------- Heap Related -----------------------

bool xPortCheckValidTCBMem(const void *ptr)
{
    return esp_ptr_internal(ptr) && esp_ptr_byte_accessible(ptr);
}

bool xPortcheckValidStackMem(const void *ptr)
{
#ifdef CONFIG_SPIRAM_ALLOW_STACK_EXTERNAL_MEMORY
    return esp_ptr_byte_accessible(ptr);
#else
    return esp_ptr_internal(ptr) && esp_ptr_byte_accessible(ptr);
#endif
}

// ------------- FreeRTOS Static Allocation ----------------

/*
This function is required by FreeRTOS when configSUPPORT_STATIC_ALLOCATION is
enabled and is used by FreeRTOS to obtain memory for its IDLE tasks.

Like the pvPortMallocTcbMem() and pvPortMallocStackMem() macros, TCB and stack
memory MUST be placed in internal RAM.
*/
void vApplicationGetIdleTaskMemory(StaticTask_t **ppxIdleTaskTCBBuffer,
                                   StackType_t **ppxIdleTaskStackBuffer,
                                   uint32_t *pulIdleTaskStackSize )
{
    StaticTask_t *pxTCBBufferTemp;
    StackType_t *pxStackBufferTemp;

    /* If the stack grows down then allocate the stack then the TCB so the stack
     * does not grow into the TCB.  Likewise if the stack grows up then allocate
     * the TCB then the stack. */
    #if (portSTACK_GROWTH > 0)
    {
        //Allocate TCB and stack buffer in internal memory
        pxTCBBufferTemp = pvPortMallocTcbMem(sizeof(StaticTask_t));
        pxStackBufferTemp = pvPortMallocStackMem(configIDLE_TASK_STACK_SIZE);
    }
    #else /* portSTACK_GROWTH */
    {
        //Allocate TCB and stack buffer in internal memory
        pxStackBufferTemp = pvPortMallocStackMem(configIDLE_TASK_STACK_SIZE);
        pxTCBBufferTemp = pvPortMallocTcbMem(sizeof(StaticTask_t));
    }
    #endif /* portSTACK_GROWTH */

    assert(pxTCBBufferTemp != NULL);
    assert(pxStackBufferTemp != NULL);
    //Write back pointers
    *ppxIdleTaskTCBBuffer = pxTCBBufferTemp;
    *ppxIdleTaskStackBuffer = pxStackBufferTemp;
    *pulIdleTaskStackSize = configIDLE_TASK_STACK_SIZE;
}

/*
This function is required by FreeRTOS when configSUPPORT_STATIC_ALLOCATION is
enabled and is used by the FreeRTOS Timer to obtain memory for its daemone task.


Like the pvPortMallocTcbMem() and pvPortMallocStackMem() macros, TCB and stack
memory MUST be placed in internal RAM.
*/
void vApplicationGetTimerTaskMemory(StaticTask_t **ppxTimerTaskTCBBuffer,
                                    StackType_t **ppxTimerTaskStackBuffer,
                                    uint32_t *pulTimerTaskStackSize )
{
    StaticTask_t *pxTCBBufferTemp;
    StackType_t *pxStackBufferTemp;

    /* If the stack grows down then allocate the stack then the TCB so the stack
     * does not grow into the TCB.  Likewise if the stack grows up then allocate
     * the TCB then the stack. */
    #if (portSTACK_GROWTH > 0)
    {
        //Allocate TCB and stack buffer in internal memory
        pxTCBBufferTemp = pvPortMallocTcbMem(sizeof(StaticTask_t));
        pxStackBufferTemp = pvPortMallocStackMem(configTIMER_TASK_STACK_DEPTH);
    }
    #else /* portSTACK_GROWTH */
    {
        //Allocate TCB and stack buffer in internal memory
        pxStackBufferTemp = pvPortMallocStackMem(configTIMER_TASK_STACK_DEPTH);
        pxTCBBufferTemp = pvPortMallocTcbMem(sizeof(StaticTask_t));
    }
    #endif /* portSTACK_GROWTH */

    assert(pxTCBBufferTemp != NULL);
    assert(pxStackBufferTemp != NULL);
    //Write back pointers
    *ppxTimerTaskTCBBuffer = pxTCBBufferTemp;
    *ppxTimerTaskStackBuffer = pxStackBufferTemp;
    *pulTimerTaskStackSize = configTIMER_TASK_STACK_DEPTH;
}