esp-idf/components/esp_system/crosscore_int.c

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/*
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* SPDX-FileCopyrightText: 2015-2023 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0
*/
#include <stdint.h>
#include "esp_attr.h"
#include "esp_err.h"
#include "esp_cpu.h"
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#include "esp_intr_alloc.h"
#include "esp_debug_helpers.h"
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#include "soc/periph_defs.h"
#include "freertos/FreeRTOS.h"
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#include "freertos/portmacro.h"
#if CONFIG_ESP_SYSTEM_GDBSTUB_RUNTIME
#include "esp_gdbstub.h"
#endif
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#if CONFIG_IDF_TARGET_ESP32 || CONFIG_IDF_TARGET_ESP32S2
#include "soc/dport_reg.h"
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#else
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#include "soc/system_reg.h"
#endif
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#if CONFIG_IDF_TARGET_ESP32P4
#include "soc/hp_system_reg.h"
#endif
#define REASON_YIELD BIT(0)
#define REASON_FREQ_SWITCH BIT(1)
#define REASON_GDB_CALL BIT(3)
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#if CONFIG_IDF_TARGET_ARCH_XTENSA
#define REASON_PRINT_BACKTRACE BIT(2)
#define REASON_TWDT_ABORT BIT(4)
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#endif
static portMUX_TYPE reason_spinlock = portMUX_INITIALIZER_UNLOCKED;
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static volatile uint32_t reason[portNUM_PROCESSORS];
/*
ToDo: There is a small chance the CPU already has yielded when this ISR is serviced. In that case, it's running the intended task but
the ISR will cause it to switch _away_ from it. portYIELD_FROM_ISR will probably just schedule the task again, but have to check that.
*/
static inline void IRAM_ATTR esp_crosscore_isr_handle_yield(void)
{
portYIELD_FROM_ISR();
}
static void IRAM_ATTR esp_crosscore_isr(void *arg) {
uint32_t my_reason_val;
//A pointer to the correct reason array item is passed to this ISR.
volatile uint32_t *my_reason=arg;
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//Clear the interrupt first.
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#if CONFIG_IDF_TARGET_ESP32
if (esp_cpu_get_core_id()==0) {
DPORT_WRITE_PERI_REG(DPORT_CPU_INTR_FROM_CPU_0_REG, 0);
} else {
DPORT_WRITE_PERI_REG(DPORT_CPU_INTR_FROM_CPU_1_REG, 0);
}
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#elif CONFIG_IDF_TARGET_ESP32S2
DPORT_WRITE_PERI_REG(DPORT_CPU_INTR_FROM_CPU_0_REG, 0);
#elif CONFIG_IDF_TARGET_ESP32S3
if (esp_cpu_get_core_id()==0) {
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WRITE_PERI_REG(SYSTEM_CPU_INTR_FROM_CPU_0_REG, 0);
} else {
WRITE_PERI_REG(SYSTEM_CPU_INTR_FROM_CPU_1_REG, 0);
}
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#elif CONFIG_IDF_TARGET_ESP32P4
if (esp_cpu_get_core_id() == 0) {
WRITE_PERI_REG(HP_SYSTEM_CPU_INT_FROM_CPU_0_REG, 0);
} else {
WRITE_PERI_REG(HP_SYSTEM_CPU_INT_FROM_CPU_1_REG, 0);
}
#elif CONFIG_IDF_TARGET_ARCH_RISCV
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WRITE_PERI_REG(SYSTEM_CPU_INTR_FROM_CPU_0_REG, 0);
#endif
//Grab the reason and clear it.
portENTER_CRITICAL_ISR(&reason_spinlock);
my_reason_val=*my_reason;
*my_reason=0;
portEXIT_CRITICAL_ISR(&reason_spinlock);
//Check what we need to do.
if (my_reason_val & REASON_YIELD) {
esp_crosscore_isr_handle_yield();
}
if (my_reason_val & REASON_FREQ_SWITCH) {
/* Nothing to do here; the frequency switch event was already
* handled by a hook in xtensa_vectors.S. Could be used in the future
* to allow DFS features without the extra latency of the ISR hook.
*/
}
#if CONFIG_ESP_SYSTEM_GDBSTUB_RUNTIME
if (my_reason_val & REASON_GDB_CALL) {
update_breakpoints();
}
#endif // !CONFIG_ESP_SYSTEM_GDBSTUB_RUNTIME
#if CONFIG_IDF_TARGET_ARCH_XTENSA // IDF-2986
if (my_reason_val & REASON_PRINT_BACKTRACE) {
esp_backtrace_print(100);
}
#if CONFIG_ESP_TASK_WDT_EN
if (my_reason_val & REASON_TWDT_ABORT) {
extern void task_wdt_timeout_abort_xtensa(bool);
/* Called from a crosscore interrupt, thus, we are not the core that received
* the TWDT interrupt, call the function with `false` as a parameter. */
task_wdt_timeout_abort_xtensa(false);
}
#endif // CONFIG_ESP_TASK_WDT_EN
#endif // CONFIG_IDF_TARGET_ARCH_XTENSA
}
//Initialize the crosscore interrupt on this core. Call this once
//on each active core.
void esp_crosscore_int_init(void) {
portENTER_CRITICAL(&reason_spinlock);
reason[esp_cpu_get_core_id()]=0;
portEXIT_CRITICAL(&reason_spinlock);
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esp_err_t err __attribute__((unused)) = ESP_OK;
#if portNUM_PROCESSORS > 1
if (esp_cpu_get_core_id()==0) {
err = esp_intr_alloc(ETS_FROM_CPU_INTR0_SOURCE, ESP_INTR_FLAG_IRAM, esp_crosscore_isr, (void*)&reason[0], NULL);
} else {
err = esp_intr_alloc(ETS_FROM_CPU_INTR1_SOURCE, ESP_INTR_FLAG_IRAM, esp_crosscore_isr, (void*)&reason[1], NULL);
}
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#else
err = esp_intr_alloc(ETS_FROM_CPU_INTR0_SOURCE, ESP_INTR_FLAG_IRAM, esp_crosscore_isr, (void*)&reason[0], NULL);
#endif
ESP_ERROR_CHECK(err);
}
static void IRAM_ATTR esp_crosscore_int_send(int core_id, uint32_t reason_mask) {
assert(core_id<portNUM_PROCESSORS);
//Mark the reason we interrupt the other CPU
portENTER_CRITICAL_ISR(&reason_spinlock);
reason[core_id] |= reason_mask;
portEXIT_CRITICAL_ISR(&reason_spinlock);
//Poke the other CPU.
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#if CONFIG_IDF_TARGET_ESP32
if (core_id==0) {
DPORT_WRITE_PERI_REG(DPORT_CPU_INTR_FROM_CPU_0_REG, DPORT_CPU_INTR_FROM_CPU_0);
} else {
DPORT_WRITE_PERI_REG(DPORT_CPU_INTR_FROM_CPU_1_REG, DPORT_CPU_INTR_FROM_CPU_1);
}
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#elif CONFIG_IDF_TARGET_ESP32S2
DPORT_WRITE_PERI_REG(DPORT_CPU_INTR_FROM_CPU_0_REG, DPORT_CPU_INTR_FROM_CPU_0);
#elif CONFIG_IDF_TARGET_ESP32S3
if (core_id==0) {
WRITE_PERI_REG(SYSTEM_CPU_INTR_FROM_CPU_0_REG, SYSTEM_CPU_INTR_FROM_CPU_0);
} else {
WRITE_PERI_REG(SYSTEM_CPU_INTR_FROM_CPU_1_REG, SYSTEM_CPU_INTR_FROM_CPU_1);
}
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#elif CONFIG_IDF_TARGET_ESP32P4
if (core_id==0) {
WRITE_PERI_REG(HP_SYSTEM_CPU_INT_FROM_CPU_0_REG, HP_SYSTEM_CPU_INT_FROM_CPU_0);
} else {
WRITE_PERI_REG(HP_SYSTEM_CPU_INT_FROM_CPU_1_REG, HP_SYSTEM_CPU_INT_FROM_CPU_1);
}
#elif CONFIG_IDF_TARGET_ARCH_RISCV
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WRITE_PERI_REG(SYSTEM_CPU_INTR_FROM_CPU_0_REG, SYSTEM_CPU_INTR_FROM_CPU_0);
#endif
}
void IRAM_ATTR esp_crosscore_int_send_yield(int core_id)
{
esp_crosscore_int_send(core_id, REASON_YIELD);
}
void IRAM_ATTR esp_crosscore_int_send_freq_switch(int core_id)
{
esp_crosscore_int_send(core_id, REASON_FREQ_SWITCH);
}
void IRAM_ATTR esp_crosscore_int_send_gdb_call(int core_id)
{
esp_crosscore_int_send(core_id, REASON_GDB_CALL);
}
#if CONFIG_IDF_TARGET_ARCH_XTENSA
void IRAM_ATTR esp_crosscore_int_send_print_backtrace(int core_id)
{
esp_crosscore_int_send(core_id, REASON_PRINT_BACKTRACE);
}
#if CONFIG_ESP_TASK_WDT_EN
void IRAM_ATTR esp_crosscore_int_send_twdt_abort(int core_id) {
esp_crosscore_int_send(core_id, REASON_TWDT_ABORT);
}
#endif // CONFIG_ESP_TASK_WDT_EN
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#endif