esp-idf/components/esp_system/port/esp_ipc_isr.c

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/*
* SPDX-FileCopyrightText: 2017-2023 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0
*/
#include <stddef.h>
#include <stdlib.h>
#include <string.h>
#include <assert.h>
#include "esp_err.h"
#include "esp_attr.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "freertos/portmacro.h"
#include "esp_private/esp_ipc_isr.h"
#include "esp_private/esp_ipc_isr_port.h"
#include "esp_ipc_isr.h"
#include "sdkconfig.h"
static portMUX_TYPE s_ipc_isr_mux = portMUX_INITIALIZER_UNLOCKED;
uint32_t volatile esp_ipc_isr_start_fl; // the flag shows that it is about to run esp_ipc_func()
uint32_t volatile esp_ipc_isr_end_fl = 1; // the flag shows that esp_ipc_func() is done
esp_ipc_isr_func_t volatile esp_ipc_func; // the function which will be run in the ipc_isr context
void * volatile esp_ipc_func_arg; // the argument of esp_ipc_func()
typedef enum {
STALL_STATE_IDLE = 0,
STALL_STATE_RUNNING = 1,
} stall_state_t;
static stall_state_t volatile s_stall_state = STALL_STATE_IDLE;
static int32_t volatile s_count_of_nested_calls[portNUM_PROCESSORS] = { 0 };
static BaseType_t s_stored_interrupt_level;
static uint32_t volatile esp_ipc_isr_finish_cmd;
/**
* @brief Type of calling
*/
typedef enum {
IPC_ISR_WAIT_FOR_START = 0, /*!< The caller is waiting for the start */
IPC_ISR_WAIT_FOR_END = 1, /*!< The caller is waiting for the end */
} esp_ipc_isr_wait_t;
#define IPC_ISR_ENTER_CRITICAL() portENTER_CRITICAL_SAFE(&s_ipc_isr_mux)
#define IPC_ISR_EXIT_CRITICAL() portEXIT_CRITICAL_SAFE(&s_ipc_isr_mux)
static void esp_ipc_isr_call_and_wait(esp_ipc_isr_func_t func, void* arg, esp_ipc_isr_wait_t wait_for);
/* Initializing IPC_ISR */
void esp_ipc_isr_init(void)
{
const uint32_t cpuid = xPortGetCoreID();
esp_ipc_isr_port_init(cpuid);
if (cpuid != 0) {
s_stall_state = STALL_STATE_RUNNING;
}
}
/* End initializing IPC_ISR */
/* Public API functions */
void IRAM_ATTR esp_ipc_isr_call(esp_ipc_isr_func_t func, void* arg)
{
IPC_ISR_ENTER_CRITICAL();
esp_ipc_isr_call_and_wait(func, arg, IPC_ISR_WAIT_FOR_START);
IPC_ISR_EXIT_CRITICAL();
}
void IRAM_ATTR esp_ipc_isr_call_blocking(esp_ipc_isr_func_t func, void* arg)
{
IPC_ISR_ENTER_CRITICAL();
esp_ipc_isr_call_and_wait(func, arg, IPC_ISR_WAIT_FOR_END);
IPC_ISR_EXIT_CRITICAL();
}
// This asm function is from esp_ipc_isr_routines.S.
// It is waiting for the finish_cmd command in a loop.
void esp_ipc_isr_waiting_for_finish_cmd(void* finish_cmd);
/*
* esp_ipc_isr_stall_other_cpu is used for:
* - stall other CPU,
* - do protection when dual core access DPORT internal register and APB register via DPORT simultaneously.
* This function will be initialize after FreeRTOS startup.
* When cpu0 wants to access DPORT register, it should notify cpu1 enter in high-priority interrupt for be mute.
* When cpu1 already in high-priority interrupt, cpu0 can access DPORT register.
* Currently, cpu1 will wait for cpu0 finish access and exit high-priority interrupt.
*/
void IRAM_ATTR esp_ipc_isr_stall_other_cpu(void)
{
#if CONFIG_FREERTOS_SMP
/*
Temporary workaround to prevent deadlocking on the SMP FreeRTOS kernel lock after stalling the other CPU.
See IDF-5257
*/
taskENTER_CRITICAL();
#endif
if (s_stall_state == STALL_STATE_RUNNING) {
#if CONFIG_FREERTOS_SMP
BaseType_t intLvl = portDISABLE_INTERRUPTS();
#else
BaseType_t intLvl = portSET_INTERRUPT_MASK_FROM_ISR();
#endif
const uint32_t cpu_id = xPortGetCoreID();
if (s_count_of_nested_calls[cpu_id]++ == 0) {
IPC_ISR_ENTER_CRITICAL();
s_stored_interrupt_level = intLvl;
esp_ipc_isr_finish_cmd = 0;
esp_ipc_isr_call_and_wait(&esp_ipc_isr_waiting_for_finish_cmd, (void*)&esp_ipc_isr_finish_cmd, IPC_ISR_WAIT_FOR_START);
return;
}
/* Interrupts are already disabled by the parent, we're nested here. */
#if CONFIG_FREERTOS_SMP
portRESTORE_INTERRUPTS(intLvl);
#else
portCLEAR_INTERRUPT_MASK_FROM_ISR(intLvl);
#endif
}
}
void IRAM_ATTR esp_ipc_isr_release_other_cpu(void)
{
if (s_stall_state == STALL_STATE_RUNNING) {
const uint32_t cpu_id = xPortGetCoreID();
if (--s_count_of_nested_calls[cpu_id] == 0) {
esp_ipc_isr_finish_cmd = 1;
// Make sure end flag is cleared and esp_ipc_isr_waiting_for_finish_cmd is done.
while (!esp_ipc_isr_end_fl) {};
IPC_ISR_EXIT_CRITICAL();
#if CONFIG_FREERTOS_SMP
portRESTORE_INTERRUPTS(s_stored_interrupt_level);
#else
portCLEAR_INTERRUPT_MASK_FROM_ISR(s_stored_interrupt_level);
#endif
} else if (s_count_of_nested_calls[cpu_id] < 0) {
assert(0);
}
}
#if CONFIG_FREERTOS_SMP
/*
Temporary workaround to prevent deadlocking on the SMP FreeRTOS kernel lock after stalling the other CPU.
See IDF-5257
*/
taskEXIT_CRITICAL();
#endif
}
void IRAM_ATTR esp_ipc_isr_stall_pause(void)
{
IPC_ISR_ENTER_CRITICAL();
s_stall_state = STALL_STATE_IDLE;
IPC_ISR_EXIT_CRITICAL();
}
void IRAM_ATTR esp_ipc_isr_stall_abort(void)
{
//Note: We don't enter a critical section here as we are calling this from a panic.
s_stall_state = STALL_STATE_IDLE;
}
void IRAM_ATTR esp_ipc_isr_stall_resume(void)
{
IPC_ISR_ENTER_CRITICAL();
s_stall_state = STALL_STATE_RUNNING;
IPC_ISR_EXIT_CRITICAL();
}
/* End public API functions */
/* Private functions*/
static void IRAM_ATTR esp_ipc_isr_call_and_wait(esp_ipc_isr_func_t func, void* arg, esp_ipc_isr_wait_t wait_for)
{
const uint32_t cpu_id = xPortGetCoreID();
// waiting for the end of the previous call
while (!esp_ipc_isr_end_fl) {};
esp_ipc_func = func;
esp_ipc_func_arg = arg;
esp_ipc_isr_start_fl = 0;
esp_ipc_isr_end_fl = 0;
// Trigger an interrupt on the opposite core.
esp_ipc_isr_port_int_trigger(!cpu_id);
// IPC_ISR handler will be called and `...isr_start` and `...isr_end` will be updated there
if (wait_for == IPC_ISR_WAIT_FOR_START) {
while (!esp_ipc_isr_start_fl) {};
} else {
// IPC_ISR_WAIT_FOR_END
while (!esp_ipc_isr_end_fl) {};
}
}
/* End private functions*/