freertos: Add RISC-V port

Changes come from internal branch commit a6723fc

components/freertos/CMakeLists.txt

@@ -4,16 +4,49 @@ if(BOOTLOADER_BUILD)
     return()
 endif()
 
-set(srcs
+idf_build_get_property(target IDF_TARGET)
-    "xtensa/port.c"
+
-    "xtensa/portasm.S"
+if(NOT "${target}" STREQUAL "esp32c3")  # should test arch here not target, TODO ESP32-C3 IDF-1754
-    "xtensa/xtensa_context.S"
+    set(srcs
-    "xtensa/xtensa_init.c"
+        "port/xtensa/port.c"
-    "xtensa/xtensa_overlay_os_hook.c"
+        "port/xtensa/portasm.S"
-    "xtensa/xtensa_vector_defaults.S"
+        "port/xtensa/xtensa_context.S"
-    "xtensa/xtensa_vectors.S")
+        "port/xtensa/xtensa_init.c"
+        "port/xtensa/xtensa_overlay_os_hook.c"
+        "port/xtensa/xtensa_vector_defaults.S"
+        "port/xtensa/xtensa_vectors.S")
+
+    set(include_dirs
+        include
+        port/xtensa/include)
+
+    set(private_include_dirs
+        include/freertos
+        port/xtensa/include/freertos
+        port/xtensa
+        .)
+
+    set(required_components app_trace esp_timer)
+else()  # RISC-V
+    set(srcs
+        "port/riscv/port.c"
+        "port/riscv/portasm.S")
+
+    set(include_dirs
+        include
+        port/riscv/include)
+
+    set(private_include_dirs
+        include/freertos
+        port/riscv/include/freertos
+        port/riscv
+        .)
+
+    set(required_components esp_timer)
+endif()
 
 list(APPEND srcs
+    "port/port_common.c"
     "croutine.c"
     "event_groups.c"
     "list.c"
@@ -23,19 +56,9 @@ list(APPEND srcs
     "stream_buffer.c"
     "FreeRTOS-openocd.c")
 
-set(include_dirs
-    include
-    xtensa/include)
-
-set(private_include_dirs
-    include/freertos
-    xtensa/include/freertos
-    xtensa
-    .)
-
 if(CONFIG_ESP32_IRAM_AS_8BIT_ACCESSIBLE_MEMORY)
-     list(APPEND srcs "xtensa/xtensa_loadstore_handler.S")
+    list(APPEND srcs "port/xtensa/xtensa_loadstore_handler.S")
- endif()
+endif()
 
 # app_trace is required by FreeRTOS headers only when CONFIG_SYSVIEW_ENABLE=y,
 # but requirements can't depend on config options, so always require it.
@@ -43,7 +66,7 @@ idf_component_register(SRCS "${srcs}"
                     INCLUDE_DIRS ${include_dirs}
                     PRIV_INCLUDE_DIRS  ${private_include_dirs}
                     LDFRAGMENTS linker.lf
-                    REQUIRES app_trace esp_timer
+                    REQUIRES ${required_components}
                     PRIV_REQUIRES soc)
 
 idf_component_get_property(COMPONENT_DIR freertos COMPONENT_DIR)

components/freertos/component.mk

@@ -6,9 +6,9 @@ ifdef CONFIG_FREERTOS_DEBUG_OCDAWARE
 	COMPONENT_ADD_LDFLAGS += -Wl,--undefined=uxTopUsedPriority
 endif
 
-COMPONENT_ADD_INCLUDEDIRS := include xtensa/include
+COMPONENT_ADD_INCLUDEDIRS := include port/xtensa/include
-COMPONENT_PRIV_INCLUDEDIRS := include/freertos xtensa/include/freertos xtensa .
+COMPONENT_PRIV_INCLUDEDIRS := include/freertos port/xtensa/include/freertos port/xtensa .
-COMPONENT_SRCDIRS += xtensa
+COMPONENT_SRCDIRS += port port/xtensa
 
 ifndef CONFIG_ESP32_IRAM_AS_8BIT_ACCESSIBLE_MEMORY
 	COMPONENT_OBJEXCLUDE := xtensa/xtensa_loadstore_handler.o

components/freertos/linker.lf

@@ -112,6 +112,6 @@ entries:
         queue: xQueueAddToSet (default)
         queue: xQueueRemoveFromSet (default)
         queue: xQueueSelectFromSet (default)
-    port:main_task (default)
+    port_common:main_task (default)
     port:esp_startup_start_app (default)
     port:esp_startup_start_app_other_cores (default)

components/freertos/port/port_common.c

@@ -0,0 +1,135 @@
+// Copyright 2015-2020 Espressif Systems (Shanghai) PTE LTD
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#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"
+#include "esp_log.h"
+#include "soc/dport_access.h"
+#include "sdkconfig.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
+// 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);
+
+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();
+
+#ifndef CONFIG_FREERTOS_UNICORE
+#if CONFIG_IDF_TARGET_ESP32
+	esp_dport_access_int_init();
+#endif
+#endif
+
+	portBASE_TYPE res = xTaskCreatePinnedToCore(&main_task, "main",
+												ESP_TASK_MAIN_STACK, NULL,
+												ESP_TASK_MAIN_PRIO, NULL, 0);
+	assert(res == pdTRUE);
+}
+
+static void main_task(void* args)
+{
+#if !CONFIG_FREERTOS_UNICORE
+	// Wait for FreeRTOS initialization to finish on APP CPU, before replacing its startup stack
+	while (port_xSchedulerRunning[1] == 0) {
+		;
+	}
+#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);
+}

components/freertos/port/riscv/include/freertos/FreeRTOSConfig.h

@@ -0,0 +1,277 @@
+/*
+    FreeRTOS V8.2.0 - Copyright (C) 2015 Real Time Engineers Ltd.
+    All rights reserved
+
+    VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
+
+    This file is part of the FreeRTOS distribution.
+
+    FreeRTOS is free software; you can redistribute it and/or modify it under
+    the terms of the GNU General Public License (version 2) as published by the
+    Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
+
+	***************************************************************************
+    >>!   NOTE: The modification to the GPL is included to allow you to     !<<
+    >>!   distribute a combined work that includes FreeRTOS without being   !<<
+    >>!   obliged to provide the source code for proprietary components     !<<
+    >>!   outside of the FreeRTOS kernel.                                   !<<
+	***************************************************************************
+
+    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
+    WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+    FOR A PARTICULAR PURPOSE.  Full license text is available on the following
+    link: http://www.freertos.org/a00114.html
+
+    ***************************************************************************
+     *                                                                       *
+     *    FreeRTOS provides completely free yet professionally developed,    *
+     *    robust, strictly quality controlled, supported, and cross          *
+     *    platform software that is more than just the market leader, it     *
+     *    is the industry's de facto standard.                               *
+     *                                                                       *
+     *    Help yourself get started quickly while simultaneously helping     *
+     *    to support the FreeRTOS project by purchasing a FreeRTOS           *
+     *    tutorial book, reference manual, or both:                          *
+     *    http://www.FreeRTOS.org/Documentation                              *
+     *                                                                       *
+    ***************************************************************************
+
+    http://www.FreeRTOS.org/FAQHelp.html - Having a problem?  Start by reading
+	the FAQ page "My application does not run, what could be wrong?".  Have you
+	defined configASSERT()?
+
+	http://www.FreeRTOS.org/support - In return for receiving this top quality
+	embedded software for free we request you assist our global community by
+	participating in the support forum.
+
+	http://www.FreeRTOS.org/training - Investing in training allows your team to
+	be as productive as possible as early as possible.  Now you can receive
+	FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
+	Ltd, and the world's leading authority on the world's leading RTOS.
+
+    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
+    including FreeRTOS+Trace - an indispensable productivity tool, a DOS
+    compatible FAT file system, and our tiny thread aware UDP/IP stack.
+
+    http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
+    Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
+
+    http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
+    Integrity Systems ltd. to sell under the OpenRTOS brand.  Low cost OpenRTOS
+    licenses offer ticketed support, indemnification and commercial middleware.
+
+    http://www.SafeRTOS.com - High Integrity Systems also provide a safety
+    engineered and independently SIL3 certified version for use in safety and
+    mission critical applications that require provable dependability.
+
+    1 tab == 4 spaces!
+*/
+
+#ifndef FREERTOS_CONFIG_H
+#define FREERTOS_CONFIG_H
+
+#include "sdkconfig.h"
+
+/* enable use of optimized task selection by the scheduler */
+#define configUSE_PORT_OPTIMISED_TASK_SELECTION 0
+
+#define portNUM_PROCESSORS 1
+#define configASSERT_2	0
+#define portUSING_MPU_WRAPPERS 0
+#define configUSE_MUTEX 1
+
+#define configMAX_SYSCALL_INTERRUPT_PRIORITY	0
+#define configUSE_NEWLIB_REENTRANT		1
+
+#define configNUM_THREAD_LOCAL_STORAGE_POINTERS CONFIG_FREERTOS_THREAD_LOCAL_STORAGE_POINTERS
+#define configTHREAD_LOCAL_STORAGE_DELETE_CALLBACKS 1
+
+/* configASSERT behaviour */
+#ifndef __ASSEMBLER__
+#include <stdlib.h> /* for abort() */
+#include "esp32c3/rom/ets_sys.h"
+
+#if defined(CONFIG_FREERTOS_ASSERT_DISABLE)
+#define configASSERT(a) /* assertions disabled */
+#elif defined(CONFIG_FREERTOS_ASSERT_FAIL_PRINT_CONTINUE)
+#define configASSERT(a) if (unlikely(!(a))) {                               \
+        esp_rom_printf("%s:%d (%s)- assert failed!\n", __FILE__, __LINE__,  \
+                   __FUNCTION__);                                           \
+    }
+#else /* CONFIG_FREERTOS_ASSERT_FAIL_ABORT */
+#define configASSERT(a) if (unlikely(!(a))) {                               \
+        esp_rom_printf("%s:%d (%s)- assert failed!\n", __FILE__, __LINE__,  \
+                   __FUNCTION__);                                           \
+        abort();                                                            \
+        }
+#endif
+
+#if CONFIG_FREERTOS_ASSERT_ON_UNTESTED_FUNCTION
+#define UNTESTED_FUNCTION() { esp_rom_printf("Untested FreeRTOS function %s\r\n", __FUNCTION__); configASSERT(false); } while(0)
+#else
+#define UNTESTED_FUNCTION()
+#endif
+
+
+#endif /* def __ASSEMBLER__ */
+
+
+/*-----------------------------------------------------------
+ * Application specific definitions.
+ *
+ * These definitions should be adjusted for your particular hardware and
+ * application requirements.
+ *
+ * Note that the default heap size is deliberately kept small so that
+ * the build is more likely to succeed for configurations with limited
+ * memory.
+ *
+ * THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
+ * FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE.
+ *----------------------------------------------------------*/
+
+#define configUSE_PREEMPTION			1
+#define configUSE_IDLE_HOOK				1
+#define configUSE_TICK_HOOK				1
+#define configRECORD_STACK_HIGH_ADDRESS 1
+#define configTICK_RATE_HZ				( CONFIG_FREERTOS_HZ )
+
+/* Default clock rate for simulator */
+//#define configCPU_CLOCK_HZ				80000000
+
+/* This has impact on speed of search for highest priority */
+#ifdef SMALL_TEST
+#define configMAX_PRIORITIES			( 7 )
+#else
+#define configMAX_PRIORITIES			( 25 )
+#endif
+
+#if defined(CONFIG_APPTRACE_ENABLE)
+/* apptrace module requires at least 2KB of stack per task */
+#define configMINIMAL_STACK_SIZE		2048
+#elif defined(CONFIG_COMPILER_OPTIMIZATION_NONE)
+/* with optimizations disabled, scheduler uses additional stack */
+#define configMINIMAL_STACK_SIZE		1024
+#else
+#define configMINIMAL_STACK_SIZE		768
+#endif
+
+#define configNUM_THREAD_LOCAL_STORAGE_POINTERS CONFIG_FREERTOS_THREAD_LOCAL_STORAGE_POINTERS
+#define configTHREAD_LOCAL_STORAGE_DELETE_CALLBACKS 1
+
+#ifndef configIDLE_TASK_STACK_SIZE
+#define configIDLE_TASK_STACK_SIZE CONFIG_FREERTOS_IDLE_TASK_STACKSIZE
+#endif
+
+/* The port layer uses a separate interrupt stack. Adjust the stack size */
+/* to suit the needs of your specific application.                        */
+#ifndef configISR_STACK_SIZE
+#define configISR_STACK_SIZE			CONFIG_FREERTOS_ISR_STACKSIZE
+#endif
+
+/* Minimal heap size to make sure examples can run on memory limited
+   configs. Adjust this to suit your system. */
+
+
+//We define the heap to span all of the non-statically-allocated shared RAM. ToDo: Make sure there
+//is some space left for the app and main cpu when running outside of a thread.
+#define configAPPLICATION_ALLOCATED_HEAP 1
+#define configTOTAL_HEAP_SIZE			(&_heap_end - &_heap_start)//( ( size_t ) (64 * 1024) )
+
+#define configMAX_TASK_NAME_LEN			( CONFIG_FREERTOS_MAX_TASK_NAME_LEN )
+
+#ifdef CONFIG_FREERTOS_USE_TRACE_FACILITY
+#define configUSE_TRACE_FACILITY        1       /* Used by uxTaskGetSystemState(), and other trace facility functions */
+#endif
+
+#ifdef CONFIG_FREERTOS_USE_STATS_FORMATTING_FUNCTIONS
+#define configUSE_STATS_FORMATTING_FUNCTIONS    1   /* Used by vTaskList() */
+#endif
+
+#ifdef CONFIG_FREERTOS_VTASKLIST_INCLUDE_COREID
+#define configTASKLIST_INCLUDE_COREID   1
+#endif
+
+#ifdef CONFIG_FREERTOS_GENERATE_RUN_TIME_STATS
+#define configGENERATE_RUN_TIME_STATS   1       /* Used by vTaskGetRunTimeStats() */
+#endif
+
+#define configUSE_TRACE_FACILITY_2      0
+#define configBENCHMARK					0
+#define configUSE_16_BIT_TICKS			0
+#define configIDLE_SHOULD_YIELD			0
+#define configQUEUE_REGISTRY_SIZE		CONFIG_FREERTOS_QUEUE_REGISTRY_SIZE
+
+#define configUSE_MUTEXES				1
+#define configUSE_RECURSIVE_MUTEXES		1
+#define configUSE_COUNTING_SEMAPHORES	1
+
+#if CONFIG_FREERTOS_CHECK_STACKOVERFLOW_NONE
+#define configCHECK_FOR_STACK_OVERFLOW	0
+#elif CONFIG_FREERTOS_CHECK_STACKOVERFLOW_PTRVAL
+#define configCHECK_FOR_STACK_OVERFLOW	1
+#elif CONFIG_FREERTOS_CHECK_STACKOVERFLOW_CANARY
+#define configCHECK_FOR_STACK_OVERFLOW	2
+#endif
+
+/* Co-routine definitions. */
+#define configUSE_CO_ROUTINES 			0
+#define configMAX_CO_ROUTINE_PRIORITIES ( 2 )
+
+/* Set the following definitions to 1 to include the API function, or zero
+   to exclude the API function. */
+
+#define INCLUDE_vTaskPrioritySet			1
+#define INCLUDE_uxTaskPriorityGet			1
+#define INCLUDE_vTaskDelete					1
+#define INCLUDE_vTaskCleanUpResources		0
+#define INCLUDE_vTaskSuspend				1
+#define INCLUDE_vTaskDelayUntil				1
+#define INCLUDE_vTaskDelay					1
+#define INCLUDE_uxTaskGetStackHighWaterMark	1
+#define INCLUDE_pcTaskGetTaskName			1
+#define INCLUDE_xTaskGetIdleTaskHandle      1
+#define INCLUDE_pxTaskGetStackStart			1
+
+#define INCLUDE_xSemaphoreGetMutexHolder    1
+
+/* The priority at which the tick interrupt runs.  This should probably be
+   kept at 1. */
+#define configKERNEL_INTERRUPT_PRIORITY		1
+#define configSUPPORT_DYNAMIC_ALLOCATION    1
+#define configSUPPORT_STATIC_ALLOCATION CONFIG_FREERTOS_SUPPORT_STATIC_ALLOCATION
+
+#ifndef __ASSEMBLER__
+#if CONFIG_FREERTOS_ENABLE_STATIC_TASK_CLEAN_UP
+extern void vPortCleanUpTCB ( void *pxTCB );
+#define portCLEAN_UP_TCB( pxTCB )           vPortCleanUpTCB( pxTCB )
+#endif
+#endif
+
+/* Test FreeRTOS timers (with timer task) and more. */
+/* Some files don't compile if this flag is disabled */
+#define configUSE_TIMERS                    1
+#define configTIMER_TASK_PRIORITY           CONFIG_FREERTOS_TIMER_TASK_PRIORITY
+#define configTIMER_QUEUE_LENGTH            CONFIG_FREERTOS_TIMER_QUEUE_LENGTH
+#define configTIMER_TASK_STACK_DEPTH        CONFIG_FREERTOS_TIMER_TASK_STACK_DEPTH
+
+#define INCLUDE_xTimerPendFunctionCall      1
+#define INCLUDE_eTaskGetState               1
+#define configUSE_QUEUE_SETS                1
+
+#define configUSE_TICKLESS_IDLE             CONFIG_FREERTOS_USE_TICKLESS_IDLE
+#if configUSE_TICKLESS_IDLE
+#define configEXPECTED_IDLE_TIME_BEFORE_SLEEP   CONFIG_FREERTOS_IDLE_TIME_BEFORE_SLEEP
+#endif //configUSE_TICKLESS_IDLE
+
+#ifndef configENABLE_TASK_SNAPSHOT
+#define configENABLE_TASK_SNAPSHOT          1
+#endif
+
+#if CONFIG_FREERTOS_CHECK_MUTEX_GIVEN_BY_OWNER
+#define configCHECK_MUTEX_GIVEN_BY_OWNER    1
+#else
+#define configCHECK_MUTEX_GIVEN_BY_OWNER    0
+#endif
+
+#endif /* FREERTOS_CONFIG_H */

components/freertos/port/riscv/include/freertos/portmacro.h

@@ -0,0 +1,310 @@
+/*
+ * FreeRTOS Kernel V10.2.1
+ * Copyright (C) 2019 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+#ifndef PORTMACRO_H
+#define PORTMACRO_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#ifndef __ASSEMBLER__
+
+#include <stdint.h>
+#include <stdlib.h>
+#include <stdbool.h>
+#include <stdio.h>
+#include <limits.h>
+
+#include "sdkconfig.h"
+#include "esp_attr.h"
+#include "esp_heap_caps.h"
+#ifdef CONFIG_LEGACY_INCLUDE_COMMON_HEADERS
+#include "soc/soc_memory_layout.h"
+#endif
+#include "soc/spinlock.h"
+#include "soc/interrupt_core0_reg.h"
+#include "esp_rom_sys.h"
+#include "soc/cpu.h"
+#include "esp_system.h"
+#include "esp_newlib.h"
+
+/*-----------------------------------------------------------
+ * Port specific definitions.
+ *
+ * The settings in this file configure FreeRTOS correctly for the
+ * given hardware and compiler.
+ *
+ * These settings should not be altered.
+ *-----------------------------------------------------------
+ */
+
+/* Type definitions. */
+#define portCHAR		uint8_t
+#define portFLOAT		float
+#define portDOUBLE		double
+#define portLONG		int32_t
+#define portSHORT		int16_t
+#define portSTACK_TYPE	uint8_t
+#define portBASE_TYPE	int
+// interrupt module will mask interrupt with priority less than threshold
+#define RVHAL_EXCM_LEVEL    4
+
+typedef portSTACK_TYPE			StackType_t;
+typedef portBASE_TYPE			BaseType_t;
+typedef unsigned portBASE_TYPE	UBaseType_t;
+
+#if( configUSE_16_BIT_TICKS == 1 )
+	typedef uint16_t TickType_t;
+	#define portMAX_DELAY ( TickType_t ) 0xffff
+#else
+	typedef uint32_t TickType_t;
+	#define portMAX_DELAY ( TickType_t ) 0xffffffffUL
+#endif
+/*------------------------------------------------------*/
+
+/* Architecture specifics. */
+#define portSTACK_GROWTH			( -1 )
+#define portTICK_PERIOD_MS			( ( TickType_t ) (1000 / configTICK_RATE_HZ) )
+#define portBYTE_ALIGNMENT			16
+/*-----------------------------------------------------------*/
+#include "portbenchmark.h"
+
+static inline uint32_t IRAM_ATTR xPortGetCoreID(void) {
+    return cpu_hal_get_core_id();
+}
+
+
+static inline bool IRAM_ATTR xPortCanYield(void)
+{
+    uint32_t threshold = REG_READ(INTERRUPT_CORE0_CPU_INT_THRESH_REG);
+    /* when enter critical code, freertos will mask threshold to RVHAL_EXCM_LEVEL
+     * and exit critical code, will recover threshold value (1). so threshold <= 1
+     * means not in critical code
+     */
+    return (threshold <= 1);
+}
+
+static inline void uxPortCompareSetExtram(volatile uint32_t *addr, uint32_t compare, uint32_t *set)
+{
+#if defined(CONFIG_SPIRAM)
+    compare_and_set_extram(addr, compare, set);
+#endif
+}
+
+static inline void __attribute__((always_inline)) uxPortCompareSet(volatile uint32_t *addr, uint32_t compare, uint32_t *set) {
+    compare_and_set_native(addr, compare, set);
+}
+
+#define portCRITICAL_NESTING_IN_TCB 0
+
+/*
+ * Send an interrupt to another core in order to make the task running
+ * on it yield for a higher-priority task.
+ */
+void vPortYieldOtherCore( BaseType_t coreid);
+
+/*
+ Callback to set a watchpoint on the end of the stack. Called every context switch to change the stack
+ watchpoint around.
+ */
+void vPortSetStackWatchpoint( void* pxStackStart );
+
+/*
+ * Returns true if the current core is in ISR context; low prio ISR, med prio ISR or timer tick ISR. High prio ISRs
+ * aren't detected here, but they normally cannot call C code, so that should not be an issue anyway.
+ */
+BaseType_t xPortInIsrContext(void);
+
+/*
+ * This function will be called in High prio ISRs. Returns true if the current core was in ISR context
+ * before calling into high prio ISR context.
+ */
+BaseType_t xPortInterruptedFromISRContext(void);
+
+/* "mux" data structure (spinlock) */
+typedef struct {
+	/* owner field values:
+	 * 0				- Uninitialized (invalid)
+	 * portMUX_FREE_VAL - Mux is free, can be locked by either CPU
+	 * CORE_ID_REGVAL_PRO / CORE_ID_REGVAL_APP - Mux is locked to the particular core
+	 *
+	 *
+	 * Any value other than portMUX_FREE_VAL, CORE_ID_REGVAL_PRO, CORE_ID_REGVAL_APP indicates corruption
+	 */
+	uint32_t owner;
+	/* count field:
+	 * If mux is unlocked, count should be zero.
+	 * If mux is locked, count is non-zero & represents the number of recursive locks on the mux.
+	 */
+	uint32_t count;
+#ifdef CONFIG_FREERTOS_PORTMUX_DEBUG
+	const char *lastLockedFn;
+	int lastLockedLine;
+#endif
+} portMUX_TYPE;
+
+#define portMUX_FREE_VAL		SPINLOCK_FREE
+
+/* Special constants for vPortCPUAcquireMutexTimeout() */
+#define portMUX_NO_TIMEOUT      SPINLOCK_WAIT_FOREVER  /* When passed for 'timeout_cycles', spin forever if necessary */
+#define portMUX_TRY_LOCK        SPINLOCK_NO_WAIT     /* Try to acquire the spinlock a single time only */
+
+// Keep this in sync with the portMUX_TYPE struct definition please.
+#ifndef CONFIG_FREERTOS_PORTMUX_DEBUG
+#define portMUX_INITIALIZER_UNLOCKED {					\
+		.owner = portMUX_FREE_VAL,						\
+		.count = 0,										\
+	}
+#else
+#define portMUX_INITIALIZER_UNLOCKED {					\
+		.owner = portMUX_FREE_VAL,						\
+		.count = 0,										\
+		.lastLockedFn = "(never locked)",				\
+		.lastLockedLine = -1							\
+	}
+#endif
+
+/* Scheduler utilities. */
+extern void vPortYield( void );
+extern void vPortYieldFromISR( void );
+
+#define portYIELD()			    vPortYield()
+#define portYIELD_FROM_ISR()    vPortYieldFromISR()
+
+/* Yielding within an API call (when interrupts are off), means the yield should be delayed
+   until interrupts are re-enabled.
+   To do this, we use the "cross-core" interrupt as a trigger to yield on this core when interrupts are re-enabled.This
+   is the same interrupt & code path which is used to trigger a yield between CPUs, although in this case the yield is
+   happening on the same CPU.
+*/
+#define portYIELD_WITHIN_API() portYIELD()
+/*-----------------------------------------------------------*/
+
+/* Critical section management. */
+extern int vPortSetInterruptMask(void);
+extern void vPortClearInterruptMask( int );
+
+void vPortCPUInitializeMutex(portMUX_TYPE *mux);
+void vPortCPUAcquireMutex(portMUX_TYPE *mux);
+bool vPortCPUAcquireMutexTimeout(portMUX_TYPE *mux, int timeout_cycles);
+void vPortCPUReleaseMutex(portMUX_TYPE *mux);
+
+extern void vPortEnterCritical( void );
+extern void vPortExitCritical( void );
+
+#define portDISABLE_INTERRUPTS()				portSET_INTERRUPT_MASK_FROM_ISR()
+#define portENABLE_INTERRUPTS()					portCLEAR_INTERRUPT_MASK_FROM_ISR(1)
+
+#define portENTER_CRITICAL(mux)		{(void)mux;  vPortEnterCritical();}
+#define portEXIT_CRITICAL(mux)		{(void)mux;  vPortExitCritical();}
+
+#define portENTER_CRITICAL_ISR(mux)    portENTER_CRITICAL(mux)
+#define portEXIT_CRITICAL_ISR(mux)     portEXIT_CRITICAL(mux)
+
+#define portENTER_CRITICAL_SAFE(mux)  do {                                             \
+                                         if (xPortInIsrContext()) {                    \
+                                             portENTER_CRITICAL_ISR(mux);              \
+                                         } else {                                      \
+                                             portENTER_CRITICAL(mux);                  \
+                                         }                                             \
+                                      } while(0)
+
+#define portEXIT_CRITICAL_SAFE(mux)  do {                                              \
+                                         if (xPortInIsrContext()) {                    \
+                                             portEXIT_CRITICAL_ISR(mux);               \
+                                         } else {                                      \
+                                             portEXIT_CRITICAL(mux);                   \
+                                         }                                             \
+                                      } while(0)
+
+/*------------------------------------------------------------*/
+#define portSET_INTERRUPT_MASK_FROM_ISR()       vPortSetInterruptMask()
+#define portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedStatusValue )       vPortClearInterruptMask( uxSavedStatusValue )
+#define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) vPortYield()
+
+// Cleaner solution allows nested interrupts disabling and restoring via local registers or stack.
+// They can be called from interrupts too.
+static inline unsigned portENTER_CRITICAL_NESTED(void) {
+    unsigned state = portSET_INTERRUPT_MASK_FROM_ISR();
+	return state;
+}
+
+#define portEXIT_CRITICAL_NESTED(state)   do { portCLEAR_INTERRUPT_MASK_FROM_ISR( state );} while(0);
+/*-----------------------------------------------------------*/
+
+//Because the ROM routines don't necessarily handle a stack in external RAM correctly, we force
+//the stack memory to always be internal.
+#define portTcbMemoryCaps (MALLOC_CAP_INTERNAL|MALLOC_CAP_8BIT)
+#define portStackMemoryCaps (MALLOC_CAP_INTERNAL|MALLOC_CAP_8BIT)
+
+#define pvPortMallocTcbMem(size) pvPortMalloc(size)
+#define pvPortMallocStackMem(size)  pvPortMalloc(size)
+
+/* Fine resolution time */
+#define portGET_RUN_TIME_COUNTER_VALUE() 0
+#define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS()
+
+#ifdef CONFIG_FREERTOS_RUN_TIME_STATS_USING_ESP_TIMER
+/* Coarse resolution time (us) */
+#define portALT_GET_RUN_TIME_COUNTER_VALUE(x)    do{(void)x; }while(0)
+#endif
+
+extern void esp_vApplicationIdleHook( void );
+extern void esp_vApplicationTickHook( void );
+
+#ifndef CONFIG_FREERTOS_LEGACY_HOOKS
+#define vApplicationIdleHook    esp_vApplicationIdleHook
+#define vApplicationTickHook    esp_vApplicationTickHook
+#endif /* !CONFIG_FREERTOS_LEGACY_HOOKS */
+
+/* Task function macros as described on the FreeRTOS.org WEB site. */
+#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters )
+#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters )
+
+void vApplicationSleep( TickType_t xExpectedIdleTime );
+#define portSUPPRESS_TICKS_AND_SLEEP( idleTime ) vApplicationSleep( idleTime )
+
+#define portNOP() __asm volatile 	( " nop " )
+
+#define portVALID_TCB_MEM(ptr) esp_ptr_byte_accessible(ptr)
+#define portVALID_STACK_MEM(ptr) esp_ptr_byte_accessible(ptr)
+
+// configASSERT_2 if requested
+#if configASSERT_2
+#include <stdio.h>
+void exit(int);
+#define configASSERT( x )   if (!(x)) { porttracePrint(-1); printf("\nAssertion failed in %s:%d\n", __FILE__, __LINE__); exit(-1); }
+#endif
+
+
+#endif //__ASSEMBLER__
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* PORTMACRO_H */

components/freertos/port/riscv/port.c

@@ -0,0 +1,369 @@
+/*
+    FreeRTOS V8.2.3 - Copyright (C) 2015 Real Time Engineers Ltd.
+    All rights reserved
+
+    VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
+
+    This file is part of the FreeRTOS distribution and was contributed
+    to the project by Technolution B.V. (www.technolution.nl,
+    freertos-riscv@technolution.eu) under the terms of the FreeRTOS
+    contributors license.
+
+    FreeRTOS is free software; you can redistribute it and/or modify it under
+    the terms of the GNU General Public License (version 2) as published by the
+    Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.
+
+    ***************************************************************************
+    >>!   NOTE: The modification to the GPL is included to allow you to     !<<
+    >>!   distribute a combined work that includes FreeRTOS without being   !<<
+    >>!   obliged to provide the source code for proprietary components     !<<
+    >>!   outside of the FreeRTOS kernel.                                   !<<
+    ***************************************************************************
+
+    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
+    WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+    FOR A PARTICULAR PURPOSE.  Full license text is available on the following
+    link: http://www.freertos.org/a00114.html
+
+    ***************************************************************************
+     *                                                                       *
+     *    FreeRTOS provides completely free yet professionally developed,    *
+     *    robust, strictly quality controlled, supported, and cross          *
+     *    platform software that is more than just the market leader, it     *
+     *    is the industry's de facto standard.                               *
+     *                                                                       *
+     *    Help yourself get started quickly while simultaneously helping     *
+     *    to support the FreeRTOS project by purchasing a FreeRTOS           *
+     *    tutorial book, reference manual, or both:                          *
+     *    http://www.FreeRTOS.org/Documentation                              *
+     *                                                                       *
+    ***************************************************************************
+
+    http://www.FreeRTOS.org/FAQHelp.html - Having a problem?  Start by reading
+    the FAQ page "My application does not run, what could be wrong?".  Have you
+    defined configASSERT()?
+
+    http://www.FreeRTOS.org/support - In return for receiving this top quality
+    embedded software for free we request you assist our global community by
+    participating in the support forum.
+
+    http://www.FreeRTOS.org/training - Investing in training allows your team to
+    be as productive as possible as early as possible.  Now you can receive
+    FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
+    Ltd, and the world's leading authority on the world's leading RTOS.
+
+    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
+    including FreeRTOS+Trace - an indispensable productivity tool, a DOS
+    compatible FAT file system, and our tiny thread aware UDP/IP stack.
+
+    http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
+    Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
+
+    http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
+    Integrity Systems ltd. to sell under the OpenRTOS brand.  Low cost OpenRTOS
+    licenses offer ticketed support, indemnification and commercial middleware.
+
+    http://www.SafeRTOS.com - High Integrity Systems also provide a safety
+    engineered and independently SIL3 certified version for use in safety and
+    mission critical applications that require provable dependability.
+
+    1 tab == 4 spaces!
+*/
+
+/*-----------------------------------------------------------------------
+ * Implementation of functions defined in portable.h for the RISC-V port.
+ *----------------------------------------------------------------------*/
+
+#include <string.h>
+#include "FreeRTOS.h"
+#include "task.h"
+#include "sdkconfig.h"
+#include "portmacro.h"
+#include "riscv/interrupt.h"
+#include "soc/periph_defs.h"
+#include "soc/system_reg.h"
+#include "soc/interrupt_reg.h"
+#include "hal/systimer_hal.h"
+#include "hal/systimer_ll.h"
+#include "riscv/riscv_interrupts.h"
+#include "riscv/interrupt.h"
+#include "esp_system.h"
+#include "esp_intr_alloc.h"
+#include "esp_log.h"
+
+/**
+ * @brief A variable is used to keep track of the critical section nesting.
+ * @note This variable has to be stored as part of the task context and must be initialized to a non zero value
+ *       to ensure interrupts don't inadvertently become unmasked before the scheduler starts.
+ *       As it is stored as part of the task context it will automatically be set to 0 when the first task is started.
+ */
+static UBaseType_t uxCriticalNesting = 0;
+static UBaseType_t uxSavedInterruptState = 0;
+BaseType_t uxSchedulerRunning = 0;
+UBaseType_t uxInterruptNesting = 0;
+__attribute__((aligned(16))) static StackType_t xIsrStack[configISR_STACK_SIZE];
+StackType_t *xIsrStackTop = &xIsrStack[0] + (configISR_STACK_SIZE & (~((portPOINTER_SIZE_TYPE)portBYTE_ALIGNMENT_MASK)));
+
+static const char *TAG = "cpu_start"; // [refactor-todo]: might be appropriate to change in the future, but
+
+static void vPortSysTickHandler(void);
+static void vPortSetupTimer(void);
+static void vPortSetupSoftwareInterrupt(void);
+static void vPortSoftwareInterrupt(void);
+static void prvTaskExitError(void);
+
+extern void esprv_intc_int_set_threshold(int); // FIXME, this function is in ROM only
+
+void vPortEnterCritical(void)
+{
+    BaseType_t state = portENTER_CRITICAL_NESTED();
+    uxCriticalNesting++;
+
+    if (uxCriticalNesting == 1) {
+        //portDISABLE_INTERRUPTS();
+        uxSavedInterruptState = state;
+    }
+}
+
+void vPortExitCritical(void)
+{
+    if (uxCriticalNesting > 0) {
+        uxCriticalNesting--;
+        if (uxCriticalNesting == 0) {
+            portEXIT_CRITICAL_NESTED(uxSavedInterruptState);
+            //portENABLE_INTERRUPTS();
+        }
+    }
+}
+
+/**
+ * @brief Set up the systimer peripheral to generate the tick interrupt
+ *
+ */
+void vPortSetupTimer(void)
+{
+    /* register the interrupt handler */
+    intr_handler_set(ETS_SYSTICK_INUM, (intr_handler_t)&vPortSysTickHandler, NULL);
+
+    /* pass the timer interrupt through the interrupt matrix */
+    intr_matrix_route(ETS_SYSTIMER_TARGET0_EDGE_INTR_SOURCE, ETS_SYSTICK_INUM);
+
+    /* enable the interrupt in the INTC */
+    esprv_intc_int_enable(BIT(ETS_SYSTICK_INUM));
+    esprv_intc_int_set_type(BIT(ETS_SYSTICK_INUM), INTR_TYPE_LEVEL);
+    esprv_intc_int_set_priority(ETS_SYSTICK_INUM, 1);
+
+    /* configure the timer */
+    systimer_hal_init();
+    systimer_hal_enable_counter(SYSTIMER_COUNTER_1);
+    systimer_hal_set_alarm_period(SYSTIMER_ALARM_0, 1000000UL / CONFIG_FREERTOS_HZ);
+    systimer_hal_select_alarm_mode(SYSTIMER_ALARM_0, SYSTIMER_ALARM_MODE_PERIOD);
+    systimer_hal_enable_alarm_int(SYSTIMER_ALARM_0);
+    systimer_hal_connect_alarm_counter(SYSTIMER_ALARM_0, SYSTIMER_COUNTER_1);
+}
+
+/* setup software interrupt */
+void vPortSetupSoftwareInterrupt(void)
+{
+    /* register the interrupt handler, see interrupt.h */
+    intr_handler_set(ETS_CPU_INTR0_INUM, (intr_handler_t)&vPortSoftwareInterrupt, NULL);
+
+    /* pass the "FROM_CPU_0", a.k.a. cross-core interrupt, through the interrupt matrix */
+    intr_matrix_route(ETS_FROM_CPU_INTR0_SOURCE, ETS_CPU_INTR0_INUM);
+
+    /* enable the interrupt in the INTC */
+    esprv_intc_int_enable(BIT(ETS_CPU_INTR0_INUM));
+    esprv_intc_int_set_type(BIT(ETS_CPU_INTR0_INUM), INTR_TYPE_LEVEL);
+    esprv_intc_int_set_priority(ETS_CPU_INTR0_INUM, 1);
+
+    // TODO ESP32-C3 IDF-2126, maybe can use interrupt allocation API for all of the above? unsure...
+    esp_intr_reserve(ETS_CPU_INTR0_INUM, xPortGetCoreID());
+}
+
+void prvTaskExitError(void)
+{
+    /* A function that implements a task must not exit or attempt to return to
+    its caller as there is nothing to return to.  If a task wants to exit it
+    should instead call vTaskDelete( NULL ).
+
+    Artificially force an assert() to be triggered if configASSERT() is
+    defined, then stop here so application writers can catch the error. */
+    configASSERT(uxCriticalNesting == ~0UL);
+    portDISABLE_INTERRUPTS();
+    for (;;)
+        ;
+}
+
+/* Clear current interrupt mask and set given mask */
+void vPortClearInterruptMask(int mask)
+{
+    REG_WRITE(INTERRUPT_CORE0_CPU_INT_THRESH_REG, mask);
+}
+
+/* Set interrupt mask and return current interrupt enable register */
+int vPortSetInterruptMask(void)
+{
+    int ret;
+    unsigned old_mstatus = RV_CLEAR_CSR(mstatus, MSTATUS_MIE);
+    ret = REG_READ(INTERRUPT_CORE0_CPU_INT_THRESH_REG);
+    REG_WRITE(INTERRUPT_CORE0_CPU_INT_THRESH_REG, RVHAL_EXCM_LEVEL);
+    RV_SET_CSR(mstatus, old_mstatus & MSTATUS_MIE);
+    return ret;
+}
+
+/*
+ * See header file for description.
+ */
+StackType_t *pxPortInitialiseStack(StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters)
+{
+    extern uint32_t __global_pointer$;
+
+    /* Simulate the stack frame as it would be created by a context switch
+    interrupt. */
+    RvExcFrame *frame = (RvExcFrame *)pxTopOfStack;
+    frame--;
+    frame->ra = (UBaseType_t)prvTaskExitError;
+    frame->mepc = (UBaseType_t)pxCode;
+    frame->a0 = (UBaseType_t)pvParameters;
+    frame->gp = (UBaseType_t)&__global_pointer$;
+    frame->a1 = 0x11111111;
+    frame->a2 = 0x22222222;
+    frame->a3 = 0x33333333;
+    return (StackType_t *)frame;
+}
+
+void vPortSysTickHandler(void)
+{
+    systimer_ll_clear_alarm_int(SYSTIMER_ALARM_0);
+
+    if (!uxSchedulerRunning) {
+        return;
+    }
+
+    if (xTaskIncrementTick() != pdFALSE) {
+        vTaskSwitchContext();
+    }
+}
+
+BaseType_t xPortStartScheduler(void)
+{
+    vPortSetupTimer();
+    vPortSetupSoftwareInterrupt();
+    uxCriticalNesting = 0;
+    uxSchedulerRunning = 0;          /* this means first yield */
+    esprv_intc_int_set_threshold(1); /* set global INTC masking level */
+    riscv_global_interrupts_enable();
+    vPortYield();
+    /*Should not get here*/
+    return pdFALSE;
+}
+
+void vPortEndScheduler(void)
+{
+    /* very unlikely this function will be called, so just trap here */
+    while (1)
+        ;
+}
+
+void vPortSoftwareInterrupt(void)
+{
+    uxSchedulerRunning = 1;
+    vTaskSwitchContext();
+    REG_WRITE(SYSTEM_CPU_INTR_FROM_CPU_0_REG, 0);
+}
+
+void vPortYieldOtherCore(BaseType_t coreid)
+{
+    (void)coreid;
+    vPortYield();
+}
+
+void vPortYield(void)
+{
+    if (uxInterruptNesting) {
+        vPortYieldFromISR();
+    } else {
+        REG_WRITE(SYSTEM_CPU_INTR_FROM_CPU_0_REG, 1);
+
+        /* There are 3-4 instructions of latency between triggering the software
+           interrupt and the CPU interrupt happening. Make sure it happened before
+           we return, otherwise vTaskDelay() may return and execute 1-2
+           instructions before the delay actually happens.
+
+           (We could use the WFI instruction here, but there is a chance that
+           the interrupt will happen while evaluating the other two conditions
+           for an instant yield, and if that happens then the WFI would be
+           waiting for the next interrupt to occur...)
+        */
+        while(uxSchedulerRunning && uxCriticalNesting == 0 && REG_READ(SYSTEM_CPU_INTR_FROM_CPU_0_REG) != 0) { }
+    }
+}
+
+void vPortYieldFromISR(void)
+{
+    vTaskSwitchContext();
+}
+
+void vPortSetStackWatchpoint(void *pxStackStart)
+{
+    (void)pxStackStart; // TODO ESP32-C3 IDF-2207
+}
+
+BaseType_t xPortInIsrContext(void)
+{
+    return uxInterruptNesting;
+}
+
+BaseType_t IRAM_ATTR xPortInterruptedFromISRContext(void)
+{
+    /* For single core, this can be the same as xPortInIsrContext() because reading it is atomic */
+	return uxInterruptNesting;
+}
+
+
+void vPortCPUInitializeMutex(portMUX_TYPE *mux)
+{
+    (void)mux;
+}
+
+void vPortCPUAcquireMutex(portMUX_TYPE *mux)
+{
+    (void)mux;
+}
+
+bool vPortCPUAcquireMutexTimeout(portMUX_TYPE *mux, int timeout_cycles)
+{
+    (void)mux;
+    (void)timeout_cycles;
+    return true;
+}
+
+void vPortCPUReleaseMutex(portMUX_TYPE *mux)
+{
+    (void)mux;
+}
+
+void __attribute__((weak)) vApplicationStackOverflowHook(TaskHandle_t xTask, char *pcTaskName)
+{
+#define ERR_STR1 "***ERROR*** A stack overflow in task "
+#define ERR_STR2 " has been detected."
+    const char *str[] = {ERR_STR1, pcTaskName, ERR_STR2};
+
+    char buf[sizeof(ERR_STR1) + CONFIG_FREERTOS_MAX_TASK_NAME_LEN + sizeof(ERR_STR2) + 1 /* null char */] = {0};
+
+    char *dest = buf;
+    for (int i = 0; i < sizeof(str) / sizeof(str[0]); i++) {
+        dest = strcat(dest, str[i]);
+    }
+    esp_system_abort(buf);
+}
+
+extern void esp_startup_start_app_common(void);
+
+void esp_startup_start_app(void)
+{
+    esp_startup_start_app_common();
+
+    ESP_LOGI(TAG, "Starting scheduler.");
+    vTaskStartScheduler();
+}

components/freertos/port/riscv/portasm.S

@@ -0,0 +1,87 @@
+// Copyright 2015-2020 Espressif Systems (Shanghai) PTE LTD
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+    .global uxInterruptNesting
+    .global uxSchedulerRunning
+    .global xIsrStackTop
+    .global pxCurrentTCB
+    .global vTaskSwitchContext
+    .global xPortSwitchFlag
+
+    .section .text
+
+/**
+ * This function makes the RTOS aware about a ISR entering, it takes the
+ * current task stack saved, places into the TCB, loads the ISR stack
+ * the interrupted stack must be passed in a0. It needs to receive the
+ * ISR nesting code improvements
+ */
+
+    .global rtos_int_enter
+    .type rtos_int_enter, @function
+rtos_int_enter:
+    /* preserve the return address */
+    mv t1, ra
+    mv t2, a0
+
+    /* scheduler not enabled, jump directly to ISR handler */
+    lw t0, uxSchedulerRunning
+    beq t0,zero, not_rtos_enter
+
+    /* Sabe current TCB and load the ISR stack */
+    lw  t0, pxCurrentTCB
+    sw 	t2, 0x0(t0)
+    lw  sp, xIsrStackTop
+
+not_rtos_enter:
+    mv  ra, t1
+    ret
+
+/**
+ * Recovers the next task to run stack pointer and place it into
+ * a0, then the interrupt handler can restore the context of
+ * the next task
+ */
+    .global rtos_int_exit
+    .type rtos_int_exit, @function
+rtos_int_exit:
+
+    /* may skip RTOS aware interrupt since scheduler was not started */
+    lw t0, uxSchedulerRunning
+    beq t0,zero, not_rtos_exit
+
+    /* Schedule the next task if a yield is pending */
+    la t0, xPortSwitchFlag
+    lw t2, 0x0(t0)
+    beq t2, zero, no_switch
+
+    /* preserve return address and schedule next task */
+    addi sp,sp,-4
+    sw  ra, 0x04(sp)
+    call vTaskSwitchContext
+    lw  ra, 0x04(sp)
+    addi sp, sp, 4
+
+    /* Clears the switch pending flag */
+    la t0, xPortSwitchFlag
+    mv t2, zero
+    sw  t2, 0x0(t0)
+
+no_switch:
+    /* Recover the stack of next task and prepare to exit : */
+    lw a0, pxCurrentTCB
+    lw a0, 0x0(a0)
+
+not_rtos_exit:
+    ret

components/freertos/port/xtensa/include/freertos/portbenchmark.h

@@ -0,0 +1,46 @@
+/*******************************************************************************
+// Copyright (c) 2003-2015 Cadence Design Systems, Inc.
+//
+// Permission is hereby granted, free of charge, to any person obtaining
+// a copy of this software and associated documentation files (the
+// "Software"), to deal in the Software without restriction, including
+// without limitation the rights to use, copy, modify, merge, publish,
+// distribute, sublicense, and/or sell copies of the Software, and to
+// permit persons to whom the Software is furnished to do so, subject to
+// the following conditions:
+//
+// The above copyright notice and this permission notice shall be included
+// in all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+// EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+// MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+// IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
+// CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
+// TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+// SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+--------------------------------------------------------------------------------
+*/
+
+/*
+ * This utility helps benchmarking interrupt latency and context switches.
+ * In order to enable it, set configBENCHMARK to 1 in FreeRTOSConfig.h.
+ * You will also need to download the FreeRTOS_trace patch that contains
+ * portbenchmark.c and the complete version of portbenchmark.h
+ */
+
+#ifndef PORTBENCHMARK_H
+#define PORTBENCHMARK_H
+
+#if configBENCHMARK
+    #error "You need to download the FreeRTOS_trace patch that overwrites this file"
+#endif
+
+#define portbenchmarkINTERRUPT_DISABLE()
+#define portbenchmarkINTERRUPT_RESTORE(newstate)
+#define portbenchmarkIntLatency()
+#define portbenchmarkIntWait()
+#define portbenchmarkReset()
+#define portbenchmarkPrint()
+
+#endif /* PORTBENCHMARK */

components/freertos/port/xtensa/include/freertos/portmacro.h

@@ -1,68 +1,29 @@
 /*
-    FreeRTOS V8.2.0 - Copyright (C) 2015 Real Time Engineers Ltd.
+ * FreeRTOS Kernel V10.2.1
-    All rights reserved
+ * Copyright (C) 2019 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
-
+ *
-    VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
-
+ * this software and associated documentation files (the "Software"), to deal in
-    ***************************************************************************
+ * the Software without restriction, including without limitation the rights to
-     *                                                                       *
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
-     *    FreeRTOS provides completely free yet professionally developed,    *
+ * the Software, and to permit persons to whom the Software is furnished to do so,
-     *    robust, strictly quality controlled, supported, and cross          *
+ * subject to the following conditions:
-     *    platform software that has become a de facto standard.             *
+ *
-     *                                                                       *
+ * The above copyright notice and this permission notice shall be included in all
-     *    Help yourself get started quickly and support the FreeRTOS         *
+ * copies or substantial portions of the Software.
-     *    project by purchasing a FreeRTOS tutorial book, reference          *
+ *
-     *    manual, or both from: http://www.FreeRTOS.org/Documentation        *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-     *                                                                       *
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
-     *    Thank you!                                                         *
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
-     *                                                                       *
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
-    ***************************************************************************
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
-
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
-    This file is part of the FreeRTOS distribution.
+ *
-
+ * http://www.FreeRTOS.org
-    FreeRTOS is free software; you can redistribute it and/or modify it under
+ * http://aws.amazon.com/freertos
-    the terms of the GNU General Public License (version 2) as published by the
+ *
-    Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
+ * 1 tab == 4 spaces!
-
+ */
-    >>!   NOTE: The modification to the GPL is included to allow you to     !<<
-    >>!   distribute a combined work that includes FreeRTOS without being   !<<
-    >>!   obliged to provide the source code for proprietary components     !<<
-    >>!   outside of the FreeRTOS kernel.                                   !<<
-
-    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
-    WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-    FOR A PARTICULAR PURPOSE.  Full license text is available from the following
-    link: http://www.freertos.org/a00114.html
-
-    1 tab == 4 spaces!
-
-    ***************************************************************************
-     *                                                                       *
-     *    Having a problem?  Start by reading the FAQ "My application does   *
-     *    not run, what could be wrong?"                                     *
-     *                                                                       *
-     *    http://www.FreeRTOS.org/FAQHelp.html                               *
-     *                                                                       *
-    ***************************************************************************
-
-    http://www.FreeRTOS.org - Documentation, books, training, latest versions,
-    license and Real Time Engineers Ltd. contact details.
-
-    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
-    including FreeRTOS+Trace - an indispensable productivity tool, a DOS
-    compatible FAT file system, and our tiny thread aware UDP/IP stack.
-
-    http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
-    Integrity Systems to sell under the OpenRTOS brand.  Low cost OpenRTOS
-    licenses offer ticketed support, indemnification and middleware.
-
-    http://www.SafeRTOS.com - High Integrity Systems also provide a safety
-    engineered and independently SIL3 certified version for use in safety and
-    mission critical applications that require provable dependability.
-
-    1 tab == 4 spaces!
-*/
-
 #ifndef PORTMACRO_H
 #define PORTMACRO_H
 
@@ -108,8 +69,11 @@ extern "C" {
  *-----------------------------------------------------------
  */
 
-/* Type definitions. */
+#include "esp_system.h"
+#include "hal/cpu_hal.h"
+#include "xt_instr_macros.h"
 
+/* Type definitions. */
 #define portCHAR		int8_t
 #define portFLOAT		float
 #define portDOUBLE		double
@@ -136,6 +100,7 @@ typedef unsigned portBASE_TYPE	UBaseType_t;
 
 #include "sdkconfig.h"
 #include "esp_attr.h"
+#include "portmacro_priv.h"
 
 // Cleaner solution allows nested interrupts disabling and restoring via local registers or stack.
 // They can be called from interrupts too.

components/freertos/port/xtensa/port.c

@@ -139,8 +139,6 @@ extern void _frxt_tick_timer_init(void);
 /* Defined in xtensa_context.S */
 extern void _xt_coproc_init(void);
 
-extern void app_main(void);
-
 static const char* TAG = "cpu_start"; // [refactor-todo]: might be appropriate to change in the future, but
 								// for now maintain the same log output
 
@@ -154,7 +152,7 @@ static const char* TAG = "cpu_start"; // [refactor-todo]: might be appropriate t
 _Static_assert(tskNO_AFFINITY == CONFIG_FREERTOS_NO_AFFINITY, "incorrect tskNO_AFFINITY value");
 
 /*-----------------------------------------------------------*/
-volatile unsigned port_xSchedulerRunning[portNUM_PROCESSORS] = {0}; // Duplicate of inaccessible xSchedulerRunning; needed at startup to avoid counting nesting
+extern volatile int port_xSchedulerRunning[portNUM_PROCESSORS];
 unsigned port_interruptNesting[portNUM_PROCESSORS] = {0};  // Interrupt nesting level. Increased/decreased in portasm.c, _frxt_int_enter/_frxt_int_exit
 BaseType_t port_uxCriticalNesting[portNUM_PROCESSORS] = {0};
 BaseType_t port_uxOldInterruptState[portNUM_PROCESSORS] = {0};
@@ -488,66 +486,6 @@ void  __attribute__((weak)) vApplicationStackOverflowHook( TaskHandle_t xTask, c
 	esp_system_abort(buf);
 }
 
-
-static void main_task(void* args)
-{
-#if !CONFIG_FREERTOS_UNICORE
-	// Wait for FreeRTOS initialization to finish on APP CPU, before replacing its startup stack
-	while (port_xSchedulerRunning[1] == 0) {
-		;
-	}
-#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);
-}
-
-// 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
-
-
 #if !CONFIG_FREERTOS_UNICORE
 void esp_startup_start_app_other_cores(void)
 {
@@ -581,33 +519,18 @@ void esp_startup_start_app_other_cores(void)
 	xPortStartScheduler();
 	abort(); /* Only get to here if FreeRTOS somehow very broken */
 }
-#endif
+#endif // !CONFIG_FREERTOS_UNICORE
+
+extern void esp_startup_start_app_common(void);
 
 void esp_startup_start_app(void)
 {
-#if CONFIG_ESP_INT_WDT
+#if !CONFIG_ESP_INT_WDT
-	esp_int_wdt_init();
-	//Initialize the interrupt watch dog for CPU0.
-	esp_int_wdt_cpu_init();
-#else
 #if CONFIG_ESP32_ECO3_CACHE_LOCK_FIX
 	assert(!soc_has_cache_lock_bug() && "ESP32 Rev 3 + Dual Core + PSRAM requires INT WDT enabled in project config!");
 #endif
 #endif
 
-	esp_crosscore_int_init();
-
-#ifndef CONFIG_FREERTOS_UNICORE
-#if CONFIG_IDF_TARGET_ESP32
-	esp_dport_access_int_init();
-#endif
-#endif
-
-	portBASE_TYPE res = xTaskCreatePinnedToCore(&main_task, "main",
-												ESP_TASK_MAIN_STACK, NULL,
-												ESP_TASK_MAIN_PRIO, NULL, 0);
-	assert(res == pdTRUE);
-
 	// ESP32 has single core variants. Check that FreeRTOS has been configured properly.
 #if CONFIG_IDF_TARGET_ESP32 && !CONFIG_FREERTOS_UNICORE
 	if (REG_GET_BIT(EFUSE_BLK0_RDATA3_REG, EFUSE_RD_CHIP_VER_DIS_APP_CPU)) {
@@ -617,6 +540,8 @@ void esp_startup_start_app(void)
 	}
 #endif // CONFIG_IDF_TARGET_ESP32 && !CONFIG_FREERTOS_UNICORE
 
+	esp_startup_start_app_common();
+
 	ESP_LOGI(TAG, "Starting scheduler on PRO CPU.");
 	vTaskStartScheduler();
 }

components/freertos/test/test_float_in_isr.c

@@ -5,9 +5,7 @@
 #include "freertos/task.h"
 #include "freertos/semphr.h"
 #include "freertos/queue.h"
-#include "freertos/xtensa_api.h"
 #include "esp_intr_alloc.h"
-#include "xtensa/hal.h"
 #include "unity.h"
 #include "soc/cpu.h"
 #include "test_utils.h"

components/freertos/test/test_freertos_backported_functions.c

@@ -29,6 +29,7 @@
 #include "unity.h"
 #include "test_utils.h"
 
+#ifdef CONFIG_FREERTOS_SUPPORT_STATIC_ALLOCATION
 /* ---------------------Test 1: Backported Timer functions-----------------------
  * Test xTimerCreateStatic(), vTimerSetTimerId(), xTimerGetPeriod(), xTimerGetExpiryTime()
  *
@@ -200,6 +201,7 @@ TEST_CASE("Test FreeRTOS backported eventgroup functions", "[freertos]")
     //Cleanup static event
     vEventGroupDelete(eg_handle);
 }
+#endif
 
 /* --------Test backported thread local storage pointer and deletion cb feature----------
  * vTaskSetThreadLocalStoragePointerAndDelCallback()

components/freertos/test/test_freertos_isinisrcontext.c

@@ -4,52 +4,52 @@
 
 #include <esp_types.h>
 #include <stdio.h>
-
+#include "sdkconfig.h"
 #include "freertos/FreeRTOS.h"
 #include "freertos/task.h"
 #include "freertos/semphr.h"
 #include "freertos/queue.h"
-#include "freertos/xtensa_api.h"
 #include "unity.h"
 #include "esp_intr_alloc.h"
-#include "xtensa/hal.h"
 #include "esp_rom_sys.h"
+#include "esp_freertos_hooks.h"
 
 #if CONFIG_FREERTOS_CORETIMER_0
 
 static volatile int in_int_context, int_handled;
 
 
-static void testint(void *arg) {
+static void testint(void)
-    xthal_set_ccompare(1, xthal_get_ccount()+8000000000);
+{
     esp_rom_printf("INT!\n");
-    if (xPortInIsrContext()) in_int_context++;
+    if (xPortInIsrContext()) {
+        in_int_context++;
+    }
     int_handled++;
 }
 
 
-static void testthread(void *arg) {
+static void testthread(void *arg)
-    intr_handle_t handle;
+{
-    in_int_context=0;
+    in_int_context = 0;
-    int_handled=0;
+    int_handled = 0;
     TEST_ASSERT(!xPortInIsrContext());
-    xthal_set_ccompare(1, xthal_get_ccount()+8000000);
+    esp_err_t err = esp_register_freertos_tick_hook_for_cpu(testint, xPortGetCoreID());
-    esp_err_t err = esp_intr_alloc(ETS_INTERNAL_TIMER1_INTR_SOURCE, 0, &testint, NULL, &handle);
     TEST_ASSERT_EQUAL_HEX32(ESP_OK, err);
     vTaskDelay(100 / portTICK_PERIOD_MS);
     TEST_ASSERT(int_handled);
     TEST_ASSERT(in_int_context);
-    TEST_ASSERT_EQUAL_HEX32( ESP_OK, esp_intr_free(handle) );
+    esp_deregister_freertos_tick_hook_for_cpu(testint, xPortGetCoreID());
     vTaskDelete(NULL);
 }
 
 
 TEST_CASE("xPortInIsrContext test", "[freertos]")
 {
-    xTaskCreatePinnedToCore(testthread, "tst" , 4096, NULL, 3, NULL, 0);
+    xTaskCreatePinnedToCore(testthread, "tst", 4096, NULL, 3, NULL, 0);
     vTaskDelay(150 / portTICK_PERIOD_MS);
 #if portNUM_PROCESSORS == 2
-    xTaskCreatePinnedToCore(testthread, "tst" , 4096, NULL, 3, NULL, 1);
+    xTaskCreatePinnedToCore(testthread, "tst", 4096, NULL, 3, NULL, 1);
     vTaskDelay(150 / portTICK_PERIOD_MS);
 #endif
 }

components/freertos/test/test_freertos_scheduling_time.c

@@ -4,9 +4,7 @@
 #include "freertos/task.h"
 #include "freertos/semphr.h"
 #include "freertos/queue.h"
-#include "freertos/xtensa_api.h"
 #include "esp_intr_alloc.h"
-#include "xtensa/hal.h"
 #include "unity.h"
 #include "soc/cpu.h"
 #include "test_utils.h"

components/freertos/test/test_freertos_task_notify.c

@@ -189,7 +189,7 @@ TEST_CASE("Test Task_Notify", "[freertos]")
 
             xSemaphoreGive(trigger_send_semphr);    //Trigger sender task
             for(int k = 0; k < NO_OF_TASKS; k++){             //Wait for sender and receiver task deletion
-                xSemaphoreTake(task_delete_semphr, portMAX_DELAY);
+                TEST_ASSERT( xSemaphoreTake(task_delete_semphr, 1000 / portTICK_PERIOD_MS) );
             }
             vTaskDelay(5);      //Give time tasks to delete
 

components/freertos/test/test_isr_latency.c

@@ -1,16 +1,26 @@
 #include <esp_types.h>
 #include <stdio.h>
-
+#include "sdkconfig.h"
 #include "freertos/FreeRTOS.h"
 #include "freertos/task.h"
 #include "freertos/semphr.h"
 #include "freertos/queue.h"
-#include "freertos/xtensa_api.h"
 #include "esp_intr_alloc.h"
-#include "xtensa/hal.h"
 #include "unity.h"
 #include "soc/cpu.h"
 #include "test_utils.h"
+#if CONFIG_IDF_TARGET_ARCH_XTENSA
+#include "xtensa/hal.h"
+#include "freertos/xtensa_api.h"
+#define TEST_SET_INT_MASK(mask) xt_set_intset(mask)
+#define TEST_CLR_INT_MASK(mask) xt_set_intclear(mask)
+#elif CONFIG_IDF_TARGET_ARCH_RISCV
+#include "riscv/interrupt.h"
+#define TEST_SET_INT_MASK(mask) esprv_intc_int_enable(mask)
+#define TEST_CLR_INT_MASK(mask) esprv_intc_int_disable(mask)
+#endif
+
+#if !TEMPORARY_DISABLED_FOR_TARGETS(ESP32C3)
 
 #define SW_ISR_LEVEL_1  7
 
@@ -25,8 +35,7 @@ static void software_isr_using_parameter_vportyield(void *arg) {
     (void)arg;
     BaseType_t yield;
     delta_enter_cycles += portGET_RUN_TIME_COUNTER_VALUE() - cycle_before_trigger;
-
+    TEST_CLR_INT_MASK(1 << SW_ISR_LEVEL_1);
-    xt_set_intclear(1 << SW_ISR_LEVEL_1);
 
     xSemaphoreGiveFromISR(sync, &yield);
     portYIELD_FROM_ISR(yield);
@@ -39,7 +48,7 @@ static void software_isr_using_no_argument_vportyield(void *arg) {
     BaseType_t yield;
     delta_enter_cycles += portGET_RUN_TIME_COUNTER_VALUE() - cycle_before_trigger;
 
-    xt_set_intclear(1 << SW_ISR_LEVEL_1);
+    TEST_CLR_INT_MASK(1 << SW_ISR_LEVEL_1);
 
     xSemaphoreGiveFromISR(sync, &yield);
     if(yield) {
@@ -53,7 +62,7 @@ static void test_task(void *arg) {
 
     for(int i = 0;i < 10000; i++) {
         cycle_before_trigger = portGET_RUN_TIME_COUNTER_VALUE();
-        xt_set_intset(1 << SW_ISR_LEVEL_1);
+        TEST_SET_INT_MASK(1 << SW_ISR_LEVEL_1);
         xSemaphoreTake(sync, portMAX_DELAY);
         delta_exit_cycles += portGET_RUN_TIME_COUNTER_VALUE() - cycle_before_exit;
     }
@@ -103,3 +112,5 @@ TEST_CASE("isr latency test vport-yield-from-isr with parameter", "[freertos][ig
 
     esp_intr_free(handle);
 }
+
+#endif // #if !TEMPORARY_DISABLED_FOR_TARGETS(ESP32C3)

components/freertos/test/test_newlib_reent.c

@@ -10,7 +10,6 @@
 #include "freertos/task.h"
 #include "freertos/semphr.h"
 #include "freertos/queue.h"
-#include "freertos/xtensa_api.h"
 #include "unity.h"
 
 volatile static int done;

components/freertos/test/test_panic.c

@@ -9,7 +9,6 @@
 #include "freertos/task.h"
 #include "freertos/semphr.h"
 #include "freertos/queue.h"
-#include "freertos/xtensa_api.h"
 #include "unity.h"
 
 TEST_CASE("Panic handler", "[freertos][ignore]")

components/freertos/test/test_preemption.c

@@ -9,9 +9,9 @@
 #include "freertos/task.h"
 #include "freertos/semphr.h"
 #include "freertos/queue.h"
-#include "freertos/xtensa_api.h"
 #include "unity.h"
 #include "soc/cpu.h"
+#include "hal/cpu_hal.h"
 #include "test_utils.h"
 #include "sdkconfig.h"
 
@@ -31,7 +31,7 @@ static void task_send_to_queue(void *param)
 
     while(!trigger) {}
 
-    RSR(CCOUNT, ccount);
+    ccount = cpu_hal_get_cycle_count();
     flag = true;
     xQueueSendToBack(queue, &ccount, 0);
     /* This is to ensure that higher priority task
@@ -60,7 +60,7 @@ TEST_CASE("Yield from lower priority task, same CPU", "[freertos]")
 
         uint32_t yield_ccount, now_ccount, delta;
         TEST_ASSERT( xQueueReceive(queue, &yield_ccount, 100 / portTICK_PERIOD_MS) );
-        RSR(CCOUNT, now_ccount);
+        now_ccount = cpu_hal_get_cycle_count();
         TEST_ASSERT( flag );
 
         delta = now_ccount - yield_ccount;
@@ -92,12 +92,12 @@ TEST_CASE("Yield from lower priority task, other CPU", "[freertos]")
 
         vTaskDelay(2); /* make sure everything is set up */
         trigger = true;
-        RSR(CCOUNT, trigger_ccount);
+        trigger_ccount = cpu_hal_get_cycle_count();
 
         // yield_ccount is not useful in this test as it's the other core's CCOUNT
         // so we use trigger_ccount instead
         TEST_ASSERT( xQueueReceive(queue, &yield_ccount, 100 / portTICK_PERIOD_MS) );
-        RSR(CCOUNT, now_ccount);
+        now_ccount = cpu_hal_get_cycle_count();
         TEST_ASSERT( flag );
 
         delta = now_ccount - trigger_ccount;

components/freertos/test/test_spinlocks.c

@@ -9,9 +9,9 @@
 #include "freertos/task.h"
 #include "freertos/semphr.h"
 #include "freertos/queue.h"
-#include "freertos/xtensa_api.h"
 #include "unity.h"
 #include "soc/cpu.h"
+#include "hal/cpu_hal.h"
 
 #include "test_utils.h"
 
@@ -20,11 +20,11 @@
 static uint32_t start, end;
 
 #define BENCHMARK_START() do {                  \
-        RSR(CCOUNT, start);                     \
+        start = cpu_hal_get_cycle_count();                     \
     } while(0)
 
 #define BENCHMARK_END(OPERATION) do {                       \
-        RSR(CCOUNT, end);                                           \
+        end = cpu_hal_get_cycle_count();                                          \
         printf("%s took %d cycles/op (%d cycles for %d ops)\n",     \
                OPERATION, (end - start)/REPEAT_OPS,                 \
                (end - start), REPEAT_OPS);                          \

components/freertos/test/test_suspend_scheduler.c

@@ -5,7 +5,6 @@
 #include "freertos/task.h"
 #include "freertos/semphr.h"
 #include "freertos/queue.h"
-#include "freertos/xtensa_api.h"
 #include "unity.h"
 #include "soc/cpu.h"
 #include "test_utils.h"

components/freertos/test/test_task_suspend_resume.c

@@ -7,7 +7,6 @@
 #include "freertos/semphr.h"
 #include "freertos/timers.h"
 #include "freertos/queue.h"
-#include "freertos/xtensa_api.h"
 #include "unity.h"
 #include "soc/cpu.h"
 #include "test_utils.h"

components/freertos/test/test_thread_local.c

@@ -11,6 +11,7 @@
 #include "test_utils.h"
 #include "sdkconfig.h"
 
+#if !TEMPORARY_DISABLED_FOR_TARGETS(ESP32C3)
 
 static __thread int tl_test_var1;
 static __thread uint8_t tl_test_var2 = 55;
@@ -108,3 +109,4 @@ TEST_CASE("TLS test", "[freertos]")
     }
     vTaskDelay(10); /* Make sure idle task can clean up s_task, before it goes out of scope */
 }
+#endif // #if !TEMPORARY_DISABLED_FOR_TARGETS(ESP32C3)

components/freertos/test/test_xtensa_loadstore_handler.c

@@ -5,10 +5,13 @@
 #include <esp_types.h>
 #include <stdio.h>
 #include <esp_heap_caps.h>
+#include "sdkconfig.h"
 #include "esp_system.h"
-#include "freertos/xtensa_api.h"
 #include "unity.h"
 
+#if CONFIG_IDF_TARGET_ARCH_XTENSA
+#include "freertos/xtensa_api.h"
+
 #ifdef CONFIG_ESP32_IRAM_AS_8BIT_ACCESSIBLE_MEMORY
 TEST_CASE("LoadStore Exception handler", "[freertos]")
 {
@@ -119,4 +122,5 @@ TEST_CASE("LoadStore Exception handler", "[freertos]")
     TEST_ASSERT_TRUE(heap_caps_check_integrity_all(true));
     heap_caps_free(arr);
 }
-#endif
+#endif // CONFIG_ESP32_IRAM_AS_8BIT_ACCESSIBLE_MEMORY
+#endif // CONFIG_IDF_TARGET_ARCH_XTENSA

components/lwip/test_afl_host/Makefile

@@ -2,7 +2,7 @@ COMPONENTS_DIR=../..
 COMPILER_ICLUDE_DIR=$(shell echo `which xtensa-esp32-elf-gcc | xargs dirname | xargs dirname`/xtensa-esp32-elf)
 CFLAGS=-std=gnu99 -Og -ggdb -ffunction-sections -fdata-sections -nostdlib -Wall  -Werror=all -Wno-int-to-pointer-cast -Wno-error=unused-function -Wno-error=unused-variable -Wno-error=deprecated-declarations -Wno-macro-redefined -Wno-constant-conversion -Wno-incompatible-pointer-types-discards-qualifiers -Wno-typedef-redefinition -Wno-incompatible-pointer-types  -Wextra \
 -Wno-unused-parameter -Wno-sign-compare -Wno-address   -Wno-unused-variable -DESP_PLATFORM -D IDF_VER=\"v3.1\" -MMD -MP -DWITH_POSIX -DLWIP_NO_CTYPE_H=1
-INC_DIRS=-I . -I ./build/config -I $(COMPONENTS_DIR)/newlib/platform_include -I $(COMPONENTS_DIR)/newlib/include -I $(COMPONENTS_DIR)/driver/include -I $(COMPONENTS_DIR)/esp32/include -I $(COMPONENTS_DIR)/ethernet/include -I $(COMPONENTS_DIR)/freertos/include -I $(COMPONENTS_DIR)/heap/include -I $(COMPONENTS_DIR)/lwip/lwip/src/include  -I $(COMPONENTS_DIR)/lwip/include/apps -I $(COMPONENTS_DIR)/lwip/lwip/src/include/netif -I $(COMPONENTS_DIR)/lwip/lwip/src/include/posix -I $(COMPONENTS_DIR)/lwip/port/esp32/include -I $(COMPONENTS_DIR)/lwip/lwip/src/include/posix -I $(COMPONENTS_DIR)/lwip/include/apps/ping -I $(COMPONENTS_DIR)/lwip/include/apps/sntp  -I $(COMPONENTS_DIR)/soc/esp32/include -I $(COMPONENTS_DIR)/soc/include -I $(COMPONENTS_DIR)/tcpip_adapter/include -I $(COMPONENTS_DIR)/esp_rom/include  -I $(COMPONENTS_DIR)/esp_common/include -I $(COMPONENTS_DIR)/esp_hw_support/include -I $(COMPONENTS_DIR)/xtensa/include -I $(COMPONENTS_DIR)/xtensa/esp32/include -I $(COMPONENTS_DIR)/esp_wifi/include -I $(COMPONENTS_DIR)/esp_event/include -I $(COMPONENTS_DIR)/freertos/xtensa/include  -I $(COMPONENTS_DIR)/esp_system/include -I $(COMPONENTS_DIR)/esp_timer/include -I $(COMPONENTS_DIR)/soc/include -I $(COMPONENTS_DIR)/soc/include -I $(COMPONENTS_DIR)/soc/src/esp32/include -I $(COMPONENTS_DIR)/soc/esp32/include -I $(COMPONENTS_DIR)/esp_netif/include -I $(COMPONENTS_DIR)/esp_eth/include -I $(COMPONENTS_DIR)/esp_netif/lwip -I $(COMPONENTS_DIR)/hal/include -I $(COMPONENTS_DIR)/hal/esp32/include -I $(COMPILER_ICLUDE_DIR)/include
+INC_DIRS=-I . -I ./build/config -I $(COMPONENTS_DIR)/newlib/platform_include -I $(COMPONENTS_DIR)/newlib/include -I $(COMPONENTS_DIR)/driver/include -I $(COMPONENTS_DIR)/esp32/include -I $(COMPONENTS_DIR)/ethernet/include -I $(COMPONENTS_DIR)/freertos/include -I $(COMPONENTS_DIR)/heap/include -I $(COMPONENTS_DIR)/lwip/lwip/src/include  -I $(COMPONENTS_DIR)/lwip/include/apps -I $(COMPONENTS_DIR)/lwip/lwip/src/include/netif -I $(COMPONENTS_DIR)/lwip/lwip/src/include/posix -I $(COMPONENTS_DIR)/lwip/port/esp32/include -I $(COMPONENTS_DIR)/lwip/lwip/src/include/posix -I $(COMPONENTS_DIR)/lwip/include/apps/ping -I $(COMPONENTS_DIR)/lwip/include/apps/sntp  -I $(COMPONENTS_DIR)/soc/esp32/include -I $(COMPONENTS_DIR)/soc/include -I $(COMPONENTS_DIR)/tcpip_adapter/include -I $(COMPONENTS_DIR)/esp_rom/include  -I $(COMPONENTS_DIR)/esp_common/include -I $(COMPONENTS_DIR)/esp_hw_support/include -I $(COMPONENTS_DIR)/xtensa/include -I $(COMPONENTS_DIR)/xtensa/esp32/include -I $(COMPONENTS_DIR)/esp_wifi/include -I $(COMPONENTS_DIR)/esp_event/include -I $(COMPONENTS_DIR)/freertos/port/xtensa/include  -I $(COMPONENTS_DIR)/esp_system/include -I $(COMPONENTS_DIR)/esp_timer/include -I $(COMPONENTS_DIR)/soc/include -I $(COMPONENTS_DIR)/soc/include -I $(COMPONENTS_DIR)/soc/src/esp32/include -I $(COMPONENTS_DIR)/soc/esp32/include -I $(COMPONENTS_DIR)/esp_netif/include -I $(COMPONENTS_DIR)/esp_eth/include -I $(COMPONENTS_DIR)/esp_netif/lwip -I $(COMPONENTS_DIR)/hal/include -I $(COMPONENTS_DIR)/hal/esp32/include -I $(COMPILER_ICLUDE_DIR)/include
 TEST_NAME=test
 FUZZ=afl-fuzz
 GEN_CFG=generate_config

components/mdns/test_afl_fuzz_host/Makefile

@@ -18,7 +18,7 @@ CFLAGS=-g -Wno-unused-value -Wno-missing-declarations -Wno-pointer-bool-conversi
                  -I$(COMPONENTS_DIR)/esp_system/include \
                  -I$(COMPONENTS_DIR)/esp_timer/include \
                  -I$(COMPONENTS_DIR)/esp_wifi/include \
-                 -I$(COMPONENTS_DIR)/freertos/xtensa/include \
+                 -I$(COMPONENTS_DIR)/freertos/port/xtensa/include \
                  -I$(COMPONENTS_DIR)/freertos \
                  -I$(COMPONENTS_DIR)/freertos/include \
                  -I$(COMPONENTS_DIR)/hal/include \

tools/ci/check_public_headers_exceptions.txt

@@ -7,7 +7,7 @@ components/xtensa/esp32/include/xtensa/config/
 components/newlib/platform_include/
 
 components/freertos/include/freertos/
-components/freertos/xtensa/include/freertos/
+components/freertos/port/xtensa/include/freertos/
 
 
 components/log/include/esp_log_internal.h

tools/ci/test_build_system.sh

@@ -183,7 +183,7 @@ function run_tests()
     # and therefore should rebuild
     assert_rebuilt newlib/syscall_table.o
     assert_rebuilt nvs_flash/src/nvs_api.o
-    assert_rebuilt freertos/xtensa/xtensa_vectors.o
+    assert_rebuilt freertos/port/xtensa/xtensa_vectors.o
 
     print_status "Updating project Makefile triggers full recompile"
     make
@@ -193,7 +193,7 @@ function run_tests()
     # similar to previous test
     assert_rebuilt newlib/syscall_table.o
     assert_rebuilt nvs_flash/src/nvs_api.o
-    assert_rebuilt freertos/xtensa/xtensa_vectors.o
+    assert_rebuilt freertos/port/xtensa/xtensa_vectors.o
 
     print_status "print_flash_cmd target should produce one line of output"
     make

tools/ci/test_build_system_cmake.sh

@@ -220,7 +220,7 @@ function run_tests()
     # and therefore should rebuild
     assert_rebuilt esp-idf/newlib/CMakeFiles/${IDF_COMPONENT_PREFIX}_newlib.dir/syscall_table.c.obj
     assert_rebuilt esp-idf/nvs_flash/CMakeFiles/${IDF_COMPONENT_PREFIX}_nvs_flash.dir/src/nvs_api.cpp.obj
-    assert_rebuilt esp-idf/freertos/CMakeFiles/${IDF_COMPONENT_PREFIX}_freertos.dir/xtensa/xtensa_vectors.S.obj
+    assert_rebuilt esp-idf/freertos/CMakeFiles/${IDF_COMPONENT_PREFIX}_freertos.dir/port/xtensa/xtensa_vectors.S.obj
     mv sdkconfig.bak sdkconfig
 
     print_status "Updating project CMakeLists.txt triggers full recompile"
@@ -235,7 +235,7 @@ function run_tests()
     # similar to previous test
     assert_rebuilt esp-idf/newlib/CMakeFiles/${IDF_COMPONENT_PREFIX}_newlib.dir/syscall_table.c.obj
     assert_rebuilt esp-idf/nvs_flash/CMakeFiles/${IDF_COMPONENT_PREFIX}_nvs_flash.dir/src/nvs_api.cpp.obj
-    assert_rebuilt esp-idf/freertos/CMakeFiles/${IDF_COMPONENT_PREFIX}_freertos.dir/xtensa/xtensa_vectors.S.obj
+    assert_rebuilt esp-idf/freertos/CMakeFiles/${IDF_COMPONENT_PREFIX}_freertos.dir/port/xtensa/xtensa_vectors.S.obj
     mv sdkconfig.bak sdkconfig
 
     print_status "Can build with Ninja (no idf.py)"