Commit Graph

34 Commits

Author SHA1 Message Date
Darian Leung
e21ab0332b freertos(IDF): Refactor port heap functions
Vanilla FreeRTOS expects applications to use one of the heap implementations
provided by FreeRTOS (i.e., heap_x.c), where functions such as pvPortMalloc()
and vPortFree() are defined in the heap implementation.

However, ESP-IDF already provides its own heap implementation
(i.e., esp_heap_caps.h). Thus, the pvPortMallc()/vPortFree() functions were
previously overriden by macro to call esp_heap functions directly.

This commit refactors the FreeRTOS port's heap as such:

- Added a heap_idf.c that implements all of the heap related functions required
  by FreeRTOS source
- All dynamic memory allocated by FreeRTOS is from internal memory. Thus, the
  FreeRTOS heap is the internal memory subset of the ESP-IDF heap.
- Removed some old macros to reduce diff from upstream source code.
2023-03-06 16:00:29 +08:00
morris
6c1d98d556 systimer: assign counter and alarm in esp_hw_support 2023-01-10 17:05:49 +08:00
Darian Leung
92bbf85350 freertos: Fix clang-tidy warning on pxPortInitialiseStack() 2022-12-23 15:29:17 +08:00
Darian Leung
9300bef9b8 freertos(SMP): Refactor FPU handling on the Xtensa port of Amaazon SMP FreeRTOS
This commit refactors the FPU handling code on the Xtensa port of Amazon SMP
FreeRTOS in the following ways:

Auto-pinning via XT_RTOS_CP_EXC_HOOK
------------------------------------

The "_xt_coproc_exc" exception would previously automatically pin a task that
uses the FPU to the current core (to ensure that we can lazy save the task's FPU
context). However, this would mean that "xtensa_vectors.S" would need to be
OS-aware (to read the task's TCB structure).

This is now refactored so that "_xt_coproc_exc" calls a CP exception hook
function ("XT_RTOS_CP_EXC_HOOK") implemented in "portasm.S", thus allowing
"xtensa_vectors.S" to remain OS agnostic.

Using macros to acquire owner spinlock
--------------------------------------

The taking and relasing of the "_xt_coproc_owner_sa_lock" is now mostly
abstracted as the "spinlock_take" and "spinlock_release" macro. As a result,
"_xt_coproc_release" and "_xt_coproc_exc" are refactored so that:

- They are closer to their upstream (original) versions
- The spinlock is only taken when building for multicore
- The spinlock held region is shortened (now only protects the instructions
  that access the "_xt_coproc_owner_sa" array

Other Changes
-------------

- Updated placing and comments of various "offset_..." constants used by
  portasm.S
- Update description of "get_cpsa_from_tcb" assembly macro
- Tidied up some typos in the ".S" files
2022-12-23 15:29:17 +08:00
Darian Leung
fd48daf278 freertos(SMP): Fix SMP FreeRTOS Xtensa port FPU/Coproccessor bugs
This commit fixes the following FPU/Coprocessor bugs in the Xtensa port of
Amazon SMP FreeRTOS:

- vPortCleanUpCoprocArea() does not calculate the correct pointer to the
task's CPSA (located on the task's stack). This can result in
    - _xt_coproc_release() not releasing the task's CP ownership
    - The next coprocessor exception will write the current CP owner (i.e., the
      deleted task's CPSA) leading to memory corruption
- _xt_coproc_release() writes xCoreID instead of 0 when clearing a CP owner.
  This results in the next CP exception trying to load the CP owner's CPSA at
  the address of "xCoreID", leading to a double exception.
2022-12-23 15:29:17 +08:00
Darian Leung
486cc33fb3 freertos: Refactor port common functions
This commit refactors port_common.c so that it only contains implementation of
FreeRTOS port functions that are common to all FreeRTOS ports (i.e., on all
architectures and on all FreeRTOS implementations).
2022-12-08 01:57:30 +08:00
Darian Leung
09690906e7 freertos: Refactor OS startup functions
This commit refactors the OS startup functions as follows:

- Moved the OS/app startup functions listed below to "app_startup.c". Their
    implementations are now common to all ports (RISC-V and Xtensa) of all
    FreeRTOS implementations (IDF and Amazon SMP).
    - esp_startup_start_app()
    - esp_startup_start_app_other_cores()
- Removed esp_startup_start_app_common() as app startup functions are now
    already common to all ports.
- Added extra logs to "main_task" to help with user debugging

Note: Increased startup delay on "unity_task". The "unity_run_menu()" is non
blocking, thus if the main task or other startup tasks have not been freed
by the time "unity_run_menu()" is run, those tasks will be freed the next time
"unity_task" blocks. This could cause some tests to have a memory leak, thus
the "unity_task" startup delay has increased.
2022-12-08 01:57:30 +08:00
Marius Vikhammer
ea249dc3a6 freertos: add missing header include for esp_chip_info.h to port.c
Closes https://github.com/espressif/esp-idf/issues/10310
2022-12-06 11:31:15 +08:00
Omar Chebib
bcb8516744 FreeRTOS: Make the default stack alignment 16 for Xtensa 2022-11-11 19:31:20 +08:00
Sudeep Mohanty
9bb8f0e38d freertos-smp: Fixed stack overflow on esp32s3 with FreeRTOS SMP
The following changes have been made in this commit:
1. configMINIMAL_STACK_SIZE is now defined as CONFIG_FREERTOS_IDLE_TASK_STACKSIZE.
2. Removed configIDLE_TASK_STACK_SIZE config as it was redundant.
3. Updates the order of allocating the TCB and stack memory to avoid the
   stack memory overriding the TCB memory when the stack grows downwards.
4. CONFIG_FREERTOS_IDLE_TASK_STACKSIZE is now incorporated into the
   FreeRTOSConfig_smp.h to configure the IDLE0 stack size.
2022-11-07 09:59:02 +01:00
Sudeep Mohanty
defd6c4ec1 freertos-smp: Enable static task cleanup
This commit enables Static task cleanup feature for FreeRTOS SMP.
2022-11-02 11:24:07 +01:00
Darian Leung
282f10d1bc freertos: Refactor xtensa port stack initialization code
This commit refactors the pxPortInitialiseStack() function of the xtensa
FreeRTOS ports (both IDF and SMP FreeRTOS).

- Each stack area is now separated into their own functions
- Each function will individually
    - Push the stack pointer to allocate the stack area
    - Initiaze the allocated stack area
- Each stack area's size and usage is now clearly documented in code
2022-10-09 14:48:30 +08:00
Omar Chebib
53c7dd4efc WDT: implement interrupt wdt and task wdt for ESP32-C2
ESP32-C2 has a single group timer, thus it will use it for the interrupt watchdog,
which is more critical than the task watchdog. The latter is implement in
software thanks to the `esp_timer`component.
2022-09-15 14:37:59 +08:00
Alexey Gerenkov
e5085db5f0 sysview: Adds FreeRTOS SMP port 2022-08-25 13:08:19 +03:00
morris
d94432fea8 systimer: refactor hal to accomodate more xtal choices 2022-07-25 16:08:52 +08:00
Darian Leung
781d06af73 esp_hw_support: Remove compare_set.h API
This function removes the following legacy atomic CAS functions:

From compare_set.h (file removed):
- compare_and_set_native()
- compare_and_set_extram()

From portmacro.h
- uxPortCompareSet()
- uxPortCompareSetExtram()

Users should call esp_cpu_compare_and_set() instead as this function hides the details
of atomic CAS on internal and external RAM addresses.

Due to the removal of compare_set.h, some missing header includes are also fixed in this commit.
2022-07-22 00:06:06 +08:00
Omar Chebib
bac62cfac8 System: move interrupt stack to .bss instead of .data section
The interrupt stack for Xtensa targets is now declared in C, automatically moving it to .bss section instead of .data section.

* Closes https://github.com/espressif/esp-idf/issues/9188
2022-07-11 17:49:21 +08:00
Darian Leung
a0ab1c2acd freertos: Fix stack and TCB allocation order in SMP FreeRTOS
This commit fixes the allocation order of task stacks and TCBs in
order to reduce the chance of a stack overflow overwriting a TCB.
2022-07-05 14:27:44 +08:00
Darian Leung
0cf1fd3a5a freertos: Add multi-core OS startup race condition workaround
FreeRTOS uses a single "xSchedulerRunning" variable to tack whether the
scheduler has started, and this variable is set to "pdTRUE" by core 0
via calling vTaskStartScheduler().

However, with SMP FreeRTOS, there is a race condition where core 0 has
already started the scheduler and another core has not called xPortStartScheduler()
yet and calls some FreeRTOS API. Thus the resultant FreeRTOS API can
cause errors as it thinks the scheduler has started.

This commit adds a temporary workaround (by having each core maintain their
own "xSchedulerRunning" variable.
2022-06-30 20:24:53 +08:00
Sudeep Mohanty
c5d6f97331 freertos-smp: Fix build test errors for esp32s2 and esp32s3
This commit fixes build test errors for esp32s2 and esp32s3 with
FreeRTOS SMP enabled.
2022-06-17 09:21:46 +02:00
Armando
cdad8a02fe esp_psram: remove g_spiram_ok 2022-06-14 15:44:27 +08:00
Armando
38e5043ae8 esp_psram: new psram component 2022-06-14 15:44:27 +08:00
Darian Leung
64469affcd freertos: Fix TLSP deletion callback log
Currently, portCLEAN_UP_TCB() is called in a critical section. This commit updates
vPortTLSPointersDelCb() to use an EARLY log to prevent a crash.
2022-05-28 21:36:39 +08:00
Darian Leung
9b5601b7c7 freertos: Fix SMP FreeRTOS interrupt watchdog feeding
This commit fixes how SMP FreeRTOS feeds the INT WDT. Previously, the
port used vApplicationTickHook(). Now, all cores will feed the INT WDT
in xPortSysTickHandler().
2022-05-18 20:12:25 +08:00
Darian Leung
7dc6fd9ff6 esp_system: Make interrupt WDT private API
This commit makes the interrupt WDT API private. To use the API,
IDF components should now '#include "esp_private/esp_int_wdt.h"'
2022-05-18 20:12:25 +08:00
Darian Leung
5953bca376 esp_system: Add arbitrary user feature to TWDT
This commit moidifies the TWDT as follows:

- Adds a feature to allows subscribing arbitrary users to the TWDT
- Changes esp_task_wdt_init() API to accept configuration structure
- Changes esp_task_wdt_init() and esp_task_wdt_deinit() to subscribe/unsubscribe
  idle tasks of various cores.
- Adds support for SMP FreeRTOS idle tasks
- Updates startup code TWDT initialization
- Updates API documentation
2022-05-13 18:01:28 +08:00
Sudeep Mohanty
aa60118944 freertos: Enable FreeRTOS SMP unicore build
This commit enables unicore build with the FreeRTOS SMP kernel.
2022-05-09 09:44:44 +05:30
Sudeep Mohanty
283f569a03 freertos-smp: refactor thread local storage pointers deletion callbacks
This commit updates how the TLS pointers deletion callbacks are called
during task deletion in the FreeRTOS SMP kernel. The callbacks are now
routed through the portCLEAN_UP_TCB() macro. This commit also adds a
new kconfig option CONFIG_FREERTOS_TLSP_DELETION_CALLBACKS to control
the enablement of the TLSP deletion callbacks.
2022-05-06 09:25:25 +05:30
Sudeep Mohanty
44ee07ef23 freertos-smp: Task Deletion Coproc context save area cleanup
This commit adds FPU and other Co-processor context save area cleanup in
the task TCB for the FreeRTOS SMP kernel.
2022-04-21 13:09:03 +05:30
Darian Leung
8c92d0b2af freertos: Disable portUSING_MPU_WRAPPERS in FreeRTOS SMP Xtensa port
This commit disables portUSING_MPU_WRAPPERS for the FreeRTOS SMP xtensa port.
This was previously enabled due to the need to keep a CPSA (coprocessor save
area pointer) in the TCB. The CPSA pointer is now calculated at run time.
2022-04-19 13:35:30 +08:00
Darian Leung
79cecf05b3 freertos: Fix main task affinity in SMP FreeRTOS 2022-04-18 15:50:47 +08:00
Darian Leung
e6d43ab56f freertos: Update SMP idle hooks
This commit updates the usage of idle hooks in SMP FreeRTOS as follows:

- IDF style idle hooks are now called from vApplicationMinimalIdleHook()
- If the user provdies their own vApplicationMinimalIdleHook(), it can be
  wrapped using -Wl,--wrap if CONFIG_FREERTOS_USE_MINIMAL_IDLE_HOOK is
  enabled.
- SMP port no longer uses vApplicationIdleHook() as it's only called from
  the prvIdleTask() and not every prvMinimalIdleTask()
2022-04-01 22:08:45 +08:00
Darian Leung
37c270b337 freertos: Update Xtensa port files to support FreeRTOS SMP
This commit updates the copied Xtensa port to support the new porting interfaces
of the FreeRTOS SMP kernel. These modifications are mainly contained in

- FreeRTOSConfig.h
- FreeRTOSConfig_smp.h
- portmacro.h
- port.c

Some porting interfaces have changed in FreeRTOS SMP. In order to allow building
with IDF, compatibility interfaces have been added.
2022-03-08 14:59:18 +08:00
Darian Leung
89dd2fe7f5 freertos: Copy IDF xtensa port files
This commit copies over ESP-IDF Xtensa portable files to the
FreeRTOS-Kernel-SMP directory. No changes were made, this commit
only copies the portable source files.

Notes:
- This commit WILL NOT compile
- Some SPDX header dates were updated to pass pre-commit check
2022-03-08 14:59:18 +08:00