Commit Graph

57 Commits

Author SHA1 Message Date
Darian Leung
6895e92fd2 freertos: Combine Amazon SMP FreeRTOS and IDF FreeRTOS config files
This commit merges the "FreeRTOSConfig_smp.h" file into the "FreeRTOSConfig.h".
The configurations for all FreeRTOS implementations are now stored in a single
file.
2023-03-22 16:32:29 +08:00
Darian Leung
4f8c6c6277 freertos: Remove xTaskRemoveFromUnorderedEventList compatibility define
xTaskRemoveFromUnorderedEventList is a scheduler internal function, thus will
never be called by users. Therefore, the compatbility define is not necessary.
2023-03-17 20:15:13 +08:00
Darian Leung
29ec3fbacf xtensa: Move default vectors back into xtensa_vectors.S
The default implementation of some xtensa vectors were previously moved to
"xtensa_vector_defaults.S" as weak functions so that they could be overriden.

This commit moves these default vectors back into "xtensa_vectors.S" in
preparation for further refactoring of the xtensa component.
2023-03-10 13:59:01 +08:00
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
Jakob Hasse
cce1f9dee4 Merge branch 'feature/freertos_task_notification_configurable' into 'master'
freertos: make num of task notifications configurable

Closes IDFGH-7819

See merge request espressif/esp-idf!20880
2022-11-16 17:11:03 +08:00
Jakob Hasse
73d9d83a2f feat(freertos): make num of task notifications configurable
Closes https://github.com/espressif/esp-idf/issues/9349
2022-11-15 09:36:42 +01:00
Darian Leung
816ddc8867 freertos(SMP): Fix SMP FreeRTOS portDISABLE_INTERRUPTS() macro on xtensa port
The portDISABLE_INTERRUPTS() macro on Xtensa should return only the interrupt
mask/level before the interrupts were disabled. Previously, the entire contents
of PS register were returned (i.e., direct return from RSIL instruction without
any bit masking or shifting).

This commit fixes the portDISABLE_INTERRUPTS() macro to return the INTLEVEL
bitfield of the PS register.
2022-11-15 14:57:24 +08:00
Omar Chebib
bcb8516744 FreeRTOS: Make the default stack alignment 16 for Xtensa 2022-11-11 19:31:20 +08:00
Alexey Gerenkov
dbc3409d6c Merge branch 'bugfix/fix_asm_xtensa_vectors' into 'master'
freertos: fix gnu asm extensions.

See merge request espressif/esp-idf!19167
2022-11-09 16:28:50 +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
Andrei Safronov
847462a578 freertos: fix gnu asm extensions.
The llvm asm pasrser doesn't support some gnu asm extensions,
like using "&" with macro arguments. So, replace such code with
code which could be compiled by llvm.
2022-10-27 00:27:50 +03:00
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
Guillaume Souchere
6005cc9163 hal: Deprecate interrupt_controller_hal.h, cpu_hal.h and cpu_ll.h interfaces
This commit marks all functions in interrupt_controller_hal.h, cpu_ll.h and cpu_hal.h as deprecated.
Users should use functions from esp_cpu.h instead.
2022-07-22 00:06:06 +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
Darian Leung
434287fc8b freertos: Xtensa FreeRTOS saves threadptr in solicited stack frame
The Xtensa FreeRTOS port does not save the threadptr register when
doing a voluntary yield. This can result in a crash when multiple
tasks used the threadptr register and call "taskYIELD()".

This commit adds the threadptr register to the solicited stack frame.
2022-06-15 20:20:41 +08:00
Armando (Dou Yiwen)
0b80546f8e Merge branch 'feature/new_esp_psram_component' into 'master'
esp_psram: new esp psram component

Closes IDF-4318, IDF-4382, IDF-4841, and IDFGH-7192

See merge request espressif/esp-idf!18050
2022-06-15 19:16:56 +08:00
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
a8a3756b38 hal: Route CPU and Interrupt Controller HAL/LL to esp_cpu calls
This commit makes changes to cpu_ll.h, cpu_hal.h, and interrupt_controller_hal.h:

- Moved to esp_hw_support in order to be deprecated in the future
- HAL/LL API now route their calls to esp_cpu.h functions instead

Also updated soc_hal.h as follows:

- Removed __SOC_HAL_..._OTHER_CORES() macros as they dependend on cpu_hal.h
- Made soc_hal.h and soc_ll.h interfaces always inline, and removed soc_hal.c.

This commit also updates the XCHAL_ERRATUM_572 workaround by

- Removing it's HAL function and invoking the workaround it directly the bootloader
- Added missing workaround for the ESP32-S3
2022-06-14 14:40:03 +08:00
Darian Leung
3c6185788f freertos: Fix GCC 11 SMP FreeRTOS build errors
This commit fixes the following build errors in SMP FreeRTOS when building with GCC 11:

- "-Wattributes" warning due to conflicting attributes on xPortInterruptedFromISRContext()
- "-Wtype-limits" warning due to taskVALID_CORE_ID() not casting xCoreID
2022-06-07 16:33:22 +08:00
Darian Leung
d8eb55d83b freertos: Add newlib dynamic reentrancy support
SMP FreeRTOS adds support for dynamic reentrancy in the following commit:
34b8e24d7c

This commit does the following:

- Pulls in the upstream changes
- Move __getreent() to "freertos_tasks_c_additions.h"
- Add the required configNEWLIB_REENTRANT_IS_DYNAMIC to SMP FreeRTOS port
2022-06-02 15:42:02 +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
Ivan Grokhotkov
b0544b9745
esp_timer: only add as a public dependency to FreeRTOS if necessary
esp_timer will be added as a dependency to freertos only if
CONFIG_FREERTOS_RUN_TIME_STATS_USING_ESP_TIMER is enabled.
Other components are updated to add esp_timer as public or private
dependency, as needed.
This removes esp_timer from the default list of public dependencies.
2022-04-25 18:39:59 +02:00
Marius Vikhammer
45c1d1cba2 Merge branch 'feature/move_target_kconfig_2' into 'master'
system: move kconfig options out of target component

See merge request espressif/esp-idf!17321
2022-04-24 13:29:43 +08:00
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
Marius Vikhammer
d2872095f9 soc: moved kconfig options out of the target component.
Moved the following kconfig options out of the target component:
 * CONFIG_ESP*_DEFAULT_CPU_FREQ* -> esp_system
 * ESP*_REV_MIN -> esp_hw_support
 * ESP*_TIME_SYSCALL -> newlib
 * ESP*_RTC_* -> esp_hw_support

Where applicable these target specific konfig names were merged into
a single common config, e.g;
CONFIG_ESP*_DEFAULT_CPU_FREQ -> CONFIG_ESP_DEFAULT_CPU_FREQ_MHZ
2022-04-21 12:09:43 +08:00
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
Sudeep Mohanty
f2d355992b Merge branch 'refactor/remove-portmacro-deprecated-apis' into 'master'
freertos: remove portmacro_deprtecated.h file

Closes IDF-4746

See merge request espressif/esp-idf!17661
2022-04-07 14:36:25 +08:00
Darian
7554194bf1 Merge branch 'feature/freertos_smp_port_idle_hooks' into 'master'
freertos: Update idle hooks for SMP

Closes IDF-3337

See merge request espressif/esp-idf!17407
2022-04-06 08:24:04 +08:00