/* * FreeRTOS Kernel V10.5.1 (ESP-IDF SMP modified) * Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved. * * SPDX-FileCopyrightText: 2021 Amazon.com, Inc. or its affiliates * * SPDX-License-Identifier: MIT * * SPDX-FileContributor: 2023 Espressif Systems (Shanghai) CO LTD * * 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. * * https://www.FreeRTOS.org * https://github.com/FreeRTOS * */ /*----------------------------------------------------------- * Implementation of functions defined in portable.h for the RISC-V port. *----------------------------------------------------------*/ /* Scheduler includes. */ #include "FreeRTOS.h" #include "task.h" #include "portmacro.h" /* Standard includes. */ #include "string.h" #ifdef configCLINT_BASE_ADDRESS #warning The configCLINT_BASE_ADDRESS constant has been deprecated. configMTIME_BASE_ADDRESS and configMTIMECMP_BASE_ADDRESS are currently being derived from the (possibly 0) configCLINT_BASE_ADDRESS setting. Please update to define configMTIME_BASE_ADDRESS and configMTIMECMP_BASE_ADDRESS dirctly in place of configCLINT_BASE_ADDRESS. See https://www.FreeRTOS.org/Using-FreeRTOS-on-RISC-V.html #endif #ifndef configMTIME_BASE_ADDRESS #warning configMTIME_BASE_ADDRESS must be defined in FreeRTOSConfig.h. If the target chip includes a memory-mapped mtime register then set configMTIME_BASE_ADDRESS to the mapped address. Otherwise set configMTIME_BASE_ADDRESS to 0. See https://www.FreeRTOS.org/Using-FreeRTOS-on-RISC-V.html #endif #ifndef configMTIMECMP_BASE_ADDRESS #warning configMTIMECMP_BASE_ADDRESS must be defined in FreeRTOSConfig.h. If the target chip includes a memory-mapped mtimecmp register then set configMTIMECMP_BASE_ADDRESS to the mapped address. Otherwise set configMTIMECMP_BASE_ADDRESS to 0. See https://www.FreeRTOS.org/Using-FreeRTOS-on-RISC-V.html #endif /* Let the user override the pre-loading of the initial RA. */ #ifdef configTASK_RETURN_ADDRESS #define portTASK_RETURN_ADDRESS configTASK_RETURN_ADDRESS #else #define portTASK_RETURN_ADDRESS 0 #endif /* The stack used by interrupt service routines. Set configISR_STACK_SIZE_WORDS * to use a statically allocated array as the interrupt stack. Alternative leave * configISR_STACK_SIZE_WORDS undefined and update the linker script so that a * linker variable names __freertos_irq_stack_top has the same value as the top * of the stack used by main. Using the linker script method will repurpose the * stack that was used by main before the scheduler was started for use as the * interrupt stack after the scheduler has started. */ #ifdef configISR_STACK_SIZE_WORDS static __attribute__ ((aligned(16))) StackType_t xISRStack[ configISR_STACK_SIZE_WORDS ] = { 0 }; const StackType_t xISRStackTop = ( StackType_t ) &( xISRStack[ configISR_STACK_SIZE_WORDS & ~portBYTE_ALIGNMENT_MASK ] ); /* Don't use 0xa5 as the stack fill bytes as that is used by the kernerl for the task stacks, and so will legitimately appear in many positions within the ISR stack. */ #define portISR_STACK_FILL_BYTE 0xee #else extern const uint32_t __freertos_irq_stack_top[]; const StackType_t xISRStackTop = ( StackType_t ) __freertos_irq_stack_top; #endif /* * Setup the timer to generate the tick interrupts. The implementation in this * file is weak to allow application writers to change the timer used to * generate the tick interrupt. */ void vPortSetupTimerInterrupt( void ) __attribute__(( weak )); /*-----------------------------------------------------------*/ /* Used to program the machine timer compare register. */ uint64_t ullNextTime = 0ULL; const uint64_t *pullNextTime = &ullNextTime; const size_t uxTimerIncrementsForOneTick = ( size_t ) ( ( configCPU_CLOCK_HZ ) / ( configTICK_RATE_HZ ) ); /* Assumes increment won't go over 32-bits. */ uint32_t const ullMachineTimerCompareRegisterBase = configMTIMECMP_BASE_ADDRESS; volatile uint64_t * pullMachineTimerCompareRegister = NULL; /* Holds the critical nesting value - deliberately non-zero at start up to * ensure interrupts are not accidentally enabled before the scheduler starts. */ size_t xCriticalNesting = ( size_t ) 0xaaaaaaaa; size_t *pxCriticalNesting = &xCriticalNesting; /* Used to catch tasks that attempt to return from their implementing function. */ size_t xTaskReturnAddress = ( size_t ) portTASK_RETURN_ADDRESS; /* Set configCHECK_FOR_STACK_OVERFLOW to 3 to add ISR stack checking to task * stack checking. A problem in the ISR stack will trigger an assert, not call * the stack overflow hook function (because the stack overflow hook is specific * to a task stack, not the ISR stack). */ #if defined( configISR_STACK_SIZE_WORDS ) && ( configCHECK_FOR_STACK_OVERFLOW > 2 ) #warning This path not tested, or even compiled yet. static const uint8_t ucExpectedStackBytes[] = { portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, \ portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, \ portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, \ portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, \ portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE }; \ #define portCHECK_ISR_STACK() configASSERT( ( memcmp( ( void * ) xISRStack, ( void * ) ucExpectedStackBytes, sizeof( ucExpectedStackBytes ) ) == 0 ) ) #else /* Define the function away. */ #define portCHECK_ISR_STACK() #endif /* configCHECK_FOR_STACK_OVERFLOW > 2 */ /*-----------------------------------------------------------*/ #if( configMTIME_BASE_ADDRESS != 0 ) && ( configMTIMECMP_BASE_ADDRESS != 0 ) void vPortSetupTimerInterrupt( void ) { uint32_t ulCurrentTimeHigh, ulCurrentTimeLow; volatile uint32_t * const pulTimeHigh = ( volatile uint32_t * const ) ( ( configMTIME_BASE_ADDRESS ) + 4UL ); /* 8-byte type so high 32-bit word is 4 bytes up. */ volatile uint32_t * const pulTimeLow = ( volatile uint32_t * const ) ( configMTIME_BASE_ADDRESS ); volatile uint32_t ulHartId; __asm volatile( "csrr %0, mhartid" : "=r"( ulHartId ) ); pullMachineTimerCompareRegister = ( volatile uint64_t * ) ( ullMachineTimerCompareRegisterBase + ( ulHartId * sizeof( uint64_t ) ) ); do { ulCurrentTimeHigh = *pulTimeHigh; ulCurrentTimeLow = *pulTimeLow; } while( ulCurrentTimeHigh != *pulTimeHigh ); ullNextTime = ( uint64_t ) ulCurrentTimeHigh; ullNextTime <<= 32ULL; /* High 4-byte word is 32-bits up. */ ullNextTime |= ( uint64_t ) ulCurrentTimeLow; ullNextTime += ( uint64_t ) uxTimerIncrementsForOneTick; *pullMachineTimerCompareRegister = ullNextTime; /* Prepare the time to use after the next tick interrupt. */ ullNextTime += ( uint64_t ) uxTimerIncrementsForOneTick; } #endif /* ( configMTIME_BASE_ADDRESS != 0 ) && ( configMTIME_BASE_ADDRESS != 0 ) */ /*-----------------------------------------------------------*/ BaseType_t xPortStartScheduler( void ) { extern void xPortStartFirstTask( void ); #if( configASSERT_DEFINED == 1 ) { /* Check alignment of the interrupt stack - which is the same as the * stack that was being used by main() prior to the scheduler being * started. */ configASSERT( ( xISRStackTop & portBYTE_ALIGNMENT_MASK ) == 0 ); #ifdef configISR_STACK_SIZE_WORDS { memset( ( void * ) xISRStack, portISR_STACK_FILL_BYTE, sizeof( xISRStack ) ); } #endif /* configISR_STACK_SIZE_WORDS */ } #endif /* configASSERT_DEFINED */ /* If there is a CLINT then it is ok to use the default implementation * in this file, otherwise vPortSetupTimerInterrupt() must be implemented to * configure whichever clock is to be used to generate the tick interrupt. */ vPortSetupTimerInterrupt(); #if( ( configMTIME_BASE_ADDRESS != 0 ) && ( configMTIMECMP_BASE_ADDRESS != 0 ) ) { /* Enable mtime and external interrupts. 1<<7 for timer interrupt, * 1<<11 for external interrupt. _RB_ What happens here when mtime is * not present as with pulpino? */ __asm volatile( "csrs mie, %0" :: "r"(0x880) ); } #endif /* ( configMTIME_BASE_ADDRESS != 0 ) && ( configMTIMECMP_BASE_ADDRESS != 0 ) */ xPortStartFirstTask(); /* Should not get here as after calling xPortStartFirstTask() only tasks * should be executing. */ return pdFAIL; } /*-----------------------------------------------------------*/ void vPortEndScheduler( void ) { /* Not implemented. */ for( ;; ); } /*-----------------------------------------------------------*/