mirror of
https://github.com/espressif/esp-idf.git
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411ef4557a
The vTaskPlaceOnEventListRestricted() did not use the correct macro when exiting a kernel cirtical section. This does not affect the HW targets but on the Linux port, this caused an issue as the critical nesting count became negative, leading to deadlocks. This commit fixes the bug and updates the linux port to prevent the nesting count from going negative.
667 lines
28 KiB
C
667 lines
28 KiB
C
/*
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* FreeRTOS Kernel V10.5.1
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* Copyright (C) 2015-2019 Cadence Design Systems, Inc.
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* Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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*
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* SPDX-FileCopyrightText: 2015-2019 Cadence Design Systems, Inc
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* SPDX-FileCopyrightText: 2021 Amazon.com, Inc. or its affiliates
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*
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* SPDX-License-Identifier: MIT
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*
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* SPDX-FileContributor: 2023-2024 Espressif Systems (Shanghai) CO LTD
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy of
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* this software and associated documentation files (the "Software"), to deal in
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* the Software without restriction, including without limitation the rights to
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* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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* the Software, and to permit persons to whom the Software is furnished to do so,
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* subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in all
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* copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*
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* https://www.FreeRTOS.org
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* https://github.com/FreeRTOS
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*
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*/
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#include "sdkconfig.h"
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#include <stdint.h>
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#include <stdlib.h>
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#include <string.h>
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#include <xtensa/config/core.h>
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#include <xtensa_context.h>
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#include "soc/soc_caps.h"
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#include "esp_attr.h"
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#include "esp_private/crosscore_int.h"
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#include "esp_private/esp_int_wdt.h"
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#include "esp_system.h"
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#include "esp_log.h"
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#include "FreeRTOS.h" /* This pulls in portmacro.h */
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#include "task.h" /* Required for TaskHandle_t, tskNO_AFFINITY, and vTaskStartScheduler */
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#include "port_systick.h"
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#include "esp_cpu.h"
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#include "esp_memory_utils.h"
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_Static_assert(portBYTE_ALIGNMENT == 16, "portBYTE_ALIGNMENT must be set to 16");
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/* ---------------------------------------------------- Variables ------------------------------------------------------
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* - Various variables used to maintain the FreeRTOS port's state. Used from both port.c and various .S files
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* - Constant offsets are used by assembly to jump to particular TCB members or a stack area (such as the CPSA). We use
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* C constants instead of preprocessor macros due to assembly lacking "offsetof()".
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* ------------------------------------------------------------------------------------------------------------------ */
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#if XCHAL_CP_NUM > 0
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/* Offsets used to navigate to a task's CPSA on the stack */
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const DRAM_ATTR uint32_t offset_pxEndOfStack = offsetof(StaticTask_t, pxDummy8);
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const DRAM_ATTR uint32_t offset_cpsa = XT_CP_SIZE; /* Offset to start of the CPSA area on the stack. See uxInitialiseStackCPSA(). */
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#if configNUM_CORES > 1
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/* Offset to TCB_t.xCoreID member. Used to pin unpinned tasks that use the FPU. */
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const DRAM_ATTR uint32_t offset_xCoreID = offsetof(StaticTask_t, xDummyCoreID);
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#endif /* configNUM_CORES > 1 */
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#endif /* XCHAL_CP_NUM > 0 */
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volatile unsigned port_xSchedulerRunning[portNUM_PROCESSORS] = {0}; // Indicates whether scheduler is running on a per-core basis
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unsigned port_interruptNesting[portNUM_PROCESSORS] = {0}; // Interrupt nesting level. Increased/decreased in portasm.c, _frxt_int_enter/_frxt_int_exit
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BaseType_t port_uxCriticalNesting[portNUM_PROCESSORS] = {0};
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BaseType_t port_uxOldInterruptState[portNUM_PROCESSORS] = {0};
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/*
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*******************************************************************************
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* Interrupt stack. The size of the interrupt stack is determined by the config
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* parameter "configISR_STACK_SIZE" in FreeRTOSConfig.h
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*******************************************************************************
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*/
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volatile StackType_t DRAM_ATTR __attribute__((aligned(16))) port_IntStack[portNUM_PROCESSORS][configISR_STACK_SIZE];
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/* One flag for each individual CPU. */
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volatile uint32_t port_switch_flag[portNUM_PROCESSORS];
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/* ------------------------------------------------ FreeRTOS Portable --------------------------------------------------
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* - Provides implementation for functions required by FreeRTOS
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* - Declared in portable.h
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* ------------------------------------------------------------------------------------------------------------------ */
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// ----------------- Scheduler Start/End -------------------
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/* Defined in xtensa_context.S */
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extern void _xt_coproc_init(void);
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BaseType_t xPortStartScheduler( void )
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{
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portDISABLE_INTERRUPTS();
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// Interrupts are disabled at this point and stack contains PS with enabled interrupts when task context is restored
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#if XCHAL_CP_NUM > 0
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/* Initialize co-processor management for tasks. Leave CPENABLE alone. */
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_xt_coproc_init();
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#endif
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/* Setup the hardware to generate the tick. */
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vPortSetupTimer();
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port_xSchedulerRunning[xPortGetCoreID()] = 1;
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// Cannot be directly called from C; never returns
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__asm__ volatile ("call0 _frxt_dispatch\n");
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/* Should not get here. */
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return pdTRUE;
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}
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void vPortEndScheduler( void )
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{
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/* It is unlikely that the Xtensa port will get stopped. If required simply
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disable the tick interrupt here. */
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abort();
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}
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// ------------------------ Stack --------------------------
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// User exception dispatcher when exiting
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void _xt_user_exit(void);
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#if CONFIG_FREERTOS_TASK_FUNCTION_WRAPPER
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// Wrapper to allow task functions to return (increases stack overhead by 16 bytes)
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static void vPortTaskWrapper(TaskFunction_t pxCode, void *pvParameters)
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{
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pxCode(pvParameters);
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//FreeRTOS tasks should not return. Log the task name and abort.
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char *pcTaskName = pcTaskGetName(NULL);
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ESP_LOGE("FreeRTOS", "FreeRTOS Task \"%s\" should not return, Aborting now!", pcTaskName);
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abort();
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}
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#endif
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/**
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* @brief Align stack pointer in a downward growing stack
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*
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* This macro is used to round a stack pointer downwards to the nearest n-byte boundary, where n is a power of 2.
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* This macro is generally used when allocating aligned areas on a downward growing stack.
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*/
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#define STACKPTR_ALIGN_DOWN(n, ptr) ((ptr) & (~((n)-1)))
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#if XCHAL_CP_NUM > 0
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/**
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* @brief Allocate and initialize coprocessor save area on the stack
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*
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* This function allocates the coprocessor save area on the stack (sized XT_CP_SIZE) which includes...
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* - Individual save areas for each coprocessor (size XT_CPx_SA, inclusive of each area's alignment)
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* - Coprocessor context switching flags (e.g., XT_CPENABLE, XT_CPSTORED, XT_CP_CS_ST, XT_CP_ASA).
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*
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* The coprocessor save area is aligned to a 16-byte boundary.
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* The coprocessor context switching flags are then initialized
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*
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* @param[in] uxStackPointer Current stack pointer address
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* @return Stack pointer that points to allocated and initialized the coprocessor save area
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*/
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FORCE_INLINE_ATTR UBaseType_t uxInitialiseStackCPSA(UBaseType_t uxStackPointer)
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{
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/*
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HIGH ADDRESS
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|-------------------| XT_CP_SIZE
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| CPn SA | ^
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| ... | |
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| CP0 SA | |
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| ----------------- | | ---- XCHAL_TOTAL_SA_ALIGN aligned
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|-------------------| | 12 bytes
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| XT_CP_ASA | | ^
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| XT_CP_CS_ST | | |
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| XT_CPSTORED | | |
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| XT_CPENABLE | | |
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|-------------------| ---------------------- 16 byte aligned
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LOW ADDRESS
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*/
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// Allocate overall coprocessor save area, aligned down to 16 byte boundary
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uxStackPointer = STACKPTR_ALIGN_DOWN(16, uxStackPointer - XT_CP_SIZE);
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// Initialize the coprocessor context switching flags.
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uint32_t *p = (uint32_t *)uxStackPointer;
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p[0] = 0; // Clear XT_CPENABLE and XT_CPSTORED
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p[1] = 0; // Clear XT_CP_CS_ST
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// XT_CP_ASA points to the aligned start of the individual CP save areas (i.e., start of CP0 SA)
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p[2] = (uint32_t)ALIGNUP(XCHAL_TOTAL_SA_ALIGN, (uint32_t)uxStackPointer + 12);
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return uxStackPointer;
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}
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#endif /* XCHAL_CP_NUM > 0 */
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/**
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* @brief Allocate and initialize GCC TLS area
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*
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* This function allocates and initializes the area on the stack used to store GCC TLS (Thread Local Storage) variables.
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* - The area's size is derived from the TLS section's linker variables, and rounded up to a multiple of 16 bytes
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* - The allocated area is aligned to a 16-byte aligned address
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* - The TLS variables in the area are then initialized
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*
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* Each task access the TLS variables using the THREADPTR register plus an offset to obtain the address of the variable.
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* The value for the THREADPTR register is also calculated by this function, and that value should be use to initialize
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* the THREADPTR register.
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*
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* @param[in] uxStackPointer Current stack pointer address
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* @param[out] ret_threadptr_reg_init Calculated THREADPTR register initialization value
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* @return Stack pointer that points to the TLS area
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*/
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FORCE_INLINE_ATTR UBaseType_t uxInitialiseStackTLS(UBaseType_t uxStackPointer, uint32_t *ret_threadptr_reg_init)
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{
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/*
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TLS layout at link-time, where 0xNNN is the offset that the linker calculates to a particular TLS variable.
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LOW ADDRESS
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|---------------------------| Linker Symbols
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| Section | --------------
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| .flash.rodata |
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0x0|---------------------------| <- _flash_rodata_start
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^ | Other Data |
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| |---------------------------| <- _thread_local_start
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| | .tbss | ^
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V | | |
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0xNNN | int example; | | tls_area_size
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| .tdata | V
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|---------------------------| <- _thread_local_end
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| Other data |
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| ... |
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|---------------------------|
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HIGH ADDRESS
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*/
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// Calculate the TLS area's size (rounded up to multiple of 16 bytes).
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extern int _thread_local_start, _thread_local_end, _flash_rodata_start, _flash_rodata_align;
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const uint32_t tls_area_size = ALIGNUP(16, (uint32_t)&_thread_local_end - (uint32_t)&_thread_local_start);
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// TODO: check that TLS area fits the stack
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// Allocate space for the TLS area on the stack. The area must be allocated at a 16-byte aligned address
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uxStackPointer = STACKPTR_ALIGN_DOWN(16, uxStackPointer - (UBaseType_t)tls_area_size);
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// Initialize the TLS area with the initialization values of each TLS variable
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memcpy((void *)uxStackPointer, &_thread_local_start, tls_area_size);
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/*
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Calculate the THREADPTR register's initialization value based on the link-time offset and the TLS area allocated on
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the stack.
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HIGH ADDRESS
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|---------------------------|
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| .tdata (*) |
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^ | int example; |
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| | .tbss (*) |
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| |---------------------------| <- uxStackPointer (start of TLS area)
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0xNNN | | | ^
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| ... | (_thread_local_start - _flash_rodata_start) + align_up(TCB_SIZE, tls_section_alignment)
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| | | |
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| | | V
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V | | <- threadptr register's value
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LOW ADDRESS
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Note: Xtensa is slightly different compared to the RISC-V port as there is an implicit aligned TCB_SIZE added to
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the offset. (search for 'tpoff' in elf32-xtensa.c in BFD):
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- "offset = address - tls_section_vma + align_up(TCB_SIZE, tls_section_alignment)"
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- TCB_SIZE is hardcoded to 8
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*/
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const uint32_t tls_section_align = (uint32_t)&_flash_rodata_align; // ALIGN value of .flash.rodata section
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#define TCB_SIZE 8
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const uint32_t base = ALIGNUP(tls_section_align, TCB_SIZE);
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*ret_threadptr_reg_init = (uint32_t)uxStackPointer - ((uint32_t)&_thread_local_start - (uint32_t)&_flash_rodata_start) - base;
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return uxStackPointer;
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}
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/**
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* @brief Initialize the task's starting interrupt stack frame
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*
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* This function initializes the task's starting interrupt stack frame. The dispatcher will use this stack frame in a
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* context restore routine. Therefore, the starting stack frame must be initialized as if the task was interrupted right
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* before its first instruction is called.
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*
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* - The stack frame is allocated to a 16-byte aligned address
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* - The THREADPTR register is saved in the extra storage area of the stack frame. This is also initialized
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*
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* @param[in] uxStackPointer Current stack pointer address
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* @param[in] pxCode Task function
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* @param[in] pvParameters Task function's parameter
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* @param[in] threadptr_reg_init THREADPTR register initialization value
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* @return Stack pointer that points to the stack frame
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*/
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FORCE_INLINE_ATTR UBaseType_t uxInitialiseStackFrame(UBaseType_t uxStackPointer, TaskFunction_t pxCode, void *pvParameters, uint32_t threadptr_reg_init)
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{
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/*
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HIGH ADDRESS
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|---------------------------| ^ XT_STK_FRMSZ
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| Stack Frame Extra Storage | |
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| ------------------------- | | ^ XT_STK_EXTRA
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| Intr/Exc Stack Frame | | |
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| | V V
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| ------------------------- | ---------------------- 16 byte aligned
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LOW ADDRESS
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*/
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/*
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Allocate space for the task's starting interrupt stack frame.
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- The stack frame must be allocated to a 16-byte aligned address.
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- We use XT_STK_FRMSZ (instead of sizeof(XtExcFrame)) as it...
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- includes the size of the extra storage area
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- includes the size for a base save area before the stack frame
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- rounds up the total size to a multiple of 16
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*/
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UBaseType_t uxStackPointerPrevious = uxStackPointer;
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uxStackPointer = STACKPTR_ALIGN_DOWN(16, uxStackPointer - XT_STK_FRMSZ);
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// Clear the entire interrupt stack frame
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memset((void *)uxStackPointer, 0, (size_t)(uxStackPointerPrevious - uxStackPointer));
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XtExcFrame *frame = (XtExcFrame *)uxStackPointer;
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/*
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Initialize common registers
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*/
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frame->a0 = 0; // Set the return address to 0 terminate GDB backtrace
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frame->a1 = uxStackPointer + XT_STK_FRMSZ; // Saved stack pointer should point to physical top of stack frame
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frame->exit = (UBaseType_t) _xt_user_exit; // User exception exit dispatcher
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/*
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Initialize the task's entry point. This will differ depending on
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- Whether the task's entry point is the wrapper function or pxCode
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- Whether Windowed ABI is used (for windowed, we mimic the task entry point being call4'd )
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*/
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#if CONFIG_FREERTOS_TASK_FUNCTION_WRAPPER
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frame->pc = (UBaseType_t) vPortTaskWrapper; // Task entry point is the wrapper function
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#ifdef __XTENSA_CALL0_ABI__
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frame->a2 = (UBaseType_t) pxCode; // Wrapper function's argument 0 (which is the task function)
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frame->a3 = (UBaseType_t) pvParameters; // Wrapper function's argument 1 (which is the task function's argument)
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#else // __XTENSA_CALL0_ABI__
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frame->a6 = (UBaseType_t) pxCode; // Wrapper function's argument 0 (which is the task function), passed as if we call4'd
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frame->a7 = (UBaseType_t) pvParameters; // Wrapper function's argument 1 (which is the task function's argument), passed as if we call4'd
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#endif // __XTENSA_CALL0_ABI__
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#else
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frame->pc = (UBaseType_t) pxCode; // Task entry point is the provided task function
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#ifdef __XTENSA_CALL0_ABI__
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frame->a2 = (UBaseType_t) pvParameters; // Task function's argument
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#else // __XTENSA_CALL0_ABI__
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frame->a6 = (UBaseType_t) pvParameters; // Task function's argument, passed as if we call4'd
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#endif // __XTENSA_CALL0_ABI__
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#endif
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/*
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Set initial PS to int level 0, EXCM disabled ('rfe' will enable), user mode.
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For windowed ABI also set WOE and CALLINC (pretend task was 'call4'd)
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*/
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#ifdef __XTENSA_CALL0_ABI__
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frame->ps = PS_UM | PS_EXCM;
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#else // __XTENSA_CALL0_ABI__
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frame->ps = PS_UM | PS_EXCM | PS_WOE | PS_CALLINC(1);
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#endif // __XTENSA_CALL0_ABI__
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#ifdef XT_USE_SWPRI
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// Set the initial virtual priority mask value to all 1's.
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frame->vpri = 0xFFFFFFFF;
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#endif
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// Initialize the threadptr register in the extra save area of the stack frame
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uint32_t *threadptr_reg = (uint32_t *)(uxStackPointer + XT_STK_EXTRA);
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*threadptr_reg = threadptr_reg_init;
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return uxStackPointer;
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}
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#if ( portHAS_STACK_OVERFLOW_CHECKING == 1 )
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StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack,
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StackType_t * pxEndOfStack,
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TaskFunction_t pxCode,
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void * pvParameters )
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#else
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StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack,
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TaskFunction_t pxCode,
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void * pvParameters )
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#endif
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{
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#ifdef __clang_analyzer__
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// Teach clang-tidy that pxTopOfStack cannot be a pointer to const
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volatile StackType_t * pxTemp = pxTopOfStack;
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pxTopOfStack = pxTemp;
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#endif /*__clang_analyzer__ */
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/*
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HIGH ADDRESS
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|---------------------------| <- pxTopOfStack on entry
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| Coproc Save Area | (CPSA MUST BE FIRST)
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| ------------------------- |
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| TLS Variables |
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| ------------------------- | <- Start of usable stack
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| Starting stack frame |
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| ------------------------- | <- pxTopOfStack on return (which is the tasks current SP)
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| | |
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| V |
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----------------------------- <- Bottom of stack
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LOW ADDRESS
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- All stack areas are aligned to 16 byte boundary
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- We use UBaseType_t for all of stack area initialization functions for more convenient pointer arithmetic
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*/
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UBaseType_t uxStackPointer = (UBaseType_t)pxTopOfStack;
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// Make sure the incoming stack pointer is aligned on 16
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configASSERT((uxStackPointer & portBYTE_ALIGNMENT_MASK) == 0);
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#if XCHAL_CP_NUM > 0
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// Initialize the coprocessor save area. THIS MUST BE THE FIRST AREA due to access from _frxt_task_coproc_state()
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uxStackPointer = uxInitialiseStackCPSA(uxStackPointer);
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// Each allocated section on the stack must have a size aligned on 16
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configASSERT((uxStackPointer & portBYTE_ALIGNMENT_MASK) == 0);
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#endif /* XCHAL_CP_NUM > 0 */
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// Initialize the GCC TLS area
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uint32_t threadptr_reg_init;
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uxStackPointer = uxInitialiseStackTLS(uxStackPointer, &threadptr_reg_init);
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configASSERT((uxStackPointer & portBYTE_ALIGNMENT_MASK) == 0);
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// Initialize the starting interrupt stack frame
|
|
uxStackPointer = uxInitialiseStackFrame(uxStackPointer, pxCode, pvParameters, threadptr_reg_init);
|
|
configASSERT((uxStackPointer & portBYTE_ALIGNMENT_MASK) == 0);
|
|
// Return the task's current stack pointer address which should point to the starting interrupt stack frame
|
|
return (StackType_t *)uxStackPointer;
|
|
}
|
|
|
|
|
|
|
|
/* ---------------------------------------------- Port Implementations -------------------------------------------------
|
|
*
|
|
* ------------------------------------------------------------------------------------------------------------------ */
|
|
|
|
// --------------------- Interrupts ------------------------
|
|
|
|
BaseType_t xPortInIsrContext(void)
|
|
{
|
|
unsigned int irqStatus;
|
|
BaseType_t ret;
|
|
irqStatus = portSET_INTERRUPT_MASK_FROM_ISR();
|
|
ret = (port_interruptNesting[xPortGetCoreID()] != 0);
|
|
portCLEAR_INTERRUPT_MASK_FROM_ISR(irqStatus);
|
|
return ret;
|
|
}
|
|
|
|
void vPortAssertIfInISR(void)
|
|
{
|
|
/* Assert if the interrupt nesting count is > 0 */
|
|
configASSERT(xPortInIsrContext() == 0);
|
|
}
|
|
|
|
BaseType_t IRAM_ATTR xPortInterruptedFromISRContext(void)
|
|
{
|
|
return (port_interruptNesting[xPortGetCoreID()] != 0);
|
|
}
|
|
|
|
// ------------------ Critical Sections --------------------
|
|
|
|
BaseType_t __attribute__((optimize("-O3"))) xPortEnterCriticalTimeout(portMUX_TYPE *mux, BaseType_t timeout)
|
|
{
|
|
/* Interrupts may already be disabled (if this function is called in nested
|
|
* manner). However, there's no atomic operation that will allow us to check,
|
|
* thus we have to disable interrupts again anyways.
|
|
*
|
|
* However, if this is call is NOT nested (i.e., the first call to enter a
|
|
* critical section), we will save the previous interrupt level so that the
|
|
* saved level can be restored on the last call to exit the critical.
|
|
*/
|
|
BaseType_t xOldInterruptLevel = portSET_INTERRUPT_MASK_FROM_ISR();
|
|
if (!spinlock_acquire(mux, timeout)) {
|
|
//Timed out attempting to get spinlock. Restore previous interrupt level and return
|
|
portCLEAR_INTERRUPT_MASK_FROM_ISR(xOldInterruptLevel);
|
|
return pdFAIL;
|
|
}
|
|
//Spinlock acquired. Increment the critical nesting count.
|
|
BaseType_t coreID = xPortGetCoreID();
|
|
BaseType_t newNesting = port_uxCriticalNesting[coreID] + 1;
|
|
port_uxCriticalNesting[coreID] = newNesting;
|
|
//If this is the first entry to a critical section. Save the old interrupt level.
|
|
if ( newNesting == 1 ) {
|
|
port_uxOldInterruptState[coreID] = xOldInterruptLevel;
|
|
}
|
|
return pdPASS;
|
|
}
|
|
|
|
void __attribute__((optimize("-O3"))) vPortExitCritical(portMUX_TYPE *mux)
|
|
{
|
|
/* This function may be called in a nested manner. Therefore, we only need
|
|
* to re-enable interrupts if this is the last call to exit the critical. We
|
|
* can use the nesting count to determine whether this is the last exit call.
|
|
*/
|
|
spinlock_release(mux);
|
|
BaseType_t coreID = xPortGetCoreID();
|
|
BaseType_t nesting = port_uxCriticalNesting[coreID];
|
|
|
|
/* Critical section nesting count must never be negative */
|
|
configASSERT( nesting > 0 );
|
|
|
|
if (nesting > 0) {
|
|
nesting--;
|
|
port_uxCriticalNesting[coreID] = nesting;
|
|
|
|
//This is the last exit call, restore the saved interrupt level
|
|
if ( nesting == 0 ) {
|
|
portCLEAR_INTERRUPT_MASK_FROM_ISR(port_uxOldInterruptState[coreID]);
|
|
}
|
|
}
|
|
}
|
|
|
|
BaseType_t xPortEnterCriticalTimeoutCompliance(portMUX_TYPE *mux, BaseType_t timeout)
|
|
{
|
|
BaseType_t ret;
|
|
if (!xPortInIsrContext()) {
|
|
ret = xPortEnterCriticalTimeout(mux, timeout);
|
|
} else {
|
|
esp_rom_printf("port*_CRITICAL called from ISR context. Aborting!\n");
|
|
abort();
|
|
ret = pdFAIL;
|
|
}
|
|
return ret;
|
|
}
|
|
|
|
void vPortExitCriticalCompliance(portMUX_TYPE *mux)
|
|
{
|
|
if (!xPortInIsrContext()) {
|
|
vPortExitCritical(mux);
|
|
} else {
|
|
esp_rom_printf("port*_CRITICAL called from ISR context. Aborting!\n");
|
|
abort();
|
|
}
|
|
}
|
|
|
|
// ---------------------- Yielding -------------------------
|
|
|
|
void vPortYieldOtherCore( BaseType_t coreid )
|
|
{
|
|
esp_crosscore_int_send_yield( coreid );
|
|
}
|
|
|
|
// ------------------- Hook Functions ----------------------
|
|
|
|
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 (size_t i = 0 ; i < sizeof(str) / sizeof(str[0]); i++) {
|
|
dest = strcat(dest, str[i]);
|
|
}
|
|
esp_system_abort(buf);
|
|
}
|
|
|
|
// ----------------------- System --------------------------
|
|
|
|
uint32_t xPortGetTickRateHz(void)
|
|
{
|
|
return (uint32_t)configTICK_RATE_HZ;
|
|
}
|
|
|
|
|
|
#define STACK_WATCH_AREA_SIZE 32
|
|
#define STACK_WATCH_POINT_NUMBER (SOC_CPU_WATCHPOINTS_NUM - 1)
|
|
|
|
void vPortSetStackWatchpoint( void *pxStackStart )
|
|
{
|
|
//Set watchpoint 1 to watch the last 32 bytes of the stack.
|
|
//Unfortunately, the Xtensa watchpoints can't set a watchpoint on a random [base - base+n] region because
|
|
//the size works by masking off the lowest address bits. For that reason, we futz a bit and watch the lowest 32
|
|
//bytes of the stack we can actually watch. In general, this can cause the watchpoint to be triggered at most
|
|
//28 bytes early. The value 32 is chosen because it's larger than the stack canary, which in FreeRTOS is 20 bytes.
|
|
//This way, we make sure we trigger before/when the stack canary is corrupted, not after.
|
|
int addr = (int)pxStackStart;
|
|
addr = (addr + 31) & (~31);
|
|
esp_cpu_set_watchpoint(STACK_WATCH_POINT_NUMBER, (char *)addr, 32, ESP_CPU_WATCHPOINT_STORE);
|
|
}
|
|
|
|
// --------------------- TCB Cleanup -----------------------
|
|
|
|
#if ( CONFIG_FREERTOS_TLSP_DELETION_CALLBACKS )
|
|
static void vPortTLSPointersDelCb( void *pxTCB )
|
|
{
|
|
/* Typecast pxTCB to StaticTask_t type to access TCB struct members.
|
|
* pvDummy15 corresponds to pvThreadLocalStoragePointers member of the TCB.
|
|
*/
|
|
StaticTask_t *tcb = ( StaticTask_t * )pxTCB;
|
|
|
|
/* The TLSP deletion callbacks are stored at an offset of (configNUM_THREAD_LOCAL_STORAGE_POINTERS/2) */
|
|
TlsDeleteCallbackFunction_t *pvThreadLocalStoragePointersDelCallback = ( TlsDeleteCallbackFunction_t * )( &( tcb->pvDummy15[ ( configNUM_THREAD_LOCAL_STORAGE_POINTERS / 2 ) ] ) );
|
|
|
|
/* We need to iterate over half the depth of the pvThreadLocalStoragePointers area
|
|
* to access all TLS pointers and their respective TLS deletion callbacks.
|
|
*/
|
|
for ( int x = 0; x < ( configNUM_THREAD_LOCAL_STORAGE_POINTERS / 2 ); x++ ) {
|
|
if ( pvThreadLocalStoragePointersDelCallback[ x ] != NULL ) { //If del cb is set
|
|
/* In case the TLSP deletion callback has been overwritten by a TLS pointer, gracefully abort. */
|
|
if ( !esp_ptr_executable( pvThreadLocalStoragePointersDelCallback[ x ] ) ) {
|
|
// We call EARLY log here as currently portCLEAN_UP_TCB() is called in a critical section
|
|
ESP_EARLY_LOGE("FreeRTOS", "Fatal error: TLSP deletion callback at index %d overwritten with non-excutable pointer %p", x, pvThreadLocalStoragePointersDelCallback[ x ]);
|
|
abort();
|
|
}
|
|
|
|
pvThreadLocalStoragePointersDelCallback[ x ]( x, tcb->pvDummy15[ x ] ); //Call del cb
|
|
}
|
|
}
|
|
}
|
|
#endif /* CONFIG_FREERTOS_TLSP_DELETION_CALLBACKS */
|
|
|
|
#if ( XCHAL_CP_NUM > 0 )
|
|
static void vPortCleanUpCoprocArea(void *pvTCB)
|
|
{
|
|
UBaseType_t uxCoprocArea;
|
|
BaseType_t xTargetCoreID;
|
|
|
|
/* Get a pointer to the task's coprocessor save area */
|
|
uxCoprocArea = ( UBaseType_t ) ( ( ( StaticTask_t * ) pvTCB )->pxDummy8 ); /* Get TCB_t.pxEndOfStack */
|
|
uxCoprocArea = STACKPTR_ALIGN_DOWN(16, uxCoprocArea - XT_CP_SIZE);
|
|
|
|
#if ( configNUMBER_OF_CORES > 1 )
|
|
/* Get xTargetCoreID from the TCB.xCoreID */
|
|
xTargetCoreID = ( ( StaticTask_t * ) pvTCB )->xDummyCoreID;
|
|
#else /* configNUMBER_OF_CORES > 1 */
|
|
xTargetCoreID = 0;
|
|
#endif /* configNUMBER_OF_CORES > 1 */
|
|
|
|
/* If task has live floating point registers somewhere, release them */
|
|
void _xt_coproc_release(volatile void *coproc_sa_base, BaseType_t xTargetCoreID);
|
|
_xt_coproc_release( (void *)uxCoprocArea, xTargetCoreID );
|
|
}
|
|
#endif /* XCHAL_CP_NUM > 0 */
|
|
|
|
void vPortTCBPreDeleteHook( void *pxTCB )
|
|
{
|
|
#if ( CONFIG_FREERTOS_TASK_PRE_DELETION_HOOK )
|
|
/* Call the user defined task pre-deletion hook */
|
|
extern void vTaskPreDeletionHook( void * pxTCB );
|
|
vTaskPreDeletionHook( pxTCB );
|
|
#endif /* CONFIG_FREERTOS_TASK_PRE_DELETION_HOOK */
|
|
|
|
#if ( CONFIG_FREERTOS_ENABLE_STATIC_TASK_CLEAN_UP )
|
|
/*
|
|
* If the user is using the legacy task pre-deletion hook, call it.
|
|
* Todo: Will be removed in IDF-8097
|
|
*/
|
|
#warning "CONFIG_FREERTOS_ENABLE_STATIC_TASK_CLEAN_UP is deprecated. Use CONFIG_FREERTOS_TASK_PRE_DELETION_HOOK instead."
|
|
extern void vPortCleanUpTCB( void * pxTCB );
|
|
vPortCleanUpTCB( pxTCB );
|
|
#endif /* CONFIG_FREERTOS_ENABLE_STATIC_TASK_CLEAN_UP */
|
|
|
|
#if ( CONFIG_FREERTOS_TLSP_DELETION_CALLBACKS )
|
|
/* Call TLS pointers deletion callbacks */
|
|
vPortTLSPointersDelCb( pxTCB );
|
|
#endif /* CONFIG_FREERTOS_TLSP_DELETION_CALLBACKS */
|
|
|
|
#if ( XCHAL_CP_NUM > 0 )
|
|
/* Cleanup coproc save area */
|
|
vPortCleanUpCoprocArea( pxTCB );
|
|
#endif /* XCHAL_CP_NUM > 0 */
|
|
}
|