mirror of
https://github.com/espressif/esp-idf.git
synced 2024-10-05 20:47:46 -04:00
b4939b1121
If zero-overhead loop buffer is enabled, under certain rare conditions when executing a zero-overhead loop, the CPU may attempt to execute an invalid instruction. Work around by disabling the buffer.
482 lines
15 KiB
C
482 lines
15 KiB
C
// Copyright 2015-2018 Espressif Systems (Shanghai) PTE LTD
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include <stdint.h>
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#include <string.h>
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#include "esp_attr.h"
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#include "esp_err.h"
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#include "rom/ets_sys.h"
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#include "rom/uart.h"
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#include "rom/rtc.h"
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#include "rom/cache.h"
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#include "soc/cpu.h"
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#include "soc/rtc.h"
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#include "soc/dport_reg.h"
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#include "soc/io_mux_reg.h"
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#include "soc/rtc_cntl_reg.h"
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#include "soc/timer_group_reg.h"
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#include "soc/efuse_reg.h"
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#include "driver/rtc_io.h"
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "freertos/semphr.h"
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#include "freertos/queue.h"
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#include "freertos/portmacro.h"
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#include "esp_heap_caps_init.h"
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#include "sdkconfig.h"
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#include "esp_system.h"
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#include "esp_spi_flash.h"
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#include "nvs_flash.h"
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#include "esp_event.h"
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#include "esp_spi_flash.h"
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#include "esp_ipc.h"
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#include "esp_crosscore_int.h"
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#include "esp_dport_access.h"
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#include "esp_log.h"
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#include "esp_vfs_dev.h"
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#include "esp_newlib.h"
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#include "esp_brownout.h"
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#include "esp_int_wdt.h"
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#include "esp_task.h"
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#include "esp_task_wdt.h"
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#include "esp_phy_init.h"
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#include "esp_cache_err_int.h"
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#include "esp_coexist.h"
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#include "esp_panic.h"
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#include "esp_core_dump.h"
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#include "esp_app_trace.h"
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#include "esp_dbg_stubs.h"
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#include "esp_efuse.h"
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#include "esp_spiram.h"
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#include "esp_clk_internal.h"
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#include "esp_timer.h"
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#include "esp_pm.h"
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#include "pm_impl.h"
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#include "trax.h"
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#define STRINGIFY(s) STRINGIFY2(s)
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#define STRINGIFY2(s) #s
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void start_cpu0(void) __attribute__((weak, alias("start_cpu0_default"))) __attribute__((noreturn));
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void start_cpu0_default(void) IRAM_ATTR __attribute__((noreturn));
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#if !CONFIG_FREERTOS_UNICORE
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static void IRAM_ATTR call_start_cpu1() __attribute__((noreturn));
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void start_cpu1(void) __attribute__((weak, alias("start_cpu1_default"))) __attribute__((noreturn));
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void start_cpu1_default(void) IRAM_ATTR __attribute__((noreturn));
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static bool app_cpu_started = false;
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#endif //!CONFIG_FREERTOS_UNICORE
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static void do_global_ctors(void);
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static void main_task(void* args);
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extern void app_main(void);
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extern esp_err_t esp_pthread_init(void);
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extern int _bss_start;
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extern int _bss_end;
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extern int _rtc_bss_start;
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extern int _rtc_bss_end;
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extern int _init_start;
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extern void (*__init_array_start)(void);
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extern void (*__init_array_end)(void);
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extern volatile int port_xSchedulerRunning[2];
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static const char* TAG = "cpu_start";
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struct object { long placeholder[ 10 ]; };
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void __register_frame_info (const void *begin, struct object *ob);
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extern char __eh_frame[];
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//If CONFIG_SPIRAM_IGNORE_NOTFOUND is set and external RAM is not found or errors out on testing, this is set to false.
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static bool s_spiram_okay=true;
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/*
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* We arrive here after the bootloader finished loading the program from flash. The hardware is mostly uninitialized,
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* and the app CPU is in reset. We do have a stack, so we can do the initialization in C.
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*/
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void IRAM_ATTR call_start_cpu0()
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{
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#if CONFIG_FREERTOS_UNICORE
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RESET_REASON rst_reas[1];
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#else
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RESET_REASON rst_reas[2];
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#endif
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cpu_configure_region_protection();
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cpu_init_memctl();
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//Move exception vectors to IRAM
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asm volatile (\
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"wsr %0, vecbase\n" \
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::"r"(&_init_start));
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rst_reas[0] = rtc_get_reset_reason(0);
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#if !CONFIG_FREERTOS_UNICORE
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rst_reas[1] = rtc_get_reset_reason(1);
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#endif
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// from panic handler we can be reset by RWDT or TG0WDT
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if (rst_reas[0] == RTCWDT_SYS_RESET || rst_reas[0] == TG0WDT_SYS_RESET
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#if !CONFIG_FREERTOS_UNICORE
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|| rst_reas[1] == RTCWDT_SYS_RESET || rst_reas[1] == TG0WDT_SYS_RESET
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#endif
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) {
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esp_panic_wdt_stop();
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}
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//Clear BSS. Please do not attempt to do any complex stuff (like early logging) before this.
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memset(&_bss_start, 0, (&_bss_end - &_bss_start) * sizeof(_bss_start));
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/* Unless waking from deep sleep (implying RTC memory is intact), clear RTC bss */
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if (rst_reas[0] != DEEPSLEEP_RESET) {
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memset(&_rtc_bss_start, 0, (&_rtc_bss_end - &_rtc_bss_start) * sizeof(_rtc_bss_start));
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}
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#if CONFIG_SPIRAM_BOOT_INIT
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esp_spiram_init_cache();
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if (esp_spiram_init() != ESP_OK) {
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#if CONFIG_SPIRAM_IGNORE_NOTFOUND
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ESP_EARLY_LOGI(TAG, "Failed to init external RAM; continuing without it.");
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s_spiram_okay = false;
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#else
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ESP_EARLY_LOGE(TAG, "Failed to init external RAM!");
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abort();
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#endif
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}
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#endif
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ESP_EARLY_LOGI(TAG, "Pro cpu up.");
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#if !CONFIG_FREERTOS_UNICORE
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if (REG_GET_BIT(EFUSE_BLK0_RDATA3_REG, EFUSE_RD_CHIP_VER_DIS_APP_CPU)) {
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ESP_EARLY_LOGE(TAG, "Running on single core chip, but application is built with dual core support.");
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ESP_EARLY_LOGE(TAG, "Please enable CONFIG_FREERTOS_UNICORE option in menuconfig.");
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abort();
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}
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ESP_EARLY_LOGI(TAG, "Starting app cpu, entry point is %p", call_start_cpu1);
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//Flush and enable icache for APP CPU
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Cache_Flush(1);
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Cache_Read_Enable(1);
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esp_cpu_unstall(1);
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// Enable clock and reset APP CPU. Note that OpenOCD may have already
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// enabled clock and taken APP CPU out of reset. In this case don't reset
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// APP CPU again, as that will clear the breakpoints which may have already
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// been set.
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if (!DPORT_GET_PERI_REG_MASK(DPORT_APPCPU_CTRL_B_REG, DPORT_APPCPU_CLKGATE_EN)) {
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DPORT_SET_PERI_REG_MASK(DPORT_APPCPU_CTRL_B_REG, DPORT_APPCPU_CLKGATE_EN);
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DPORT_CLEAR_PERI_REG_MASK(DPORT_APPCPU_CTRL_C_REG, DPORT_APPCPU_RUNSTALL);
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DPORT_SET_PERI_REG_MASK(DPORT_APPCPU_CTRL_A_REG, DPORT_APPCPU_RESETTING);
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DPORT_CLEAR_PERI_REG_MASK(DPORT_APPCPU_CTRL_A_REG, DPORT_APPCPU_RESETTING);
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}
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ets_set_appcpu_boot_addr((uint32_t)call_start_cpu1);
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while (!app_cpu_started) {
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ets_delay_us(100);
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}
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#else
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ESP_EARLY_LOGI(TAG, "Single core mode");
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DPORT_CLEAR_PERI_REG_MASK(DPORT_APPCPU_CTRL_B_REG, DPORT_APPCPU_CLKGATE_EN);
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#endif
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#if CONFIG_SPIRAM_MEMTEST
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if (s_spiram_okay) {
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bool ext_ram_ok=esp_spiram_test();
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if (!ext_ram_ok) {
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ESP_EARLY_LOGE(TAG, "External RAM failed memory test!");
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abort();
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}
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}
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#endif
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/* Initialize heap allocator. WARNING: This *needs* to happen *after* the app cpu has booted.
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If the heap allocator is initialized first, it will put free memory linked list items into
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memory also used by the ROM. Starting the app cpu will let its ROM initialize that memory,
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corrupting those linked lists. Initializing the allocator *after* the app cpu has booted
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works around this problem.
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With SPI RAM enabled, there's a second reason: half of the SPI RAM will be managed by the
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app CPU, and when that is not up yet, the memory will be inaccessible and heap_caps_init may
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fail initializing it properly. */
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heap_caps_init();
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ESP_EARLY_LOGI(TAG, "Pro cpu start user code");
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start_cpu0();
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}
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#if !CONFIG_FREERTOS_UNICORE
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static void wdt_reset_cpu1_info_enable(void)
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{
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DPORT_REG_SET_BIT(DPORT_APP_CPU_RECORD_CTRL_REG, DPORT_APP_CPU_PDEBUG_ENABLE | DPORT_APP_CPU_RECORD_ENABLE);
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DPORT_REG_CLR_BIT(DPORT_APP_CPU_RECORD_CTRL_REG, DPORT_APP_CPU_RECORD_ENABLE);
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}
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void IRAM_ATTR call_start_cpu1()
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{
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asm volatile (\
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"wsr %0, vecbase\n" \
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::"r"(&_init_start));
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ets_set_appcpu_boot_addr(0);
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cpu_configure_region_protection();
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cpu_init_memctl();
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#if CONFIG_CONSOLE_UART_NONE
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ets_install_putc1(NULL);
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ets_install_putc2(NULL);
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#else // CONFIG_CONSOLE_UART_NONE
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uartAttach();
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ets_install_uart_printf();
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uart_tx_switch(CONFIG_CONSOLE_UART_NUM);
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#endif
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wdt_reset_cpu1_info_enable();
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ESP_EARLY_LOGI(TAG, "App cpu up.");
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app_cpu_started = 1;
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start_cpu1();
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}
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#endif //!CONFIG_FREERTOS_UNICORE
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static void intr_matrix_clear(void)
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{
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//Clear all the interrupt matrix register
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for (int i = ETS_WIFI_MAC_INTR_SOURCE; i <= ETS_CACHE_IA_INTR_SOURCE; i++) {
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intr_matrix_set(0, i, ETS_INVALID_INUM);
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#if !CONFIG_FREERTOS_UNICORE
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intr_matrix_set(1, i, ETS_INVALID_INUM);
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#endif
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}
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}
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void start_cpu0_default(void)
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{
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esp_err_t err;
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esp_setup_syscall_table();
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if (s_spiram_okay) {
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#if CONFIG_SPIRAM_BOOT_INIT && (CONFIG_SPIRAM_USE_CAPS_ALLOC || CONFIG_SPIRAM_USE_MALLOC)
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esp_err_t r=esp_spiram_add_to_heapalloc();
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if (r != ESP_OK) {
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ESP_EARLY_LOGE(TAG, "External RAM could not be added to heap!");
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abort();
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}
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#if CONFIG_SPIRAM_MALLOC_RESERVE_INTERNAL
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r=esp_spiram_reserve_dma_pool(CONFIG_SPIRAM_MALLOC_RESERVE_INTERNAL);
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if (r != ESP_OK) {
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ESP_EARLY_LOGE(TAG, "Could not reserve internal/DMA pool!");
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abort();
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}
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#endif
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#if CONFIG_SPIRAM_USE_MALLOC
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heap_caps_malloc_extmem_enable(CONFIG_SPIRAM_MALLOC_ALWAYSINTERNAL);
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#endif
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#endif
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}
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//Enable trace memory and immediately start trace.
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#if CONFIG_ESP32_TRAX
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#if CONFIG_ESP32_TRAX_TWOBANKS
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trax_enable(TRAX_ENA_PRO_APP);
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#else
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trax_enable(TRAX_ENA_PRO);
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#endif
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trax_start_trace(TRAX_DOWNCOUNT_WORDS);
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#endif
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esp_clk_init();
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esp_perip_clk_init();
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intr_matrix_clear();
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#ifndef CONFIG_CONSOLE_UART_NONE
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#ifdef CONFIG_PM_ENABLE
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const int uart_clk_freq = REF_CLK_FREQ;
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/* When DFS is enabled, use REFTICK as UART clock source */
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CLEAR_PERI_REG_MASK(UART_CONF0_REG(CONFIG_CONSOLE_UART_NUM), UART_TICK_REF_ALWAYS_ON);
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#else
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const int uart_clk_freq = APB_CLK_FREQ;
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#endif // CONFIG_PM_DFS_ENABLE
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uart_div_modify(CONFIG_CONSOLE_UART_NUM, (uart_clk_freq << 4) / CONFIG_CONSOLE_UART_BAUDRATE);
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#endif // CONFIG_CONSOLE_UART_NONE
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#if CONFIG_BROWNOUT_DET
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esp_brownout_init();
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#endif
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#if CONFIG_DISABLE_BASIC_ROM_CONSOLE
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esp_efuse_disable_basic_rom_console();
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#endif
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rtc_gpio_force_hold_dis_all();
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esp_vfs_dev_uart_register();
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esp_reent_init(_GLOBAL_REENT);
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#ifndef CONFIG_CONSOLE_UART_NONE
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const char* default_uart_dev = "/dev/uart/" STRINGIFY(CONFIG_CONSOLE_UART_NUM);
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_GLOBAL_REENT->_stdin = fopen(default_uart_dev, "r");
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_GLOBAL_REENT->_stdout = fopen(default_uart_dev, "w");
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_GLOBAL_REENT->_stderr = fopen(default_uart_dev, "w");
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#else
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_GLOBAL_REENT->_stdin = (FILE*) &__sf_fake_stdin;
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_GLOBAL_REENT->_stdout = (FILE*) &__sf_fake_stdout;
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_GLOBAL_REENT->_stderr = (FILE*) &__sf_fake_stderr;
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#endif
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esp_timer_init();
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esp_set_time_from_rtc();
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#if CONFIG_ESP32_APPTRACE_ENABLE
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err = esp_apptrace_init();
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assert(err == ESP_OK && "Failed to init apptrace module on PRO CPU!");
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#endif
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#if CONFIG_SYSVIEW_ENABLE
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SEGGER_SYSVIEW_Conf();
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#endif
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#if CONFIG_ESP32_DEBUG_STUBS_ENABLE
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esp_dbg_stubs_init();
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#endif
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err = esp_pthread_init();
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assert(err == ESP_OK && "Failed to init pthread module!");
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do_global_ctors();
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#if CONFIG_INT_WDT
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esp_int_wdt_init();
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//Initialize the interrupt watch dog for CPU0.
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esp_int_wdt_cpu_init();
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#endif
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esp_cache_err_int_init();
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esp_crosscore_int_init();
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esp_ipc_init();
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#ifndef CONFIG_FREERTOS_UNICORE
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esp_dport_access_int_init();
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#endif
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spi_flash_init();
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/* init default OS-aware flash access critical section */
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spi_flash_guard_set(&g_flash_guard_default_ops);
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#ifdef CONFIG_PM_ENABLE
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esp_pm_impl_init();
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#ifdef CONFIG_PM_DFS_INIT_AUTO
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rtc_cpu_freq_t max_freq;
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rtc_clk_cpu_freq_from_mhz(CONFIG_ESP32_DEFAULT_CPU_FREQ_MHZ, &max_freq);
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esp_pm_config_esp32_t cfg = {
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.max_cpu_freq = max_freq,
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.min_cpu_freq = RTC_CPU_FREQ_XTAL
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};
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esp_pm_configure(&cfg);
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#endif //CONFIG_PM_DFS_INIT_AUTO
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#endif //CONFIG_PM_ENABLE
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#if CONFIG_ESP32_ENABLE_COREDUMP
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esp_core_dump_init();
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#endif
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portBASE_TYPE res = xTaskCreatePinnedToCore(&main_task, "main",
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ESP_TASK_MAIN_STACK, NULL,
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ESP_TASK_MAIN_PRIO, NULL, 0);
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assert(res == pdTRUE);
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ESP_LOGI(TAG, "Starting scheduler on PRO CPU.");
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vTaskStartScheduler();
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abort(); /* Only get to here if not enough free heap to start scheduler */
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}
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#if !CONFIG_FREERTOS_UNICORE
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void start_cpu1_default(void)
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{
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// Wait for FreeRTOS initialization to finish on PRO CPU
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while (port_xSchedulerRunning[0] == 0) {
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;
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}
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#if CONFIG_ESP32_TRAX_TWOBANKS
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trax_start_trace(TRAX_DOWNCOUNT_WORDS);
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#endif
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#if CONFIG_ESP32_APPTRACE_ENABLE
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esp_err_t err = esp_apptrace_init();
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assert(err == ESP_OK && "Failed to init apptrace module on APP CPU!");
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#endif
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#if CONFIG_INT_WDT
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//Initialize the interrupt watch dog for CPU1.
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esp_int_wdt_cpu_init();
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#endif
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//Take care putting stuff here: if asked, FreeRTOS will happily tell you the scheduler
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//has started, but it isn't active *on this CPU* yet.
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esp_cache_err_int_init();
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esp_crosscore_int_init();
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esp_dport_access_int_init();
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ESP_EARLY_LOGI(TAG, "Starting scheduler on APP CPU.");
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xPortStartScheduler();
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abort(); /* Only get to here if FreeRTOS somehow very broken */
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}
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#endif //!CONFIG_FREERTOS_UNICORE
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#ifdef CONFIG_CXX_EXCEPTIONS
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size_t __cxx_eh_arena_size_get()
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{
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return CONFIG_CXX_EXCEPTIONS_EMG_POOL_SIZE;
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}
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#endif
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static void do_global_ctors(void)
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{
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#ifdef CONFIG_CXX_EXCEPTIONS
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static struct object ob;
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__register_frame_info( __eh_frame, &ob );
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#endif
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void (**p)(void);
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for (p = &__init_array_end - 1; p >= &__init_array_start; --p) {
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(*p)();
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}
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}
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static void main_task(void* args)
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{
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// Now that the application is about to start, disable boot watchdogs
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REG_CLR_BIT(TIMG_WDTCONFIG0_REG(0), TIMG_WDT_FLASHBOOT_MOD_EN_S);
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REG_CLR_BIT(RTC_CNTL_WDTCONFIG0_REG, RTC_CNTL_WDT_FLASHBOOT_MOD_EN);
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#if !CONFIG_FREERTOS_UNICORE
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|
// Wait for FreeRTOS initialization to finish on APP CPU, before replacing its startup stack
|
|
while (port_xSchedulerRunning[1] == 0) {
|
|
;
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|
}
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|
#endif
|
|
//Enable allocation in region where the startup stacks were located.
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|
heap_caps_enable_nonos_stack_heaps();
|
|
|
|
//Initialize task wdt if configured to do so
|
|
#ifdef CONFIG_TASK_WDT_PANIC
|
|
ESP_ERROR_CHECK(esp_task_wdt_init(CONFIG_TASK_WDT_TIMEOUT_S, true))
|
|
#elif CONFIG_TASK_WDT
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|
ESP_ERROR_CHECK(esp_task_wdt_init(CONFIG_TASK_WDT_TIMEOUT_S, false))
|
|
#endif
|
|
|
|
//Add IDLE 0 to task wdt
|
|
#ifdef CONFIG_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_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);
|
|
}
|
|
|