mirror of
https://github.com/espressif/esp-idf.git
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d6f2fa4bab
This commit removes the following critical nested macros as follows: - portENTER_CRITICAL_NESTED() - portEXIT_CRITICAL_NESTED() They are replaced with portSET_INTERRUPT_MASK_FROM_ISR() and portCLEAR_INTERRUPT_MASK_FROM_ISR() which are the proper FreeRTOS interfaces. Created a portmacro_deprecated.h for each port to contain deprecated API that were originally from portmacro.h
466 lines
18 KiB
C
466 lines
18 KiB
C
/*
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* FreeRTOS Kernel V10.4.3
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* Copyright (C) 2017 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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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. If you wish to use our Amazon
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* FreeRTOS name, please do so in a fair use way that does not cause confusion.
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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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* 1 tab == 4 spaces!
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*/
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/*
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* Copyright (c) 2015-2019 Cadence Design Systems, Inc.
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*
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* Permission is hereby granted, free of charge, to any person obtaining
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* a copy of this software and associated documentation files (the
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* "Software"), to deal in the Software without restriction, including
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* without limitation the rights to use, copy, modify, merge, publish,
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* distribute, sublicense, and/or sell copies of the Software, and to
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* permit persons to whom the Software is furnished to do so, subject to
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* the following conditions:
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*
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* The above copyright notice and this permission notice shall be included
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* in all 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,
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
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* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
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* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
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* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
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* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
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* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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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 <stdarg.h>
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#include <xtensa/config/core.h>
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#include <xtensa/xtensa_context.h>
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#include "soc/soc_caps.h"
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#include "esp_private/crosscore_int.h"
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#include "esp_system.h"
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#include "esp_log.h"
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#include "esp_int_wdt.h"
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#include "esp_app_trace.h" /* Required for esp_apptrace_init. [refactor-todo] */
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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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_Static_assert(tskNO_AFFINITY == CONFIG_FREERTOS_NO_AFFINITY, "incorrect tskNO_AFFINITY value");
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/* ---------------------------------------------------- Variables ------------------------------------------------------
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*
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* ------------------------------------------------------------------------------------------------------------------ */
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static const char *TAG = "cpu_start"; /* [refactor-todo]: might be appropriate to change in the future, but for now maintain the same log output */
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extern volatile int port_xSchedulerRunning[portNUM_PROCESSORS];
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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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/* ------------------------------------------------ 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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// 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 = pcTaskGetTaskName(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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#if portUSING_MPU_WRAPPERS
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StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters, BaseType_t xRunPrivileged )
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#else
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StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters )
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#endif
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{
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StackType_t *sp, *tp;
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XtExcFrame *frame;
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#if XCHAL_CP_NUM > 0
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uint32_t *p;
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#endif
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uint32_t *threadptr;
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void *task_thread_local_start;
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extern int _thread_local_start, _thread_local_end, _flash_rodata_start, _flash_rodata_align;
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// TODO: check that TLS area fits the stack
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uint32_t thread_local_sz = (uint8_t *)&_thread_local_end - (uint8_t *)&_thread_local_start;
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thread_local_sz = ALIGNUP(0x10, thread_local_sz);
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/* Initialize task's stack so that we have the following structure at the top:
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----LOW ADDRESSES ----------------------------------------HIGH ADDRESSES----------
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task stack | interrupt stack frame | thread local vars | co-processor save area |
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----------------------------------------------------------------------------------
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SP pxTopOfStack
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All parts are aligned to 16 byte boundary. */
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sp = (StackType_t *) (((UBaseType_t)pxTopOfStack - XT_CP_SIZE - thread_local_sz - XT_STK_FRMSZ) & ~0xf);
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/* Clear the entire frame (do not use memset() because we don't depend on C library) */
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for (tp = sp; tp <= pxTopOfStack; ++tp) {
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*tp = 0;
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}
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frame = (XtExcFrame *) sp;
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/* Explicitly initialize certain saved registers */
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#if CONFIG_FREERTOS_TASK_FUNCTION_WRAPPER
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frame->pc = (UBaseType_t) vPortTaskWrapper; /* task wrapper */
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#else
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frame->pc = (UBaseType_t) pxCode; /* task entrypoint */
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#endif
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frame->a0 = 0; /* to terminate GDB backtrace */
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frame->a1 = (UBaseType_t) sp + XT_STK_FRMSZ; /* physical top of stack frame */
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frame->exit = (UBaseType_t) _xt_user_exit; /* user exception exit dispatcher */
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/* Set initial PS to int level 0, EXCM disabled ('rfe' will enable), user mode. */
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/* Also set entry point argument parameter. */
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#ifdef __XTENSA_CALL0_ABI__
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#if CONFIG_FREERTOS_TASK_FUNCTION_WRAPPER
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frame->a2 = (UBaseType_t) pxCode;
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frame->a3 = (UBaseType_t) pvParameters;
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#else
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frame->a2 = (UBaseType_t) pvParameters;
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#endif
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frame->ps = PS_UM | PS_EXCM;
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#else /* __XTENSA_CALL0_ABI__ */
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/* + for windowed ABI also set WOE and CALLINC (pretend task was 'call4'd). */
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#if CONFIG_FREERTOS_TASK_FUNCTION_WRAPPER
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frame->a6 = (UBaseType_t) pxCode;
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frame->a7 = (UBaseType_t) pvParameters;
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#else
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frame->a6 = (UBaseType_t) pvParameters;
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#endif
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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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/* Init threadptr register and set up TLS run-time area.
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* The diagram in port/riscv/port.c illustrates the calculations below.
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*/
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task_thread_local_start = (void *)(((uint32_t)pxTopOfStack - XT_CP_SIZE - thread_local_sz) & ~0xf);
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memcpy(task_thread_local_start, &_thread_local_start, thread_local_sz);
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threadptr = (uint32_t *)(sp + XT_STK_EXTRA);
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/* Calculate THREADPTR value.
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* The generated code will add THREADPTR value to a constant value determined at link time,
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* to get the address of the TLS variable.
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* The constant value is calculated by the linker as follows
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* (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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* where TCB_SIZE is hardcoded to 8.
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* Note this is slightly different compared to the RISC-V port, where offset = address - tls_section_vma.
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*/
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const uint32_t tls_section_alignment = (uint32_t) &_flash_rodata_align; /* ALIGN value of .flash.rodata section */
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const uint32_t tcb_size = 8; /* Unrelated to FreeRTOS, this is the constant from BFD */
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const uint32_t base = (tcb_size + tls_section_alignment - 1) & (~(tls_section_alignment - 1));
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*threadptr = (uint32_t)task_thread_local_start - ((uint32_t)&_thread_local_start - (uint32_t)&_flash_rodata_start) - base;
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#if XCHAL_CP_NUM > 0
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/* Init the coprocessor save area (see xtensa_context.h) */
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/* No access to TCB here, so derive indirectly. Stack growth is top to bottom.
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* //p = (uint32_t *) xMPUSettings->coproc_area;
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*/
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p = (uint32_t *)(((uint32_t) pxTopOfStack - XT_CP_SIZE) & ~0xf);
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configASSERT( ( uint32_t ) p >= frame->a1 );
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p[0] = 0;
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p[1] = 0;
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p[2] = (((uint32_t) p) + 12 + XCHAL_TOTAL_SA_ALIGN - 1) & -XCHAL_TOTAL_SA_ALIGN;
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#endif /* XCHAL_CP_NUM */
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return sp;
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}
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/* ---------------------------------------------- Port Implementations -------------------------------------------------
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*
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* ------------------------------------------------------------------------------------------------------------------ */
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// --------------------- Interrupts ------------------------
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BaseType_t xPortInIsrContext(void)
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{
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unsigned int irqStatus;
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BaseType_t ret;
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irqStatus = portSET_INTERRUPT_MASK_FROM_ISR();
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ret = (port_interruptNesting[xPortGetCoreID()] != 0);
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portCLEAR_INTERRUPT_MASK_FROM_ISR(irqStatus);
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return ret;
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}
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void vPortAssertIfInISR(void)
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{
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configASSERT(xPortInIsrContext());
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}
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BaseType_t IRAM_ATTR xPortInterruptedFromISRContext(void)
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{
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return (port_interruptNesting[xPortGetCoreID()] != 0);
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}
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// ------------------ Critical Sections --------------------
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void __attribute__((optimize("-O3"))) vPortEnterCritical(portMUX_TYPE *mux)
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{
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BaseType_t oldInterruptLevel = portSET_INTERRUPT_MASK_FROM_ISR();
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/* Interrupts may already be disabled (because we're doing this recursively)
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* but we can't get the interrupt level after
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* vPortCPUAquireMutex, because it also may mess with interrupts.
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* Get it here first, then later figure out if we're nesting
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* and save for real there.
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*/
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vPortCPUAcquireMutex( mux );
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BaseType_t coreID = xPortGetCoreID();
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BaseType_t newNesting = port_uxCriticalNesting[coreID] + 1;
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port_uxCriticalNesting[coreID] = newNesting;
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if ( newNesting == 1 ) {
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//This is the first time we get called. Save original interrupt level.
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port_uxOldInterruptState[coreID] = oldInterruptLevel;
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}
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}
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void __attribute__((optimize("-O3"))) vPortExitCritical(portMUX_TYPE *mux)
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{
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vPortCPUReleaseMutex( mux );
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BaseType_t coreID = xPortGetCoreID();
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BaseType_t nesting = port_uxCriticalNesting[coreID];
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if (nesting > 0) {
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nesting--;
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port_uxCriticalNesting[coreID] = nesting;
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if ( nesting == 0 ) {
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portCLEAR_INTERRUPT_MASK_FROM_ISR(port_uxOldInterruptState[coreID]);
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}
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}
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}
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// ---------------------- Yielding -------------------------
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void vPortYieldOtherCore( BaseType_t coreid )
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{
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esp_crosscore_int_send_yield( coreid );
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}
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extern void _frxt_setup_switch( void ); //Defined in portasm.S
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void IRAM_ATTR vPortEvaluateYieldFromISR(int argc, ...)
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{
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BaseType_t xYield;
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va_list ap;
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va_start(ap, argc);
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if (argc) {
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xYield = (BaseType_t)va_arg(ap, int);
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va_end(ap);
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} else {
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//it is a empty parameter vPortYieldFromISR macro call:
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va_end(ap);
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traceISR_EXIT_TO_SCHEDULER();
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_frxt_setup_switch();
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return;
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}
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//Yield exists, so need evaluate it first then switch:
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if (xYield == pdTRUE) {
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traceISR_EXIT_TO_SCHEDULER();
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_frxt_setup_switch();
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}
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}
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// ------------------- Hook Functions ----------------------
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void __attribute__((weak)) vApplicationStackOverflowHook( TaskHandle_t xTask, char *pcTaskName )
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{
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#define ERR_STR1 "***ERROR*** A stack overflow in task "
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#define ERR_STR2 " has been detected."
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const char *str[] = {ERR_STR1, pcTaskName, ERR_STR2};
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char buf[sizeof(ERR_STR1) + CONFIG_FREERTOS_MAX_TASK_NAME_LEN + sizeof(ERR_STR2) + 1 /* null char */] = { 0 };
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char *dest = buf;
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for (size_t i = 0 ; i < sizeof(str) / sizeof(str[0]); i++) {
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dest = strcat(dest, str[i]);
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}
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esp_system_abort(buf);
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}
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// ----------------------- System --------------------------
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uint32_t xPortGetTickRateHz(void)
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{
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return (uint32_t)configTICK_RATE_HZ;
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}
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#define STACK_WATCH_AREA_SIZE 32
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#define STACK_WATCH_POINT_NUMBER (SOC_CPU_WATCHPOINTS_NUM - 1)
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void vPortSetStackWatchpoint( void *pxStackStart )
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{
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//Set watchpoint 1 to watch the last 32 bytes of the stack.
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//Unfortunately, the Xtensa watchpoints can't set a watchpoint on a random [base - base+n] region because
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//the size works by masking off the lowest address bits. For that reason, we futz a bit and watch the lowest 32
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//bytes of the stack we can actually watch. In general, this can cause the watchpoint to be triggered at most
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//28 bytes early. The value 32 is chosen because it's larger than the stack canary, which in FreeRTOS is 20 bytes.
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//This way, we make sure we trigger before/when the stack canary is corrupted, not after.
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int addr = (int)pxStackStart;
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addr = (addr + 31) & (~31);
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esp_cpu_set_watchpoint(STACK_WATCH_POINT_NUMBER, (char *)addr, 32, ESP_WATCHPOINT_STORE);
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}
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/* ---------------------------------------------- Misc Implementations -------------------------------------------------
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*
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* ------------------------------------------------------------------------------------------------------------------ */
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// -------------------- Co-Processor -----------------------
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/*
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* Used to set coprocessor area in stack. Current hack is to reuse MPU pointer for coprocessor area.
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*/
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#if portUSING_MPU_WRAPPERS
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void vPortStoreTaskMPUSettings( xMPU_SETTINGS *xMPUSettings, const struct xMEMORY_REGION *const xRegions, StackType_t *pxBottomOfStack, uint32_t usStackDepth )
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{
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#if XCHAL_CP_NUM > 0
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xMPUSettings->coproc_area = ( StackType_t * ) ( ( uint32_t ) ( pxBottomOfStack + usStackDepth - 1 ));
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xMPUSettings->coproc_area = ( StackType_t * ) ( ( ( portPOINTER_SIZE_TYPE ) xMPUSettings->coproc_area ) & ( ~( ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) ) );
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xMPUSettings->coproc_area = ( StackType_t * ) ( ( ( uint32_t ) xMPUSettings->coproc_area - XT_CP_SIZE ) & ~0xf );
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/* NOTE: we cannot initialize the coprocessor save area here because FreeRTOS is going to
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* clear the stack area after we return. This is done in pxPortInitialiseStack().
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*/
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#endif
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}
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void vPortReleaseTaskMPUSettings( xMPU_SETTINGS *xMPUSettings )
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{
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/* If task has live floating point registers somewhere, release them */
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_xt_coproc_release( xMPUSettings->coproc_area );
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}
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#endif /* portUSING_MPU_WRAPPERS */
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// --------------------- App Start-up ----------------------
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#if !CONFIG_FREERTOS_UNICORE
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void esp_startup_start_app_other_cores(void)
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{
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// For now, we only support up to two core: 0 and 1.
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if (xPortGetCoreID() >= 2) {
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abort();
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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_APPTRACE_ENABLE
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// [refactor-todo] move to esp_system initialization
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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_ESP_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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esp_crosscore_int_init();
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|
ESP_EARLY_LOGI(TAG, "Starting scheduler on APP CPU.");
|
|
xPortStartScheduler();
|
|
abort(); /* Only get to here if FreeRTOS somehow very broken */
|
|
}
|
|
#endif // !CONFIG_FREERTOS_UNICORE
|
|
|
|
extern void esp_startup_start_app_common(void);
|
|
|
|
void esp_startup_start_app(void)
|
|
{
|
|
#if !CONFIG_ESP_INT_WDT
|
|
#if CONFIG_ESP32_ECO3_CACHE_LOCK_FIX
|
|
assert(!soc_has_cache_lock_bug() && "ESP32 Rev 3 + Dual Core + PSRAM requires INT WDT enabled in project config!");
|
|
#endif
|
|
#endif
|
|
|
|
esp_startup_start_app_common();
|
|
|
|
ESP_LOGI(TAG, "Starting scheduler on PRO CPU.");
|
|
vTaskStartScheduler();
|
|
}
|