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https://github.com/espressif/esp-idf.git
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810be86f21
The riscv vectors.S in riscv component contains the trap vector, which is responsible to defer interrupts and examine if a task context switch is needed, this change cleans up this code by hiding all freertos details behind on two functions rtos_it_enter/exit and their implementations are placed in freertos riscv port files.
281 lines
7.6 KiB
ArmAsm
281 lines
7.6 KiB
ArmAsm
// Copyright 2020 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 "soc/soc.h"
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#include "soc/interrupt_reg.h"
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#include "riscv/rvruntime-frames.h"
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.equ SAVE_REGS, 32
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.equ CONTEXT_SIZE, (SAVE_REGS * 4)
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.equ panic_from_exception, xt_unhandled_exception
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.equ panic_from_isr, panicHandler
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.macro save_regs
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addi sp, sp, -CONTEXT_SIZE
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sw ra, RV_STK_RA(sp)
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sw tp, RV_STK_TP(sp)
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sw t0, RV_STK_T0(sp)
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sw t1, RV_STK_T1(sp)
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sw t2, RV_STK_T2(sp)
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sw s0, RV_STK_S0(sp)
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sw s1, RV_STK_S1(sp)
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sw a0, RV_STK_A0(sp)
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sw a1, RV_STK_A1(sp)
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sw a2, RV_STK_A2(sp)
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sw a3, RV_STK_A3(sp)
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sw a4, RV_STK_A4(sp)
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sw a5, RV_STK_A5(sp)
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sw a6, RV_STK_A6(sp)
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sw a7, RV_STK_A7(sp)
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sw s2, RV_STK_S2(sp)
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sw s3, RV_STK_S3(sp)
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sw s4, RV_STK_S4(sp)
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sw s5, RV_STK_S5(sp)
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sw s6, RV_STK_S6(sp)
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sw s7, RV_STK_S7(sp)
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sw s8, RV_STK_S8(sp)
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sw s9, RV_STK_S9(sp)
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sw s10, RV_STK_S10(sp)
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sw s11, RV_STK_S11(sp)
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sw t3, RV_STK_T3(sp)
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sw t4, RV_STK_T4(sp)
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sw t5, RV_STK_T5(sp)
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sw t6, RV_STK_T6(sp)
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.endm
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.macro save_mepc
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csrr t0, mepc
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sw t0, RV_STK_MEPC(sp)
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.endm
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.macro restore_regs
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lw ra, RV_STK_RA(sp)
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lw tp, RV_STK_TP(sp)
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lw t0, RV_STK_T0(sp)
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lw t1, RV_STK_T1(sp)
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lw t2, RV_STK_T2(sp)
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lw s0, RV_STK_S0(sp)
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lw s1, RV_STK_S1(sp)
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lw a0, RV_STK_A0(sp)
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lw a1, RV_STK_A1(sp)
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lw a2, RV_STK_A2(sp)
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lw a3, RV_STK_A3(sp)
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lw a4, RV_STK_A4(sp)
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lw a5, RV_STK_A5(sp)
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lw a6, RV_STK_A6(sp)
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lw a7, RV_STK_A7(sp)
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lw s2, RV_STK_S2(sp)
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lw s3, RV_STK_S3(sp)
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lw s4, RV_STK_S4(sp)
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lw s5, RV_STK_S5(sp)
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lw s6, RV_STK_S6(sp)
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lw s7, RV_STK_S7(sp)
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lw s8, RV_STK_S8(sp)
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lw s9, RV_STK_S9(sp)
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lw s10, RV_STK_S10(sp)
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lw s11, RV_STK_S11(sp)
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lw t3, RV_STK_T3(sp)
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lw t4, RV_STK_T4(sp)
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lw t5, RV_STK_T5(sp)
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lw t6, RV_STK_T6(sp)
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addi sp, sp, CONTEXT_SIZE
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.endm
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.macro restore_mepc
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lw t0, RV_STK_MEPC(sp)
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csrw mepc, t0
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.endm
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.global rtos_int_enter
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.global rtos_int_exit
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.global uxInterruptNesting
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.global _global_interrupt_handler
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.section .exception_vectors.text
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/* This is the vector table. MTVEC points here.
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*
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* Use 4-byte intructions here. 1 instruction = 1 entry of the table.
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* The CPU jumps to MTVEC (i.e. the first entry) in case of an exception,
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* and (MTVEC & 0xfffffffc) + (mcause & 0x7fffffff) * 4, in case of an interrupt.
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*
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* Note: for our CPU, we need to place this on a 256-byte boundary, as CPU
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* only uses the 24 MSBs of the MTVEC, i.e. (MTVEC & 0xffffff00).
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*/
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.balign 0x100
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.global _vector_table
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.type _vector_table, @function
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_vector_table:
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.option push
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.option norvc
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j _panic_handler /* exception handler, entry 0 */
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.rept (ETS_T1_WDT_INUM - 1)
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j _interrupt_handler /* 24 identical entries, all pointing to the interrupt handler */
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.endr
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j _panic_handler /* Call panic handler for ETS_T1_WDT_INUM interrupt (soc-level panic)*/
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j _panic_handler /* Call panic handler for ETS_CACHEERR_INUM interrupt (soc-level panic)*/
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.rept (ETS_MAX_INUM - ETS_CACHEERR_INUM)
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j _interrupt_handler /* 6 identical entries, all pointing to the interrupt handler */
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.endr
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.option pop
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.size _vector_table, .-_vector_table
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/* Exception handler.*/
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.type _panic_handler, @function
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_panic_handler:
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addi sp, sp, -RV_STK_FRMSZ /* allocate space on stack to store necessary registers */
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/* save general registers */
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sw ra, RV_STK_RA(sp)
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sw gp, RV_STK_GP(sp)
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sw tp, RV_STK_TP(sp)
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sw t0, RV_STK_T0(sp)
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sw t1, RV_STK_T1(sp)
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sw t2, RV_STK_T2(sp)
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sw s0, RV_STK_S0(sp)
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sw s1, RV_STK_S1(sp)
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sw a0, RV_STK_A0(sp)
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sw a1, RV_STK_A1(sp)
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sw a2, RV_STK_A2(sp)
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sw a3, RV_STK_A3(sp)
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sw a4, RV_STK_A4(sp)
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sw a5, RV_STK_A5(sp)
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sw a6, RV_STK_A6(sp)
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sw a7, RV_STK_A7(sp)
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sw s2, RV_STK_S2(sp)
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sw s3, RV_STK_S3(sp)
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sw s4, RV_STK_S4(sp)
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sw s5, RV_STK_S5(sp)
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sw s6, RV_STK_S6(sp)
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sw s7, RV_STK_S7(sp)
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sw s8, RV_STK_S8(sp)
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sw s9, RV_STK_S9(sp)
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sw s10, RV_STK_S10(sp)
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sw s11, RV_STK_S11(sp)
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sw t3, RV_STK_T3(sp)
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sw t4, RV_STK_T4(sp)
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sw t5, RV_STK_T5(sp)
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sw t6, RV_STK_T6(sp)
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addi t0, sp, RV_STK_FRMSZ /* restore sp with the value when trap happened */
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sw t0, RV_STK_SP(sp)
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csrr t0, mepc
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sw t0, RV_STK_MEPC(sp)
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csrr t0, mstatus
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sw t0, RV_STK_MSTATUS(sp)
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csrr t0, mtvec
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sw t0, RV_STK_MTVEC(sp)
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csrr t0, mtval
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sw t0, RV_STK_MTVAL(sp)
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csrr t0, mhartid
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sw t0, RV_STK_MHARTID(sp)
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/* Call panic_from_exception(sp) or panic_from_isr(sp)
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* depending on whether we have a pseudo excause or not.
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* If mcause's highest bit is 1, then an interrupt called this routine,
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* so we have a pseudo excause. Else, it is due to a exception, we don't
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* have an pseudo excause */
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mv a0, sp
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csrr a1, mcause
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/* Branches instructions don't accept immediates values, so use t1 to
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* store our comparator */
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li t0, 0x80000000
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bgeu a1, t0, _call_panic_handler
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sw a1, RV_STK_MCAUSE(sp)
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/* exception_from_panic never returns */
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j panic_from_exception
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_call_panic_handler:
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/* Remove highest bit from mcause (a1) register and save it in the
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* structure */
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not t0, t0
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and a1, a1, t0
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sw a1, RV_STK_MCAUSE(sp)
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/* exception_from_isr never returns */
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j panic_from_isr
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.size panic_from_isr, .-panic_from_isr
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/* This is the interrupt handler.
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* It saves the registers on the stack,
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* prepares for interrupt nesting,
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* re-enables the interrupts,
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* then jumps to the C dispatcher in interrupt.c.
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*/
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.global _interrupt_handler
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.type _interrupt_handler, @function
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_interrupt_handler:
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/* entry */
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save_regs
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save_mepc
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/* Before doing anythig preserve the stack pointer */
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/* It will be saved in current TCB, if needed */
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mv a0, sp
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call rtos_int_enter
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/* Before dispatch c handler, restore interrupt to enable nested intr */
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csrr s1, mcause
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csrr s2, mstatus
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/* Save the interrupt threshold level */
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la t0, INTERRUPT_CORE0_CPU_INT_THRESH_REG
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lw s3, 0(t0)
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/* Increase interrupt threshold level */
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li t2, 0x7fffffff
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and t1, s1, t2 /* t1 = mcause & mask */
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slli t1, t1, 2 /* t1 = mcause * 4 */
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la t2, INTC_INT_PRIO_REG(0)
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add t1, t2, t1 /* t1 = INTC_INT_PRIO_REG + 4 * mcause */
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lw t2, 0(t1) /* t2 = INTC_INT_PRIO_REG[mcause] */
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addi t2, t2, 1 /* t2 = t2 +1 */
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sw t2, 0(t0) /* INTERRUPT_CORE0_CPU_INT_THRESH_REG = t2 */
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fence
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li t0, 0x8
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csrrs t0, mstatus, t0
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/* call the C dispatcher */
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mv a0, sp /* argument 1, stack pointer */
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csrr a1, mcause /* argument 2, interrupt number */
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/* mask off the interrupt flag of mcause */
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li t0, 0x7fffffff
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and a1, a1, t0
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jal _global_interrupt_handler
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/* After dispatch c handler, disable interrupt to make freertos make context switch */
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la t0, 0x8
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csrrc t0, mstatus, t0
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/* restore the interrupt threshold level */
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la t0, INTERRUPT_CORE0_CPU_INT_THRESH_REG
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sw s3, 0(t0)
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fence
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/* Yield to the next task is needed: */
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mv a0, sp
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call rtos_int_exit
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/* The next (or current) stack pointer is returned in a0 */
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mv sp, a0
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/* restore the rest of the registers */
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csrw mcause, s1
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csrw mstatus, s2
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restore_mepc
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restore_regs
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/* exit, this will also re-enable the interrupts */
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mret
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.size _interrupt_handler, .-_interrupt_handler
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