mirror of
https://github.com/espressif/esp-idf.git
synced 2024-10-05 20:47:46 -04:00
6c66018d5b
- Move vTaskStartSchedulerOtherCores()
- implementation to freertos_tasks_c_additions.h
- declaration to freertos_idf_additions_priv.h as API is private
- Rename vTaskStartSchedulerOtherCores() -> prvStartSchedulerOtherCores() to
indicate that the function is private.
688 lines
29 KiB
C
688 lines
29 KiB
C
/*
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* SPDX-FileCopyrightText: 2022-2023 Espressif Systems (Shanghai) CO LTD
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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#include "sdkconfig.h"
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#include <stdint.h>
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#include <string.h>
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#include "FreeRTOS.h"
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#include "task.h" //For vApplicationStackOverflowHook
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#include "port_systick.h"
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#include "portmacro.h"
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#include "spinlock.h"
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#include "xt_instr_macros.h"
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#include "xtensa/xtensa_context.h"
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#include "xtensa/corebits.h"
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#include "xtensa/config/core.h"
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#include "xtensa/config/core-isa.h"
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#include "xtensa/xtruntime.h"
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#include "esp_private/freertos_idf_additions_priv.h"
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#include "esp_private/esp_int_wdt.h"
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#include "esp_private/systimer.h"
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#include "esp_private/periph_ctrl.h"
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#include "esp_attr.h"
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#include "esp_heap_caps.h"
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#include "esp_system.h"
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#include "esp_task.h"
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#include "esp_log.h"
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#include "esp_cpu.h"
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#include "esp_rom_sys.h"
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#include "esp_task_wdt.h"
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#include "esp_heap_caps_init.h"
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#include "esp_freertos_hooks.h"
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#include "esp_intr_alloc.h"
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#include "esp_memory_utils.h"
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#ifdef CONFIG_FREERTOS_SYSTICK_USES_SYSTIMER
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#include "soc/periph_defs.h"
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#include "soc/system_reg.h"
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#include "hal/systimer_hal.h"
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#include "hal/systimer_ll.h"
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#endif // CONFIG_FREERTOS_SYSTICK_USES_SYSTIMER
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_Static_assert(portBYTE_ALIGNMENT == 16, "portBYTE_ALIGNMENT must be set to 16");
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/**
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* @brief Align stack pointer in a downward growing stack
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*
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* This macro is used to round a stack pointer downwards to the nearest n-byte boundary, where n is a power of 2.
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* This macro is generally used when allocating aligned areas on a downward growing stack.
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*/
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#define STACKPTR_ALIGN_DOWN(n, ptr) ((ptr) & (~((n)-1)))
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/* ---------------------------------------------------- Variables ------------------------------------------------------
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* - Various variables used to maintain the FreeRTOS port's state. Used from both port.c and various .S files
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* - Constant offsets are used by assembly to jump to particular TCB members or a stack area (such as the CPSA). We use
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* C constants instead of preprocessor macros due to assembly lacking "offsetof()".
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* ------------------------------------------------------------------------------------------------------------------ */
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#if XCHAL_CP_NUM > 0
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/* Offsets used to navigate to a task's CPSA on the stack */
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const DRAM_ATTR uint32_t offset_pxEndOfStack = offsetof(StaticTask_t, pxDummy8);
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const DRAM_ATTR uint32_t offset_cpsa = XT_CP_SIZE; /* Offset to start of the CPSA area on the stack. See uxInitialiseStackCPSA(). */
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#if configNUM_CORES > 1
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/* Offset to TCB_t.uxCoreAffinityMask member. Used to pin unpinned tasks that use the FPU. */
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const DRAM_ATTR uint32_t offset_uxCoreAffinityMask = offsetof(StaticTask_t, uxDummy25);
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#if configUSE_CORE_AFFINITY != 1
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#error "configUSE_CORE_AFFINITY must be 1 on multicore targets with coprocessor support"
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#endif
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#endif /* configNUM_CORES > 1 */
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#endif /* XCHAL_CP_NUM > 0 */
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volatile unsigned port_xSchedulerRunning[portNUM_PROCESSORS] = {0}; // Indicates whether scheduler is running on a per-core basis
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unsigned int port_interruptNesting[portNUM_PROCESSORS] = {0}; // Interrupt nesting level. Increased/decreased in portasm.c, _frxt_int_enter/_frxt_int_exit
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//FreeRTOS SMP Locks
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portMUX_TYPE port_xTaskLock = portMUX_INITIALIZER_UNLOCKED;
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portMUX_TYPE port_xISRLock = portMUX_INITIALIZER_UNLOCKED;
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/* ------------------------------------------------ IDF Compatibility --------------------------------------------------
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* - These need to be defined for IDF to compile
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* ------------------------------------------------------------------------------------------------------------------ */
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// --------------------- Interrupts ------------------------
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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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/*
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Variables used by IDF critical sections only (SMP tracks critical nesting inside TCB now)
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[refactor-todo] Figure out how IDF critical sections will be merged with SMP FreeRTOS critical sections
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*/
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BaseType_t port_uxCriticalNestingIDF[portNUM_PROCESSORS] = {0};
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BaseType_t port_uxCriticalOldInterruptStateIDF[portNUM_PROCESSORS] = {0};
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/*
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*******************************************************************************
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* Interrupt stack. The size of the interrupt stack is determined by the config
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* parameter "configISR_STACK_SIZE" in FreeRTOSConfig.h
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*******************************************************************************
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*/
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volatile StackType_t DRAM_ATTR __attribute__((aligned(16))) port_IntStack[portNUM_PROCESSORS][configISR_STACK_SIZE];
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/* One flag for each individual CPU. */
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volatile uint32_t port_switch_flag[portNUM_PROCESSORS];
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BaseType_t xPortEnterCriticalTimeout(portMUX_TYPE *lock, BaseType_t timeout)
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{
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/* Interrupts may already be disabled (if this function is called in nested
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* manner). However, there's no atomic operation that will allow us to check,
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* thus we have to disable interrupts again anyways.
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*
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* However, if this is call is NOT nested (i.e., the first call to enter a
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* critical section), we will save the previous interrupt level so that the
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* saved level can be restored on the last call to exit the critical.
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*/
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BaseType_t xOldInterruptLevel = XTOS_SET_INTLEVEL(XCHAL_EXCM_LEVEL);
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if (!spinlock_acquire(lock, timeout)) {
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//Timed out attempting to get spinlock. Restore previous interrupt level and return
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XTOS_RESTORE_JUST_INTLEVEL((int) xOldInterruptLevel);
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return pdFAIL;
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}
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//Spinlock acquired. Increment the IDF critical nesting count.
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BaseType_t coreID = xPortGetCoreID();
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BaseType_t newNesting = port_uxCriticalNestingIDF[coreID] + 1;
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port_uxCriticalNestingIDF[coreID] = newNesting;
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//If this is the first entry to a critical section. Save the old interrupt level.
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if ( newNesting == 1 ) {
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port_uxCriticalOldInterruptStateIDF[coreID] = xOldInterruptLevel;
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}
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return pdPASS;
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}
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void vPortExitCriticalIDF(portMUX_TYPE *lock)
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{
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/* This function may be called in a nested manner. Therefore, we only need
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* to reenable interrupts if this is the last call to exit the critical. We
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* can use the nesting count to determine whether this is the last exit call.
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*/
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spinlock_release(lock);
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BaseType_t coreID = xPortGetCoreID();
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BaseType_t nesting = port_uxCriticalNestingIDF[coreID];
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if (nesting > 0) {
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nesting--;
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port_uxCriticalNestingIDF[coreID] = nesting;
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//This is the last exit call, restore the saved interrupt level
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if ( nesting == 0 ) {
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XTOS_RESTORE_JUST_INTLEVEL((int) port_uxCriticalOldInterruptStateIDF[coreID]);
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}
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}
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}
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/*
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In case any IDF libs called the port critical functions directly instead of through the macros.
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Just inline call the IDF versions
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*/
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void vPortEnterCritical(portMUX_TYPE *lock)
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{
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vPortEnterCriticalIDF(lock);
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}
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void vPortExitCritical(portMUX_TYPE *lock)
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{
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vPortExitCriticalIDF(lock);
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}
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// ----------------------- System --------------------------
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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_CPU_WATCHPOINT_STORE);
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}
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/* ---------------------------------------------- Port Implementations -------------------------------------------------
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* Implementations of Porting Interface functions
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* ------------------------------------------------------------------------------------------------------------------ */
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// --------------------- Interrupts ------------------------
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BaseType_t xPortCheckIfInISR(void)
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{
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//Disable interrupts so that reading port_interruptNesting is atomic
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BaseType_t ret;
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unsigned int prev_int_level = portDISABLE_INTERRUPTS();
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ret = (port_interruptNesting[xPortGetCoreID()] != 0) ? pdTRUE : pdFALSE;
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portRESTORE_INTERRUPTS(prev_int_level);
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return ret;
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}
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// ------------------ Critical Sections --------------------
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void vPortTakeLock( portMUX_TYPE *lock )
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{
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spinlock_acquire( lock, portMUX_NO_TIMEOUT);
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}
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void vPortReleaseLock( portMUX_TYPE *lock )
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{
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spinlock_release( lock );
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}
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// ---------------------- Yielding -------------------------
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// ----------------------- System --------------------------
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// ------------------- Run Time Stats ----------------------
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// --------------------- TCB Cleanup -----------------------
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#if ( CONFIG_FREERTOS_TLSP_DELETION_CALLBACKS )
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static void vPortTLSPointersDelCb( void *pxTCB )
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{
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/* Typecast pxTCB to StaticTask_t type to access TCB struct members.
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* pvDummy15 corresponds to pvThreadLocalStoragePointers member of the TCB.
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*/
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StaticTask_t *tcb = ( StaticTask_t * )pxTCB;
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/* The TLSP deletion callbacks are stored at an offset of (configNUM_THREAD_LOCAL_STORAGE_POINTERS/2) */
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TlsDeleteCallbackFunction_t *pvThreadLocalStoragePointersDelCallback = ( TlsDeleteCallbackFunction_t * )( &( tcb->pvDummy15[ ( configNUM_THREAD_LOCAL_STORAGE_POINTERS / 2 ) ] ) );
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/* We need to iterate over half the depth of the pvThreadLocalStoragePointers area
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* to access all TLS pointers and their respective TLS deletion callbacks.
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*/
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for ( int x = 0; x < ( configNUM_THREAD_LOCAL_STORAGE_POINTERS / 2 ); x++ ) {
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if ( pvThreadLocalStoragePointersDelCallback[ x ] != NULL ) { //If del cb is set
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/* In case the TLSP deletion callback has been overwritten by a TLS pointer, gracefully abort. */
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if ( !esp_ptr_executable( pvThreadLocalStoragePointersDelCallback[ x ] ) ) {
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// We call EARLY log here as currently portCLEAN_UP_TCB() is called in a critical section
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ESP_EARLY_LOGE("FreeRTOS", "Fatal error: TLSP deletion callback at index %d overwritten with non-excutable pointer %p", x, pvThreadLocalStoragePointersDelCallback[ x ]);
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abort();
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}
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pvThreadLocalStoragePointersDelCallback[ x ]( x, tcb->pvDummy15[ x ] ); //Call del cb
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}
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}
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}
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#endif /* CONFIG_FREERTOS_TLSP_DELETION_CALLBACKS */
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#if ( XCHAL_CP_NUM > 0 && configUSE_CORE_AFFINITY == 1 && configNUM_CORES > 1 )
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static void vPortCleanUpCoprocArea( void *pxTCB )
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{
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UBaseType_t uxCoprocArea;
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BaseType_t xTargetCoreID;
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/* Get pointer to the task's coprocessor save area from TCB->pxEndOfStack. See uxInitialiseStackCPSA() */
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uxCoprocArea = ( UBaseType_t ) ( ( ( StaticTask_t * ) pxTCB )->pxDummy8 ); /* Get TCB_t.pxEndOfStack */
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uxCoprocArea = STACKPTR_ALIGN_DOWN(16, uxCoprocArea - XT_CP_SIZE);
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/* Extract core ID from the affinity mask */
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xTargetCoreID = ( ( StaticTask_t * ) pxTCB )->uxDummy25 ;
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xTargetCoreID = ( BaseType_t ) __builtin_ffs( ( int ) xTargetCoreID );
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assert( xTargetCoreID >= 1 ); // __builtin_ffs always returns first set index + 1
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xTargetCoreID -= 1;
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/* If task has live floating point registers somewhere, release them */
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void _xt_coproc_release(volatile void *coproc_sa_base, BaseType_t xTargetCoreID);
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_xt_coproc_release( (void *)uxCoprocArea, xTargetCoreID );
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}
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#endif /* ( XCHAL_CP_NUM > 0 && configUSE_CORE_AFFINITY == 1 && configNUM_CORES > 1 ) */
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void vPortTCBPreDeleteHook( void *pxTCB )
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{
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#if ( CONFIG_FREERTOS_TASK_PRE_DELETION_HOOK )
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/* Call the user defined task pre-deletion hook */
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extern void vTaskPreDeletionHook( void * pxTCB );
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vTaskPreDeletionHook( pxTCB );
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#endif /* CONFIG_FREERTOS_TASK_PRE_DELETION_HOOK */
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#if ( CONFIG_FREERTOS_ENABLE_STATIC_TASK_CLEAN_UP )
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/*
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* If the user is using the legacy task pre-deletion hook, call it.
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* Todo: Will be removed in IDF-8097
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*/
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#warning "CONFIG_FREERTOS_ENABLE_STATIC_TASK_CLEAN_UP is deprecated. Use CONFIG_FREERTOS_TASK_PRE_DELETION_HOOK instead."
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extern void vPortCleanUpTCB( void * pxTCB );
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vPortCleanUpTCB( pxTCB );
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#endif /* CONFIG_FREERTOS_ENABLE_STATIC_TASK_CLEAN_UP */
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#if ( CONFIG_FREERTOS_TLSP_DELETION_CALLBACKS )
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/* Call TLS pointers deletion callbacks */
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vPortTLSPointersDelCb( pxTCB );
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#endif /* CONFIG_FREERTOS_TLSP_DELETION_CALLBACKS */
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#if ( XCHAL_CP_NUM > 0 && configUSE_CORE_AFFINITY == 1 && configNUM_CORES > 1 )
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/* Cleanup coproc save area */
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vPortCleanUpCoprocArea( pxTCB );
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#endif /* ( XCHAL_CP_NUM > 0 && configUSE_CORE_AFFINITY == 1 && configNUM_CORES > 1 ) */
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}
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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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extern void _xt_coproc_init(void);
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BaseType_t xPortStartScheduler( void )
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{
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portDISABLE_INTERRUPTS();
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// Interrupts are disabled at this point and stack contains PS with enabled interrupts when task context is restored
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#if XCHAL_CP_NUM > 0
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/* Initialize co-processor management for tasks. Leave CPENABLE alone. */
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_xt_coproc_init();
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#endif
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/* Setup the hardware to generate the tick. */
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vPortSetupTimer();
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port_xSchedulerRunning[xPortGetCoreID()] = 1;
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#if configNUM_CORES > 1
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// Workaround for non-thread safe multi-core OS startup (see IDF-4524)
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if (xPortGetCoreID() != 0) {
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prvStartSchedulerOtherCores();
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}
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#endif // configNUM_CORES > 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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;
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}
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// ------------------------ Stack --------------------------
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// User exception dispatcher when exiting
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void _xt_user_exit(void);
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#if CONFIG_FREERTOS_TASK_FUNCTION_WRAPPER
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// Wrapper to allow task functions to return (increases stack overhead by 16 bytes)
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static void vPortTaskWrapper(TaskFunction_t pxCode, void *pvParameters)
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{
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pxCode(pvParameters);
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//FreeRTOS tasks should not return. Log the task name and abort.
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char *pcTaskName = pcTaskGetName(NULL);
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ESP_LOGE("FreeRTOS", "FreeRTOS Task \"%s\" should not return, Aborting now!", pcTaskName);
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abort();
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}
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#endif
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#if XCHAL_CP_NUM > 0
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/**
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* @brief Allocate and initialize coprocessor save area on the stack
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*
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* This function allocates the coprocessor save area on the stack (sized XT_CP_SIZE) which includes...
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* - Individual save areas for each coprocessor (size XT_CPx_SA, inclusive of each area's alignment)
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* - Coprocessor context switching flags (e.g., XT_CPENABLE, XT_CPSTORED, XT_CP_CS_ST, XT_CP_ASA).
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*
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* The coprocessor save area is aligned to a 16-byte boundary.
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* The coprocessor context switching flags are then initialized
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*
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* @param[in] uxStackPointer Current stack pointer address
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* @return Stack pointer that points to allocated and initialized the coprocessor save area
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*/
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FORCE_INLINE_ATTR UBaseType_t uxInitialiseStackCPSA(UBaseType_t uxStackPointer)
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{
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/*
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HIGH ADDRESS
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|-------------------| XT_CP_SIZE
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| CPn SA | ^
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| ... | |
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| CP0 SA | |
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| ----------------- | | ---- XCHAL_TOTAL_SA_ALIGN aligned
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|-------------------| | 12 bytes
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| XT_CP_ASA | | ^
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| XT_CP_CS_ST | | |
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| XT_CPSTORED | | |
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| XT_CPENABLE | | |
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|-------------------| ---------------------- 16 byte aligned
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LOW ADDRESS
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*/
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// Allocate overall coprocessor save area, aligned down to 16 byte boundary
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uxStackPointer = STACKPTR_ALIGN_DOWN(16, uxStackPointer - XT_CP_SIZE);
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// Initialize the coprocessor context switching flags.
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uint32_t *p = (uint32_t *)uxStackPointer;
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p[0] = 0; // Clear XT_CPENABLE and XT_CPSTORED
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p[1] = 0; // Clear XT_CP_CS_ST
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// XT_CP_ASA points to the aligned start of the individual CP save areas (i.e., start of CP0 SA)
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p[2] = (uint32_t)ALIGNUP(XCHAL_TOTAL_SA_ALIGN, (uint32_t)uxStackPointer + 12);
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return uxStackPointer;
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}
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#endif /* XCHAL_CP_NUM > 0 */
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/**
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* @brief Allocate and initialize GCC TLS area
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*
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* This function allocates and initializes the area on the stack used to store GCC TLS (Thread Local Storage) variables.
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* - The area's size is derived from the TLS section's linker variables, and rounded up to a multiple of 16 bytes
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* - The allocated area is aligned to a 16-byte aligned address
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* - The TLS variables in the area are then initialized
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*
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* Each task access the TLS variables using the THREADPTR register plus an offset to obtain the address of the variable.
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* The value for the THREADPTR register is also calculated by this function, and that value should be use to initialize
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* the THREADPTR register.
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*
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* @param[in] uxStackPointer Current stack pointer address
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* @param[out] ret_threadptr_reg_init Calculated THREADPTR register initialization value
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* @return Stack pointer that points to the TLS area
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*/
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FORCE_INLINE_ATTR UBaseType_t uxInitialiseStackTLS(UBaseType_t uxStackPointer, uint32_t *ret_threadptr_reg_init)
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{
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/*
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TLS layout at link-time, where 0xNNN is the offset that the linker calculates to a particular TLS variable.
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LOW ADDRESS
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|---------------------------| Linker Symbols
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| Section | --------------
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| .flash.rodata |
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0x0|---------------------------| <- _flash_rodata_start
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^ | Other Data |
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| |---------------------------| <- _thread_local_start
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| | .tbss | ^
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V | | |
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0xNNN | int example; | | tls_area_size
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| | |
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| .tdata | V
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|---------------------------| <- _thread_local_end
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| Other data |
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| ... |
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|---------------------------|
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HIGH ADDRESS
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*/
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// Calculate the TLS area's size (rounded up to multiple of 16 bytes).
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extern int _thread_local_start, _thread_local_end, _flash_rodata_start, _flash_rodata_align;
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const uint32_t tls_area_size = ALIGNUP(16, (uint32_t)&_thread_local_end - (uint32_t)&_thread_local_start);
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// TODO: check that TLS area fits the stack
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// Allocate space for the TLS area on the stack. The area must be allocated at a 16-byte aligned address
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uxStackPointer = STACKPTR_ALIGN_DOWN(16, uxStackPointer - (UBaseType_t)tls_area_size);
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// Initialize the TLS area with the initialization values of each TLS variable
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memcpy((void *)uxStackPointer, &_thread_local_start, tls_area_size);
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/*
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Calculate the THREADPTR register's initialization value based on the link-time offset and the TLS area allocated on
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the stack.
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HIGH ADDRESS
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|---------------------------|
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| .tdata (*) |
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^ | int example; |
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| | |
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| | .tbss (*) |
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| |---------------------------| <- uxStackPointer (start of TLS area)
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0xNNN | | | ^
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| | | |
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| ... | (_thread_local_start - _flash_rodata_start) + align_up(TCB_SIZE, tls_section_alignment)
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| | | |
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| | | V
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V | | <- threadptr register's value
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LOW ADDRESS
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Note: Xtensa is slightly different compared to the RISC-V port as there is an implicit aligned TCB_SIZE added to
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the offset. (search for 'tpoff' in elf32-xtensa.c in BFD):
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- "offset = address - tls_section_vma + align_up(TCB_SIZE, tls_section_alignment)"
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- TCB_SIZE is hardcoded to 8
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*/
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const uint32_t tls_section_align = (uint32_t)&_flash_rodata_align; // ALIGN value of .flash.rodata section
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#define TCB_SIZE 8
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const uint32_t base = ALIGNUP(tls_section_align, TCB_SIZE);
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*ret_threadptr_reg_init = (uint32_t)uxStackPointer - ((uint32_t)&_thread_local_start - (uint32_t)&_flash_rodata_start) - base;
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return uxStackPointer;
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}
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/**
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* @brief Initialize the task's starting interrupt stack frame
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*
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* This function initializes the task's starting interrupt stack frame. The dispatcher will use this stack frame in a
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* context restore routine. Therefore, the starting stack frame must be initialized as if the task was interrupted right
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* before its first instruction is called.
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*
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* - The stack frame is allocated to a 16-byte aligned address
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* - The THREADPTR register is saved in the extra storage area of the stack frame. This is also initialized
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*
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* @param[in] uxStackPointer Current stack pointer address
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* @param[in] pxCode Task function
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* @param[in] pvParameters Task function's parameter
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* @param[in] threadptr_reg_init THREADPTR register initialization value
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* @return Stack pointer that points to the stack frame
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*/
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FORCE_INLINE_ATTR UBaseType_t uxInitialiseStackFrame(UBaseType_t uxStackPointer, TaskFunction_t pxCode, void *pvParameters, uint32_t threadptr_reg_init)
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{
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/*
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HIGH ADDRESS
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|---------------------------| ^ XT_STK_FRMSZ
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| | |
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| Stack Frame Extra Storage | |
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| | |
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| ------------------------- | | ^ XT_STK_EXTRA
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| | | |
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| Intr/Exc Stack Frame | | |
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| | V V
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| ------------------------- | ---------------------- 16 byte aligned
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LOW ADDRESS
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*/
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/*
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Allocate space for the task's starting interrupt stack frame.
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- The stack frame must be allocated to a 16-byte aligned address.
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- We use XT_STK_FRMSZ (instead of sizeof(XtExcFrame)) as it...
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- includes the size of the extra storage area
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- includes the size for a base save area before the stack frame
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- rounds up the total size to a multiple of 16
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*/
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UBaseType_t uxStackPointerPrevious = uxStackPointer;
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uxStackPointer = STACKPTR_ALIGN_DOWN(16, uxStackPointer - XT_STK_FRMSZ);
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// Clear the entire interrupt stack frame
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memset((void *)uxStackPointer, 0, (size_t)(uxStackPointerPrevious - uxStackPointer));
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XtExcFrame *frame = (XtExcFrame *)uxStackPointer;
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/*
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Initialize common registers
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*/
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frame->a0 = 0; // Set the return address to 0 terminate GDB backtrace
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frame->a1 = uxStackPointer + XT_STK_FRMSZ; // Saved stack pointer should point to physical top of stack frame
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frame->exit = (UBaseType_t) _xt_user_exit; // User exception exit dispatcher
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/*
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Initialize the task's entry point. This will differ depending on
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- Whether the task's entry point is the wrapper function or pxCode
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- Whether Windowed ABI is used (for windowed, we mimic the task entry point being call4'd )
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*/
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#if CONFIG_FREERTOS_TASK_FUNCTION_WRAPPER
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frame->pc = (UBaseType_t) vPortTaskWrapper; // Task entry point is the wrapper function
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#ifdef __XTENSA_CALL0_ABI__
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frame->a2 = (UBaseType_t) pxCode; // Wrapper function's argument 0 (which is the task function)
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frame->a3 = (UBaseType_t) pvParameters; // Wrapper function's argument 1 (which is the task function's argument)
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#else // __XTENSA_CALL0_ABI__
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frame->a6 = (UBaseType_t) pxCode; // Wrapper function's argument 0 (which is the task function), passed as if we call4'd
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frame->a7 = (UBaseType_t) pvParameters; // Wrapper function's argument 1 (which is the task function's argument), passed as if we call4'd
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#endif // __XTENSA_CALL0_ABI__
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#else
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frame->pc = (UBaseType_t) pxCode; // Task entry point is the provided task function
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#ifdef __XTENSA_CALL0_ABI__
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frame->a2 = (UBaseType_t) pvParameters; // Task function's argument
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#else // __XTENSA_CALL0_ABI__
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frame->a6 = (UBaseType_t) pvParameters; // Task function's argument, passed as if we call4'd
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#endif // __XTENSA_CALL0_ABI__
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#endif
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|
|
/*
|
|
Set initial PS to int level 0, EXCM disabled ('rfe' will enable), user mode.
|
|
For windowed ABI also set WOE and CALLINC (pretend task was 'call4'd)
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|
*/
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|
#ifdef __XTENSA_CALL0_ABI__
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|
frame->ps = PS_UM | PS_EXCM;
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|
#else // __XTENSA_CALL0_ABI__
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|
frame->ps = PS_UM | PS_EXCM | PS_WOE | PS_CALLINC(1);
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|
#endif // __XTENSA_CALL0_ABI__
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|
|
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#ifdef XT_USE_SWPRI
|
|
// Set the initial virtual priority mask value to all 1's.
|
|
frame->vpri = 0xFFFFFFFF;
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|
#endif
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|
|
// Initialize the threadptr register in the extra save area of the stack frame
|
|
uint32_t *threadptr_reg = (uint32_t *)(uxStackPointer + XT_STK_EXTRA);
|
|
*threadptr_reg = threadptr_reg_init;
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|
|
|
return uxStackPointer;
|
|
}
|
|
|
|
#if ( portHAS_STACK_OVERFLOW_CHECKING == 1 )
|
|
StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack,
|
|
StackType_t * pxEndOfStack,
|
|
TaskFunction_t pxCode,
|
|
void * pvParameters )
|
|
#else
|
|
StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack,
|
|
TaskFunction_t pxCode,
|
|
void * pvParameters )
|
|
#endif
|
|
{
|
|
#ifdef __clang_analyzer__
|
|
// Teach clang-tidy that pxTopOfStack cannot be a pointer to const
|
|
volatile StackType_t * pxTemp = pxTopOfStack;
|
|
pxTopOfStack = pxTemp;
|
|
#endif /*__clang_analyzer__ */
|
|
/*
|
|
HIGH ADDRESS
|
|
|---------------------------| <- pxTopOfStack on entry
|
|
| Coproc Save Area | (CPSA MUST BE FIRST)
|
|
| ------------------------- |
|
|
| TLS Variables |
|
|
| ------------------------- | <- Start of useable stack
|
|
| Starting stack frame |
|
|
| ------------------------- | <- pxTopOfStack on return (which is the tasks current SP)
|
|
| | |
|
|
| | |
|
|
| V |
|
|
----------------------------- <- Bottom of stack
|
|
LOW ADDRESS
|
|
|
|
- All stack areas are aligned to 16 byte boundary
|
|
- We use UBaseType_t for all of stack area initialization functions for more convenient pointer arithmetic
|
|
*/
|
|
|
|
UBaseType_t uxStackPointer = (UBaseType_t)pxTopOfStack;
|
|
configASSERT((uxStackPointer & portBYTE_ALIGNMENT_MASK) == 0);
|
|
|
|
#if XCHAL_CP_NUM > 0
|
|
// Initialize the coprocessor save area. THIS MUST BE THE FIRST AREA due to access from _frxt_task_coproc_state()
|
|
uxStackPointer = uxInitialiseStackCPSA(uxStackPointer);
|
|
configASSERT((uxStackPointer & portBYTE_ALIGNMENT_MASK) == 0);
|
|
#endif /* XCHAL_CP_NUM > 0 */
|
|
|
|
// Initialize the GCC TLS area
|
|
uint32_t threadptr_reg_init;
|
|
uxStackPointer = uxInitialiseStackTLS(uxStackPointer, &threadptr_reg_init);
|
|
configASSERT((uxStackPointer & portBYTE_ALIGNMENT_MASK) == 0);
|
|
|
|
// Initialize the starting interrupt stack frame
|
|
uxStackPointer = uxInitialiseStackFrame(uxStackPointer, pxCode, pvParameters, threadptr_reg_init);
|
|
configASSERT((uxStackPointer & portBYTE_ALIGNMENT_MASK) == 0);
|
|
|
|
// Return the task's current stack pointer address which should point to the starting interrupt stack frame
|
|
return (StackType_t *)uxStackPointer;
|
|
}
|
|
|
|
// ------------------- Hook Functions ----------------------
|
|
|
|
#include <stdlib.h>
|
|
|
|
#if ( configCHECK_FOR_STACK_OVERFLOW > 0 )
|
|
void __attribute__((weak)) vApplicationStackOverflowHook( TaskHandle_t xTask, char *pcTaskName )
|
|
{
|
|
#define ERR_STR1 "***ERROR*** A stack overflow in task "
|
|
#define ERR_STR2 " has been detected."
|
|
const char *str[] = {ERR_STR1, pcTaskName, ERR_STR2};
|
|
|
|
char buf[sizeof(ERR_STR1) + CONFIG_FREERTOS_MAX_TASK_NAME_LEN + sizeof(ERR_STR2) + 1 /* null char */] = { 0 };
|
|
|
|
char *dest = buf;
|
|
for (size_t i = 0 ; i < sizeof(str) / sizeof(str[0]); i++) {
|
|
dest = strcat(dest, str[i]);
|
|
}
|
|
esp_system_abort(buf);
|
|
}
|
|
#endif
|
|
|
|
extern void esp_vApplicationIdleHook(void);
|
|
#if CONFIG_FREERTOS_USE_MINIMAL_IDLE_HOOK
|
|
/*
|
|
By default, the port uses vApplicationMinimalIdleHook() to run IDF style idle
|
|
hooks. However, users may also want to provide their own vApplicationMinimalIdleHook().
|
|
In this case, we use to -Wl,--wrap option to wrap the user provided vApplicationMinimalIdleHook()
|
|
*/
|
|
extern void __real_vApplicationMinimalIdleHook( void );
|
|
void __wrap_vApplicationMinimalIdleHook( void )
|
|
{
|
|
esp_vApplicationIdleHook(); //Run IDF style hooks
|
|
__real_vApplicationMinimalIdleHook(); //Call the user provided vApplicationMinimalIdleHook()
|
|
}
|
|
#else // CONFIG_FREERTOS_USE_MINIMAL_IDLE_HOOK
|
|
void vApplicationMinimalIdleHook( void )
|
|
{
|
|
esp_vApplicationIdleHook(); //Run IDF style hooks
|
|
}
|
|
#endif // CONFIG_FREERTOS_USE_MINIMAL_IDLE_HOOK
|