mirror of
https://github.com/espressif/esp-idf.git
synced 2024-10-05 20:47:46 -04:00
396 lines
14 KiB
C
396 lines
14 KiB
C
/*
|
|
* SPDX-FileCopyrightText: 2020 Amazon.com, Inc. or its affiliates
|
|
*
|
|
* SPDX-License-Identifier: MIT
|
|
*
|
|
* SPDX-FileContributor: 2016-2022 Espressif Systems (Shanghai) CO LTD
|
|
*/
|
|
/*
|
|
* FreeRTOS Kernel V10.4.3
|
|
* Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
|
|
*
|
|
* Permission is hereby granted, free of charge, to any person obtaining a copy of
|
|
* this software and associated documentation files (the "Software"), to deal in
|
|
* the Software without restriction, including without limitation the rights to
|
|
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
|
|
* the Software, and to permit persons to whom the Software is furnished to do so,
|
|
* subject to the following conditions:
|
|
*
|
|
* The above copyright notice and this permission notice shall be included in all
|
|
* copies or substantial portions of the Software.
|
|
*
|
|
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
|
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
|
|
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
|
|
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
|
|
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
|
|
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
|
|
*
|
|
* https://www.FreeRTOS.org
|
|
* https://github.com/FreeRTOS
|
|
*
|
|
* 1 tab == 4 spaces!
|
|
*/
|
|
|
|
/*-----------------------------------------------------------------------
|
|
* Implementation of functions defined in portable.h for the RISC-V port.
|
|
*----------------------------------------------------------------------*/
|
|
|
|
#include "sdkconfig.h"
|
|
#include <string.h>
|
|
#include "soc/soc_caps.h"
|
|
#include "soc/periph_defs.h"
|
|
#include "soc/system_reg.h"
|
|
#include "hal/systimer_hal.h"
|
|
#include "hal/systimer_ll.h"
|
|
#include "riscv/rvruntime-frames.h"
|
|
#include "riscv/rv_utils.h"
|
|
#include "riscv/interrupt.h"
|
|
#include "esp_private/crosscore_int.h"
|
|
#include "esp_attr.h"
|
|
#include "esp_system.h"
|
|
#include "esp_intr_alloc.h"
|
|
#include "esp_log.h"
|
|
#include "FreeRTOS.h" /* This pulls in portmacro.h */
|
|
#include "task.h"
|
|
#include "portmacro.h"
|
|
#include "port_systick.h"
|
|
#include "esp_memory_utils.h"
|
|
|
|
|
|
|
|
/* ---------------------------------------------------- Variables ------------------------------------------------------
|
|
*
|
|
* ------------------------------------------------------------------------------------------------------------------ */
|
|
|
|
static const char *TAG = "cpu_start"; // [refactor-todo]: might be appropriate to change in the future, but
|
|
|
|
/**
|
|
* @brief A variable is used to keep track of the critical section nesting.
|
|
* @note This variable has to be stored as part of the task context and must be initialized to a non zero value
|
|
* to ensure interrupts don't inadvertently become unmasked before the scheduler starts.
|
|
* As it is stored as part of the task context it will automatically be set to 0 when the first task is started.
|
|
*/
|
|
static UBaseType_t uxCriticalNesting = 0;
|
|
static UBaseType_t uxSavedInterruptState = 0;
|
|
BaseType_t uxSchedulerRunning = 0;
|
|
UBaseType_t uxInterruptNesting = 0;
|
|
BaseType_t xPortSwitchFlag = 0;
|
|
__attribute__((aligned(16))) static StackType_t xIsrStack[configISR_STACK_SIZE];
|
|
StackType_t *xIsrStackTop = &xIsrStack[0] + (configISR_STACK_SIZE & (~((portPOINTER_SIZE_TYPE)portBYTE_ALIGNMENT_MASK)));
|
|
|
|
|
|
|
|
/* ------------------------------------------------ FreeRTOS Portable --------------------------------------------------
|
|
* - Provides implementation for functions required by FreeRTOS
|
|
* - Declared in portable.h
|
|
* ------------------------------------------------------------------------------------------------------------------ */
|
|
|
|
// ----------------- Scheduler Start/End -------------------
|
|
|
|
BaseType_t xPortStartScheduler(void)
|
|
{
|
|
uxInterruptNesting = 0;
|
|
uxCriticalNesting = 0;
|
|
uxSchedulerRunning = 0;
|
|
|
|
/* Setup the hardware to generate the tick. */
|
|
vPortSetupTimer();
|
|
|
|
esprv_intc_int_set_threshold(1); /* set global INTC masking level */
|
|
rv_utils_intr_global_enable();
|
|
|
|
vPortYield();
|
|
|
|
/*Should not get here*/
|
|
return pdFALSE;
|
|
}
|
|
|
|
void vPortEndScheduler(void)
|
|
{
|
|
/* very unlikely this function will be called, so just trap here */
|
|
abort();
|
|
}
|
|
|
|
// ------------------------ Stack --------------------------
|
|
#if CONFIG_FREERTOS_TASK_FUNCTION_WRAPPER
|
|
/**
|
|
* Wrapper to allow task functions to return. Force the optimization option -O1 on that function to make sure there
|
|
* is no tail-call. Indeed, we need the compiler to keep the return address to this function when calling `panic_abort`.
|
|
*
|
|
* Thanks to `naked` attribute, the compiler won't generate a prologue and epilogue for the function, which saves time
|
|
* and stack space.
|
|
*/
|
|
static void __attribute__((optimize("O1"), naked)) vPortTaskWrapper(TaskFunction_t pxCode, void *pvParameters)
|
|
{
|
|
asm volatile(".cfi_undefined ra\n");
|
|
extern void __attribute__((noreturn)) panic_abort(const char *details);
|
|
static char DRAM_ATTR msg[80] = "FreeRTOS: FreeRTOS Task \"\0";
|
|
pxCode(pvParameters);
|
|
//FreeRTOS tasks should not return. Log the task name and abort.
|
|
char *pcTaskName = pcTaskGetName(NULL);
|
|
/* We cannot use s(n)printf because it is in flash */
|
|
strcat(msg, pcTaskName);
|
|
strcat(msg, "\" should not return, Aborting now!");
|
|
panic_abort(msg);
|
|
}
|
|
#endif // CONFIG_FREERTOS_TASK_FUNCTION_WRAPPER
|
|
|
|
|
|
StackType_t *pxPortInitialiseStack(StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters)
|
|
{
|
|
extern uint32_t __global_pointer$;
|
|
uint8_t *task_thread_local_start;
|
|
uint8_t *threadptr;
|
|
extern char _thread_local_start, _thread_local_end, _flash_rodata_start;
|
|
|
|
/* Byte pointer, so that subsequent calculations don't depend on sizeof(StackType_t). */
|
|
uint8_t *sp = (uint8_t *) pxTopOfStack;
|
|
|
|
/* Set up TLS area.
|
|
* The following diagram illustrates the layout of link-time and run-time
|
|
* TLS sections.
|
|
*
|
|
* +-------------+
|
|
* |Section: | Linker symbols:
|
|
* |.flash.rodata| ---------------
|
|
* 0x0+-------------+ <-- _flash_rodata_start
|
|
* ^ | |
|
|
* | | Other data |
|
|
* | | ... |
|
|
* | +-------------+ <-- _thread_local_start
|
|
* | |.tbss | ^
|
|
* v | | |
|
|
* 0xNNNN|int example; | | (thread_local_size)
|
|
* |.tdata | v
|
|
* +-------------+ <-- _thread_local_end
|
|
* | Other data |
|
|
* | ... |
|
|
* | |
|
|
* +-------------+
|
|
*
|
|
* Local variables of
|
|
* pxPortInitialiseStack
|
|
* -----------------------
|
|
* +-------------+ <-- pxTopOfStack
|
|
* |.tdata (*) | ^
|
|
* ^ |int example; | |(thread_local_size
|
|
* | | | |
|
|
* | |.tbss (*) | v
|
|
* | +-------------+ <-- task_thread_local_start
|
|
* 0xNNNN | | | ^
|
|
* | | | |
|
|
* | | | |_thread_local_start - _rodata_start
|
|
* | | | |
|
|
* | | | v
|
|
* v +-------------+ <-- threadptr
|
|
*
|
|
* (*) The stack grows downward!
|
|
*/
|
|
|
|
uint32_t thread_local_sz = (uint32_t) (&_thread_local_end - &_thread_local_start);
|
|
thread_local_sz = ALIGNUP(0x10, thread_local_sz);
|
|
sp -= thread_local_sz;
|
|
task_thread_local_start = sp;
|
|
memcpy(task_thread_local_start, &_thread_local_start, thread_local_sz);
|
|
threadptr = task_thread_local_start - (&_thread_local_start - &_flash_rodata_start);
|
|
|
|
/* Simulate the stack frame as it would be created by a context switch interrupt. */
|
|
sp -= RV_STK_FRMSZ;
|
|
RvExcFrame *frame = (RvExcFrame *)sp;
|
|
memset(frame, 0, sizeof(*frame));
|
|
|
|
/* Initialize the stack frame. */
|
|
extern uint32_t __global_pointer$;
|
|
#if CONFIG_FREERTOS_TASK_FUNCTION_WRAPPER
|
|
frame->mepc = (UBaseType_t)vPortTaskWrapper;
|
|
frame->a0 = (UBaseType_t)pxCode;
|
|
frame->a1 = (UBaseType_t)pvParameters;
|
|
#else
|
|
frame->mepc = (UBaseType_t)pxCode;
|
|
frame->a0 = (UBaseType_t)pvParameters;
|
|
#endif // CONFIG_FREERTOS_TASK_FUNCTION_WRAPPER
|
|
frame->gp = (UBaseType_t)&__global_pointer$;
|
|
frame->tp = (UBaseType_t)threadptr;
|
|
|
|
//TODO: IDF-2393
|
|
return (StackType_t *)frame;
|
|
}
|
|
|
|
|
|
|
|
/* ---------------------------------------------- Port Implementations -------------------------------------------------
|
|
*
|
|
* ------------------------------------------------------------------------------------------------------------------ */
|
|
|
|
// --------------------- Interrupts ------------------------
|
|
|
|
BaseType_t xPortInIsrContext(void)
|
|
{
|
|
return uxInterruptNesting;
|
|
}
|
|
|
|
BaseType_t IRAM_ATTR xPortInterruptedFromISRContext(void)
|
|
{
|
|
/* For single core, this can be the same as xPortInIsrContext() because reading it is atomic */
|
|
return uxInterruptNesting;
|
|
}
|
|
|
|
// ---------------------- Spinlocks ------------------------
|
|
|
|
|
|
|
|
// ------------------ Critical Sections --------------------
|
|
|
|
void vPortEnterCritical(void)
|
|
{
|
|
BaseType_t state = portSET_INTERRUPT_MASK_FROM_ISR();
|
|
uxCriticalNesting++;
|
|
|
|
if (uxCriticalNesting == 1) {
|
|
uxSavedInterruptState = state;
|
|
}
|
|
}
|
|
|
|
void vPortExitCritical(void)
|
|
{
|
|
if (uxCriticalNesting > 0) {
|
|
uxCriticalNesting--;
|
|
if (uxCriticalNesting == 0) {
|
|
portCLEAR_INTERRUPT_MASK_FROM_ISR(uxSavedInterruptState);
|
|
}
|
|
}
|
|
}
|
|
|
|
// ---------------------- Yielding -------------------------
|
|
|
|
int vPortSetInterruptMask(void)
|
|
{
|
|
int ret;
|
|
unsigned old_mstatus = RV_CLEAR_CSR(mstatus, MSTATUS_MIE);
|
|
ret = REG_READ(INTERRUPT_CORE0_CPU_INT_THRESH_REG);
|
|
REG_WRITE(INTERRUPT_CORE0_CPU_INT_THRESH_REG, RVHAL_EXCM_LEVEL);
|
|
RV_SET_CSR(mstatus, old_mstatus & MSTATUS_MIE);
|
|
/**
|
|
* In theory, this function should not return immediately as there is a
|
|
* delay between the moment we mask the interrupt threshold register and
|
|
* the moment a potential lower-priority interrupt is triggered (as said
|
|
* above), it should have a delay of 2 machine cycles/instructions.
|
|
*
|
|
* However, in practice, this function has an epilogue of one instruction,
|
|
* thus the instruction masking the interrupt threshold register is
|
|
* followed by two instructions: `ret` and `csrrs` (RV_SET_CSR).
|
|
* That's why we don't need any additional nop instructions here.
|
|
*/
|
|
return ret;
|
|
}
|
|
|
|
void vPortClearInterruptMask(int mask)
|
|
{
|
|
REG_WRITE(INTERRUPT_CORE0_CPU_INT_THRESH_REG, mask);
|
|
/**
|
|
* The delay between the moment we unmask the interrupt threshold register
|
|
* and the moment the potential requested interrupt is triggered is not
|
|
* null: up to three machine cycles/instructions can be executed.
|
|
*
|
|
* When compilation size optimization is enabled, this function and its
|
|
* callers returning void will have NO epilogue, thus the instruction
|
|
* following these calls will be executed.
|
|
*
|
|
* If the requested interrupt is a context switch to a higher priority
|
|
* task then the one currently running, we MUST NOT execute any instruction
|
|
* before the interrupt effectively happens.
|
|
* In order to prevent this, force this routine to have a 3-instruction
|
|
* delay before exiting.
|
|
*/
|
|
asm volatile ( "nop" );
|
|
asm volatile ( "nop" );
|
|
asm volatile ( "nop" );
|
|
}
|
|
|
|
void vPortYield(void)
|
|
{
|
|
if (uxInterruptNesting) {
|
|
vPortYieldFromISR();
|
|
} else {
|
|
|
|
esp_crosscore_int_send_yield(0);
|
|
/* There are 3-4 instructions of latency between triggering the software
|
|
interrupt and the CPU interrupt happening. Make sure it happened before
|
|
we return, otherwise vTaskDelay() may return and execute 1-2
|
|
instructions before the delay actually happens.
|
|
|
|
(We could use the WFI instruction here, but there is a chance that
|
|
the interrupt will happen while evaluating the other two conditions
|
|
for an instant yield, and if that happens then the WFI would be
|
|
waiting for the next interrupt to occur...)
|
|
*/
|
|
while (uxSchedulerRunning && uxCriticalNesting == 0 && REG_READ(SYSTEM_CPU_INTR_FROM_CPU_0_REG) != 0) {}
|
|
}
|
|
}
|
|
|
|
void vPortYieldFromISR( void )
|
|
{
|
|
traceISR_EXIT_TO_SCHEDULER();
|
|
uxSchedulerRunning = 1;
|
|
xPortSwitchFlag = 1;
|
|
}
|
|
|
|
void vPortYieldOtherCore(BaseType_t coreid)
|
|
{
|
|
esp_crosscore_int_send_yield(coreid);
|
|
}
|
|
|
|
// ------------------- Hook Functions ----------------------
|
|
|
|
void __attribute__((weak)) vApplicationStackOverflowHook(TaskHandle_t xTask, char *pcTaskName)
|
|
{
|
|
#define ERR_STR1 "***ERROR*** A stack overflow in task "
|
|
#define ERR_STR2 " has been detected."
|
|
const char *str[] = {ERR_STR1, pcTaskName, ERR_STR2};
|
|
|
|
char buf[sizeof(ERR_STR1) + CONFIG_FREERTOS_MAX_TASK_NAME_LEN + sizeof(ERR_STR2) + 1 /* null char */] = {0};
|
|
|
|
char *dest = buf;
|
|
for (int i = 0; i < sizeof(str) / sizeof(str[0]); i++) {
|
|
dest = strcat(dest, str[i]);
|
|
}
|
|
esp_system_abort(buf);
|
|
}
|
|
|
|
// ----------------------- System --------------------------
|
|
|
|
uint32_t xPortGetTickRateHz(void)
|
|
{
|
|
return (uint32_t)configTICK_RATE_HZ;
|
|
}
|
|
|
|
#define STACK_WATCH_AREA_SIZE 32
|
|
#define STACK_WATCH_POINT_NUMBER (SOC_CPU_WATCHPOINTS_NUM - 1)
|
|
|
|
void vPortSetStackWatchpoint(void *pxStackStart)
|
|
{
|
|
uint32_t addr = (uint32_t)pxStackStart;
|
|
addr = (addr + (STACK_WATCH_AREA_SIZE - 1)) & (~(STACK_WATCH_AREA_SIZE - 1));
|
|
esp_cpu_set_watchpoint(STACK_WATCH_POINT_NUMBER, (char *)addr, STACK_WATCH_AREA_SIZE, ESP_CPU_WATCHPOINT_STORE);
|
|
}
|
|
|
|
|
|
|
|
/* ---------------------------------------------- Misc Implementations -------------------------------------------------
|
|
*
|
|
* ------------------------------------------------------------------------------------------------------------------ */
|
|
|
|
// --------------------- App Start-up ----------------------
|
|
|
|
/* [refactor-todo]: See if we can include this through a header */
|
|
extern void esp_startup_start_app_common(void);
|
|
|
|
void esp_startup_start_app(void)
|
|
{
|
|
esp_startup_start_app_common();
|
|
|
|
ESP_LOGI(TAG, "Starting scheduler.");
|
|
vTaskStartScheduler();
|
|
}
|