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322 lines
13 KiB
C
322 lines
13 KiB
C
/*
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FreeRTOS V8.2.0 - Copyright (C) 2015 Real Time Engineers Ltd.
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All rights reserved
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VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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***************************************************************************
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* *
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* FreeRTOS provides completely free yet professionally developed, *
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* robust, strictly quality controlled, supported, and cross *
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* platform software that has become a de facto standard. *
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* *
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* Help yourself get started quickly and support the FreeRTOS *
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* project by purchasing a FreeRTOS tutorial book, reference *
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* manual, or both from: http://www.FreeRTOS.org/Documentation *
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* *
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* Thank you! *
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* *
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***************************************************************************
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This file is part of the FreeRTOS distribution.
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FreeRTOS is free software; you can redistribute it and/or modify it under
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the terms of the GNU General Public License (version 2) as published by the
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Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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>>! NOTE: The modification to the GPL is included to allow you to !<<
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>>! distribute a combined work that includes FreeRTOS without being !<<
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>>! obliged to provide the source code for proprietary components !<<
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>>! outside of the FreeRTOS kernel. !<<
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FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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FOR A PARTICULAR PURPOSE. Full license text is available from the following
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link: http://www.freertos.org/a00114.html
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1 tab == 4 spaces!
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***************************************************************************
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* *
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* Having a problem? Start by reading the FAQ "My application does *
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* not run, what could be wrong?" *
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* *
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* http://www.FreeRTOS.org/FAQHelp.html *
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* *
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***************************************************************************
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http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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license and Real Time Engineers Ltd. contact details.
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http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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compatible FAT file system, and our tiny thread aware UDP/IP stack.
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http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
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licenses offer ticketed support, indemnification and middleware.
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http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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engineered and independently SIL3 certified version for use in safety and
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mission critical applications that require provable dependability.
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1 tab == 4 spaces!
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*/
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#ifndef PORTMACRO_H
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#define PORTMACRO_H
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#ifdef __cplusplus
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extern "C" {
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#endif
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#ifndef __ASSEMBLER__
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#include <stdint.h>
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#include <xtensa/tie/xt_core.h>
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#include <xtensa/hal.h>
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#include <xtensa/config/core.h>
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#include <xtensa/config/system.h> /* required for XSHAL_CLIB */
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#include <xtensa/xtruntime.h>
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//#include "xtensa_context.h"
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/*-----------------------------------------------------------
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* Port specific definitions.
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*
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* The settings in this file configure FreeRTOS correctly for the
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* given hardware and compiler.
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*
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* These settings should not be altered.
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*-----------------------------------------------------------
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*/
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/* Type definitions. */
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#define portCHAR int8_t
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#define portFLOAT float
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#define portDOUBLE double
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#define portLONG int32_t
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#define portSHORT int16_t
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#define portSTACK_TYPE uint8_t
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#define portBASE_TYPE int
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typedef portSTACK_TYPE StackType_t;
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typedef portBASE_TYPE BaseType_t;
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typedef unsigned portBASE_TYPE UBaseType_t;
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#if( configUSE_16_BIT_TICKS == 1 )
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typedef uint16_t TickType_t;
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#define portMAX_DELAY ( TickType_t ) 0xffff
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#else
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typedef uint32_t TickType_t;
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#define portMAX_DELAY ( TickType_t ) 0xffffffffUL
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#endif
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/*-----------------------------------------------------------*/
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// portbenchmark
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#include "portbenchmark.h"
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#include "sdkconfig.h"
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#define portFIRST_TASK_HOOK CONFIG_FREERTOS_BREAK_ON_SCHEDULER_START_JTAG
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typedef struct {
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volatile uint32_t mux;
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#ifdef CONFIG_FREERTOS_PORTMUX_DEBUG
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const char *lastLockedFn;
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int lastLockedLine;
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#endif
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} portMUX_TYPE;
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/*
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* Kernel mux values can be:
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* 0 - Uninitialized
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* (0-portNUM_PROCESSORS)|(recCnt<<8)|0xB33F0000 - taken by core (val), recurse count is (recCnt)
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* 0xB33FFFFF - free
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*
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* The magic number in the top 16 bits is there so we can detect uninitialized and corrupted muxes.
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*/
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#define portMUX_MAGIC_VAL 0xB33F0000
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#define portMUX_FREE_VAL 0xB33FFFFF
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#define portMUX_MAGIC_MASK 0xFFFF0000
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#define portMUX_MAGIC_SHIFT 16
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#define portMUX_CNT_MASK 0x0000FF00
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#define portMUX_CNT_SHIFT 8
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#define portMUX_VAL_MASK 0x000000FF
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#define portMUX_VAL_SHIFT 0
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//Keep this in sync with the portMUX_TYPE struct definition please.
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#ifndef CONFIG_FREERTOS_PORTMUX_DEBUG
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#define portMUX_INITIALIZER_UNLOCKED { \
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.mux = portMUX_MAGIC_VAL|portMUX_FREE_VAL \
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}
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#else
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#define portMUX_INITIALIZER_UNLOCKED { \
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.mux = portMUX_MAGIC_VAL|portMUX_FREE_VAL, \
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.lastLockedFn = "(never locked)", \
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.lastLockedLine = -1 \
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}
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#endif
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/* Critical section management. NW-TODO: replace XTOS_SET_INTLEVEL with more efficient version, if any? */
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// These cannot be nested. They should be used with a lot of care and cannot be called from interrupt level.
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#define portDISABLE_INTERRUPTS() do { XTOS_SET_INTLEVEL(XCHAL_EXCM_LEVEL); portbenchmarkINTERRUPT_DISABLE(); } while (0)
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#define portENABLE_INTERRUPTS() do { portbenchmarkINTERRUPT_RESTORE(0); XTOS_SET_INTLEVEL(0); } while (0)
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#define portASSERT_IF_IN_ISR() vPortAssertIfInISR()
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void vPortAssertIfInISR();
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#define portCRITICAL_NESTING_IN_TCB 1
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/*
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Modifications to portENTER_CRITICAL:
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The original portENTER_CRITICAL only disabled the ISRs. This is enough for single-CPU operation: by
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disabling the interrupts, there is no task switch so no other tasks can meddle in the data, and because
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interrupts are disabled, ISRs can't corrupt data structures either.
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For multiprocessing, things get a bit more hairy. First of all, disabling the interrupts doesn't stop
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the tasks or ISRs on the other processors meddling with our CPU. For tasks, this is solved by adding
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a spinlock to the portENTER_CRITICAL macro. A task running on the other CPU accessing the same data will
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spinlock in the portENTER_CRITICAL code until the first CPU is done.
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For ISRs, we now also need muxes: while portENTER_CRITICAL disabling interrupts will stop ISRs on the same
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CPU from meddling with the data, it does not stop interrupts on the other cores from interfering with the
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data. For this, we also use a spinlock in the routines called by the ISR, but these spinlocks
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do not disable the interrupts (because they already are).
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This all assumes that interrupts are either entirely disabled or enabled. Interrupr priority levels
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will break this scheme.
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*/
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void vPortCPUInitializeMutex(portMUX_TYPE *mux);
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#ifdef CONFIG_FREERTOS_PORTMUX_DEBUG
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void vPortCPUAcquireMutex(portMUX_TYPE *mux, const char *function, int line);
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portBASE_TYPE vPortCPUReleaseMutex(portMUX_TYPE *mux, const char *function, int line);
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void vTaskEnterCritical( portMUX_TYPE *mux, const char *function, int line );
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void vTaskExitCritical( portMUX_TYPE *mux, const char *function, int line );
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#define portENTER_CRITICAL(mux) vTaskEnterCritical(mux, __FUNCTION__, __LINE__)
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#define portEXIT_CRITICAL(mux) vTaskExitCritical(mux, __FUNCTION__, __LINE__)
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#define portENTER_CRITICAL_ISR(mux) vPortCPUAcquireMutex(mux, __FUNCTION__, __LINE__)
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#define portEXIT_CRITICAL_ISR(mux) vPortCPUReleaseMutex(mux, __FUNCTION__, __LINE__)
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#else
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void vTaskExitCritical( portMUX_TYPE *mux );
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void vTaskEnterCritical( portMUX_TYPE *mux );
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void vPortCPUAcquireMutex(portMUX_TYPE *mux);
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portBASE_TYPE vPortCPUReleaseMutex(portMUX_TYPE *mux);
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#define portENTER_CRITICAL(mux) vTaskEnterCritical(mux)
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#define portEXIT_CRITICAL(mux) vTaskExitCritical(mux)
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#define portENTER_CRITICAL_ISR(mux) vPortCPUAcquireMutex(mux)
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#define portEXIT_CRITICAL_ISR(mux) vPortCPUReleaseMutex(mux)
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#endif
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// Cleaner and preferred solution allows nested interrupts disabling and restoring via local registers or stack.
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// They can be called from interrupts too.
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//NOT SMP-COMPATIBLE! Use only if all you want is to disable the interrupts locally!
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static inline unsigned portENTER_CRITICAL_NESTED() { unsigned state = XTOS_SET_INTLEVEL(XCHAL_EXCM_LEVEL); portbenchmarkINTERRUPT_DISABLE(); return state; }
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#define portEXIT_CRITICAL_NESTED(state) do { portbenchmarkINTERRUPT_RESTORE(state); XTOS_RESTORE_JUST_INTLEVEL(state); } while (0)
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// These FreeRTOS versions are similar to the nested versions above
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#define portSET_INTERRUPT_MASK_FROM_ISR() portENTER_CRITICAL_NESTED()
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#define portCLEAR_INTERRUPT_MASK_FROM_ISR(state) portEXIT_CRITICAL_NESTED(state)
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/*
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* Wrapper for the Xtensa compare-and-set instruction. This subroutine will atomically compare
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* *mux to compare, and if it's the same, will set *mux to set. It will return the old value
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* of *addr in *set.
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*
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* Warning: From the ISA docs: in some (unspecified) cases, the s32c1i instruction may return the
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* *bitwise inverse* of the old mem if the mem wasn't written. This doesn't seem to happen on the
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* ESP32, though. (Would show up directly if it did because the magic wouldn't match.)
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*/
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static inline void uxPortCompareSet(volatile uint32_t *addr, uint32_t compare, uint32_t *set) {
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__asm__ __volatile__(
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"WSR %2,SCOMPARE1 \n"
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"ISYNC \n"
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"S32C1I %0, %1, 0 \n"
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:"=r"(*set)
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:"r"(addr), "r"(compare), "0"(*set)
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);
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}
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/*-----------------------------------------------------------*/
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/* Architecture specifics. */
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#define portSTACK_GROWTH ( -1 )
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#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ )
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#define portBYTE_ALIGNMENT 4
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#define portNOP() XT_NOP()
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/*-----------------------------------------------------------*/
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/* Fine resolution time */
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#define portGET_RUN_TIME_COUNTER_VALUE() xthal_get_ccount()
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/* Kernel utilities. */
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void vPortYield( void );
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void _frxt_setup_switch( void );
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#define portYIELD() vPortYield()
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#define portYIELD_FROM_ISR() _frxt_setup_switch()
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/*-----------------------------------------------------------*/
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/* Task function macros as described on the FreeRTOS.org WEB site. */
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#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters )
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#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters )
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// When coprocessors are defined, we to maintain a pointer to coprocessors area.
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// We currently use a hack: redefine field xMPU_SETTINGS in TCB block as a structure that can hold:
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// MPU wrappers, coprocessor area pointer, trace code structure, and more if needed.
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// The field is normally used for memory protection. FreeRTOS should create another general purpose field.
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typedef struct {
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#if XCHAL_CP_NUM > 0
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volatile StackType_t* coproc_area; // Pointer to coprocessor save area; MUST BE FIRST
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#endif
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#if portUSING_MPU_WRAPPERS
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// Define here mpu_settings, which is port dependent
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int mpu_setting; // Just a dummy example here; MPU not ported to Xtensa yet
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#endif
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#if configUSE_TRACE_FACILITY_2
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struct {
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// Cf. porttraceStamp()
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int taskstamp; /* Stamp from inside task to see where we are */
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int taskstampcount; /* A counter usually incremented when we restart the task's loop */
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} porttrace;
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#endif
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} xMPU_SETTINGS;
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// Main hack to use MPU_wrappers even when no MPU is defined (warning: mpu_setting should not be accessed; otherwise move this above xMPU_SETTINGS)
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#if (XCHAL_CP_NUM > 0 || configUSE_TRACE_FACILITY_2) && !portUSING_MPU_WRAPPERS // If MPU wrappers not used, we still need to allocate coproc area
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#undef portUSING_MPU_WRAPPERS
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#define portUSING_MPU_WRAPPERS 1 // Enable it to allocate coproc area
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#define MPU_WRAPPERS_H // Override mpu_wrapper.h to disable unwanted code
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#define PRIVILEGED_FUNCTION
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#define PRIVILEGED_DATA
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#endif
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// porttrace
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#if configUSE_TRACE_FACILITY_2
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#include "porttrace.h"
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#endif
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// configASSERT_2 if requested
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#if configASSERT_2
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#include <stdio.h>
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void exit(int);
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#define configASSERT( x ) if (!(x)) { porttracePrint(-1); printf("\nAssertion failed in %s:%d\n", __FILE__, __LINE__); exit(-1); }
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#endif
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#endif // __ASSEMBLER__
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#ifdef __cplusplus
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}
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#endif
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#endif /* PORTMACRO_H */
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