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https://github.com/espressif/esp-idf.git
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8b98e4e3b8
Due to SMP, critical sections have been added to xTaskIncrementTick() and vTaskSwitchContext() (to take the xKernelLock). However, this is technically not necessary when building for single-core as FreeRTOS expect these funcitons to be called with interrupts already disabled. This commit makes the critical secitons in those functions depend on "configNUM_CORES > 1", and ensures that interrupts are disabled when calling those functions. This effectively restores the vanilla behavior for these functions when building for single-core.
211 lines
7.0 KiB
C
211 lines
7.0 KiB
C
/*
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* SPDX-FileCopyrightText: 2017-2021 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 <stdlib.h>
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#include <string.h>
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#include "FreeRTOS.h"
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#include "task.h"
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#include "esp_intr_alloc.h"
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#include "esp_err.h"
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#include "esp_log.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 "sdkconfig.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 "hal/systimer_hal.h"
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#include "hal/systimer_ll.h"
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#endif
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#ifdef CONFIG_PM_TRACE
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#include "esp_private/pm_trace.h"
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#endif //CONFIG_PM_TRACE
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BaseType_t xPortSysTickHandler(void);
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#ifdef CONFIG_FREERTOS_SYSTICK_USES_CCOUNT
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extern void _frxt_tick_timer_init(void);
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extern void _xt_tick_divisor_init(void);
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#ifdef CONFIG_FREERTOS_CORETIMER_0
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#define SYSTICK_INTR_ID (ETS_INTERNAL_TIMER0_INTR_SOURCE+ETS_INTERNAL_INTR_SOURCE_OFF)
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#endif
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#ifdef CONFIG_FREERTOS_CORETIMER_1
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#define SYSTICK_INTR_ID (ETS_INTERNAL_TIMER1_INTR_SOURCE+ETS_INTERNAL_INTR_SOURCE_OFF)
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#endif
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/**
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* @brief Initialize CCONT timer to generate the tick interrupt
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*
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*/
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void vPortSetupTimer(void)
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{
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/* Init the tick divisor value */
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_xt_tick_divisor_init();
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_frxt_tick_timer_init();
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}
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#elif CONFIG_FREERTOS_SYSTICK_USES_SYSTIMER
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_Static_assert(SOC_CPU_CORES_NUM <= SOC_SYSTIMER_ALARM_NUM - 1, "the number of cores must match the number of core alarms in SYSTIMER");
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void SysTickIsrHandler(void *arg);
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static uint32_t s_handled_systicks[portNUM_PROCESSORS] = { 0 };
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#define SYSTICK_INTR_ID (ETS_SYSTIMER_TARGET0_EDGE_INTR_SOURCE)
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/**
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* @brief Set up the systimer peripheral to generate the tick interrupt
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*
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* Both timer alarms are configured in periodic mode.
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* It is done at the same time so SysTicks for both CPUs occur at the same time or very close.
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* Shifts a time of triggering interrupts for core 0 and core 1.
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*/
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void vPortSetupTimer(void)
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{
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unsigned cpuid = xPortGetCoreID();
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#ifdef CONFIG_FREERTOS_CORETIMER_SYSTIMER_LVL3
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const unsigned level = ESP_INTR_FLAG_LEVEL3;
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#else
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const unsigned level = ESP_INTR_FLAG_LEVEL1;
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#endif
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/* Systimer HAL layer object */
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static systimer_hal_context_t systimer_hal;
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/* set system timer interrupt vector */
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ESP_ERROR_CHECK(esp_intr_alloc(ETS_SYSTIMER_TARGET0_EDGE_INTR_SOURCE + cpuid, ESP_INTR_FLAG_IRAM | level, SysTickIsrHandler, &systimer_hal, NULL));
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if (cpuid == 0) {
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periph_module_enable(PERIPH_SYSTIMER_MODULE);
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systimer_hal_init(&systimer_hal);
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systimer_hal_tick_rate_ops_t ops = {
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.ticks_to_us = systimer_ticks_to_us,
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.us_to_ticks = systimer_us_to_ticks,
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};
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systimer_hal_set_tick_rate_ops(&systimer_hal, &ops);
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systimer_ll_set_counter_value(systimer_hal.dev, SYSTIMER_LL_COUNTER_OS_TICK, 0);
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systimer_ll_apply_counter_value(systimer_hal.dev, SYSTIMER_LL_COUNTER_OS_TICK);
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for (cpuid = 0; cpuid < SOC_CPU_CORES_NUM; cpuid++) {
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systimer_hal_counter_can_stall_by_cpu(&systimer_hal, SYSTIMER_LL_COUNTER_OS_TICK, cpuid, false);
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}
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for (cpuid = 0; cpuid < portNUM_PROCESSORS; ++cpuid) {
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uint32_t alarm_id = SYSTIMER_LL_ALARM_OS_TICK_CORE0 + cpuid;
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/* configure the timer */
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systimer_hal_connect_alarm_counter(&systimer_hal, alarm_id, SYSTIMER_LL_COUNTER_OS_TICK);
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systimer_hal_set_alarm_period(&systimer_hal, alarm_id, 1000000UL / CONFIG_FREERTOS_HZ);
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systimer_hal_select_alarm_mode(&systimer_hal, alarm_id, SYSTIMER_ALARM_MODE_PERIOD);
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systimer_hal_counter_can_stall_by_cpu(&systimer_hal, SYSTIMER_LL_COUNTER_OS_TICK, cpuid, true);
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if (cpuid == 0) {
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systimer_hal_enable_alarm_int(&systimer_hal, alarm_id);
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systimer_hal_enable_counter(&systimer_hal, SYSTIMER_LL_COUNTER_OS_TICK);
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#ifndef CONFIG_FREERTOS_UNICORE
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// SysTick of core 0 and core 1 are shifted by half of period
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systimer_hal_counter_value_advance(&systimer_hal, SYSTIMER_LL_COUNTER_OS_TICK, 1000000UL / CONFIG_FREERTOS_HZ / 2);
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#endif
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}
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}
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} else {
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uint32_t alarm_id = SYSTIMER_LL_ALARM_OS_TICK_CORE0 + cpuid;
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systimer_hal_enable_alarm_int(&systimer_hal, alarm_id);
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}
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}
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/**
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* @brief Systimer interrupt handler.
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*
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* The Systimer interrupt for SysTick works in periodic mode no need to calc the next alarm.
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* If a timer interrupt is ever serviced more than one tick late, it is necessary to process multiple ticks.
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*/
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IRAM_ATTR void SysTickIsrHandler(void *arg)
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{
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uint32_t cpuid = xPortGetCoreID();
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systimer_hal_context_t *systimer_hal = (systimer_hal_context_t *)arg;
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#ifdef CONFIG_PM_TRACE
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ESP_PM_TRACE_ENTER(TICK, cpuid);
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#endif
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uint32_t alarm_id = SYSTIMER_LL_ALARM_OS_TICK_CORE0 + cpuid;
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do {
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systimer_ll_clear_alarm_int(systimer_hal->dev, alarm_id);
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uint32_t diff = systimer_hal_get_counter_value(systimer_hal, SYSTIMER_LL_COUNTER_OS_TICK) / systimer_ll_get_alarm_period(systimer_hal->dev, alarm_id) - s_handled_systicks[cpuid];
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if (diff > 0) {
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if (s_handled_systicks[cpuid] == 0) {
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s_handled_systicks[cpuid] = diff;
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diff = 1;
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} else {
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s_handled_systicks[cpuid] += diff;
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}
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do {
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xPortSysTickHandler();
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} while (--diff);
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}
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} while (systimer_ll_is_alarm_int_fired(systimer_hal->dev, alarm_id));
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#ifdef CONFIG_PM_TRACE
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ESP_PM_TRACE_EXIT(TICK, cpuid);
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#endif
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}
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#endif // CONFIG_FREERTOS_SYSTICK_USES_CCOUNT
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extern void esp_vApplicationTickHook(void);
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/**
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* @brief Handler of SysTick
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*
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* The function is called from:
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* - _frxt_timer_int for xtensa with CONFIG_FREERTOS_SYSTICK_USES_CCOUNT
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* - SysTickIsrHandler for xtensa with CONFIG_FREERTOS_SYSTICK_USES_SYSTIMER
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* - SysTickIsrHandler for riscv
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*/
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BaseType_t xPortSysTickHandler(void)
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{
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#if configBENCHMARK
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portbenchmarkIntLatency();
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#endif //configBENCHMARK
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traceISR_ENTER(SYSTICK_INTR_ID);
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// Call IDF Tick Hook
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esp_vApplicationTickHook();
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// Call FreeRTOS Increment tick function
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BaseType_t xSwitchRequired;
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#if ( configNUM_CORES > 1 )
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/*
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For SMP, xTaskIncrementTick() will internally enter a critical section. But only core 0 calls xTaskIncrementTick()
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while core 1 should call xTaskIncrementTickOtherCores().
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*/
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if (xPortGetCoreID() == 0) {
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xSwitchRequired = xTaskIncrementTick();
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} else {
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xSwitchRequired = xTaskIncrementTickOtherCores();
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}
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#else // configNUM_CORES > 1
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/*
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Vanilla (single core) FreeRTOS expects that xTaskIncrementTick() cannot be interrupted (i.e., no nested interrupts).
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Thus we have to disable interrupts before calling it.
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*/
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UBaseType_t uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
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xSwitchRequired = xTaskIncrementTick();
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portCLEAR_INTERRUPT_MASK_FROM_ISR(uxSavedInterruptStatus);
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#endif
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// Check if yield is required
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if (xSwitchRequired != pdFALSE) {
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portYIELD_FROM_ISR();
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} else {
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traceISR_EXIT();
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}
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return xSwitchRequired;
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}
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