/* | |
* FreeRTOS V8.2.0 - Copyright (C) 2015 Real Time Engineers Ltd. | |
* All rights reserved | |
* | |
* VISIT https://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. | |
* | |
* This file is part of the FreeRTOS distribution. | |
* | |
* FreeRTOS is free software; you can redistribute it and/or modify it under | |
* the terms of the GNU General Public License (version 2) as published by the | |
* Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception. | |
* | |
*************************************************************************** | |
* >>! NOTE: The modification to the GPL is included to allow you to !<< | |
* >>! distribute a combined work that includes FreeRTOS without being !<< | |
* >>! obliged to provide the source code for proprietary components !<< | |
* >>! outside of the FreeRTOS kernel. !<< | |
*************************************************************************** | |
* | |
* FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY | |
* WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS | |
* FOR A PARTICULAR PURPOSE. Full license text is available on the following | |
* link: https://www.FreeRTOS.org/a00114.html | |
* | |
*************************************************************************** | |
* * | |
* FreeRTOS provides completely free yet professionally developed, * | |
* robust, strictly quality controlled, supported, and cross * | |
* platform software that is more than just the market leader, it * | |
* is the industry's de facto standard. * | |
* * | |
* Help yourself get started quickly while simultaneously helping * | |
* to support the FreeRTOS project by purchasing a FreeRTOS * | |
* tutorial book, reference manual, or both: * | |
* https://www.FreeRTOS.org/Documentation * | |
* * | |
*************************************************************************** | |
* | |
* https://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading | |
* the FAQ page "My application does not run, what could be wrong?". Have you | |
* defined configASSERT()? | |
* | |
* https://www.FreeRTOS.org/support - In return for receiving this top quality | |
* embedded software for free we request you assist our global community by | |
* participating in the support forum. | |
* | |
* https://www.FreeRTOS.org/training - Investing in training allows your team | |
* to be as productive as possible as early as possible. Now you can receive | |
* FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers | |
* Ltd, and the world's leading authority on the world's leading RTOS. | |
* | |
* https://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, | |
* including FreeRTOS+Trace - an indispensable productivity tool, a DOS | |
* compatible FAT file system, and our tiny thread aware UDP/IP stack. | |
* | |
* https://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate. | |
* Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS. | |
* | |
* https://www.highintegritysystems.com/openrtos/ - Real Time Engineers ltd. | |
* license FreeRTOS to High Integrity Systems ltd. to sell under the OpenRTOS | |
* brand. Low cost OpenRTOS licenses offer ticketed support, indemnification | |
* and commercial middleware. | |
* | |
* https://www.highintegritysystems.com/safertos/ - High Integrity Systems | |
* also provide a safety engineered and independently SIL3 certified version | |
* for use in safety and mission critical applications that require provable | |
* dependability. | |
* | |
*/ | |
/******************************************************************************* | |
* // Copyright (c) 2003-2015 Cadence Design Systems, Inc. | |
* // | |
* // 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. | |
* ----------------------------------------------------------------------------- | |
*/ | |
#include <stdlib.h> | |
#include <xtensa/config/core.h> | |
#include "xtensa_rtos.h" | |
#include "rom/ets_sys.h" | |
#include "soc/cpu.h" | |
#include "FreeRTOS.h" | |
#include "task.h" | |
#include "esp_panic.h" | |
#include "esp_heap_caps.h" | |
#include "esp_crosscore_int.h" | |
#include "esp_intr_alloc.h" | |
/* Defined in portasm.h */ | |
extern void _frxt_tick_timer_init( void ); | |
/* Defined in xtensa_context.S */ | |
extern void _xt_coproc_init( void ); | |
#if CONFIG_FREERTOS_CORETIMER_0 | |
#define SYSTICK_INTR_ID ( ETS_INTERNAL_TIMER0_INTR_SOURCE + ETS_INTERNAL_INTR_SOURCE_OFF ) | |
#endif | |
#if CONFIG_FREERTOS_CORETIMER_1 | |
#define SYSTICK_INTR_ID ( ETS_INTERNAL_TIMER1_INTR_SOURCE + ETS_INTERNAL_INTR_SOURCE_OFF ) | |
#endif | |
/*-----------------------------------------------------------*/ | |
unsigned port_xSchedulerRunning[ portNUM_PROCESSORS ] = { 0 }; /* Duplicate of inaccessible xSchedulerRunning; needed at startup to avoid counting nesting */ | |
unsigned port_interruptNesting[ portNUM_PROCESSORS ] = { 0 }; /* Interrupt nesting level. Increased/decreased in portasm.c, _frxt_int_enter/_frxt_int_exit */ | |
/*-----------------------------------------------------------*/ | |
/* User exception dispatcher when exiting */ | |
void _xt_user_exit( void ); | |
/* | |
* Stack initialization | |
*/ | |
/* *INDENT-OFF* */ | |
#if portUSING_MPU_WRAPPERS | |
StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack, | |
TaskFunction_t pxCode, | |
void * pvParameters, | |
BaseType_t xRunPrivileged ) | |
#else | |
StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack, | |
TaskFunction_t pxCode, | |
void * pvParameters ) | |
#endif | |
/* *INDENT-ON* */ | |
{ | |
StackType_t * sp, * tp; | |
XtExcFrame * frame; | |
#if XCHAL_CP_NUM > 0 | |
uint32_t * p; | |
#endif | |
/* Create interrupt stack frame aligned to 16 byte boundary */ | |
sp = ( StackType_t * ) ( ( ( UBaseType_t ) pxTopOfStack - XT_CP_SIZE - XT_STK_FRMSZ ) & ~0xf ); | |
/* Clear the entire frame (do not use memset() because we don't depend on C library) */ | |
for( tp = sp; tp <= pxTopOfStack; ++tp ) | |
{ | |
*tp = 0; | |
} | |
frame = ( XtExcFrame * ) sp; | |
/* Explicitly initialize certain saved registers */ | |
frame->pc = ( UBaseType_t ) pxCode; /* task entrypoint */ | |
frame->a0 = 0; /* to terminate GDB backtrace */ | |
frame->a1 = ( UBaseType_t ) sp + XT_STK_FRMSZ; /* physical top of stack frame */ | |
frame->exit = ( UBaseType_t ) _xt_user_exit; /* user exception exit dispatcher */ | |
/* Set initial PS to int level 0, EXCM disabled ('rfe' will enable), user mode. */ | |
/* Also set entry point argument parameter. */ | |
#ifdef __XTENSA_CALL0_ABI__ | |
frame->a2 = ( UBaseType_t ) pvParameters; | |
frame->ps = PS_UM | PS_EXCM; | |
#else | |
/* + for windowed ABI also set WOE and CALLINC (pretend task was 'call4'd). */ | |
frame->a6 = ( UBaseType_t ) pvParameters; | |
frame->ps = PS_UM | PS_EXCM | PS_WOE | PS_CALLINC( 1 ); | |
#endif | |
#ifdef XT_USE_SWPRI | |
/* Set the initial virtual priority mask value to all 1's. */ | |
frame->vpri = 0xFFFFFFFF; | |
#endif | |
#if XCHAL_CP_NUM > 0 | |
/* Init the coprocessor save area (see xtensa_context.h) */ | |
/* No access to TCB here, so derive indirectly. Stack growth is top to bottom. | |
* //p = (uint32_t *) xMPUSettings->coproc_area; | |
*/ | |
p = ( uint32_t * ) ( ( ( uint32_t ) pxTopOfStack - XT_CP_SIZE ) & ~0xf ); | |
configASSERT( ( uint32_t ) p >= frame->a1 ); | |
p[ 0 ] = 0; | |
p[ 1 ] = 0; | |
p[ 2 ] = ( ( ( uint32_t ) p ) + 12 + XCHAL_TOTAL_SA_ALIGN - 1 ) & -XCHAL_TOTAL_SA_ALIGN; | |
#endif | |
return sp; | |
} | |
/*-----------------------------------------------------------*/ | |
void vPortEndScheduler( void ) | |
{ | |
/* It is unlikely that the Xtensa port will get stopped. If required simply | |
* disable the tick interrupt here. */ | |
} | |
/*-----------------------------------------------------------*/ | |
BaseType_t xPortStartScheduler( void ) | |
{ | |
/* Interrupts are disabled at this point and stack contains PS with enabled interrupts when task context is restored */ | |
#if XCHAL_CP_NUM > 0 | |
/* Initialize co-processor management for tasks. Leave CPENABLE alone. */ | |
_xt_coproc_init(); | |
#endif | |
/* Init the tick divisor value */ | |
_xt_tick_divisor_init(); | |
/* Setup the hardware to generate the tick. */ | |
_frxt_tick_timer_init(); | |
port_xSchedulerRunning[ xPortGetCoreID() ] = 1; | |
/* Cannot be directly called from C; never returns */ | |
__asm__ volatile ( "call0 _frxt_dispatch\n" ); | |
/* Should not get here. */ | |
return pdTRUE; | |
} | |
/*-----------------------------------------------------------*/ | |
BaseType_t xPortSysTickHandler( void ) | |
{ | |
BaseType_t ret; | |
unsigned interruptMask; | |
portbenchmarkIntLatency(); | |
traceISR_ENTER( SYSTICK_INTR_ID ); | |
/* Interrupts upto configMAX_SYSCALL_INTERRUPT_PRIORITY must be | |
* disabled before calling xTaskIncrementTick as it access the | |
* kernel lists. */ | |
interruptMask = portSET_INTERRUPT_MASK_FROM_ISR(); | |
{ | |
ret = xTaskIncrementTick(); | |
} | |
portCLEAR_INTERRUPT_MASK_FROM_ISR( interruptMask ); | |
if( ret != pdFALSE ) | |
{ | |
portYIELD_FROM_ISR(); | |
} | |
else | |
{ | |
traceISR_EXIT(); | |
} | |
return ret; | |
} | |
void vPortYieldOtherCore( BaseType_t coreid ) | |
{ | |
esp_crosscore_int_send_yield( coreid ); | |
} | |
/*-----------------------------------------------------------*/ | |
/* | |
* Used to set coprocessor area in stack. Current hack is to reuse MPU pointer for coprocessor area. | |
*/ | |
#if portUSING_MPU_WRAPPERS | |
void vPortStoreTaskMPUSettings( xMPU_SETTINGS * xMPUSettings, | |
const struct xMEMORY_REGION * const xRegions, | |
StackType_t * pxBottomOfStack, | |
uint32_t usStackDepth ) | |
{ | |
#if XCHAL_CP_NUM > 0 | |
xMPUSettings->coproc_area = ( StackType_t * ) ( ( uint32_t ) ( pxBottomOfStack + usStackDepth - 1 )); | |
xMPUSettings->coproc_area = ( StackType_t * ) ( ( ( portPOINTER_SIZE_TYPE ) xMPUSettings->coproc_area ) & ( ~( ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) ) ); | |
xMPUSettings->coproc_area = ( StackType_t * ) ( ( ( uint32_t ) xMPUSettings->coproc_area - XT_CP_SIZE ) & ~0xf ); | |
/* NOTE: we cannot initialize the coprocessor save area here because FreeRTOS is going to | |
* clear the stack area after we return. This is done in pxPortInitialiseStack(). | |
*/ | |
#endif | |
} | |
void vPortReleaseTaskMPUSettings( xMPU_SETTINGS * xMPUSettings ) | |
{ | |
/* If task has live floating point registers somewhere, release them */ | |
_xt_coproc_release( xMPUSettings->coproc_area ); | |
} | |
#endif /* if portUSING_MPU_WRAPPERS */ | |
/* | |
* Returns true if the current core is in ISR context; low prio ISR, med prio ISR or timer tick ISR. High prio ISRs | |
* aren't detected here, but they normally cannot call C code, so that should not be an issue anyway. | |
*/ | |
BaseType_t xPortInIsrContext() | |
{ | |
unsigned int irqStatus; | |
BaseType_t ret; | |
irqStatus = portENTER_CRITICAL_NESTED(); | |
ret = ( port_interruptNesting[ xPortGetCoreID() ] != 0 ); | |
portEXIT_CRITICAL_NESTED( irqStatus ); | |
return ret; | |
} | |
/* | |
* This function will be called in High prio ISRs. Returns true if the current core was in ISR context | |
* before calling into high prio ISR context. | |
*/ | |
BaseType_t IRAM_ATTR xPortInterruptedFromISRContext() | |
{ | |
return( port_interruptNesting[ xPortGetCoreID() ] != 0 ); | |
} | |
void vPortAssertIfInISR() | |
{ | |
if( xPortInIsrContext() ) | |
{ | |
ets_printf( "core=%d port_interruptNesting=%d\n\n", xPortGetCoreID(), port_interruptNesting[ xPortGetCoreID() ] ); | |
} | |
configASSERT( !xPortInIsrContext() ); | |
} | |
/* | |
* For kernel use: Initialize a per-CPU mux. Mux will be initialized unlocked. | |
*/ | |
void vPortCPUInitializeMutex( portMUX_TYPE * mux ) | |
{ | |
#ifdef CONFIG_FREERTOS_PORTMUX_DEBUG | |
ets_printf( "Initializing mux %p\n", mux ); | |
mux->lastLockedFn = "(never locked)"; | |
mux->lastLockedLine = -1; | |
#endif | |
mux->owner = portMUX_FREE_VAL; | |
mux->count = 0; | |
} | |
#include "portmux_impl.h" | |
/* | |
* For kernel use: Acquire a per-CPU mux. Spinlocks, so don't hold on to these muxes for too long. | |
*/ | |
#ifdef CONFIG_FREERTOS_PORTMUX_DEBUG | |
void vPortCPUAcquireMutex( portMUX_TYPE * mux, | |
const char * fnName, | |
int line ) | |
{ | |
unsigned int irqStatus = portENTER_CRITICAL_NESTED(); | |
vPortCPUAcquireMutexIntsDisabled( mux, portMUX_NO_TIMEOUT, fnName, line ); | |
portEXIT_CRITICAL_NESTED( irqStatus ); | |
} | |
bool vPortCPUAcquireMutexTimeout( portMUX_TYPE * mux, | |
int timeout_cycles, | |
const char * fnName, | |
int line ) | |
{ | |
unsigned int irqStatus = portENTER_CRITICAL_NESTED(); | |
bool result = vPortCPUAcquireMutexIntsDisabled( mux, timeout_cycles, fnName, line ); | |
portEXIT_CRITICAL_NESTED( irqStatus ); | |
return result; | |
} | |
#else /* ifdef CONFIG_FREERTOS_PORTMUX_DEBUG */ | |
void vPortCPUAcquireMutex( portMUX_TYPE * mux ) | |
{ | |
unsigned int irqStatus = portENTER_CRITICAL_NESTED(); | |
vPortCPUAcquireMutexIntsDisabled( mux, portMUX_NO_TIMEOUT ); | |
portEXIT_CRITICAL_NESTED( irqStatus ); | |
} | |
bool vPortCPUAcquireMutexTimeout( portMUX_TYPE * mux, | |
int timeout_cycles ) | |
{ | |
unsigned int irqStatus = portENTER_CRITICAL_NESTED(); | |
bool result = vPortCPUAcquireMutexIntsDisabled( mux, timeout_cycles ); | |
portEXIT_CRITICAL_NESTED( irqStatus ); | |
return result; | |
} | |
#endif /* ifdef CONFIG_FREERTOS_PORTMUX_DEBUG */ | |
/* | |
* For kernel use: Release a per-CPU mux | |
* | |
* Mux must be already locked by this core | |
*/ | |
#ifdef CONFIG_FREERTOS_PORTMUX_DEBUG | |
void vPortCPUReleaseMutex( portMUX_TYPE * mux, | |
const char * fnName, | |
int line ) | |
{ | |
unsigned int irqStatus = portENTER_CRITICAL_NESTED(); | |
vPortCPUReleaseMutexIntsDisabled( mux, fnName, line ); | |
portEXIT_CRITICAL_NESTED( irqStatus ); | |
} | |
#else | |
void vPortCPUReleaseMutex( portMUX_TYPE * mux ) | |
{ | |
unsigned int irqStatus = portENTER_CRITICAL_NESTED(); | |
vPortCPUReleaseMutexIntsDisabled( mux ); | |
portEXIT_CRITICAL_NESTED( irqStatus ); | |
} | |
#endif /* ifdef CONFIG_FREERTOS_PORTMUX_DEBUG */ | |
void vPortSetStackWatchpoint( void * pxStackStart ) | |
{ | |
/*Set watchpoint 1 to watch the last 32 bytes of the stack. */ | |
/*Unfortunately, the Xtensa watchpoints can't set a watchpoint on a random [base - base+n] region because */ | |
/*the size works by masking off the lowest address bits. For that reason, we futz a bit and watch the lowest 32 */ | |
/*bytes of the stack we can actually watch. In general, this can cause the watchpoint to be triggered at most */ | |
/*28 bytes early. The value 32 is chosen because it's larger than the stack canary, which in FreeRTOS is 20 bytes. */ | |
/*This way, we make sure we trigger before/when the stack canary is corrupted, not after. */ | |
int addr = ( int ) pxStackStart; | |
addr = ( addr + 31 ) & ( ~31 ); | |
esp_set_watchpoint( 1, ( char * ) addr, 32, ESP_WATCHPOINT_STORE ); | |
} | |
#if defined( CONFIG_SPIRAM_SUPPORT ) | |
/* | |
* Compare & set (S32C1) does not work in external RAM. Instead, this routine uses a mux (in internal memory) to fake it. | |
*/ | |
static portMUX_TYPE extram_mux = portMUX_INITIALIZER_UNLOCKED; | |
void uxPortCompareSetExtram( volatile uint32_t * addr, | |
uint32_t compare, | |
uint32_t * set ) | |
{ | |
uint32_t prev; | |
#ifdef CONFIG_FREERTOS_PORTMUX_DEBUG | |
vPortCPUAcquireMutexIntsDisabled( &extram_mux, portMUX_NO_TIMEOUT, __FUNCTION__, __LINE__ ); | |
#else | |
vPortCPUAcquireMutexIntsDisabled( &extram_mux, portMUX_NO_TIMEOUT ); | |
#endif | |
prev = *addr; | |
if( prev == compare ) | |
{ | |
*addr = *set; | |
} | |
*set = prev; | |
#ifdef CONFIG_FREERTOS_PORTMUX_DEBUG | |
vPortCPUReleaseMutexIntsDisabled( &extram_mux, __FUNCTION__, __LINE__ ); | |
#else | |
vPortCPUReleaseMutexIntsDisabled( &extram_mux ); | |
#endif | |
} | |
#endif //defined(CONFIG_SPIRAM_SUPPORT) | |
uint32_t xPortGetTickRateHz( void ) | |
{ | |
return ( uint32_t ) configTICK_RATE_HZ; | |
} |