| /* | |
| FreeRTOS V8.2.0 - Copyright (C) 2015 Real Time Engineers Ltd. | |
| All rights reserved | |
| VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. | |
| *************************************************************************** | |
| * * | |
| * FreeRTOS provides completely free yet professionally developed, * | |
| * robust, strictly quality controlled, supported, and cross * | |
| * platform software that has become a de facto standard. * | |
| * * | |
| * Help yourself get started quickly and support the FreeRTOS * | |
| * project by purchasing a FreeRTOS tutorial book, reference * | |
| * manual, or both from: http://www.FreeRTOS.org/Documentation * | |
| * * | |
| * Thank you! * | |
| * * | |
| *************************************************************************** | |
| 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 from the following | |
| link: http://www.freertos.org/a00114.html | |
| *************************************************************************** | |
| * * | |
| * Having a problem? Start by reading the FAQ "My application does * | |
| * not run, what could be wrong?" * | |
| * * | |
| * http://www.FreeRTOS.org/FAQHelp.html * | |
| * * | |
| *************************************************************************** | |
| http://www.FreeRTOS.org - Documentation, books, training, latest versions, | |
| license and Real Time Engineers Ltd. contact details. | |
| http://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. | |
| http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High | |
| Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS | |
| licenses offer ticketed support, indemnification and middleware. | |
| http://www.SafeRTOS.com - 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. | |
| */ | |
| #ifndef PORTMACRO_H | |
| #define PORTMACRO_H | |
| #ifdef __cplusplus | |
| extern "C" { | |
| #endif | |
| #ifndef __ASSEMBLER__ | |
| #include <stdint.h> | |
| #include <xtensa/hal.h> | |
| #include <xtensa/config/core.h> | |
| #include <xtensa/config/system.h> /* required for XSHAL_CLIB */ | |
| #include <xtensa/xtruntime.h> | |
| #include "esp_timer.h" /* required for FreeRTOS run time stats */ | |
| #include "esp_system.h" | |
| #include <esp_heap_caps.h> | |
| #include "soc/soc_memory_layout.h" | |
| //#include "xtensa_context.h" | |
| /*----------------------------------------------------------- | |
| * Port specific definitions. | |
| * | |
| * The settings in this file configure FreeRTOS correctly for the | |
| * given hardware and compiler. | |
| * | |
| * These settings should not be altered. | |
| *----------------------------------------------------------- | |
| */ | |
| /* Type definitions. */ | |
| #define portCHAR int8_t | |
| #define portFLOAT float | |
| #define portDOUBLE double | |
| #define portLONG int32_t | |
| #define portSHORT int16_t | |
| #define portSTACK_TYPE uint8_t | |
| #define portBASE_TYPE int | |
| typedef portSTACK_TYPE StackType_t; | |
| typedef portBASE_TYPE BaseType_t; | |
| typedef unsigned portBASE_TYPE UBaseType_t; | |
| #if( configUSE_16_BIT_TICKS == 1 ) | |
| typedef uint16_t TickType_t; | |
| #define portMAX_DELAY ( TickType_t ) 0xffff | |
| #else | |
| typedef uint32_t TickType_t; | |
| #define portMAX_DELAY ( TickType_t ) 0xffffffffUL | |
| #endif | |
| /*-----------------------------------------------------------*/ | |
| // portbenchmark | |
| #include "portbenchmark.h" | |
| #include "sdkconfig.h" | |
| #include "esp_attr.h" | |
| /* "mux" data structure (spinlock) */ | |
| typedef struct { | |
| /* owner field values: | |
| * 0 - Uninitialized (invalid) | |
| * portMUX_FREE_VAL - Mux is free, can be locked by either CPU | |
| * CORE_ID_PRO / CORE_ID_APP - Mux is locked to the particular core | |
| * | |
| * Any value other than portMUX_FREE_VAL, CORE_ID_PRO, CORE_ID_APP indicates corruption | |
| */ | |
| uint32_t owner; | |
| /* count field: | |
| * If mux is unlocked, count should be zero. | |
| * If mux is locked, count is non-zero & represents the number of recursive locks on the mux. | |
| */ | |
| uint32_t count; | |
| #ifdef CONFIG_FREERTOS_PORTMUX_DEBUG | |
| const char *lastLockedFn; | |
| int lastLockedLine; | |
| #endif | |
| } portMUX_TYPE; | |
| #define portMUX_FREE_VAL 0xB33FFFFF | |
| /* Special constants for vPortCPUAcquireMutexTimeout() */ | |
| #define portMUX_NO_TIMEOUT (-1) /* When passed for 'timeout_cycles', spin forever if necessary */ | |
| #define portMUX_TRY_LOCK 0 /* Try to acquire the spinlock a single time only */ | |
| // Keep this in sync with the portMUX_TYPE struct definition please. | |
| #ifndef CONFIG_FREERTOS_PORTMUX_DEBUG | |
| #define portMUX_INITIALIZER_UNLOCKED { \ | |
| .owner = portMUX_FREE_VAL, \ | |
| .count = 0, \ | |
| } | |
| #else | |
| #define portMUX_INITIALIZER_UNLOCKED { \ | |
| .owner = portMUX_FREE_VAL, \ | |
| .count = 0, \ | |
| .lastLockedFn = "(never locked)", \ | |
| .lastLockedLine = -1 \ | |
| } | |
| #endif | |
| #define portASSERT_IF_IN_ISR() vPortAssertIfInISR() | |
| void vPortAssertIfInISR(); | |
| #define portCRITICAL_NESTING_IN_TCB 1 | |
| /* | |
| Modifications to portENTER_CRITICAL. | |
| For an introduction, see "Critical Sections & Disabling Interrupts" in docs/api-guides/freertos-smp.rst | |
| The original portENTER_CRITICAL only disabled the ISRs. This is enough for single-CPU operation: by | |
| disabling the interrupts, there is no task switch so no other tasks can meddle in the data, and because | |
| interrupts are disabled, ISRs can't corrupt data structures either. | |
| For multiprocessing, things get a bit more hairy. First of all, disabling the interrupts doesn't stop | |
| the tasks or ISRs on the other processors meddling with our CPU. For tasks, this is solved by adding | |
| a spinlock to the portENTER_CRITICAL macro. A task running on the other CPU accessing the same data will | |
| spinlock in the portENTER_CRITICAL code until the first CPU is done. | |
| For ISRs, we now also need muxes: while portENTER_CRITICAL disabling interrupts will stop ISRs on the same | |
| CPU from meddling with the data, it does not stop interrupts on the other cores from interfering with the | |
| data. For this, we also use a spinlock in the routines called by the ISR, but these spinlocks | |
| do not disable the interrupts (because they already are). | |
| This all assumes that interrupts are either entirely disabled or enabled. Interrupt priority levels | |
| will break this scheme. | |
| Remark: For the ESP32, portENTER_CRITICAL and portENTER_CRITICAL_ISR both alias vTaskEnterCritical, meaning | |
| that either function can be called both from ISR as well as task context. This is not standard FreeRTOS | |
| behaviour; please keep this in mind if you need any compatibility with other FreeRTOS implementations. | |
| */ | |
| void vPortCPUInitializeMutex(portMUX_TYPE *mux); | |
| #ifdef CONFIG_FREERTOS_PORTMUX_DEBUG | |
| #error CONFIG_FREERTOS_PORTMUX_DEBUG not supported in Amazon FreeRTOS | |
| #endif | |
| void vTaskExitCritical(); | |
| void vTaskEnterCritical(); | |
| static inline void vPortConsumeSpinlockArg(int unused, ...) | |
| { | |
| } | |
| /** @brief Acquire a portmux spinlock with a timeout | |
| * | |
| * @param mux Pointer to portmux to acquire. | |
| * @param timeout_cycles Timeout to spin, in CPU cycles. Pass portMUX_NO_TIMEOUT to wait forever, | |
| * portMUX_TRY_LOCK to try a single time to acquire the lock. | |
| * | |
| * @return true if mutex is successfully acquired, false on timeout. | |
| */ | |
| bool vPortCPUAcquireMutexTimeout(portMUX_TYPE *mux, int timeout_cycles); | |
| void vPortCPUReleaseMutex(portMUX_TYPE *mux); | |
| #define portENTER_CRITICAL(...) do { vTaskEnterCritical(); vPortConsumeSpinlockArg(0, ##__VA_ARGS__); } while(0) | |
| #define portEXIT_CRITICAL(...) do { vTaskExitCritical(); vPortConsumeSpinlockArg(0, ##__VA_ARGS__); } while(0) | |
| #define portENTER_CRITICAL_ISR(mux) vPortCPUAcquireMutexTimeout(mux, portMUX_NO_TIMEOUT) | |
| #define portEXIT_CRITICAL_ISR(mux) vPortCPUReleaseMutex(mux) | |
| #define portENTER_CRITICAL_SAFE(mux) do { \ | |
| if (xPortInIsrContext()) { \ | |
| portENTER_CRITICAL_ISR(mux); \ | |
| } else { \ | |
| portENTER_CRITICAL(mux); \ | |
| } \ | |
| } while(0) | |
| #define portEXIT_CRITICAL_SAFE(mux) do { \ | |
| if (xPortInIsrContext()) { \ | |
| portEXIT_CRITICAL_ISR(mux); \ | |
| } else { \ | |
| portEXIT_CRITICAL(mux); \ | |
| } \ | |
| } while(0) | |
| // Critical section management. NW-TODO: replace XTOS_SET_INTLEVEL with more efficient version, if any? | |
| // These cannot be nested. They should be used with a lot of care and cannot be called from interrupt level. | |
| // | |
| // Only applies to one CPU. See notes above & below for reasons not to use these. | |
| #define portDISABLE_INTERRUPTS() do { XTOS_SET_INTLEVEL(XCHAL_EXCM_LEVEL); portbenchmarkINTERRUPT_DISABLE(); } while (0) | |
| #define portENABLE_INTERRUPTS() do { portbenchmarkINTERRUPT_RESTORE(0); XTOS_SET_INTLEVEL(0); } while (0) | |
| // Cleaner solution allows nested interrupts disabling and restoring via local registers or stack. | |
| // They can be called from interrupts too. | |
| // WARNING: Only applies to current CPU. See notes above. | |
| static inline unsigned portENTER_CRITICAL_NESTED() { | |
| unsigned state = XTOS_SET_INTLEVEL(XCHAL_EXCM_LEVEL); | |
| portbenchmarkINTERRUPT_DISABLE(); | |
| return state; | |
| } | |
| #define portEXIT_CRITICAL_NESTED(state) do { portbenchmarkINTERRUPT_RESTORE(state); XTOS_RESTORE_JUST_INTLEVEL(state); } while (0) | |
| // These FreeRTOS versions are similar to the nested versions above | |
| #define portSET_INTERRUPT_MASK_FROM_ISR() portENTER_CRITICAL_NESTED() | |
| #define portCLEAR_INTERRUPT_MASK_FROM_ISR(state) portEXIT_CRITICAL_NESTED(state) | |
| //Because the ROM routines don't necessarily handle a stack in external RAM correctly, we force | |
| //the stack memory to always be internal. | |
| #define pvPortMallocTcbMem(size) heap_caps_malloc(size, MALLOC_CAP_INTERNAL|MALLOC_CAP_8BIT) | |
| #define pvPortMallocStackMem(size) heap_caps_malloc(size, MALLOC_CAP_INTERNAL|MALLOC_CAP_8BIT) | |
| //xTaskCreateStatic uses these functions to check incoming memory. | |
| #define portVALID_TCB_MEM(ptr) (esp_ptr_internal(ptr) && esp_ptr_byte_accessible(ptr)) | |
| #ifdef CONFIG_SPIRAM_ALLOW_STACK_EXTERNAL_MEMORY | |
| #define portVALID_STACK_MEM(ptr) esp_ptr_byte_accessible(ptr) | |
| #else | |
| #define portVALID_STACK_MEM(ptr) (esp_ptr_internal(ptr) && esp_ptr_byte_accessible(ptr)) | |
| #endif | |
| /* | |
| * Wrapper for the Xtensa compare-and-set instruction. This subroutine will atomically compare | |
| * *addr to 'compare'. If *addr == compare, *addr is set to *set. *set is updated with the previous | |
| * value of *addr (either 'compare' or some other value.) | |
| * | |
| * Warning: From the ISA docs: in some (unspecified) cases, the s32c1i instruction may return the | |
| * *bitwise inverse* of the old mem if the mem wasn't written. This doesn't seem to happen on the | |
| * ESP32 (portMUX assertions would fail). | |
| */ | |
| static inline void uxPortCompareSet(volatile uint32_t *addr, uint32_t compare, uint32_t *set) { | |
| __asm__ __volatile__ ( | |
| "WSR %2,SCOMPARE1 \n" | |
| "S32C1I %0, %1, 0 \n" | |
| :"=r"(*set) | |
| :"r"(addr), "r"(compare), "0"(*set) | |
| ); | |
| } | |
| void uxPortCompareSetExtram(volatile uint32_t *addr, uint32_t compare, uint32_t *set); | |
| /*-----------------------------------------------------------*/ | |
| /* Architecture specifics. */ | |
| #define portSTACK_GROWTH ( -1 ) | |
| #define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) | |
| #define portBYTE_ALIGNMENT 4 | |
| #define portNOP() XT_NOP() | |
| /*-----------------------------------------------------------*/ | |
| /* Fine resolution time */ | |
| #define portGET_RUN_TIME_COUNTER_VALUE() xthal_get_ccount() | |
| //ccount or esp_timer are initialized elsewhere | |
| #define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() | |
| #ifdef CONFIG_FREERTOS_RUN_TIME_STATS_USING_ESP_TIMER | |
| /* Coarse resolution time (us) */ | |
| #define portALT_GET_RUN_TIME_COUNTER_VALUE(x) x = (uint32_t)esp_timer_get_time() | |
| #endif | |
| /* Kernel utilities. */ | |
| void vPortYield( void ); | |
| void _frxt_setup_switch( void ); | |
| #define portYIELD() vPortYield() | |
| #define portYIELD_FROM_ISR() {traceISR_EXIT_TO_SCHEDULER(); _frxt_setup_switch();} | |
| static inline uint32_t xPortGetCoreID(); | |
| /*-----------------------------------------------------------*/ | |
| /* Task function macros as described on the FreeRTOS.org WEB site. */ | |
| #define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) | |
| #define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) | |
| // When coprocessors are defined, we to maintain a pointer to coprocessors area. | |
| // We currently use a hack: redefine field xMPU_SETTINGS in TCB block as a structure that can hold: | |
| // MPU wrappers, coprocessor area pointer, trace code structure, and more if needed. | |
| // The field is normally used for memory protection. FreeRTOS should create another general purpose field. | |
| typedef struct { | |
| #if XCHAL_CP_NUM > 0 | |
| volatile StackType_t* coproc_area; // Pointer to coprocessor save area; MUST BE FIRST | |
| #endif | |
| #if portUSING_MPU_WRAPPERS | |
| // Define here mpu_settings, which is port dependent | |
| int mpu_setting; // Just a dummy example here; MPU not ported to Xtensa yet | |
| #endif | |
| #if configUSE_TRACE_FACILITY_2 | |
| struct { | |
| // Cf. porttraceStamp() | |
| int taskstamp; /* Stamp from inside task to see where we are */ | |
| int taskstampcount; /* A counter usually incremented when we restart the task's loop */ | |
| } porttrace; | |
| #endif | |
| } xMPU_SETTINGS; | |
| // 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) | |
| #if (XCHAL_CP_NUM > 0 || configUSE_TRACE_FACILITY_2) && !portUSING_MPU_WRAPPERS // If MPU wrappers not used, we still need to allocate coproc area | |
| #undef portUSING_MPU_WRAPPERS | |
| #define portUSING_MPU_WRAPPERS 1 // Enable it to allocate coproc area | |
| #define MPU_WRAPPERS_H // Override mpu_wrapper.h to disable unwanted code | |
| #define PRIVILEGED_FUNCTION | |
| #define PRIVILEGED_DATA | |
| #endif | |
| bool vApplicationSleep( TickType_t xExpectedIdleTime ); | |
| #define portSUPPRESS_TICKS_AND_SLEEP( idleTime ) vApplicationSleep( idleTime ) | |
| void _xt_coproc_release(volatile void * coproc_sa_base); | |
| /* | |
| * Map to the memory management routines required for the port. | |
| * | |
| * Note that libc standard malloc/free are also available for | |
| * non-FreeRTOS-specific code, and behave the same as | |
| * pvPortMalloc()/vPortFree(). | |
| */ | |
| #define pvPortMalloc heap_caps_malloc_default | |
| #define vPortFree heap_caps_free | |
| #define xPortGetFreeHeapSize esp_get_free_heap_size | |
| #define xPortGetMinimumEverFreeHeapSize esp_get_minimum_free_heap_size | |
| /* | |
| * Send an interrupt to another core in order to make the task running | |
| * on it yield for a higher-priority task. | |
| */ | |
| void vPortYieldOtherCore( BaseType_t coreid) PRIVILEGED_FUNCTION; | |
| /* | |
| Callback to set a watchpoint on the end of the stack. Called every context switch to change the stack | |
| watchpoint around. | |
| */ | |
| void vPortSetStackWatchpoint( void* pxStackStart ); | |
| /* | |
| * 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(); | |
| /* | |
| * 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 xPortInterruptedFromISRContext(); | |
| /* | |
| * The structures and methods of manipulating the MPU are contained within the | |
| * port layer. | |
| * | |
| * Fills the xMPUSettings structure with the memory region information | |
| * contained in xRegions. | |
| */ | |
| #if( portUSING_MPU_WRAPPERS == 1 ) | |
| struct xMEMORY_REGION; | |
| void vPortStoreTaskMPUSettings( xMPU_SETTINGS *xMPUSettings, const struct xMEMORY_REGION * const xRegions, StackType_t *pxBottomOfStack, uint32_t usStackDepth ) PRIVILEGED_FUNCTION; | |
| void vPortReleaseTaskMPUSettings( xMPU_SETTINGS *xMPUSettings ); | |
| #endif | |
| /* Multi-core: get current core ID */ | |
| static inline uint32_t IRAM_ATTR xPortGetCoreID() { | |
| int id; | |
| asm ( | |
| "rsr.prid %0\n" | |
| " extui %0,%0,13,1" | |
| :"=r"(id)); | |
| return id; | |
| } | |
| /* Get tick rate per second */ | |
| uint32_t xPortGetTickRateHz(void); | |
| // porttrace | |
| #if configUSE_TRACE_FACILITY_2 | |
| #include "porttrace.h" | |
| #endif | |
| // configASSERT_2 if requested | |
| #if configASSERT_2 | |
| #include <stdio.h> | |
| void exit(int); | |
| #define configASSERT( x ) if (!(x)) { porttracePrint(-1); printf("\nAssertion failed in %s:%d\n", __FILE__, __LINE__); exit(-1); } | |
| #endif | |
| #endif // __ASSEMBLER__ | |
| #ifdef __cplusplus | |
| } | |
| #endif | |
| #endif /* PORTMACRO_H */ | |