/* | |
FreeRTOS V8.2.0 - Copyright (C) 2015 Real Time Engineers Ltd. | |
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*************************************************************************** | |
* * | |
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*************************************************************************** | |
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*************************************************************************** | |
* * | |
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* * | |
* http://www.FreeRTOS.org/FAQHelp.html * | |
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*************************************************************************** | |
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*/ | |
#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 */ | |