| /* |
| * SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD |
| * |
| * SPDX-License-Identifier: Apache-2.0 |
| */ |
| |
| #include <string.h> |
| #include "FreeRTOS.h" |
| #include "task.h" |
| #include "portmacro.h" |
| #include "esp_system.h" |
| #include "esp_heap_caps_init.h" |
| #include "esp_int_wdt.h" |
| #include "esp_task_wdt.h" |
| #include "esp_task.h" |
| #include "esp_private/crosscore_int.h" |
| #include "esp_private/startup_internal.h" /* Required by g_spiram_ok. [refactor-todo] for g_spiram_ok */ |
| #include "esp_log.h" |
| #include "soc/soc_memory_types.h" |
| #include "soc/dport_access.h" |
| #include "sdkconfig.h" |
| #include "esp_freertos_hooks.h" |
| |
| #if CONFIG_IDF_TARGET_ESP32 |
| #include "esp32/spiram.h" |
| #elif CONFIG_IDF_TARGET_ESP32S2 |
| #include "esp32s2/spiram.h" |
| #elif CONFIG_IDF_TARGET_ESP32S3 |
| #include "esp32s3/spiram.h" |
| #elif CONFIG_IDF_TARGET_ESP32C3 || CONFIG_IDF_TARGET_ESP32H2 |
| /* SPIRAM is not supported on ESP32-C3 */ |
| #endif |
| |
| #if CONFIG_SPIRAM_MALLOC_RESERVE_INTERNAL |
| static const char * TAG = "cpu_start"; |
| #endif |
| |
| /* Architecture-agnostic parts of the FreeRTOS ESP-IDF port layer can go here. |
| * |
| * The actual call flow will be to call esp_startup_start_app() in <ARCH>/port.c, |
| * which will then call esp_startup_start_app_common() |
| */ |
| |
| /* Duplicate of inaccessible xSchedulerRunning; needed at startup to avoid counting nesting */ |
| volatile unsigned port_xSchedulerRunning[ portNUM_PROCESSORS ] = { 0 }; |
| |
| /* For now, running FreeRTOS on one core and a bare metal on the other (or other OSes) */ |
| /* is not supported. For now CONFIG_FREERTOS_UNICORE and CONFIG_ESP_SYSTEM_SINGLE_CORE_MODE */ |
| /* should mirror each other's values. */ |
| /* */ |
| /* And since this should be true, we can just check for CONFIG_FREERTOS_UNICORE. */ |
| #if CONFIG_FREERTOS_UNICORE != CONFIG_ESP_SYSTEM_SINGLE_CORE_MODE |
| #error "FreeRTOS and system configuration mismatch regarding the use of multiple cores." |
| #endif |
| |
| static void main_task( void * args ); |
| |
| #ifdef CONFIG_ESP_SYSTEM_GDBSTUB_RUNTIME |
| void esp_gdbstub_init( void ); |
| #endif // CONFIG_ESP_SYSTEM_GDBSTUB_RUNTIME |
| |
| extern void app_main( void ); |
| |
| void esp_startup_start_app_common( void ) |
| { |
| #if CONFIG_ESP_INT_WDT |
| esp_int_wdt_init(); |
| /*Initialize the interrupt watch dog for CPU0. */ |
| esp_int_wdt_cpu_init(); |
| #endif |
| |
| esp_crosscore_int_init(); |
| |
| #ifdef CONFIG_ESP_SYSTEM_GDBSTUB_RUNTIME |
| esp_gdbstub_init(); |
| #endif // CONFIG_ESP_SYSTEM_GDBSTUB_RUNTIME |
| |
| portBASE_TYPE res = xTaskCreatePinnedToCore( &main_task, "main", |
| ESP_TASK_MAIN_STACK, NULL, |
| ESP_TASK_MAIN_PRIO, NULL, ESP_TASK_MAIN_CORE ); |
| assert( res == pdTRUE ); |
| ( void ) res; |
| } |
| |
| #if !CONFIG_FREERTOS_UNICORE |
| static volatile bool s_other_cpu_startup_done = false; |
| static bool other_cpu_startup_idle_hook_cb( void ) |
| { |
| s_other_cpu_startup_done = true; |
| return true; |
| } |
| #endif |
| |
| static void main_task( void * args ) |
| { |
| #if !CONFIG_FREERTOS_UNICORE |
| /* Wait for FreeRTOS initialization to finish on other core, before replacing its startup stack */ |
| esp_register_freertos_idle_hook_for_cpu( other_cpu_startup_idle_hook_cb, !xPortGetCoreID() ); |
| |
| while( !s_other_cpu_startup_done ) |
| { |
| } |
| esp_deregister_freertos_idle_hook_for_cpu( other_cpu_startup_idle_hook_cb, !xPortGetCoreID() ); |
| #endif |
| |
| /* [refactor-todo] check if there is a way to move the following block to esp_system startup */ |
| heap_caps_enable_nonos_stack_heaps(); |
| |
| /* Now we have startup stack RAM available for heap, enable any DMA pool memory */ |
| #if CONFIG_SPIRAM_MALLOC_RESERVE_INTERNAL |
| if( g_spiram_ok ) |
| { |
| esp_err_t r = esp_spiram_reserve_dma_pool( CONFIG_SPIRAM_MALLOC_RESERVE_INTERNAL ); |
| |
| if( r != ESP_OK ) |
| { |
| ESP_EARLY_LOGE( TAG, "Could not reserve internal/DMA pool (error 0x%x)", r ); |
| abort(); |
| } |
| } |
| #endif /* if CONFIG_SPIRAM_MALLOC_RESERVE_INTERNAL */ |
| |
| /*Initialize task wdt if configured to do so */ |
| #ifdef CONFIG_ESP_TASK_WDT_PANIC |
| ESP_ERROR_CHECK( esp_task_wdt_init( CONFIG_ESP_TASK_WDT_TIMEOUT_S, true ) ); |
| #elif CONFIG_ESP_TASK_WDT |
| ESP_ERROR_CHECK( esp_task_wdt_init( CONFIG_ESP_TASK_WDT_TIMEOUT_S, false ) ); |
| #endif |
| |
| /*Add IDLE 0 to task wdt */ |
| #ifdef CONFIG_ESP_TASK_WDT_CHECK_IDLE_TASK_CPU0 |
| TaskHandle_t idle_0 = xTaskGetIdleTaskHandleForCPU( 0 ); |
| |
| if( idle_0 != NULL ) |
| { |
| ESP_ERROR_CHECK( esp_task_wdt_add( idle_0 ) ); |
| } |
| #endif |
| /*Add IDLE 1 to task wdt */ |
| #ifdef CONFIG_ESP_TASK_WDT_CHECK_IDLE_TASK_CPU1 |
| TaskHandle_t idle_1 = xTaskGetIdleTaskHandleForCPU( 1 ); |
| |
| if( idle_1 != NULL ) |
| { |
| ESP_ERROR_CHECK( esp_task_wdt_add( idle_1 ) ); |
| } |
| #endif |
| |
| app_main(); |
| vTaskDelete( NULL ); |
| } |
| |
| /* -------------------- Heap Related ----------------------- */ |
| |
| bool xPortCheckValidTCBMem( const void * ptr ) |
| { |
| return esp_ptr_internal( ptr ) && esp_ptr_byte_accessible( ptr ); |
| } |
| |
| bool xPortcheckValidStackMem( const void * ptr ) |
| { |
| #ifdef CONFIG_SPIRAM_ALLOW_STACK_EXTERNAL_MEMORY |
| return esp_ptr_byte_accessible( ptr ); |
| #else |
| return esp_ptr_internal( ptr ) && esp_ptr_byte_accessible( ptr ); |
| #endif |
| } |