esp-idf/components/freertos/app_startup.c

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/*
* SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0
*/
#include "sdkconfig.h"
#include <stddef.h>
#include <assert.h>
#include "esp_task.h"
#include "esp_log.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "freertos/portmacro.h"
#include "esp_private/esp_int_wdt.h"
#include "esp_private/crosscore_int.h"
#include "esp_task_wdt.h"
#include "esp_freertos_hooks.h"
#include "esp_heap_caps_init.h"
#include "esp_chip_info.h"
#if CONFIG_SPIRAM
/* Required by esp_psram_extram_reserve_dma_pool() */
#include "esp_psram.h"
#include "esp_private/esp_psram_extram.h"
#endif
#ifdef CONFIG_APPTRACE_ENABLE
#include "esp_app_trace.h" /* Required for esp_apptrace_init. [refactor-todo] */
#endif
#ifdef CONFIG_ESP_SYSTEM_GDBSTUB_RUNTIME
#include "esp_gdbstub.h" /* Required by esp_gdbstub_init() */
#endif // CONFIG_ESP_SYSTEM_GDBSTUB_RUNTIME
/* ------------------------------------------------- App/OS Startup ----------------------------------------------------
* - Functions related to application and FreeRTOS startup
* - This startup is common to all architectures (e.g. RISC-V and Xtensa) and all FreeRTOS implementations (i.e., IDF
* FreeRTOS and Amazon SMP FreeRTOS).
* - Application startup flow as follows:
* - For CPU 0
* - CPU0 completes CPU startup (in startup.c), then calls esp_startup_start_app()
* - esp_startup_start_app() registers some daemon services for CPU0 then starts FreeRTOS
* - For CPUx (1 to N-1)
* - CPUx completes CPU startup in startup.c, then calls esp_startup_start_app_other_cores()
* - esp_startup_start_app_other_cores(), registers some daemon services for CPUx, waits for CPU0 to start
* FreeRTOS, then yields (via xPortStartScheduler()) to schedule a task.
* ------------------------------------------------------------------------------------------------------------------ */
// ----------------------- Checks --------------------------
/*
For now, AMP is not supported (i.e., running FreeRTOS on one core and a bare metal/other OS on the other). Therefore,
CONFIG_FREERTOS_UNICORE and CONFIG_ESP_SYSTEM_SINGLE_CORE_MODE should be identical. We add a check for this here.
*/
#if CONFIG_FREERTOS_UNICORE != CONFIG_ESP_SYSTEM_SINGLE_CORE_MODE
#error "AMP not supported. FreeRTOS number of cores and system number of cores must be identical"
#endif
// -------------------- Declarations -----------------------
static void main_task(void* args);
static const char* APP_START_TAG = "app_start";
// ------------------ CPU0 App Startup ---------------------
void esp_startup_start_app(void)
{
#if CONFIG_ESP_INT_WDT
esp_int_wdt_init();
// Initialize the interrupt watch dog for CPU0.
esp_int_wdt_cpu_init();
#elif CONFIG_ESP32_ECO3_CACHE_LOCK_FIX
// If the INT WDT isn't enabled on ESP32 ECO3, issue an error regarding the cache lock bug
assert(!soc_has_cache_lock_bug() && "ESP32 Rev 3 + Dual Core + PSRAM requires INT WDT enabled in project config!");
#endif
// Initialize the cross-core interrupt on CPU0
esp_crosscore_int_init();
#if CONFIG_ESP_SYSTEM_GDBSTUB_RUNTIME && !CONFIG_IDF_TARGET_ESP32C2
void esp_gdbstub_init(void);
esp_gdbstub_init();
#endif // CONFIG_ESP_SYSTEM_GDBSTUB_RUNTIME
BaseType_t 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 a particular FreeRTOS port has port/arch specific OS startup behavior, they can implement a function of type
"void port_start_app_hook(void)" in their `port.c` files. This function will be called below, thus allowing each
FreeRTOS port to implement port specific app startup behavior.
*/
void __attribute__((weak)) port_start_app_hook(void);
if (port_start_app_hook != NULL) {
port_start_app_hook();
}
ESP_EARLY_LOGI(APP_START_TAG, "Starting scheduler on CPU0");
vTaskStartScheduler();
}
// --------------- CPU[1:N-1] App Startup ------------------
#if !CONFIG_FREERTOS_UNICORE
void esp_startup_start_app_other_cores(void)
{
// For now, we only support up to two core: 0 and 1.
if (xPortGetCoreID() >= 2) {
abort();
}
// Wait for CPU0 to start FreeRTOS before progressing
extern volatile unsigned port_xSchedulerRunning[portNUM_PROCESSORS];
while (port_xSchedulerRunning[0] == 0) {
;
}
#if CONFIG_APPTRACE_ENABLE
// [refactor-todo] move to esp_system initialization
esp_err_t err = esp_apptrace_init();
assert(err == ESP_OK && "Failed to init apptrace module on APP CPU!");
#endif
#if CONFIG_ESP_INT_WDT
// Initialize the interrupt watch dog for CPU1.
esp_int_wdt_cpu_init();
#endif
// Initialize the cross-core interrupt on CPU1
esp_crosscore_int_init();
ESP_EARLY_LOGI(APP_START_TAG, "Starting scheduler on CPU%d", xPortGetCoreID());
xPortStartScheduler();
abort(); // Only get to here if FreeRTOS somehow very broken
}
#endif // !CONFIG_FREERTOS_UNICORE
/* ---------------------------------------------------- Main Task ------------------------------------------------------
* - main_task is a daemon task created by CPU0 before it starts FreeRTOS
* - Pinned to CPU(ESP_TASK_MAIN_CORE)
* - Priority of ESP_TASK_MAIN_PRIO
* - Used to dispatch "void app_main(void)" provided by the application
* - main_task will self delete if app_main returns
* ------------------------------------------------------------------------------------------------------------------ */
static const char* MAIN_TAG = "main_task";
#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)
{
ESP_LOGI(MAIN_TAG, "Started on CPU%d", xPortGetCoreID());
#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 (esp_psram_is_initialized()) {
esp_err_t r = esp_psram_extram_reserve_dma_pool(CONFIG_SPIRAM_MALLOC_RESERVE_INTERNAL);
if (r != ESP_OK) {
ESP_LOGE(MAIN_TAG, "Could not reserve internal/DMA pool (error 0x%x)", r);
abort();
}
}
#endif
// Initialize TWDT if configured to do so
#if CONFIG_ESP_TASK_WDT_INIT
esp_task_wdt_config_t twdt_config = {
.timeout_ms = CONFIG_ESP_TASK_WDT_TIMEOUT_S * 1000,
.idle_core_mask = 0,
#if CONFIG_ESP_TASK_WDT_PANIC
.trigger_panic = true,
#endif
};
#if CONFIG_ESP_TASK_WDT_CHECK_IDLE_TASK_CPU0
twdt_config.idle_core_mask |= (1 << 0);
#endif
#if CONFIG_ESP_TASK_WDT_CHECK_IDLE_TASK_CPU1
twdt_config.idle_core_mask |= (1 << 1);
#endif
ESP_ERROR_CHECK(esp_task_wdt_init(&twdt_config));
#endif // CONFIG_ESP_TASK_WDT
/*
Note: Be careful when changing the "Calling app_main()" log below as multiple pytest scripts expect this log as a
start-of-application marker.
*/
ESP_LOGI(MAIN_TAG, "Calling app_main()");
extern void app_main(void);
app_main();
ESP_LOGI(MAIN_TAG, "Returned from app_main()");
vTaskDelete(NULL);
}