kopia lustrzana https://github.com/espressif/esp-idf
freertos: riscv port now uses interrupt allocator and crosscore interrupt
Felipe Neves
morris
rodzic
09bc1580be
commit
f4781d3b1d
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@ -77,19 +77,23 @@
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#include <string.h>
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#include "FreeRTOS.h"
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#include "task.h"
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#include "sdkconfig.h"
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#include "portmacro.h"
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#include "riscv/interrupt.h"
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#include "riscv/rvruntime-frames.h"
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#include "sdkconfig.h"
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#include "soc/periph_defs.h"
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#include "soc/system_reg.h"
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#include "soc/interrupt_reg.h"
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#include "hal/systimer_hal.h"
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#include "hal/systimer_ll.h"
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#include "riscv/rvruntime-frames.h"
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#include "riscv/riscv_interrupts.h"
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#include "riscv/interrupt.h"
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#include "esp_system.h"
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#include "esp_intr_alloc.h"
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#include "esp_private/crosscore_int.h"
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#include "esp_attr.h"
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#include "esp_log.h"
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/**
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@ -98,7 +102,7 @@
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* to ensure interrupts don't inadvertently become unmasked before the scheduler starts.
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* As it is stored as part of the task context it will automatically be set to 0 when the first task is started.
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*/
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static UBaseType_t uxCriticalNesting = 0;
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static UBaseType_t uxCriticalNesting = 0;
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static UBaseType_t uxSavedInterruptState = 0;
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BaseType_t uxSchedulerRunning = 0;
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UBaseType_t uxInterruptNesting = 0;
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@ -108,10 +112,8 @@ StackType_t *xIsrStackTop = &xIsrStack[0] + (configISR_STACK_SIZE & (~((portPOIN
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static const char *TAG = "cpu_start"; // [refactor-todo]: might be appropriate to change in the future, but
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static void vPortSysTickHandler(void);
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static void vPortSysTickHandler(void *arg);
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static void vPortSetupTimer(void);
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static void vPortSetupSoftwareInterrupt(void);
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static void vPortSoftwareInterrupt(void);
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static void prvTaskExitError(void);
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extern void esprv_intc_int_set_threshold(int); // FIXME, this function is in ROM only
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@ -144,16 +146,9 @@ void vPortExitCritical(void)
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*/
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void vPortSetupTimer(void)
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{
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/* register the interrupt handler */
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intr_handler_set(ETS_SYSTICK_INUM, (intr_handler_t)&vPortSysTickHandler, NULL);
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/* pass the timer interrupt through the interrupt matrix */
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intr_matrix_route(ETS_SYSTIMER_TARGET0_EDGE_INTR_SOURCE, ETS_SYSTICK_INUM);
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/* enable the interrupt in the INTC */
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esprv_intc_int_enable(BIT(ETS_SYSTICK_INUM));
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esprv_intc_int_set_type(BIT(ETS_SYSTICK_INUM), INTR_TYPE_LEVEL);
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esprv_intc_int_set_priority(ETS_SYSTICK_INUM, 1);
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/* set system timer interrupt vector */
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esp_err_t err = esp_intr_alloc(ETS_SYSTIMER_TARGET0_EDGE_INTR_SOURCE, ESP_INTR_FLAG_IRAM, vPortSysTickHandler, NULL, NULL);
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assert(err == ESP_OK);
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/* configure the timer */
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systimer_hal_init();
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@ -164,24 +159,6 @@ void vPortSetupTimer(void)
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systimer_hal_connect_alarm_counter(SYSTIMER_ALARM_0, SYSTIMER_COUNTER_1);
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}
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/* setup software interrupt */
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void vPortSetupSoftwareInterrupt(void)
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{
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/* register the interrupt handler, see interrupt.h */
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intr_handler_set(ETS_CPU_INTR0_INUM, (intr_handler_t)&vPortSoftwareInterrupt, NULL);
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/* pass the "FROM_CPU_0", a.k.a. cross-core interrupt, through the interrupt matrix */
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intr_matrix_route(ETS_FROM_CPU_INTR0_SOURCE, ETS_CPU_INTR0_INUM);
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/* enable the interrupt in the INTC */
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esprv_intc_int_enable(BIT(ETS_CPU_INTR0_INUM));
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esprv_intc_int_set_type(BIT(ETS_CPU_INTR0_INUM), INTR_TYPE_LEVEL);
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esprv_intc_int_set_priority(ETS_CPU_INTR0_INUM, 1);
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// TODO ESP32-C3 IDF-2126, maybe can use interrupt allocation API for all of the above? unsure...
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esp_intr_reserve(ETS_CPU_INTR0_INUM, xPortGetCoreID());
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}
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void prvTaskExitError(void)
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{
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/* A function that implements a task must not exit or attempt to return to
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@ -213,9 +190,6 @@ int vPortSetInterruptMask(void)
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return ret;
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}
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/*
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* See header file for description.
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*/
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StackType_t *pxPortInitialiseStack(StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters)
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{
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extern uint32_t __global_pointer$;
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@ -232,11 +206,15 @@ StackType_t *pxPortInitialiseStack(StackType_t *pxTopOfStack, TaskFunction_t pxC
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frame->a1 = 0x11111111;
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frame->a2 = 0x22222222;
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frame->a3 = 0x33333333;
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//TODO: IDF-2393
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return (StackType_t *)frame;
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}
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void vPortSysTickHandler(void)
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IRAM_ATTR void vPortSysTickHandler(void *arg)
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{
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(void)arg;
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systimer_ll_clear_alarm_int(SYSTIMER_ALARM_0);
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if (!uxSchedulerRunning) {
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@ -249,15 +227,18 @@ void vPortSysTickHandler(void)
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}
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BaseType_t xPortStartScheduler(void)
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{
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vPortSetupTimer();
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vPortSetupSoftwareInterrupt();
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{
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uxInterruptNesting = 0;
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uxCriticalNesting = 0;
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uxSchedulerRunning = 0; /* this means first yield */
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uxSchedulerRunning = 0;
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vPortSetupTimer();
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esprv_intc_int_set_threshold(1); /* set global INTC masking level */
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riscv_global_interrupts_enable();
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vPortYield();
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/*Should not get here*/
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return pdFALSE;
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}
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@ -265,20 +246,18 @@ BaseType_t xPortStartScheduler(void)
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void vPortEndScheduler(void)
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{
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/* very unlikely this function will be called, so just trap here */
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while (1)
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;
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}
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void vPortSoftwareInterrupt(void)
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{
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uxSchedulerRunning = 1;
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REG_WRITE(SYSTEM_CPU_INTR_FROM_CPU_0_REG, 0);
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abort();
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}
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void vPortYieldOtherCore(BaseType_t coreid)
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{
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(void)coreid;
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vPortYield();
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esp_crosscore_int_send_yield(coreid);
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}
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void vPortYieldFromISR( void )
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{
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uxSchedulerRunning = 1;
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xPortSwitchFlag = 1;
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}
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void vPortYield(void)
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@ -286,9 +265,8 @@ void vPortYield(void)
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if (uxInterruptNesting) {
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vPortYieldFromISR();
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} else {
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xPortSwitchFlag = 1;
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REG_WRITE(SYSTEM_CPU_INTR_FROM_CPU_0_REG, 1);
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esp_crosscore_int_send_yield(0);
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/* There are 3-4 instructions of latency between triggering the software
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interrupt and the CPU interrupt happening. Make sure it happened before
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we return, otherwise vTaskDelay() may return and execute 1-2
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@ -304,11 +282,6 @@ void vPortYield(void)
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}
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void vPortYieldFromISR( void )
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{
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xPortSwitchFlag = 1;
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}
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void vPortSetStackWatchpoint(void *pxStackStart)
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{
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(void)pxStackStart; // TODO ESP32-C3 IDF-2207
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@ -328,24 +301,24 @@ BaseType_t IRAM_ATTR xPortInterruptedFromISRContext(void)
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void vPortCPUInitializeMutex(portMUX_TYPE *mux)
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{
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(void)mux;
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(void)mux; //TODO: IDF-2393
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}
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void vPortCPUAcquireMutex(portMUX_TYPE *mux)
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{
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(void)mux;
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(void)mux; //TODO: IDF-2393
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}
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bool vPortCPUAcquireMutexTimeout(portMUX_TYPE *mux, int timeout_cycles)
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{
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(void)mux;
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(void)mux; //TODO: IDF-2393
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(void)timeout_cycles;
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return true;
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}
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void vPortCPUReleaseMutex(portMUX_TYPE *mux)
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{
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(void)mux;
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(void)mux; //TODO: IDF-2393
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}
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void __attribute__((weak)) vApplicationStackOverflowHook(TaskHandle_t xTask, char *pcTaskName)
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@ -70,18 +70,18 @@ rtos_int_exit:
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beq t0,zero, rtos_exit_end
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/* update nesting interrupts counter */
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la t2, uxInterruptNesting
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lw t3, 0x0(t2)
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la t2, uxInterruptNesting
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lw t3, 0x0(t2)
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/* Already zero, protect againts underflow */
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beq t3, zero, isr_skip_decrement
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addi t3,t3, -1
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sw t3, 0x0(t2)
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/* Already zero, protect againts underflow */
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beq t3, zero, isr_skip_decrement
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addi t3,t3, -1
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sw t3, 0x0(t2)
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isr_skip_decrement:
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/* may still have interrupts pending, skip section below and exit */
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bne t3,zero,rtos_exit_end
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/* may still have interrupts pending, skip section below and exit */
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bne t3,zero,rtos_exit_end
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/* Schedule the next task if a yield is pending */
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la t0, xPortSwitchFlag
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@ -16,9 +16,6 @@
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#include "soc/soc_caps.h"
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#include "soc/soc.h"
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// TODO ESP32-C3 IDF-2126 check this table is correct, some interrupts may be unnecessarily reserved or not reserved
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// or marked as the wrong type
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//This is basically a software-readable version of the interrupt usage table in include/soc/soc.h
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const int_desc_t interrupt_descriptor_table[32] = {
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{ 1, INTTP_LEVEL, {INTDESC_RESVD } }, //0
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@ -99,7 +99,6 @@
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.global rtos_int_enter
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.global rtos_int_exit
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.global uxInterruptNesting
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.global _global_interrupt_handler
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.section .exception_vectors.text
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