freertos: riscv port now uses interrupt allocator and crosscore interrupt

components/freertos/port/riscv/port.c

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

components/freertos/port/riscv/portasm.S

@@ -70,18 +70,18 @@ rtos_int_exit:
     beq t0,zero, rtos_exit_end 
 
     /* update nesting interrupts counter */
-	la t2, uxInterruptNesting
+    la t2, uxInterruptNesting
-	lw t3, 0x0(t2)
+    lw t3, 0x0(t2)
 
-	/* Already zero, protect againts underflow */
+    /* Already zero, protect againts underflow */
-	beq t3, zero, isr_skip_decrement
+    beq t3, zero, isr_skip_decrement
-	addi t3,t3, -1
+    addi t3,t3, -1
-	sw  t3, 0x0(t2)
+    sw  t3, 0x0(t2)
 
 isr_skip_decrement:
 
-	/* may still have interrupts pending, skip section below and exit */
+    /* may still have interrupts pending, skip section below and exit */
-	bne t3,zero,rtos_exit_end 
+    bne t3,zero,rtos_exit_end 
 
     /* Schedule the next task if a yield is pending */
     la t0, xPortSwitchFlag

components/hal/esp32c3/interrupt_descriptor_table.c

@@ -16,9 +16,6 @@
 #include "soc/soc_caps.h"
 #include "soc/soc.h"
 
-// TODO ESP32-C3 IDF-2126 check this table is correct, some interrupts may be unnecessarily reserved or not reserved
-// or marked as the wrong type
-
 //This is basically a software-readable version of the interrupt usage table in include/soc/soc.h
 const int_desc_t interrupt_descriptor_table[32] = {
     { 1, INTTP_LEVEL, {INTDESC_RESVD } }, //0

components/riscv/vectors.S

@@ -99,7 +99,6 @@
 
 	.global rtos_int_enter
 	.global rtos_int_exit
-	.global uxInterruptNesting	
 	.global _global_interrupt_handler
 
 	.section .exception_vectors.text