kopia lustrzana https://github.com/espressif/esp-idf
87 wiersze
3.1 KiB
C
87 wiersze
3.1 KiB
C
// Copyright 2015-2019 Espressif Systems (Shanghai) PTE LTD
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include <esp_expression_with_stack.h>
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#include <freertos/xtensa_rtos.h>
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#include <freertos/xtensa_context.h>
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#include <setjmp.h>
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#include <string.h>
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StackType_t *xtensa_shared_stack;
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shared_stack_function xtensa_shared_stack_callback;
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jmp_buf xtensa_shared_stack_env;
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bool xtensa_shared_stack_function_done = false;
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static portMUX_TYPE xtensa_shared_stack_spinlock = portMUX_INITIALIZER_UNLOCKED;
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static void *current_task_stack = NULL;
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extern void esp_shared_stack_invoke_function(void);
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static void esp_switch_stack_setup(StackType_t *stack, size_t stack_size)
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{
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#if CONFIG_FREERTOS_WATCHPOINT_END_OF_STACK
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esp_clear_watchpoint(1);
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uint32_t watchpoint_place = ((uint32_t)stack + 32) & ~0x1f ;
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#endif
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//We need also to tweak current task stackpointer to avoid erroneous
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//stack overflow indication, so fills the stack with freertos known pattern:
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memset(stack, 0xa5U, stack_size * sizeof(StackType_t));
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StaticTask_t *current = (StaticTask_t *)xTaskGetCurrentTaskHandle();
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//Then put the fake stack inside of TCB:
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current_task_stack = current->pxDummy6;
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current->pxDummy6 = (void *)stack;
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StackType_t *top_of_stack = stack + stack_size;
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//Align stack to a 16byte boundary, as required by CPU specific:
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top_of_stack = (StackType_t *)(((UBaseType_t)(top_of_stack - 16) & ~0xf));
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#if CONFIG_FREERTOS_WATCHPOINT_END_OF_STACK
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esp_set_watchpoint(1, (uint8_t *)watchpoint_place, 32, ESP_WATCHPOINT_STORE);
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#endif
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xtensa_shared_stack = top_of_stack;
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}
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void esp_execute_shared_stack_function(SemaphoreHandle_t lock, void *stack, size_t stack_size, shared_stack_function function)
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{
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assert(lock);
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assert(stack);
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assert(stack_size > 0 && stack_size >= CONFIG_ESP_MINIMAL_SHARED_STACK_SIZE);
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assert(function);
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xSemaphoreTake(lock, portMAX_DELAY);
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portENTER_CRITICAL(&xtensa_shared_stack_spinlock);
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xtensa_shared_stack_function_done = false;
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esp_switch_stack_setup(stack, stack_size);
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xtensa_shared_stack_callback = function;
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portEXIT_CRITICAL(&xtensa_shared_stack_spinlock);
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setjmp(xtensa_shared_stack_env);
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if(!xtensa_shared_stack_function_done) {
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esp_shared_stack_invoke_function();
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}
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portENTER_CRITICAL(&xtensa_shared_stack_spinlock);
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StaticTask_t *current = (StaticTask_t *)xTaskGetCurrentTaskHandle();
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//Restore current task stack:
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current->pxDummy6 = (StackType_t *)current_task_stack;
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vPortSetStackWatchpoint(current->pxDummy6);
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portEXIT_CRITICAL(&xtensa_shared_stack_spinlock);
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xSemaphoreGive(lock);
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}
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