kopia lustrzana https://github.com/espressif/esp-idf
466 wiersze
18 KiB
C
466 wiersze
18 KiB
C
/*
|
|
* FreeRTOS Kernel V10.4.3
|
|
* Copyright (C) 2017 Amazon.com, Inc. or its affiliates. All Rights Reserved.
|
|
*
|
|
* Permission is hereby granted, free of charge, to any person obtaining a copy of
|
|
* this software and associated documentation files (the "Software"), to deal in
|
|
* the Software without restriction, including without limitation the rights to
|
|
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
|
|
* the Software, and to permit persons to whom the Software is furnished to do so,
|
|
* subject to the following conditions:
|
|
*
|
|
* The above copyright notice and this permission notice shall be included in all
|
|
* copies or substantial portions of the Software. If you wish to use our Amazon
|
|
* FreeRTOS name, please do so in a fair use way that does not cause confusion.
|
|
*
|
|
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
|
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
|
|
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
|
|
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
|
|
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
|
|
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
|
|
*
|
|
* https://www.FreeRTOS.org
|
|
* https://github.com/FreeRTOS
|
|
*
|
|
* 1 tab == 4 spaces!
|
|
*/
|
|
|
|
/*
|
|
* Copyright (c) 2015-2019 Cadence Design Systems, Inc.
|
|
*
|
|
* Permission is hereby granted, free of charge, to any person obtaining
|
|
* a copy of this software and associated documentation files (the
|
|
* "Software"), to deal in the Software without restriction, including
|
|
* without limitation the rights to use, copy, modify, merge, publish,
|
|
* distribute, sublicense, and/or sell copies of the Software, and to
|
|
* permit persons to whom the Software is furnished to do so, subject to
|
|
* the following conditions:
|
|
*
|
|
* The above copyright notice and this permission notice shall be included
|
|
* in all copies or substantial portions of the Software.
|
|
*
|
|
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
|
|
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
|
|
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
|
|
* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
|
|
* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
|
|
* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
|
|
* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
|
|
*/
|
|
|
|
#include "sdkconfig.h"
|
|
#include <stdint.h>
|
|
#include <stdlib.h>
|
|
#include <string.h>
|
|
#include <stdarg.h>
|
|
#include <xtensa/config/core.h>
|
|
#include <xtensa/xtensa_context.h>
|
|
#include "soc/soc_caps.h"
|
|
#include "esp_private/crosscore_int.h"
|
|
#include "esp_system.h"
|
|
#include "esp_log.h"
|
|
#include "esp_int_wdt.h"
|
|
#include "esp_app_trace.h" /* Required for esp_apptrace_init. [refactor-todo] */
|
|
#include "FreeRTOS.h" /* This pulls in portmacro.h */
|
|
#include "task.h" /* Required for TaskHandle_t, tskNO_AFFINITY, and vTaskStartScheduler */
|
|
#include "port_systick.h"
|
|
|
|
_Static_assert(tskNO_AFFINITY == CONFIG_FREERTOS_NO_AFFINITY, "incorrect tskNO_AFFINITY value");
|
|
|
|
|
|
/* ---------------------------------------------------- Variables ------------------------------------------------------
|
|
*
|
|
* ------------------------------------------------------------------------------------------------------------------ */
|
|
|
|
static const char *TAG = "cpu_start"; /* [refactor-todo]: might be appropriate to change in the future, but for now maintain the same log output */
|
|
extern volatile int port_xSchedulerRunning[portNUM_PROCESSORS];
|
|
unsigned port_interruptNesting[portNUM_PROCESSORS] = {0}; // Interrupt nesting level. Increased/decreased in portasm.c, _frxt_int_enter/_frxt_int_exit
|
|
BaseType_t port_uxCriticalNesting[portNUM_PROCESSORS] = {0};
|
|
BaseType_t port_uxOldInterruptState[portNUM_PROCESSORS] = {0};
|
|
|
|
|
|
/* ------------------------------------------------ FreeRTOS Portable --------------------------------------------------
|
|
* - Provides implementation for functions required by FreeRTOS
|
|
* - Declared in portable.h
|
|
* ------------------------------------------------------------------------------------------------------------------ */
|
|
|
|
// ----------------- Scheduler Start/End -------------------
|
|
|
|
/* Defined in xtensa_context.S */
|
|
extern void _xt_coproc_init(void);
|
|
|
|
BaseType_t xPortStartScheduler( void )
|
|
{
|
|
// Interrupts are disabled at this point and stack contains PS with enabled interrupts when task context is restored
|
|
|
|
#if XCHAL_CP_NUM > 0
|
|
/* Initialize co-processor management for tasks. Leave CPENABLE alone. */
|
|
_xt_coproc_init();
|
|
#endif
|
|
|
|
/* Setup the hardware to generate the tick. */
|
|
vPortSetupTimer();
|
|
|
|
port_xSchedulerRunning[xPortGetCoreID()] = 1;
|
|
|
|
// Cannot be directly called from C; never returns
|
|
__asm__ volatile ("call0 _frxt_dispatch\n");
|
|
|
|
/* Should not get here. */
|
|
return pdTRUE;
|
|
}
|
|
|
|
void vPortEndScheduler( void )
|
|
{
|
|
/* It is unlikely that the Xtensa port will get stopped. If required simply
|
|
disable the tick interrupt here. */
|
|
abort();
|
|
}
|
|
|
|
// ------------------------ Stack --------------------------
|
|
|
|
// User exception dispatcher when exiting
|
|
void _xt_user_exit(void);
|
|
|
|
#if CONFIG_FREERTOS_TASK_FUNCTION_WRAPPER
|
|
// Wrapper to allow task functions to return (increases stack overhead by 16 bytes)
|
|
static void vPortTaskWrapper(TaskFunction_t pxCode, void *pvParameters)
|
|
{
|
|
pxCode(pvParameters);
|
|
//FreeRTOS tasks should not return. Log the task name and abort.
|
|
char *pcTaskName = pcTaskGetTaskName(NULL);
|
|
ESP_LOGE("FreeRTOS", "FreeRTOS Task \"%s\" should not return, Aborting now!", pcTaskName);
|
|
abort();
|
|
}
|
|
#endif
|
|
|
|
#if portUSING_MPU_WRAPPERS
|
|
StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters, BaseType_t xRunPrivileged )
|
|
#else
|
|
StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters )
|
|
#endif
|
|
{
|
|
StackType_t *sp, *tp;
|
|
XtExcFrame *frame;
|
|
#if XCHAL_CP_NUM > 0
|
|
uint32_t *p;
|
|
#endif
|
|
uint32_t *threadptr;
|
|
void *task_thread_local_start;
|
|
extern int _thread_local_start, _thread_local_end, _flash_rodata_start, _flash_rodata_align;
|
|
// TODO: check that TLS area fits the stack
|
|
uint32_t thread_local_sz = (uint8_t *)&_thread_local_end - (uint8_t *)&_thread_local_start;
|
|
|
|
thread_local_sz = ALIGNUP(0x10, thread_local_sz);
|
|
|
|
/* Initialize task's stack so that we have the following structure at the top:
|
|
|
|
----LOW ADDRESSES ----------------------------------------HIGH ADDRESSES----------
|
|
task stack | interrupt stack frame | thread local vars | co-processor save area |
|
|
----------------------------------------------------------------------------------
|
|
| |
|
|
SP pxTopOfStack
|
|
|
|
All parts are aligned to 16 byte boundary. */
|
|
sp = (StackType_t *) (((UBaseType_t)pxTopOfStack - XT_CP_SIZE - thread_local_sz - XT_STK_FRMSZ) & ~0xf);
|
|
|
|
/* Clear the entire frame (do not use memset() because we don't depend on C library) */
|
|
for (tp = sp; tp <= pxTopOfStack; ++tp) {
|
|
*tp = 0;
|
|
}
|
|
|
|
frame = (XtExcFrame *) sp;
|
|
|
|
/* Explicitly initialize certain saved registers */
|
|
#if CONFIG_FREERTOS_TASK_FUNCTION_WRAPPER
|
|
frame->pc = (UBaseType_t) vPortTaskWrapper; /* task wrapper */
|
|
#else
|
|
frame->pc = (UBaseType_t) pxCode; /* task entrypoint */
|
|
#endif
|
|
frame->a0 = 0; /* to terminate GDB backtrace */
|
|
frame->a1 = (UBaseType_t) sp + XT_STK_FRMSZ; /* physical top of stack frame */
|
|
frame->exit = (UBaseType_t) _xt_user_exit; /* user exception exit dispatcher */
|
|
|
|
/* Set initial PS to int level 0, EXCM disabled ('rfe' will enable), user mode. */
|
|
/* Also set entry point argument parameter. */
|
|
#ifdef __XTENSA_CALL0_ABI__
|
|
#if CONFIG_FREERTOS_TASK_FUNCTION_WRAPPER
|
|
frame->a2 = (UBaseType_t) pxCode;
|
|
frame->a3 = (UBaseType_t) pvParameters;
|
|
#else
|
|
frame->a2 = (UBaseType_t) pvParameters;
|
|
#endif
|
|
frame->ps = PS_UM | PS_EXCM;
|
|
#else /* __XTENSA_CALL0_ABI__ */
|
|
/* + for windowed ABI also set WOE and CALLINC (pretend task was 'call4'd). */
|
|
#if CONFIG_FREERTOS_TASK_FUNCTION_WRAPPER
|
|
frame->a6 = (UBaseType_t) pxCode;
|
|
frame->a7 = (UBaseType_t) pvParameters;
|
|
#else
|
|
frame->a6 = (UBaseType_t) pvParameters;
|
|
#endif
|
|
frame->ps = PS_UM | PS_EXCM | PS_WOE | PS_CALLINC(1);
|
|
#endif /* __XTENSA_CALL0_ABI__ */
|
|
|
|
#ifdef XT_USE_SWPRI
|
|
/* Set the initial virtual priority mask value to all 1's. */
|
|
frame->vpri = 0xFFFFFFFF;
|
|
#endif
|
|
|
|
/* Init threadptr register and set up TLS run-time area.
|
|
* The diagram in port/riscv/port.c illustrates the calculations below.
|
|
*/
|
|
task_thread_local_start = (void *)(((uint32_t)pxTopOfStack - XT_CP_SIZE - thread_local_sz) & ~0xf);
|
|
memcpy(task_thread_local_start, &_thread_local_start, thread_local_sz);
|
|
threadptr = (uint32_t *)(sp + XT_STK_EXTRA);
|
|
/* Calculate THREADPTR value.
|
|
* The generated code will add THREADPTR value to a constant value determined at link time,
|
|
* to get the address of the TLS variable.
|
|
* The constant value is calculated by the linker as follows
|
|
* (search for 'tpoff' in elf32-xtensa.c in BFD):
|
|
* offset = address - tls_section_vma + align_up(TCB_SIZE, tls_section_alignment)
|
|
* where TCB_SIZE is hardcoded to 8.
|
|
* Note this is slightly different compared to the RISC-V port, where offset = address - tls_section_vma.
|
|
*/
|
|
const uint32_t tls_section_alignment = (uint32_t) &_flash_rodata_align; /* ALIGN value of .flash.rodata section */
|
|
const uint32_t tcb_size = 8; /* Unrelated to FreeRTOS, this is the constant from BFD */
|
|
const uint32_t base = (tcb_size + tls_section_alignment - 1) & (~(tls_section_alignment - 1));
|
|
*threadptr = (uint32_t)task_thread_local_start - ((uint32_t)&_thread_local_start - (uint32_t)&_flash_rodata_start) - base;
|
|
|
|
#if XCHAL_CP_NUM > 0
|
|
/* Init the coprocessor save area (see xtensa_context.h) */
|
|
/* No access to TCB here, so derive indirectly. Stack growth is top to bottom.
|
|
* //p = (uint32_t *) xMPUSettings->coproc_area;
|
|
*/
|
|
p = (uint32_t *)(((uint32_t) pxTopOfStack - XT_CP_SIZE) & ~0xf);
|
|
configASSERT( ( uint32_t ) p >= frame->a1 );
|
|
p[0] = 0;
|
|
p[1] = 0;
|
|
p[2] = (((uint32_t) p) + 12 + XCHAL_TOTAL_SA_ALIGN - 1) & -XCHAL_TOTAL_SA_ALIGN;
|
|
#endif /* XCHAL_CP_NUM */
|
|
|
|
return sp;
|
|
}
|
|
|
|
|
|
|
|
/* ---------------------------------------------- Port Implementations -------------------------------------------------
|
|
*
|
|
* ------------------------------------------------------------------------------------------------------------------ */
|
|
|
|
// --------------------- Interrupts ------------------------
|
|
|
|
BaseType_t xPortInIsrContext(void)
|
|
{
|
|
unsigned int irqStatus;
|
|
BaseType_t ret;
|
|
irqStatus = portENTER_CRITICAL_NESTED();
|
|
ret = (port_interruptNesting[xPortGetCoreID()] != 0);
|
|
portEXIT_CRITICAL_NESTED(irqStatus);
|
|
return ret;
|
|
}
|
|
|
|
void vPortAssertIfInISR(void)
|
|
{
|
|
configASSERT(xPortInIsrContext());
|
|
}
|
|
|
|
BaseType_t IRAM_ATTR xPortInterruptedFromISRContext(void)
|
|
{
|
|
return (port_interruptNesting[xPortGetCoreID()] != 0);
|
|
}
|
|
|
|
// ------------------ Critical Sections --------------------
|
|
|
|
void __attribute__((optimize("-O3"))) vPortEnterCritical(portMUX_TYPE *mux)
|
|
{
|
|
BaseType_t oldInterruptLevel = portENTER_CRITICAL_NESTED();
|
|
/* Interrupts may already be disabled (because we're doing this recursively)
|
|
* but we can't get the interrupt level after
|
|
* vPortCPUAquireMutex, because it also may mess with interrupts.
|
|
* Get it here first, then later figure out if we're nesting
|
|
* and save for real there.
|
|
*/
|
|
vPortCPUAcquireMutex( mux );
|
|
BaseType_t coreID = xPortGetCoreID();
|
|
BaseType_t newNesting = port_uxCriticalNesting[coreID] + 1;
|
|
port_uxCriticalNesting[coreID] = newNesting;
|
|
|
|
if ( newNesting == 1 ) {
|
|
//This is the first time we get called. Save original interrupt level.
|
|
port_uxOldInterruptState[coreID] = oldInterruptLevel;
|
|
}
|
|
}
|
|
|
|
void __attribute__((optimize("-O3"))) vPortExitCritical(portMUX_TYPE *mux)
|
|
{
|
|
vPortCPUReleaseMutex( mux );
|
|
BaseType_t coreID = xPortGetCoreID();
|
|
BaseType_t nesting = port_uxCriticalNesting[coreID];
|
|
|
|
if (nesting > 0) {
|
|
nesting--;
|
|
port_uxCriticalNesting[coreID] = nesting;
|
|
|
|
if ( nesting == 0 ) {
|
|
portEXIT_CRITICAL_NESTED(port_uxOldInterruptState[coreID]);
|
|
}
|
|
}
|
|
}
|
|
|
|
// ---------------------- Yielding -------------------------
|
|
|
|
void vPortYieldOtherCore( BaseType_t coreid )
|
|
{
|
|
esp_crosscore_int_send_yield( coreid );
|
|
}
|
|
|
|
extern void _frxt_setup_switch( void ); //Defined in portasm.S
|
|
|
|
void IRAM_ATTR vPortEvaluateYieldFromISR(int argc, ...)
|
|
{
|
|
BaseType_t xYield;
|
|
va_list ap;
|
|
va_start(ap, argc);
|
|
|
|
if (argc) {
|
|
xYield = (BaseType_t)va_arg(ap, int);
|
|
va_end(ap);
|
|
} else {
|
|
//it is a empty parameter vPortYieldFromISR macro call:
|
|
va_end(ap);
|
|
traceISR_EXIT_TO_SCHEDULER();
|
|
_frxt_setup_switch();
|
|
return;
|
|
}
|
|
|
|
//Yield exists, so need evaluate it first then switch:
|
|
if (xYield == pdTRUE) {
|
|
traceISR_EXIT_TO_SCHEDULER();
|
|
_frxt_setup_switch();
|
|
}
|
|
}
|
|
|
|
// ------------------- Hook Functions ----------------------
|
|
|
|
void __attribute__((weak)) vApplicationStackOverflowHook( TaskHandle_t xTask, char *pcTaskName )
|
|
{
|
|
#define ERR_STR1 "***ERROR*** A stack overflow in task "
|
|
#define ERR_STR2 " has been detected."
|
|
const char *str[] = {ERR_STR1, pcTaskName, ERR_STR2};
|
|
|
|
char buf[sizeof(ERR_STR1) + CONFIG_FREERTOS_MAX_TASK_NAME_LEN + sizeof(ERR_STR2) + 1 /* null char */] = { 0 };
|
|
|
|
char *dest = buf;
|
|
for (size_t i = 0 ; i < sizeof(str) / sizeof(str[0]); i++) {
|
|
dest = strcat(dest, str[i]);
|
|
}
|
|
esp_system_abort(buf);
|
|
}
|
|
|
|
// ----------------------- System --------------------------
|
|
|
|
uint32_t xPortGetTickRateHz(void)
|
|
{
|
|
return (uint32_t)configTICK_RATE_HZ;
|
|
}
|
|
|
|
|
|
#define STACK_WATCH_AREA_SIZE 32
|
|
#define STACK_WATCH_POINT_NUMBER (SOC_CPU_WATCHPOINTS_NUM - 1)
|
|
|
|
void vPortSetStackWatchpoint( void *pxStackStart )
|
|
{
|
|
//Set watchpoint 1 to watch the last 32 bytes of the stack.
|
|
//Unfortunately, the Xtensa watchpoints can't set a watchpoint on a random [base - base+n] region because
|
|
//the size works by masking off the lowest address bits. For that reason, we futz a bit and watch the lowest 32
|
|
//bytes of the stack we can actually watch. In general, this can cause the watchpoint to be triggered at most
|
|
//28 bytes early. The value 32 is chosen because it's larger than the stack canary, which in FreeRTOS is 20 bytes.
|
|
//This way, we make sure we trigger before/when the stack canary is corrupted, not after.
|
|
int addr = (int)pxStackStart;
|
|
addr = (addr + 31) & (~31);
|
|
esp_cpu_set_watchpoint(STACK_WATCH_POINT_NUMBER, (char *)addr, 32, ESP_WATCHPOINT_STORE);
|
|
}
|
|
|
|
/* ---------------------------------------------- Misc Implementations -------------------------------------------------
|
|
*
|
|
* ------------------------------------------------------------------------------------------------------------------ */
|
|
|
|
// -------------------- Co-Processor -----------------------
|
|
|
|
/*
|
|
* Used to set coprocessor area in stack. Current hack is to reuse MPU pointer for coprocessor area.
|
|
*/
|
|
#if portUSING_MPU_WRAPPERS
|
|
void vPortStoreTaskMPUSettings( xMPU_SETTINGS *xMPUSettings, const struct xMEMORY_REGION *const xRegions, StackType_t *pxBottomOfStack, uint32_t usStackDepth )
|
|
{
|
|
#if XCHAL_CP_NUM > 0
|
|
xMPUSettings->coproc_area = ( StackType_t * ) ( ( uint32_t ) ( pxBottomOfStack + usStackDepth - 1 ));
|
|
xMPUSettings->coproc_area = ( StackType_t * ) ( ( ( portPOINTER_SIZE_TYPE ) xMPUSettings->coproc_area ) & ( ~( ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) ) );
|
|
xMPUSettings->coproc_area = ( StackType_t * ) ( ( ( uint32_t ) xMPUSettings->coproc_area - XT_CP_SIZE ) & ~0xf );
|
|
|
|
|
|
/* NOTE: we cannot initialize the coprocessor save area here because FreeRTOS is going to
|
|
* clear the stack area after we return. This is done in pxPortInitialiseStack().
|
|
*/
|
|
#endif
|
|
}
|
|
|
|
void vPortReleaseTaskMPUSettings( xMPU_SETTINGS *xMPUSettings )
|
|
{
|
|
/* If task has live floating point registers somewhere, release them */
|
|
_xt_coproc_release( xMPUSettings->coproc_area );
|
|
}
|
|
#endif /* portUSING_MPU_WRAPPERS */
|
|
|
|
// --------------------- App Start-up ----------------------
|
|
|
|
#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 FreeRTOS initialization to finish on PRO CPU
|
|
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
|
|
|
|
esp_crosscore_int_init();
|
|
|
|
ESP_EARLY_LOGI(TAG, "Starting scheduler on APP CPU.");
|
|
xPortStartScheduler();
|
|
abort(); /* Only get to here if FreeRTOS somehow very broken */
|
|
}
|
|
#endif // !CONFIG_FREERTOS_UNICORE
|
|
|
|
extern void esp_startup_start_app_common(void);
|
|
|
|
void esp_startup_start_app(void)
|
|
{
|
|
#if !CONFIG_ESP_INT_WDT
|
|
#if CONFIG_ESP32_ECO3_CACHE_LOCK_FIX
|
|
assert(!soc_has_cache_lock_bug() && "ESP32 Rev 3 + Dual Core + PSRAM requires INT WDT enabled in project config!");
|
|
#endif
|
|
#endif
|
|
|
|
esp_startup_start_app_common();
|
|
|
|
ESP_LOGI(TAG, "Starting scheduler on PRO CPU.");
|
|
vTaskStartScheduler();
|
|
}
|