feat(freertos): Added FreeRTOS POSIX/Linux Simulator

* Added port layer from the FreeRTOS POSIX port, added additional port code for ESP-IDF. * Created another hello world example using that POSIX port in tools/test_apps. * Removed old linux app
2025-08-09 20:41:14 +00:00 · 2022-09-06 16:09:23 +02:00
parent a9f15d1556
commit bfbbd9d790
28 changed files with 1377 additions and 165 deletions
--- a/components/freertos/FreeRTOS-Kernel/portable/linux/include/freertos/portmacro.h
+++ b/components/freertos/FreeRTOS-Kernel/portable/linux/include/freertos/portmacro.h
@@ -1,42 +1,141 @@
 /*
- * SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD
+ * FreeRTOS Kernel V10.4.6
+ * Copyright 2020 Cambridge Consultants Ltd.
 *
- * SPDX-License-Identifier: Apache-2.0
+ * SPDX-FileCopyrightText: 2020 Cambridge Consultants Ltd.
+ *
+ * SPDX-License-Identifier: MIT
+ *
+ * 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.
+ *
+ * https://www.FreeRTOS.org
+ * https://github.com/FreeRTOS
 */

-#pragma once

-#include "esp_attr.h"
-#include <stdint.h>
+#ifndef PORTMACRO_H
+#define PORTMACRO_H
+
+#include <limits.h>

 #ifdef __cplusplus
 extern "C" {
 #endif

-#define portBYTE_ALIGNMENT			16
-#define portTICK_TYPE_IS_ATOMIC		1
+/*-----------------------------------------------------------
+ * Port specific definitions.
+ *
+ * The settings in this file configure FreeRTOS correctly for the
+ * given hardware and compiler.
+ *
+ * These settings should not be altered.
+ *-----------------------------------------------------------
+ */

 /* Type definitions. */
-#define portCHAR		uint8_t
-#define portFLOAT		float
-#define portDOUBLE		double
-#define portLONG		int32_t
-#define portSHORT		int16_t
-#define portSTACK_TYPE	uint8_t
-#define portBASE_TYPE	int
-// interrupt module will mask interrupt with priority less than threshold
-#define RVHAL_EXCM_LEVEL    4
+#define portCHAR        char
+#define portFLOAT       float
+#define portDOUBLE      double
+#define portLONG        long
+#define portSHORT       short
+#define portSTACK_TYPE  unsigned long
+#define portBASE_TYPE   long
+#define portPOINTER_SIZE_TYPE intptr_t

-typedef portSTACK_TYPE			StackType_t;
-typedef portBASE_TYPE			BaseType_t;
-typedef unsigned portBASE_TYPE	UBaseType_t;
-typedef uint32_t TickType_t;
-#define portMAX_DELAY ( TickType_t ) 0xffffffffUL
+typedef portSTACK_TYPE StackType_t;
+typedef long BaseType_t;
+typedef unsigned long UBaseType_t;

-typedef int portMUX_TYPE;
+typedef unsigned long TickType_t;
+#define portMAX_DELAY ( TickType_t ) ULONG_MAX

-#define portTICK_PERIOD_MS			( ( TickType_t ) 1 )
+#define portTICK_TYPE_IS_ATOMIC 1
+
+/*-----------------------------------------------------------*/
+
+/* Architecture specifics. */
+#define portSTACK_GROWTH            ( -1 )
+#define portHAS_STACK_OVERFLOW_CHECKING ( 1 )
+#define portTICK_PERIOD_MS          ( ( TickType_t ) 1000 / configTICK_RATE_HZ )
+#define portTICK_RATE_MICROSECONDS  ( ( TickType_t ) 1000000 / configTICK_RATE_HZ )
+#define portBYTE_ALIGNMENT          8
+/*-----------------------------------------------------------*/
+
+/* Scheduler utilities. */
+extern void vPortYield( void );
+
+#define portYIELD() vPortYield()
+
+#define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired != pdFALSE ) vPortYield()
+#define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x )
+/*-----------------------------------------------------------*/
+
+/* Critical section management. */
+extern void vPortDisableInterrupts( void );
+extern void vPortEnableInterrupts( void );
+#define portSET_INTERRUPT_MASK()        ( vPortDisableInterrupts() )
+#define portCLEAR_INTERRUPT_MASK()      ( vPortEnableInterrupts() )
+
+extern portBASE_TYPE xPortSetInterruptMask( void );
+extern void vPortClearInterruptMask( portBASE_TYPE xMask );
+
+extern void vPortEnterCritical( void );
+extern void vPortExitCritical( void );
+#define portSET_INTERRUPT_MASK_FROM_ISR()       xPortSetInterruptMask()
+#define portCLEAR_INTERRUPT_MASK_FROM_ISR(x)    vPortClearInterruptMask(x)
+#define portDISABLE_INTERRUPTS()                portSET_INTERRUPT_MASK()
+#define portENABLE_INTERRUPTS()                 portCLEAR_INTERRUPT_MASK()
+#define portENTER_CRITICAL(mux)                 {(void)mux;  vPortEnterCritical();}
+#define portEXIT_CRITICAL(mux)                  {(void)mux;  vPortExitCritical();}
+#define portENTER_CRITICAL_ISR(mux)             portENTER_CRITICAL(mux)
+#define portEXIT_CRITICAL_ISR(mux)              portEXIT_CRITICAL(mux)
+
+/*-----------------------------------------------------------*/
+
+extern void vPortThreadDying( void *pxTaskToDelete, volatile BaseType_t *pxPendYield );
+extern void vPortCancelThread( void *pxTaskToDelete );
+#define portPRE_TASK_DELETE_HOOK( pvTaskToDelete, pxPendYield ) vPortThreadDying( ( pvTaskToDelete ), ( pxPendYield ) )
+#define portCLEAN_UP_TCB( pxTCB )   vPortCancelThread( pxTCB )
+/*-----------------------------------------------------------*/
+
+#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters )
+#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters )
+/*-----------------------------------------------------------*/
+
+/*
+ * Tasks run in their own pthreads and context switches between them
+ * are always a full memory barrier. ISRs are emulated as signals
+ * which also imply a full memory barrier.
+ *
+ * Thus, only a compilier barrier is needed to prevent the compiler
+ * reordering.
+ */
+#define portMEMORY_BARRIER() __asm volatile( "" ::: "memory" )
+
+extern unsigned long ulPortGetRunTime( void );
+#define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() /* no-op */
+#define portGET_RUN_TIME_COUNTER_VALUE()         ulPortGetRunTime()

 #ifdef __cplusplus
 }
 #endif
+
+// We need additional definitions for ESP-IDF code
+#include "portmacro_idf.h"
+
+#endif /* PORTMACRO_H */
--- a/components/freertos/FreeRTOS-Kernel/portable/linux/include/freertos/portmacro_idf.h
+++ b/components/freertos/FreeRTOS-Kernel/portable/linux/include/freertos/portmacro_idf.h
@@ -0,0 +1,98 @@
+/*
+ * SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+/*
+ * This is the "IDF-part" of the POSIX portmacro.
+ * We need additional definitions for code in ESP-IDF which is kept here to separate the original
+ * FreeRTOS POSIX port code from the additional IDF POSIX port code.
+ */
+
+#pragma once
+
+#include <stdint.h>
+#include "sdkconfig.h"
+#include "esp_attr.h"
+#include "spinlock.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// TODO: IDF-5983 From esp_task.h, should later be used from there
+// or be refactored in IDF (e.g. move esp_task.h to freertos)
+// See also configMINIMAL_STACK_SIZE for more information.
+#define CONFIG_ESP_MAIN_TASK_STACK_SIZE ( ( unsigned short ) (0x4000 + 40) / sizeof(portSTACK_TYPE) ) // should be in Kconfig again
+#define CONFIG_ESP_MAIN_TASK_AFFINITY   0
+
+#define ESP_TASK_PRIO_MAX (configMAX_PRIORITIES)
+#define ESP_TASK_PRIO_MIN (0)
+#define ESP_TASK_MAIN_PRIO            (ESP_TASK_PRIO_MIN + 1)
+#define ESP_TASK_MAIN_STACK           (CONFIG_ESP_MAIN_TASK_STACK_SIZE)
+#define ESP_TASK_MAIN_CORE            CONFIG_ESP_MAIN_TASK_AFFINITY
+
+// interrupt module will mask interrupt with priority less than threshold
+#define RVHAL_EXCM_LEVEL    4
+
+typedef spinlock_t portMUX_TYPE;
+
+/**< Spinlock initializer */
+#define portMUX_INITIALIZER_UNLOCKED {                      \
+            .owner = portMUX_FREE_VAL,                      \
+            .count = 0,                                     \
+        }
+#define portMUX_FREE_VAL                    SPINLOCK_FREE           /**< Spinlock is free. [refactor-todo] check if this is still required */
+
+void vPortYieldFromISR(void);
+void vPortYieldOtherCore(BaseType_t coreid);
+
+#define portMUX_INITIALIZE(mux)             spinlock_initialize(mux)    /*< Initialize a spinlock to its unlocked state */
+
+/**
+ * @brief Get the current core's ID
+ *
+ * @note dummy function for freertos simulator, always returns 0.
+ @ return BaseType_t 0
+ */
+static inline BaseType_t IRAM_ATTR xPortGetCoreID(void)
+{
+    return (BaseType_t) 0;
+}
+
+static inline bool portVALID_TCB_MEM(const void *ptr)
+{
+    return true;
+}
+
+static inline bool portVALID_STACK_MEM(const void *ptr)
+{
+    return true;
+}
+
+#define pvPortMallocTcbMem(size)        pvPortMalloc(size)
+#define pvPortMallocStackMem(size)      pvPortMalloc(size)
+
+BaseType_t xPortCheckIfInISR(void);
+
+/**
+ * @brief Checks if the current core is in an ISR context
+ *
+ * - ISR context consist of Low/Mid priority ISR, or time tick ISR
+ * - High priority ISRs aren't detected here, but they normally cannot call C code, so that should not be an issue anyway.
+ *
+ * @note [refactor-todo] Check if this should be inlined
+ * @return
+ *  - pdTRUE if in ISR
+ *  - pdFALSE otherwise
+ */
+static inline BaseType_t xPortInIsrContext(void)
+{
+    //Just call the FreeRTOS port interface version
+    return xPortCheckIfInISR();
+}
+
+#ifdef __cplusplus
+}
+#endif
--- a/components/freertos/FreeRTOS-Kernel/portable/linux/include/spinlock.h
+++ b/components/freertos/FreeRTOS-Kernel/portable/linux/include/spinlock.h
@@ -0,0 +1,59 @@
+/*
+ * SPDX-FileCopyrightText: 2015-2022 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+/*
+ * This file provides only very simple stubs to build IDF-based FreeRTOSes which use spinlocks on Linux.
+ */
+#pragma once
+
+#include <stdint.h>
+#include <stdbool.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#define SPINLOCK_FREE          0xB33FFFFF
+#define SPINLOCK_WAIT_FOREVER  (-1)
+#define SPINLOCK_NO_WAIT        0
+#define SPINLOCK_INITIALIZER   {.owner = SPINLOCK_FREE,.count = 0}
+#define CORE_ID_REGVAL_XOR_SWAP (0xCDCD ^ 0xABAB)
+
+/**
+ * @brief Spinlock object
+ * Owner:
+ *  - Set to 0 if uninitialized
+ *  - Set to portMUX_FREE_VAL when free
+ *  - Set to CORE_ID_REGVAL_PRO or CORE_ID_REGVAL_AP when locked
+ *  - Any other value indicates corruption
+ * Count:
+ *  - 0 if unlocked
+ *  - Recursive count if locked
+ *
+ * @note Not a true spinlock as single core RISC-V does not have atomic compare and set instruction
+ * @note Keep portMUX_INITIALIZER_UNLOCKED in sync with this struct
+ */
+typedef struct {
+    uint32_t owner;
+    uint32_t count;
+}spinlock_t;
+
+static inline void __attribute__((always_inline)) spinlock_initialize(spinlock_t *lock)
+{
+}
+
+static inline bool __attribute__((always_inline)) spinlock_acquire(spinlock_t *lock, int32_t timeout)
+{
+    return true;
+}
+
+static inline void __attribute__((always_inline)) spinlock_release(spinlock_t *lock)
+{
+}
+
+#ifdef __cplusplus
+}
+#endif