mirror of
https://github.com/espressif/esp-idf.git
synced 2025-10-07 05:35:16 +00:00
0cf1fd3a5a
FreeRTOS uses a single "xSchedulerRunning" variable to tack whether the scheduler has started, and this variable is set to "pdTRUE" by core 0 via calling vTaskStartScheduler(). However, with SMP FreeRTOS, there is a race condition where core 0 has already started the scheduler and another core has not called xPortStartScheduler() yet and calls some FreeRTOS API. Thus the resultant FreeRTOS API can cause errors as it thinks the scheduler has started. This commit adds a temporary workaround (by having each core maintain their own "xSchedulerRunning" variable.
817 lines
29 KiB
C
817 lines
29 KiB
C
/*
|
|
* SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD
|
|
*
|
|
* SPDX-License-Identifier: Apache-2.0
|
|
*/
|
|
|
|
#include "sdkconfig.h"
|
|
#include <stdint.h>
|
|
#include <string.h>
|
|
#include "FreeRTOS.h"
|
|
#include "task.h" //For vApplicationStackOverflowHook
|
|
#include "portmacro.h"
|
|
#include "spinlock.h"
|
|
#include "xt_instr_macros.h"
|
|
#include "xtensa/xtensa_context.h"
|
|
#include "xtensa/corebits.h"
|
|
#include "xtensa/config/core.h"
|
|
#include "xtensa/config/core-isa.h"
|
|
#include "xtensa/xtruntime.h"
|
|
#include "esp_private/esp_int_wdt.h"
|
|
#include "esp_heap_caps.h"
|
|
#include "esp_system.h"
|
|
#include "esp_task.h"
|
|
#include "esp_log.h"
|
|
#include "esp_cpu.h"
|
|
#include "esp_rom_sys.h"
|
|
#include "esp_task_wdt.h"
|
|
#include "esp_heap_caps_init.h"
|
|
#include "esp_freertos_hooks.h"
|
|
#include "esp_intr_alloc.h"
|
|
#if CONFIG_SPIRAM
|
|
/* Required by esp_psram_extram_reserve_dma_pool() */
|
|
#include "esp_psram.h"
|
|
#include "esp_private/esp_psram_extram.h"
|
|
#endif
|
|
#ifdef CONFIG_APPTRACE_ENABLE
|
|
#include "esp_app_trace.h"
|
|
#endif
|
|
#ifdef CONFIG_ESP_SYSTEM_GDBSTUB_RUNTIME
|
|
#include "esp_gdbstub.h" /* Required by esp_gdbstub_init() */
|
|
#endif // CONFIG_ESP_SYSTEM_GDBSTUB_RUNTIME
|
|
#ifdef CONFIG_FREERTOS_SYSTICK_USES_SYSTIMER
|
|
#include "soc/periph_defs.h"
|
|
#include "soc/system_reg.h"
|
|
#include "hal/systimer_hal.h"
|
|
#include "hal/systimer_ll.h"
|
|
#endif // CONFIG_FREERTOS_SYSTICK_USES_SYSTIMER
|
|
|
|
/*
|
|
OS state variables
|
|
*/
|
|
volatile unsigned port_xSchedulerRunning[portNUM_PROCESSORS] = {0};
|
|
unsigned int port_interruptNesting[portNUM_PROCESSORS] = {0}; // Interrupt nesting level. Increased/decreased in portasm.c, _frxt_int_enter/_frxt_int_exit
|
|
//FreeRTOS SMP Locks
|
|
portMUX_TYPE port_xTaskLock = portMUX_INITIALIZER_UNLOCKED;
|
|
portMUX_TYPE port_xISRLock = portMUX_INITIALIZER_UNLOCKED;
|
|
|
|
/* ------------------------------------------------ IDF Compatibility --------------------------------------------------
|
|
* - These need to be defined for IDF to compile
|
|
* ------------------------------------------------------------------------------------------------------------------ */
|
|
|
|
// --------------------- Interrupts ------------------------
|
|
|
|
BaseType_t IRAM_ATTR xPortInterruptedFromISRContext(void)
|
|
{
|
|
return (port_interruptNesting[xPortGetCoreID()] != 0);
|
|
}
|
|
|
|
// ------------------ Critical Sections --------------------
|
|
|
|
/*
|
|
Variables used by IDF critical sections only (SMP tracks critical nesting inside TCB now)
|
|
[refactor-todo] Figure out how IDF critical sections will be merged with SMP FreeRTOS critical sections
|
|
*/
|
|
BaseType_t port_uxCriticalNestingIDF[portNUM_PROCESSORS] = {0};
|
|
BaseType_t port_uxCriticalOldInterruptStateIDF[portNUM_PROCESSORS] = {0};
|
|
|
|
BaseType_t xPortEnterCriticalTimeout(portMUX_TYPE *lock, BaseType_t timeout)
|
|
{
|
|
/* Interrupts may already be disabled (if this function is called in nested
|
|
* manner). However, there's no atomic operation that will allow us to check,
|
|
* thus we have to disable interrupts again anyways.
|
|
*
|
|
* However, if this is call is NOT nested (i.e., the first call to enter a
|
|
* critical section), we will save the previous interrupt level so that the
|
|
* saved level can be restored on the last call to exit the critical.
|
|
*/
|
|
BaseType_t xOldInterruptLevel = XTOS_SET_INTLEVEL(XCHAL_EXCM_LEVEL);
|
|
if (!spinlock_acquire(lock, timeout)) {
|
|
//Timed out attempting to get spinlock. Restore previous interrupt level and return
|
|
XTOS_RESTORE_JUST_INTLEVEL((int) xOldInterruptLevel);
|
|
return pdFAIL;
|
|
}
|
|
//Spinlock acquired. Increment the IDF critical nesting count.
|
|
BaseType_t coreID = xPortGetCoreID();
|
|
BaseType_t newNesting = port_uxCriticalNestingIDF[coreID] + 1;
|
|
port_uxCriticalNestingIDF[coreID] = newNesting;
|
|
//If this is the first entry to a critical section. Save the old interrupt level.
|
|
if ( newNesting == 1 ) {
|
|
port_uxCriticalOldInterruptStateIDF[coreID] = xOldInterruptLevel;
|
|
}
|
|
return pdPASS;
|
|
|
|
}
|
|
|
|
void vPortExitCriticalIDF(portMUX_TYPE *lock)
|
|
{
|
|
/* This function may be called in a nested manner. Therefore, we only need
|
|
* to reenable interrupts if this is the last call to exit the critical. We
|
|
* can use the nesting count to determine whether this is the last exit call.
|
|
*/
|
|
spinlock_release(lock);
|
|
BaseType_t coreID = xPortGetCoreID();
|
|
BaseType_t nesting = port_uxCriticalNestingIDF[coreID];
|
|
if (nesting > 0) {
|
|
nesting--;
|
|
port_uxCriticalNestingIDF[coreID] = nesting;
|
|
//This is the last exit call, restore the saved interrupt level
|
|
if ( nesting == 0 ) {
|
|
XTOS_RESTORE_JUST_INTLEVEL((int) port_uxCriticalOldInterruptStateIDF[coreID]);
|
|
}
|
|
}
|
|
}
|
|
|
|
/*
|
|
In case any IDF libs called the port critical functions directly instead of through the macros.
|
|
Just inline call the IDF versions
|
|
*/
|
|
void vPortEnterCritical(portMUX_TYPE *lock)
|
|
{
|
|
vPortEnterCriticalIDF(lock);
|
|
}
|
|
|
|
void vPortExitCritical(portMUX_TYPE *lock)
|
|
{
|
|
vPortExitCriticalIDF(lock);
|
|
}
|
|
|
|
// ----------------------- System --------------------------
|
|
|
|
#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_CPU_WATCHPOINT_STORE);
|
|
}
|
|
|
|
// ---------------------- Tick Timer -----------------------
|
|
|
|
BaseType_t xPortSysTickHandler(void);
|
|
|
|
#ifdef CONFIG_FREERTOS_SYSTICK_USES_CCOUNT
|
|
extern void _frxt_tick_timer_init(void);
|
|
extern void _xt_tick_divisor_init(void);
|
|
|
|
/**
|
|
* @brief Initialize CCONT timer to generate the tick interrupt
|
|
*
|
|
*/
|
|
void vPortSetupTimer(void)
|
|
{
|
|
/* Init the tick divisor value */
|
|
_xt_tick_divisor_init();
|
|
|
|
_frxt_tick_timer_init();
|
|
}
|
|
|
|
#elif CONFIG_FREERTOS_SYSTICK_USES_SYSTIMER
|
|
|
|
_Static_assert(SOC_CPU_CORES_NUM <= SOC_SYSTIMER_ALARM_NUM - 1, "the number of cores must match the number of core alarms in SYSTIMER");
|
|
|
|
void SysTickIsrHandler(void *arg);
|
|
|
|
static uint32_t s_handled_systicks[portNUM_PROCESSORS] = { 0 };
|
|
|
|
#define SYSTICK_INTR_ID (ETS_SYSTIMER_TARGET0_EDGE_INTR_SOURCE)
|
|
|
|
/**
|
|
* @brief Set up the systimer peripheral to generate the tick interrupt
|
|
*
|
|
* Both timer alarms are configured in periodic mode.
|
|
* It is done at the same time so SysTicks for both CPUs occur at the same time or very close.
|
|
* Shifts a time of triggering interrupts for core 0 and core 1.
|
|
*/
|
|
void vPortSetupTimer(void)
|
|
{
|
|
unsigned cpuid = xPortGetCoreID();
|
|
#ifdef CONFIG_FREERTOS_CORETIMER_SYSTIMER_LVL3
|
|
const unsigned level = ESP_INTR_FLAG_LEVEL3;
|
|
#else
|
|
const unsigned level = ESP_INTR_FLAG_LEVEL1;
|
|
#endif
|
|
/* Systimer HAL layer object */
|
|
static systimer_hal_context_t systimer_hal;
|
|
/* set system timer interrupt vector */
|
|
ESP_ERROR_CHECK(esp_intr_alloc(ETS_SYSTIMER_TARGET0_EDGE_INTR_SOURCE + cpuid, ESP_INTR_FLAG_IRAM | level, SysTickIsrHandler, &systimer_hal, NULL));
|
|
|
|
if (cpuid == 0) {
|
|
systimer_hal_init(&systimer_hal);
|
|
systimer_ll_set_counter_value(systimer_hal.dev, SYSTIMER_LL_COUNTER_OS_TICK, 0);
|
|
systimer_ll_apply_counter_value(systimer_hal.dev, SYSTIMER_LL_COUNTER_OS_TICK);
|
|
|
|
for (cpuid = 0; cpuid < SOC_CPU_CORES_NUM; cpuid++) {
|
|
systimer_hal_counter_can_stall_by_cpu(&systimer_hal, SYSTIMER_LL_COUNTER_OS_TICK, cpuid, false);
|
|
}
|
|
|
|
for (cpuid = 0; cpuid < portNUM_PROCESSORS; ++cpuid) {
|
|
uint32_t alarm_id = SYSTIMER_LL_ALARM_OS_TICK_CORE0 + cpuid;
|
|
|
|
/* configure the timer */
|
|
systimer_hal_connect_alarm_counter(&systimer_hal, alarm_id, SYSTIMER_LL_COUNTER_OS_TICK);
|
|
systimer_hal_set_alarm_period(&systimer_hal, alarm_id, 1000000UL / CONFIG_FREERTOS_HZ);
|
|
systimer_hal_select_alarm_mode(&systimer_hal, alarm_id, SYSTIMER_ALARM_MODE_PERIOD);
|
|
systimer_hal_counter_can_stall_by_cpu(&systimer_hal, SYSTIMER_LL_COUNTER_OS_TICK, cpuid, true);
|
|
if (cpuid == 0) {
|
|
systimer_hal_enable_alarm_int(&systimer_hal, alarm_id);
|
|
systimer_hal_enable_counter(&systimer_hal, SYSTIMER_LL_COUNTER_OS_TICK);
|
|
#ifndef CONFIG_FREERTOS_UNICORE
|
|
// SysTick of core 0 and core 1 are shifted by half of period
|
|
systimer_hal_counter_value_advance(&systimer_hal, SYSTIMER_LL_COUNTER_OS_TICK, 1000000UL / CONFIG_FREERTOS_HZ / 2);
|
|
#endif
|
|
}
|
|
}
|
|
} else {
|
|
uint32_t alarm_id = SYSTIMER_LL_ALARM_OS_TICK_CORE0 + cpuid;
|
|
systimer_hal_enable_alarm_int(&systimer_hal, alarm_id);
|
|
}
|
|
}
|
|
|
|
/**
|
|
* @brief Systimer interrupt handler.
|
|
*
|
|
* The Systimer interrupt for SysTick works in periodic mode no need to calc the next alarm.
|
|
* If a timer interrupt is ever serviced more than one tick late, it is necessary to process multiple ticks.
|
|
*/
|
|
IRAM_ATTR void SysTickIsrHandler(void *arg)
|
|
{
|
|
uint32_t cpuid = xPortGetCoreID();
|
|
systimer_hal_context_t *systimer_hal = (systimer_hal_context_t *)arg;
|
|
#ifdef CONFIG_PM_TRACE
|
|
ESP_PM_TRACE_ENTER(TICK, cpuid);
|
|
#endif
|
|
|
|
uint32_t alarm_id = SYSTIMER_LL_ALARM_OS_TICK_CORE0 + cpuid;
|
|
do {
|
|
systimer_ll_clear_alarm_int(systimer_hal->dev, alarm_id);
|
|
|
|
uint32_t diff = systimer_hal_get_counter_value(systimer_hal, SYSTIMER_LL_COUNTER_OS_TICK) / systimer_ll_get_alarm_period(systimer_hal->dev, alarm_id) - s_handled_systicks[cpuid];
|
|
if (diff > 0) {
|
|
if (s_handled_systicks[cpuid] == 0) {
|
|
s_handled_systicks[cpuid] = diff;
|
|
diff = 1;
|
|
} else {
|
|
s_handled_systicks[cpuid] += diff;
|
|
}
|
|
|
|
do {
|
|
xPortSysTickHandler();
|
|
} while (--diff);
|
|
}
|
|
} while (systimer_ll_is_alarm_int_fired(systimer_hal->dev, alarm_id));
|
|
|
|
#ifdef CONFIG_PM_TRACE
|
|
ESP_PM_TRACE_EXIT(TICK, cpuid);
|
|
#endif
|
|
}
|
|
|
|
#endif // CONFIG_FREERTOS_SYSTICK_USES_CCOUNT
|
|
|
|
// --------------------- App Start-up ----------------------
|
|
|
|
static const char *TAG = "cpu_start";
|
|
|
|
extern void app_main(void);
|
|
|
|
static void main_task(void* args)
|
|
{
|
|
#if !CONFIG_FREERTOS_UNICORE
|
|
// Wait for FreeRTOS initialization to finish on APP CPU, before replacing its startup stack
|
|
while (port_xSchedulerRunning[1] == 0) {
|
|
;
|
|
}
|
|
#endif
|
|
|
|
// [refactor-todo] check if there is a way to move the following block to esp_system startup
|
|
heap_caps_enable_nonos_stack_heaps();
|
|
|
|
// Now we have startup stack RAM available for heap, enable any DMA pool memory
|
|
#if CONFIG_SPIRAM_MALLOC_RESERVE_INTERNAL
|
|
if (esp_psram_is_initialized()) {
|
|
esp_err_t r = esp_psram_extram_reserve_dma_pool(CONFIG_SPIRAM_MALLOC_RESERVE_INTERNAL);
|
|
if (r != ESP_OK) {
|
|
ESP_EARLY_LOGE(TAG, "Could not reserve internal/DMA pool (error 0x%x)", r);
|
|
abort();
|
|
}
|
|
}
|
|
#endif
|
|
|
|
//Initialize TWDT if configured to do so
|
|
#if CONFIG_ESP_TASK_WDT
|
|
esp_task_wdt_config_t twdt_config = {
|
|
.timeout_ms = CONFIG_ESP_TASK_WDT_TIMEOUT_S * 1000,
|
|
.idle_core_mask = 0,
|
|
#if CONFIG_ESP_TASK_WDT_PANIC
|
|
.trigger_panic = true,
|
|
#endif
|
|
};
|
|
#if CONFIG_ESP_TASK_WDT_CHECK_IDLE_TASK_CPU0
|
|
twdt_config.idle_core_mask |= (1 << 0);
|
|
#endif
|
|
#if CONFIG_ESP_TASK_WDT_CHECK_IDLE_TASK_CPU1
|
|
twdt_config.idle_core_mask |= (1 << 1);
|
|
#endif
|
|
ESP_ERROR_CHECK(esp_task_wdt_init(&twdt_config));
|
|
#endif // CONFIG_ESP_TASK_WDT
|
|
|
|
app_main();
|
|
vTaskDelete(NULL);
|
|
}
|
|
|
|
void esp_startup_start_app_common(void)
|
|
{
|
|
#if CONFIG_ESP_INT_WDT
|
|
esp_int_wdt_init();
|
|
//Initialize the interrupt watch dog for CPU0.
|
|
esp_int_wdt_cpu_init();
|
|
#endif
|
|
|
|
esp_crosscore_int_init();
|
|
|
|
#ifdef CONFIG_ESP_SYSTEM_GDBSTUB_RUNTIME
|
|
esp_gdbstub_init();
|
|
#endif // CONFIG_ESP_SYSTEM_GDBSTUB_RUNTIME
|
|
|
|
portBASE_TYPE res = xTaskCreatePinnedToCore(main_task, "main",
|
|
ESP_TASK_MAIN_STACK, NULL,
|
|
ESP_TASK_MAIN_PRIO, NULL, ESP_TASK_MAIN_CORE);
|
|
assert(res == pdTRUE);
|
|
(void)res;
|
|
}
|
|
|
|
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 */
|
|
}
|
|
|
|
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_EARLY_LOGI(TAG, "Starting scheduler on PRO CPU.");
|
|
vTaskStartScheduler();
|
|
}
|
|
|
|
|
|
/* ---------------------------------------------- Port Implementations -------------------------------------------------
|
|
* Implementations of Porting Interface functions
|
|
* ------------------------------------------------------------------------------------------------------------------ */
|
|
|
|
// --------------------- Interrupts ------------------------
|
|
|
|
BaseType_t xPortCheckIfInISR(void)
|
|
{
|
|
//Disable interrupts so that reading port_interruptNesting is atomic
|
|
BaseType_t ret;
|
|
unsigned int prev_int_level = portDISABLE_INTERRUPTS();
|
|
ret = (port_interruptNesting[xPortGetCoreID()] != 0) ? pdTRUE : pdFALSE;
|
|
portRESTORE_INTERRUPTS(prev_int_level);
|
|
return ret;
|
|
}
|
|
|
|
// ------------------ Critical Sections --------------------
|
|
|
|
void vPortTakeLock( portMUX_TYPE *lock )
|
|
{
|
|
spinlock_acquire( lock, portMUX_NO_TIMEOUT);
|
|
}
|
|
|
|
void vPortReleaseLock( portMUX_TYPE *lock )
|
|
{
|
|
spinlock_release( lock );
|
|
}
|
|
|
|
// ---------------------- Yielding -------------------------
|
|
|
|
// ----------------------- System --------------------------
|
|
|
|
/* ------------------------------------------------ FreeRTOS Portable --------------------------------------------------
|
|
* - Provides implementation for functions required by FreeRTOS
|
|
* - Declared in portable.h
|
|
* ------------------------------------------------------------------------------------------------------------------ */
|
|
|
|
// ----------------- Scheduler Start/End -------------------
|
|
|
|
extern void _xt_coproc_init(void);
|
|
|
|
BaseType_t xPortStartScheduler( void )
|
|
{
|
|
portDISABLE_INTERRUPTS();
|
|
// 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;
|
|
|
|
#if configNUM_CORES > 1
|
|
// Workaround for non-thread safe multi-core OS startup (see IDF-4524)
|
|
if (xPortGetCoreID() != 0) {
|
|
vTaskStartSchedulerOtherCores();
|
|
}
|
|
#endif // configNUM_CORES > 1
|
|
|
|
// Cannot be directly called from C; never returns
|
|
__asm__ volatile ("call0 _frxt_dispatch\n");
|
|
|
|
/* Should not get here. */
|
|
return pdTRUE;
|
|
}
|
|
|
|
void vPortEndScheduler( void )
|
|
{
|
|
;
|
|
}
|
|
|
|
// ----------------------- Memory --------------------------
|
|
|
|
#define FREERTOS_SMP_MALLOC_CAPS (MALLOC_CAP_INTERNAL|MALLOC_CAP_8BIT)
|
|
|
|
void *pvPortMalloc( size_t xSize )
|
|
{
|
|
return heap_caps_malloc(xSize, FREERTOS_SMP_MALLOC_CAPS);
|
|
}
|
|
|
|
void vPortFree( void * pv )
|
|
{
|
|
heap_caps_free(pv);
|
|
}
|
|
|
|
void vPortInitialiseBlocks( void )
|
|
{
|
|
; //Does nothing, heap is initialized separately in ESP-IDF
|
|
}
|
|
|
|
size_t xPortGetFreeHeapSize( void )
|
|
{
|
|
return esp_get_free_heap_size();
|
|
}
|
|
|
|
#if( configSTACK_ALLOCATION_FROM_SEPARATE_HEAP == 1 )
|
|
void *pvPortMallocStack( size_t xSize )
|
|
{
|
|
return NULL;
|
|
}
|
|
|
|
void vPortFreeStack( void *pv )
|
|
{
|
|
|
|
}
|
|
#endif
|
|
|
|
#if ( configSUPPORT_STATIC_ALLOCATION == 1 )
|
|
void vApplicationGetIdleTaskMemory(StaticTask_t **ppxIdleTaskTCBBuffer,
|
|
StackType_t **ppxIdleTaskStackBuffer,
|
|
uint32_t *pulIdleTaskStackSize )
|
|
{
|
|
StaticTask_t *pxTCBBufferTemp;
|
|
StackType_t *pxStackBufferTemp;
|
|
//Allocate TCB and stack buffer in internal memory
|
|
pxTCBBufferTemp = pvPortMalloc(sizeof(StaticTask_t));
|
|
pxStackBufferTemp = pvPortMalloc(CONFIG_FREERTOS_IDLE_TASK_STACKSIZE);
|
|
assert(pxTCBBufferTemp != NULL);
|
|
assert(pxStackBufferTemp != NULL);
|
|
//Write back pointers
|
|
*ppxIdleTaskTCBBuffer = pxTCBBufferTemp;
|
|
*ppxIdleTaskStackBuffer = pxStackBufferTemp;
|
|
*pulIdleTaskStackSize = CONFIG_FREERTOS_IDLE_TASK_STACKSIZE;
|
|
}
|
|
|
|
void vApplicationGetTimerTaskMemory(StaticTask_t **ppxTimerTaskTCBBuffer,
|
|
StackType_t **ppxTimerTaskStackBuffer,
|
|
uint32_t *pulTimerTaskStackSize )
|
|
{
|
|
StaticTask_t *pxTCBBufferTemp;
|
|
StackType_t *pxStackBufferTemp;
|
|
//Allocate TCB and stack buffer in internal memory
|
|
pxTCBBufferTemp = pvPortMalloc(sizeof(StaticTask_t));
|
|
pxStackBufferTemp = pvPortMalloc(configTIMER_TASK_STACK_DEPTH);
|
|
assert(pxTCBBufferTemp != NULL);
|
|
assert(pxStackBufferTemp != NULL);
|
|
//Write back pointers
|
|
*ppxTimerTaskTCBBuffer = pxTCBBufferTemp;
|
|
*ppxTimerTaskStackBuffer = pxStackBufferTemp;
|
|
*pulTimerTaskStackSize = configTIMER_TASK_STACK_DEPTH;
|
|
}
|
|
#endif //( configSUPPORT_STATIC_ALLOCATION == 1 )
|
|
|
|
// ------------------------ 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 = pcTaskGetName(NULL);
|
|
ESP_LOGE("FreeRTOS", "FreeRTOS Task \"%s\" should not return, Aborting now!", pcTaskName);
|
|
abort();
|
|
}
|
|
#endif
|
|
|
|
const DRAM_ATTR uint32_t offset_pxEndOfStack = offsetof(StaticTask_t, pxDummy8);
|
|
#if ( configUSE_CORE_AFFINITY == 1 && configNUM_CORES > 1 )
|
|
const DRAM_ATTR uint32_t offset_uxCoreAffinityMask = offsetof(StaticTask_t, uxDummy25);
|
|
#endif // ( configUSE_CORE_AFFINITY == 1 && configNUM_CORES > 1 )
|
|
const DRAM_ATTR uint32_t offset_cpsa = XT_CP_SIZE;
|
|
|
|
#if ( portHAS_STACK_OVERFLOW_CHECKING == 1 )
|
|
StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack,
|
|
StackType_t * pxEndOfStack,
|
|
TaskFunction_t pxCode,
|
|
void * pvParameters )
|
|
#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;
|
|
}
|
|
|
|
// -------------------- Co-Processor -----------------------
|
|
#if ( XCHAL_CP_NUM > 0 && configUSE_CORE_AFFINITY == 1 && configNUM_CORES > 1 )
|
|
|
|
void _xt_coproc_release(volatile void *coproc_sa_base, BaseType_t xCoreID);
|
|
|
|
void vPortCleanUpCoprocArea( void * pxTCB )
|
|
{
|
|
StackType_t * coproc_area;
|
|
BaseType_t xCoreID;
|
|
|
|
/* Calculate the coproc save area in the stack from the TCB base */
|
|
coproc_area = ( StackType_t * ) ( ( uint32_t ) ( pxTCB + offset_pxEndOfStack ));
|
|
coproc_area = ( StackType_t * ) ( ( ( portPOINTER_SIZE_TYPE ) coproc_area ) & ( ~( ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) ) );
|
|
coproc_area = ( StackType_t * ) ( ( ( uint32_t ) coproc_area - XT_CP_SIZE ) & ~0xf );
|
|
|
|
/* Extract core ID from the affinity mask */
|
|
xCoreID = __builtin_ffs( * ( UBaseType_t * ) ( pxTCB + offset_uxCoreAffinityMask ) );
|
|
assert( xCoreID >= 1 );
|
|
xCoreID -= 1;
|
|
|
|
/* If task has live floating point registers somewhere, release them */
|
|
_xt_coproc_release( coproc_area, xCoreID );
|
|
}
|
|
#endif // ( XCHAL_CP_NUM > 0 && configUSE_CORE_AFFINITY == 1 && configNUM_CORES > 1 )
|
|
|
|
// ------- Thread Local Storage Pointers Deletion Callbacks -------
|
|
|
|
#if ( CONFIG_FREERTOS_TLSP_DELETION_CALLBACKS )
|
|
void vPortTLSPointersDelCb( void * pxTCB )
|
|
{
|
|
/* Typecast pxTCB to StaticTask_t type to access TCB struct members.
|
|
* pvDummy15 corresponds to pvThreadLocalStoragePointers member of the TCB.
|
|
*/
|
|
StaticTask_t *tcb = ( StaticTask_t * )pxTCB;
|
|
|
|
/* The TLSP deletion callbacks are stored at an offset of (configNUM_THREAD_LOCAL_STORAGE_POINTERS/2) */
|
|
TlsDeleteCallbackFunction_t *pvThreadLocalStoragePointersDelCallback = ( TlsDeleteCallbackFunction_t * )( &( tcb->pvDummy15[ ( configNUM_THREAD_LOCAL_STORAGE_POINTERS / 2 ) ] ) );
|
|
|
|
/* We need to iterate over half the depth of the pvThreadLocalStoragePointers area
|
|
* to access all TLS pointers and their respective TLS deletion callbacks.
|
|
*/
|
|
for( int x = 0; x < ( configNUM_THREAD_LOCAL_STORAGE_POINTERS / 2 ); x++ )
|
|
{
|
|
if ( pvThreadLocalStoragePointersDelCallback[ x ] != NULL ) //If del cb is set
|
|
{
|
|
/* In case the TLSP deletion callback has been overwritten by a TLS pointer, gracefully abort. */
|
|
if ( !esp_ptr_executable( pvThreadLocalStoragePointersDelCallback[ x ] ) ) {
|
|
// We call EARLY log here as currently portCLEAN_UP_TCB() is called in a critical section
|
|
ESP_EARLY_LOGE("FreeRTOS", "Fatal error: TLSP deletion callback at index %d overwritten with non-excutable pointer %p", x, pvThreadLocalStoragePointersDelCallback[ x ]);
|
|
abort();
|
|
}
|
|
|
|
pvThreadLocalStoragePointersDelCallback[ x ]( x, tcb->pvDummy15[ x ] ); //Call del cb
|
|
}
|
|
}
|
|
}
|
|
#endif // CONFIG_FREERTOS_TLSP_DELETION_CALLBACKS
|
|
|
|
// -------------------- Tick Handler -----------------------
|
|
|
|
extern void esp_vApplicationIdleHook(void);
|
|
extern void esp_vApplicationTickHook(void);
|
|
|
|
BaseType_t xPortSysTickHandler(void)
|
|
{
|
|
portbenchmarkIntLatency();
|
|
traceISR_ENTER(SYSTICK_INTR_ID);
|
|
BaseType_t ret;
|
|
esp_vApplicationTickHook();
|
|
if (portGET_CORE_ID() == 0) {
|
|
// FreeRTOS SMP requires that only core 0 calls xTaskIncrementTick()
|
|
ret = xTaskIncrementTick();
|
|
} else {
|
|
ret = pdFALSE;
|
|
}
|
|
if (ret != pdFALSE) {
|
|
portYIELD_FROM_ISR();
|
|
} else {
|
|
traceISR_EXIT();
|
|
}
|
|
return ret;
|
|
}
|
|
|
|
// ------------------- Hook Functions ----------------------
|
|
|
|
#include <stdlib.h>
|
|
|
|
#if ( configCHECK_FOR_STACK_OVERFLOW > 0 )
|
|
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);
|
|
}
|
|
#endif
|
|
|
|
#if CONFIG_FREERTOS_USE_MINIMAL_IDLE_HOOK
|
|
/*
|
|
By default, the port uses vApplicationMinimalIdleHook() to run IDF style idle
|
|
hooks. However, users may also want to provide their own vApplicationMinimalIdleHook().
|
|
In this case, we use to -Wl,--wrap option to wrap the user provided vApplicationMinimalIdleHook()
|
|
*/
|
|
extern void __real_vApplicationMinimalIdleHook( void );
|
|
void __wrap_vApplicationMinimalIdleHook( void )
|
|
{
|
|
esp_vApplicationIdleHook(); //Run IDF style hooks
|
|
__real_vApplicationMinimalIdleHook(); //Call the user provided vApplicationMinimalIdleHook()
|
|
}
|
|
#else // CONFIG_FREERTOS_USE_MINIMAL_IDLE_HOOK
|
|
void vApplicationMinimalIdleHook( void )
|
|
{
|
|
esp_vApplicationIdleHook(); //Run IDF style hooks
|
|
}
|
|
#endif // CONFIG_FREERTOS_USE_MINIMAL_IDLE_HOOK
|
|
|
|
/*
|
|
* Hook function called during prvDeleteTCB() to cleanup any
|
|
* user defined static memory areas in the TCB.
|
|
*/
|
|
void vPortCleanUpTCB ( void *pxTCB )
|
|
{
|
|
#if ( CONFIG_FREERTOS_TLSP_DELETION_CALLBACKS )
|
|
/* Call TLS pointers deletion callbacks */
|
|
vPortTLSPointersDelCb( pxTCB );
|
|
#endif /* CONFIG_FREERTOS_TLSP_DELETION_CALLBACKS */
|
|
|
|
#if ( XCHAL_CP_NUM > 0 && configUSE_CORE_AFFINITY == 1 && configNUM_CORES > 1 )
|
|
/* Cleanup coproc save area */
|
|
vPortCleanUpCoprocArea( pxTCB );
|
|
#endif // ( XCHAL_CP_NUM > 0 && configUSE_CORE_AFFINITY == 1 && configNUM_CORES > 1 )
|
|
}
|