len0rd/FreeRTOS-Kernel
1
0
Fork 0
mirror of https://github.com/FreeRTOS/FreeRTOS-Kernel.git synced 2025-09-16 02:57:49 -04:00
Code Issues Projects Releases Packages Wiki Activity

Rp2040 smp (#342)

Browse source 
* Add RP2040 support (#341)

* Add RP2040 support

* remove spurious tab/spaces comments

* add .cmake to ignored kernel checks

* Apply suggestions from code review

Co-authored-by: Paul Bartell <paul.bartell@gmail.com>

* license and end of file newline fixes

* Rename LICENSE.TXT to LICENSE.md

Co-authored-by: Paul Bartell <paul.bartell@gmail.com>
Co-authored-by: Gaurav-Aggarwal-AWS <33462878+aggarg@users.noreply.github.com>

* RP2040 updates for SMP

* whitepsace fix

Co-authored-by: Gaurav-Aggarwal-AWS <33462878+aggarg@users.noreply.github.com>

* whitespace fix

Co-authored-by: Gaurav-Aggarwal-AWS <33462878+aggarg@users.noreply.github.com>

Co-authored-by: Paul Bartell <paul.bartell@gmail.com>
Co-authored-by: Gaurav-Aggarwal-AWS <33462878+aggarg@users.noreply.github.com>
This commit is contained in:
Graham Sanderson 2021-07-06 12:53:49 -05:00 • committed by GitHub
parent a7092d400c
commit 35b95d2a4d
No known key found for this signature in database
GPG key ID: 4AEE18F83AFDEB23
14 changed files with 1659 additions and 3 deletions
Download patch file Download diff file Expand all files Collapse all files

70
portable/ThirdParty/GCC/RP2040/include/freertos_sdk_config.h vendored Normal file
View file

@ -0,0 +1,70 @@
/*
* FreeRTOS Kernel V10.4.3
* Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
* Copyright (c) 2021 Raspberry Pi (Trading) Ltd.
*
* SPDX-License-Identifier: BSD-3-Clause
*
* 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
*/
#ifndef FREERTOS_SDK_CONFIG_H
#define FREERTOS_SDK_CONFIG_H
#ifndef __ASSEMBLER__
#include "FreeRTOSConfig.h"
#include "rp2040_config.h"
#if ( configSUPPORT_PICO_SYNC_INTEROP == 1 )
// increase the amount of time it may reasonably take to wake us up
#ifndef PICO_TIME_SLEEP_OVERHEAD_ADJUST_US
#define PICO_TIME_SLEEP_OVERHEAD_ADJUST_US 150
#endif
#define lock_owner_id_t uint32_t
extern uint32_t ulPortLockGetCurrentOwnerId(void);
#define lock_get_caller_owner_id() ulPortLockGetCurrentOwnerId()
#define LOCK_INVALID_OWNER_ID ((uint32_t)-1)
struct lock_core;
#ifndef lock_internal_spin_unlock_with_wait
extern void vPortLockInternalSpinUnlockWithWait( struct lock_core *pxLock, uint32_t ulSave);
#define lock_internal_spin_unlock_with_wait(lock, save) vPortLockInternalSpinUnlockWithWait(lock, save)
#endif
#ifndef lock_internal_spin_unlock_with_notify
extern void vPortLockInternalSpinUnlockWithNotify( struct lock_core *pxLock, uint32_t save);
#define lock_internal_spin_unlock_with_notify(lock, save) vPortLockInternalSpinUnlockWithNotify(lock, save);
#endif
#ifndef lock_internal_spin_unlock_with_best_effort_wait_or_timeout
extern bool xPortLockInternalSpinUnlockWithBestEffortWaitOrTimeout( struct lock_core *pxLock, uint32_t ulSave, absolute_time_t uxUntil);
#define lock_internal_spin_unlock_with_best_effort_wait_or_timeout(lock, save, until) \
xPortLockInternalSpinUnlockWithBestEffortWaitOrTimeout(lock, save, until)
#endif
#endif /* configSUPPORT_PICO_SYNC_INTEROP */
#if ( configSUPPORT_PICO_TIME_INTEROP == 1 )
extern void xPortSyncInternalYieldUntilBefore(absolute_time_t t);
#define sync_internal_yield_until_before(t) xPortSyncInternalYieldUntilBefore(t)
#endif /* configSUPPORT_PICO_TIME_INTEROP */
#endif /* __ASSEMBLER__ */
#endif

236
portable/ThirdParty/GCC/RP2040/include/portmacro.h vendored Normal file
View file

@ -0,0 +1,236 @@
/*
* FreeRTOS Kernel V10.4.3
* Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
* Copyright (c) 2021 Raspberry Pi (Trading) Ltd.
*
* SPDX-License-Identifier: MIT AND BSD-3-Clause
*
* 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
*
*/
#ifndef PORTMACRO_H
#define PORTMACRO_H
#ifdef __cplusplus
extern "C" {
#endif
#include "pico.h"
#include "hardware/sync.h"
/*-----------------------------------------------------------
* 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 char
#define portFLOAT float
#define portDOUBLE double
#define portLONG long
#define portSHORT short
#define portSTACK_TYPE uint32_t
#define portBASE_TYPE long
typedef portSTACK_TYPE StackType_t;
typedef int32_t BaseType_t;
typedef uint32_t UBaseType_t;
#if ( configUSE_16_BIT_TICKS == 1 )
typedef uint16_t TickType_t;
#define portMAX_DELAY ( TickType_t ) 0xffff
#else
typedef uint32_t TickType_t;
#define portMAX_DELAY ( TickType_t ) 0xffffffffUL
/* 32-bit tick type on a 32-bit architecture, so reads of the tick count do
* not need to be guarded with a critical section. */
#define portTICK_TYPE_IS_ATOMIC 1
#endif
/*-----------------------------------------------------------*/
/* Architecture specifics. */
#define portSTACK_GROWTH ( -1 )
#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ )
#define portBYTE_ALIGNMENT 8
#define portDONT_DISCARD __attribute__( ( used ) )
/* We have to use PICO_DIVIDER_DISABLE_INTERRUPTS as the source of truth rathern than our config,
* as our FreeRTOSConfig.h header cannot be included by ASM code - which is what this affects in the SDK */
#define portUSE_DIVIDER_SAVE_RESTORE !PICO_DIVIDER_DISABLE_INTERRUPTS
#if portUSE_DIVIDER_SAVE_RESTORE
#define portSTACK_LIMIT_PADDING 4
#endif
/*-----------------------------------------------------------*/
/* Scheduler utilities. */
extern void vPortYield( void );
#define portNVIC_INT_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000ed04 ) )
#define portNVIC_PENDSVSET_BIT ( 1UL << 28UL )
#define portYIELD() vPortYield()
#define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT
#define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x )
/*-----------------------------------------------------------*/
/* Exception handlers */
#if (configUSE_DYNAMIC_EXCEPTION_HANDLERS == 0)
/* We only need to override the SDK's weak functions if we want to replace them at compile time */
#define vPortSVCHandler isr_svcall
#define xPortPendSVHandler isr_pendsv
#define xPortSysTickHandler isr_systick
#endif
/*-----------------------------------------------------------*/
/* Multi-core */
#define portSUPPORT_SMP 1 /* this is an SMP build which means configNUM_CORES is relevant */
#define portMAX_CORE_COUNT 2
#ifndef configNUM_CORES
#define configNUM_CORES 2
#endif
/* Requires for SMP */
#define portCRITICAL_NESTING_IN_TCB 1
/*-----------------------------------------------------------*/
/* Check validity of number of cores specified in config */
#if ( configNUM_CORES < 1 || portMAX_CORE_COUNT < configNUM_CORES )
#error "Invalid number of cores specified in config!"
#endif
#if ( configTICK_CORE < 0 || configTICK_CORE > configNUM_CORES )
#error "Invalid tick core specified in config!"
#endif
/* FreeRTOS core id is always zero based, so always 0 if we're running on only one core */
#if configNUM_CORES == portMAX_CORE_COUNT
#define portGET_CORE_ID() get_core_num()
#else
#define portGET_CORE_ID() 0
#endif
#define portCHECK_IF_IN_ISR() ({ \
uint32_t ulIPSR; \
__asm volatile ("mrs %0, IPSR" : "=r" (ulIPSR)::); \
((uint8_t)ulIPSR)>0;})
void vYieldCore(int xCoreID);
#define portYIELD_CORE(a) vYieldCore(a)
#define portRESTORE_INTERRUPTS(ulState) __asm volatile ("msr PRIMASK,%0"::"r" (ulState) : )
/*-----------------------------------------------------------*/
/* Critical section management. */
#define portSET_INTERRUPT_MASK_FROM_ISR() ({ uint32_t ulStateISR = portDISABLE_INTERRUPTS(); vTaskEnterCritical(); ulStateISR; })
#define portCLEAR_INTERRUPT_MASK_FROM_ISR( x ) do { vTaskExitCritical(); portRESTORE_INTERRUPTS( x ); } while (0)
#define portDISABLE_INTERRUPTS() ({ \
uint32_t ulState; \
__asm volatile ("mrs %0, PRIMASK" : "=r" (ulState)::); \
__asm volatile ( " cpsid i " ::: "memory" ); \
ulState;})
extern void vPortEnableInterrupts();
#define portENABLE_INTERRUPTS() vPortEnableInterrupts()
void vTaskEnterCritical(void);
void vTaskExitCritical(void);
#define portENTER_CRITICAL() vTaskEnterCritical()
#define portEXIT_CRITICAL() vTaskExitCritical()
#define portRTOS_SPINLOCK_COUNT 2
/* Note this is a single method with uxAcquire parameter since we have
* static vars, the method is always called with a compile time constant for
* uxAcquire, and the compiler should dothe right thing! */
static inline void vPortRecursiveLock(uint32_t ulLockNum, spin_lock_t *pxSpinLock, BaseType_t uxAcquire) {
static uint8_t ucOwnedByCore[ portMAX_CORE_COUNT ];
static uint8_t ucRecursionCountByLock[ portRTOS_SPINLOCK_COUNT ];
configASSERT(ulLockNum >= 0 && ulLockNum < portRTOS_SPINLOCK_COUNT );
uint32_t ulCoreNum = get_core_num();
uint32_t ulLockBit = 1u << ulLockNum;
configASSERT(ulLockBit < 256u );
if( uxAcquire )
{
if( __builtin_expect( !*pxSpinLock, 0 ) )
{
if( ucOwnedByCore[ulCoreNum] & ulLockBit )
{
configASSERT(ucRecursionCountByLock[ulLockNum] != 255u );
ucRecursionCountByLock[ulLockNum]++;
return;
}
while ( __builtin_expect( !*pxSpinLock, 0 ) );
}
__mem_fence_acquire();
configASSERT(ucRecursionCountByLock[ulLockNum] == 0 );
ucRecursionCountByLock[ulLockNum] = 1;
ucOwnedByCore[ulCoreNum] |= ulLockBit;
} else {
configASSERT((ucOwnedByCore[ulCoreNum] & ulLockBit) != 0 );
configASSERT(ucRecursionCountByLock[ulLockNum] != 0 );
if( !--ucRecursionCountByLock[ulLockNum] )
{
ucOwnedByCore[ulCoreNum] &= ~ulLockBit;
__mem_fence_release();
*pxSpinLock = 1;
}
}
}
#define portGET_ISR_LOCK() vPortRecursiveLock(0, spin_lock_instance(configSMP_SPINLOCK_0), pdTRUE)
#define portRELEASE_ISR_LOCK() vPortRecursiveLock(0, spin_lock_instance(configSMP_SPINLOCK_0), pdFALSE)
#define portGET_TASK_LOCK() vPortRecursiveLock(1, spin_lock_instance(configSMP_SPINLOCK_1), pdTRUE)
#define portRELEASE_TASK_LOCK() vPortRecursiveLock(1, spin_lock_instance(configSMP_SPINLOCK_1), pdFALSE)
/*-----------------------------------------------------------*/
/* Tickless idle/low power functionality. */
#ifndef portSUPPRESS_TICKS_AND_SLEEP
extern void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime );
#define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ) vPortSuppressTicksAndSleep( xExpectedIdleTime )
#endif
/*-----------------------------------------------------------*/
/* Task function macros as described on the FreeRTOS.org WEB site. */
#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void * pvParameters )
#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void * pvParameters )
#define portNOP()
#define portMEMORY_BARRIER() __asm volatile ( "" ::: "memory" )
#ifdef __cplusplus
}
#endif
#endif /* PORTMACRO_H */

89
portable/ThirdParty/GCC/RP2040/include/rp2040_config.h vendored Normal file
View file

@ -0,0 +1,89 @@
/*
* FreeRTOS Kernel V10.4.3
* Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
* Copyright (c) 2021 Raspberry Pi (Trading) Ltd.
*
* SPDX-License-Identifier: MIT AND BSD-3-Clause
*
* 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
*/
#ifndef RP2040_CONFIG_H
#define RP2040_CONFIG_H
#ifdef __cplusplus
extern "C" {
#endif
/* configUSE_DYNAMIC_EXCEPTION_HANDLERS == 1 means set the exception handlers dynamically on cores
* that need them in case the user has set up distinct vector table offsets per core
*/
#ifndef configUSE_DYNAMIC_EXCEPTION_HANDLERS
#if defined( PICO_NO_RAM_VECTOR_TABLE ) && ( PICO_NO_RAM_VECTOR_TABLE == 1 )
#define configUSE_DYNAMIC_EXCEPTION_HANDLERS 0
#else
#define configUSE_DYNAMIC_EXCEPTION_HANDLERS 1
#endif
#endif
/* configSUPPORT_PICO_SYNC_INTEROP == 1 means that SDK pico_sync
* sem/mutex/queue etc. will work correctly when called from FreeRTOS tasks
*/
#ifndef configSUPPORT_PICO_SYNC_INTEROP
#if LIB_PICO_SYNC
#define configSUPPORT_PICO_SYNC_INTEROP 1
#endif
#endif
/* configSUPPORT_PICO_SYNC_INTEROP == 1 means that SDK pico_time
* sleep_ms/sleep_us/sleep_until will work correctly when called from FreeRTOS
* tasks, and will actually block at the FreeRTOS level
*/
#ifndef configSUPPORT_PICO_TIME_INTEROP
#if LIB_PICO_TIME
#define configSUPPORT_PICO_TIME_INTEROP 1
#endif
#endif
#if (configNUM_CORES > 1)
/* configTICK_CORE indicates which core should handle the SysTick
* interrupts */
#ifndef configTICK_CORE
#define configTICK_CORE 0
#endif
#endif
/* This SMP port requires two spin locks, which are claimed from the SDK.
* the spin lock numbers to be used are defined statically and defaulted here
* to the values nominally set aside for RTOS by the SDK */
#ifndef configSMP_SPINLOCK_0
#define configSMP_SPINLOCK_0 PICO_SPINLOCK_ID_OS1
#endif
#ifndef configSMP_SPINLOCK_1
#define configSMP_SPINLOCK_1 PICO_SPINLOCK_ID_OS2
#endif
#ifdef __cplusplus
};
#endif
#endif