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RP2040 Updates: (#1193)

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* Standardize on configNUMBER_OF_CORES != 1 to select SMP functionality
* Fix SDK pico_sync interoperability (configSUPPORT_PICO_SYNC_INTEROP == 1)

Co-authored-by: graham sanderson <graham.sanderson@raspeberryi.com>
This commit is contained in:
Graham Sanderson 2024-11-13 22:17:50 -06:00 committed by GitHub
parent f239da06ec
commit 73f6e3a1b4
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2 changed files with 99 additions and 110 deletions
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40
portable/ThirdParty/GCC/RP2040/include/portmacro.h vendored
View file

@ -151,11 +151,12 @@ extern void vPortYield( void );
void vYieldCore( int xCoreID );
#define portYIELD_CORE( a ) vYieldCore( a )
#define portRESTORE_INTERRUPTS( ulState ) __asm volatile ( "msr PRIMASK,%0" ::"r" ( ulState ) : )
/*-----------------------------------------------------------*/
/* Critical nesting count management. */
#define portCRITICAL_NESTING_IN_TCB 0
extern UBaseType_t uxCriticalNestings[ configNUMBER_OF_CORES ];
#define portGET_CRITICAL_NESTING_COUNT() ( uxCriticalNestings[ portGET_CORE_ID() ] )
#define portSET_CRITICAL_NESTING_COUNT( x ) ( uxCriticalNestings[ portGET_CORE_ID() ] = ( x ) )
@ -181,9 +182,7 @@ extern void vClearInterruptMaskFromISR( uint32_t ulMask ) __attribute__( ( nake
#define portCLEAR_INTERRUPT_MASK_FROM_ISR( x ) vClearInterruptMaskFromISR( x )
#define portDISABLE_INTERRUPTS() __asm volatile ( " cpsid i " ::: "memory" )
extern void vPortEnableInterrupts();
#define portENABLE_INTERRUPTS() vPortEnableInterrupts()
#define portENABLE_INTERRUPTS() __asm volatile ( " cpsie i " ::: "memory" )
#if ( configNUMBER_OF_CORES == 1 )
extern void vPortEnterCritical( void );
@ -203,6 +202,12 @@ extern void vPortEnableInterrupts();
#define portRTOS_SPINLOCK_COUNT 2
#if PICO_SDK_VERSION_MAJOR < 2
__force_inline static bool spin_try_lock_unsafe(spin_lock_t *lock) {
return *lock;
}
#endif
/* 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! */
@ -210,45 +215,36 @@ 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 ];
static volatile uint8_t ucOwnedByCore[ portMAX_CORE_COUNT ][portRTOS_SPINLOCK_COUNT];
static volatile uint8_t ucRecursionCountByLock[ portRTOS_SPINLOCK_COUNT ];
configASSERT( 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 )
if (!spin_try_lock_unsafe(pxSpinLock)) {
if( ucOwnedByCore[ ulCoreNum ][ ulLockNum ] )
{
configASSERT( ucRecursionCountByLock[ ulLockNum ] != 255u );
ucRecursionCountByLock[ ulLockNum ]++;
return;
}
while( __builtin_expect( !*pxSpinLock, 0 ) )
{
}
spin_lock_unsafe_blocking(pxSpinLock);
}
__mem_fence_acquire();
configASSERT( ucRecursionCountByLock[ ulLockNum ] == 0 );
ucRecursionCountByLock[ ulLockNum ] = 1;
ucOwnedByCore[ ulCoreNum ] |= ulLockBit;
ucOwnedByCore[ ulCoreNum ][ ulLockNum ] = 1;
}
else
{
configASSERT( ( ucOwnedByCore[ ulCoreNum ] & ulLockBit ) != 0 );
configASSERT( ( ucOwnedByCore[ ulCoreNum ] [ulLockNum ] ) != 0 );
configASSERT( ucRecursionCountByLock[ ulLockNum ] != 0 );
if( !--ucRecursionCountByLock[ ulLockNum ] )
{
ucOwnedByCore[ ulCoreNum ] &= ~ulLockBit;
__mem_fence_release();
*pxSpinLock = 1;
ucOwnedByCore[ ulCoreNum ] [ ulLockNum ] = 0;
spin_unlock_unsafe(pxSpinLock);
}
}
}

169
portable/ThirdParty/GCC/RP2040/port.c vendored
View file

@ -46,9 +46,6 @@
#include "pico/multicore.h"
#endif /* LIB_PICO_MULTICORE */
/* TODO : consider to remove this macro. */
#define portRUNNING_ON_BOTH_CORES ( configNUMBER_OF_CORES == portMAX_CORE_COUNT )
/* Constants required to manipulate the NVIC. */
#define portNVIC_SYSTICK_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000e010 ) )
#define portNVIC_SYSTICK_LOAD_REG ( *( ( volatile uint32_t * ) 0xe000e014 ) )
@ -123,22 +120,21 @@ UBaseType_t uxCriticalNestings[ configNUMBER_OF_CORES ] = { 0 };
/*-----------------------------------------------------------*/
#if ( configSUPPORT_PICO_SYNC_INTEROP == 1 || configNUMBER_OF_CORES > 1 )
#include "hardware/irq.h"
#endif /* ( configSUPPORT_PICO_SYNC_INTEROP == 1 || configNUMBER_OF_CORES > 1 ) */
#if ( configSUPPORT_PICO_SYNC_INTEROP == 1 )
#include "pico/lock_core.h"
#include "hardware/irq.h"
#include "event_groups.h"
#if configSUPPORT_STATIC_ALLOCATION
static StaticEventGroup_t xStaticEventGroup;
#define pEventGroup ( &xStaticEventGroup )
#endif /* configSUPPORT_STATIC_ALLOCATION */
static EventGroupHandle_t xEventGroup;
#if ( portRUNNING_ON_BOTH_CORES == 0 )
#if ( configNUMBER_OF_CORES == 1 )
static EventBits_t uxCrossCoreEventBits;
static spin_lock_t * pxCrossCoreSpinLock;
static spin_lock_t * pxCrossCoreSpinLock; /* protects uxCrossCoreEventBits */
#endif
static spin_lock_t * pxYieldSpinLock[ configNUMBER_OF_CORES ];
static uint32_t ulYieldSpinLockSaveValue[ configNUMBER_OF_CORES ];
#endif /* configSUPPORT_PICO_SYNC_INTEROP */
/*
@ -171,7 +167,7 @@ UBaseType_t uxCriticalNestings[ configNUMBER_OF_CORES ] = { 0 };
static uint8_t ucPrimaryCoreNum = INVALID_PRIMARY_CORE_NUM;
/* Note: portIS_FREE_RTOS_CORE() also returns false until the scheduler is started */
#if ( portRUNNING_ON_BOTH_CORES == 1 )
#if ( configNUMBER_OF_CORES != 1 )
#define portIS_FREE_RTOS_CORE() ( ucPrimaryCoreNum != INVALID_PRIMARY_CORE_NUM )
#else
#define portIS_FREE_RTOS_CORE() ( ucPrimaryCoreNum == get_core_num() )
@ -247,16 +243,16 @@ void vPortStartFirstTask( void )
" ldr r0, [r0] \n"
" msr msp, r0 \n" /* Set the msp back to the start of the stack. */
#endif /* configRESET_STACK_POINTER */
#if portRUNNING_ON_BOTH_CORES
#if ( configNUMBER_OF_CORES != 1 )
" adr r1, ulAsmLocals \n" /* Get the location of the current TCB for the current core. */
" ldmia r1!, {r2, r3} \n"
" ldr r2, [r2] \n" /* r2 = Core number */
" lsls r2, #2 \n"
" ldr r3, [r3, r2] \n" /* r3 = pxCurrentTCBs[get_core_num()] */
#else
#else /* configNUMBER_OF_CORES != 1 */
" ldr r3, =pxCurrentTCBs \n"
" ldr r3, [r3] \n" /* r3 = pxCurrentTCBs[0] */
#endif /* portRUNNING_ON_BOTH_CORES */
#endif /* configNUMBER_OF_CORES != 1 */
" ldr r0, [r3] \n" /* The first item in pxCurrentTCB is the task top of stack. */
" adds r0, #32 \n" /* Discard everything up to r0. */
" msr psp, r0 \n" /* This is now the new top of stack to use in the task. */
@ -269,7 +265,7 @@ void vPortStartFirstTask( void )
" pop {r2} \n" /* Pop and discard XPSR. */
" cpsie i \n" /* The first task has its context and interrupts can be enabled. */
" bx r3 \n" /* Finally, jump to the user defined task code. */
#if portRUNNING_ON_BOTH_CORES
#if configNUMBER_OF_CORES != 1
" \n"
" .align 4 \n"
"ulAsmLocals: \n"
@ -291,7 +287,7 @@ void vPortStartFirstTask( void )
/* And explicitly clear any other IRQ flags. */
multicore_fifo_clear_irq();
#if ( portRUNNING_ON_BOTH_CORES == 1 )
#if ( configNUMBER_OF_CORES != 1 )
portYIELD_FROM_ISR( pdTRUE );
#elif ( configSUPPORT_PICO_SYNC_INTEROP == 1 )
BaseType_t xHigherPriorityTaskWoken = pdFALSE;
@ -301,7 +297,7 @@ void vPortStartFirstTask( void )
spin_unlock( pxCrossCoreSpinLock, ulSave );
xEventGroupSetBitsFromISR( xEventGroup, ulBits, &xHigherPriorityTaskWoken );
portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
#endif /* portRUNNING_ON_BOTH_CORES */
#endif /* configNUMBER_OF_CORES != 1 */
}
#endif /* if ( LIB_PICO_MULTICORE == 1 ) && ( configSUPPORT_PICO_SYNC_INTEROP == 1 ) */
@ -346,23 +342,21 @@ void vPortStartFirstTask( void )
/* Should never get here as the tasks will now be executing! Call the task
* exit error function to prevent compiler warnings about a static function
* not being called in the case that the application writer overrides this
* functionality by defining configTASK_RETURN_ADDRESS. Call
* vTaskSwitchContext() so link time optimisation does not remove the
* functionality by defining configTASK_RETURN_ADDRESS. Call
* vTaskSwitchContext() so link time optimization does not remove the
* symbol. */
vTaskSwitchContext( portGET_CORE_ID() );
prvTaskExitError();
/* Should not get here! */
/* Should not get here. */
return 0;
}
#if portRUNNING_ON_BOTH_CORES
static void prvDisableInterruptsAndPortStartSchedulerOnCore( void )
{
portDISABLE_INTERRUPTS();
xPortStartSchedulerOnCore();
}
#endif
static void prvDisableInterruptsAndPortStartSchedulerOnCore( void )
{
portDISABLE_INTERRUPTS();
xPortStartSchedulerOnCore();
}
/*
* See header file for description.
@ -375,7 +369,7 @@ void vPortStartFirstTask( void )
spin_lock_claim( configSMP_SPINLOCK_0 );
spin_lock_claim( configSMP_SPINLOCK_1 );
#if portRUNNING_ON_BOTH_CORES
#if configNUMBER_OF_CORES != 1
ucPrimaryCoreNum = configTICK_CORE;
configASSERT( get_core_num() == 0 ); /* we must be started on core 0 */
multicore_reset_core1();
@ -418,7 +412,7 @@ void vPortStartFirstTask( void )
#if ( configSUPPORT_PICO_SYNC_INTEROP == 1 )
multicore_fifo_clear_irq();
multicore_fifo_drain();
uint32_t irq_num = 15 + get_core_num();
uint32_t irq_num = SIO_IRQ_PROC0 + get_core_num();
irq_set_priority( irq_num, portMIN_INTERRUPT_PRIORITY );
irq_set_exclusive_handler( irq_num, prvFIFOInterruptHandler );
irq_set_enabled( irq_num, 1 );
@ -431,8 +425,8 @@ void vPortStartFirstTask( void )
/* Should never get here as the tasks will now be executing! Call the task
* exit error function to prevent compiler warnings about a static function
* not being called in the case that the application writer overrides this
* functionality by defining configTASK_RETURN_ADDRESS. Call
* vTaskSwitchContext() so link time optimisation does not remove the
* functionality by defining configTASK_RETURN_ADDRESS. Call
* vTaskSwitchContext() so link time optimization does not remove the
* symbol. */
vTaskSwitchContext();
prvTaskExitError();
@ -446,20 +440,14 @@ void vPortStartFirstTask( void )
void vPortEndScheduler( void )
{
/* Not implemented in ports where there is nothing to return to. */
panic_unsupported();
/* Not implemented in ports where there is nothing to return to.
* Artificially force an assert. */
configASSERT( portGET_CORE_ID() == 1000UL );
}
/*-----------------------------------------------------------*/
void vPortYield( void )
{
#if ( configSUPPORT_PICO_SYNC_INTEROP == 1 )
/* We are not in an ISR, and pxYieldSpinLock is always dealt with and
* cleared when interrupts are re-enabled, so should be NULL */
configASSERT( pxYieldSpinLock[ portGET_CORE_ID() ] == NULL );
#endif /* configSUPPORT_PICO_SYNC_INTEROP */
/* Set a PendSV to request a context switch. */
portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
@ -495,21 +483,6 @@ void vPortYield( void )
}
#endif /* #if ( configNUMBER_OF_CORES == 1 ) */
void vPortEnableInterrupts( void )
{
#if ( configSUPPORT_PICO_SYNC_INTEROP == 1 )
int xCoreID = ( int ) portGET_CORE_ID();
if( pxYieldSpinLock[ xCoreID ] )
{
spin_lock_t * const pxTmpLock = pxYieldSpinLock[ xCoreID ];
pxYieldSpinLock[ xCoreID ] = NULL;
spin_unlock( pxTmpLock, ulYieldSpinLockSaveValue[ xCoreID ] );
}
#endif
__asm volatile ( " cpsie i " ::: "memory" );
}
/*-----------------------------------------------------------*/
uint32_t ulSetInterruptMaskFromISR( void )
@ -542,7 +515,7 @@ void vYieldCore( int xCoreID )
configASSERT( xCoreID != ( int ) portGET_CORE_ID() );
#if portRUNNING_ON_BOTH_CORES
#if configNUMBER_OF_CORES != 1
/* Non blocking, will cause interrupt on other core if the queue isn't already full,
* in which case an IRQ must be pending */
@ -645,7 +618,7 @@ void xPortPendSVHandler( void )
" \n"
" adr r0, ulAsmLocals2 \n" /* Get the location of the current TCB for the current core. */
" ldmia r0!, {r2, r3} \n"
#if portRUNNING_ON_BOTH_CORES
#if configNUMBER_OF_CORES != 1
" ldr r0, [r2] \n" /* r0 = Core number */
" lsls r0, r0, #2 \n"
" adds r3, r0 \n" /* r3 = &pxCurrentTCBs[get_core_num()] */
@ -685,11 +658,11 @@ void xPortPendSVHandler( void )
" subs r1, r1, #48 \n"
" stmia r1!, {r4-r7} \n"
#endif /* portUSE_DIVIDER_SAVE_RESTORE */
#if portRUNNING_ON_BOTH_CORES
#if configNUMBER_OF_CORES != 1
" ldr r0, [r2] \n" /* r0 = Core number */
#else
" movs r0, #0 \n"
#endif /* portRUNNING_ON_BOTH_CORES */
#endif /* configNUMBER_OF_CORES != 1 */
" push {r3, r14} \n"
" cpsid i \n"
" bl vTaskSwitchContext \n"
@ -1001,10 +974,10 @@ __attribute__( ( weak ) ) void vPortSetupTimerInterrupt( void )
#if ( configTICK_TYPE_WIDTH_IN_BITS == TICK_TYPE_WIDTH_16_BITS )
ulBit = 1u << ( spin_lock_get_num( spinLock ) & 0x7u );
#elif ( configTICK_TYPE_WIDTH_IN_BITS == TICK_TYPE_WIDTH_32_BITS )
ulBit = 1u << spin_lock_get_num( spinLock );
/* reduce to range 0-24 */
ulBit |= ulBit << 8u;
ulBit >>= 8u;
/* Avoid potential use of SIO divider for % here out of abundance of caution */
ulBit = spin_lock_get_num( spinLock );
if (ulBit >= 24) ulBit -= 24;
ulBit = 1u << ulBit;
#endif /* configTICK_TYPE_WIDTH_IN_BITS */
return ( EventBits_t ) ulBit;
}
@ -1022,8 +995,8 @@ __attribute__( ( weak ) ) void vPortSetupTimerInterrupt( void )
uint32_t ulSave )
{
configASSERT( !portCHECK_IF_IN_ISR() );
configASSERT( pxLock->spin_lock );
/* note no need to check LIB_PICO_MULTICORE, as this is always returns true if that is not defined */
if( !portIS_FREE_RTOS_CORE() )
{
spin_unlock( pxLock->spin_lock, ulSave );
@ -1031,15 +1004,43 @@ __attribute__( ( weak ) ) void vPortSetupTimerInterrupt( void )
}
else
{
configASSERT( pxYieldSpinLock[ portGET_CORE_ID() ] == NULL );
/* we want to hold the lock until the event bits have been set; since interrupts are currently disabled */
/* by the spinlock, we can defer until portENABLE_INTERRUPTS is called which is always called when */
/* the scheduler is unlocked during this call */
configASSERT( pxLock->spin_lock );
int xCoreID = ( int ) portGET_CORE_ID();
pxYieldSpinLock[ xCoreID ] = pxLock->spin_lock;
ulYieldSpinLockSaveValue[ xCoreID ] = ulSave;
/* The requirement (from the SDK) on this implementation is that this method
* should always wake up from a corresponding call to vPortLockInternalSpinUnlockWithNotify
* that happens after this method is called.
*
* The moment that we unlock the spin lock, we need to be sure that
* there is no way that we end up blocking in xEventGroupWaitBits,
* despite the fact that other tasks can now run, if the corresponding
* unlock has occurred.
*
* Previously the RP2xxx ports used to attempt to disable IRQs until the
* task actually (potentially) became blocked by hooking the IRQ re-enable
* when xEventGroupWaitBits completes (or switches tasks), but this
* was a broken hack, in that IRQs are re-enabled at other points during
* that call.
*
* This deferred IRQ enable is not actually needed, because all we
* care about is that:
*
* Even in the presence of other tasks acquiring then releasing
* the lock, between the interrupt_enable and the xEventGroupWaitBits,
* the corresponding bit will still be set.
*
* This is the case, even any intervening blocked lock (which
* clears the event bit) will need to unlock it before we proceed,
* which will set the event bit again.
*
* The multiplexing down of multiple spin lock numbers to fewer
* event bits does not cause a possible race condition,
* but it does mean that a task waiting for lock A can be
* blocked by a task B which owns another lock.
*
* This could be fixed by using an array of event groups, however
* since the SDK spin locks are generally intended for very short
* term usage anyway, and rarely nested except in exotic cases
* like video output, we'll leave it as one event group for now
*/
spin_unlock( pxLock->spin_lock, ulSave);
xEventGroupWaitBits( xEventGroup, prvGetEventGroupBit( pxLock->spin_lock ),
pdTRUE, pdFALSE, portMAX_DELAY );
}
@ -1072,11 +1073,7 @@ __attribute__( ( weak ) ) void vPortSetupTimerInterrupt( void )
else
{
__sev();
#if ( portRUNNING_ON_BOTH_CORES == 0 )
/* We could sent the bits across the FIFO which would have required us to block here if the FIFO was full,
* or we could have just set all bits on the other side, however it seems reasonable instead to take
* the hit of another spin lock to protect an accurate bit set. */
#if ( configNUMBER_OF_CORES == 1 )
if( pxCrossCoreSpinLock != pxLock->spin_lock )
{
spin_lock_unsafe_blocking( pxCrossCoreSpinLock );
@ -1090,7 +1087,7 @@ __attribute__( ( weak ) ) void vPortSetupTimerInterrupt( void )
/* This causes fifo irq on the other (FreeRTOS) core which will do the set the event bits */
sio_hw->fifo_wr = 0;
#endif /* portRUNNING_ON_BOTH_CORES == 0 */
#endif /* configNUMBER_OF_CORES == 1 */
spin_unlock( pxLock->spin_lock, ulSave );
}
}
@ -1100,6 +1097,7 @@ __attribute__( ( weak ) ) void vPortSetupTimerInterrupt( void )
absolute_time_t uxUntil )
{
configASSERT( !portCHECK_IF_IN_ISR() );
configASSERT( pxLock->spin_lock );
/* note no need to check LIB_PICO_MULTICORE, as this is always returns true if that is not defined */
if( !portIS_FREE_RTOS_CORE() )
@ -1110,19 +1108,14 @@ __attribute__( ( weak ) ) void vPortSetupTimerInterrupt( void )
else
{
configASSERT( portIS_FREE_RTOS_CORE() );
configASSERT( pxYieldSpinLock[ portGET_CORE_ID() ] == NULL );
TickType_t uxTicksToWait = prvGetTicksToWaitBefore( uxUntil );
if( uxTicksToWait )
{
/* We want to hold the lock until the event bits have been set; since interrupts are currently disabled
* by the spinlock, we can defer until portENABLE_INTERRUPTS is called which is always called when
* the scheduler is unlocked during this call */
configASSERT( pxLock->spin_lock );
int xCoreID = ( int ) portGET_CORE_ID();
pxYieldSpinLock[ xCoreID ] = pxLock->spin_lock;
ulYieldSpinLockSaveValue[ xCoreID ] = ulSave;
/* See comment in vPortLockInternalSpinUnlockWithWait for detail
* about possible race conditions */
spin_unlock( pxLock->spin_lock, ulSave );
xEventGroupWaitBits( xEventGroup,
prvGetEventGroupBit( pxLock->spin_lock ), pdTRUE,
pdFALSE, uxTicksToWait );
@ -1152,9 +1145,9 @@ __attribute__( ( weak ) ) void vPortSetupTimerInterrupt( void )
{
/* This must be done even before the scheduler is started, as the spin lock
* is used by the overrides of the SDK wait/notify primitives */
#if ( portRUNNING_ON_BOTH_CORES == 0 )
#if ( configNUMBER_OF_CORES == 1 )
pxCrossCoreSpinLock = spin_lock_instance( next_striped_spin_lock_num() );
#endif /* portRUNNING_ON_BOTH_CORES */
#endif /* configNUMBER_OF_CORES == 1 */
/* The event group is not used prior to scheduler init, but is initialized
* here to since it logically belongs with the spin lock */