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Riscv re-factoring (#444)

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* Refactor RISCV port

Signed-off-by: Gaurav Aggarwal <aggarg@amazon.com>

* Changes to make re-factoring work on ESP32-C3

Signed-off-by: Gaurav Aggarwal <aggarg@amazon.com>

* Remove alignment and place handlers in separate sections

Signed-off-by: Gaurav Aggarwal <aggarg@amazon.com>

* Correct section names

This is needed so that the assemblers correctly recognizes functions.

Signed-off-by: Gaurav Aggarwal <aggarg@amazon.com>

* Move mtvec programming to the application

Signed-off-by: Gaurav Aggarwal <aggarg@amazon.com>

* Refactor mtimer udpate code

Signed-off-by: Gaurav Aggarwal <aggarg@amazon.com>

* Move critical nesting to port layer

Signed-off-by: Gaurav Aggarwal <aggarg@amazon.com>

* Respect configTASK_RETURN_ADDRESS

Signed-off-by: Gaurav Aggarwal <aggarg@amazon.com>

* Formatting changes

Signed-off-by: Gaurav Aggarwal <aggarg@amazon.com>
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Gaurav-Aggarwal-AWS 2022-01-26 17:55:01 -08:00 committed by GitHub
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5 changed files with 787 additions and 614 deletions
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69
portable/GCC/RISC-V/chip_specific_extensions/RISCV_no_extensions/freertos_risc_v_chip_specific_extensions.h Normal file
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@ -0,0 +1,69 @@
/*
* FreeRTOS Kernel <DEVELOPMENT BRANCH>
* Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* 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
*
*/
/*
* The FreeRTOS kernel's RISC-V port is split between the the code that is
* common across all currently supported RISC-V chips (implementations of the
* RISC-V ISA), and code that tailors the port to a specific RISC-V chip:
*
* + FreeRTOS\Source\portable\GCC\RISC-V\portASM.S contains the code that
* is common to all currently supported RISC-V chips. There is only one
* portASM.S file because the same file is built for all RISC-V target chips.
*
* + Header files called freertos_risc_v_chip_specific_extensions.h contain the
* code that tailors the FreeRTOS kernel's RISC-V port to a specific RISC-V
* chip. There are multiple freertos_risc_v_chip_specific_extensions.h files
* as there are multiple RISC-V chip implementations.
*
* !!!NOTE!!!
* TAKE CARE TO INCLUDE THE CORRECT freertos_risc_v_chip_specific_extensions.h
* HEADER FILE FOR THE CHIP IN USE. This is done using the assembler's (not the
* compiler's!) include path. For example, if the chip in use includes a core
* local interrupter (CLINT) and does not include any chip specific register
* extensions then add the path below to the assembler's include path:
* FreeRTOS\Source\portable\GCC\RISC-V\chip_specific_extensions\RISCV_MTIME_CLINT_no_extensions
*
*/
#ifndef __FREERTOS_RISC_V_EXTENSIONS_H__
#define __FREERTOS_RISC_V_EXTENSIONS_H__
#define portasmHAS_SIFIVE_CLINT 0
#define portasmHAS_MTIME 0
#define portasmADDITIONAL_CONTEXT_SIZE 0
.macro portasmSAVE_ADDITIONAL_REGISTERS
/* No additional registers to save, so this macro does nothing. */
.endm
.macro portasmRESTORE_ADDITIONAL_REGISTERS
/* No additional registers to restore, so this macro does nothing. */
.endm
#endif /* __FREERTOS_RISC_V_EXTENSIONS_H__ */

70
portable/GCC/RISC-V/port.c
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@ -27,7 +27,7 @@
*/ */
/*----------------------------------------------------------- /*-----------------------------------------------------------
* Implementation of functions defined in portable.h for the RISC-V RV32 port. * Implementation of functions defined in portable.h for the RISC-V port.
*----------------------------------------------------------*/ *----------------------------------------------------------*/
/* Scheduler includes. */ /* Scheduler includes. */
@ -50,22 +50,20 @@
#warning configMTIMECMP_BASE_ADDRESS must be defined in FreeRTOSConfig.h. If the target chip includes a memory-mapped mtimecmp register then set configMTIMECMP_BASE_ADDRESS to the mapped address. Otherwise set configMTIMECMP_BASE_ADDRESS to 0. See https://www.FreeRTOS.org/Using-FreeRTOS-on-RISC-V.html #warning configMTIMECMP_BASE_ADDRESS must be defined in FreeRTOSConfig.h. If the target chip includes a memory-mapped mtimecmp register then set configMTIMECMP_BASE_ADDRESS to the mapped address. Otherwise set configMTIMECMP_BASE_ADDRESS to 0. See https://www.FreeRTOS.org/Using-FreeRTOS-on-RISC-V.html
#endif #endif
/* Let the user override the pre-loading of the initial LR with the address of /* Let the user override the pre-loading of the initial RA. */
prvTaskExitError() in case it messes up unwinding of the stack in the
debugger. */
#ifdef configTASK_RETURN_ADDRESS #ifdef configTASK_RETURN_ADDRESS
#define portTASK_RETURN_ADDRESS configTASK_RETURN_ADDRESS #define portTASK_RETURN_ADDRESS configTASK_RETURN_ADDRESS
#else #else
#define portTASK_RETURN_ADDRESS prvTaskExitError #define portTASK_RETURN_ADDRESS 0
#endif #endif
/* The stack used by interrupt service routines. Set configISR_STACK_SIZE_WORDS /* The stack used by interrupt service routines. Set configISR_STACK_SIZE_WORDS
to use a statically allocated array as the interrupt stack. Alternative leave * to use a statically allocated array as the interrupt stack. Alternative leave
configISR_STACK_SIZE_WORDS undefined and update the linker script so that a * configISR_STACK_SIZE_WORDS undefined and update the linker script so that a
linker variable names __freertos_irq_stack_top has the same value as the top * linker variable names __freertos_irq_stack_top has the same value as the top
of the stack used by main. Using the linker script method will repurpose the * of the stack used by main. Using the linker script method will repurpose the
stack that was used by main before the scheduler was started for use as the * stack that was used by main before the scheduler was started for use as the
interrupt stack after the scheduler has started. */ * interrupt stack after the scheduler has started. */
#ifdef configISR_STACK_SIZE_WORDS #ifdef configISR_STACK_SIZE_WORDS
static __attribute__ ((aligned(16))) StackType_t xISRStack[ configISR_STACK_SIZE_WORDS ] = { 0 }; static __attribute__ ((aligned(16))) StackType_t xISRStack[ configISR_STACK_SIZE_WORDS ] = { 0 };
const StackType_t xISRStackTop = ( StackType_t ) &( xISRStack[ configISR_STACK_SIZE_WORDS & ~portBYTE_ALIGNMENT_MASK ] ); const StackType_t xISRStackTop = ( StackType_t ) &( xISRStack[ configISR_STACK_SIZE_WORDS & ~portBYTE_ALIGNMENT_MASK ] );
@ -95,10 +93,18 @@ const size_t uxTimerIncrementsForOneTick = ( size_t ) ( ( configCPU_CLOCK_HZ ) /
uint32_t const ullMachineTimerCompareRegisterBase = configMTIMECMP_BASE_ADDRESS; uint32_t const ullMachineTimerCompareRegisterBase = configMTIMECMP_BASE_ADDRESS;
volatile uint64_t * pullMachineTimerCompareRegister = NULL; volatile uint64_t * pullMachineTimerCompareRegister = NULL;
/* Holds the critical nesting value - deliberately non-zero at start up to
* ensure interrupts are not accidentally enabled before the scheduler starts. */
size_t xCriticalNesting = ( size_t ) 0xaaaaaaaa;
size_t *pxCriticalNesting = &xCriticalNesting;
/* Used to catch tasks that attempt to return from their implementing function. */
size_t xTaskReturnAddress = ( size_t ) portTASK_RETURN_ADDRESS;
/* Set configCHECK_FOR_STACK_OVERFLOW to 3 to add ISR stack checking to task /* Set configCHECK_FOR_STACK_OVERFLOW to 3 to add ISR stack checking to task
stack checking. A problem in the ISR stack will trigger an assert, not call the * stack checking. A problem in the ISR stack will trigger an assert, not call
stack overflow hook function (because the stack overflow hook is specific to a * the stack overflow hook function (because the stack overflow hook is specific
task stack, not the ISR stack). */ * to a task stack, not the ISR stack). */
#if defined( configISR_STACK_SIZE_WORDS ) && ( configCHECK_FOR_STACK_OVERFLOW > 2 ) #if defined( configISR_STACK_SIZE_WORDS ) && ( configCHECK_FOR_STACK_OVERFLOW > 2 )
#warning This path not tested, or even compiled yet. #warning This path not tested, or even compiled yet.
@ -122,7 +128,7 @@ task stack, not the ISR stack). */
void vPortSetupTimerInterrupt( void ) void vPortSetupTimerInterrupt( void )
{ {
uint32_t ulCurrentTimeHigh, ulCurrentTimeLow; uint32_t ulCurrentTimeHigh, ulCurrentTimeLow;
volatile uint32_t * const pulTimeHigh = ( volatile uint32_t * const ) ( ( configMTIME_BASE_ADDRESS ) + 4UL ); /* 8-byte typer so high 32-bit word is 4 bytes up. */ volatile uint32_t * const pulTimeHigh = ( volatile uint32_t * const ) ( ( configMTIME_BASE_ADDRESS ) + 4UL ); /* 8-byte type so high 32-bit word is 4 bytes up. */
volatile uint32_t * const pulTimeLow = ( volatile uint32_t * const ) ( configMTIME_BASE_ADDRESS ); volatile uint32_t * const pulTimeLow = ( volatile uint32_t * const ) ( configMTIME_BASE_ADDRESS );
volatile uint32_t ulHartId; volatile uint32_t ulHartId;
@ -154,16 +160,9 @@ extern void xPortStartFirstTask( void );
#if( configASSERT_DEFINED == 1 ) #if( configASSERT_DEFINED == 1 )
{ {
volatile uint32_t mtvec = 0;
/* Check the least significant two bits of mtvec are 00 - indicating
single vector mode. */
__asm volatile( "csrr %0, mtvec" : "=r"( mtvec ) );
configASSERT( ( mtvec & 0x03UL ) == 0 );
/* Check alignment of the interrupt stack - which is the same as the /* Check alignment of the interrupt stack - which is the same as the
stack that was being used by main() prior to the scheduler being * stack that was being used by main() prior to the scheduler being
started. */ * started. */
configASSERT( ( xISRStackTop & portBYTE_ALIGNMENT_MASK ) == 0 ); configASSERT( ( xISRStackTop & portBYTE_ALIGNMENT_MASK ) == 0 );
#ifdef configISR_STACK_SIZE_WORDS #ifdef configISR_STACK_SIZE_WORDS
@ -175,28 +174,23 @@ extern void xPortStartFirstTask( void );
#endif /* configASSERT_DEFINED */ #endif /* configASSERT_DEFINED */
/* If there is a CLINT then it is ok to use the default implementation /* If there is a CLINT then it is ok to use the default implementation
in this file, otherwise vPortSetupTimerInterrupt() must be implemented to * in this file, otherwise vPortSetupTimerInterrupt() must be implemented to
configure whichever clock is to be used to generate the tick interrupt. */ * configure whichever clock is to be used to generate the tick interrupt. */
vPortSetupTimerInterrupt(); vPortSetupTimerInterrupt();
#if( ( configMTIME_BASE_ADDRESS != 0 ) && ( configMTIMECMP_BASE_ADDRESS != 0 ) ) #if( ( configMTIME_BASE_ADDRESS != 0 ) && ( configMTIMECMP_BASE_ADDRESS != 0 ) )
{ {
/* Enable mtime and external interrupts. 1<<7 for timer interrupt, 1<<11 /* Enable mtime and external interrupts. 1<<7 for timer interrupt,
for external interrupt. _RB_ What happens here when mtime is not present as * 1<<11 for external interrupt. _RB_ What happens here when mtime is
with pulpino? */ * not present as with pulpino? */
__asm volatile( "csrs mie, %0" :: "r"(0x880) ); __asm volatile( "csrs mie, %0" :: "r"(0x880) );
} }
#else
{
/* Enable external interrupts. */
__asm volatile( "csrs mie, %0" :: "r"(0x800) );
}
#endif /* ( configMTIME_BASE_ADDRESS != 0 ) && ( configMTIMECMP_BASE_ADDRESS != 0 ) */ #endif /* ( configMTIME_BASE_ADDRESS != 0 ) && ( configMTIMECMP_BASE_ADDRESS != 0 ) */
xPortStartFirstTask(); xPortStartFirstTask();
/* Should not get here as after calling xPortStartFirstTask() only tasks /* Should not get here as after calling xPortStartFirstTask() only tasks
should be executing. */ * should be executing. */
return pdFAIL; return pdFAIL;
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
@ -206,8 +200,4 @@ void vPortEndScheduler( void )
/* Not implemented. */ /* Not implemented. */
for( ;; ); for( ;; );
} }
/*-----------------------------------------------------------*/

402
portable/GCC/RISC-V/portASM.S
View file

@ -56,19 +56,8 @@
* registers. * registers.
* *
*/ */
#if __riscv_xlen == 64
#define portWORD_SIZE 8
#define store_x sd
#define load_x ld
#elif __riscv_xlen == 32
#define store_x sw
#define load_x lw
#define portWORD_SIZE 4
#else
#error Assembler did not define __riscv_xlen
#endif
#include "freertos_risc_v_chip_specific_extensions.h" #include "portContext.h"
/* Check the freertos_risc_v_chip_specific_extensions.h and/or command line /* Check the freertos_risc_v_chip_specific_extensions.h and/or command line
definitions. */ definitions. */
@ -86,98 +75,29 @@ definitions. */
#error freertos_risc_v_chip_specific_extensions.h must define portasmHAS_MTIME to either 1 (MTIME clock present) or 0 (MTIME clock not present). See https://www.FreeRTOS.org/Using-FreeRTOS-on-RISC-V.html #error freertos_risc_v_chip_specific_extensions.h must define portasmHAS_MTIME to either 1 (MTIME clock present) or 0 (MTIME clock not present). See https://www.FreeRTOS.org/Using-FreeRTOS-on-RISC-V.html
#endif #endif
#ifndef portasmHANDLE_INTERRUPT
#error portasmHANDLE_INTERRUPT must be defined to the function to be called to handle external/peripheral interrupts. portasmHANDLE_INTERRUPT can be defined on the assembler command line or in the appropriate freertos_risc_v_chip_specific_extensions.h header file. https://www.FreeRTOS.org/Using-FreeRTOS-on-RISC-V.html
#endif
#ifndef portasmHAS_SIFIVE_CLINT #ifndef portasmHAS_SIFIVE_CLINT
#define portasmHAS_SIFIVE_CLINT 0 #define portasmHAS_SIFIVE_CLINT 0
#endif #endif
/* Only the standard core registers are stored by default. Any additional
registers must be saved by the portasmSAVE_ADDITIONAL_REGISTERS and
portasmRESTORE_ADDITIONAL_REGISTERS macros - which can be defined in a chip
specific version of freertos_risc_v_chip_specific_extensions.h. See the notes
at the top of this file. */
#define portCONTEXT_SIZE ( 30 * portWORD_SIZE )
.global xPortStartFirstTask .global xPortStartFirstTask
.global freertos_risc_v_trap_handler
.global pxPortInitialiseStack .global pxPortInitialiseStack
.extern pxCurrentTCB .global freertos_risc_v_trap_handler
.extern ulPortTrapHandler .global freertos_risc_v_exception_handler
.global freertos_risc_v_interrupt_handler
.global freertos_risc_v_mtimer_interrupt_handler
.extern vTaskSwitchContext .extern vTaskSwitchContext
.extern xTaskIncrementTick .extern xTaskIncrementTick
.extern Timer_IRQHandler
.extern pullMachineTimerCompareRegister .extern pullMachineTimerCompareRegister
.extern pullNextTime .extern pullNextTime
.extern uxTimerIncrementsForOneTick /* size_t type so 32-bit on 32-bit core and 64-bits on 64-bit core. */ .extern uxTimerIncrementsForOneTick /* size_t type so 32-bit on 32-bit core and 64-bits on 64-bit core. */
.extern xISRStackTop .extern xTaskReturnAddress
.extern portasmHANDLE_INTERRUPT
.weak freertos_risc_v_application_exception_handler
.weak freertos_risc_v_application_interrupt_handler
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
.align 8 .macro portUPDATE_MTIMER_COMPARE_REGISTER
.func
freertos_risc_v_trap_handler:
addi sp, sp, -portCONTEXT_SIZE
store_x x1, 1 * portWORD_SIZE( sp )
store_x x5, 2 * portWORD_SIZE( sp )
store_x x6, 3 * portWORD_SIZE( sp )
store_x x7, 4 * portWORD_SIZE( sp )
store_x x8, 5 * portWORD_SIZE( sp )
store_x x9, 6 * portWORD_SIZE( sp )
store_x x10, 7 * portWORD_SIZE( sp )
store_x x11, 8 * portWORD_SIZE( sp )
store_x x12, 9 * portWORD_SIZE( sp )
store_x x13, 10 * portWORD_SIZE( sp )
store_x x14, 11 * portWORD_SIZE( sp )
store_x x15, 12 * portWORD_SIZE( sp )
store_x x16, 13 * portWORD_SIZE( sp )
store_x x17, 14 * portWORD_SIZE( sp )
store_x x18, 15 * portWORD_SIZE( sp )
store_x x19, 16 * portWORD_SIZE( sp )
store_x x20, 17 * portWORD_SIZE( sp )
store_x x21, 18 * portWORD_SIZE( sp )
store_x x22, 19 * portWORD_SIZE( sp )
store_x x23, 20 * portWORD_SIZE( sp )
store_x x24, 21 * portWORD_SIZE( sp )
store_x x25, 22 * portWORD_SIZE( sp )
store_x x26, 23 * portWORD_SIZE( sp )
store_x x27, 24 * portWORD_SIZE( sp )
store_x x28, 25 * portWORD_SIZE( sp )
store_x x29, 26 * portWORD_SIZE( sp )
store_x x30, 27 * portWORD_SIZE( sp )
store_x x31, 28 * portWORD_SIZE( sp )
csrr t0, mstatus /* Required for MPIE bit. */
store_x t0, 29 * portWORD_SIZE( sp )
portasmSAVE_ADDITIONAL_REGISTERS /* Defined in freertos_risc_v_chip_specific_extensions.h to save any registers unique to the RISC-V implementation. */
load_x t0, pxCurrentTCB /* Load pxCurrentTCB. */
store_x sp, 0( t0 ) /* Write sp to first TCB member. */
csrr a0, mcause
csrr a1, mepc
test_if_asynchronous:
srli a2, a0, __riscv_xlen - 1 /* MSB of mcause is 1 if handing an asynchronous interrupt - shift to LSB to clear other bits. */
beq a2, x0, handle_synchronous /* Branch past interrupt handing if not asynchronous. */
store_x a1, 0( sp ) /* Asynch so save unmodified exception return address. */
handle_asynchronous:
#if( portasmHAS_MTIME != 0 )
test_if_mtimer: /* If there is a CLINT then the mtimer is used to generate the tick interrupt. */
addi t0, x0, 1
slli t0, t0, __riscv_xlen - 1 /* LSB is already set, shift into MSB. Shift 31 on 32-bit or 63 on 64-bit cores. */
addi t1, t0, 7 /* 0x8000[]0007 == machine timer interrupt. */
bne a0, t1, test_if_external_interrupt
load_x t0, pullMachineTimerCompareRegister /* Load address of compare register into t0. */ load_x t0, pullMachineTimerCompareRegister /* Load address of compare register into t0. */
load_x t1, pullNextTime /* Load the address of ullNextTime into t1. */ load_x t1, pullNextTime /* Load the address of ullNextTime into t1. */
@ -209,146 +129,7 @@ handle_asynchronous:
sd t4, 0(t1) /* Store ullNextTime. */ sd t4, 0(t1) /* Store ullNextTime. */
#endif /* __riscv_xlen == 64 */ #endif /* __riscv_xlen == 64 */
.endm
load_x sp, xISRStackTop /* Switch to ISR stack before function call. */
jal xTaskIncrementTick
beqz a0, processed_source /* Don't switch context if incrementing tick didn't unblock a task. */
jal vTaskSwitchContext
j processed_source
test_if_external_interrupt: /* If there is a CLINT and the mtimer interrupt is not pending then check to see if an external interrupt is pending. */
addi t1, t1, 4 /* 0x80000007 + 4 = 0x8000000b == Machine external interrupt. */
bne a0, t1, as_yet_unhandled /* Something as yet unhandled. */
#endif /* portasmHAS_MTIME */
load_x sp, xISRStackTop /* Switch to ISR stack before function call. */
jal portasmHANDLE_INTERRUPT /* Jump to the interrupt handler if there is no CLINT or if there is a CLINT and it has been determined that an external interrupt is pending. */
j processed_source
handle_synchronous:
addi a1, a1, 4 /* Synchronous so updated exception return address to the instruction after the instruction that generated the exeption. */
store_x a1, 0( sp ) /* Save updated exception return address. */
test_if_environment_call:
li t0, 11 /* 11 == environment call. */
bne a0, t0, is_exception /* Not an M environment call, so some other exception. */
load_x sp, xISRStackTop /* Switch to ISR stack before function call. */
jal vTaskSwitchContext
j processed_source
is_exception:
csrr t0, mcause /* For viewing in the debugger only. */
csrr t1, mepc /* For viewing in the debugger only */
csrr t2, mstatus
j is_exception /* No other exceptions handled yet. */
as_yet_unhandled:
csrr t0, mcause /* For viewing in the debugger only. */
j as_yet_unhandled
processed_source:
load_x t1, pxCurrentTCB /* Load pxCurrentTCB. */
load_x sp, 0( t1 ) /* Read sp from first TCB member. */
/* Load mret with the address of the next instruction in the task to run next. */
load_x t0, 0( sp )
csrw mepc, t0
portasmRESTORE_ADDITIONAL_REGISTERS /* Defined in freertos_risc_v_chip_specific_extensions.h to restore any registers unique to the RISC-V implementation. */
/* Load mstatus with the interrupt enable bits used by the task. */
load_x t0, 29 * portWORD_SIZE( sp )
csrw mstatus, t0 /* Required for MPIE bit. */
load_x x1, 1 * portWORD_SIZE( sp )
load_x x5, 2 * portWORD_SIZE( sp ) /* t0 */
load_x x6, 3 * portWORD_SIZE( sp ) /* t1 */
load_x x7, 4 * portWORD_SIZE( sp ) /* t2 */
load_x x8, 5 * portWORD_SIZE( sp ) /* s0/fp */
load_x x9, 6 * portWORD_SIZE( sp ) /* s1 */
load_x x10, 7 * portWORD_SIZE( sp ) /* a0 */
load_x x11, 8 * portWORD_SIZE( sp ) /* a1 */
load_x x12, 9 * portWORD_SIZE( sp ) /* a2 */
load_x x13, 10 * portWORD_SIZE( sp ) /* a3 */
load_x x14, 11 * portWORD_SIZE( sp ) /* a4 */
load_x x15, 12 * portWORD_SIZE( sp ) /* a5 */
load_x x16, 13 * portWORD_SIZE( sp ) /* a6 */
load_x x17, 14 * portWORD_SIZE( sp ) /* a7 */
load_x x18, 15 * portWORD_SIZE( sp ) /* s2 */
load_x x19, 16 * portWORD_SIZE( sp ) /* s3 */
load_x x20, 17 * portWORD_SIZE( sp ) /* s4 */
load_x x21, 18 * portWORD_SIZE( sp ) /* s5 */
load_x x22, 19 * portWORD_SIZE( sp ) /* s6 */
load_x x23, 20 * portWORD_SIZE( sp ) /* s7 */
load_x x24, 21 * portWORD_SIZE( sp ) /* s8 */
load_x x25, 22 * portWORD_SIZE( sp ) /* s9 */
load_x x26, 23 * portWORD_SIZE( sp ) /* s10 */
load_x x27, 24 * portWORD_SIZE( sp ) /* s11 */
load_x x28, 25 * portWORD_SIZE( sp ) /* t3 */
load_x x29, 26 * portWORD_SIZE( sp ) /* t4 */
load_x x30, 27 * portWORD_SIZE( sp ) /* t5 */
load_x x31, 28 * portWORD_SIZE( sp ) /* t6 */
addi sp, sp, portCONTEXT_SIZE
mret
.endfunc
/*-----------------------------------------------------------*/
.align 8
.func
xPortStartFirstTask:
#if( portasmHAS_SIFIVE_CLINT != 0 )
/* If there is a clint then interrupts can branch directly to the FreeRTOS
trap handler. Otherwise the interrupt controller will need to be configured
outside of this file. */
la t0, freertos_risc_v_trap_handler
csrw mtvec, t0
#endif /* portasmHAS_CLILNT */
load_x sp, pxCurrentTCB /* Load pxCurrentTCB. */
load_x sp, 0( sp ) /* Read sp from first TCB member. */
load_x x1, 0( sp ) /* Note for starting the scheduler the exception return address is used as the function return address. */
portasmRESTORE_ADDITIONAL_REGISTERS /* Defined in freertos_risc_v_chip_specific_extensions.h to restore any registers unique to the RISC-V implementation. */
load_x x6, 3 * portWORD_SIZE( sp ) /* t1 */
load_x x7, 4 * portWORD_SIZE( sp ) /* t2 */
load_x x8, 5 * portWORD_SIZE( sp ) /* s0/fp */
load_x x9, 6 * portWORD_SIZE( sp ) /* s1 */
load_x x10, 7 * portWORD_SIZE( sp ) /* a0 */
load_x x11, 8 * portWORD_SIZE( sp ) /* a1 */
load_x x12, 9 * portWORD_SIZE( sp ) /* a2 */
load_x x13, 10 * portWORD_SIZE( sp ) /* a3 */
load_x x14, 11 * portWORD_SIZE( sp ) /* a4 */
load_x x15, 12 * portWORD_SIZE( sp ) /* a5 */
load_x x16, 13 * portWORD_SIZE( sp ) /* a6 */
load_x x17, 14 * portWORD_SIZE( sp ) /* a7 */
load_x x18, 15 * portWORD_SIZE( sp ) /* s2 */
load_x x19, 16 * portWORD_SIZE( sp ) /* s3 */
load_x x20, 17 * portWORD_SIZE( sp ) /* s4 */
load_x x21, 18 * portWORD_SIZE( sp ) /* s5 */
load_x x22, 19 * portWORD_SIZE( sp ) /* s6 */
load_x x23, 20 * portWORD_SIZE( sp ) /* s7 */
load_x x24, 21 * portWORD_SIZE( sp ) /* s8 */
load_x x25, 22 * portWORD_SIZE( sp ) /* s9 */
load_x x26, 23 * portWORD_SIZE( sp ) /* s10 */
load_x x27, 24 * portWORD_SIZE( sp ) /* s11 */
load_x x28, 25 * portWORD_SIZE( sp ) /* t3 */
load_x x29, 26 * portWORD_SIZE( sp ) /* t4 */
load_x x30, 27 * portWORD_SIZE( sp ) /* t5 */
load_x x31, 28 * portWORD_SIZE( sp ) /* t6 */
load_x x5, 29 * portWORD_SIZE( sp ) /* Initial mstatus into x5 (t0) */
addi x5, x5, 0x08 /* Set MIE bit so the first task starts with interrupts enabled - required as returns with ret not eret. */
csrrw x0, mstatus, x5 /* Interrupts enabled from here! */
load_x x5, 2 * portWORD_SIZE( sp ) /* Initial x5 (t0) value. */
addi sp, sp, portCONTEXT_SIZE
ret
.endfunc
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* /*
@ -382,6 +163,7 @@ xPortStartFirstTask:
* are not saved: * are not saved:
* *
* mstatus * mstatus
* xCriticalNesting
* x31 * x31
* x30 * x30
* x29 * x29
@ -413,10 +195,7 @@ xPortStartFirstTask:
* [chip specific registers go here] * [chip specific registers go here]
* pxCode * pxCode
*/ */
.align 8
.func
pxPortInitialiseStack: pxPortInitialiseStack:
csrr t0, mstatus /* Obtain current mstatus value. */ csrr t0, mstatus /* Obtain current mstatus value. */
andi t0, t0, ~0x8 /* Ensure interrupts are disabled when the stack is restored within an ISR. Required when a task is created after the schedulre has been started, otherwise interrupts would be disabled anyway. */ andi t0, t0, ~0x8 /* Ensure interrupts are disabled when the stack is restored within an ISR. Required when a task is created after the schedulre has been started, otherwise interrupts would be disabled anyway. */
addi t1, x0, 0x188 /* Generate the value 0x1880, which are the MPIE and MPP bits to set in mstatus. */ addi t1, x0, 0x188 /* Generate the value 0x1880, which are the MPIE and MPP bits to set in mstatus. */
@ -425,10 +204,13 @@ pxPortInitialiseStack:
addi a0, a0, -portWORD_SIZE addi a0, a0, -portWORD_SIZE
store_x t0, 0(a0) /* mstatus onto the stack. */ store_x t0, 0(a0) /* mstatus onto the stack. */
addi a0, a0, -portWORD_SIZE /* Space for critical nesting count. */
store_x x0, 0(a0) /* Critical nesting count starts at 0 for every task. */
addi a0, a0, -(22 * portWORD_SIZE) /* Space for registers x11-x31. */ addi a0, a0, -(22 * portWORD_SIZE) /* Space for registers x11-x31. */
store_x a2, 0(a0) /* Task parameters (pvParameters parameter) goes into register X10/a0 on the stack. */ store_x a2, 0(a0) /* Task parameters (pvParameters parameter) goes into register X10/a0 on the stack. */
addi a0, a0, -(6 * portWORD_SIZE) /* Space for registers x5-x9. */ addi a0, a0, -(6 * portWORD_SIZE) /* Space for registers x5-x9. */
store_x x0, 0(a0) /* Return address onto the stack, could be portTASK_RETURN_ADDRESS */ load_x t0, xTaskReturnAddress
store_x t0, 0(a0) /* Return address onto the stack. */
addi t0, x0, portasmADDITIONAL_CONTEXT_SIZE /* The number of chip specific additional registers. */ addi t0, x0, portasmADDITIONAL_CONTEXT_SIZE /* The number of chip specific additional registers. */
chip_specific_stack_frame: /* First add any chip specific registers to the stack frame being created. */ chip_specific_stack_frame: /* First add any chip specific registers to the stack frame being created. */
beq t0, x0, 1f /* No more chip specific registers to save. */ beq t0, x0, 1f /* No more chip specific registers to save. */
@ -440,5 +222,155 @@ chip_specific_stack_frame: /* First add any chip specific registers to the st
addi a0, a0, -portWORD_SIZE addi a0, a0, -portWORD_SIZE
store_x a1, 0(a0) /* mret value (pxCode parameter) onto the stack. */ store_x a1, 0(a0) /* mret value (pxCode parameter) onto the stack. */
ret ret
.endfunc /*-----------------------------------------------------------*/
xPortStartFirstTask:
load_x sp, pxCurrentTCB /* Load pxCurrentTCB. */
load_x sp, 0( sp ) /* Read sp from first TCB member. */
load_x x1, 0( sp ) /* Note for starting the scheduler the exception return address is used as the function return address. */
portasmRESTORE_ADDITIONAL_REGISTERS /* Defined in freertos_risc_v_chip_specific_extensions.h to restore any registers unique to the RISC-V implementation. */
load_x x7, 4 * portWORD_SIZE( sp ) /* t2 */
load_x x8, 5 * portWORD_SIZE( sp ) /* s0/fp */
load_x x9, 6 * portWORD_SIZE( sp ) /* s1 */
load_x x10, 7 * portWORD_SIZE( sp ) /* a0 */
load_x x11, 8 * portWORD_SIZE( sp ) /* a1 */
load_x x12, 9 * portWORD_SIZE( sp ) /* a2 */
load_x x13, 10 * portWORD_SIZE( sp ) /* a3 */
load_x x14, 11 * portWORD_SIZE( sp ) /* a4 */
load_x x15, 12 * portWORD_SIZE( sp ) /* a5 */
load_x x16, 13 * portWORD_SIZE( sp ) /* a6 */
load_x x17, 14 * portWORD_SIZE( sp ) /* a7 */
load_x x18, 15 * portWORD_SIZE( sp ) /* s2 */
load_x x19, 16 * portWORD_SIZE( sp ) /* s3 */
load_x x20, 17 * portWORD_SIZE( sp ) /* s4 */
load_x x21, 18 * portWORD_SIZE( sp ) /* s5 */
load_x x22, 19 * portWORD_SIZE( sp ) /* s6 */
load_x x23, 20 * portWORD_SIZE( sp ) /* s7 */
load_x x24, 21 * portWORD_SIZE( sp ) /* s8 */
load_x x25, 22 * portWORD_SIZE( sp ) /* s9 */
load_x x26, 23 * portWORD_SIZE( sp ) /* s10 */
load_x x27, 24 * portWORD_SIZE( sp ) /* s11 */
load_x x28, 25 * portWORD_SIZE( sp ) /* t3 */
load_x x29, 26 * portWORD_SIZE( sp ) /* t4 */
load_x x30, 27 * portWORD_SIZE( sp ) /* t5 */
load_x x31, 28 * portWORD_SIZE( sp ) /* t6 */
load_x x5, 29 * portWORD_SIZE( sp ) /* Obtain xCriticalNesting value for this task from task's stack. */
load_x x6, pxCriticalNesting /* Load the address of xCriticalNesting into x6. */
store_x x5, 0( x6 ) /* Restore the critical nesting value for this task. */
load_x x5, 30 * portWORD_SIZE( sp ) /* Initial mstatus into x5 (t0). */
addi x5, x5, 0x08 /* Set MIE bit so the first task starts with interrupts enabled - required as returns with ret not eret. */
csrrw x0, mstatus, x5 /* Interrupts enabled from here! */
load_x x5, 2 * portWORD_SIZE( sp ) /* Initial x5 (t0) value. */
load_x x6, 3 * portWORD_SIZE( sp ) /* Initial x6 (t1) value. */
addi sp, sp, portCONTEXT_SIZE
ret
/*-----------------------------------------------------------*/
freertos_risc_v_application_exception_handler:
csrr t0, mcause /* For viewing in the debugger only. */
csrr t1, mepc /* For viewing in the debugger only */
csrr t2, mstatus /* For viewing in the debugger only */
j freertos_risc_v_application_exception_handler
/*-----------------------------------------------------------*/
freertos_risc_v_application_interrupt_handler:
csrr t0, mcause /* For viewing in the debugger only. */
csrr t1, mepc /* For viewing in the debugger only */
csrr t2, mstatus /* For viewing in the debugger only */
j freertos_risc_v_application_interrupt_handler
/*-----------------------------------------------------------*/
.section .text.freertos_risc_v_exception_handler
freertos_risc_v_exception_handler:
portcontextSAVE_EXCEPTION_CONTEXT
/* a0 now contains mcause. */
li t0, 11 /* 11 == environment call. */
bne a0, t0, other_exception /* Not an M environment call, so some other exception. */
call vTaskSwitchContext
portcontextRESTORE_CONTEXT
other_exception:
call freertos_risc_v_application_exception_handler
portcontextRESTORE_CONTEXT
/*-----------------------------------------------------------*/
.section .text.freertos_risc_v_interrupt_handler
freertos_risc_v_interrupt_handler:
portcontextSAVE_INTERRUPT_CONTEXT
call freertos_risc_v_application_interrupt_handler
portcontextRESTORE_CONTEXT
/*-----------------------------------------------------------*/
.section .text.freertos_risc_v_mtimer_interrupt_handler
freertos_risc_v_mtimer_interrupt_handler:
portcontextSAVE_INTERRUPT_CONTEXT
portUPDATE_MTIMER_COMPARE_REGISTER
call xTaskIncrementTick
beqz a0, exit_without_context_switch /* Don't switch context if incrementing tick didn't unblock a task. */
call vTaskSwitchContext
exit_without_context_switch:
portcontextRESTORE_CONTEXT
/*-----------------------------------------------------------*/
.section .text.freertos_risc_v_trap_handler
freertos_risc_v_trap_handler:
portcontextSAVE_CONTEXT_INTERNAL
csrr a0, mcause
csrr a1, mepc
bge a0, x0, synchronous_exception
asynchronous_interrupt:
store_x a1, 0( sp ) /* Asynchronous interrupt so save unmodified exception return address. */
load_x sp, xISRStackTop /* Switch to ISR stack. */
j handle_interrupt
synchronous_exception:
addi a1, a1, 4 /* Synchronous so update exception return address to the instruction after the instruction that generated the exeption. */
store_x a1, 0( sp ) /* Save updated exception return address. */
load_x sp, xISRStackTop /* Switch to ISR stack. */
j handle_exception
handle_interrupt:
#if( portasmHAS_MTIME != 0 )
test_if_mtimer: /* If there is a CLINT then the mtimer is used to generate the tick interrupt. */
addi t0, x0, 1
slli t0, t0, __riscv_xlen - 1 /* LSB is already set, shift into MSB. Shift 31 on 32-bit or 63 on 64-bit cores. */
addi t1, t0, 7 /* 0x8000[]0007 == machine timer interrupt. */
bne a0, t1, application_interrupt_handler
portUPDATE_MTIMER_COMPARE_REGISTER
call xTaskIncrementTick
beqz a0, processed_source /* Don't switch context if incrementing tick didn't unblock a task. */
call vTaskSwitchContext
j processed_source
#endif /* portasmHAS_MTIME */
application_interrupt_handler:
call freertos_risc_v_application_interrupt_handler
j processed_source
handle_exception:
/* a0 contains mcause. */
li t0, 11 /* 11 == environment call. */
bne a0, t0, application_exception_handler /* Not an M environment call, so some other exception. */
call vTaskSwitchContext
j processed_source
application_exception_handler:
call freertos_risc_v_application_exception_handler
j processed_source /* No other exceptions handled yet. */
processed_source:
portcontextRESTORE_CONTEXT
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/

177
portable/GCC/RISC-V/portContext.h Normal file
View file

@ -0,0 +1,177 @@
/*
* FreeRTOS Kernel <DEVELOPMENT BRANCH>
* Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* 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
*
*/
#ifndef PORTCONTEXT_H
#define PORTCONTEXT_H
#if __riscv_xlen == 64
#define portWORD_SIZE 8
#define store_x sd
#define load_x ld
#elif __riscv_xlen == 32
#define store_x sw
#define load_x lw
#define portWORD_SIZE 4
#else
#error Assembler did not define __riscv_xlen
#endif
#include "freertos_risc_v_chip_specific_extensions.h"
/* Only the standard core registers are stored by default. Any additional
* registers must be saved by the portasmSAVE_ADDITIONAL_REGISTERS and
* portasmRESTORE_ADDITIONAL_REGISTERS macros - which can be defined in a chip
* specific version of freertos_risc_v_chip_specific_extensions.h. See the
* notes at the top of portASM.S file. */
#define portCONTEXT_SIZE ( 31 * portWORD_SIZE )
/*-----------------------------------------------------------*/
.extern pxCurrentTCB
.extern xISRStackTop
.extern xCriticalNesting
.extern pxCriticalNesting
/*-----------------------------------------------------------*/
.macro portcontextSAVE_CONTEXT_INTERNAL
addi sp, sp, -portCONTEXT_SIZE
store_x x1, 1 * portWORD_SIZE( sp )
store_x x5, 2 * portWORD_SIZE( sp )
store_x x6, 3 * portWORD_SIZE( sp )
store_x x7, 4 * portWORD_SIZE( sp )
store_x x8, 5 * portWORD_SIZE( sp )
store_x x9, 6 * portWORD_SIZE( sp )
store_x x10, 7 * portWORD_SIZE( sp )
store_x x11, 8 * portWORD_SIZE( sp )
store_x x12, 9 * portWORD_SIZE( sp )
store_x x13, 10 * portWORD_SIZE( sp )
store_x x14, 11 * portWORD_SIZE( sp )
store_x x15, 12 * portWORD_SIZE( sp )
store_x x16, 13 * portWORD_SIZE( sp )
store_x x17, 14 * portWORD_SIZE( sp )
store_x x18, 15 * portWORD_SIZE( sp )
store_x x19, 16 * portWORD_SIZE( sp )
store_x x20, 17 * portWORD_SIZE( sp )
store_x x21, 18 * portWORD_SIZE( sp )
store_x x22, 19 * portWORD_SIZE( sp )
store_x x23, 20 * portWORD_SIZE( sp )
store_x x24, 21 * portWORD_SIZE( sp )
store_x x25, 22 * portWORD_SIZE( sp )
store_x x26, 23 * portWORD_SIZE( sp )
store_x x27, 24 * portWORD_SIZE( sp )
store_x x28, 25 * portWORD_SIZE( sp )
store_x x29, 26 * portWORD_SIZE( sp )
store_x x30, 27 * portWORD_SIZE( sp )
store_x x31, 28 * portWORD_SIZE( sp )
load_x t0, xCriticalNesting /* Load the value of xCriticalNesting into t0. */
store_x t0, 29 * portWORD_SIZE( sp ) /* Store the critical nesting value to the stack. */
csrr t0, mstatus /* Required for MPIE bit. */
store_x t0, 30 * portWORD_SIZE( sp )
portasmSAVE_ADDITIONAL_REGISTERS /* Defined in freertos_risc_v_chip_specific_extensions.h to save any registers unique to the RISC-V implementation. */
load_x t0, pxCurrentTCB /* Load pxCurrentTCB. */
store_x sp, 0( t0 ) /* Write sp to first TCB member. */
.endm
/*-----------------------------------------------------------*/
.macro portcontextSAVE_EXCEPTION_CONTEXT
portcontextSAVE_CONTEXT_INTERNAL
csrr a0, mcause
csrr a1, mepc
addi a1, a1, 4 /* Synchronous so update exception return address to the instruction after the instruction that generated the exception. */
store_x a1, 0( sp ) /* Save updated exception return address. */
load_x sp, xISRStackTop /* Switch to ISR stack. */
.endm
/*-----------------------------------------------------------*/
.macro portcontextSAVE_INTERRUPT_CONTEXT
portcontextSAVE_CONTEXT_INTERNAL
csrr a0, mcause
csrr a1, mepc
store_x a1, 0( sp ) /* Asynchronous interrupt so save unmodified exception return address. */
load_x sp, xISRStackTop /* Switch to ISR stack. */
.endm
/*-----------------------------------------------------------*/
.macro portcontextRESTORE_CONTEXT
load_x t1, pxCurrentTCB /* Load pxCurrentTCB. */
load_x sp, 0( t1 ) /* Read sp from first TCB member. */
/* Load mepc with the address of the instruction in the task to run next. */
load_x t0, 0( sp )
csrw mepc, t0
/* Defined in freertos_risc_v_chip_specific_extensions.h to restore any registers unique to the RISC-V implementation. */
portasmRESTORE_ADDITIONAL_REGISTERS
/* Load mstatus with the interrupt enable bits used by the task. */
load_x t0, 30 * portWORD_SIZE( sp )
csrw mstatus, t0 /* Required for MPIE bit. */
load_x t0, 29 * portWORD_SIZE( sp ) /* Obtain xCriticalNesting value for this task from task's stack. */
load_x t1, pxCriticalNesting /* Load the address of xCriticalNesting into t1. */
store_x t0, 0( t1 ) /* Restore the critical nesting value for this task. */
load_x x1, 1 * portWORD_SIZE( sp )
load_x x5, 2 * portWORD_SIZE( sp )
load_x x6, 3 * portWORD_SIZE( sp )
load_x x7, 4 * portWORD_SIZE( sp )
load_x x8, 5 * portWORD_SIZE( sp )
load_x x9, 6 * portWORD_SIZE( sp )
load_x x10, 7 * portWORD_SIZE( sp )
load_x x11, 8 * portWORD_SIZE( sp )
load_x x12, 9 * portWORD_SIZE( sp )
load_x x13, 10 * portWORD_SIZE( sp )
load_x x14, 11 * portWORD_SIZE( sp )
load_x x15, 12 * portWORD_SIZE( sp )
load_x x16, 13 * portWORD_SIZE( sp )
load_x x17, 14 * portWORD_SIZE( sp )
load_x x18, 15 * portWORD_SIZE( sp )
load_x x19, 16 * portWORD_SIZE( sp )
load_x x20, 17 * portWORD_SIZE( sp )
load_x x21, 18 * portWORD_SIZE( sp )
load_x x22, 19 * portWORD_SIZE( sp )
load_x x23, 20 * portWORD_SIZE( sp )
load_x x24, 21 * portWORD_SIZE( sp )
load_x x25, 22 * portWORD_SIZE( sp )
load_x x26, 23 * portWORD_SIZE( sp )
load_x x27, 24 * portWORD_SIZE( sp )
load_x x28, 25 * portWORD_SIZE( sp )
load_x x29, 26 * portWORD_SIZE( sp )
load_x x30, 27 * portWORD_SIZE( sp )
load_x x31, 28 * portWORD_SIZE( sp )
addi sp, sp, portCONTEXT_SIZE
mret
.endm
/*-----------------------------------------------------------*/
#endif /* PORTCONTEXT_H */

53
portable/GCC/RISC-V/portmacro.h
View file

@ -60,7 +60,6 @@ extern "C" {
#error Assembler did not define __riscv_xlen #error Assembler did not define __riscv_xlen
#endif #endif
typedef portSTACK_TYPE StackType_t; typedef portSTACK_TYPE StackType_t;
typedef portBASE_TYPE BaseType_t; typedef portBASE_TYPE BaseType_t;
typedef portUBASE_TYPE UBaseType_t; typedef portUBASE_TYPE UBaseType_t;
@ -74,7 +73,7 @@ typedef portUBASE_TYPE TickType_t;
#define portSHORT short #define portSHORT short
/* 32-bit tick type on a 32-bit architecture, so reads of the tick count do /* 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. */ * not need to be guarded with a critical section. */
#define portTICK_TYPE_IS_ATOMIC 1 #define portTICK_TYPE_IS_ATOMIC 1
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
@ -84,7 +83,6 @@ not need to be guarded with a critical section. */
#define portBYTE_ALIGNMENT 16 #define portBYTE_ALIGNMENT 16
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Scheduler utilities. */ /* Scheduler utilities. */
extern void vTaskSwitchContext( void ); extern void vTaskSwitchContext( void );
#define portYIELD() __asm volatile( "ecall" ); #define portYIELD() __asm volatile( "ecall" );
@ -92,18 +90,30 @@ extern void vTaskSwitchContext( void );
#define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x ) #define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Critical section management. */ /* Critical section management. */
#define portCRITICAL_NESTING_IN_TCB 1 #define portCRITICAL_NESTING_IN_TCB 0
extern void vTaskEnterCritical( void );
extern void vTaskExitCritical( void );
#define portSET_INTERRUPT_MASK_FROM_ISR() 0 #define portSET_INTERRUPT_MASK_FROM_ISR() 0
#define portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedStatusValue ) ( void ) uxSavedStatusValue #define portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedStatusValue ) ( void ) uxSavedStatusValue
#define portDISABLE_INTERRUPTS() __asm volatile( "csrc mstatus, 8" ) #define portDISABLE_INTERRUPTS() __asm volatile( "csrc mstatus, 8" )
#define portENABLE_INTERRUPTS() __asm volatile( "csrs mstatus, 8" ) #define portENABLE_INTERRUPTS() __asm volatile( "csrs mstatus, 8" )
#define portENTER_CRITICAL() vTaskEnterCritical()
#define portEXIT_CRITICAL() vTaskExitCritical() extern size_t xCriticalNesting;
#define portENTER_CRITICAL() \
{ \
portDISABLE_INTERRUPTS(); \
xCriticalNesting++; \
}
#define portEXIT_CRITICAL() \
{ \
xCriticalNesting--; \
if( xCriticalNesting == 0 ) \
{ \
portENABLE_INTERRUPTS(); \
} \
}
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
@ -133,15 +143,14 @@ extern void vTaskExitCritical( void );
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Task function macros as described on the FreeRTOS.org WEB site. These are /* Task function macros as described on the FreeRTOS.org WEB site. These are
not necessary for to use this port. They are defined so the common demo files * not necessary for to use this port. They are defined so the common demo
(which build with all the ports) will build. */ * files (which build with all the ports) will build. */
#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) #define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters )
#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) #define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
#define portNOP() __asm volatile ( " nop " ) #define portNOP() __asm volatile( " nop " )
#define portINLINE __inline #define portINLINE __inline
#ifndef portFORCE_INLINE #ifndef portFORCE_INLINE
@ -151,32 +160,28 @@ not necessary for to use this port. They are defined so the common demo files
#define portMEMORY_BARRIER() __asm volatile( "" ::: "memory" ) #define portMEMORY_BARRIER() __asm volatile( "" ::: "memory" )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* configCLINT_BASE_ADDRESS is a legacy definition that was replaced by the /* configCLINT_BASE_ADDRESS is a legacy definition that was replaced by the
configMTIME_BASE_ADDRESS and configMTIMECMP_BASE_ADDRESS definitions. For * configMTIME_BASE_ADDRESS and configMTIMECMP_BASE_ADDRESS definitions. For
backward compatibility derive the newer definitions from the old if the old * backward compatibility derive the newer definitions from the old if the old
definition is found. */ * definition is found. */
#if defined( configCLINT_BASE_ADDRESS ) && !defined( configMTIME_BASE_ADDRESS ) && ( configCLINT_BASE_ADDRESS == 0 ) #if defined( configCLINT_BASE_ADDRESS ) && !defined( configMTIME_BASE_ADDRESS ) && ( configCLINT_BASE_ADDRESS == 0 )
/* Legacy case where configCLINT_BASE_ADDRESS was defined as 0 to indicate /* Legacy case where configCLINT_BASE_ADDRESS was defined as 0 to indicate
there was no CLINT. Equivalent now is to set the MTIME and MTIMECMP * there was no CLINT. Equivalent now is to set the MTIME and MTIMECMP
addresses to 0. */ * addresses to 0. */
#define configMTIME_BASE_ADDRESS ( 0 ) #define configMTIME_BASE_ADDRESS ( 0 )
#define configMTIMECMP_BASE_ADDRESS ( 0 ) #define configMTIMECMP_BASE_ADDRESS ( 0 )
#elif defined( configCLINT_BASE_ADDRESS ) && !defined( configMTIME_BASE_ADDRESS ) #elif defined( configCLINT_BASE_ADDRESS ) && !defined( configMTIME_BASE_ADDRESS )
/* Legacy case where configCLINT_BASE_ADDRESS was set to the base address of /* Legacy case where configCLINT_BASE_ADDRESS was set to the base address of
the CLINT. Equivalent now is to derive the MTIME and MTIMECMP addresses * the CLINT. Equivalent now is to derive the MTIME and MTIMECMP addresses
from the CLINT address. */ * from the CLINT address. */
#define configMTIME_BASE_ADDRESS ( ( configCLINT_BASE_ADDRESS ) + 0xBFF8UL ) #define configMTIME_BASE_ADDRESS ( ( configCLINT_BASE_ADDRESS ) + 0xBFF8UL )
#define configMTIMECMP_BASE_ADDRESS ( ( configCLINT_BASE_ADDRESS ) + 0x4000UL ) #define configMTIMECMP_BASE_ADDRESS ( ( configCLINT_BASE_ADDRESS ) + 0x4000UL )
#elif !defined( configMTIME_BASE_ADDRESS ) || !defined( configMTIMECMP_BASE_ADDRESS ) #elif !defined( configMTIME_BASE_ADDRESS ) || !defined( configMTIMECMP_BASE_ADDRESS )
#error configMTIME_BASE_ADDRESS and configMTIMECMP_BASE_ADDRESS must be defined in FreeRTOSConfig.h. Set them to zero if there is no MTIME (machine time) clock. See https://www.FreeRTOS.org/Using-FreeRTOS-on-RISC-V.html #error configMTIME_BASE_ADDRESS and configMTIMECMP_BASE_ADDRESS must be defined in FreeRTOSConfig.h. Set them to zero if there is no MTIME (machine time) clock. See https://www.FreeRTOS.org/Using-FreeRTOS-on-RISC-V.html
#endif #endif
#ifdef __cplusplus #ifdef __cplusplus
} }
#endif #endif
#endif /* PORTMACRO_H */ #endif /* PORTMACRO_H */