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RISC-V tasks now context switching to each other using taskYIELD() - not fully tested yet.

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This commit is contained in:
Richard Barry 2018-09-27 17:25:17 +00:00
parent 2bcb1ab02b
commit e3dc5e934b
3 changed files with 121 additions and 106 deletions
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18
FreeRTOS/Source/portable/GCC/RISC-V-RV32/port.c
View file

@ -50,14 +50,14 @@ static void prvTaskExitError( void );
/* Used to program the machine timer compare register. */ /* Used to program the machine timer compare register. */
static uint64_t ullNextTime = 0ULL; static uint64_t ullNextTime = 0ULL;
static volatile uint64_t * const pullMachineTimerCompareRegister = ( volatile uint64_t * const ) 0x2004000; static volatile uint64_t * const pullMachineTimerCompareRegister = ( volatile uint64_t * const ) ( configCTRL_BASE + 0x4000 );
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void prvTaskExitError( void ) void prvTaskExitError( void )
{ {
volatile uint32_t ulx = 0; volatile uint32_t ulx = 0;
#warning prvTaskExitError not used yet.
/* A function that implements a task must not exit or attempt to return to /* A function that implements a task must not exit or attempt to return to
its caller as there is nothing to return to. If a task wants to exit it its caller as there is nothing to return to. If a task wants to exit it
should instead call vTaskDelete( NULL ). should instead call vTaskDelete( NULL ).
@ -154,6 +154,8 @@ StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t px
// pxTopOfStack--; // pxTopOfStack--;
// *pxTopOfStack = ( StackType_t ) 2; /* Stack pointer. */ // *pxTopOfStack = ( StackType_t ) 2; /* Stack pointer. */
// pxTopOfStack--; // pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) prvTaskExitError;
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pxCode; *pxTopOfStack = ( StackType_t ) pxCode;
return pxTopOfStack; return pxTopOfStack;
@ -163,8 +165,8 @@ StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t px
void vPortSetupTimerInterrupt( void ) void vPortSetupTimerInterrupt( void )
{ {
uint32_t ulCurrentTimeHigh, ulCurrentTimeLow; uint32_t ulCurrentTimeHigh, ulCurrentTimeLow;
volatile uint32_t * const pulTimeHigh = ( volatile uint32_t * const ) 0x200BFF8; volatile uint32_t * const pulTimeHigh = ( volatile uint32_t * const ) ( configCTRL_BASE + 0xBFF8 );
volatile uint32_t * const pulTimeLow = ( volatile uint32_t * const ) 0x200BFFc; volatile uint32_t * const pulTimeLow = ( volatile uint32_t * const ) ( configCTRL_BASE + 0xBFFc );
do do
{ {
@ -185,9 +187,13 @@ volatile uint32_t * const pulTimeLow = ( volatile uint32_t * const ) 0x200BFFc;
void Software_IRQHandler( void ) void Software_IRQHandler( void )
{ {
volatile uint32_t * const ulSoftInterrupt = ( uint32_t * ) configCTRL_BASE;
vTaskSwitchContext(); vTaskSwitchContext();
/* Clear software interrupt. */
*ulSoftInterrupt = 0UL;
} }
/*-----------------------------------------------------------*/

189
FreeRTOS/Source/portable/GCC/RISC-V-RV32/portASM.S
View file

@ -49,37 +49,38 @@
xPortStartScheduler: xPortStartScheduler:
lw sp, pxCurrentTCB /* Load pxCurrentTCB. */ lw sp, pxCurrentTCB /* Load pxCurrentTCB. */
lw sp, 0( sp ) /* Read sp from first TCB member. */ lw sp, 0( sp ) /* Read sp from first TCB member. */
lw x1, 0( sp )
lw x5, 1 * WORD_SIZE( sp ) /* t0 */ lw x1, 0( sp ) /* Note for starting the scheduler the exception return address is used as the function return address. */
lw x6, 2 * WORD_SIZE( sp ) /* t1 */ lw x5, 2 * WORD_SIZE( sp ) /* t0 */
lw x7, 3 * WORD_SIZE( sp ) /* t2 */ lw x6, 3 * WORD_SIZE( sp ) /* t1 */
lw x8, 4 * WORD_SIZE( sp ) /* s0/fp */ lw x7, 4 * WORD_SIZE( sp ) /* t2 */
lw x9, 5 * WORD_SIZE( sp ) /* s1 */ lw x8, 5 * WORD_SIZE( sp ) /* s0/fp */
lw x10, 6 * WORD_SIZE( sp ) /* a0 */ lw x9, 6 * WORD_SIZE( sp ) /* s1 */
lw x11, 7 * WORD_SIZE( sp ) /* a1 */ lw x10, 7 * WORD_SIZE( sp ) /* a0 */
lw x12, 8 * WORD_SIZE( sp ) /* a2 */ lw x11, 8 * WORD_SIZE( sp ) /* a1 */
lw x13, 9 * WORD_SIZE( sp ) /* a3 */ lw x12, 9 * WORD_SIZE( sp ) /* a2 */
lw x14, 10 * WORD_SIZE( sp ) /* a4 */ lw x13, 10 * WORD_SIZE( sp ) /* a3 */
lw x15, 11 * WORD_SIZE( sp ) /* a5 */ lw x14, 11 * WORD_SIZE( sp ) /* a4 */
lw x16, 12 * WORD_SIZE( sp ) /* a6 */ lw x15, 12 * WORD_SIZE( sp ) /* a5 */
lw x17, 13 * WORD_SIZE( sp ) /* a7 */ lw x16, 13 * WORD_SIZE( sp ) /* a6 */
lw x18, 14 * WORD_SIZE( sp ) /* s2 */ lw x17, 14 * WORD_SIZE( sp ) /* a7 */
lw x19, 15 * WORD_SIZE( sp ) /* s3 */ lw x18, 15 * WORD_SIZE( sp ) /* s2 */
lw x20, 16 * WORD_SIZE( sp ) /* s4 */ lw x19, 16 * WORD_SIZE( sp ) /* s3 */
lw x21, 17 * WORD_SIZE( sp ) /* s5 */ lw x20, 17 * WORD_SIZE( sp ) /* s4 */
lw x22, 18 * WORD_SIZE( sp ) /* s6 */ lw x21, 18 * WORD_SIZE( sp ) /* s5 */
lw x23, 19 * WORD_SIZE( sp ) /* s7 */ lw x22, 19 * WORD_SIZE( sp ) /* s6 */
lw x24, 20 * WORD_SIZE( sp ) /* s8 */ lw x23, 20 * WORD_SIZE( sp ) /* s7 */
lw x25, 21 * WORD_SIZE( sp ) /* s9 */ lw x24, 21 * WORD_SIZE( sp ) /* s8 */
lw x26, 22 * WORD_SIZE( sp ) /* s10 */ lw x25, 22 * WORD_SIZE( sp ) /* s9 */
lw x27, 23 * WORD_SIZE( sp ) /* s11 */ lw x26, 23 * WORD_SIZE( sp ) /* s10 */
lw x28, 24 * WORD_SIZE( sp ) /* t3 */ lw x27, 24 * WORD_SIZE( sp ) /* s11 */
lw x29, 25 * WORD_SIZE( sp ) /* t4 */ lw x28, 25 * WORD_SIZE( sp ) /* t3 */
lw x30, 26 * WORD_SIZE( sp ) /* t5 */ lw x29, 26 * WORD_SIZE( sp ) /* t4 */
lw x31, 27 * WORD_SIZE( sp ) /* t6 */ lw x30, 27 * WORD_SIZE( sp ) /* t5 */
lw x31, 28 * WORD_SIZE( sp ) /* t6 */
addi sp, sp, CONTEXT_SIZE addi sp, sp, CONTEXT_SIZE
csrs mstatus, 8 /* Enable machine interrupts. */
csrs mie, 8 /* Enable soft interrupt. */ csrs mie, 8 /* Enable soft interrupt. */
csrs mstatus, 8 /* Enable interrupts. */
ret ret
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
@ -87,40 +88,42 @@ xPortStartScheduler:
.align 8 .align 8
vPortTrapHandler: vPortTrapHandler:
addi sp, sp, -CONTEXT_SIZE addi sp, sp, -CONTEXT_SIZE
sw x1, 0( sp ) sw x1, 1( sp )
sw x5, 1 * WORD_SIZE( sp ) sw x5, 2 * WORD_SIZE( sp )
sw x6, 2 * WORD_SIZE( sp ) sw x6, 3 * WORD_SIZE( sp )
sw x7, 3 * WORD_SIZE( sp ) sw x7, 4 * WORD_SIZE( sp )
sw x8, 4 * WORD_SIZE( sp ) sw x8, 5 * WORD_SIZE( sp )
sw x9, 5 * WORD_SIZE( sp ) sw x9, 6 * WORD_SIZE( sp )
sw x10, 6 * WORD_SIZE( sp ) sw x10, 7 * WORD_SIZE( sp )
sw x11, 7 * WORD_SIZE( sp ) sw x11, 8 * WORD_SIZE( sp )
sw x12, 8 * WORD_SIZE( sp ) sw x12, 9 * WORD_SIZE( sp )
sw x13, 9 * WORD_SIZE( sp ) sw x13, 10 * WORD_SIZE( sp )
sw x14, 10 * WORD_SIZE( sp ) sw x14, 11 * WORD_SIZE( sp )
sw x15, 11 * WORD_SIZE( sp ) sw x15, 12 * WORD_SIZE( sp )
sw x16, 12 * WORD_SIZE( sp ) sw x16, 13 * WORD_SIZE( sp )
sw x17, 13 * WORD_SIZE( sp ) sw x17, 14 * WORD_SIZE( sp )
sw x18, 14 * WORD_SIZE( sp ) sw x18, 15 * WORD_SIZE( sp )
sw x19, 15 * WORD_SIZE( sp ) sw x19, 16 * WORD_SIZE( sp )
sw x20, 16 * WORD_SIZE( sp ) sw x20, 17 * WORD_SIZE( sp )
sw x21, 17 * WORD_SIZE( sp ) sw x21, 18 * WORD_SIZE( sp )
sw x22, 18 * WORD_SIZE( sp ) sw x22, 19 * WORD_SIZE( sp )
sw x23, 19 * WORD_SIZE( sp ) sw x23, 20 * WORD_SIZE( sp )
sw x24, 20 * WORD_SIZE( sp ) sw x24, 21 * WORD_SIZE( sp )
sw x25, 21 * WORD_SIZE( sp ) sw x25, 22 * WORD_SIZE( sp )
sw x26, 22 * WORD_SIZE( sp ) sw x26, 23 * WORD_SIZE( sp )
sw x27, 23 * WORD_SIZE( sp ) sw x27, 24 * WORD_SIZE( sp )
sw x28, 24 * WORD_SIZE( sp ) sw x28, 25 * WORD_SIZE( sp )
sw x29, 25 * WORD_SIZE( sp ) sw x29, 26 * WORD_SIZE( sp )
sw x30, 26 * WORD_SIZE( sp ) sw x30, 27 * WORD_SIZE( sp )
sw x31, 27 * WORD_SIZE( sp ) sw x31, 28 * WORD_SIZE( sp )
/* Save exception return address. */
csrr t0, mepc
sw t0, 0( sp )
lw t0, pxCurrentTCB /* Load pxCurrentTCB. */ lw t0, pxCurrentTCB /* Load pxCurrentTCB. */
sw sp, 0( t0 ) /* Write sp from first TCB member. */ sw sp, 0( t0 ) /* Write sp from first TCB member. */
csrr t0, mepc
sw t0, 31 * WORD_SIZE( sp )
csrr a0, mcause csrr a0, mcause
csrr a1, mepc csrr a1, mepc
mv a2, sp mv a2, sp
@ -131,37 +134,43 @@ vPortTrapHandler:
li t0, 0x00001800 /* MSTATUS MPP */ li t0, 0x00001800 /* MSTATUS MPP */
csrs mstatus, t0 csrs mstatus, t0
/* Cut and past restore code from xPortStartScheduler - can be made a macro
but that makes debugging harder. */
lw sp, pxCurrentTCB /* Load pxCurrentTCB. */ lw sp, pxCurrentTCB /* Load pxCurrentTCB. */
lw sp, 0( sp ) /* Read sp from first TCB member. */ lw sp, 0( sp ) /* Read sp from first TCB member. */
lw x1, 0( sp )
lw x5, 1 * WORD_SIZE( sp ) /* t0 */ /* Load mret with the address of the first task. */
lw x6, 2 * WORD_SIZE( sp ) /* t1 */ lw t0, 0( sp )
lw x7, 3 * WORD_SIZE( sp ) /* t2 */ csrw mepc, t0
lw x8, 4 * WORD_SIZE( sp ) /* s0/fp */
lw x9, 5 * WORD_SIZE( sp ) /* s1 */ lw x1, 1( sp )
lw x10, 6 * WORD_SIZE( sp ) /* a0 */ lw x5, 2 * WORD_SIZE( sp ) /* t0 */
lw x11, 7 * WORD_SIZE( sp ) /* a1 */ lw x6, 3 * WORD_SIZE( sp ) /* t1 */
lw x12, 8 * WORD_SIZE( sp ) /* a2 */ lw x7, 4 * WORD_SIZE( sp ) /* t2 */
lw x13, 9 * WORD_SIZE( sp ) /* a3 */ lw x8, 5 * WORD_SIZE( sp ) /* s0/fp */
lw x14, 10 * WORD_SIZE( sp ) /* a4 */ lw x9, 6 * WORD_SIZE( sp ) /* s1 */
lw x15, 11 * WORD_SIZE( sp ) /* a5 */ lw x10, 7 * WORD_SIZE( sp ) /* a0 */
lw x16, 12 * WORD_SIZE( sp ) /* a6 */ lw x11, 8 * WORD_SIZE( sp ) /* a1 */
lw x17, 13 * WORD_SIZE( sp ) /* a7 */ lw x12, 9 * WORD_SIZE( sp ) /* a2 */
lw x18, 14 * WORD_SIZE( sp ) /* s2 */ lw x13, 10 * WORD_SIZE( sp ) /* a3 */
lw x19, 15 * WORD_SIZE( sp ) /* s3 */ lw x14, 11 * WORD_SIZE( sp ) /* a4 */
lw x20, 16 * WORD_SIZE( sp ) /* s4 */ lw x15, 12 * WORD_SIZE( sp ) /* a5 */
lw x21, 17 * WORD_SIZE( sp ) /* s5 */ lw x16, 13 * WORD_SIZE( sp ) /* a6 */
lw x22, 18 * WORD_SIZE( sp ) /* s6 */ lw x17, 14 * WORD_SIZE( sp ) /* a7 */
lw x23, 19 * WORD_SIZE( sp ) /* s7 */ lw x18, 15 * WORD_SIZE( sp ) /* s2 */
lw x24, 20 * WORD_SIZE( sp ) /* s8 */ lw x19, 16 * WORD_SIZE( sp ) /* s3 */
lw x25, 21 * WORD_SIZE( sp ) /* s9 */ lw x20, 17 * WORD_SIZE( sp ) /* s4 */
lw x26, 22 * WORD_SIZE( sp ) /* s10 */ lw x21, 18 * WORD_SIZE( sp ) /* s5 */
lw x27, 23 * WORD_SIZE( sp ) /* s11 */ lw x22, 19 * WORD_SIZE( sp ) /* s6 */
lw x28, 24 * WORD_SIZE( sp ) /* t3 */ lw x23, 20 * WORD_SIZE( sp ) /* s7 */
lw x29, 25 * WORD_SIZE( sp ) /* t4 */ lw x24, 21 * WORD_SIZE( sp ) /* s8 */
lw x30, 26 * WORD_SIZE( sp ) /* t5 */ lw x25, 22 * WORD_SIZE( sp ) /* s9 */
lw x31, 27 * WORD_SIZE( sp ) /* t6 */ lw x26, 23 * WORD_SIZE( sp ) /* s10 */
lw x27, 24 * WORD_SIZE( sp ) /* s11 */
lw x28, 25 * WORD_SIZE( sp ) /* t3 */
lw x29, 26 * WORD_SIZE( sp ) /* t4 */
lw x30, 27 * WORD_SIZE( sp ) /* t5 */
lw x31, 28 * WORD_SIZE( sp ) /* t6 */
addi sp, sp, CONTEXT_SIZE addi sp, sp, CONTEXT_SIZE
mret mret

2
FreeRTOS/Source/portable/GCC/RISC-V-RV32/portmacro.h
View file

@ -70,7 +70,7 @@ not need to be guarded with a critical section. */
/* Scheduler utilities. */ /* Scheduler utilities. */
#define portYIELD() { volatile uint32_t * const ulSoftInterrupt = ( uint32_t * ) 0x2000000; *ulSoftInterrupt = 1UL; } #define portYIELD() { volatile uint32_t * const ulSoftInterrupt = ( uint32_t * ) configCTRL_BASE; *ulSoftInterrupt = 1UL; }
#define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) vPortYield() #define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) vPortYield()
#define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x ) #define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/