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https://github.com/FreeRTOS/FreeRTOS-Kernel.git
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168 lines
5.3 KiB
C
168 lines
5.3 KiB
C
/*
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* SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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#include <string.h>
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#include "FreeRTOS.h"
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#include "task.h"
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#include "portmacro.h"
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#include "esp_system.h"
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#include "esp_heap_caps_init.h"
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#include "esp_int_wdt.h"
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#include "esp_task_wdt.h"
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#include "esp_task.h"
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#include "esp_private/crosscore_int.h"
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#include "esp_private/startup_internal.h" /* Required by g_spiram_ok. [refactor-todo] for g_spiram_ok */
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#include "esp_log.h"
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#include "soc/soc_memory_types.h"
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#include "soc/dport_access.h"
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#include "sdkconfig.h"
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#include "esp_freertos_hooks.h"
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#if CONFIG_IDF_TARGET_ESP32
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#include "esp32/spiram.h"
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#elif CONFIG_IDF_TARGET_ESP32S2
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#include "esp32s2/spiram.h"
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#elif CONFIG_IDF_TARGET_ESP32S3
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#include "esp32s3/spiram.h"
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#elif CONFIG_IDF_TARGET_ESP32C3 || CONFIG_IDF_TARGET_ESP32H2
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/* SPIRAM is not supported on ESP32-C3 */
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#endif
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#if CONFIG_SPIRAM_MALLOC_RESERVE_INTERNAL
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static const char * TAG = "cpu_start";
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#endif
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/* Architecture-agnostic parts of the FreeRTOS ESP-IDF port layer can go here.
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*
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* The actual call flow will be to call esp_startup_start_app() in <ARCH>/port.c,
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* which will then call esp_startup_start_app_common()
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*/
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/* Duplicate of inaccessible xSchedulerRunning; needed at startup to avoid counting nesting */
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volatile unsigned port_xSchedulerRunning[ portNUM_PROCESSORS ] = { 0 };
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/* For now, running FreeRTOS on one core and a bare metal on the other (or other OSes) */
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/* is not supported. For now CONFIG_FREERTOS_UNICORE and CONFIG_ESP_SYSTEM_SINGLE_CORE_MODE */
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/* should mirror each other's values. */
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/* */
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/* And since this should be true, we can just check for CONFIG_FREERTOS_UNICORE. */
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#if CONFIG_FREERTOS_UNICORE != CONFIG_ESP_SYSTEM_SINGLE_CORE_MODE
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#error "FreeRTOS and system configuration mismatch regarding the use of multiple cores."
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#endif
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static void main_task( void * args );
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#ifdef CONFIG_ESP_SYSTEM_GDBSTUB_RUNTIME
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void esp_gdbstub_init( void );
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#endif // CONFIG_ESP_SYSTEM_GDBSTUB_RUNTIME
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extern void app_main( void );
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void esp_startup_start_app_common( void )
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{
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#if CONFIG_ESP_INT_WDT
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esp_int_wdt_init();
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/*Initialize the interrupt watch dog for CPU0. */
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esp_int_wdt_cpu_init();
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#endif
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esp_crosscore_int_init();
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#ifdef CONFIG_ESP_SYSTEM_GDBSTUB_RUNTIME
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esp_gdbstub_init();
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#endif // CONFIG_ESP_SYSTEM_GDBSTUB_RUNTIME
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portBASE_TYPE res = xTaskCreatePinnedToCore( &main_task, "main",
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ESP_TASK_MAIN_STACK, NULL,
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ESP_TASK_MAIN_PRIO, NULL, ESP_TASK_MAIN_CORE );
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assert( res == pdTRUE );
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( void ) res;
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}
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#if !CONFIG_FREERTOS_UNICORE
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static volatile bool s_other_cpu_startup_done = false;
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static bool other_cpu_startup_idle_hook_cb( void )
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{
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s_other_cpu_startup_done = true;
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return true;
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}
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#endif
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static void main_task( void * args )
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{
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#if !CONFIG_FREERTOS_UNICORE
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/* Wait for FreeRTOS initialization to finish on other core, before replacing its startup stack */
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esp_register_freertos_idle_hook_for_cpu( other_cpu_startup_idle_hook_cb, !xPortGetCoreID() );
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while( !s_other_cpu_startup_done )
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{
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}
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esp_deregister_freertos_idle_hook_for_cpu( other_cpu_startup_idle_hook_cb, !xPortGetCoreID() );
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#endif
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/* [refactor-todo] check if there is a way to move the following block to esp_system startup */
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heap_caps_enable_nonos_stack_heaps();
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/* Now we have startup stack RAM available for heap, enable any DMA pool memory */
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#if CONFIG_SPIRAM_MALLOC_RESERVE_INTERNAL
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if( g_spiram_ok )
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{
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esp_err_t r = esp_spiram_reserve_dma_pool( CONFIG_SPIRAM_MALLOC_RESERVE_INTERNAL );
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if( r != ESP_OK )
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{
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ESP_EARLY_LOGE( TAG, "Could not reserve internal/DMA pool (error 0x%x)", r );
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abort();
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}
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}
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#endif /* if CONFIG_SPIRAM_MALLOC_RESERVE_INTERNAL */
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/*Initialize task wdt if configured to do so */
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#ifdef CONFIG_ESP_TASK_WDT_PANIC
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ESP_ERROR_CHECK( esp_task_wdt_init( CONFIG_ESP_TASK_WDT_TIMEOUT_S, true ) );
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#elif CONFIG_ESP_TASK_WDT
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ESP_ERROR_CHECK( esp_task_wdt_init( CONFIG_ESP_TASK_WDT_TIMEOUT_S, false ) );
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#endif
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/*Add IDLE 0 to task wdt */
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#ifdef CONFIG_ESP_TASK_WDT_CHECK_IDLE_TASK_CPU0
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TaskHandle_t idle_0 = xTaskGetIdleTaskHandleForCPU( 0 );
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if( idle_0 != NULL )
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{
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ESP_ERROR_CHECK( esp_task_wdt_add( idle_0 ) );
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}
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#endif
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/*Add IDLE 1 to task wdt */
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#ifdef CONFIG_ESP_TASK_WDT_CHECK_IDLE_TASK_CPU1
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TaskHandle_t idle_1 = xTaskGetIdleTaskHandleForCPU( 1 );
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if( idle_1 != NULL )
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{
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ESP_ERROR_CHECK( esp_task_wdt_add( idle_1 ) );
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}
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#endif
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app_main();
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vTaskDelete( NULL );
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}
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/* -------------------- Heap Related ----------------------- */
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bool xPortCheckValidTCBMem( const void * ptr )
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{
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return esp_ptr_internal( ptr ) && esp_ptr_byte_accessible( ptr );
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}
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bool xPortcheckValidStackMem( const void * ptr )
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{
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#ifdef CONFIG_SPIRAM_ALLOW_STACK_EXTERNAL_MEMORY
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return esp_ptr_byte_accessible( ptr );
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#else
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return esp_ptr_internal( ptr ) && esp_ptr_byte_accessible( ptr );
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#endif
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}
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