mirror of
https://github.com/FreeRTOS/FreeRTOS-Kernel.git
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3d4d17178f
* Renamed old port to ESP_IDF_V3 * Update ESP32 port files to support IDF v4.2. * Add changes required to support ESP32-S2 Co-authored-by: Shubham Kulkarni <shubham.kulkarni@espressif.com>
503 lines
21 KiB
C
503 lines
21 KiB
C
/*
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* FreeRTOS V8.2.0 - Copyright (C) 2015 Real Time Engineers Ltd.
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* All rights reserved
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*
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* VISIT https://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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*
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***************************************************************************
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* *
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* FreeRTOS provides completely free yet professionally developed, *
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* robust, strictly quality controlled, supported, and cross *
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* platform software that has become a de facto standard. *
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* *
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* Help yourself get started quickly and support the FreeRTOS *
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* project by purchasing a FreeRTOS tutorial book, reference *
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* manual, or both from: https://www.FreeRTOS.org/Documentation *
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* *
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* Thank you! *
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* *
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***************************************************************************
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*
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* This file is part of the FreeRTOS distribution.
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*
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* FreeRTOS is free software; you can redistribute it and/or modify it under
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* the terms of the GNU General Public License (version 2) as published by the
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* Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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*
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* >>! NOTE: The modification to the GPL is included to allow you to !<<
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* >>! distribute a combined work that includes FreeRTOS without being !<<
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* >>! obliged to provide the source code for proprietary components !<<
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* >>! outside of the FreeRTOS kernel. !<<
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*
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* FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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* WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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* FOR A PARTICULAR PURPOSE. Full license text is available from the following
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* link: https://www.FreeRTOS.org/a00114.html
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*
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*
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***************************************************************************
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* *
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* Having a problem? Start by reading the FAQ "My application does *
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* not run, what could be wrong?" *
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* *
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* https://www.FreeRTOS.org/FAQHelp.html *
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* *
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***************************************************************************
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*
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* https://www.FreeRTOS.org - Documentation, books, training, latest versions,
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* license and Real Time Engineers Ltd. contact details.
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*
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* https://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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* including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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* compatible FAT file system, and our tiny thread aware UDP/IP stack.
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*
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* https://www.highintegritysystems.com/openrtos/ - Real Time Engineers ltd
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* license FreeRTOS to High Integrity Systems to sell under the OpenRTOS brand.
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* Low cost OpenRTOS licenses offer ticketed support, indemnification
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* and middleware.
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*
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* https://www.highintegritysystems.com/safertos/ - High Integrity Systems
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* also provide a safety engineered and independently SIL3 certified version
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* for use in safety and mission critical applications that require
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* provable dependability.
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*
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*/
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#ifndef PORTMACRO_H
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#define PORTMACRO_H
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/* *INDENT-OFF* */
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#ifdef __cplusplus
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extern "C" {
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#endif
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/* *INDENT-ON* */
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#ifndef __ASSEMBLER__
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#include <stdint.h>
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#include <xtensa/hal.h>
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#include <xtensa/config/core.h>
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#include <xtensa/config/system.h> /* required for XSHAL_CLIB */
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#include <xtensa/xtruntime.h>
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#include "esp_timer.h" /* required for FreeRTOS run time stats */
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#include "esp_system.h"
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#include <esp_heap_caps.h>
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#include "soc/soc_memory_layout.h"
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/*#include "xtensa_context.h" */
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/*-----------------------------------------------------------
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* Port specific definitions.
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*
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* The settings in this file configure FreeRTOS correctly for the
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* given hardware and compiler.
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*
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* These settings should not be altered.
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*-----------------------------------------------------------
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*/
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/* Type definitions. */
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#define portCHAR int8_t
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#define portFLOAT float
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#define portDOUBLE double
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#define portLONG int32_t
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#define portSHORT int16_t
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#define portSTACK_TYPE uint8_t
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#define portBASE_TYPE int
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typedef portSTACK_TYPE StackType_t;
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typedef portBASE_TYPE BaseType_t;
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typedef unsigned portBASE_TYPE UBaseType_t;
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#if ( configUSE_16_BIT_TICKS == 1 )
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typedef uint16_t TickType_t;
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#define portMAX_DELAY ( TickType_t ) 0xffff
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#else
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typedef uint32_t TickType_t;
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#define portMAX_DELAY ( TickType_t ) 0xffffffffUL
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#endif
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/*-----------------------------------------------------------*/
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/* portbenchmark */
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#include "portbenchmark.h"
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#include "sdkconfig.h"
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#include "esp_attr.h"
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/* "mux" data structure (spinlock) */
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typedef struct
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{
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/* owner field values:
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* 0 - Uninitialized (invalid)
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* portMUX_FREE_VAL - Mux is free, can be locked by either CPU
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* CORE_ID_PRO / CORE_ID_APP - Mux is locked to the particular core
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*
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* Any value other than portMUX_FREE_VAL, CORE_ID_PRO, CORE_ID_APP indicates corruption
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*/
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uint32_t owner;
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/* count field:
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* If mux is unlocked, count should be zero.
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* If mux is locked, count is non-zero & represents the number of recursive locks on the mux.
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*/
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uint32_t count;
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#ifdef CONFIG_FREERTOS_PORTMUX_DEBUG
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const char * lastLockedFn;
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int lastLockedLine;
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#endif
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} portMUX_TYPE;
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#define portMUX_FREE_VAL 0xB33FFFFF
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/* Special constants for vPortCPUAcquireMutexTimeout() */
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#define portMUX_NO_TIMEOUT ( -1 ) /* When passed for 'timeout_cycles', spin forever if necessary */
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#define portMUX_TRY_LOCK 0 /* Try to acquire the spinlock a single time only */
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/* Keep this in sync with the portMUX_TYPE struct definition please. */
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#ifndef CONFIG_FREERTOS_PORTMUX_DEBUG
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#define portMUX_INITIALIZER_UNLOCKED \
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{ \
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.owner = portMUX_FREE_VAL, \
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.count = 0, \
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}
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#else
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#define portMUX_INITIALIZER_UNLOCKED \
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{ \
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.owner = portMUX_FREE_VAL, \
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.count = 0, \
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.lastLockedFn = "(never locked)", \
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.lastLockedLine = -1 \
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}
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#endif /* ifndef CONFIG_FREERTOS_PORTMUX_DEBUG */
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#define portASSERT_IF_IN_ISR() vPortAssertIfInISR()
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void vPortAssertIfInISR();
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#define portCRITICAL_NESTING_IN_TCB 1
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/*
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* Modifications to portENTER_CRITICAL.
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*
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* For an introduction, see "Critical Sections & Disabling Interrupts" in docs/api-guides/freertos-smp.rst
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*
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* The original portENTER_CRITICAL only disabled the ISRs. This is enough for single-CPU operation: by
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* disabling the interrupts, there is no task switch so no other tasks can meddle in the data, and because
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* interrupts are disabled, ISRs can't corrupt data structures either.
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*
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* For multiprocessing, things get a bit more hairy. First of all, disabling the interrupts doesn't stop
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* the tasks or ISRs on the other processors meddling with our CPU. For tasks, this is solved by adding
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* a spinlock to the portENTER_CRITICAL macro. A task running on the other CPU accessing the same data will
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* spinlock in the portENTER_CRITICAL code until the first CPU is done.
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*
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* For ISRs, we now also need muxes: while portENTER_CRITICAL disabling interrupts will stop ISRs on the same
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* CPU from meddling with the data, it does not stop interrupts on the other cores from interfering with the
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* data. For this, we also use a spinlock in the routines called by the ISR, but these spinlocks
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* do not disable the interrupts (because they already are).
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*
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* This all assumes that interrupts are either entirely disabled or enabled. Interrupt priority levels
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* will break this scheme.
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*
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* Remark: For the ESP32, portENTER_CRITICAL and portENTER_CRITICAL_ISR both alias vTaskEnterCritical, meaning
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* that either function can be called both from ISR as well as task context. This is not standard FreeRTOS
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* behaviour; please keep this in mind if you need any compatibility with other FreeRTOS implementations.
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*/
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void vPortCPUInitializeMutex( portMUX_TYPE * mux );
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#ifdef CONFIG_FREERTOS_PORTMUX_DEBUG
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#error CONFIG_FREERTOS_PORTMUX_DEBUG not supported in Amazon FreeRTOS
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#endif
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void vTaskExitCritical();
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void vTaskEnterCritical();
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static inline void vPortConsumeSpinlockArg( int unused,
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... )
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{
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}
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/** @brief Acquire a portmux spinlock with a timeout
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*
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* @param mux Pointer to portmux to acquire.
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* @param timeout_cycles Timeout to spin, in CPU cycles. Pass portMUX_NO_TIMEOUT to wait forever,
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* portMUX_TRY_LOCK to try a single time to acquire the lock.
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*
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* @return true if mutex is successfully acquired, false on timeout.
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*/
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bool vPortCPUAcquireMutexTimeout( portMUX_TYPE * mux,
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int timeout_cycles );
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void vPortCPUReleaseMutex( portMUX_TYPE * mux );
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#define portENTER_CRITICAL( ... ) do { vTaskEnterCritical(); vPortConsumeSpinlockArg( 0, ## __VA_ARGS__ ); } while( 0 )
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#define portEXIT_CRITICAL( ... ) do { vTaskExitCritical(); vPortConsumeSpinlockArg( 0, ## __VA_ARGS__ ); } while( 0 )
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#define portENTER_CRITICAL_ISR( mux ) vPortCPUAcquireMutexTimeout( mux, portMUX_NO_TIMEOUT )
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#define portEXIT_CRITICAL_ISR( mux ) vPortCPUReleaseMutex( mux )
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#define portENTER_CRITICAL_SAFE( mux ) \
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do { \
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if( xPortInIsrContext() ) { \
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portENTER_CRITICAL_ISR( mux ); \
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} \
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else { \
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portENTER_CRITICAL( mux ); \
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} \
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} while( 0 )
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#define portEXIT_CRITICAL_SAFE( mux ) \
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do { \
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if( xPortInIsrContext() ) { \
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portEXIT_CRITICAL_ISR( mux ); \
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} \
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else { \
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portEXIT_CRITICAL( mux ); \
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} \
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} while( 0 )
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/* Critical section management. NW-TODO: replace XTOS_SET_INTLEVEL with more efficient version, if any? */
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/* These cannot be nested. They should be used with a lot of care and cannot be called from interrupt level. */
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/* */
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/* Only applies to one CPU. See notes above & below for reasons not to use these. */
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#define portDISABLE_INTERRUPTS() do { XTOS_SET_INTLEVEL( XCHAL_EXCM_LEVEL ); portbenchmarkINTERRUPT_DISABLE(); } while( 0 )
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#define portENABLE_INTERRUPTS() do { portbenchmarkINTERRUPT_RESTORE( 0 ); XTOS_SET_INTLEVEL( 0 ); } while( 0 )
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/* Cleaner solution allows nested interrupts disabling and restoring via local registers or stack. */
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/* They can be called from interrupts too. */
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/* WARNING: Only applies to current CPU. See notes above. */
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static inline unsigned portENTER_CRITICAL_NESTED()
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{
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unsigned state = XTOS_SET_INTLEVEL( XCHAL_EXCM_LEVEL );
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portbenchmarkINTERRUPT_DISABLE();
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return state;
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}
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#define portEXIT_CRITICAL_NESTED( state ) do { portbenchmarkINTERRUPT_RESTORE( state ); XTOS_RESTORE_JUST_INTLEVEL( state ); } while( 0 )
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/* These FreeRTOS versions are similar to the nested versions above */
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#define portSET_INTERRUPT_MASK_FROM_ISR() portENTER_CRITICAL_NESTED()
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#define portCLEAR_INTERRUPT_MASK_FROM_ISR( state ) portEXIT_CRITICAL_NESTED( state )
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/*Because the ROM routines don't necessarily handle a stack in external RAM correctly, we force */
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/*the stack memory to always be internal. */
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#define pvPortMallocTcbMem( size ) heap_caps_malloc( size, MALLOC_CAP_INTERNAL | MALLOC_CAP_8BIT )
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#define pvPortMallocStackMem( size ) heap_caps_malloc( size, MALLOC_CAP_INTERNAL | MALLOC_CAP_8BIT )
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/*xTaskCreateStatic uses these functions to check incoming memory. */
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#define portVALID_TCB_MEM( ptr ) ( esp_ptr_internal( ptr ) && esp_ptr_byte_accessible( ptr ) )
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#ifdef CONFIG_SPIRAM_ALLOW_STACK_EXTERNAL_MEMORY
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#define portVALID_STACK_MEM( ptr ) esp_ptr_byte_accessible( ptr )
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#else
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#define portVALID_STACK_MEM( ptr ) ( esp_ptr_internal( ptr ) && esp_ptr_byte_accessible( ptr ) )
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#endif
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/*
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* Wrapper for the Xtensa compare-and-set instruction. This subroutine will atomically compare
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* *addr to 'compare'. If *addr == compare, *addr is set to *set. *set is updated with the previous
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* value of *addr (either 'compare' or some other value.)
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*
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* Warning: From the ISA docs: in some (unspecified) cases, the s32c1i instruction may return the
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* *bitwise inverse* of the old mem if the mem wasn't written. This doesn't seem to happen on the
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* ESP32 (portMUX assertions would fail).
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*/
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static inline void uxPortCompareSet( volatile uint32_t * addr,
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uint32_t compare,
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uint32_t * set )
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{
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#if ( XCHAL_HAVE_S32C1I > 0 )
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__asm__ __volatile__ (
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"WSR %2,SCOMPARE1 \n"
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"S32C1I %0, %1, 0 \n"
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: "=r" ( *set )
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: "r" ( addr ), "r" ( compare ), "0" ( *set )
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);
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#else
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/* No S32C1I, so do this by disabling and re-enabling interrupts (slower) */
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uint32_t intlevel, old_value;
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__asm__ __volatile__ ( "rsil %0, " XTSTR( XCHAL_EXCM_LEVEL ) "\n"
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: "=r" ( intlevel ) );
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old_value = *addr;
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if( old_value == compare )
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{
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*addr = *set;
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}
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__asm__ __volatile__ ( "memw \n"
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"wsr %0, ps\n"
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: : "r" ( intlevel ) );
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*set = old_value;
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#endif /* if ( XCHAL_HAVE_S32C1I > 0 ) */
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}
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void uxPortCompareSetExtram( volatile uint32_t * addr,
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uint32_t compare,
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uint32_t * set );
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/*-----------------------------------------------------------*/
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/* Architecture specifics. */
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#define portSTACK_GROWTH ( -1 )
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#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ )
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#define portBYTE_ALIGNMENT 4
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#define portNOP() XT_NOP()
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/*-----------------------------------------------------------*/
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/* Fine resolution time */
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#define portGET_RUN_TIME_COUNTER_VALUE() xthal_get_ccount()
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/*ccount or esp_timer are initialized elsewhere */
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#define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS()
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#ifdef CONFIG_FREERTOS_RUN_TIME_STATS_USING_ESP_TIMER
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/* Coarse resolution time (us) */
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#define portALT_GET_RUN_TIME_COUNTER_VALUE( x ) x = ( uint32_t ) esp_timer_get_time()
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#endif
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/* Kernel utilities. */
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void vPortYield( void );
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void _frxt_setup_switch( void );
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#define portYIELD() vPortYield()
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#define portYIELD_FROM_ISR() { traceISR_EXIT_TO_SCHEDULER(); _frxt_setup_switch(); }
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static inline uint32_t xPortGetCoreID();
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/*-----------------------------------------------------------*/
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/* Task function macros as described on the FreeRTOS.org WEB site. */
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#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void * pvParameters )
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#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void * pvParameters )
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/* When coprocessors are defined, we to maintain a pointer to coprocessors area. */
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/* We currently use a hack: redefine field xMPU_SETTINGS in TCB block as a structure that can hold: */
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/* MPU wrappers, coprocessor area pointer, trace code structure, and more if needed. */
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/* The field is normally used for memory protection. FreeRTOS should create another general purpose field. */
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typedef struct
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{
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#if XCHAL_CP_NUM > 0
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volatile StackType_t * coproc_area; /* Pointer to coprocessor save area; MUST BE FIRST */
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#endif
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#if portUSING_MPU_WRAPPERS
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/* Define here mpu_settings, which is port dependent */
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int mpu_setting; /* Just a dummy example here; MPU not ported to Xtensa yet */
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#endif
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#if configUSE_TRACE_FACILITY_2
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struct
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{
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/* Cf. porttraceStamp() */
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int taskstamp; /* Stamp from inside task to see where we are */
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int taskstampcount; /* A counter usually incremented when we restart the task's loop */
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} porttrace;
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#endif
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} xMPU_SETTINGS;
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/* Main hack to use MPU_wrappers even when no MPU is defined (warning: mpu_setting should not be accessed; otherwise move this above xMPU_SETTINGS) */
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#if ( XCHAL_CP_NUM > 0 || configUSE_TRACE_FACILITY_2 ) && !portUSING_MPU_WRAPPERS /* If MPU wrappers not used, we still need to allocate coproc area */
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#undef portUSING_MPU_WRAPPERS
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#define portUSING_MPU_WRAPPERS 1 /* Enable it to allocate coproc area */
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#define MPU_WRAPPERS_H /* Override mpu_wrapper.h to disable unwanted code */
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#define PRIVILEGED_FUNCTION
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#define PRIVILEGED_DATA
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#endif
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bool vApplicationSleep( TickType_t xExpectedIdleTime );
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#define portSUPPRESS_TICKS_AND_SLEEP( idleTime ) vApplicationSleep( idleTime )
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void _xt_coproc_release( volatile void * coproc_sa_base );
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/*
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* Map to the memory management routines required for the port.
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*
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* Note that libc standard malloc/free are also available for
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* non-FreeRTOS-specific code, and behave the same as
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* pvPortMalloc()/vPortFree().
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*/
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#define pvPortMalloc heap_caps_malloc_default
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#define vPortFree heap_caps_free
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#define xPortGetFreeHeapSize esp_get_free_heap_size
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#define xPortGetMinimumEverFreeHeapSize esp_get_minimum_free_heap_size
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/*
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* Callback to set a watchpoint on the end of the stack. Called every context switch to change the stack
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* watchpoint around.
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*/
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void vPortSetStackWatchpoint( void * pxStackStart );
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/*
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* Returns true if the current core is in ISR context; low prio ISR, med prio ISR or timer tick ISR. High prio ISRs
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* aren't detected here, but they normally cannot call C code, so that should not be an issue anyway.
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*/
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BaseType_t xPortInIsrContext();
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/*
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* This function will be called in High prio ISRs. Returns true if the current core was in ISR context
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* before calling into high prio ISR context.
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*/
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BaseType_t xPortInterruptedFromISRContext();
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/*
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* The structures and methods of manipulating the MPU are contained within the
|
|
* port layer.
|
|
*
|
|
* Fills the xMPUSettings structure with the memory region information
|
|
* contained in xRegions.
|
|
*/
|
|
#if ( portUSING_MPU_WRAPPERS == 1 )
|
|
struct xMEMORY_REGION;
|
|
void vPortStoreTaskMPUSettings( xMPU_SETTINGS * xMPUSettings,
|
|
const struct xMEMORY_REGION * const xRegions,
|
|
StackType_t * pxBottomOfStack,
|
|
uint32_t usStackDepth ) PRIVILEGED_FUNCTION;
|
|
void vPortReleaseTaskMPUSettings( xMPU_SETTINGS * xMPUSettings );
|
|
#endif
|
|
|
|
/* Multi-core: get current core ID */
|
|
static inline uint32_t IRAM_ATTR xPortGetCoreID()
|
|
{
|
|
int id;
|
|
|
|
asm (
|
|
"rsr.prid %0\n"
|
|
" extui %0,%0,13,1"
|
|
: "=r" ( id ) );
|
|
return id;
|
|
}
|
|
|
|
/* Get tick rate per second */
|
|
uint32_t xPortGetTickRateHz( void );
|
|
|
|
/* porttrace */
|
|
#if configUSE_TRACE_FACILITY_2
|
|
#include "porttrace.h"
|
|
#endif
|
|
|
|
/* configASSERT_2 if requested */
|
|
#if configASSERT_2
|
|
#include <stdio.h>
|
|
void exit( int );
|
|
#define configASSERT( x ) if( !( x ) ) { porttracePrint( -1 ); printf( "\nAssertion failed in %s:%d\n", __FILE__, __LINE__ ); exit( -1 ); }
|
|
#endif
|
|
|
|
#endif // __ASSEMBLER__
|
|
|
|
/* *INDENT-OFF* */
|
|
#ifdef __cplusplus
|
|
}
|
|
#endif
|
|
/* *INDENT-ON* */
|
|
|
|
#endif /* PORTMACRO_H */
|