FreeRTOS-Kernel/portable/XCC/XCOREAI/port.c

// Copyright (c) 2019, XMOS Ltd, All rights reserved

/* Scheduler includes. */
#include "FreeRTOS.h"
#include "task.h"
#include <string.h>
#include <xs1.h>
#include <xcore/hwtimer.h>
#include <xcore/triggerable.h>

static hwtimer_t xKernelTimer;

uint32_t ulPortYieldRequired[ portMAX_CORE_COUNT ] = { pdFALSE };

/*-----------------------------------------------------------*/

void vIntercoreInterruptISR( void )
{
	int xCoreID;

//	debug_printf( "In KCALL: %u\n", ulData );
	xCoreID = rtos_core_id_get();
	ulPortYieldRequired[ xCoreID ] = pdTRUE;
}
/*-----------------------------------------------------------*/

DEFINE_RTOS_INTERRUPT_CALLBACK( pxKernelTimerISR, pvData )
{
	uint32_t ulLastTrigger;
	uint32_t ulNow;
	int xCoreID;

	xCoreID = 0;

	configASSERT( xCoreID == rtos_core_id_get() );

	/* Need the next interrupt to be scheduled relative to
	 * the current trigger time, rather than the current
	 * time. */
	ulLastTrigger = hwtimer_get_trigger_time( xKernelTimer );

	/* Check to see if the ISR is late. If it is, we don't
	 * want to schedule the next interrupt to be in the past. */
	ulNow = hwtimer_get_time( xKernelTimer );
	if( ulNow - ulLastTrigger >= configCPU_CLOCK_HZ / configTICK_RATE_HZ )
	{
		ulLastTrigger = ulNow;
	}

	ulLastTrigger += configCPU_CLOCK_HZ / configTICK_RATE_HZ;
	hwtimer_change_trigger_time( xKernelTimer, ulLastTrigger );

#if configUPDATE_RTOS_TIME_FROM_TICK_ISR == 1
	rtos_time_increment( RTOS_TICK_PERIOD( configTICK_RATE_HZ ) );
#endif

	if( xTaskIncrementTick() != pdFALSE )
	{
		ulPortYieldRequired[ xCoreID ] = pdTRUE;
	}
}
/*-----------------------------------------------------------*/

void vPortYieldOtherCore( int xOtherCoreID )
{
	int xCoreID;

	/*
	 * This function must be called from within a critical section.
	 */

	xCoreID = rtos_core_id_get();

//	debug_printf("%d->%d\n", xCoreID, xOtherCoreID);

//	debug_printf("Yield core %d from %d\n", xOtherCoreID, xCoreID );

	rtos_irq( xOtherCoreID, xCoreID );
}
/*-----------------------------------------------------------*/

static int prvCoreInit( void )
{
	int xCoreID;

	xCoreID = rtos_core_register();
	debug_printf( "Logical Core %d initializing as FreeRTOS Core %d\n", get_logical_core_id(), xCoreID );

	asm volatile (
			"ldap r11, kexcept\n\t"
			"set kep, r11\n\t"
			:
			:
			: "r11"
	);

	rtos_irq_enable( configNUM_CORES );

	/*
	 * All threads wait here until all have enabled IRQs
	 */
	while( rtos_irq_ready() == pdFALSE );

	if( xCoreID == 0 )
	{
		uint32_t ulNow;
		ulNow = hwtimer_get_time( xKernelTimer );
//		debug_printf( "The time is now (%u)\n", ulNow );

		ulNow += configCPU_CLOCK_HZ / configTICK_RATE_HZ;

		triggerable_setup_interrupt_callback( xKernelTimer, NULL, RTOS_INTERRUPT_CALLBACK( pxKernelTimerISR ) );
		hwtimer_set_trigger_time( xKernelTimer, ulNow );
		triggerable_enable_trigger( xKernelTimer );
	}

	return xCoreID;
}
/*-----------------------------------------------------------*/

DEFINE_RTOS_KERNEL_ENTRY( void, vPortStartSchedulerOnCore, void )
{
	int xCoreID;

	xCoreID = prvCoreInit();

	#if( configUSE_CORE_INIT_HOOK == 1 )
	{
		extern void vApplicationCoreInitHook( BaseType_t xCoreID );

		vApplicationCoreInitHook( xCoreID );
	}
	#endif

	debug_printf( "FreeRTOS Core %d initialized\n", xCoreID );

	/*
	 * Restore the context of the first thread
	 * to run and jump into it.
	 */
	asm volatile (
			"mov r6, %0\n\t" /* R6 must be the FreeRTOS core ID*/
			"ldaw r5, dp[pxCurrentTCBs]\n\t" /* R5 must be the TCB list which is indexed by R6 */
			"bu _freertos_restore_ctx\n\t"
			: /* no outputs */
			: "r"(xCoreID)
			: "r5", "r6"
	);
}
/*-----------------------------------------------------------*/

/*-----------------------------------------------------------*/
/* Public functions required by all ports below:             */
/*-----------------------------------------------------------*/

/*
 * See header file for description.
 */
StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters )
{
	//debug_printf( "Top of stack was %p for task %p\n", pxTopOfStack, pxCode );
	/*
	 * Grow the thread's stack by portTHREAD_CONTEXT_STACK_GROWTH
	 * so we can push the context onto it.
	 */
	pxTopOfStack -= portTHREAD_CONTEXT_STACK_GROWTH;

	uint32_t dp;
	uint32_t cp;

	/*
	 * We need to get the current CP and DP pointers.
	 */
	asm volatile (
			"ldaw r11, cp[0]\n\t" /* get CP into R11 */
			"mov %0, r11\n\t" /* get R11 (CP) into cp */
			"ldaw r11, dp[0]\n\t" /* get DP into R11 */
			"mov %1, r11\n\t" /* get R11 (DP) into dp */
			: "=r"(cp), "=r"(dp) /* output 0 is cp, output 1 is dp */
			: /* there are no inputs */
			: "r11" /* R11 gets clobbered */
	);

	/*
	 * Push the thread context onto the stack.
	 * Saved PC will point to the new thread's
	 * entry pointer.
	 * Interrupts will default to enabled.
	 * KEDI is also set to enable dual issue mode
	 * upon kernel entry.
	 */
	pxTopOfStack[ 1 ] = ( StackType_t ) pxCode;       /* SP[1]  := SPC */
    pxTopOfStack[ 2 ] = XS1_SR_IEBLE_MASK
                      | XS1_SR_KEDI_MASK;             /* SP[2]  := SSR */
	pxTopOfStack[ 3 ] = 0x00000000;                   /* SP[3]  := SED */
	pxTopOfStack[ 4 ] = 0x00000000;                   /* SP[4]  := ET */
	pxTopOfStack[ 5 ] = dp;                           /* SP[5]  := DP */
	pxTopOfStack[ 6 ] = cp;                           /* SP[6]  := CP */
	pxTopOfStack[ 7 ] = 0x00000000;                   /* SP[7]  := LR */
	pxTopOfStack[ 8 ] = ( StackType_t ) pvParameters; /* SP[8]  := R0 */
	pxTopOfStack[ 9 ] = 0x01010101;                   /* SP[9]  := R1 */
	pxTopOfStack[ 10 ] = 0x02020202;                  /* SP[10] := R2 */
	pxTopOfStack[ 11 ] = 0x03030303;                  /* SP[11] := R3 */
	pxTopOfStack[ 12 ] = 0x04040404;                  /* SP[12] := R4 */
	pxTopOfStack[ 13 ] = 0x05050505;                  /* SP[13] := R5 */
	pxTopOfStack[ 14 ] = 0x06060606;                  /* SP[14] := R6 */
	pxTopOfStack[ 15 ] = 0x07070707;                  /* SP[15] := R7 */
	pxTopOfStack[ 16 ] = 0x08080808;                  /* SP[16] := R8 */
	pxTopOfStack[ 17 ] = 0x09090909;                  /* SP[17] := R9 */
	pxTopOfStack[ 18 ] = 0x10101010;                  /* SP[18] := R10 */
	pxTopOfStack[ 19 ] = 0x11111111;                  /* SP[19] := R11 */
	pxTopOfStack[ 20 ] = 0x00000000;                  /* SP[20] := vH and vSR */
	memset(&pxTopOfStack[21], 0, 32);                 /* SP[21 - 28] := vR   */
	memset(&pxTopOfStack[29], 1, 32);                 /* SP[29 - 36] := vD   */
	memset(&pxTopOfStack[37], 2, 32);                 /* SP[37 - 44] := vC   */

	//debug_printf( "Top of stack is now %p for task %p\n", pxTopOfStack, pxCode );

	/*
	 * Returns the new top of the stack
	 */
	return pxTopOfStack;
}
/*-----------------------------------------------------------*/

void vPortStartSMPScheduler( void );

/*
 * See header file for description.
 */
BaseType_t xPortStartScheduler( void )
{
	if( ( configNUM_CORES > portMAX_CORE_COUNT ) || ( configNUM_CORES <= 0 ) )
	{
		return pdFAIL;
	}

	rtos_locks_initialize();
	xKernelTimer = hwtimer_alloc();

	vPortStartSMPScheduler();

	return pdPASS;
}
/*-----------------------------------------------------------*/

void vPortEndScheduler( void )
{
	/* Do not implement. */
}
/*-----------------------------------------------------------*/