471 lines
23 KiB
C
471 lines
23 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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VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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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: http://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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This file is part of the FreeRTOS distribution.
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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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>>! 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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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: http://www.freertos.org/a00114.html
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1 tab == 4 spaces!
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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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* http://www.FreeRTOS.org/FAQHelp.html *
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* *
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***************************************************************************
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http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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license and Real Time Engineers Ltd. contact details.
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http://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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http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
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licenses offer ticketed support, indemnification and middleware.
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http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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engineered and independently SIL3 certified version for use in safety and
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mission critical applications that require provable dependability.
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1 tab == 4 spaces!
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*/
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#ifndef PORTMACRO_H
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#define PORTMACRO_H
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#ifdef __cplusplus
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extern "C" {
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#endif
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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_crosscore_int.h"
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#include "esp_timer.h" /* required for FreeRTOS run time stats */
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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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/* 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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.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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.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
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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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For an introduction, see "Critical Sections & Disabling Interrupts" in docs/api-guides/freertos-smp.rst
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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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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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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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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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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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void vPortCPUAcquireMutex(portMUX_TYPE *mux, const char *function, int line);
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bool vPortCPUAcquireMutexTimeout(portMUX_TYPE *mux, int timeout_cycles, const char *function, int line);
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void vPortCPUReleaseMutex(portMUX_TYPE *mux, const char *function, int line);
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void vTaskEnterCritical( portMUX_TYPE *mux, const char *function, int line );
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void vTaskExitCritical( portMUX_TYPE *mux, const char *function, int line );
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#ifdef CONFIG_FREERTOS_CHECK_PORT_CRITICAL_COMPLIANCE
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/* Calling port*_CRITICAL from ISR context would cause an assert failure.
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* If the parent function is called from both ISR and Non-ISR context then call port*_CRITICAL_SAFE
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*/
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#define portENTER_CRITICAL(mux) do { \
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if(!xPortInIsrContext()) { \
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vTaskEnterCritical(mux, __FUNCTION__, __LINE__); \
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} else { \
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ets_printf("%s:%d (%s)- port*_CRITICAL called from ISR context!\n", __FILE__, __LINE__, \
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__FUNCTION__); \
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abort(); \
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} \
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} while(0)
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#define portEXIT_CRITICAL(mux) do { \
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if(!xPortInIsrContext()) { \
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vTaskExitCritical(mux, __FUNCTION__, __LINE__); \
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} else { \
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ets_printf("%s:%d (%s)- port*_CRITICAL called from ISR context!\n", __FILE__, __LINE__, \
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__FUNCTION__); \
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abort(); \
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} \
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} while(0)
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#else
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#define portENTER_CRITICAL(mux) vTaskEnterCritical(mux, __FUNCTION__, __LINE__)
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#define portEXIT_CRITICAL(mux) vTaskExitCritical(mux, __FUNCTION__, __LINE__)
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#endif
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#define portENTER_CRITICAL_ISR(mux) vTaskEnterCritical(mux, __FUNCTION__, __LINE__)
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#define portEXIT_CRITICAL_ISR(mux) vTaskExitCritical(mux, __FUNCTION__, __LINE__)
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#else
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void vTaskExitCritical( portMUX_TYPE *mux );
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void vTaskEnterCritical( portMUX_TYPE *mux );
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void vPortCPUAcquireMutex(portMUX_TYPE *mux);
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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, int timeout_cycles);
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void vPortCPUReleaseMutex(portMUX_TYPE *mux);
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#ifdef CONFIG_FREERTOS_CHECK_PORT_CRITICAL_COMPLIANCE
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/* Calling port*_CRITICAL from ISR context would cause an assert failure.
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* If the parent function is called from both ISR and Non-ISR context then call port*_CRITICAL_SAFE
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*/
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#define portENTER_CRITICAL(mux) do { \
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if(!xPortInIsrContext()) { \
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vTaskEnterCritical(mux); \
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} else { \
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ets_printf("%s:%d (%s)- port*_CRITICAL called from ISR context!\n", __FILE__, __LINE__, \
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__FUNCTION__); \
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abort(); \
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} \
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} while(0)
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#define portEXIT_CRITICAL(mux) do { \
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if(!xPortInIsrContext()) { \
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vTaskExitCritical(mux); \
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} else { \
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ets_printf("%s:%d (%s)- port*_CRITICAL called from ISR context!\n", __FILE__, __LINE__, \
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__FUNCTION__); \
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abort(); \
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} \
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} while(0)
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#else
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#define portENTER_CRITICAL(mux) vTaskEnterCritical(mux)
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#define portEXIT_CRITICAL(mux) vTaskExitCritical(mux)
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#endif
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#define portENTER_CRITICAL_ISR(mux) vTaskEnterCritical(mux)
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#define portEXIT_CRITICAL_ISR(mux) vTaskExitCritical(mux)
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#endif
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#define portENTER_CRITICAL_SAFE(mux) do { \
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if (xPortInIsrContext()) { \
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portENTER_CRITICAL_ISR(mux); \
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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) do { \
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if (xPortInIsrContext()) { \
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portEXIT_CRITICAL_ISR(mux); \
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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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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 portTcbMemoryCaps (MALLOC_CAP_INTERNAL|MALLOC_CAP_8BIT)
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#define portStackMemoryCaps (MALLOC_CAP_INTERNAL|MALLOC_CAP_8BIT)
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#define pvPortMallocTcbMem(size) heap_caps_malloc(size, portTcbMemoryCaps)
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#define pvPortMallocStackMem(size) heap_caps_malloc(size, portStackMemoryCaps)
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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, uint32_t compare, uint32_t *set) {
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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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}
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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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/* Yielding within an API call (when interrupts are off), means the yield should be delayed
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until interrupts are re-enabled.
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To do this, we use the "cross-core" interrupt as a trigger to yield on this core when interrupts are re-enabled.This
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is the same interrupt & code path which is used to trigger a yield between CPUs, although in this case the yield is
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happening on the same CPU.
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*/
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#define portYIELD_WITHIN_API() esp_crosscore_int_send_yield(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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#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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// 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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extern void esp_vApplicationIdleHook( void );
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extern void esp_vApplicationTickHook( void );
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#ifndef CONFIG_FREERTOS_LEGACY_HOOKS
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#define vApplicationIdleHook esp_vApplicationIdleHook
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#define vApplicationTickHook esp_vApplicationTickHook
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#endif /* !CONFIG_FREERTOS_LEGACY_HOOKS */
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void _xt_coproc_release(volatile void * coproc_sa_base);
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void vApplicationSleep( TickType_t xExpectedIdleTime );
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#define portSUPPRESS_TICKS_AND_SLEEP( idleTime ) vApplicationSleep( idleTime )
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// porttrace
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|
#if configUSE_TRACE_FACILITY_2
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|
#include "porttrace.h"
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|
#endif
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// configASSERT_2 if requested
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|
#if configASSERT_2
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|
#include <stdio.h>
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|
void exit(int);
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|
#define configASSERT( x ) if (!(x)) { porttracePrint(-1); printf("\nAssertion failed in %s:%d\n", __FILE__, __LINE__); exit(-1); }
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|
#endif
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|
|
|
#endif // __ASSEMBLER__
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|
|
|
#ifdef __cplusplus
|
|
}
|
|
#endif
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|
|
|
#endif /* PORTMACRO_H */
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