323 lines
13 KiB
C
323 lines
13 KiB
C
/*
|
|
FreeRTOS V8.2.0 - Copyright (C) 2015 Real Time Engineers Ltd.
|
|
All rights reserved
|
|
|
|
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
|
|
|
|
***************************************************************************
|
|
* *
|
|
* FreeRTOS provides completely free yet professionally developed, *
|
|
* robust, strictly quality controlled, supported, and cross *
|
|
* platform software that has become a de facto standard. *
|
|
* *
|
|
* Help yourself get started quickly and support the FreeRTOS *
|
|
* project by purchasing a FreeRTOS tutorial book, reference *
|
|
* manual, or both from: http://www.FreeRTOS.org/Documentation *
|
|
* *
|
|
* Thank you! *
|
|
* *
|
|
***************************************************************************
|
|
|
|
This file is part of the FreeRTOS distribution.
|
|
|
|
FreeRTOS is free software; you can redistribute it and/or modify it under
|
|
the terms of the GNU General Public License (version 2) as published by the
|
|
Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
|
|
|
|
>>! NOTE: The modification to the GPL is included to allow you to !<<
|
|
>>! distribute a combined work that includes FreeRTOS without being !<<
|
|
>>! obliged to provide the source code for proprietary components !<<
|
|
>>! outside of the FreeRTOS kernel. !<<
|
|
|
|
FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
|
|
WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
|
|
FOR A PARTICULAR PURPOSE. Full license text is available from the following
|
|
link: http://www.freertos.org/a00114.html
|
|
|
|
1 tab == 4 spaces!
|
|
|
|
***************************************************************************
|
|
* *
|
|
* Having a problem? Start by reading the FAQ "My application does *
|
|
* not run, what could be wrong?" *
|
|
* *
|
|
* http://www.FreeRTOS.org/FAQHelp.html *
|
|
* *
|
|
***************************************************************************
|
|
|
|
http://www.FreeRTOS.org - Documentation, books, training, latest versions,
|
|
license and Real Time Engineers Ltd. contact details.
|
|
|
|
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
|
|
including FreeRTOS+Trace - an indispensable productivity tool, a DOS
|
|
compatible FAT file system, and our tiny thread aware UDP/IP stack.
|
|
|
|
http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
|
|
Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
|
|
licenses offer ticketed support, indemnification and middleware.
|
|
|
|
http://www.SafeRTOS.com - High Integrity Systems also provide a safety
|
|
engineered and independently SIL3 certified version for use in safety and
|
|
mission critical applications that require provable dependability.
|
|
|
|
1 tab == 4 spaces!
|
|
*/
|
|
|
|
#ifndef PORTMACRO_H
|
|
#define PORTMACRO_H
|
|
|
|
#ifdef __cplusplus
|
|
extern "C" {
|
|
#endif
|
|
|
|
#ifndef __ASSEMBLER__
|
|
|
|
#include <stdint.h>
|
|
|
|
#include <xtensa/tie/xt_core.h>
|
|
#include <xtensa/hal.h>
|
|
#include <xtensa/config/core.h>
|
|
#include <xtensa/config/system.h> /* required for XSHAL_CLIB */
|
|
#include <xtensa/xtruntime.h>
|
|
|
|
//#include "xtensa_context.h"
|
|
|
|
/*-----------------------------------------------------------
|
|
* Port specific definitions.
|
|
*
|
|
* The settings in this file configure FreeRTOS correctly for the
|
|
* given hardware and compiler.
|
|
*
|
|
* These settings should not be altered.
|
|
*-----------------------------------------------------------
|
|
*/
|
|
|
|
/* Type definitions. */
|
|
|
|
#define portCHAR int8_t
|
|
#define portFLOAT float
|
|
#define portDOUBLE double
|
|
#define portLONG int32_t
|
|
#define portSHORT int16_t
|
|
#define portSTACK_TYPE uint8_t
|
|
#define portBASE_TYPE int
|
|
|
|
typedef portSTACK_TYPE StackType_t;
|
|
typedef portBASE_TYPE BaseType_t;
|
|
typedef unsigned portBASE_TYPE UBaseType_t;
|
|
|
|
#if( configUSE_16_BIT_TICKS == 1 )
|
|
typedef uint16_t TickType_t;
|
|
#define portMAX_DELAY ( TickType_t ) 0xffff
|
|
#else
|
|
typedef uint32_t TickType_t;
|
|
#define portMAX_DELAY ( TickType_t ) 0xffffffffUL
|
|
#endif
|
|
/*-----------------------------------------------------------*/
|
|
|
|
// portbenchmark
|
|
#include "portbenchmark.h"
|
|
|
|
#include "sdkconfig.h"
|
|
|
|
#define portFIRST_TASK_HOOK CONFIG_FREERTOS_BREAK_ON_SCHEDULER_START_JTAG
|
|
|
|
|
|
typedef struct {
|
|
volatile uint32_t mux;
|
|
#ifdef CONFIG_FREERTOS_PORTMUX_DEBUG
|
|
const char *lastLockedFn;
|
|
int lastLockedLine;
|
|
#endif
|
|
} portMUX_TYPE;
|
|
|
|
/*
|
|
* Kernel mux values can be:
|
|
* 0 - Uninitialized
|
|
* (0-portNUM_PROCESSORS)|(recCnt<<8)|0xB33F0000 - taken by core (val), recurse count is (recCnt)
|
|
* 0xB33FFFFF - free
|
|
*
|
|
* The magic number in the top 16 bits is there so we can detect uninitialized and corrupted muxes.
|
|
*/
|
|
|
|
#define portMUX_MAGIC_VAL 0xB33F0000
|
|
#define portMUX_FREE_VAL 0xB33FFFFF
|
|
#define portMUX_MAGIC_MASK 0xFFFF0000
|
|
#define portMUX_MAGIC_SHIFT 16
|
|
#define portMUX_CNT_MASK 0x0000FF00
|
|
#define portMUX_CNT_SHIFT 8
|
|
#define portMUX_VAL_MASK 0x000000FF
|
|
#define portMUX_VAL_SHIFT 0
|
|
|
|
//Keep this in sync with the portMUX_TYPE struct definition please.
|
|
#ifndef CONFIG_FREERTOS_PORTMUX_DEBUG
|
|
#define portMUX_INITIALIZER_UNLOCKED { \
|
|
.mux = portMUX_MAGIC_VAL|portMUX_FREE_VAL \
|
|
}
|
|
#else
|
|
#define portMUX_INITIALIZER_UNLOCKED { \
|
|
.mux = portMUX_MAGIC_VAL|portMUX_FREE_VAL, \
|
|
.lastLockedFn = "(never locked)", \
|
|
.lastLockedLine = -1 \
|
|
}
|
|
#endif
|
|
|
|
/* Critical section management. NW-TODO: replace XTOS_SET_INTLEVEL with more efficient version, if any? */
|
|
// These cannot be nested. They should be used with a lot of care and cannot be called from interrupt level.
|
|
#define portDISABLE_INTERRUPTS() do { XTOS_SET_INTLEVEL(XCHAL_EXCM_LEVEL); portbenchmarkINTERRUPT_DISABLE(); } while (0)
|
|
#define portENABLE_INTERRUPTS() do { portbenchmarkINTERRUPT_RESTORE(0); XTOS_SET_INTLEVEL(0); } while (0)
|
|
|
|
#define portASSERT_IF_IN_ISR() vPortAssertIfInISR()
|
|
void vPortAssertIfInISR();
|
|
|
|
#define portCRITICAL_NESTING_IN_TCB 1
|
|
|
|
/*
|
|
Modifications to portENTER_CRITICAL:
|
|
|
|
The original portENTER_CRITICAL only disabled the ISRs. This is enough for single-CPU operation: by
|
|
disabling the interrupts, there is no task switch so no other tasks can meddle in the data, and because
|
|
interrupts are disabled, ISRs can't corrupt data structures either.
|
|
|
|
For multiprocessing, things get a bit more hairy. First of all, disabling the interrupts doesn't stop
|
|
the tasks or ISRs on the other processors meddling with our CPU. For tasks, this is solved by adding
|
|
a spinlock to the portENTER_CRITICAL macro. A task running on the other CPU accessing the same data will
|
|
spinlock in the portENTER_CRITICAL code until the first CPU is done.
|
|
|
|
For ISRs, we now also need muxes: while portENTER_CRITICAL disabling interrupts will stop ISRs on the same
|
|
CPU from meddling with the data, it does not stop interrupts on the other cores from interfering with the
|
|
data. For this, we also use a spinlock in the routines called by the ISR, but these spinlocks
|
|
do not disable the interrupts (because they already are).
|
|
|
|
This all assumes that interrupts are either entirely disabled or enabled. Interrupr priority levels
|
|
will break this scheme.
|
|
*/
|
|
void vPortCPUInitializeMutex(portMUX_TYPE *mux);
|
|
#ifdef CONFIG_FREERTOS_PORTMUX_DEBUG
|
|
void vPortCPUAcquireMutex(portMUX_TYPE *mux, const char *function, int line);
|
|
portBASE_TYPE vPortCPUReleaseMutex(portMUX_TYPE *mux, const char *function, int line);
|
|
void vTaskEnterCritical( portMUX_TYPE *mux, const char *function, int line );
|
|
void vTaskExitCritical( portMUX_TYPE *mux, const char *function, int line );
|
|
#define portENTER_CRITICAL(mux) vTaskEnterCritical(mux, __FUNCTION__, __LINE__)
|
|
#define portEXIT_CRITICAL(mux) vTaskExitCritical(mux, __FUNCTION__, __LINE__)
|
|
#define portENTER_CRITICAL_ISR(mux) vPortCPUAcquireMutex(mux, __FUNCTION__, __LINE__)
|
|
#define portEXIT_CRITICAL_ISR(mux) vPortCPUReleaseMutex(mux, __FUNCTION__, __LINE__)
|
|
#else
|
|
void vTaskExitCritical( portMUX_TYPE *mux );
|
|
void vTaskEnterCritical( portMUX_TYPE *mux );
|
|
void vPortCPUAcquireMutex(portMUX_TYPE *mux);
|
|
portBASE_TYPE vPortCPUReleaseMutex(portMUX_TYPE *mux);
|
|
#define portENTER_CRITICAL(mux) vTaskEnterCritical(mux)
|
|
#define portEXIT_CRITICAL(mux) vTaskExitCritical(mux)
|
|
#define portENTER_CRITICAL_ISR(mux) vPortCPUAcquireMutex(mux)
|
|
#define portEXIT_CRITICAL_ISR(mux) vPortCPUReleaseMutex(mux)
|
|
#endif
|
|
|
|
|
|
// Cleaner and preferred solution allows nested interrupts disabling and restoring via local registers or stack.
|
|
// They can be called from interrupts too.
|
|
//NOT SMP-COMPATIBLE! Use only if all you want is to disable the interrupts locally!
|
|
static inline unsigned portENTER_CRITICAL_NESTED() { unsigned state = XTOS_SET_INTLEVEL(XCHAL_EXCM_LEVEL); portbenchmarkINTERRUPT_DISABLE(); return state; }
|
|
#define portEXIT_CRITICAL_NESTED(state) do { portbenchmarkINTERRUPT_RESTORE(state); XTOS_RESTORE_JUST_INTLEVEL(state); } while (0)
|
|
|
|
// These FreeRTOS versions are similar to the nested versions above
|
|
#define portSET_INTERRUPT_MASK_FROM_ISR() portENTER_CRITICAL_NESTED()
|
|
#define portCLEAR_INTERRUPT_MASK_FROM_ISR(state) portEXIT_CRITICAL_NESTED(state)
|
|
|
|
|
|
/*
|
|
* Wrapper for the Xtensa compare-and-set instruction. This subroutine will atomically compare
|
|
* *mux to compare, and if it's the same, will set *mux to set. It will return the old value
|
|
* of *addr in *set.
|
|
*
|
|
* Warning: From the ISA docs: in some (unspecified) cases, the s32c1i instruction may return the
|
|
* *bitwise inverse* of the old mem if the mem wasn't written. This doesn't seem to happen on the
|
|
* ESP32, though. (Would show up directly if it did because the magic wouldn't match.)
|
|
*/
|
|
static inline void uxPortCompareSet(volatile uint32_t *addr, uint32_t compare, uint32_t *set) {
|
|
__asm__ __volatile__(
|
|
"WSR %2,SCOMPARE1 \n"
|
|
"ISYNC \n"
|
|
"S32C1I %0, %1, 0 \n"
|
|
:"=r"(*set)
|
|
:"r"(addr), "r"(compare), "0"(*set)
|
|
);
|
|
}
|
|
|
|
|
|
/*-----------------------------------------------------------*/
|
|
|
|
/* Architecture specifics. */
|
|
#define portSTACK_GROWTH ( -1 )
|
|
#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ )
|
|
#define portBYTE_ALIGNMENT 4
|
|
#define portNOP() XT_NOP()
|
|
/*-----------------------------------------------------------*/
|
|
|
|
/* Fine resolution time */
|
|
#define portGET_RUN_TIME_COUNTER_VALUE() xthal_get_ccount()
|
|
|
|
/* Kernel utilities. */
|
|
void vPortYield( void );
|
|
void _frxt_setup_switch( void );
|
|
#define portYIELD() vPortYield()
|
|
#define portYIELD_FROM_ISR() _frxt_setup_switch()
|
|
/*-----------------------------------------------------------*/
|
|
|
|
/* Task function macros as described on the FreeRTOS.org WEB site. */
|
|
#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters )
|
|
#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters )
|
|
|
|
// When coprocessors are defined, we to maintain a pointer to coprocessors area.
|
|
// We currently use a hack: redefine field xMPU_SETTINGS in TCB block as a structure that can hold:
|
|
// MPU wrappers, coprocessor area pointer, trace code structure, and more if needed.
|
|
// The field is normally used for memory protection. FreeRTOS should create another general purpose field.
|
|
typedef struct {
|
|
#if XCHAL_CP_NUM > 0
|
|
volatile StackType_t* coproc_area; // Pointer to coprocessor save area; MUST BE FIRST
|
|
#endif
|
|
|
|
#if portUSING_MPU_WRAPPERS
|
|
// Define here mpu_settings, which is port dependent
|
|
int mpu_setting; // Just a dummy example here; MPU not ported to Xtensa yet
|
|
#endif
|
|
|
|
#if configUSE_TRACE_FACILITY_2
|
|
struct {
|
|
// Cf. porttraceStamp()
|
|
int taskstamp; /* Stamp from inside task to see where we are */
|
|
int taskstampcount; /* A counter usually incremented when we restart the task's loop */
|
|
} porttrace;
|
|
#endif
|
|
} xMPU_SETTINGS;
|
|
|
|
// 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)
|
|
#if (XCHAL_CP_NUM > 0 || configUSE_TRACE_FACILITY_2) && !portUSING_MPU_WRAPPERS // If MPU wrappers not used, we still need to allocate coproc area
|
|
#undef portUSING_MPU_WRAPPERS
|
|
#define portUSING_MPU_WRAPPERS 1 // Enable it to allocate coproc area
|
|
#define MPU_WRAPPERS_H // Override mpu_wrapper.h to disable unwanted code
|
|
#define PRIVILEGED_FUNCTION
|
|
#define PRIVILEGED_DATA
|
|
#endif
|
|
|
|
// 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__
|
|
|
|
#ifdef __cplusplus
|
|
}
|
|
#endif
|
|
|
|
#endif /* PORTMACRO_H */
|
|
|