424dc0f3b0
This is a work in progress based on @mikejac's work. Missing: * No 'new' operator. * I don't think STL is currently supported.
324 lines
11 KiB
C
324 lines
11 KiB
C
/*
|
|
FreeRTOS V7.5.2 - Copyright (C) 2013 Real Time Engineers Ltd.
|
|
|
|
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!
|
|
*/
|
|
|
|
/*-----------------------------------------------------------
|
|
* Implementation of functions defined in portable.h for ESP8266
|
|
*
|
|
* This is based on the version supplied in esp_iot_rtos_sdk,
|
|
* which is in turn based on the ARM CM3 port.
|
|
*----------------------------------------------------------*/
|
|
|
|
#include <xtensa/config/core.h>
|
|
#include <malloc.h>
|
|
#include <unistd.h>
|
|
#include <stdio.h>
|
|
|
|
#include "FreeRTOS.h"
|
|
#include "task.h"
|
|
#include "xtensa_rtos.h"
|
|
|
|
unsigned cpu_sr;
|
|
char level1_int_disabled;
|
|
|
|
/* Supervisor stack pointer entry. This is the "high water mark" of how far the
|
|
supervisor stack grew down before task started.
|
|
|
|
After tasks start, task stacks are all allocated from the heap and
|
|
FreeRTOS checks for stack overflow.
|
|
*/
|
|
static uint32_t xPortSupervisorStackPointer;
|
|
|
|
/*
|
|
* Stack initialization
|
|
*/
|
|
portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters )
|
|
{
|
|
#define SET_STKREG(r,v) sp[(r) >> 2] = (portSTACK_TYPE)(v)
|
|
portSTACK_TYPE *sp, *tp;
|
|
|
|
/* Create interrupt stack frame aligned to 16 byte boundary */
|
|
sp = (portSTACK_TYPE*) (((uint32_t)(pxTopOfStack+1) - XT_CP_SIZE - XT_STK_FRMSZ) & ~0xf);
|
|
|
|
/* Clear the entire frame (do not use memset() because we don't depend on C library) */
|
|
for (tp = sp; tp <= pxTopOfStack; ++tp)
|
|
*tp = 0;
|
|
|
|
/* Explicitly initialize certain saved registers */
|
|
SET_STKREG( XT_STK_PC, pxCode ); /* task entrypoint */
|
|
SET_STKREG( XT_STK_A0, 0 ); /* to terminate GDB backtrace */
|
|
SET_STKREG( XT_STK_A1, (uint32_t)sp + XT_STK_FRMSZ ); /* physical top of stack frame */
|
|
SET_STKREG( XT_STK_A2, pvParameters ); /* parameters */
|
|
SET_STKREG( XT_STK_EXIT, _xt_user_exit ); /* user exception exit dispatcher */
|
|
|
|
/* Set initial PS to int level 0, EXCM disabled ('rfe' will enable), user mode. */
|
|
SET_STKREG( XT_STK_PS, PS_UM | PS_EXCM );
|
|
return sp;
|
|
}
|
|
|
|
static int pending_soft_sv;
|
|
static int pending_maclayer_sv;
|
|
|
|
/* PendSV is called in place of vPortYield() to request a supervisor
|
|
call.
|
|
|
|
The portYIELD macro calls pendSV if it's a software request.
|
|
|
|
The libpp and libudhcp libraries also call this function, assuming
|
|
always with arg==2 (but maybe sometimes with arg==1?)
|
|
|
|
In the original esp_iot_rtos_sdk implementation, arg was a char. Using an
|
|
enum is ABI-compatible, though.
|
|
*/
|
|
void IRAM PendSV(enum SVC_ReqType req)
|
|
{
|
|
vPortEnterCritical();
|
|
|
|
if(req == SVC_Software)
|
|
{
|
|
pending_soft_sv = 1;
|
|
}
|
|
else if(req == SVC_MACLayer)
|
|
pending_maclayer_sv= 1;
|
|
|
|
xthal_set_intset(BIT(INUM_SOFT));
|
|
vPortExitCritical();
|
|
}
|
|
|
|
/* This MAC layer ISR handler is defined in libpp.a, and is called
|
|
* after a Blob SV requests a soft interrupt by calling
|
|
* PendSV(SVC_MACLayer).
|
|
*/
|
|
extern portBASE_TYPE sdk_MacIsrSigPostDefHdl(void);
|
|
|
|
void IRAM SV_ISR(void)
|
|
{
|
|
portBASE_TYPE xHigherPriorityTaskWoken=pdFALSE ;
|
|
if(pending_maclayer_sv)
|
|
{
|
|
xHigherPriorityTaskWoken = sdk_MacIsrSigPostDefHdl();
|
|
pending_maclayer_sv = 0;
|
|
}
|
|
if( xHigherPriorityTaskWoken || pending_soft_sv)
|
|
{
|
|
sdk__xt_timer_int1();
|
|
pending_soft_sv = 0;
|
|
}
|
|
}
|
|
|
|
void xPortSysTickHandle (void)
|
|
{
|
|
//CloseNMI();
|
|
{
|
|
if(xTaskIncrementTick() !=pdFALSE )
|
|
{
|
|
vTaskSwitchContext();
|
|
}
|
|
}
|
|
//OpenNMI();
|
|
}
|
|
|
|
static bool sdk_compat_initialised;
|
|
void sdk_compat_initialise(void);
|
|
|
|
/*
|
|
* See header file for description.
|
|
*/
|
|
portBASE_TYPE xPortStartScheduler( void )
|
|
{
|
|
_xt_isr_attach(INUM_SOFT, SV_ISR);
|
|
_xt_isr_unmask(BIT(INUM_SOFT));
|
|
|
|
/* ENORMOUS HACK: Call the sdk_compat_initialise() function.
|
|
This can be removed happily once we have open source startup code.
|
|
*/
|
|
if(!sdk_compat_initialised) {
|
|
sdk_compat_initialised = true;
|
|
sdk_compat_initialise();
|
|
}
|
|
|
|
/* Initialize system tick timer interrupt and schedule the first tick. */
|
|
sdk__xt_tick_timer_init();
|
|
|
|
vTaskSwitchContext();
|
|
|
|
/* mark the supervisor stack pointer high water mark. xt_int_exit
|
|
actually frees ~0x50 bytes off the stack, so this value is
|
|
conservative.
|
|
*/
|
|
__asm__ __volatile__ ("mov %0, a1\n" : "=a"(xPortSupervisorStackPointer));
|
|
|
|
sdk__xt_int_exit();
|
|
|
|
/* Should not get here as the tasks are now running! */
|
|
return pdTRUE;
|
|
}
|
|
|
|
/* Determine free heap size via libc sbrk function & mallinfo
|
|
|
|
sbrk gives total size in totally unallocated memory,
|
|
mallinfo.fordblks gives free space inside area dedicated to heap.
|
|
|
|
mallinfo is possibly non-portable, although glibc & newlib both support
|
|
the fordblks member.
|
|
*/
|
|
size_t xPortGetFreeHeapSize( void )
|
|
{
|
|
struct mallinfo mi = mallinfo();
|
|
uint32_t brk_val = (uint32_t) sbrk(0);
|
|
|
|
uint32_t sp = xPortSupervisorStackPointer;
|
|
if(sp == 0) /* scheduler not started */
|
|
__asm__ __volatile__ ("mov %0, a1\n" : "=a"(sp));
|
|
return sp - brk_val + mi.fordblks;
|
|
}
|
|
|
|
void vPortEndScheduler( void )
|
|
{
|
|
/* No-op, nothing to return to */
|
|
}
|
|
|
|
/*-----------------------------------------------------------*/
|
|
|
|
/* Each task maintains its own interrupt status in the critical nesting
|
|
variable. */
|
|
static unsigned portBASE_TYPE uxCriticalNesting = 0;
|
|
|
|
/* These nested vPortEnter/ExitCritical macros are called by SDK
|
|
* libraries in libmain, libnet80211, libpp
|
|
*
|
|
* It may be possible to replace the global nesting count variable
|
|
* with a save/restore of interrupt level, although it's difficult as
|
|
* the functions have no return value.
|
|
*/
|
|
void IRAM vPortEnterCritical( void )
|
|
{
|
|
portDISABLE_INTERRUPTS();
|
|
uxCriticalNesting++;
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
void IRAM vPortExitCritical( void )
|
|
{
|
|
uxCriticalNesting--;
|
|
if( uxCriticalNesting == 0 )
|
|
portENABLE_INTERRUPTS();
|
|
}
|
|
|
|
/*-----------------------------------------------------------*/
|
|
|
|
/* Main ISR handler for FreeRTOS side of the ESP libs?
|
|
|
|
As far as I can tell, the "real" Xtensa ISRs ("Exceptions") are
|
|
handled in libmain.a (xtensa_vectors.o) which then can call into here
|
|
passing an interrupt mask.
|
|
*/
|
|
|
|
_xt_isr isr[16];
|
|
|
|
void IRAM _xt_isr_attach(uint8_t i, _xt_isr func)
|
|
{
|
|
isr[i] = func;
|
|
}
|
|
|
|
uint16_t IRAM _xt_isr_handler(uint16_t i)
|
|
{
|
|
uint8_t index;
|
|
|
|
/* I think this is implementing some kind of interrupt priority or
|
|
short-circuiting an expensive ffs for most common interrupts - ie
|
|
WDT And GPIO are common or high priority, then remaining flags.
|
|
*/
|
|
if (i & (1 << INUM_WDT)) {
|
|
index = INUM_WDT;
|
|
}
|
|
else if (i & (1 << INUM_GPIO)) {
|
|
index = INUM_GPIO;
|
|
}else {
|
|
index = __builtin_ffs(i) - 1;
|
|
|
|
if (index == INUM_MAX) {
|
|
/* I don't understand what happens here. INUM_MAX is not
|
|
the highest interrupt number listed (and the isr array
|
|
has 16 entries).
|
|
|
|
Clearing that flag and then setting index to
|
|
__builtin_ffs(i)-1 may result in index == 255 if no
|
|
higher flags are set, unless this is guarded against
|
|
somehow by the caller?
|
|
|
|
I also don't understand why the code is written like
|
|
this in esp_iot_rtos_sdk instead of just putting the i
|
|
&= line near the top... Probably no good reason?
|
|
*/
|
|
i &= ~(1 << INUM_MAX);
|
|
index = __builtin_ffs(i) - 1;
|
|
}
|
|
}
|
|
|
|
_xt_clear_ints(1<<index);
|
|
|
|
isr[index]();
|
|
|
|
return i & ~(1 << index);
|
|
}
|