mirror of
https://github.com/espressif/esp-idf.git
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freertos: Refactor xtensa port stack initialization code
This commit refactors the pxPortInitialiseStack() function of the xtensa
FreeRTOS ports (both IDF and SMP FreeRTOS).
- Each stack area is now separated into their own functions
- Each function will individually
- Push the stack pointer to allocate the stack area
- Initiaze the allocated stack area
- Each stack area's size and usage is now clearly documented in code
This commit is contained in:
Darian Leung
@@ -20,6 +20,7 @@
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#include "esp_private/esp_int_wdt.h"
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#include "esp_private/esp_int_wdt.h"
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#include "esp_private/systimer.h"
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#include "esp_private/systimer.h"
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#include "esp_private/periph_ctrl.h"
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#include "esp_private/periph_ctrl.h"
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#include "esp_attr.h"
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#include "esp_heap_caps.h"
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#include "esp_heap_caps.h"
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#include "esp_system.h"
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#include "esp_system.h"
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#include "esp_task.h"
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#include "esp_task.h"
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@@ -598,6 +599,240 @@ const DRAM_ATTR uint32_t offset_uxCoreAffinityMask = offsetof(StaticTask_t, uxDu
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#endif // ( configUSE_CORE_AFFINITY == 1 && configNUM_CORES > 1 )
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#endif // ( configUSE_CORE_AFFINITY == 1 && configNUM_CORES > 1 )
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const DRAM_ATTR uint32_t offset_cpsa = XT_CP_SIZE;
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const DRAM_ATTR uint32_t offset_cpsa = XT_CP_SIZE;
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/**
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* @brief Align stack pointer in a downward growing stack
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*
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* This macro is used to round a stack pointer downwards to the nearest n-byte boundary, where n is a power of 2.
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* This macro is generally used when allocating aligned areas on a downward growing stack.
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*/
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#define STACKPTR_ALIGN_DOWN(n, ptr) ((ptr) & (~((n)-1)))
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#if XCHAL_CP_NUM > 0
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/**
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* @brief Allocate and initialize coprocessor save area on the stack
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*
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* This function allocates the coprocessor save area on the stack (sized XT_CP_SIZE) which includes...
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* - Individual save areas for each coprocessor (size XT_CPx_SA, inclusive of each area's alignment)
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* - Coprocessor context switching flags (e.g., XT_CPENABLE, XT_CPSTORED, XT_CP_CS_ST, XT_CP_ASA).
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*
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* The coprocessor save area is aligned to a 16-byte boundary.
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* The coprocessor context switching flags are then initialized
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*
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* @param[in] uxStackPointer Current stack pointer address
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* @return Stack pointer that points to allocated and initialized the coprocessor save area
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*/
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FORCE_INLINE_ATTR UBaseType_t uxInitialiseStackCPSA(UBaseType_t uxStackPointer)
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{
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/*
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HIGH ADDRESS
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|-------------------| XT_CP_SIZE
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| CPn SA | ^
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| ... | |
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| CP0 SA | |
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| ----------------- | | ---- XCHAL_TOTAL_SA_ALIGN aligned
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|-------------------| | 12 bytes
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| XT_CP_ASA | | ^
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| XT_CP_CS_ST | | |
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| XT_CPSTORED | | |
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| XT_CPENABLE | | |
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|-------------------| ---------------------- 16 byte aligned
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LOW ADDRESS
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*/
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// Allocate overall coprocessor save area, aligned down to 16 byte boundary
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uxStackPointer = STACKPTR_ALIGN_DOWN(16, uxStackPointer - XT_CP_SIZE);
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// Initialize the coprocessor context switching flags.
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uint32_t *p = (uint32_t *)uxStackPointer;
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p[0] = 0; // Clear XT_CPENABLE and XT_CPSTORED
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p[1] = 0; // Clear XT_CP_CS_ST
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// XT_CP_ASA points to the aligned start of the individual CP save areas (i.e., start of CP0 SA)
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p[2] = (uint32_t)ALIGNUP(XCHAL_TOTAL_SA_ALIGN, (uint32_t)uxStackPointer + 12);
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return uxStackPointer;
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}
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#endif /* XCHAL_CP_NUM > 0 */
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/**
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* @brief Allocate and initialize GCC TLS area
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*
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* This function allocates and initializes the area on the stack used to store GCC TLS (Thread Local Storage) variables.
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* - The area's size is derived from the TLS section's linker variables, and rounded up to a multiple of 16 bytes
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* - The allocated area is aligned to a 16-byte aligned address
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* - The TLS variables in the area are then initialized
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*
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* Each task access the TLS variables using the THREADPTR register plus an offset to obtain the address of the variable.
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* The value for the THREADPTR register is also calculated by this function, and that value should be use to initialize
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* the THREADPTR register.
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*
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* @param[in] uxStackPointer Current stack pointer address
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* @param[out] ret_threadptr_reg_init Calculated THREADPTR register initialization value
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* @return Stack pointer that points to the TLS area
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*/
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FORCE_INLINE_ATTR UBaseType_t uxInitialiseStackTLS(UBaseType_t uxStackPointer, uint32_t *ret_threadptr_reg_init)
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{
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/*
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TLS layout at link-time, where 0xNNN is the offset that the linker calculates to a particular TLS variable.
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LOW ADDRESS
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|---------------------------| Linker Symbols
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| Section | --------------
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| .flash.rodata |
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0x0|---------------------------| <- _flash_rodata_start
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^ | Other Data |
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| |---------------------------| <- _thread_local_start
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| | .tbss | ^
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V | | |
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0xNNN | int example; | | tls_area_size
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| .tdata | V
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|---------------------------| <- _thread_local_end
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| Other data |
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| ... |
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|---------------------------|
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HIGH ADDRESS
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*/
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// Calculate the TLS area's size (rounded up to multiple of 16 bytes).
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extern int _thread_local_start, _thread_local_end, _flash_rodata_start, _flash_rodata_align;
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const uint32_t tls_area_size = ALIGNUP(16, (uint32_t)&_thread_local_end - (uint32_t)&_thread_local_start);
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// TODO: check that TLS area fits the stack
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// Allocate space for the TLS area on the stack. The area must be allocated at a 16-byte aligned address
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uxStackPointer = STACKPTR_ALIGN_DOWN(16, uxStackPointer - (UBaseType_t)tls_area_size);
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// Initialize the TLS area with the initialization values of each TLS variable
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memcpy((void *)uxStackPointer, &_thread_local_start, tls_area_size);
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/*
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Calculate the THREADPTR register's initialization value based on the link-time offset and the TLS area allocated on
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the stack.
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HIGH ADDRESS
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|---------------------------|
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| .tdata (*) |
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^ | int example; |
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| | .tbss (*) |
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| |---------------------------| <- uxStackPointer (start of TLS area)
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0xNNN | | | ^
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| ... | (_thread_local_start - _flash_rodata_start) + align_up(TCB_SIZE, tls_section_alignment)
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| | | V
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V | | <- threadptr register's value
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LOW ADDRESS
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Note: Xtensa is slightly different compared to the RISC-V port as there is an implicit aligned TCB_SIZE added to
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the offset. (search for 'tpoff' in elf32-xtensa.c in BFD):
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- "offset = address - tls_section_vma + align_up(TCB_SIZE, tls_section_alignment)"
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- TCB_SIZE is hardcoded to 8
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*/
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const uint32_t tls_section_align = (uint32_t)&_flash_rodata_align; // ALIGN value of .flash.rodata section
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#define TCB_SIZE 8
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const uint32_t base = ALIGNUP(tls_section_align, TCB_SIZE);
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*ret_threadptr_reg_init = (uint32_t)uxStackPointer - ((uint32_t)&_thread_local_start - (uint32_t)&_flash_rodata_start) - base;
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return uxStackPointer;
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}
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/**
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* @brief Initialize the task's starting interrupt stack frame
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*
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* This function initializes the task's starting interrupt stack frame. The dispatcher will use this stack frame in a
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* context restore routine. Therefore, the starting stack frame must be initialized as if the task was interrupted right
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* before its first instruction is called.
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*
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* - The stack frame is allocated to a 16-byte aligned address
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* - The THREADPTR register is saved in the extra storage area of the stack frame. This is also initialized
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*
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* @param[in] uxStackPointer Current stack pointer address
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* @param[in] pxCode Task function
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* @param[in] pvParameters Task function's parameter
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* @param[in] threadptr_reg_init THREADPTR register initialization value
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* @return Stack pointer that points to the stack frame
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*/
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FORCE_INLINE_ATTR UBaseType_t uxInitialiseStackFrame(UBaseType_t uxStackPointer, TaskFunction_t pxCode, void *pvParameters, uint32_t threadptr_reg_init)
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{
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/*
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HIGH ADDRESS
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|---------------------------| ^ XT_STK_FRMSZ
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| Stack Frame Extra Storage | |
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| ------------------------- | | ^ XT_STK_EXTRA
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| Intr/Exc Stack Frame | | |
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| | V V
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| ------------------------- | ---------------------- 16 byte aligned
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LOW ADDRESS
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*/
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/*
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Allocate space for the task's starting interrupt stack frame.
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- The stack frame must be allocated to a 16-byte aligned address.
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- We use XT_STK_FRMSZ (instead of sizeof(XtExcFrame)) as it...
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- includes the size of the extra storage area
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- includes the size for a base save area before the stack frame
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- rounds up the total size to a multiple of 16
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*/
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UBaseType_t uxStackPointerPrevious = uxStackPointer;
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uxStackPointer = STACKPTR_ALIGN_DOWN(16, uxStackPointer - XT_STK_FRMSZ);
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// Clear the entire interrupt stack frame
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memset((void *)uxStackPointer, 0, (size_t)(uxStackPointerPrevious - uxStackPointer));
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XtExcFrame *frame = (XtExcFrame *)uxStackPointer;
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/*
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Initialize common registers
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*/
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frame->a0 = 0; // Set the return address to 0 terminate GDB backtrace
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frame->a1 = uxStackPointer + XT_STK_FRMSZ; // Saved stack pointer should point to physical top of stack frame
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frame->exit = (UBaseType_t) _xt_user_exit; // User exception exit dispatcher
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/*
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Initialize the task's entry point. This will differ depending on
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- Whether the task's entry point is the wrapper function or pxCode
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- Whether Windowed ABI is used (for windowed, we mimic the task entry point being call4'd )
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*/
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#if CONFIG_FREERTOS_TASK_FUNCTION_WRAPPER
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frame->pc = (UBaseType_t) vPortTaskWrapper; // Task entry point is the wrapper function
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#ifdef __XTENSA_CALL0_ABI__
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frame->a2 = (UBaseType_t) pxCode; // Wrapper function's argument 0 (which is the task function)
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frame->a3 = (UBaseType_t) pvParameters; // Wrapper function's argument 1 (which is the task function's argument)
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#else // __XTENSA_CALL0_ABI__
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frame->a6 = (UBaseType_t) pxCode; // Wrapper function's argument 0 (which is the task function), passed as if we call4'd
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frame->a7 = (UBaseType_t) pvParameters; // Wrapper function's argument 1 (which is the task function's argument), passed as if we call4'd
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#endif // __XTENSA_CALL0_ABI__
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#else
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frame->pc = (UBaseType_t) pxCode; // Task entry point is the provided task function
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#ifdef __XTENSA_CALL0_ABI__
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frame->a2 = (UBaseType_t) pvParameters; // Task function's argument
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#else // __XTENSA_CALL0_ABI__
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frame->a6 = (UBaseType_t) pvParameters; // Task function's argument, passed as if we call4'd
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#endif // __XTENSA_CALL0_ABI__
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#endif
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/*
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Set initial PS to int level 0, EXCM disabled ('rfe' will enable), user mode.
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For windowed ABI also set WOE and CALLINC (pretend task was 'call4'd)
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*/
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#ifdef __XTENSA_CALL0_ABI__
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frame->ps = PS_UM | PS_EXCM;
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#else // __XTENSA_CALL0_ABI__
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frame->ps = PS_UM | PS_EXCM | PS_WOE | PS_CALLINC(1);
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#endif // __XTENSA_CALL0_ABI__
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#ifdef XT_USE_SWPRI
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// Set the initial virtual priority mask value to all 1's.
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frame->vpri = 0xFFFFFFFF;
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#endif
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// Initialize the threadptr register in the extra save area of the stack frame
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uint32_t *threadptr_reg = (uint32_t *)(uxStackPointer + XT_STK_EXTRA);
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*threadptr_reg = threadptr_reg_init;
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return uxStackPointer;
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}
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#if ( portHAS_STACK_OVERFLOW_CHECKING == 1 )
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#if ( portHAS_STACK_OVERFLOW_CHECKING == 1 )
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StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack,
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StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack,
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StackType_t * pxEndOfStack,
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StackType_t * pxEndOfStack,
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@@ -609,108 +844,41 @@ StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack,
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void * pvParameters )
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void * pvParameters )
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#endif
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#endif
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{
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{
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StackType_t *sp, *tp;
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/*
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XtExcFrame *frame;
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HIGH ADDRESS
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#if XCHAL_CP_NUM > 0
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|---------------------------| <- pxTopOfStack on entry
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uint32_t *p;
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| Coproc Save Area |
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#endif
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| ------------------------- |
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uint32_t *threadptr;
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| TLS Variables |
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void *task_thread_local_start;
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| ------------------------- | <- Start of useable stack
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extern int _thread_local_start, _thread_local_end, _flash_rodata_start, _flash_rodata_align;
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| Starting stack frame |
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// TODO: check that TLS area fits the stack
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| ------------------------- | <- pxTopOfStack on return (which is the tasks current SP)
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uint32_t thread_local_sz = (uint8_t *)&_thread_local_end - (uint8_t *)&_thread_local_start;
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| | |
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| | |
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| V |
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----------------------------- <- Bottom of stack
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LOW ADDRESS
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thread_local_sz = ALIGNUP(0x10, thread_local_sz);
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- All stack areas are aligned to 16 byte boundary
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- We use UBaseType_t for all of stack area initialization functions for more convenient pointer arithmetic
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/* Initialize task's stack so that we have the following structure at the top:
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----LOW ADDRESSES ----------------------------------------HIGH ADDRESSES----------
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task stack | interrupt stack frame | thread local vars | co-processor save area |
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----------------------------------------------------------------------------------
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SP pxTopOfStack
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All parts are aligned to 16 byte boundary. */
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sp = (StackType_t *) (((UBaseType_t)pxTopOfStack - XT_CP_SIZE - thread_local_sz - XT_STK_FRMSZ) & ~0xf);
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/* Clear the entire frame (do not use memset() because we don't depend on C library) */
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for (tp = sp; tp <= pxTopOfStack; ++tp) {
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*tp = 0;
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}
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frame = (XtExcFrame *) sp;
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/* Explicitly initialize certain saved registers */
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#if CONFIG_FREERTOS_TASK_FUNCTION_WRAPPER
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frame->pc = (UBaseType_t) vPortTaskWrapper; /* task wrapper */
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#else
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frame->pc = (UBaseType_t) pxCode; /* task entrypoint */
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#endif
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frame->a0 = 0; /* to terminate GDB backtrace */
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frame->a1 = (UBaseType_t) sp + XT_STK_FRMSZ; /* physical top of stack frame */
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frame->exit = (UBaseType_t) _xt_user_exit; /* user exception exit dispatcher */
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/* Set initial PS to int level 0, EXCM disabled ('rfe' will enable), user mode. */
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/* Also set entry point argument parameter. */
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#ifdef __XTENSA_CALL0_ABI__
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#if CONFIG_FREERTOS_TASK_FUNCTION_WRAPPER
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frame->a2 = (UBaseType_t) pxCode;
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frame->a3 = (UBaseType_t) pvParameters;
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#else
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frame->a2 = (UBaseType_t) pvParameters;
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#endif
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frame->ps = PS_UM | PS_EXCM;
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#else /* __XTENSA_CALL0_ABI__ */
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/* + for windowed ABI also set WOE and CALLINC (pretend task was 'call4'd). */
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#if CONFIG_FREERTOS_TASK_FUNCTION_WRAPPER
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frame->a6 = (UBaseType_t) pxCode;
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||||||
frame->a7 = (UBaseType_t) pvParameters;
|
|
||||||
#else
|
|
||||||
frame->a6 = (UBaseType_t) pvParameters;
|
|
||||||
#endif
|
|
||||||
frame->ps = PS_UM | PS_EXCM | PS_WOE | PS_CALLINC(1);
|
|
||||||
#endif /* __XTENSA_CALL0_ABI__ */
|
|
||||||
|
|
||||||
#ifdef XT_USE_SWPRI
|
|
||||||
/* Set the initial virtual priority mask value to all 1's. */
|
|
||||||
frame->vpri = 0xFFFFFFFF;
|
|
||||||
#endif
|
|
||||||
|
|
||||||
/* Init threadptr register and set up TLS run-time area.
|
|
||||||
* The diagram in port/riscv/port.c illustrates the calculations below.
|
|
||||||
*/
|
*/
|
||||||
task_thread_local_start = (void *)(((uint32_t)pxTopOfStack - XT_CP_SIZE - thread_local_sz) & ~0xf);
|
|
||||||
memcpy(task_thread_local_start, &_thread_local_start, thread_local_sz);
|
UBaseType_t uxStackPointer = (UBaseType_t)pxTopOfStack;
|
||||||
threadptr = (uint32_t *)(sp + XT_STK_EXTRA);
|
|
||||||
/* Calculate THREADPTR value.
|
|
||||||
* The generated code will add THREADPTR value to a constant value determined at link time,
|
|
||||||
* to get the address of the TLS variable.
|
|
||||||
* The constant value is calculated by the linker as follows
|
|
||||||
* (search for 'tpoff' in elf32-xtensa.c in BFD):
|
|
||||||
* offset = address - tls_section_vma + align_up(TCB_SIZE, tls_section_alignment)
|
|
||||||
* where TCB_SIZE is hardcoded to 8.
|
|
||||||
* Note this is slightly different compared to the RISC-V port, where offset = address - tls_section_vma.
|
|
||||||
*/
|
|
||||||
const uint32_t tls_section_alignment = (uint32_t) &_flash_rodata_align; /* ALIGN value of .flash.rodata section */
|
|
||||||
const uint32_t tcb_size = 8; /* Unrelated to FreeRTOS, this is the constant from BFD */
|
|
||||||
const uint32_t base = (tcb_size + tls_section_alignment - 1) & (~(tls_section_alignment - 1));
|
|
||||||
*threadptr = (uint32_t)task_thread_local_start - ((uint32_t)&_thread_local_start - (uint32_t)&_flash_rodata_start) - base;
|
|
||||||
|
|
||||||
#if XCHAL_CP_NUM > 0
|
#if XCHAL_CP_NUM > 0
|
||||||
/* Init the coprocessor save area (see xtensa_context.h) */
|
// Initialize the coprocessor save area
|
||||||
/* No access to TCB here, so derive indirectly. Stack growth is top to bottom.
|
uxStackPointer = uxInitialiseStackCPSA(uxStackPointer);
|
||||||
* //p = (uint32_t *) xMPUSettings->coproc_area;
|
#endif /* XCHAL_CP_NUM > 0 */
|
||||||
*/
|
|
||||||
p = (uint32_t *)(((uint32_t) pxTopOfStack - XT_CP_SIZE) & ~0xf);
|
|
||||||
configASSERT( ( uint32_t ) p >= frame->a1 );
|
|
||||||
p[0] = 0;
|
|
||||||
p[1] = 0;
|
|
||||||
p[2] = (((uint32_t) p) + 12 + XCHAL_TOTAL_SA_ALIGN - 1) & -XCHAL_TOTAL_SA_ALIGN;
|
|
||||||
#endif /* XCHAL_CP_NUM */
|
|
||||||
|
|
||||||
return sp;
|
// Initialize the GCC TLS area
|
||||||
|
uint32_t threadptr_reg_init;
|
||||||
|
uxStackPointer = uxInitialiseStackTLS(uxStackPointer, &threadptr_reg_init);
|
||||||
|
|
||||||
|
// Initialize the starting interrupt stack frame
|
||||||
|
uxStackPointer = uxInitialiseStackFrame(uxStackPointer, pxCode, pvParameters, threadptr_reg_init);
|
||||||
|
// Return the task's current stack pointer address which should point to the starting interrupt stack frame
|
||||||
|
return (StackType_t *)uxStackPointer;
|
||||||
}
|
}
|
||||||
|
|
||||||
// -------------------- Co-Processor -----------------------
|
// -------------------- Co-Processor -----------------------
|
||||||
#if ( XCHAL_CP_NUM > 0 && configUSE_CORE_AFFINITY == 1 && configNUM_CORES > 1 )
|
#if ( XCHAL_CP_NUM > 0 && configUSE_CORE_AFFINITY == 1 && configNUM_CORES > 1 )
|
||||||
|
|
||||||
|
|||||||
@@ -64,6 +64,7 @@
|
|||||||
#include <xtensa/config/core.h>
|
#include <xtensa/config/core.h>
|
||||||
#include <xtensa/xtensa_context.h>
|
#include <xtensa/xtensa_context.h>
|
||||||
#include "soc/soc_caps.h"
|
#include "soc/soc_caps.h"
|
||||||
|
#include "esp_attr.h"
|
||||||
#include "esp_private/crosscore_int.h"
|
#include "esp_private/crosscore_int.h"
|
||||||
#include "esp_private/esp_int_wdt.h"
|
#include "esp_private/esp_int_wdt.h"
|
||||||
#include "esp_system.h"
|
#include "esp_system.h"
|
||||||
@@ -156,112 +157,280 @@ static void vPortTaskWrapper(TaskFunction_t pxCode, void *pvParameters)
|
|||||||
}
|
}
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Align stack pointer in a downward growing stack
|
||||||
|
*
|
||||||
|
* This macro is used to round a stack pointer downwards to the nearest n-byte boundary, where n is a power of 2.
|
||||||
|
* This macro is generally used when allocating aligned areas on a downward growing stack.
|
||||||
|
*/
|
||||||
|
#define STACKPTR_ALIGN_DOWN(n, ptr) ((ptr) & (~((n)-1)))
|
||||||
|
|
||||||
|
#if XCHAL_CP_NUM > 0
|
||||||
|
/**
|
||||||
|
* @brief Allocate and initialize coprocessor save area on the stack
|
||||||
|
*
|
||||||
|
* This function allocates the coprocessor save area on the stack (sized XT_CP_SIZE) which includes...
|
||||||
|
* - Individual save areas for each coprocessor (size XT_CPx_SA, inclusive of each area's alignment)
|
||||||
|
* - Coprocessor context switching flags (e.g., XT_CPENABLE, XT_CPSTORED, XT_CP_CS_ST, XT_CP_ASA).
|
||||||
|
*
|
||||||
|
* The coprocessor save area is aligned to a 16-byte boundary.
|
||||||
|
* The coprocessor context switching flags are then initialized
|
||||||
|
*
|
||||||
|
* @param[in] uxStackPointer Current stack pointer address
|
||||||
|
* @return Stack pointer that points to allocated and initialized the coprocessor save area
|
||||||
|
*/
|
||||||
|
FORCE_INLINE_ATTR UBaseType_t uxInitialiseStackCPSA(UBaseType_t uxStackPointer)
|
||||||
|
{
|
||||||
|
/*
|
||||||
|
HIGH ADDRESS
|
||||||
|
|-------------------| XT_CP_SIZE
|
||||||
|
| CPn SA | ^
|
||||||
|
| ... | |
|
||||||
|
| CP0 SA | |
|
||||||
|
| ----------------- | | ---- XCHAL_TOTAL_SA_ALIGN aligned
|
||||||
|
|-------------------| | 12 bytes
|
||||||
|
| XT_CP_ASA | | ^
|
||||||
|
| XT_CP_CS_ST | | |
|
||||||
|
| XT_CPSTORED | | |
|
||||||
|
| XT_CPENABLE | | |
|
||||||
|
|-------------------| ---------------------- 16 byte aligned
|
||||||
|
LOW ADDRESS
|
||||||
|
*/
|
||||||
|
|
||||||
|
// Allocate overall coprocessor save area, aligned down to 16 byte boundary
|
||||||
|
uxStackPointer = STACKPTR_ALIGN_DOWN(16, uxStackPointer - XT_CP_SIZE);
|
||||||
|
// Initialize the coprocessor context switching flags.
|
||||||
|
uint32_t *p = (uint32_t *)uxStackPointer;
|
||||||
|
p[0] = 0; // Clear XT_CPENABLE and XT_CPSTORED
|
||||||
|
p[1] = 0; // Clear XT_CP_CS_ST
|
||||||
|
// XT_CP_ASA points to the aligned start of the individual CP save areas (i.e., start of CP0 SA)
|
||||||
|
p[2] = (uint32_t)ALIGNUP(XCHAL_TOTAL_SA_ALIGN, (uint32_t)uxStackPointer + 12);
|
||||||
|
return uxStackPointer;
|
||||||
|
}
|
||||||
|
#endif /* XCHAL_CP_NUM > 0 */
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Allocate and initialize GCC TLS area
|
||||||
|
*
|
||||||
|
* This function allocates and initializes the area on the stack used to store GCC TLS (Thread Local Storage) variables.
|
||||||
|
* - The area's size is derived from the TLS section's linker variables, and rounded up to a multiple of 16 bytes
|
||||||
|
* - The allocated area is aligned to a 16-byte aligned address
|
||||||
|
* - The TLS variables in the area are then initialized
|
||||||
|
*
|
||||||
|
* Each task access the TLS variables using the THREADPTR register plus an offset to obtain the address of the variable.
|
||||||
|
* The value for the THREADPTR register is also calculated by this function, and that value should be use to initialize
|
||||||
|
* the THREADPTR register.
|
||||||
|
*
|
||||||
|
* @param[in] uxStackPointer Current stack pointer address
|
||||||
|
* @param[out] ret_threadptr_reg_init Calculated THREADPTR register initialization value
|
||||||
|
* @return Stack pointer that points to the TLS area
|
||||||
|
*/
|
||||||
|
FORCE_INLINE_ATTR UBaseType_t uxInitialiseStackTLS(UBaseType_t uxStackPointer, uint32_t *ret_threadptr_reg_init)
|
||||||
|
{
|
||||||
|
/*
|
||||||
|
TLS layout at link-time, where 0xNNN is the offset that the linker calculates to a particular TLS variable.
|
||||||
|
|
||||||
|
LOW ADDRESS
|
||||||
|
|---------------------------| Linker Symbols
|
||||||
|
| Section | --------------
|
||||||
|
| .flash.rodata |
|
||||||
|
0x0|---------------------------| <- _flash_rodata_start
|
||||||
|
^ | Other Data |
|
||||||
|
| |---------------------------| <- _thread_local_start
|
||||||
|
| | .tbss | ^
|
||||||
|
V | | |
|
||||||
|
0xNNN | int example; | | tls_area_size
|
||||||
|
| | |
|
||||||
|
| .tdata | V
|
||||||
|
|---------------------------| <- _thread_local_end
|
||||||
|
| Other data |
|
||||||
|
| ... |
|
||||||
|
|---------------------------|
|
||||||
|
HIGH ADDRESS
|
||||||
|
*/
|
||||||
|
// Calculate the TLS area's size (rounded up to multiple of 16 bytes).
|
||||||
|
extern int _thread_local_start, _thread_local_end, _flash_rodata_start, _flash_rodata_align;
|
||||||
|
const uint32_t tls_area_size = ALIGNUP(16, (uint32_t)&_thread_local_end - (uint32_t)&_thread_local_start);
|
||||||
|
// TODO: check that TLS area fits the stack
|
||||||
|
|
||||||
|
// Allocate space for the TLS area on the stack. The area must be allocated at a 16-byte aligned address
|
||||||
|
uxStackPointer = STACKPTR_ALIGN_DOWN(16, uxStackPointer - (UBaseType_t)tls_area_size);
|
||||||
|
// Initialize the TLS area with the initialization values of each TLS variable
|
||||||
|
memcpy((void *)uxStackPointer, &_thread_local_start, tls_area_size);
|
||||||
|
|
||||||
|
/*
|
||||||
|
Calculate the THREADPTR register's initialization value based on the link-time offset and the TLS area allocated on
|
||||||
|
the stack.
|
||||||
|
|
||||||
|
HIGH ADDRESS
|
||||||
|
|---------------------------|
|
||||||
|
| .tdata (*) |
|
||||||
|
^ | int example; |
|
||||||
|
| | |
|
||||||
|
| | .tbss (*) |
|
||||||
|
| |---------------------------| <- uxStackPointer (start of TLS area)
|
||||||
|
0xNNN | | | ^
|
||||||
|
| | | |
|
||||||
|
| ... | (_thread_local_start - _flash_rodata_start) + align_up(TCB_SIZE, tls_section_alignment)
|
||||||
|
| | | |
|
||||||
|
| | | V
|
||||||
|
V | | <- threadptr register's value
|
||||||
|
|
||||||
|
LOW ADDRESS
|
||||||
|
|
||||||
|
Note: Xtensa is slightly different compared to the RISC-V port as there is an implicit aligned TCB_SIZE added to
|
||||||
|
the offset. (search for 'tpoff' in elf32-xtensa.c in BFD):
|
||||||
|
- "offset = address - tls_section_vma + align_up(TCB_SIZE, tls_section_alignment)"
|
||||||
|
- TCB_SIZE is hardcoded to 8
|
||||||
|
*/
|
||||||
|
const uint32_t tls_section_align = (uint32_t)&_flash_rodata_align; // ALIGN value of .flash.rodata section
|
||||||
|
#define TCB_SIZE 8
|
||||||
|
const uint32_t base = ALIGNUP(tls_section_align, TCB_SIZE);
|
||||||
|
*ret_threadptr_reg_init = (uint32_t)uxStackPointer - ((uint32_t)&_thread_local_start - (uint32_t)&_flash_rodata_start) - base;
|
||||||
|
|
||||||
|
return uxStackPointer;
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Initialize the task's starting interrupt stack frame
|
||||||
|
*
|
||||||
|
* This function initializes the task's starting interrupt stack frame. The dispatcher will use this stack frame in a
|
||||||
|
* context restore routine. Therefore, the starting stack frame must be initialized as if the task was interrupted right
|
||||||
|
* before its first instruction is called.
|
||||||
|
*
|
||||||
|
* - The stack frame is allocated to a 16-byte aligned address
|
||||||
|
* - The THREADPTR register is saved in the extra storage area of the stack frame. This is also initialized
|
||||||
|
*
|
||||||
|
* @param[in] uxStackPointer Current stack pointer address
|
||||||
|
* @param[in] pxCode Task function
|
||||||
|
* @param[in] pvParameters Task function's parameter
|
||||||
|
* @param[in] threadptr_reg_init THREADPTR register initialization value
|
||||||
|
* @return Stack pointer that points to the stack frame
|
||||||
|
*/
|
||||||
|
FORCE_INLINE_ATTR UBaseType_t uxInitialiseStackFrame(UBaseType_t uxStackPointer, TaskFunction_t pxCode, void *pvParameters, uint32_t threadptr_reg_init)
|
||||||
|
{
|
||||||
|
/*
|
||||||
|
HIGH ADDRESS
|
||||||
|
|---------------------------| ^ XT_STK_FRMSZ
|
||||||
|
| | |
|
||||||
|
| Stack Frame Extra Storage | |
|
||||||
|
| | |
|
||||||
|
| ------------------------- | | ^ XT_STK_EXTRA
|
||||||
|
| | | |
|
||||||
|
| Intr/Exc Stack Frame | | |
|
||||||
|
| | V V
|
||||||
|
| ------------------------- | ---------------------- 16 byte aligned
|
||||||
|
LOW ADDRESS
|
||||||
|
*/
|
||||||
|
|
||||||
|
/*
|
||||||
|
Allocate space for the task's starting interrupt stack frame.
|
||||||
|
- The stack frame must be allocated to a 16-byte aligned address.
|
||||||
|
- We use XT_STK_FRMSZ (instead of sizeof(XtExcFrame)) as it...
|
||||||
|
- includes the size of the extra storage area
|
||||||
|
- includes the size for a base save area before the stack frame
|
||||||
|
- rounds up the total size to a multiple of 16
|
||||||
|
*/
|
||||||
|
UBaseType_t uxStackPointerPrevious = uxStackPointer;
|
||||||
|
uxStackPointer = STACKPTR_ALIGN_DOWN(16, uxStackPointer - XT_STK_FRMSZ);
|
||||||
|
|
||||||
|
// Clear the entire interrupt stack frame
|
||||||
|
memset((void *)uxStackPointer, 0, (size_t)(uxStackPointerPrevious - uxStackPointer));
|
||||||
|
|
||||||
|
XtExcFrame *frame = (XtExcFrame *)uxStackPointer;
|
||||||
|
|
||||||
|
/*
|
||||||
|
Initialize common registers
|
||||||
|
*/
|
||||||
|
frame->a0 = 0; // Set the return address to 0 terminate GDB backtrace
|
||||||
|
frame->a1 = uxStackPointer + XT_STK_FRMSZ; // Saved stack pointer should point to physical top of stack frame
|
||||||
|
frame->exit = (UBaseType_t) _xt_user_exit; // User exception exit dispatcher
|
||||||
|
|
||||||
|
/*
|
||||||
|
Initialize the task's entry point. This will differ depending on
|
||||||
|
- Whether the task's entry point is the wrapper function or pxCode
|
||||||
|
- Whether Windowed ABI is used (for windowed, we mimic the task entry point being call4'd )
|
||||||
|
*/
|
||||||
|
#if CONFIG_FREERTOS_TASK_FUNCTION_WRAPPER
|
||||||
|
frame->pc = (UBaseType_t) vPortTaskWrapper; // Task entry point is the wrapper function
|
||||||
|
#ifdef __XTENSA_CALL0_ABI__
|
||||||
|
frame->a2 = (UBaseType_t) pxCode; // Wrapper function's argument 0 (which is the task function)
|
||||||
|
frame->a3 = (UBaseType_t) pvParameters; // Wrapper function's argument 1 (which is the task function's argument)
|
||||||
|
#else // __XTENSA_CALL0_ABI__
|
||||||
|
frame->a6 = (UBaseType_t) pxCode; // Wrapper function's argument 0 (which is the task function), passed as if we call4'd
|
||||||
|
frame->a7 = (UBaseType_t) pvParameters; // Wrapper function's argument 1 (which is the task function's argument), passed as if we call4'd
|
||||||
|
#endif // __XTENSA_CALL0_ABI__
|
||||||
|
#else
|
||||||
|
frame->pc = (UBaseType_t) pxCode; // Task entry point is the provided task function
|
||||||
|
#ifdef __XTENSA_CALL0_ABI__
|
||||||
|
frame->a2 = (UBaseType_t) pvParameters; // Task function's argument
|
||||||
|
#else // __XTENSA_CALL0_ABI__
|
||||||
|
frame->a6 = (UBaseType_t) pvParameters; // Task function's argument, passed as if we call4'd
|
||||||
|
#endif // __XTENSA_CALL0_ABI__
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/*
|
||||||
|
Set initial PS to int level 0, EXCM disabled ('rfe' will enable), user mode.
|
||||||
|
For windowed ABI also set WOE and CALLINC (pretend task was 'call4'd)
|
||||||
|
*/
|
||||||
|
#ifdef __XTENSA_CALL0_ABI__
|
||||||
|
frame->ps = PS_UM | PS_EXCM;
|
||||||
|
#else // __XTENSA_CALL0_ABI__
|
||||||
|
frame->ps = PS_UM | PS_EXCM | PS_WOE | PS_CALLINC(1);
|
||||||
|
#endif // __XTENSA_CALL0_ABI__
|
||||||
|
|
||||||
|
#ifdef XT_USE_SWPRI
|
||||||
|
// Set the initial virtual priority mask value to all 1's.
|
||||||
|
frame->vpri = 0xFFFFFFFF;
|
||||||
|
#endif
|
||||||
|
|
||||||
|
// Initialize the threadptr register in the extra save area of the stack frame
|
||||||
|
uint32_t *threadptr_reg = (uint32_t *)(uxStackPointer + XT_STK_EXTRA);
|
||||||
|
*threadptr_reg = threadptr_reg_init;
|
||||||
|
|
||||||
|
return uxStackPointer;
|
||||||
|
}
|
||||||
|
|
||||||
#if portUSING_MPU_WRAPPERS
|
#if portUSING_MPU_WRAPPERS
|
||||||
StackType_t *pxPortInitialiseStack(StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters, BaseType_t xRunPrivileged)
|
StackType_t *pxPortInitialiseStack(StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters, BaseType_t xRunPrivileged)
|
||||||
#else
|
#else
|
||||||
StackType_t *pxPortInitialiseStack(StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters )
|
StackType_t *pxPortInitialiseStack(StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters )
|
||||||
#endif
|
#endif
|
||||||
{
|
{
|
||||||
StackType_t *sp, *tp;
|
/*
|
||||||
XtExcFrame *frame;
|
HIGH ADDRESS
|
||||||
#if XCHAL_CP_NUM > 0
|
|---------------------------| <- pxTopOfStack on entry
|
||||||
uint32_t *p;
|
| Coproc Save Area |
|
||||||
#endif
|
| ------------------------- |
|
||||||
uint32_t *threadptr;
|
| TLS Variables |
|
||||||
void *task_thread_local_start;
|
| ------------------------- | <- Start of useable stack
|
||||||
extern int _thread_local_start, _thread_local_end, _flash_rodata_start, _flash_rodata_align;
|
| Starting stack frame |
|
||||||
// TODO: check that TLS area fits the stack
|
| ------------------------- | <- pxTopOfStack on return (which is the tasks current SP)
|
||||||
uint32_t thread_local_sz = (uint8_t *)&_thread_local_end - (uint8_t *)&_thread_local_start;
|
| | |
|
||||||
|
| | |
|
||||||
|
| V |
|
||||||
|
----------------------------- <- Bottom of stack
|
||||||
|
LOW ADDRESS
|
||||||
|
|
||||||
thread_local_sz = ALIGNUP(0x10, thread_local_sz);
|
- All stack areas are aligned to 16 byte boundary
|
||||||
|
- We use UBaseType_t for all of stack area initialization functions for more convenient pointer arithmetic
|
||||||
/* Initialize task's stack so that we have the following structure at the top:
|
|
||||||
|
|
||||||
----LOW ADDRESSES ----------------------------------------HIGH ADDRESSES----------
|
|
||||||
task stack | interrupt stack frame | thread local vars | co-processor save area |
|
|
||||||
----------------------------------------------------------------------------------
|
|
||||||
| |
|
|
||||||
SP pxTopOfStack
|
|
||||||
|
|
||||||
All parts are aligned to 16 byte boundary. */
|
|
||||||
sp = (StackType_t *) (((UBaseType_t)pxTopOfStack - XT_CP_SIZE - thread_local_sz - 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;
|
|
||||||
}
|
|
||||||
|
|
||||||
frame = (XtExcFrame *) sp;
|
|
||||||
|
|
||||||
/* Explicitly initialize certain saved registers */
|
|
||||||
#if CONFIG_FREERTOS_TASK_FUNCTION_WRAPPER
|
|
||||||
frame->pc = (UBaseType_t) vPortTaskWrapper; /* task wrapper */
|
|
||||||
#else
|
|
||||||
frame->pc = (UBaseType_t) pxCode; /* task entrypoint */
|
|
||||||
#endif
|
|
||||||
frame->a0 = 0; /* to terminate GDB backtrace */
|
|
||||||
frame->a1 = (UBaseType_t) sp + XT_STK_FRMSZ; /* physical top of stack frame */
|
|
||||||
frame->exit = (UBaseType_t) _xt_user_exit; /* user exception exit dispatcher */
|
|
||||||
|
|
||||||
/* Set initial PS to int level 0, EXCM disabled ('rfe' will enable), user mode. */
|
|
||||||
/* Also set entry point argument parameter. */
|
|
||||||
#ifdef __XTENSA_CALL0_ABI__
|
|
||||||
#if CONFIG_FREERTOS_TASK_FUNCTION_WRAPPER
|
|
||||||
frame->a2 = (UBaseType_t) pxCode;
|
|
||||||
frame->a3 = (UBaseType_t) pvParameters;
|
|
||||||
#else
|
|
||||||
frame->a2 = (UBaseType_t) pvParameters;
|
|
||||||
#endif
|
|
||||||
frame->ps = PS_UM | PS_EXCM;
|
|
||||||
#else /* __XTENSA_CALL0_ABI__ */
|
|
||||||
/* + for windowed ABI also set WOE and CALLINC (pretend task was 'call4'd). */
|
|
||||||
#if CONFIG_FREERTOS_TASK_FUNCTION_WRAPPER
|
|
||||||
frame->a6 = (UBaseType_t) pxCode;
|
|
||||||
frame->a7 = (UBaseType_t) pvParameters;
|
|
||||||
#else
|
|
||||||
frame->a6 = (UBaseType_t) pvParameters;
|
|
||||||
#endif
|
|
||||||
frame->ps = PS_UM | PS_EXCM | PS_WOE | PS_CALLINC(1);
|
|
||||||
#endif /* __XTENSA_CALL0_ABI__ */
|
|
||||||
|
|
||||||
#ifdef XT_USE_SWPRI
|
|
||||||
/* Set the initial virtual priority mask value to all 1's. */
|
|
||||||
frame->vpri = 0xFFFFFFFF;
|
|
||||||
#endif
|
|
||||||
|
|
||||||
/* Init threadptr register and set up TLS run-time area.
|
|
||||||
* The diagram in port/riscv/port.c illustrates the calculations below.
|
|
||||||
*/
|
*/
|
||||||
task_thread_local_start = (void *)(((uint32_t)pxTopOfStack - XT_CP_SIZE - thread_local_sz) & ~0xf);
|
|
||||||
memcpy(task_thread_local_start, &_thread_local_start, thread_local_sz);
|
UBaseType_t uxStackPointer = (UBaseType_t)pxTopOfStack;
|
||||||
threadptr = (uint32_t *)(sp + XT_STK_EXTRA);
|
|
||||||
/* Calculate THREADPTR value.
|
|
||||||
* The generated code will add THREADPTR value to a constant value determined at link time,
|
|
||||||
* to get the address of the TLS variable.
|
|
||||||
* The constant value is calculated by the linker as follows
|
|
||||||
* (search for 'tpoff' in elf32-xtensa.c in BFD):
|
|
||||||
* offset = address - tls_section_vma + align_up(TCB_SIZE, tls_section_alignment)
|
|
||||||
* where TCB_SIZE is hardcoded to 8.
|
|
||||||
* Note this is slightly different compared to the RISC-V port, where offset = address - tls_section_vma.
|
|
||||||
*/
|
|
||||||
const uint32_t tls_section_alignment = (uint32_t) &_flash_rodata_align; /* ALIGN value of .flash.rodata section */
|
|
||||||
const uint32_t tcb_size = 8; /* Unrelated to FreeRTOS, this is the constant from BFD */
|
|
||||||
const uint32_t base = (tcb_size + tls_section_alignment - 1) & (~(tls_section_alignment - 1));
|
|
||||||
*threadptr = (uint32_t)task_thread_local_start - ((uint32_t)&_thread_local_start - (uint32_t)&_flash_rodata_start) - base;
|
|
||||||
|
|
||||||
#if XCHAL_CP_NUM > 0
|
#if XCHAL_CP_NUM > 0
|
||||||
/* Init the coprocessor save area (see xtensa_context.h) */
|
// Initialize the coprocessor save area
|
||||||
/* No access to TCB here, so derive indirectly. Stack growth is top to bottom.
|
uxStackPointer = uxInitialiseStackCPSA(uxStackPointer);
|
||||||
* //p = (uint32_t *) xMPUSettings->coproc_area;
|
#endif /* XCHAL_CP_NUM > 0 */
|
||||||
*/
|
|
||||||
p = (uint32_t *)(((uint32_t) pxTopOfStack - XT_CP_SIZE) & ~0xf);
|
|
||||||
configASSERT( ( uint32_t ) p >= frame->a1 );
|
|
||||||
p[0] = 0;
|
|
||||||
p[1] = 0;
|
|
||||||
p[2] = (((uint32_t) p) + 12 + XCHAL_TOTAL_SA_ALIGN - 1) & -XCHAL_TOTAL_SA_ALIGN;
|
|
||||||
#endif /* XCHAL_CP_NUM */
|
|
||||||
|
|
||||||
return sp;
|
// Initialize the GCC TLS area
|
||||||
|
uint32_t threadptr_reg_init;
|
||||||
|
uxStackPointer = uxInitialiseStackTLS(uxStackPointer, &threadptr_reg_init);
|
||||||
|
|
||||||
|
// Initialize the starting interrupt stack frame
|
||||||
|
uxStackPointer = uxInitialiseStackFrame(uxStackPointer, pxCode, pvParameters, threadptr_reg_init);
|
||||||
|
// Return the task's current stack pointer address which should point to the starting interrupt stack frame
|
||||||
|
return (StackType_t *)uxStackPointer;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|||||||
Reference in New Issue
Block a user