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feat(riscv): implement coprocessors save area and FPU support

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This commit mainly targets the ESP32-P4. It adds supports for coprocessors on
RISC-V based targets. The coprocessor save area, describing the used coprocessors
is stored at the end of the stack of each task (highest address) whereas each
coprocessor save area is allocated at the beginning of the task (lowest address).
The context of each coprocessor is saved lazily, by the task that want to use it.
This commit is contained in:
Omar Chebib
2023-09-06 19:17:24 +08:00
parent b0124b9b9f
commit a8b1475fe7
11 changed files with 707 additions and 92 deletions
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78
components/riscv/include/riscv/rvruntime-frames.h
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@@ -1,5 +1,5 @@
/*
* SPDX-FileCopyrightText: 2015-2022 Espressif Systems (Shanghai) CO LTD
* SPDX-FileCopyrightText: 2015-2023 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0
*/
@@ -7,6 +7,8 @@
#ifndef __RVRUNTIME_FRAMES_H__
#define __RVRUNTIME_FRAMES_H__
#include "soc/soc_caps.h"
/* Align a value up to nearest n-byte boundary, where n is a power of 2. */
#define ALIGNUP(n, val) (((val) + (n) - 1) & -(n))
@@ -82,6 +84,80 @@ STRUCT_FIELD (long, 4, RV_STK_MTVAL, mtval) /* Machine Trap Value */
STRUCT_FIELD (long, 4, RV_STK_MHARTID, mhartid) /* Hardware Thread ID in machine mode */
STRUCT_END(RvExcFrame)
#if SOC_CPU_COPROC_NUM > 0
#if SOC_CPU_HAS_FPU
/**
* @brief Floating-Point Unit save area
*/
STRUCT_BEGIN
STRUCT_FIELD (long, 4, RV_FPU_FT0, ft0) /* ft0-ft7: Floating Point temporaries */
STRUCT_FIELD (long, 4, RV_FPU_FT1, ft1)
STRUCT_FIELD (long, 4, RV_FPU_FT2, ft2)
STRUCT_FIELD (long, 4, RV_FPU_FT3, ft3)
STRUCT_FIELD (long, 4, RV_FPU_FT4, ft4)
STRUCT_FIELD (long, 4, RV_FPU_FT5, ft5)
STRUCT_FIELD (long, 4, RV_FPU_FT6, ft6)
STRUCT_FIELD (long, 4, RV_FPU_FT7, ft7)
STRUCT_FIELD (long, 4, RV_FPU_FS0, fs0) /* fs0-fs1: Floating Point saved registers */
STRUCT_FIELD (long, 4, RV_FPU_FS1, fs1)
STRUCT_FIELD (long, 4, RV_FPU_FA0, fa0) /* fa0-fa1: Floating Point arguments/return values */
STRUCT_FIELD (long, 4, RV_FPU_FA1, fa1)
STRUCT_FIELD (long, 4, RV_FPU_FA2, fa2) /* fa2-fa7: Floating Point arguments */
STRUCT_FIELD (long, 4, RV_FPU_FA3, fa3)
STRUCT_FIELD (long, 4, RV_FPU_FA4, fa4)
STRUCT_FIELD (long, 4, RV_FPU_FA5, fa5)
STRUCT_FIELD (long, 4, RV_FPU_FA6, fa6)
STRUCT_FIELD (long, 4, RV_FPU_FA7, fa7)
STRUCT_FIELD (long, 4, RV_FPU_FS2, fs2) /* fs2-fs11: Floating Point saved registers */
STRUCT_FIELD (long, 4, RV_FPU_FS3, fs3)
STRUCT_FIELD (long, 4, RV_FPU_FS4, fs4)
STRUCT_FIELD (long, 4, RV_FPU_FS5, fs5)
STRUCT_FIELD (long, 4, RV_FPU_FS6, fs6)
STRUCT_FIELD (long, 4, RV_FPU_FS7, fs7)
STRUCT_FIELD (long, 4, RV_FPU_FS8, fs8)
STRUCT_FIELD (long, 4, RV_FPU_FS9, fs9)
STRUCT_FIELD (long, 4, RV_FPU_FS10, fs10)
STRUCT_FIELD (long, 4, RV_FPU_FS11, fs11)
STRUCT_FIELD (long, 4, RV_FPU_FT8, ft8) /* ft8-ft11: Floating Point temporary registers */
STRUCT_FIELD (long, 4, RV_FPU_FT9, ft9)
STRUCT_FIELD (long, 4, RV_FPU_FT10, ft10)
STRUCT_FIELD (long, 4, RV_FPU_FT11, ft11)
STRUCT_FIELD (long, 4, RV_FPU_FCSR, fcsr) /* fcsr special register */
STRUCT_END(RvFPUSaveArea)
/* Floating-Point Unit coprocessor is now considered coprocessor 0 */
#define FPU_COPROC_IDX 0
/* PIE/AIA coprocessor is coprocessor 1 */
#define PIE_COPROC_IDX 1
/* Define the size of each coprocessor save area */
#if defined(_ASMLANGUAGE) || defined(__ASSEMBLER__)
#define RV_COPROC0_SIZE RvFPUSaveAreaSize
#define RV_COPROC1_SIZE 0 // PIE/AIA coprocessor area
#else
#define RV_COPROC0_SIZE sizeof(RvFPUSaveArea)
#define RV_COPROC1_SIZE 0 // PIE/AIA coprocessor area
#endif /* defined(_ASMLANGUAGE) || defined(__ASSEMBLER__) */
#endif /* SOC_CPU_HAS_FPU */
/**
* @brief Coprocessors save area, containing each coprocessor save area
*/
STRUCT_BEGIN
/* Enable bitmap: BIT(i) represents coprocessor i, 1 is used, 0 else */
STRUCT_FIELD (long, 4, RV_COPROC_ENABLE, sa_enable)
/* Address of the pool of memory used to allocate coprocessors save areas */
STRUCT_FIELD (long, 4, RV_COPROC_ALLOCATOR, sa_allocator)
/* Pointer to the coprocessors save areas */
STRUCT_AFIELD (void*, 4, RV_COPROC_SA, sa_coprocs, SOC_CPU_COPROC_NUM)
STRUCT_END(RvCoprocSaveArea)
#endif /* SOC_CPU_COPROC_NUM > 0 */
#if defined(_ASMLANGUAGE) || defined(__ASSEMBLER__)
#define RV_STK_SZ1 RvExcFrameSize
#else