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https://github.com/espressif/esp-idf.git
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f7e8856520
1. When dual core cpu run access DPORT register, must do protection. 2. If access DPORT register, must use DPORT_REG_READ/DPORT_REG_WRITE and DPORT_XXX register operation macro.
310 lines
9.1 KiB
C
310 lines
9.1 KiB
C
// Copyright 2015-2017 Espressif Systems (Shanghai) PTE LTD
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include <stdint.h>
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#include <string.h>
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#include "esp_attr.h"
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#include "esp_err.h"
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#include "rom/ets_sys.h"
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#include "rom/uart.h"
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#include "rom/rtc.h"
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#include "rom/cache.h"
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#include "soc/cpu.h"
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#include "soc/rtc.h"
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#include "soc/dport_reg.h"
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#include "soc/io_mux_reg.h"
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#include "soc/rtc_cntl_reg.h"
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#include "soc/timer_group_reg.h"
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#include "driver/rtc_io.h"
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "freertos/semphr.h"
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#include "freertos/queue.h"
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#include "freertos/portmacro.h"
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#include "tcpip_adapter.h"
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#include "esp_heap_alloc_caps.h"
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#include "sdkconfig.h"
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#include "esp_system.h"
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#include "esp_spi_flash.h"
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#include "nvs_flash.h"
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#include "esp_event.h"
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#include "esp_spi_flash.h"
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#include "esp_ipc.h"
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#include "esp_crosscore_int.h"
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#include "esp_dport_access.h"
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#include "esp_log.h"
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#include "esp_vfs_dev.h"
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#include "esp_newlib.h"
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#include "esp_brownout.h"
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#include "esp_int_wdt.h"
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#include "esp_task_wdt.h"
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#include "esp_phy_init.h"
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#include "esp_cache_err_int.h"
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#include "esp_coexist.h"
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#include "esp_panic.h"
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#include "esp_core_dump.h"
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#include "esp_app_trace.h"
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#include "esp_clk.h"
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#include "trax.h"
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#define STRINGIFY(s) STRINGIFY2(s)
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#define STRINGIFY2(s) #s
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void start_cpu0(void) __attribute__((weak, alias("start_cpu0_default")));
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void start_cpu0_default(void) IRAM_ATTR;
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#if !CONFIG_FREERTOS_UNICORE
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static void IRAM_ATTR call_start_cpu1();
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void start_cpu1(void) __attribute__((weak, alias("start_cpu1_default")));
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void start_cpu1_default(void) IRAM_ATTR;
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static bool app_cpu_started = false;
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#endif //!CONFIG_FREERTOS_UNICORE
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static void do_global_ctors(void);
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static void main_task(void* args);
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extern void app_main(void);
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extern int _bss_start;
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extern int _bss_end;
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extern int _rtc_bss_start;
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extern int _rtc_bss_end;
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extern int _init_start;
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extern void (*__init_array_start)(void);
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extern void (*__init_array_end)(void);
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extern volatile int port_xSchedulerRunning[2];
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static const char* TAG = "cpu_start";
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/*
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* We arrive here after the bootloader finished loading the program from flash. The hardware is mostly uninitialized,
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* and the app CPU is in reset. We do have a stack, so we can do the initialization in C.
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*/
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void IRAM_ATTR call_start_cpu0()
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{
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#if CONFIG_FREERTOS_UNICORE
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RESET_REASON rst_reas[1];
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#else
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RESET_REASON rst_reas[2];
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#endif
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cpu_configure_region_protection();
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//Move exception vectors to IRAM
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asm volatile (\
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"wsr %0, vecbase\n" \
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::"r"(&_init_start));
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rst_reas[0] = rtc_get_reset_reason(0);
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#if !CONFIG_FREERTOS_UNICORE
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rst_reas[1] = rtc_get_reset_reason(1);
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#endif
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// from panic handler we can be reset by RWDT or TG0WDT
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if (rst_reas[0] == RTCWDT_SYS_RESET || rst_reas[0] == TG0WDT_SYS_RESET
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#if !CONFIG_FREERTOS_UNICORE
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|| rst_reas[1] == RTCWDT_SYS_RESET || rst_reas[1] == TG0WDT_SYS_RESET
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#endif
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) {
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esp_panic_wdt_stop();
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}
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//Clear BSS. Please do not attempt to do any complex stuff (like early logging) before this.
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memset(&_bss_start, 0, (&_bss_end - &_bss_start) * sizeof(_bss_start));
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/* Unless waking from deep sleep (implying RTC memory is intact), clear RTC bss */
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if (rst_reas[0] != DEEPSLEEP_RESET) {
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memset(&_rtc_bss_start, 0, (&_rtc_bss_end - &_rtc_bss_start) * sizeof(_rtc_bss_start));
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}
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ESP_EARLY_LOGI(TAG, "Pro cpu up.");
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#if !CONFIG_FREERTOS_UNICORE
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ESP_EARLY_LOGI(TAG, "Starting app cpu, entry point is %p", call_start_cpu1);
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//Flush and enable icache for APP CPU
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Cache_Flush(1);
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Cache_Read_Enable(1);
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esp_cpu_unstall(1);
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//Enable clock gating and reset the app cpu.
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DPORT_SET_PERI_REG_MASK(DPORT_APPCPU_CTRL_B_REG, DPORT_APPCPU_CLKGATE_EN);
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DPORT_CLEAR_PERI_REG_MASK(DPORT_APPCPU_CTRL_C_REG, DPORT_APPCPU_RUNSTALL);
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DPORT_SET_PERI_REG_MASK(DPORT_APPCPU_CTRL_A_REG, DPORT_APPCPU_RESETTING);
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DPORT_CLEAR_PERI_REG_MASK(DPORT_APPCPU_CTRL_A_REG, DPORT_APPCPU_RESETTING);
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ets_set_appcpu_boot_addr((uint32_t)call_start_cpu1);
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while (!app_cpu_started) {
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ets_delay_us(100);
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}
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#else
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ESP_EARLY_LOGI(TAG, "Single core mode");
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DPORT_CLEAR_PERI_REG_MASK(DPORT_APPCPU_CTRL_B_REG, DPORT_APPCPU_CLKGATE_EN);
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#endif
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/* Initialize heap allocator. WARNING: This *needs* to happen *after* the app cpu has booted.
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If the heap allocator is initialized first, it will put free memory linked list items into
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memory also used by the ROM. Starting the app cpu will let its ROM initialize that memory,
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corrupting those linked lists. Initializing the allocator *after* the app cpu has booted
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works around this problem. */
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heap_alloc_caps_init();
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ESP_EARLY_LOGI(TAG, "Pro cpu start user code");
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start_cpu0();
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}
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#if !CONFIG_FREERTOS_UNICORE
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void IRAM_ATTR call_start_cpu1()
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{
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asm volatile (\
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"wsr %0, vecbase\n" \
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::"r"(&_init_start));
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ets_set_appcpu_boot_addr(0);
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cpu_configure_region_protection();
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#if CONFIG_CONSOLE_UART_NONE
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ets_install_putc1(NULL);
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ets_install_putc2(NULL);
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#else // CONFIG_CONSOLE_UART_NONE
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uartAttach();
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ets_install_uart_printf();
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uart_tx_switch(CONFIG_CONSOLE_UART_NUM);
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#endif
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ESP_EARLY_LOGI(TAG, "App cpu up.");
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app_cpu_started = 1;
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start_cpu1();
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}
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#endif //!CONFIG_FREERTOS_UNICORE
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void start_cpu0_default(void)
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{
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esp_setup_syscall_table();
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//Enable trace memory and immediately start trace.
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#if CONFIG_ESP32_TRAX
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#if CONFIG_ESP32_TRAX_TWOBANKS
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trax_enable(TRAX_ENA_PRO_APP);
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#else
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trax_enable(TRAX_ENA_PRO);
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#endif
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trax_start_trace(TRAX_DOWNCOUNT_WORDS);
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#endif
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esp_clk_init();
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#ifndef CONFIG_CONSOLE_UART_NONE
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uart_div_modify(CONFIG_CONSOLE_UART_NUM, (rtc_clk_apb_freq_get() << 4) / CONFIG_CONSOLE_UART_BAUDRATE);
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#endif
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#if CONFIG_BROWNOUT_DET
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esp_brownout_init();
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#endif
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rtc_gpio_force_hold_dis_all();
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esp_setup_time_syscalls();
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esp_vfs_dev_uart_register();
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esp_reent_init(_GLOBAL_REENT);
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#ifndef CONFIG_CONSOLE_UART_NONE
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const char* default_uart_dev = "/dev/uart/" STRINGIFY(CONFIG_CONSOLE_UART_NUM);
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_GLOBAL_REENT->_stdin = fopen(default_uart_dev, "r");
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_GLOBAL_REENT->_stdout = fopen(default_uart_dev, "w");
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_GLOBAL_REENT->_stderr = fopen(default_uart_dev, "w");
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#else
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_GLOBAL_REENT->_stdin = (FILE*) &__sf_fake_stdin;
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_GLOBAL_REENT->_stdout = (FILE*) &__sf_fake_stdout;
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_GLOBAL_REENT->_stderr = (FILE*) &__sf_fake_stderr;
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#endif
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#if CONFIG_ESP32_APPTRACE_ENABLE
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esp_err_t err = esp_apptrace_init();
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if (err != ESP_OK) {
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ESP_EARLY_LOGE(TAG, "Failed to init apptrace module on CPU0 (%d)!", err);
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}
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#endif
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do_global_ctors();
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#if CONFIG_INT_WDT
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esp_int_wdt_init();
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#endif
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#if CONFIG_TASK_WDT
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esp_task_wdt_init();
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#endif
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esp_cache_err_int_init();
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esp_crosscore_int_init();
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esp_ipc_init();
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#ifndef CONFIG_FREERTOS_UNICORE
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esp_dport_access_int_init();
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#endif
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spi_flash_init();
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/* init default OS-aware flash access critical section */
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spi_flash_guard_set(&g_flash_guard_default_ops);
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#if CONFIG_ESP32_ENABLE_COREDUMP
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esp_core_dump_init();
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#endif
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xTaskCreatePinnedToCore(&main_task, "main",
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ESP_TASK_MAIN_STACK, NULL,
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ESP_TASK_MAIN_PRIO, NULL, 0);
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ESP_LOGI(TAG, "Starting scheduler on PRO CPU.");
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vTaskStartScheduler();
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}
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#if !CONFIG_FREERTOS_UNICORE
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void start_cpu1_default(void)
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{
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#if CONFIG_ESP32_TRAX_TWOBANKS
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trax_start_trace(TRAX_DOWNCOUNT_WORDS);
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#endif
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#if CONFIG_ESP32_APPTRACE_ENABLE
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esp_err_t err = esp_apptrace_init();
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if (err != ESP_OK) {
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ESP_EARLY_LOGE(TAG, "Failed to init apptrace module on CPU1 (%d)!", err);
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}
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#endif
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// Wait for FreeRTOS initialization to finish on PRO CPU
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while (port_xSchedulerRunning[0] == 0) {
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;
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}
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//Take care putting stuff here: if asked, FreeRTOS will happily tell you the scheduler
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//has started, but it isn't active *on this CPU* yet.
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esp_cache_err_int_init();
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esp_crosscore_int_init();
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esp_dport_access_int_init();
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ESP_EARLY_LOGI(TAG, "Starting scheduler on APP CPU.");
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xPortStartScheduler();
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}
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#endif //!CONFIG_FREERTOS_UNICORE
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static void do_global_ctors(void)
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{
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void (**p)(void);
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for (p = &__init_array_end - 1; p >= &__init_array_start; --p) {
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(*p)();
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}
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}
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static void main_task(void* args)
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{
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// Now that the application is about to start, disable boot watchdogs
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REG_CLR_BIT(TIMG_WDTCONFIG0_REG(0), TIMG_WDT_FLASHBOOT_MOD_EN_S);
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REG_CLR_BIT(RTC_CNTL_WDTCONFIG0_REG, RTC_CNTL_WDT_FLASHBOOT_MOD_EN);
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//Enable allocation in region where the startup stacks were located.
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heap_alloc_enable_nonos_stack_tag();
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app_main();
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vTaskDelete(NULL);
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}
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