Merge branch 'bugfix/interrupt_context_for_p4' into 'master'

fix(freertos): Fixed xPortCanYield to correctly determine ISR context on esp32p4

See merge request espressif/esp-idf!26161

components/freertos/FreeRTOS-Kernel/portable/riscv/include/freertos/portmacro.h

@@ -645,13 +645,18 @@ FORCE_INLINE_ATTR bool xPortCanYield(void)
 {
     uint32_t threshold = REG_READ(INTERRUPT_CURRENT_CORE_INT_THRESH_REG);
 #if SOC_INT_CLIC_SUPPORTED
+    /* When CLIC is supported:
+     *  - The lowest interrupt threshold level is 0. Therefore, an interrupt threshold level above 0 would mean that we
+     *    are in a critical section.
+     *  - Since CLIC enables HW interrupt nesting, we do not have the updated interrupt level in the
+     *    INTERRUPT_CURRENT_CORE_INT_THRESH_REG register when nested interrupts occur. To know the current interrupt
+     *    level, we read the machine-mode interrupt level (mil) field from the mintstatus CSR. A non-zero value indicates
+     *    that we are in an interrupt context.
+     */
+    uint32_t intr_level = rv_utils_get_interrupt_level();
     threshold = threshold >> (CLIC_CPU_INT_THRESH_S + (8 - NLBITS));
 
-    /* When CLIC is supported, the lowest interrupt threshold level is 0.
+    return ((intr_level == 0) && (threshold == 0));
-     * Therefore, an interrupt threshold level above 0 would mean that we
-     * are either in a critical section or in an ISR.
-     */
-    return (threshold == 0);
 #endif /* SOC_INT_CLIC_SUPPORTED */
     /* when enter critical code, FreeRTOS will mask threshold to RVHAL_EXCM_LEVEL
      * and exit critical code, will recover threshold value (1). so threshold <= 1

components/riscv/include/riscv/rv_utils.h

@@ -113,6 +113,20 @@ FORCE_INLINE_ATTR void rv_utils_set_mtvec(uint32_t mtvec_val)
     RV_WRITE_CSR(mtvec, mtvec_val);
 }
 
+#if SOC_INT_CLIC_SUPPORTED
+ FORCE_INLINE_ATTR __attribute__((pure)) uint32_t rv_utils_get_interrupt_level(void)
+{
+#if CONFIG_IDF_TARGET_ESP32P4
+    // As per CLIC specs, mintstatus CSR should be at 0xFB1, however esp32p4 implements it at 0x346
+    #define MINTSTATUS 0x346
+#else
+    #error "rv_utils_get_mintstatus() is not implemented. Check for correct mintstatus register address."
+#endif /* CONFIG_IDF_TARGET_ESP32P4 */
+    uint32_t mintstatus = RV_READ_CSR(MINTSTATUS);
+    return ((mintstatus >> 24) & 0xFF); // Return the mintstatus[31:24] bits to get the mil field
+}
+#endif /* SOC_INT_CLIC_SUPPORTED */
+
 // ------------------ Interrupt Control --------------------
 
 FORCE_INLINE_ATTR void rv_utils_intr_enable(uint32_t intr_mask)