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esp_system: allow defining priorities for startup functions

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* Some components have initialization dependencies. To account for
  them, simple numeric priority values are introduced.
* esp_system_init_fn_array moved into Flash from DRAM
* System init functions defined using ESP_SYSTEM_INIT_FN now return
  an error code. This enables simpler and more consistent error
  handling in the init functions. Returning an error from an init
  function is now a valid approach — the startup code will print
  an error and abort.
This commit is contained in:
Ivan Grokhotkov
2022-05-17 23:42:54 +02:00
parent 258585f50a
commit 523aacd413
8 changed files with 85 additions and 45 deletions
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49
components/esp_system/include/esp_private/startup_internal.h
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@@ -7,6 +7,8 @@
#pragma once
#include "esp_attr.h"
#include "esp_err.h"
#include "esp_bit_defs.h"
#include "soc/soc_caps.h"
#include "hal/cpu_hal.h"
@@ -36,25 +38,44 @@ extern sys_startup_fn_t const g_startup_fn[1];
void startup_resume_other_cores(void);
#endif
/**
* Internal structure describing ESP_SYSTEM_INIT_FN startup functions
*/
typedef struct {
void (*fn)(void);
uint32_t cores;
esp_err_t (*fn)(void); /*!< Pointer to the startup function */
uint32_t cores; /*!< Bit map of cores where the function has to be called */
} esp_system_init_fn_t;
/*
* Declare an component initialization function that will execute on the specified cores (ex. if BIT0 == 1, will execute
* on CORE0, CORE1 if BIT1 and so on).
/**
* @brief Define a system initialization function which will be executed on the specified cores
*
* @note Initialization functions should be placed in a compilation unit where at least one other
* symbol is referenced 'meaningfully' in another compilation unit, otherwise this gets discarded during linking. (By
* 'meaningfully' we mean the reference should not itself get optimized out by the compiler/discarded by the linker).
* @param f function name (identifier)
* @param c bit mask of cores to execute the function on (ex. if BIT0 is set, the function
* will be executed on CPU 0, if BIT1 is set - on CPU 1, and so on)
* @param priority integer, priority of the initialization function. Higher values mean that
* the function will be executed later in the process.
* @param (varargs) optional, additional attributes for the function declaration (such as IRAM_ATTR)
*
* The function defined using this macro must return ESP_OK on success. Any other value will be
* logged and the startup process will abort.
*
* Initialization functions should be placed in a compilation unit where at least one other
* symbol is referenced in another compilation unit. This means that the reference should not itself
* get optimized out by the compiler or discarded by the linker if the related feature is used.
* It is, on the other hand, a good practice to make sure the initialization function does get
* discarded if the related feature is not used.
*/
#define ESP_SYSTEM_INIT_FN(f, c, ...) \
static void __attribute__((used)) __VA_ARGS__ __esp_system_init_fn_##f(void); \
static __attribute__((used)) esp_system_init_fn_t _SECTION_ATTR_IMPL(".esp_system_init_fn", f) \
esp_system_init_fn_##f = { .fn = ( __esp_system_init_fn_##f), .cores = (c) }; \
static __attribute__((used)) __VA_ARGS__ void __esp_system_init_fn_##f(void) // [refactor-todo] this can be made public API if we allow components to declare init functions,
// instead of calling them explicitly
#define ESP_SYSTEM_INIT_FN(f, c, priority, ...) \
static esp_err_t __VA_ARGS__ __esp_system_init_fn_##f(void); \
static __attribute__((used)) _SECTION_ATTR_IMPL(".esp_system_init_fn", priority) \
esp_system_init_fn_t esp_system_init_fn_##f = { .fn = ( __esp_system_init_fn_##f), .cores = (c) }; \
static esp_err_t __esp_system_init_fn_##f(void)
#ifdef CONFIG_ESP_SYSTEM_SINGLE_CORE_MODE
#define ESP_SYSTEM_INIT_ALL_CORES BIT(0)
#else
#define ESP_SYSTEM_INIT_ALL_CORES (BIT(SOC_CPU_CORES_NUM) - 1)
#endif
extern uint64_t g_startup_time; // Startup time that serves as the point of origin for system time. Should be set by the entry
// function in the port layer. May be 0 as well if this is not backed by a persistent counter, in which case

8
components/esp_system/ld/esp32/sections.ld.in
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@@ -185,10 +185,6 @@ SECTIONS
*(.gnu.linkonce.s2.*)
*(.jcr)
_esp_system_init_fn_array_start = ABSOLUTE(.);
KEEP (*(SORT(.esp_system_init_fn) SORT(.esp_system_init_fn.*)))
_esp_system_init_fn_array_end = ABSOLUTE(.);
mapping[dram0_data]
_data_end = ABSOLUTE(.);
@@ -304,6 +300,10 @@ SECTIONS
soc_reserved_memory_region_start = ABSOLUTE(.);
KEEP (*(.reserved_memory_address))
soc_reserved_memory_region_end = ABSOLUTE(.);
/* System init functions registered via ESP_SYSTEM_INIT_FN */
_esp_system_init_fn_array_start = ABSOLUTE(.);
KEEP (*(SORT_BY_INIT_PRIORITY(.esp_system_init_fn.*)))
_esp_system_init_fn_array_end = ABSOLUTE(.);
_rodata_end = ABSOLUTE(.);
/* Literals are also RO data. */
_lit4_start = ABSOLUTE(.);

8
components/esp_system/ld/esp32c2/sections.ld.in
View File

@@ -47,10 +47,6 @@ SECTIONS
*(.gnu.linkonce.s2.*)
*(.jcr)
_esp_system_init_fn_array_start = ABSOLUTE(.);
KEEP (*(SORT(.esp_system_init_fn) SORT(.esp_system_init_fn.*)))
_esp_system_init_fn_array_end = ABSOLUTE(.);
mapping[dram0_data]
_data_end = ABSOLUTE(.);
@@ -208,6 +204,10 @@ SECTIONS
soc_reserved_memory_region_start = ABSOLUTE(.);
KEEP (*(.reserved_memory_address))
soc_reserved_memory_region_end = ABSOLUTE(.);
/* System init functions registered via ESP_SYSTEM_INIT_FN */
_esp_system_init_fn_array_start = ABSOLUTE(.);
KEEP (*(SORT_BY_INIT_PRIORITY(.esp_system_init_fn.*)))
_esp_system_init_fn_array_end = ABSOLUTE(.);
_rodata_end = ABSOLUTE(.);
/* Literals are also RO data. */
_lit4_start = ABSOLUTE(.);

8
components/esp_system/ld/esp32c3/sections.ld.in
View File

@@ -157,10 +157,6 @@ SECTIONS
*(.gnu.linkonce.s2.*)
*(.jcr)
_esp_system_init_fn_array_start = ABSOLUTE(.);
KEEP (*(SORT(.esp_system_init_fn) SORT(.esp_system_init_fn.*)))
_esp_system_init_fn_array_end = ABSOLUTE(.);
mapping[dram0_data]
_data_end = ABSOLUTE(.);
@@ -318,6 +314,10 @@ SECTIONS
soc_reserved_memory_region_start = ABSOLUTE(.);
KEEP (*(.reserved_memory_address))
soc_reserved_memory_region_end = ABSOLUTE(.);
/* System init functions registered via ESP_SYSTEM_INIT_FN */
_esp_system_init_fn_array_start = ABSOLUTE(.);
KEEP (*(SORT_BY_INIT_PRIORITY(.esp_system_init_fn.*)))
_esp_system_init_fn_array_end = ABSOLUTE(.);
_rodata_end = ABSOLUTE(.);
/* Literals are also RO data. */
_lit4_start = ABSOLUTE(.);

8
components/esp_system/ld/esp32h2/sections.ld.in
View File

@@ -160,10 +160,6 @@ SECTIONS
*(.gnu.linkonce.s2.*)
*(.jcr)
_esp_system_init_fn_array_start = ABSOLUTE(.);
KEEP (*(SORT(.esp_system_init_fn) SORT(.esp_system_init_fn.*)))
_esp_system_init_fn_array_end = ABSOLUTE(.);
mapping[dram0_data]
_data_end = ABSOLUTE(.);
@@ -321,6 +317,10 @@ SECTIONS
soc_reserved_memory_region_start = ABSOLUTE(.);
KEEP (*(.reserved_memory_address))
soc_reserved_memory_region_end = ABSOLUTE(.);
/* System init functions registered via ESP_SYSTEM_INIT_FN */
_esp_system_init_fn_array_start = ABSOLUTE(.);
KEEP (*(SORT_BY_INIT_PRIORITY(.esp_system_init_fn.*)))
_esp_system_init_fn_array_end = ABSOLUTE(.);
_rodata_end = ABSOLUTE(.);
/* Literals are also RO data. */
_lit4_start = ABSOLUTE(.);

8
components/esp_system/ld/esp32s2/sections.ld.in
View File

@@ -207,10 +207,6 @@ SECTIONS
*(.gnu.linkonce.s2.*)
*(.jcr)
_esp_system_init_fn_array_start = ABSOLUTE(.);
KEEP (*(SORT(.esp_system_init_fn) SORT(.esp_system_init_fn.*)))
_esp_system_init_fn_array_end = ABSOLUTE(.);
mapping[dram0_data]
_data_end = ABSOLUTE(.);
@@ -322,6 +318,10 @@ SECTIONS
soc_reserved_memory_region_start = ABSOLUTE(.);
KEEP (*(.reserved_memory_address))
soc_reserved_memory_region_end = ABSOLUTE(.);
/* System init functions registered via ESP_SYSTEM_INIT_FN */
_esp_system_init_fn_array_start = ABSOLUTE(.);
KEEP (*(SORT_BY_INIT_PRIORITY(.esp_system_init_fn.*)))
_esp_system_init_fn_array_end = ABSOLUTE(.);
_rodata_end = ABSOLUTE(.);
/* Literals are also RO data. */
_lit4_start = ABSOLUTE(.);

8
components/esp_system/ld/esp32s3/sections.ld.in
View File

@@ -194,10 +194,6 @@ SECTIONS
*(.gnu.linkonce.s2.*)
*(.jcr)
_esp_system_init_fn_array_start = ABSOLUTE(.);
KEEP (*(SORT(.esp_system_init_fn) SORT(.esp_system_init_fn.*)))
_esp_system_init_fn_array_end = ABSOLUTE(.);
mapping[dram0_data]
_data_end = ABSOLUTE(.);
@@ -347,6 +343,10 @@ SECTIONS
soc_reserved_memory_region_start = ABSOLUTE(.);
KEEP (*(.reserved_memory_address))
soc_reserved_memory_region_end = ABSOLUTE(.);
/* System init functions registered via ESP_SYSTEM_INIT_FN */
_esp_system_init_fn_array_start = ABSOLUTE(.);
KEEP (*(SORT_BY_INIT_PRIORITY(.esp_system_init_fn.*)))
_esp_system_init_fn_array_end = ABSOLUTE(.);
_rodata_end = ABSOLUTE(.);
/* Literals are also RO data. */
_lit4_start = ABSOLUTE(.);

33
components/esp_system/startup.c
View File

@@ -179,17 +179,25 @@ static void do_global_ctors(void)
#if __riscv
for (p = &__init_priority_array_start; p < &__init_priority_array_end; ++p) {
ESP_EARLY_LOGD(TAG, "calling init function: %p", *p);
ESP_LOGD(TAG, "calling init function: %p", *p);
(*p)();
}
#endif
for (p = &__init_array_end - 1; p >= &__init_array_start; --p) {
ESP_EARLY_LOGD(TAG, "calling init function: %p", *p);
ESP_LOGD(TAG, "calling init function: %p", *p);
(*p)();
}
}
/**
* @brief Call component init functions defined using ESP_SYSTEM_INIT_Fn macros.
* The esp_system_init_fn_t structures describing these functions are collected into
* an array [_esp_system_init_fn_array_start, _esp_system_init_fn_array_end) by the
* linker. The functions are sorted by their priority value.
* The sequence of the init function calls (sorted by priority) is documented in
* system_init_fn.txt file.
*/
static void do_system_init_fn(void)
{
extern esp_system_init_fn_t _esp_system_init_fn_array_start;
@@ -197,14 +205,20 @@ static void do_system_init_fn(void)
esp_system_init_fn_t *p;
for (p = &_esp_system_init_fn_array_end - 1; p >= &_esp_system_init_fn_array_start; --p) {
if (p->cores & BIT(cpu_hal_get_core_id())) {
(*(p->fn))();
int core_id = cpu_hal_get_core_id();
for (p = &_esp_system_init_fn_array_start; p < &_esp_system_init_fn_array_end; ++p) {
if (p->cores & BIT(core_id)) {
ESP_LOGD(TAG, "calling init function: %p on core: %d", p->fn, core_id);
esp_err_t err = (*(p->fn))();
if (err != ESP_OK) {
ESP_LOGE(TAG, "init function %p has failed (0x%x), aborting", p->fn, err);
abort();
}
}
}
#if !CONFIG_ESP_SYSTEM_SINGLE_CORE_MODE
s_system_inited[cpu_hal_get_core_id()] = true;
s_system_inited[core_id] = true;
#endif
}
@@ -216,6 +230,9 @@ static void esp_startup_start_app_other_cores_default(void)
}
}
/* This function has to be in IRAM, as while it is running on CPU1, CPU0 may do some flash operations
* (e.g. initialize the core dump), which means that cache will be disabled.
*/
static void IRAM_ATTR start_cpu_other_cores_default(void)
{
do_system_init_fn();
@@ -428,7 +445,7 @@ static void start_cpu0_default(void)
while (1);
}
IRAM_ATTR ESP_SYSTEM_INIT_FN(init_components0, BIT(0))
ESP_SYSTEM_INIT_FN(init_components0, BIT(0), 200)
{
esp_timer_init();
@@ -474,4 +491,6 @@ IRAM_ATTR ESP_SYSTEM_INIT_FN(init_components0, BIT(0))
_Unwind_SetNoFunctionContextInstall(1);
_Unwind_SetEnableExceptionFdeSorting(0);
#endif // CONFIG_COMPILER_CXX_EXCEPTIONS
return ESP_OK;
}