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Merge branch 'refactor/freertos_startup_and_common_functions' into 'master'

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FreeRTOS: Refactor app startup and port common functions

See merge request espressif/esp-idf!21240
This commit is contained in:
Darian
2022-12-08 13:40:28 +08:00
parent c81ff4571e 486cc33fb3
commit f7d6f83c41
12 changed files with 367 additions and 664 deletions
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10
components/freertos/CMakeLists.txt
View File

@@ -51,7 +51,9 @@ if(${target} STREQUAL "linux")
"${kernel_dir}/portable/${arch}/utils/wait_for_event.c") "${kernel_dir}/portable/${arch}/utils/wait_for_event.c")
else() else()
list(APPEND srcs list(APPEND srcs
"app_startup.c"
"FreeRTOS-openocd.c" "FreeRTOS-openocd.c"
"port_common.c"
"${kernel_dir}/portable/${arch}/portasm.S") "${kernel_dir}/portable/${arch}/portasm.S")
list(APPEND private_include_dirs list(APPEND private_include_dirs
@@ -62,7 +64,6 @@ else()
list(APPEND include_dirs "${kernel_dir}/portable/${arch}/include/freertos") # Xtensa headers via #include "xx.h" list(APPEND include_dirs "${kernel_dir}/portable/${arch}/include/freertos") # Xtensa headers via #include "xx.h"
else() else()
list(APPEND srcs list(APPEND srcs
"${kernel_dir}/portable/port_common.c"
"${kernel_dir}/portable/port_systick.c" "${kernel_dir}/portable/port_systick.c"
"esp_additions/freertos_v8_compat.c") "esp_additions/freertos_v8_compat.c")
@@ -130,13 +131,14 @@ else()
# FreeRTOS headers have a dependency on app_trace when SystemView tracing is enabled # FreeRTOS headers have a dependency on app_trace when SystemView tracing is enabled
idf_component_optional_requires(PUBLIC app_trace) idf_component_optional_requires(PUBLIC app_trace)
elseif(CONFIG_APPTRACE_ENABLE) elseif(CONFIG_APPTRACE_ENABLE)
# [refactor-todo]: port.c has a dependency on esp_apptrace_init, for running it on APP CPU. # [refactor-todo]: app_startup.c esp_startup_start_app_other_cores() has a dependency on esp_apptrace_init()
# this should be resolved when link-time registration of startup functions is added. # (called on CPU1). This should be resolved when link-time registration of startup functions is added.
idf_component_optional_requires(PRIVATE app_trace) idf_component_optional_requires(PRIVATE app_trace)
endif() endif()
if(CONFIG_ESP_SYSTEM_GDBSTUB_RUNTIME) if(CONFIG_ESP_SYSTEM_GDBSTUB_RUNTIME)
# [refactor-todo]: port.c esp_startup_start_app_common() calls esp_gdbstub_init() # [refactor-todo]: app_startup.c esp_startup_start_app_other_cores() calls esp_gdbstub_init() (called on CPU0).
# This should be resolved when link-time registration of startup functions is added.
idf_component_optional_requires(PRIVATE esp_gdbstub) idf_component_optional_requires(PRIVATE esp_gdbstub)
endif() endif()

151
components/freertos/FreeRTOS-Kernel-SMP/portable/riscv/port.c
View File

@@ -35,24 +35,17 @@
#include "hal/systimer_hal.h" #include "hal/systimer_hal.h"
#include "hal/systimer_ll.h" #include "hal/systimer_ll.h"
#endif #endif
#ifdef CONFIG_PM_TRACE #ifdef CONFIG_PM_TRACE
#include "esp_private/pm_trace.h" #include "esp_private/pm_trace.h"
#endif //CONFIG_PM_TRACE #endif //CONFIG_PM_TRACE
#ifdef CONFIG_ESP_SYSTEM_GDBSTUB_RUNTIME
#include "esp_gdbstub.h"
#endif // CONFIG_ESP_SYSTEM_GDBSTUB_RUNTIME
_Static_assert(portBYTE_ALIGNMENT == 16, "portBYTE_ALIGNMENT must be set to 16"); _Static_assert(portBYTE_ALIGNMENT == 16, "portBYTE_ALIGNMENT must be set to 16");
/* ---------------------------------------------------- Variables ------------------------------------------------------ /* ---------------------------------------------------- Variables ------------------------------------------------------
* *
* ------------------------------------------------------------------------------------------------------------------ */ * ------------------------------------------------------------------------------------------------------------------ */
static const char *TAG = "cpu_start"; // [refactor-todo]: might be appropriate to change in the future, but BaseType_t uxSchedulerRunning = 0; // Duplicate of xSchedulerRunning, accessible to port files
BaseType_t uxSchedulerRunning = 0;
volatile UBaseType_t uxInterruptNesting = 0; volatile UBaseType_t uxInterruptNesting = 0;
portMUX_TYPE port_xTaskLock = portMUX_INITIALIZER_UNLOCKED; portMUX_TYPE port_xTaskLock = portMUX_INITIALIZER_UNLOCKED;
portMUX_TYPE port_xISRLock = portMUX_INITIALIZER_UNLOCKED; portMUX_TYPE port_xISRLock = portMUX_INITIALIZER_UNLOCKED;
@@ -226,83 +219,7 @@ IRAM_ATTR void SysTickIsrHandler(void *arg)
#endif // CONFIG_FREERTOS_SYSTICK_USES_SYSTIMER #endif // CONFIG_FREERTOS_SYSTICK_USES_SYSTIMER
// --------------------- App Start-up ----------------------
extern void app_main(void);
static void main_task(void *args)
{
#if !CONFIG_FREERTOS_UNICORE
// Wait for FreeRTOS initialization to finish on APP CPU, before replacing its startup stack
while (uxSchedulerRunning == 0) {
;
}
#endif
// [refactor-todo] check if there is a way to move the following block to esp_system startup
heap_caps_enable_nonos_stack_heaps();
// Now we have startup stack RAM available for heap, enable any DMA pool memory
#if CONFIG_SPIRAM_MALLOC_RESERVE_INTERNAL
if (g_spiram_ok) {
esp_err_t r = esp_spiram_reserve_dma_pool(CONFIG_SPIRAM_MALLOC_RESERVE_INTERNAL);
if (r != ESP_OK) {
ESP_EARLY_LOGE(TAG, "Could not reserve internal/DMA pool (error 0x%x)", r);
abort();
}
}
#endif
//Initialize task wdt if configured to do so
#if CONFIG_ESP_TASK_WDT_INIT
esp_task_wdt_config_t twdt_config = {
.timeout_ms = CONFIG_ESP_TASK_WDT_TIMEOUT_S * 1000,
.idle_core_mask = 0,
#if CONFIG_ESP_TASK_WDT_PANIC
.trigger_panic = true,
#endif
};
#if CONFIG_ESP_TASK_WDT_CHECK_IDLE_TASK_CPU0
twdt_config.idle_core_mask |= (1 << 0);
#endif
#if CONFIG_ESP_TASK_WDT_CHECK_IDLE_TASK_CPU1
twdt_config.idle_core_mask |= (1 << 1);
#endif
ESP_ERROR_CHECK(esp_task_wdt_init(&twdt_config));
#endif // CONFIG_ESP_TASK_WDT_INIT
app_main();
vTaskDelete(NULL);
}
void esp_startup_start_app_common(void)
{
#if CONFIG_ESP_INT_WDT_INIT
esp_int_wdt_init();
//Initialize the interrupt watch dog for CPU0.
esp_int_wdt_cpu_init();
#endif
esp_crosscore_int_init();
#ifdef CONFIG_ESP_SYSTEM_GDBSTUB_RUNTIME
esp_gdbstub_init();
#endif // CONFIG_ESP_SYSTEM_GDBSTUB_RUNTIME
portBASE_TYPE res = xTaskCreatePinnedToCore(main_task, "main",
ESP_TASK_MAIN_STACK, NULL,
ESP_TASK_MAIN_PRIO, NULL, ESP_TASK_MAIN_CORE);
assert(res == pdTRUE);
(void)res;
}
void esp_startup_start_app(void)
{
esp_startup_start_app_common();
ESP_LOGI(TAG, "Starting scheduler.");
vTaskStartScheduler();
}
/* ---------------------------------------------- Port Implementations ------------------------------------------------- /* ---------------------------------------------- Port Implementations -------------------------------------------------
* Implementations of Porting Interface functions * Implementations of Porting Interface functions
@@ -468,72 +385,6 @@ void vPortFreeStack( void *pv )
} }
#endif #endif
#if ( configSUPPORT_STATIC_ALLOCATION == 1 )
void vApplicationGetIdleTaskMemory(StaticTask_t **ppxIdleTaskTCBBuffer,
StackType_t **ppxIdleTaskStackBuffer,
uint32_t *pulIdleTaskStackSize )
{
StackType_t *pxStackBufferTemp;
StaticTask_t *pxTCBBufferTemp;
/* If the stack grows down then allocate the stack then the TCB so the stack
* does not grow into the TCB. Likewise if the stack grows up then allocate
* the TCB then the stack. */
#if (portSTACK_GROWTH > 0)
{
//Allocate TCB and stack buffer in internal memory
pxTCBBufferTemp = pvPortMalloc(sizeof(StaticTask_t));
pxStackBufferTemp = pvPortMalloc(configMINIMAL_STACK_SIZE);
}
#else /* portSTACK_GROWTH */
{
//Allocate TCB and stack buffer in internal memory
pxStackBufferTemp = pvPortMalloc(configMINIMAL_STACK_SIZE);
pxTCBBufferTemp = pvPortMalloc(sizeof(StaticTask_t));
}
#endif /* portSTACK_GROWTH */
assert(pxStackBufferTemp != NULL);
assert(pxTCBBufferTemp != NULL);
// Write back pointers
*ppxIdleTaskStackBuffer = pxStackBufferTemp;
*ppxIdleTaskTCBBuffer = pxTCBBufferTemp;
*pulIdleTaskStackSize = configMINIMAL_STACK_SIZE;
}
void vApplicationGetTimerTaskMemory(StaticTask_t **ppxTimerTaskTCBBuffer,
StackType_t **ppxTimerTaskStackBuffer,
uint32_t *pulTimerTaskStackSize )
{
StaticTask_t *pxTCBBufferTemp;
StackType_t *pxStackBufferTemp;
/* If the stack grows down then allocate the stack then the TCB so the stack
* does not grow into the TCB. Likewise if the stack grows up then allocate
* the TCB then the stack. */
#if (portSTACK_GROWTH > 0)
{
//Allocate TCB and stack buffer in internal memory
pxTCBBufferTemp = pvPortMalloc(sizeof(StaticTask_t));
pxStackBufferTemp = pvPortMalloc(configTIMER_TASK_STACK_DEPTH);
}
#else /* portSTACK_GROWTH */
{
//Allocate TCB and stack buffer in internal memory
pxStackBufferTemp = pvPortMalloc(configTIMER_TASK_STACK_DEPTH);
pxTCBBufferTemp = pvPortMalloc(sizeof(StaticTask_t));
}
#endif /* portSTACK_GROWTH */
assert(pxTCBBufferTemp != NULL);
assert(pxStackBufferTemp != NULL);
//Write back pointers
*ppxTimerTaskTCBBuffer = pxTCBBufferTemp;
*ppxTimerTaskStackBuffer = pxStackBufferTemp;
*pulTimerTaskStackSize = configTIMER_TASK_STACK_DEPTH;
}
#endif //( configSUPPORT_STATIC_ALLOCATION == 1 )
// ------------------------ Stack -------------------------- // ------------------------ Stack --------------------------
/** /**

195
components/freertos/FreeRTOS-Kernel-SMP/portable/xtensa/port.c
View File

@@ -32,18 +32,6 @@
#include "esp_freertos_hooks.h" #include "esp_freertos_hooks.h"
#include "esp_intr_alloc.h" #include "esp_intr_alloc.h"
#include "esp_memory_utils.h" #include "esp_memory_utils.h"
#include "esp_chip_info.h"
#if CONFIG_SPIRAM
/* Required by esp_psram_extram_reserve_dma_pool() */
#include "esp_psram.h"
#include "esp_private/esp_psram_extram.h"
#endif
#ifdef CONFIG_APPTRACE_ENABLE
#include "esp_app_trace.h"
#endif
#ifdef CONFIG_ESP_SYSTEM_GDBSTUB_RUNTIME
#include "esp_gdbstub.h" /* Required by esp_gdbstub_init() */
#endif // CONFIG_ESP_SYSTEM_GDBSTUB_RUNTIME
#ifdef CONFIG_FREERTOS_SYSTICK_USES_SYSTIMER #ifdef CONFIG_FREERTOS_SYSTICK_USES_SYSTIMER
#include "soc/periph_defs.h" #include "soc/periph_defs.h"
#include "soc/system_reg.h" #include "soc/system_reg.h"
@@ -56,7 +44,7 @@ _Static_assert(portBYTE_ALIGNMENT == 16, "portBYTE_ALIGNMENT must be set to 16")
/* /*
OS state variables OS state variables
*/ */
volatile unsigned port_xSchedulerRunning[portNUM_PROCESSORS] = {0}; volatile unsigned port_xSchedulerRunning[portNUM_PROCESSORS] = {0}; // Indicates whether scheduler is running on a per-core basis
unsigned int port_interruptNesting[portNUM_PROCESSORS] = {0}; // Interrupt nesting level. Increased/decreased in portasm.c, _frxt_int_enter/_frxt_int_exit unsigned int port_interruptNesting[portNUM_PROCESSORS] = {0}; // Interrupt nesting level. Increased/decreased in portasm.c, _frxt_int_enter/_frxt_int_exit
//FreeRTOS SMP Locks //FreeRTOS SMP Locks
portMUX_TYPE port_xTaskLock = portMUX_INITIALIZER_UNLOCKED; portMUX_TYPE port_xTaskLock = portMUX_INITIALIZER_UNLOCKED;
@@ -305,121 +293,6 @@ IRAM_ATTR void SysTickIsrHandler(void *arg)
#endif // CONFIG_FREERTOS_SYSTICK_USES_CCOUNT #endif // CONFIG_FREERTOS_SYSTICK_USES_CCOUNT
// --------------------- App Start-up ----------------------
static const char *TAG = "cpu_start";
extern void app_main(void);
static void main_task(void *args)
{
#if !CONFIG_FREERTOS_UNICORE
// Wait for FreeRTOS initialization to finish on APP CPU, before replacing its startup stack
while (port_xSchedulerRunning[1] == 0) {
;
}
#endif
// [refactor-todo] check if there is a way to move the following block to esp_system startup
heap_caps_enable_nonos_stack_heaps();
// Now we have startup stack RAM available for heap, enable any DMA pool memory
#if CONFIG_SPIRAM_MALLOC_RESERVE_INTERNAL
if (esp_psram_is_initialized()) {
esp_err_t r = esp_psram_extram_reserve_dma_pool(CONFIG_SPIRAM_MALLOC_RESERVE_INTERNAL);
if (r != ESP_OK) {
ESP_EARLY_LOGE(TAG, "Could not reserve internal/DMA pool (error 0x%x)", r);
abort();
}
}
#endif
//Initialize TWDT if configured to do so
#if CONFIG_ESP_TASK_WDT_INIT
esp_task_wdt_config_t twdt_config = {
.timeout_ms = CONFIG_ESP_TASK_WDT_TIMEOUT_S * 1000,
.idle_core_mask = 0,
#if CONFIG_ESP_TASK_WDT_PANIC
.trigger_panic = true,
#endif
};
#if CONFIG_ESP_TASK_WDT_CHECK_IDLE_TASK_CPU0
twdt_config.idle_core_mask |= (1 << 0);
#endif
#if CONFIG_ESP_TASK_WDT_CHECK_IDLE_TASK_CPU1
twdt_config.idle_core_mask |= (1 << 1);
#endif
ESP_ERROR_CHECK(esp_task_wdt_init(&twdt_config));
#endif // CONFIG_ESP_TASK_WDT
app_main();
vTaskDelete(NULL);
}
void esp_startup_start_app_common(void)
{
#if CONFIG_ESP_INT_WDT
esp_int_wdt_init();
//Initialize the interrupt watch dog for CPU0.
esp_int_wdt_cpu_init();
#endif
esp_crosscore_int_init();
#ifdef CONFIG_ESP_SYSTEM_GDBSTUB_RUNTIME
esp_gdbstub_init();
#endif // CONFIG_ESP_SYSTEM_GDBSTUB_RUNTIME
portBASE_TYPE res = xTaskCreatePinnedToCore(main_task, "main",
ESP_TASK_MAIN_STACK, NULL,
ESP_TASK_MAIN_PRIO, NULL, ESP_TASK_MAIN_CORE);
assert(res == pdTRUE);
(void)res;
}
void esp_startup_start_app_other_cores(void)
{
// For now, we only support up to two core: 0 and 1.
if (xPortGetCoreID() >= 2) {
abort();
}
// Wait for FreeRTOS initialization to finish on PRO CPU
while (port_xSchedulerRunning[0] == 0) {
;
}
#if CONFIG_APPTRACE_ENABLE
// [refactor-todo] move to esp_system initialization
esp_err_t err = esp_apptrace_init();
assert(err == ESP_OK && "Failed to init apptrace module on APP CPU!");
#endif
#if CONFIG_ESP_INT_WDT
//Initialize the interrupt watch dog for CPU1.
esp_int_wdt_cpu_init();
#endif
esp_crosscore_int_init();
ESP_EARLY_LOGI(TAG, "Starting scheduler on APP CPU.");
xPortStartScheduler();
abort(); /* Only get to here if FreeRTOS somehow very broken */
}
void esp_startup_start_app(void)
{
#if !CONFIG_ESP_INT_WDT
#if CONFIG_ESP32_ECO3_CACHE_LOCK_FIX
assert(!soc_has_cache_lock_bug() && "ESP32 Rev 3 + Dual Core + PSRAM requires INT WDT enabled in project config!");
#endif
#endif
esp_startup_start_app_common();
ESP_EARLY_LOGI(TAG, "Starting scheduler on PRO CPU.");
vTaskStartScheduler();
}
/* ---------------------------------------------- Port Implementations ------------------------------------------------- /* ---------------------------------------------- Port Implementations -------------------------------------------------
@@ -533,72 +406,6 @@ void vPortFreeStack( void *pv )
} }
#endif #endif
#if ( configSUPPORT_STATIC_ALLOCATION == 1 )
void vApplicationGetIdleTaskMemory(StaticTask_t **ppxIdleTaskTCBBuffer,
StackType_t **ppxIdleTaskStackBuffer,
uint32_t *pulIdleTaskStackSize )
{
StackType_t *pxStackBufferTemp;
StaticTask_t *pxTCBBufferTemp;
/* If the stack grows down then allocate the stack then the TCB so the stack
* does not grow into the TCB. Likewise if the stack grows up then allocate
* the TCB then the stack. */
#if (portSTACK_GROWTH > 0)
{
//Allocate TCB and stack buffer in internal memory
pxTCBBufferTemp = pvPortMalloc(sizeof(StaticTask_t));
pxStackBufferTemp = pvPortMalloc(configMINIMAL_STACK_SIZE);
}
#else /* portSTACK_GROWTH */
{
//Allocate TCB and stack buffer in internal memory
pxStackBufferTemp = pvPortMalloc(configMINIMAL_STACK_SIZE);
pxTCBBufferTemp = pvPortMalloc(sizeof(StaticTask_t));
}
#endif /* portSTACK_GROWTH */
assert(pxStackBufferTemp != NULL);
assert(pxTCBBufferTemp != NULL);
// Write back pointers
*ppxIdleTaskStackBuffer = pxStackBufferTemp;
*ppxIdleTaskTCBBuffer = pxTCBBufferTemp;
*pulIdleTaskStackSize = configMINIMAL_STACK_SIZE;
}
void vApplicationGetTimerTaskMemory(StaticTask_t **ppxTimerTaskTCBBuffer,
StackType_t **ppxTimerTaskStackBuffer,
uint32_t *pulTimerTaskStackSize )
{
StaticTask_t *pxTCBBufferTemp;
StackType_t *pxStackBufferTemp;
/* If the stack grows down then allocate the stack then the TCB so the stack
* does not grow into the TCB. Likewise if the stack grows up then allocate
* the TCB then the stack. */
#if (portSTACK_GROWTH > 0)
{
//Allocate TCB and stack buffer in internal memory
pxTCBBufferTemp = pvPortMalloc(sizeof(StaticTask_t));
pxStackBufferTemp = pvPortMalloc(configTIMER_TASK_STACK_DEPTH);
}
#else /* portSTACK_GROWTH */
{
//Allocate TCB and stack buffer in internal memory
pxStackBufferTemp = pvPortMalloc(configTIMER_TASK_STACK_DEPTH);
pxTCBBufferTemp = pvPortMalloc(sizeof(StaticTask_t));
}
#endif /* portSTACK_GROWTH */
assert(pxTCBBufferTemp != NULL);
assert(pxStackBufferTemp != NULL);
//Write back pointers
*ppxTimerTaskTCBBuffer = pxTCBBufferTemp;
*ppxTimerTaskStackBuffer = pxStackBufferTemp;
*pulTimerTaskStackSize = configTIMER_TASK_STACK_DEPTH;
}
#endif //( configSUPPORT_STATIC_ALLOCATION == 1 )
// ------------------------ Stack -------------------------- // ------------------------ Stack --------------------------
// User exception dispatcher when exiting // User exception dispatcher when exiting

4
components/freertos/FreeRTOS-Kernel/portable/linux/port_idf.c
View File

@@ -95,6 +95,7 @@ void vApplicationTickHook( void )
void vPortYieldOtherCore( BaseType_t coreid ) { } // trying to skip for now void vPortYieldOtherCore( BaseType_t coreid ) { } // trying to skip for now
#if ( configSUPPORT_STATIC_ALLOCATION == 1 )
/* configUSE_STATIC_ALLOCATION is set to 1, so the application must provide an /* configUSE_STATIC_ALLOCATION is set to 1, so the application must provide an
* implementation of vApplicationGetIdleTaskMemory() to provide the memory that is * implementation of vApplicationGetIdleTaskMemory() to provide the memory that is
* used by the Idle task. */ * used by the Idle task. */
@@ -120,8 +121,10 @@ void vApplicationGetIdleTaskMemory( StaticTask_t ** ppxIdleTaskTCBBuffer,
* configMINIMAL_STACK_SIZE is specified in words, not bytes. */ * configMINIMAL_STACK_SIZE is specified in words, not bytes. */
*pulIdleTaskStackSize = configMINIMAL_STACK_SIZE; *pulIdleTaskStackSize = configMINIMAL_STACK_SIZE;
} }
#endif // configSUPPORT_STATIC_ALLOCATION == 1
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
#if ( configSUPPORT_STATIC_ALLOCATION == 1 )
/* configUSE_STATIC_ALLOCATION and configUSE_TIMERS are both set to 1, so the /* configUSE_STATIC_ALLOCATION and configUSE_TIMERS are both set to 1, so the
* application must provide an implementation of vApplicationGetTimerTaskMemory() * application must provide an implementation of vApplicationGetTimerTaskMemory()
* to provide the memory that is used by the Timer service task. */ * to provide the memory that is used by the Timer service task. */
@@ -146,6 +149,7 @@ void vApplicationGetTimerTaskMemory( StaticTask_t ** ppxTimerTaskTCBBuffer,
* configMINIMAL_STACK_SIZE is specified in words, not bytes. */ * configMINIMAL_STACK_SIZE is specified in words, not bytes. */
*pulTimerTaskStackSize = configTIMER_TASK_STACK_DEPTH; *pulTimerTaskStackSize = configTIMER_TASK_STACK_DEPTH;
} }
#endif // configSUPPORT_STATIC_ALLOCATION == 1
void __attribute__((weak)) vApplicationStackOverflowHook(TaskHandle_t xTask, char *pcTaskName) void __attribute__((weak)) vApplicationStackOverflowHook(TaskHandle_t xTask, char *pcTaskName)
{ {

230
components/freertos/FreeRTOS-Kernel/portable/port_common.c
View File

@@ -1,230 +0,0 @@
/*
* SPDX-FileCopyrightText: 2021-2022 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0
*/
#include <string.h>
#include "FreeRTOS.h"
#include "task.h"
#include "portmacro.h"
#include "esp_private/esp_int_wdt.h"
#include "esp_system.h"
#include "esp_heap_caps_init.h"
#include "esp_task_wdt.h"
#include "esp_task.h"
#include "esp_private/crosscore_int.h"
#include "esp_log.h"
#include "esp_memory_utils.h"
#include "esp_freertos_hooks.h"
#include "sdkconfig.h"
#include "esp_freertos_hooks.h"
#if CONFIG_SPIRAM
#include "esp_psram.h"
#include "esp_private/esp_psram_extram.h"
#endif
#if CONFIG_SPIRAM_MALLOC_RESERVE_INTERNAL
static const char* TAG = "cpu_start";
#endif
/* Architecture-agnostic parts of the FreeRTOS ESP-IDF port layer can go here.
*
* The actual call flow will be to call esp_startup_start_app() in <ARCH>/port.c,
* which will then call esp_startup_start_app_common()
*/
// Duplicate of inaccessible xSchedulerRunning; needed at startup to avoid counting nesting
volatile unsigned port_xSchedulerRunning[portNUM_PROCESSORS] = {0};
// For now, running FreeRTOS on one core and a bare metal on the other (or other OSes)
// is not supported. For now CONFIG_FREERTOS_UNICORE and CONFIG_ESP_SYSTEM_SINGLE_CORE_MODE
// should mirror each other's values.
//
// And since this should be true, we can just check for CONFIG_FREERTOS_UNICORE.
#if CONFIG_FREERTOS_UNICORE != CONFIG_ESP_SYSTEM_SINGLE_CORE_MODE
#error "FreeRTOS and system configuration mismatch regarding the use of multiple cores."
#endif
static void main_task(void* args);
#ifdef CONFIG_ESP_SYSTEM_GDBSTUB_RUNTIME
void esp_gdbstub_init(void);
#endif // CONFIG_ESP_SYSTEM_GDBSTUB_RUNTIME
extern void app_main(void);
void esp_startup_start_app_common(void)
{
#if CONFIG_ESP_INT_WDT
esp_int_wdt_init();
//Initialize the interrupt watch dog for CPU0.
esp_int_wdt_cpu_init();
#endif
esp_crosscore_int_init();
#if CONFIG_ESP_SYSTEM_GDBSTUB_RUNTIME && !CONFIG_IDF_TARGET_ESP32C2
esp_gdbstub_init();
#endif // CONFIG_ESP_SYSTEM_GDBSTUB_RUNTIME
portBASE_TYPE res = xTaskCreatePinnedToCore(&main_task, "main",
ESP_TASK_MAIN_STACK, NULL,
ESP_TASK_MAIN_PRIO, NULL, ESP_TASK_MAIN_CORE);
assert(res == pdTRUE);
(void)res;
}
#if !CONFIG_FREERTOS_UNICORE
static volatile bool s_other_cpu_startup_done = false;
static bool other_cpu_startup_idle_hook_cb(void)
{
s_other_cpu_startup_done = true;
return true;
}
#endif
static void main_task(void* args)
{
#if !CONFIG_FREERTOS_UNICORE
// Wait for FreeRTOS initialization to finish on other core, before replacing its startup stack
esp_register_freertos_idle_hook_for_cpu(other_cpu_startup_idle_hook_cb, !xPortGetCoreID());
while (!s_other_cpu_startup_done) {
;
}
esp_deregister_freertos_idle_hook_for_cpu(other_cpu_startup_idle_hook_cb, !xPortGetCoreID());
#endif
// [refactor-todo] check if there is a way to move the following block to esp_system startup
heap_caps_enable_nonos_stack_heaps();
// Now we have startup stack RAM available for heap, enable any DMA pool memory
#if CONFIG_SPIRAM_MALLOC_RESERVE_INTERNAL
if (esp_psram_is_initialized()) {
esp_err_t r = esp_psram_extram_reserve_dma_pool(CONFIG_SPIRAM_MALLOC_RESERVE_INTERNAL);
if (r != ESP_OK) {
ESP_EARLY_LOGE(TAG, "Could not reserve internal/DMA pool (error 0x%x)", r);
abort();
}
}
#endif
//Initialize TWDT if configured to do so
#if CONFIG_ESP_TASK_WDT_INIT
esp_task_wdt_config_t twdt_config = {
.timeout_ms = CONFIG_ESP_TASK_WDT_TIMEOUT_S * 1000,
.idle_core_mask = 0,
#if CONFIG_ESP_TASK_WDT_PANIC
.trigger_panic = true,
#endif
};
#if CONFIG_ESP_TASK_WDT_CHECK_IDLE_TASK_CPU0
twdt_config.idle_core_mask |= (1 << 0);
#endif
#if CONFIG_ESP_TASK_WDT_CHECK_IDLE_TASK_CPU1
twdt_config.idle_core_mask |= (1 << 1);
#endif
ESP_ERROR_CHECK(esp_task_wdt_init(&twdt_config));
#endif // CONFIG_ESP_TASK_WDT
app_main();
vTaskDelete(NULL);
}
// -------------------- Heap Related -----------------------
bool xPortCheckValidTCBMem(const void *ptr)
{
return esp_ptr_internal(ptr) && esp_ptr_byte_accessible(ptr);
}
bool xPortcheckValidStackMem(const void *ptr)
{
#ifdef CONFIG_SPIRAM_ALLOW_STACK_EXTERNAL_MEMORY
return esp_ptr_byte_accessible(ptr);
#else
return esp_ptr_internal(ptr) && esp_ptr_byte_accessible(ptr);
#endif
}
// ------------- FreeRTOS Static Allocation ----------------
/*
This function is required by FreeRTOS when configSUPPORT_STATIC_ALLOCATION is
enabled and is used by FreeRTOS to obtain memory for its IDLE tasks.
Like the pvPortMallocTcbMem() and pvPortMallocStackMem() macros, TCB and stack
memory MUST be placed in internal RAM.
*/
void vApplicationGetIdleTaskMemory(StaticTask_t **ppxIdleTaskTCBBuffer,
StackType_t **ppxIdleTaskStackBuffer,
uint32_t *pulIdleTaskStackSize )
{
StaticTask_t *pxTCBBufferTemp;
StackType_t *pxStackBufferTemp;
/* If the stack grows down then allocate the stack then the TCB so the stack
* does not grow into the TCB. Likewise if the stack grows up then allocate
* the TCB then the stack. */
#if (portSTACK_GROWTH > 0)
{
//Allocate TCB and stack buffer in internal memory
pxTCBBufferTemp = pvPortMallocTcbMem(sizeof(StaticTask_t));
pxStackBufferTemp = pvPortMallocStackMem(configMINIMAL_STACK_SIZE);
}
#else /* portSTACK_GROWTH */
{
//Allocate TCB and stack buffer in internal memory
pxStackBufferTemp = pvPortMallocStackMem(configMINIMAL_STACK_SIZE);
pxTCBBufferTemp = pvPortMallocTcbMem(sizeof(StaticTask_t));
}
#endif /* portSTACK_GROWTH */
assert(pxTCBBufferTemp != NULL);
assert(pxStackBufferTemp != NULL);
//Write back pointers
*ppxIdleTaskTCBBuffer = pxTCBBufferTemp;
*ppxIdleTaskStackBuffer = pxStackBufferTemp;
*pulIdleTaskStackSize = configMINIMAL_STACK_SIZE;
}
/*
This function is required by FreeRTOS when configSUPPORT_STATIC_ALLOCATION is
enabled and is used by the FreeRTOS Timer to obtain memory for its daemone task.
Like the pvPortMallocTcbMem() and pvPortMallocStackMem() macros, TCB and stack
memory MUST be placed in internal RAM.
*/
void vApplicationGetTimerTaskMemory(StaticTask_t **ppxTimerTaskTCBBuffer,
StackType_t **ppxTimerTaskStackBuffer,
uint32_t *pulTimerTaskStackSize )
{
StaticTask_t *pxTCBBufferTemp;
StackType_t *pxStackBufferTemp;
/* If the stack grows down then allocate the stack then the TCB so the stack
* does not grow into the TCB. Likewise if the stack grows up then allocate
* the TCB then the stack. */
#if (portSTACK_GROWTH > 0)
{
//Allocate TCB and stack buffer in internal memory
pxTCBBufferTemp = pvPortMallocTcbMem(sizeof(StaticTask_t));
pxStackBufferTemp = pvPortMallocStackMem(configTIMER_TASK_STACK_DEPTH);
}
#else /* portSTACK_GROWTH */
{
//Allocate TCB and stack buffer in internal memory
pxStackBufferTemp = pvPortMallocStackMem(configTIMER_TASK_STACK_DEPTH);
pxTCBBufferTemp = pvPortMallocTcbMem(sizeof(StaticTask_t));
}
#endif /* portSTACK_GROWTH */
assert(pxTCBBufferTemp != NULL);
assert(pxStackBufferTemp != NULL);
//Write back pointers
*ppxTimerTaskTCBBuffer = pxTCBBufferTemp;
*ppxTimerTaskStackBuffer = pxStackBufferTemp;
*pulTimerTaskStackSize = configTIMER_TASK_STACK_DEPTH;
}

17
components/freertos/FreeRTOS-Kernel/portable/riscv/port.c
View File

@@ -63,8 +63,6 @@ _Static_assert(portBYTE_ALIGNMENT == 16, "portBYTE_ALIGNMENT must be set to 16")
* *
* ------------------------------------------------------------------------------------------------------------------ */ * ------------------------------------------------------------------------------------------------------------------ */
static const char *TAG = "cpu_start"; // [refactor-todo]: might be appropriate to change in the future, but
/** /**
* @brief A variable is used to keep track of the critical section nesting. * @brief A variable is used to keep track of the critical section nesting.
* @note This variable has to be stored as part of the task context and must be initialized to a non zero value * @note This variable has to be stored as part of the task context and must be initialized to a non zero value
@@ -73,7 +71,7 @@ static const char *TAG = "cpu_start"; // [refactor-todo]: might be appropriate t
*/ */
static UBaseType_t uxCriticalNesting = 0; static UBaseType_t uxCriticalNesting = 0;
static UBaseType_t uxSavedInterruptState = 0; static UBaseType_t uxSavedInterruptState = 0;
BaseType_t uxSchedulerRunning = 0; BaseType_t uxSchedulerRunning = 0; // Duplicate of xSchedulerRunning, accessible to port files
UBaseType_t uxInterruptNesting = 0; UBaseType_t uxInterruptNesting = 0;
BaseType_t xPortSwitchFlag = 0; BaseType_t xPortSwitchFlag = 0;
__attribute__((aligned(16))) static StackType_t xIsrStack[configISR_STACK_SIZE]; __attribute__((aligned(16))) static StackType_t xIsrStack[configISR_STACK_SIZE];
@@ -473,16 +471,3 @@ void vPortSetStackWatchpoint(void *pxStackStart)
/* ---------------------------------------------- Misc Implementations ------------------------------------------------- /* ---------------------------------------------- Misc Implementations -------------------------------------------------
* *
* ------------------------------------------------------------------------------------------------------------------ */ * ------------------------------------------------------------------------------------------------------------------ */
// --------------------- App Start-up ----------------------
/* [refactor-todo]: See if we can include this through a header */
extern void esp_startup_start_app_common(void);
void esp_startup_start_app(void)
{
esp_startup_start_app_common();
ESP_LOGI(TAG, "Starting scheduler.");
vTaskStartScheduler();
}

57
components/freertos/FreeRTOS-Kernel/portable/xtensa/port.c
View File

@@ -69,15 +69,11 @@
#include "esp_private/esp_int_wdt.h" #include "esp_private/esp_int_wdt.h"
#include "esp_system.h" #include "esp_system.h"
#include "esp_log.h" #include "esp_log.h"
#ifdef CONFIG_APPTRACE_ENABLE
#include "esp_app_trace.h" /* Required for esp_apptrace_init. [refactor-todo] */
#endif
#include "FreeRTOS.h" /* This pulls in portmacro.h */ #include "FreeRTOS.h" /* This pulls in portmacro.h */
#include "task.h" /* Required for TaskHandle_t, tskNO_AFFINITY, and vTaskStartScheduler */ #include "task.h" /* Required for TaskHandle_t, tskNO_AFFINITY, and vTaskStartScheduler */
#include "port_systick.h" #include "port_systick.h"
#include "esp_cpu.h" #include "esp_cpu.h"
#include "esp_memory_utils.h" #include "esp_memory_utils.h"
#include "esp_chip_info.h"
_Static_assert(portBYTE_ALIGNMENT == 16, "portBYTE_ALIGNMENT must be set to 16"); _Static_assert(portBYTE_ALIGNMENT == 16, "portBYTE_ALIGNMENT must be set to 16");
@@ -88,8 +84,7 @@ _Static_assert(tskNO_AFFINITY == CONFIG_FREERTOS_NO_AFFINITY, "incorrect tskNO_A
* *
* ------------------------------------------------------------------------------------------------------------------ */ * ------------------------------------------------------------------------------------------------------------------ */
static const char *TAG = "cpu_start"; /* [refactor-todo]: might be appropriate to change in the future, but for now maintain the same log output */ volatile unsigned port_xSchedulerRunning[portNUM_PROCESSORS] = {0}; // Indicates whether scheduler is running on a per-core basis
extern volatile int port_xSchedulerRunning[portNUM_PROCESSORS];
unsigned port_interruptNesting[portNUM_PROCESSORS] = {0}; // Interrupt nesting level. Increased/decreased in portasm.c, _frxt_int_enter/_frxt_int_exit unsigned port_interruptNesting[portNUM_PROCESSORS] = {0}; // Interrupt nesting level. Increased/decreased in portasm.c, _frxt_int_enter/_frxt_int_exit
BaseType_t port_uxCriticalNesting[portNUM_PROCESSORS] = {0}; BaseType_t port_uxCriticalNesting[portNUM_PROCESSORS] = {0};
BaseType_t port_uxOldInterruptState[portNUM_PROCESSORS] = {0}; BaseType_t port_uxOldInterruptState[portNUM_PROCESSORS] = {0};
@@ -618,53 +613,3 @@ void vPortReleaseTaskMPUSettings( xMPU_SETTINGS *xMPUSettings )
_xt_coproc_release( xMPUSettings->coproc_area ); _xt_coproc_release( xMPUSettings->coproc_area );
} }
#endif /* portUSING_MPU_WRAPPERS */ #endif /* portUSING_MPU_WRAPPERS */
// --------------------- App Start-up ----------------------
#if !CONFIG_FREERTOS_UNICORE
void esp_startup_start_app_other_cores(void)
{
// For now, we only support up to two core: 0 and 1.
if (xPortGetCoreID() >= 2) {
abort();
}
// Wait for FreeRTOS initialization to finish on PRO CPU
while (port_xSchedulerRunning[0] == 0) {
;
}
#if CONFIG_APPTRACE_ENABLE
// [refactor-todo] move to esp_system initialization
esp_err_t err = esp_apptrace_init();
assert(err == ESP_OK && "Failed to init apptrace module on APP CPU!");
#endif
#if CONFIG_ESP_INT_WDT
//Initialize the interrupt watch dog for CPU1.
esp_int_wdt_cpu_init();
#endif
esp_crosscore_int_init();
ESP_EARLY_LOGI(TAG, "Starting scheduler on APP CPU.");
xPortStartScheduler();
abort(); /* Only get to here if FreeRTOS somehow very broken */
}
#endif // !CONFIG_FREERTOS_UNICORE
extern void esp_startup_start_app_common(void);
void esp_startup_start_app(void)
{
#if !CONFIG_ESP_INT_WDT
#if CONFIG_ESP32_ECO3_CACHE_LOCK_FIX
assert(!soc_has_cache_lock_bug() && "ESP32 Rev 3 + Dual Core + PSRAM requires INT WDT enabled in project config!");
#endif
#endif
esp_startup_start_app_common();
ESP_LOGI(TAG, "Starting scheduler on PRO CPU.");
vTaskStartScheduler();
}

207
components/freertos/app_startup.c Normal file
View File

@@ -0,0 +1,207 @@
/*
* SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0
*/
#include "sdkconfig.h"
#include <stddef.h>
#include <assert.h>
#include "esp_task.h"
#include "esp_log.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "freertos/portmacro.h"
#include "esp_private/esp_int_wdt.h"
#include "esp_private/crosscore_int.h"
#include "esp_task_wdt.h"
#include "esp_freertos_hooks.h"
#include "esp_heap_caps_init.h"
#include "esp_chip_info.h"
#if CONFIG_SPIRAM
/* Required by esp_psram_extram_reserve_dma_pool() */
#include "esp_psram.h"
#include "esp_private/esp_psram_extram.h"
#endif
#ifdef CONFIG_APPTRACE_ENABLE
#include "esp_app_trace.h" /* Required for esp_apptrace_init. [refactor-todo] */
#endif
#ifdef CONFIG_ESP_SYSTEM_GDBSTUB_RUNTIME
#include "esp_gdbstub.h" /* Required by esp_gdbstub_init() */
#endif // CONFIG_ESP_SYSTEM_GDBSTUB_RUNTIME
/* ------------------------------------------------- App/OS Startup ----------------------------------------------------
* - Functions related to application and FreeRTOS startup
* - This startup is common to all architectures (e.g. RISC-V and Xtensa) and all FreeRTOS implementations (i.e., IDF
* FreeRTOS and Amazon SMP FreeRTOS).
* - Application startup flow as follows:
* - For CPU 0
* - CPU0 completes CPU startup (in startup.c), then calls esp_startup_start_app()
* - esp_startup_start_app() registers some daemon services for CPU0 then starts FreeRTOS
* - For CPUx (1 to N-1)
* - CPUx completes CPU startup in startup.c, then calls esp_startup_start_app_other_cores()
* - esp_startup_start_app_other_cores(), registers some daemon services for CPUx, waits for CPU0 to start
* FreeRTOS, then yields (via xPortStartScheduler()) to schedule a task.
* ------------------------------------------------------------------------------------------------------------------ */
// ----------------------- Checks --------------------------
/*
For now, AMP is not supported (i.e., running FreeRTOS on one core and a bare metal/other OS on the other). Therefore,
CONFIG_FREERTOS_UNICORE and CONFIG_ESP_SYSTEM_SINGLE_CORE_MODE should be identical. We add a check for this here.
*/
#if CONFIG_FREERTOS_UNICORE != CONFIG_ESP_SYSTEM_SINGLE_CORE_MODE
#error "AMP not supported. FreeRTOS number of cores and system number of cores must be identical"
#endif
// -------------------- Declarations -----------------------
static void main_task(void* args);
static const char* APP_START_TAG = "app_start";
// ------------------ CPU0 App Startup ---------------------
void esp_startup_start_app(void)
{
#if CONFIG_ESP_INT_WDT
esp_int_wdt_init();
// Initialize the interrupt watch dog for CPU0.
esp_int_wdt_cpu_init();
#elif CONFIG_ESP32_ECO3_CACHE_LOCK_FIX
// If the INT WDT isn't enabled on ESP32 ECO3, issue an error regarding the cache lock bug
assert(!soc_has_cache_lock_bug() && "ESP32 Rev 3 + Dual Core + PSRAM requires INT WDT enabled in project config!");
#endif
// Initialize the cross-core interrupt on CPU0
esp_crosscore_int_init();
#if CONFIG_ESP_SYSTEM_GDBSTUB_RUNTIME && !CONFIG_IDF_TARGET_ESP32C2
void esp_gdbstub_init(void);
esp_gdbstub_init();
#endif // CONFIG_ESP_SYSTEM_GDBSTUB_RUNTIME
BaseType_t res = xTaskCreatePinnedToCore(main_task, "main",
ESP_TASK_MAIN_STACK, NULL,
ESP_TASK_MAIN_PRIO, NULL, ESP_TASK_MAIN_CORE);
assert(res == pdTRUE);
(void)res;
/*
If a particular FreeRTOS port has port/arch specific OS startup behavior, they can implement a function of type
"void port_start_app_hook(void)" in their `port.c` files. This function will be called below, thus allowing each
FreeRTOS port to implement port specific app startup behavior.
*/
void __attribute__((weak)) port_start_app_hook(void);
if (port_start_app_hook != NULL) {
port_start_app_hook();
}
ESP_EARLY_LOGI(APP_START_TAG, "Starting scheduler on CPU0");
vTaskStartScheduler();
}
// --------------- CPU[1:N-1] App Startup ------------------
#if !CONFIG_FREERTOS_UNICORE
void esp_startup_start_app_other_cores(void)
{
// For now, we only support up to two core: 0 and 1.
if (xPortGetCoreID() >= 2) {
abort();
}
// Wait for CPU0 to start FreeRTOS before progressing
extern volatile unsigned port_xSchedulerRunning[portNUM_PROCESSORS];
while (port_xSchedulerRunning[0] == 0) {
;
}
#if CONFIG_APPTRACE_ENABLE
// [refactor-todo] move to esp_system initialization
esp_err_t err = esp_apptrace_init();
assert(err == ESP_OK && "Failed to init apptrace module on APP CPU!");
#endif
#if CONFIG_ESP_INT_WDT
// Initialize the interrupt watch dog for CPU1.
esp_int_wdt_cpu_init();
#endif
// Initialize the cross-core interrupt on CPU1
esp_crosscore_int_init();
ESP_EARLY_LOGI(APP_START_TAG, "Starting scheduler on CPU%d", xPortGetCoreID());
xPortStartScheduler();
abort(); // Only get to here if FreeRTOS somehow very broken
}
#endif // !CONFIG_FREERTOS_UNICORE
/* ---------------------------------------------------- Main Task ------------------------------------------------------
* - main_task is a daemon task created by CPU0 before it starts FreeRTOS
* - Pinned to CPU(ESP_TASK_MAIN_CORE)
* - Priority of ESP_TASK_MAIN_PRIO
* - Used to dispatch "void app_main(void)" provided by the application
* - main_task will self delete if app_main returns
* ------------------------------------------------------------------------------------------------------------------ */
static const char* MAIN_TAG = "main_task";
#if !CONFIG_FREERTOS_UNICORE
static volatile bool s_other_cpu_startup_done = false;
static bool other_cpu_startup_idle_hook_cb(void)
{
s_other_cpu_startup_done = true;
return true;
}
#endif
static void main_task(void* args)
{
ESP_LOGI(MAIN_TAG, "Started on CPU%d", xPortGetCoreID());
#if !CONFIG_FREERTOS_UNICORE
// Wait for FreeRTOS initialization to finish on other core, before replacing its startup stack
esp_register_freertos_idle_hook_for_cpu(other_cpu_startup_idle_hook_cb, !xPortGetCoreID());
while (!s_other_cpu_startup_done) {
;
}
esp_deregister_freertos_idle_hook_for_cpu(other_cpu_startup_idle_hook_cb, !xPortGetCoreID());
#endif
// [refactor-todo] check if there is a way to move the following block to esp_system startup
heap_caps_enable_nonos_stack_heaps();
// Now we have startup stack RAM available for heap, enable any DMA pool memory
#if CONFIG_SPIRAM_MALLOC_RESERVE_INTERNAL
if (esp_psram_is_initialized()) {
esp_err_t r = esp_psram_extram_reserve_dma_pool(CONFIG_SPIRAM_MALLOC_RESERVE_INTERNAL);
if (r != ESP_OK) {
ESP_LOGE(MAIN_TAG, "Could not reserve internal/DMA pool (error 0x%x)", r);
abort();
}
}
#endif
// Initialize TWDT if configured to do so
#if CONFIG_ESP_TASK_WDT_INIT
esp_task_wdt_config_t twdt_config = {
.timeout_ms = CONFIG_ESP_TASK_WDT_TIMEOUT_S * 1000,
.idle_core_mask = 0,
#if CONFIG_ESP_TASK_WDT_PANIC
.trigger_panic = true,
#endif
};
#if CONFIG_ESP_TASK_WDT_CHECK_IDLE_TASK_CPU0
twdt_config.idle_core_mask |= (1 << 0);
#endif
#if CONFIG_ESP_TASK_WDT_CHECK_IDLE_TASK_CPU1
twdt_config.idle_core_mask |= (1 << 1);
#endif
ESP_ERROR_CHECK(esp_task_wdt_init(&twdt_config));
#endif // CONFIG_ESP_TASK_WDT
ESP_LOGI(MAIN_TAG, "Calling app_main()");
extern void app_main(void);
app_main();
ESP_LOGI(MAIN_TAG, "Returned from app_main()");
vTaskDelete(NULL);
}

14
components/freertos/linker.lf
View File

@@ -130,14 +130,12 @@ entries:
queue: uxQueueGetQueueNumber (default) queue: uxQueueGetQueueNumber (default)
queue: vQueueSetQueueNumber (default) queue: vQueueSetQueueNumber (default)
queue: ucQueueGetQueueType (default) queue: ucQueueGetQueueType (default)
# port.c Functions # app_startup.c
port: esp_startup_start_app (default) app_startup: esp_startup_start_app (default)
if ESP_SYSTEM_SINGLE_CORE_MODE = n: if CONFIG_FREERTOS_UNICORE = n:
port: esp_startup_start_app_other_cores (default) app_startup: esp_startup_start_app_other_cores (default)
app_startup: other_cpu_startup_idle_hook_cb (default)
app_startup: main_task (default)
# port_common.c Functions # port_common.c Functions
port_common:main_task (default)
port_common:esp_startup_start_app_common (default)
port_common:vApplicationGetIdleTaskMemory (default) port_common:vApplicationGetIdleTaskMemory (default)
port_common:vApplicationGetTimerTaskMemory (default) port_common:vApplicationGetTimerTaskMemory (default)
if FREERTOS_UNICORE = n:
port_common:other_cpu_startup_idle_hook_cb (default)

10
components/freertos/linker_smp.lf
View File

@@ -144,10 +144,12 @@ entries:
# port # port
port: pxPortInitialiseStack (default) port: pxPortInitialiseStack (default)
port: xPortStartScheduler (default) port: xPortStartScheduler (default)
port: main_task (default) # app_startup.c
port: esp_startup_start_app (default) app_startup: esp_startup_start_app (default)
if ESP_SYSTEM_SINGLE_CORE_MODE = n: if CONFIG_FREERTOS_UNICORE = n:
port:esp_startup_start_app_other_cores (default) app_startup: esp_startup_start_app_other_cores (default)
app_startup: other_cpu_startup_idle_hook_cb (default)
app_startup: main_task (default)
# timers.c # timers.c
timers: xTimerCreateTimerTask (default) timers: xTimerCreateTimerTask (default)
timers: xTimerCreate (default) timers: xTimerCreate (default)

130
components/freertos/port_common.c Normal file
View File

@@ -0,0 +1,130 @@
/*
* SPDX-FileCopyrightText: 2021-2022 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0
*/
#include <string.h>
#include "FreeRTOS.h"
#include "task.h"
#include "esp_system.h"
#include "esp_memory_utils.h"
#include "sdkconfig.h"
/* ----------------------------------------- Port Implementations (Common) --------------------------------------------
* - Common FreeRTOS port function implementations
* - These functions are common to all FreeRTOS ports (i.e., on all architectures and all FreeRTOS implementations).
* ------------------------------------------------------------------------------------------------------------------ */
// -------------------- Heap Related -----------------------
#if !CONFIG_FREERTOS_SMP // IDF-3997
bool xPortCheckValidTCBMem(const void *ptr)
{
return esp_ptr_internal(ptr) && esp_ptr_byte_accessible(ptr);
}
bool xPortcheckValidStackMem(const void *ptr)
{
#ifdef CONFIG_SPIRAM_ALLOW_STACK_EXTERNAL_MEMORY
return esp_ptr_byte_accessible(ptr);
#else
return esp_ptr_internal(ptr) && esp_ptr_byte_accessible(ptr);
#endif
}
#endif
// ------------- FreeRTOS Static Allocation ----------------
/*
These function are required by FreeRTOS when configSUPPORT_STATIC_ALLOCATION is
enabled and is used by FreeRTOS to obtain memory for its IDLE/Timer tasks.
Like the pvPortMallocTcbMem() and pvPortMallocStackMem() macros, TCB and stack
memory MUST be placed in internal RAM.
*/
#if ( configSUPPORT_STATIC_ALLOCATION == 1 )
void vApplicationGetIdleTaskMemory(StaticTask_t **ppxIdleTaskTCBBuffer,
StackType_t **ppxIdleTaskStackBuffer,
uint32_t *pulIdleTaskStackSize )
{
StaticTask_t *pxTCBBufferTemp;
StackType_t *pxStackBufferTemp;
/* If the stack grows down then allocate the stack then the TCB so the stack
* does not grow into the TCB. Likewise if the stack grows up then allocate
* the TCB then the stack. */
#if (portSTACK_GROWTH > 0)
{
//Allocate TCB and stack buffer in internal memory
#if CONFIG_FREERTOS_SMP // IDF-3997
pxTCBBufferTemp = pvPortMalloc(sizeof(StaticTask_t));
pxStackBufferTemp = pvPortMalloc(configMINIMAL_STACK_SIZE);
#else
pxTCBBufferTemp = pvPortMallocTcbMem(sizeof(StaticTask_t));
pxStackBufferTemp = pvPortMallocStackMem(configMINIMAL_STACK_SIZE);
#endif /* CONFIG_FREERTOS_SMP */
}
#else /* portSTACK_GROWTH */
{
//Allocate TCB and stack buffer in internal memory
#if CONFIG_FREERTOS_SMP // IDF-3997
pxStackBufferTemp = pvPortMalloc(configMINIMAL_STACK_SIZE);
pxTCBBufferTemp = pvPortMalloc(sizeof(StaticTask_t));
#else
pxStackBufferTemp = pvPortMallocStackMem(configMINIMAL_STACK_SIZE);
pxTCBBufferTemp = pvPortMallocTcbMem(sizeof(StaticTask_t));
#endif /* CONFIG_FREERTOS_SMP */
}
#endif /* portSTACK_GROWTH */
assert(pxTCBBufferTemp != NULL);
assert(pxStackBufferTemp != NULL);
//Write back pointers
*ppxIdleTaskTCBBuffer = pxTCBBufferTemp;
*ppxIdleTaskStackBuffer = pxStackBufferTemp;
*pulIdleTaskStackSize = configMINIMAL_STACK_SIZE;
}
void vApplicationGetTimerTaskMemory(StaticTask_t **ppxTimerTaskTCBBuffer,
StackType_t **ppxTimerTaskStackBuffer,
uint32_t *pulTimerTaskStackSize )
{
StaticTask_t *pxTCBBufferTemp;
StackType_t *pxStackBufferTemp;
/* If the stack grows down then allocate the stack then the TCB so the stack
* does not grow into the TCB. Likewise if the stack grows up then allocate
* the TCB then the stack. */
#if (portSTACK_GROWTH > 0)
{
//Allocate TCB and stack buffer in internal memory
#if CONFIG_FREERTOS_SMP // IDF-3997
pxTCBBufferTemp = pvPortMalloc(sizeof(StaticTask_t));
pxStackBufferTemp = pvPortMalloc(configTIMER_TASK_STACK_DEPTH);
#else
pxTCBBufferTemp = pvPortMallocTcbMem(sizeof(StaticTask_t));
pxStackBufferTemp = pvPortMallocStackMem(configTIMER_TASK_STACK_DEPTH);
#endif /* CONFIG_FREERTOS_SMP */
}
#else /* portSTACK_GROWTH */
{
//Allocate TCB and stack buffer in internal memory
#if CONFIG_FREERTOS_SMP // IDF-3997
pxStackBufferTemp = pvPortMalloc(configTIMER_TASK_STACK_DEPTH);
pxTCBBufferTemp = pvPortMalloc(sizeof(StaticTask_t));
#else
pxStackBufferTemp = pvPortMallocStackMem(configTIMER_TASK_STACK_DEPTH);
pxTCBBufferTemp = pvPortMallocTcbMem(sizeof(StaticTask_t));
#endif /* CONFIG_FREERTOS_SMP */
}
#endif /* portSTACK_GROWTH */
assert(pxTCBBufferTemp != NULL);
assert(pxStackBufferTemp != NULL);
//Write back pointers
*ppxTimerTaskTCBBuffer = pxTCBBufferTemp;
*ppxTimerTaskStackBuffer = pxStackBufferTemp;
*pulTimerTaskStackSize = configTIMER_TASK_STACK_DEPTH;
}
#endif // configSUPPORT_STATIC_ALLOCATION == 1

6
tools/unit-test-app/components/test_utils/test_runner.c
View File

@@ -21,8 +21,10 @@
static void unity_task(void *pvParameters) static void unity_task(void *pvParameters)
{ {
vTaskDelay(2); /* Delay a bit to let the main task be deleted */ // Delay a bit to let the main task and any other startup tasks be deleted
unity_run_menu(); /* Doesn't return */ vTaskDelay(pdMS_TO_TICKS(50));
// Start running unity (prints test menu and doesn't return)
unity_run_menu();
} }
void test_main(void) void test_main(void)