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[feat] add freertos port and demo

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jzlv 2021-04-27 12:36:18 +08:00
parent 064e9c91f7
commit a64ead12b0
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103
components/freertos/include/FreeRTOSConfig.h Normal file
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/*
* FreeRTOS Kernel V10.2.1
* Copyright (C) 2019 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
* http://www.FreeRTOS.org
* http://aws.amazon.com/freertos
*
* 1 tab == 4 spaces!
*/
#ifndef FREERTOS_CONFIG_H
#define FREERTOS_CONFIG_H
/*-----------------------------------------------------------
* Application specific definitions.
*
* These definitions should be adjusted for your particular hardware and
* application requirements.
*
* THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
* FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE.
*
* See http://www.freertos.org/a00110.html.
*----------------------------------------------------------*/
#define configSUPPORT_STATIC_ALLOCATION 1
#define CLINT_CTRL_ADDR ( 0x02000000UL )
#define configCLINT_BASE_ADDRESS CLINT_CTRL_ADDR
#define configUSE_PREEMPTION 1
#define configUSE_IDLE_HOOK 0
#define configUSE_TICK_HOOK 1
#define configCPU_CLOCK_HZ ( 9000000UL )
#define configTICK_RATE_HZ ( ( TickType_t ) 1000 )
#define configMAX_PRIORITIES ( 7 )
#define configMINIMAL_STACK_SIZE ( ( unsigned short ) 160 ) /* Only needs to be this high as some demo tasks also use this constant. In production only the idle task would use this. */
#define configTOTAL_HEAP_SIZE ( ( size_t ) 48 * 1024 )
#define configMAX_TASK_NAME_LEN ( 16 )
#define configUSE_TRACE_FACILITY 1
#define configUSE_16_BIT_TICKS 0
#define configIDLE_SHOULD_YIELD 0
#define configUSE_MUTEXES 1
#define configQUEUE_REGISTRY_SIZE 8
#define configCHECK_FOR_STACK_OVERFLOW 2
#define configUSE_RECURSIVE_MUTEXES 1
#define configUSE_MALLOC_FAILED_HOOK 1
#define configUSE_APPLICATION_TASK_TAG 0
#define configUSE_COUNTING_SEMAPHORES 1
#define configGENERATE_RUN_TIME_STATS 0
#define configUSE_PORT_OPTIMISED_TASK_SELECTION 1
#define configUSE_STATS_FORMATTING_FUNCTIONS 2
/* Co-routine definitions. */
#define configUSE_CO_ROUTINES 0
#define configMAX_CO_ROUTINE_PRIORITIES ( 2 )
/* Software timer definitions. */
#define configUSE_TIMERS 1
#define configTIMER_TASK_PRIORITY ( configMAX_PRIORITIES - 1 )
#define configTIMER_QUEUE_LENGTH 8
#define configTIMER_TASK_STACK_DEPTH ( 160 )
/* Task priorities. Allow these to be overridden. */
#ifndef uartPRIMARY_PRIORITY
#define uartPRIMARY_PRIORITY ( configMAX_PRIORITIES - 3 )
#endif
/* Set the following definitions to 1 to include the API function, or zero
to exclude the API function. */
#define INCLUDE_vTaskPrioritySet 1
#define INCLUDE_uxTaskPriorityGet 1
#define INCLUDE_vTaskDelete 1
#define INCLUDE_vTaskCleanUpResources 1
#define INCLUDE_vTaskSuspend 1
#define INCLUDE_vTaskDelayUntil 1
#define INCLUDE_vTaskDelay 1
#define INCLUDE_eTaskGetState 1
#define INCLUDE_xTimerPendFunctionCall 1
#define INCLUDE_xTaskAbortDelay 1
#define INCLUDE_xTaskGetHandle 1
#define INCLUDE_xSemaphoreGetMutexHolder 1
/* Normal assert() semantics without relying on the provision of an assert.h
header file. */
void vAssertCalled( void );
#define configASSERT( x ) if( ( x ) == 0 ) vAssertCalled()
#endif /* FREERTOS_CONFIG_H */

103
components/freertos/portable/gcc/risc-v/bl702/FreeRTOSConfig.h Normal file
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/*
* FreeRTOS Kernel V10.2.1
* Copyright (C) 2019 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
* http://www.FreeRTOS.org
* http://aws.amazon.com/freertos
*
* 1 tab == 4 spaces!
*/
#ifndef FREERTOS_CONFIG_H
#define FREERTOS_CONFIG_H
/*-----------------------------------------------------------
* Application specific definitions.
*
* These definitions should be adjusted for your particular hardware and
* application requirements.
*
* THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
* FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE.
*
* See http://www.freertos.org/a00110.html.
*----------------------------------------------------------*/
#define configSUPPORT_STATIC_ALLOCATION 1
#define CLINT_CTRL_ADDR ( 0x02000000UL )
#define configCLINT_BASE_ADDRESS CLINT_CTRL_ADDR
#define configUSE_PREEMPTION 1
#define configUSE_IDLE_HOOK 0
#define configUSE_TICK_HOOK 1
#define configCPU_CLOCK_HZ ( 9000000UL )
#define configTICK_RATE_HZ ( ( TickType_t ) 1000 )
#define configMAX_PRIORITIES ( 7 )
#define configMINIMAL_STACK_SIZE ( ( unsigned short ) 160 ) /* Only needs to be this high as some demo tasks also use this constant. In production only the idle task would use this. */
#define configTOTAL_HEAP_SIZE ( ( size_t ) 48 * 1024 )
#define configMAX_TASK_NAME_LEN ( 16 )
#define configUSE_TRACE_FACILITY 1
#define configUSE_16_BIT_TICKS 0
#define configIDLE_SHOULD_YIELD 0
#define configUSE_MUTEXES 1
#define configQUEUE_REGISTRY_SIZE 8
#define configCHECK_FOR_STACK_OVERFLOW 2
#define configUSE_RECURSIVE_MUTEXES 1
#define configUSE_MALLOC_FAILED_HOOK 1
#define configUSE_APPLICATION_TASK_TAG 0
#define configUSE_COUNTING_SEMAPHORES 1
#define configGENERATE_RUN_TIME_STATS 0
#define configUSE_PORT_OPTIMISED_TASK_SELECTION 1
#define configUSE_STATS_FORMATTING_FUNCTIONS 2
/* Co-routine definitions. */
#define configUSE_CO_ROUTINES 0
#define configMAX_CO_ROUTINE_PRIORITIES ( 2 )
/* Software timer definitions. */
#define configUSE_TIMERS 1
#define configTIMER_TASK_PRIORITY ( configMAX_PRIORITIES - 1 )
#define configTIMER_QUEUE_LENGTH 8
#define configTIMER_TASK_STACK_DEPTH ( 160 )
/* Task priorities. Allow these to be overridden. */
#ifndef uartPRIMARY_PRIORITY
#define uartPRIMARY_PRIORITY ( configMAX_PRIORITIES - 3 )
#endif
/* Set the following definitions to 1 to include the API function, or zero
to exclude the API function. */
#define INCLUDE_vTaskPrioritySet 1
#define INCLUDE_uxTaskPriorityGet 1
#define INCLUDE_vTaskDelete 1
#define INCLUDE_vTaskCleanUpResources 1
#define INCLUDE_vTaskSuspend 1
#define INCLUDE_vTaskDelayUntil 1
#define INCLUDE_vTaskDelay 1
#define INCLUDE_eTaskGetState 1
#define INCLUDE_xTimerPendFunctionCall 1
#define INCLUDE_xTaskAbortDelay 1
#define INCLUDE_xTaskGetHandle 1
#define INCLUDE_xSemaphoreGetMutexHolder 1
/* Normal assert() semantics without relying on the provision of an assert.h
header file. */
void vAssertCalled( void );
#define configASSERT( x ) if( ( x ) == 0 ) vAssertCalled()
#endif /* FREERTOS_CONFIG_H */

68
components/freertos/portable/gcc/risc-v/bl702/freertos_risc_v_chip_specific_extensions.h Normal file
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/*
* FreeRTOS Kernel V10.2.1
* Copyright (C) 2019 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
* http://www.FreeRTOS.org
* http://aws.amazon.com/freertos
*
* 1 tab == 4 spaces!
*/
/*
* The FreeRTOS kernel's RISC-V port is split between the the code that is
* common across all currently supported RISC-V chips (implementations of the
* RISC-V ISA), and code that tailors the port to a specific RISC-V chip:
*
* + FreeRTOS\Source\portable\GCC\RISC-V-RV32\portASM.S contains the code that
* is common to all currently supported RISC-V chips. There is only one
* portASM.S file because the same file is built for all RISC-V target chips.
*
* + Header files called freertos_risc_v_chip_specific_extensions.h contain the
* code that tailors the FreeRTOS kernel's RISC-V port to a specific RISC-V
* chip. There are multiple freertos_risc_v_chip_specific_extensions.h files
* as there are multiple RISC-V chip implementations.
*
* !!!NOTE!!!
* TAKE CARE TO INCLUDE THE CORRECT freertos_risc_v_chip_specific_extensions.h
* HEADER FILE FOR THE CHIP IN USE. This is done using the assembler's (not the
* compiler's!) include path. For example, if the chip in use includes a core
* local interrupter (CLINT) and does not include any chip specific register
* extensions then add the path below to the assembler's include path:
* FreeRTOS\Source\portable\GCC\RISC-V-RV32\chip_specific_extensions\RV32I_CLINT_no_extensions
*
*/
#ifndef __FREERTOS_RISC_V_EXTENSIONS_H__
#define __FREERTOS_RISC_V_EXTENSIONS_H__
#define portasmHAS_CLINT 1
#define portasmADDITIONAL_CONTEXT_SIZE 0 /* Must be even number on 32-bit cores. */
.macro portasmSAVE_ADDITIONAL_REGISTERS
/* No additional registers to save, so this macro does nothing. */
.endm
/* Restore the additional registers found on the Pulpino. */
.macro portasmRESTORE_ADDITIONAL_REGISTERS
/* No additional registers to restore, so this macro does nothing. */
.endm
#endif /* __FREERTOS_RISC_V_EXTENSIONS_H__ */

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components/freertos/portable/gcc/risc-v/bl702/port.c Normal file
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/*
* FreeRTOS Kernel V10.2.1
* Copyright (C) 2019 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
* http://www.FreeRTOS.org
* http://aws.amazon.com/freertos
*
* 1 tab == 4 spaces!
*/
/*-----------------------------------------------------------
* Implementation of functions defined in portable.h for the RISC-V RV32 port.
*----------------------------------------------------------*/
/* Scheduler includes. */
#include "FreeRTOS.h"
#include "task.h"
#include "portmacro.h"
#ifndef configCLINT_BASE_ADDRESS
#warning configCLINT_BASE_ADDRESS must be defined in FreeRTOSConfig.h. If the target chip includes a Core Local Interrupter (CLINT) then set configCLINT_BASE_ADDRESS to the CLINT base address. Otherwise set configCLINT_BASE_ADDRESS to 0.
#endif
/* Let the user override the pre-loading of the initial LR with the address of
prvTaskExitError() in case it messes up unwinding of the stack in the
debugger. */
#ifdef configTASK_RETURN_ADDRESS
#define portTASK_RETURN_ADDRESS configTASK_RETURN_ADDRESS
#else
#define portTASK_RETURN_ADDRESS prvTaskExitError
#endif
/* The stack used by interrupt service routines. Set configISR_STACK_SIZE_WORDS
to use a statically allocated array as the interrupt stack. Alternative leave
configISR_STACK_SIZE_WORDS undefined and update the linker script so that a
linker variable names __freertos_irq_stack_top has the same value as the top
of the stack used by main. Using the linker script method will repurpose the
stack that was used by main before the scheduler was started for use as the
interrupt stack after the scheduler has started. */
#ifdef configISR_STACK_SIZE_WORDS
static __attribute__ ((aligned(16))) StackType_t xISRStack[ configISR_STACK_SIZE_WORDS ] = { 0 };
const StackType_t xISRStackTop = ( StackType_t ) &( xISRStack[ configISR_STACK_SIZE_WORDS & ~portBYTE_ALIGNMENT_MASK ] );
#else
extern const uint32_t __freertos_irq_stack_top[];
const StackType_t xISRStackTop = ( StackType_t ) __freertos_irq_stack_top;
#endif
/*
* Setup the timer to generate the tick interrupts. The implementation in this
* file is weak to allow application writers to change the timer used to
* generate the tick interrupt.
*/
void vPortSetupTimerInterrupt( void ) __attribute__(( weak ));
/*-----------------------------------------------------------*/
/* Used to program the machine timer compare register. */
uint64_t ullNextTime = 0ULL;
const uint64_t *pullNextTime = &ullNextTime;
const size_t uxTimerIncrementsForOneTick = ( size_t ) ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ); /* Assumes increment won't go over 32-bits. */
volatile uint64_t * const pullMachineTimerCompareRegisterBase = ( volatile uint64_t * const ) ( configCLINT_BASE_ADDRESS + 0x4000 );
volatile uint64_t * pullMachineTimerCompareRegister = 0;
/* Set configCHECK_FOR_STACK_OVERFLOW to 3 to add ISR stack checking to task
stack checking. A problem in the ISR stack will trigger an assert, not call the
stack overflow hook function (because the stack overflow hook is specific to a
task stack, not the ISR stack). */
#if( configCHECK_FOR_STACK_OVERFLOW > 2 )
#warning This path not tested, or even compiled yet.
/* Don't use 0xa5 as the stack fill bytes as that is used by the kernerl for
the task stacks, and so will legitimately appear in many positions within
the ISR stack. */
#define portISR_STACK_FILL_BYTE 0xee
static const uint8_t ucExpectedStackBytes[] = {
portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, \
portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, \
portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, \
portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, \
portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE }; \
#define portCHECK_ISR_STACK() configASSERT( ( memcmp( ( void * ) xISRStack, ( void * ) ucExpectedStackBytes, sizeof( ucExpectedStackBytes ) ) == 0 ) )
#else
/* Define the function away. */
#define portCHECK_ISR_STACK()
#endif /* configCHECK_FOR_STACK_OVERFLOW > 2 */
/*-----------------------------------------------------------*/
#if( configCLINT_BASE_ADDRESS != 0 )
void vPortSetupTimerInterrupt( void )
{
uint32_t ulCurrentTimeHigh, ulCurrentTimeLow;
volatile uint32_t * const pulTimeHigh = ( volatile uint32_t * const ) ( configCLINT_BASE_ADDRESS + 0xBFFC );
volatile uint32_t * const pulTimeLow = ( volatile uint32_t * const ) ( configCLINT_BASE_ADDRESS + 0xBFF8 );
volatile uint32_t ulHartId = 0;
__asm volatile( "csrr %0, mhartid" : "=r"( ulHartId ) );
pullMachineTimerCompareRegister = &( pullMachineTimerCompareRegisterBase[ ulHartId ] );
do
{
ulCurrentTimeHigh = *pulTimeHigh;
ulCurrentTimeLow = *pulTimeLow;
} while( ulCurrentTimeHigh != *pulTimeHigh );
ullNextTime = ( uint64_t ) ulCurrentTimeHigh;
ullNextTime <<= 32ULL;
ullNextTime |= ( uint64_t ) ulCurrentTimeLow;
ullNextTime += ( uint64_t ) uxTimerIncrementsForOneTick;
*pullMachineTimerCompareRegister = ullNextTime;
/* Prepare the time to use after the next tick interrupt. */
ullNextTime += ( uint64_t ) uxTimerIncrementsForOneTick;
}
#endif /* ( configCLINT_BASE_ADDRESS != 0 ) */
/*-----------------------------------------------------------*/
BaseType_t xPortStartScheduler( void )
{
extern void xPortStartFirstTask( void );
#if( configASSERT_DEFINED == 1 )
{
volatile uint32_t mtvec = 0;
/* Check the least significant two bits of mtvec are 00 - indicating
single vector mode. */
__asm volatile( "csrr %0, mtvec" : "=r"( mtvec ) );
//configASSERT( ( mtvec & 0x03UL ) == 0 );
/* Check alignment of the interrupt stack - which is the same as the
stack that was being used by main() prior to the scheduler being
started. */
configASSERT( ( xISRStackTop & portBYTE_ALIGNMENT_MASK ) == 0 );
}
#endif /* configASSERT_DEFINED */
/* If there is a CLINT then it is ok to use the default implementation
in this file, otherwise vPortSetupTimerInterrupt() must be implemented to
configure whichever clock is to be used to generate the tick interrupt. */
vPortSetupTimerInterrupt();
#if( configCLINT_BASE_ADDRESS != 0 )
{
/* Enable mtime and external interrupts. 1<<7 for timer interrupt, 1<<11
for external interrupt. _RB_ What happens here when mtime is not present as
with pulpino? */
__asm volatile( "csrs mie, %0" :: "r"(0x880) );
}
#else
{
/* Enable external interrupts. */
__asm volatile( "csrs mie, %0" :: "r"(0x800) );
}
#endif /* configCLINT_BASE_ADDRESS */
*(uint8_t *)(0x02800400 + 7) = 1;
xPortStartFirstTask();
/* Should not get here as after calling xPortStartFirstTask() only tasks
should be executing. */
return pdFAIL;
}
/*-----------------------------------------------------------*/
void vPortEndScheduler( void )
{
/* Not implemented. */
for( ;; );
}

440
components/freertos/portable/gcc/risc-v/bl702/portASM.S Normal file
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/*
* FreeRTOS Kernel V10.2.1
* Copyright (C) 2019 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
* http://www.FreeRTOS.org
* http://aws.amazon.com/freertos
*
* 1 tab == 4 spaces!
*/
/*
* The FreeRTOS kernel's RISC-V port is split between the the code that is
* common across all currently supported RISC-V chips (implementations of the
* RISC-V ISA), and code which tailors the port to a specific RISC-V chip:
*
* + The code that is common to all RISC-V chips is implemented in
* FreeRTOS\Source\portable\GCC\RISC-V-RV32\portASM.S. There is only one
* portASM.S file because the same file is used no matter which RISC-V chip is
* in use.
*
* + The code that tailors the kernel's RISC-V port to a specific RISC-V
* chip is implemented in freertos_risc_v_chip_specific_extensions.h. There
* is one freertos_risc_v_chip_specific_extensions.h that can be used with any
* RISC-V chip that both includes a standard CLINT and does not add to the
* base set of RISC-V registers. There are additional
* freertos_risc_v_chip_specific_extensions.h files for RISC-V implementations
* that do not include a standard CLINT or do add to the base set of RISC-V
* registers.
*
* CARE MUST BE TAKEN TO INCLDUE THE CORRECT
* freertos_risc_v_chip_specific_extensions.h HEADER FILE FOR THE CHIP
* IN USE. To include the correct freertos_risc_v_chip_specific_extensions.h
* header file ensure the path to the correct header file is in the assembler's
* include path.
*
* This freertos_risc_v_chip_specific_extensions.h is for use on RISC-V chips
* that include a standard CLINT and do not add to the base set of RISC-V
* registers.
*
*/
#if __riscv_xlen == 64
#define portWORD_SIZE 8
#define store_x sd
#define load_x ld
#elif __riscv_xlen == 32
#define store_x sw
#define load_x lw
#define portWORD_SIZE 4
#else
#error Assembler did not define __riscv_xlen
#endif
#include "freertos_risc_v_chip_specific_extensions.h"
/* Check the freertos_risc_v_chip_specific_extensions.h and/or command line
definitions. */
#ifndef portasmHAS_CLINT
#error freertos_risc_v_chip_specific_extensions.h must define portasmHAS_CLINT to either 1 (CLINT present) or 0 (clint not present).
#endif
#ifndef portasmHANDLE_INTERRUPT
#error portasmHANDLE_INTERRUPT must be defined to the function to be called to handle external/peripheral interrupts. portasmHANDLE_INTERRUPT can be defined on the assmbler command line or in the appropriate freertos_risc_v_chip_specific_extensions.h header file.
#endif
/* Only the standard core registers are stored by default. Any additional
registers must be saved by the portasmSAVE_ADDITIONAL_REGISTERS and
portasmRESTORE_ADDITIONAL_REGISTERS macros - which can be defined in a chip
specific version of freertos_risc_v_chip_specific_extensions.h. See the notes
at the top of this file. */
#define portCONTEXT_SIZE ( 30 * portWORD_SIZE )
.global xPortStartFirstTask
.global freertos_risc_v_trap_handler
.global pxPortInitialiseStack
.extern pxCurrentTCB
.extern ulPortTrapHandler
.extern vTaskSwitchContext
.extern xTaskIncrementTick
.extern Timer_IRQHandler
.extern pullMachineTimerCompareRegister
.extern pullNextTime
.extern uxTimerIncrementsForOneTick /* size_t type so 32-bit on 32-bit core and 64-bits on 64-bit core. */
.extern xISRStackTop
.extern portasmHANDLE_INTERRUPT
.extern Trap_Handler
/*-----------------------------------------------------------*/
.align 8
.func
freertos_risc_v_trap_handler:
addi sp, sp, -portCONTEXT_SIZE
store_x x1, 1 * portWORD_SIZE( sp )
store_x x5, 2 * portWORD_SIZE( sp )
store_x x6, 3 * portWORD_SIZE( sp )
store_x x7, 4 * portWORD_SIZE( sp )
store_x x8, 5 * portWORD_SIZE( sp )
store_x x9, 6 * portWORD_SIZE( sp )
store_x x10, 7 * portWORD_SIZE( sp )
store_x x11, 8 * portWORD_SIZE( sp )
store_x x12, 9 * portWORD_SIZE( sp )
store_x x13, 10 * portWORD_SIZE( sp )
store_x x14, 11 * portWORD_SIZE( sp )
store_x x15, 12 * portWORD_SIZE( sp )
store_x x16, 13 * portWORD_SIZE( sp )
store_x x17, 14 * portWORD_SIZE( sp )
store_x x18, 15 * portWORD_SIZE( sp )
store_x x19, 16 * portWORD_SIZE( sp )
store_x x20, 17 * portWORD_SIZE( sp )
store_x x21, 18 * portWORD_SIZE( sp )
store_x x22, 19 * portWORD_SIZE( sp )
store_x x23, 20 * portWORD_SIZE( sp )
store_x x24, 21 * portWORD_SIZE( sp )
store_x x25, 22 * portWORD_SIZE( sp )
store_x x26, 23 * portWORD_SIZE( sp )
store_x x27, 24 * portWORD_SIZE( sp )
store_x x28, 25 * portWORD_SIZE( sp )
store_x x29, 26 * portWORD_SIZE( sp )
store_x x30, 27 * portWORD_SIZE( sp )
store_x x31, 28 * portWORD_SIZE( sp )
csrr t0, mstatus /* Required for MPIE bit. */
store_x t0, 29 * portWORD_SIZE( sp )
portasmSAVE_ADDITIONAL_REGISTERS /* Defined in freertos_risc_v_chip_specific_extensions.h to save any registers unique to the RISC-V implementation. */
load_x t0, pxCurrentTCB /* Load pxCurrentTCB. */
store_x sp, 0( t0 ) /* Write sp to first TCB member. */
csrr a0, mcause
csrr a1, mepc
li t0, 0x80000FFF
and a0, a0, t0
test_if_asynchronous:
srli a2, a0, __riscv_xlen - 1 /* MSB of mcause is 1 if handing an asynchronous interrupt - shift to LSB to clear other bits. */
beq a2, x0, handle_synchronous /* Branch past interrupt handing if not asynchronous. */
store_x a1, 0( sp ) /* Asynch so save unmodified exception return address. */
handle_asynchronous:
#if( portasmHAS_CLINT != 0 )
test_if_mtimer: /* If there is a CLINT then the mtimer is used to generate the tick interrupt. */
addi t0, x0, 1
slli t0, t0, __riscv_xlen - 1 /* LSB is already set, shift into MSB. Shift 31 on 32-bit or 63 on 64-bit cores. */
addi t1, t0, 7 /* 0x8000[]0007 == machine timer interrupt. */
bne a0, t1, test_if_external_interrupt
load_x t0, pullMachineTimerCompareRegister /* Load address of compare register into t0. */
load_x t1, pullNextTime /* Load the address of ullNextTime into t1. */
#if( __riscv_xlen == 32 )
/* Update the 64-bit mtimer compare match value in two 32-bit writes. */
li t4, -1
lw t2, 0(t1) /* Load the low word of ullNextTime into t2. */
lw t3, 4(t1) /* Load the high word of ullNextTime into t3. */
sw t4, 0(t0) /* Low word no smaller than old value to start with - will be overwritten below. */
sw t3, 4(t0) /* Store high word of ullNextTime into compare register. No smaller than new value. */
sw t2, 0(t0) /* Store low word of ullNextTime into compare register. */
lw t0, uxTimerIncrementsForOneTick /* Load the value of ullTimerIncrementForOneTick into t0 (could this be optimized by storing in an array next to pullNextTime?). */
add t4, t0, t2 /* Add the low word of ullNextTime to the timer increments for one tick (assumes timer increment for one tick fits in 32-bits). */
sltu t5, t4, t2 /* See if the sum of low words overflowed (what about the zero case?). */
add t6, t3, t5 /* Add overflow to high word of ullNextTime. */
sw t4, 0(t1) /* Store new low word of ullNextTime. */
sw t6, 4(t1) /* Store new high word of ullNextTime. */
#endif /* __riscv_xlen == 32 */
#if( __riscv_xlen == 64 )
/* Update the 64-bit mtimer compare match value. */
ld t2, 0(t1) /* Load ullNextTime into t2. */
sd t2, 0(t0) /* Store ullNextTime into compare register. */
ld t0, uxTimerIncrementsForOneTick /* Load the value of ullTimerIncrementForOneTick into t0 (could this be optimized by storing in an array next to pullNextTime?). */
add t4, t0, t2 /* Add ullNextTime to the timer increments for one tick. */
sd t4, 0(t1) /* Store ullNextTime. */
#endif /* __riscv_xlen == 64 */
load_x sp, xISRStackTop /* Switch to ISR stack before function call. */
jal xTaskIncrementTick
beqz a0, processed_source /* Don't switch context if incrementing tick didn't unblock a task. */
jal vTaskSwitchContext
j processed_source
test_if_external_interrupt: /* If there is a CLINT and the mtimer interrupt is not pending then check to see if an external interrupt is pending. */
//addi t1, t1, 4 /* 0x80000007 + 4 = 0x8000000b == Machine external interrupt. */
//bne a0, t1, as_yet_unhandled /* Something as yet unhandled. */
#endif /* portasmHAS_CLINT */
load_x sp, xISRStackTop /* Switch to ISR stack before function call. */
jal portasmHANDLE_INTERRUPT /* Jump to the interrupt handler if there is no CLINT or if there is a CLINT and it has been determined that an external interrupt is pending. */
j processed_source
handle_synchronous:
addi a1, a1, 4 /* Synchronous so updated exception return address to the instruction after the instruction that generated the exeption. */
store_x a1, 0( sp ) /* Save updated exception return address. */
test_if_environment_call:
li t0, 11 /* 11 == environment call. */
bne a0, t0, is_exception /* Not an M environment call, so some other exception. */
load_x sp, xISRStackTop /* Switch to ISR stack before function call. */
jal vTaskSwitchContext
j processed_source
is_exception:
csrr t0, mcause /* For viewing in the debugger only. */
csrr t1, mepc /* For viewing in the debugger only */
csrr t2, mstatus
load_x sp, xISRStackTop
jal Trap_Handler
j is_exception
as_yet_unhandled:
csrr t0, mcause /* For viewing in the debugger only. */
j as_yet_unhandled
processed_source:
load_x t1, pxCurrentTCB /* Load pxCurrentTCB. */
load_x sp, 0( t1 ) /* Read sp from first TCB member. */
/* Load mret with the address of the next instruction in the task to run next. */
load_x t0, 0( sp )
csrw mepc, t0
portasmRESTORE_ADDITIONAL_REGISTERS /* Defined in freertos_risc_v_chip_specific_extensions.h to restore any registers unique to the RISC-V implementation. */
/* Load mstatus with the interrupt enable bits used by the task. */
load_x t0, 29 * portWORD_SIZE( sp )
csrw mstatus, t0 /* Required for MPIE bit. */
load_x x1, 1 * portWORD_SIZE( sp )
load_x x5, 2 * portWORD_SIZE( sp ) /* t0 */
load_x x6, 3 * portWORD_SIZE( sp ) /* t1 */
load_x x7, 4 * portWORD_SIZE( sp ) /* t2 */
load_x x8, 5 * portWORD_SIZE( sp ) /* s0/fp */
load_x x9, 6 * portWORD_SIZE( sp ) /* s1 */
load_x x10, 7 * portWORD_SIZE( sp ) /* a0 */
load_x x11, 8 * portWORD_SIZE( sp ) /* a1 */
load_x x12, 9 * portWORD_SIZE( sp ) /* a2 */
load_x x13, 10 * portWORD_SIZE( sp ) /* a3 */
load_x x14, 11 * portWORD_SIZE( sp ) /* a4 */
load_x x15, 12 * portWORD_SIZE( sp ) /* a5 */
load_x x16, 13 * portWORD_SIZE( sp ) /* a6 */
load_x x17, 14 * portWORD_SIZE( sp ) /* a7 */
load_x x18, 15 * portWORD_SIZE( sp ) /* s2 */
load_x x19, 16 * portWORD_SIZE( sp ) /* s3 */
load_x x20, 17 * portWORD_SIZE( sp ) /* s4 */
load_x x21, 18 * portWORD_SIZE( sp ) /* s5 */
load_x x22, 19 * portWORD_SIZE( sp ) /* s6 */
load_x x23, 20 * portWORD_SIZE( sp ) /* s7 */
load_x x24, 21 * portWORD_SIZE( sp ) /* s8 */
load_x x25, 22 * portWORD_SIZE( sp ) /* s9 */
load_x x26, 23 * portWORD_SIZE( sp ) /* s10 */
load_x x27, 24 * portWORD_SIZE( sp ) /* s11 */
load_x x28, 25 * portWORD_SIZE( sp ) /* t3 */
load_x x29, 26 * portWORD_SIZE( sp ) /* t4 */
load_x x30, 27 * portWORD_SIZE( sp ) /* t5 */
load_x x31, 28 * portWORD_SIZE( sp ) /* t6 */
addi sp, sp, portCONTEXT_SIZE
mret
.endfunc
/*-----------------------------------------------------------*/
.align 8
.func
xPortStartFirstTask:
#if( portasmHAS_CLINT != 0 )
/* If there is a clint then interrupts can branch directly to the FreeRTOS
trap handler. Otherwise the interrupt controller will need to be configured
outside of this file. */
la t0, freertos_risc_v_trap_handler
ori t0, t0, 2
csrw mtvec, t0
#endif /* portasmHAS_CLILNT */
load_x sp, pxCurrentTCB /* Load pxCurrentTCB. */
load_x sp, 0( sp ) /* Read sp from first TCB member. */
load_x x1, 0( sp ) /* Note for starting the scheduler the exception return address is used as the function return address. */
portasmRESTORE_ADDITIONAL_REGISTERS /* Defined in freertos_risc_v_chip_specific_extensions.h to restore any registers unique to the RISC-V implementation. */
load_x t0, 29 * portWORD_SIZE( sp ) /* mstatus */
addi t0, t0, 0x08 /* Set MIE bit so the first task starts with interrupts enabled - required as returns with ret not eret. */
csrrw x0, mstatus, t0 /* Interrupts enabled from here! */
load_x x5, 2 * portWORD_SIZE( sp ) /* t0 */
load_x x6, 3 * portWORD_SIZE( sp ) /* t1 */
load_x x7, 4 * portWORD_SIZE( sp ) /* t2 */
load_x x8, 5 * portWORD_SIZE( sp ) /* s0/fp */
load_x x9, 6 * portWORD_SIZE( sp ) /* s1 */
load_x x10, 7 * portWORD_SIZE( sp ) /* a0 */
load_x x11, 8 * portWORD_SIZE( sp ) /* a1 */
load_x x12, 9 * portWORD_SIZE( sp ) /* a2 */
load_x x13, 10 * portWORD_SIZE( sp ) /* a3 */
load_x x14, 11 * portWORD_SIZE( sp ) /* a4 */
load_x x15, 12 * portWORD_SIZE( sp ) /* a5 */
load_x x16, 13 * portWORD_SIZE( sp ) /* a6 */
load_x x17, 14 * portWORD_SIZE( sp ) /* a7 */
load_x x18, 15 * portWORD_SIZE( sp ) /* s2 */
load_x x19, 16 * portWORD_SIZE( sp ) /* s3 */
load_x x20, 17 * portWORD_SIZE( sp ) /* s4 */
load_x x21, 18 * portWORD_SIZE( sp ) /* s5 */
load_x x22, 19 * portWORD_SIZE( sp ) /* s6 */
load_x x23, 20 * portWORD_SIZE( sp ) /* s7 */
load_x x24, 21 * portWORD_SIZE( sp ) /* s8 */
load_x x25, 22 * portWORD_SIZE( sp ) /* s9 */
load_x x26, 23 * portWORD_SIZE( sp ) /* s10 */
load_x x27, 24 * portWORD_SIZE( sp ) /* s11 */
load_x x28, 25 * portWORD_SIZE( sp ) /* t3 */
load_x x29, 26 * portWORD_SIZE( sp ) /* t4 */
load_x x30, 27 * portWORD_SIZE( sp ) /* t5 */
load_x x31, 28 * portWORD_SIZE( sp ) /* t6 */
addi sp, sp, portCONTEXT_SIZE
ret
.endfunc
/*-----------------------------------------------------------*/
/*
* Unlike other ports pxPortInitialiseStack() is written in assembly code as it
* needs access to the portasmADDITIONAL_CONTEXT_SIZE constant. The prototype
* for the function is as per the other ports:
* StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters );
*
* As per the standard RISC-V ABI pxTopcOfStack is passed in in a0, pxCode in
* a1, and pvParameters in a2. The new top of stack is passed out in a0.
*
* RISC-V maps registers to ABI names as follows (X1 to X31 integer registers
* for the 'I' profile, X1 to X15 for the 'E' profile, currently I assumed).
*
* Register ABI Name Description Saver
* x0 zero Hard-wired zero -
* x1 ra Return address Caller
* x2 sp Stack pointer Callee
* x3 gp Global pointer -
* x4 tp Thread pointer -
* x5-7 t0-2 Temporaries Caller
* x8 s0/fp Saved register/Frame pointer Callee
* x9 s1 Saved register Callee
* x10-11 a0-1 Function Arguments/return values Caller
* x12-17 a2-7 Function arguments Caller
* x18-27 s2-11 Saved registers Callee
* x28-31 t3-6 Temporaries Caller
*
* The RISC-V context is saved t FreeRTOS tasks in the following stack frame,
* where the global and thread pointers are currently assumed to be constant so
* are not saved:
*
* mstatus
* x31
* x30
* x29
* x28
* x27
* x26
* x25
* x24
* x23
* x22
* x21
* x20
* x19
* x18
* x17
* x16
* x15
* x14
* x13
* x12
* x11
* pvParameters
* x9
* x8
* x7
* x6
* x5
* portTASK_RETURN_ADDRESS
* [chip specific registers go here]
* pxCode
*/
.align 8
.func
pxPortInitialiseStack:
csrr t0, mstatus /* Obtain current mstatus value. */
#if 1
li t1, 0x1880
or t0, t0, t1 /* MPP = 0b11, MPIE = 1 */
andi t0, t0, 0xFFFFFFF7 /* !!! MIE = 0 !!! */
#else
addi t1, x0, 0x188 /* Generate the value 0x1888, which are the MIE, MPIE and privilege bits to set in mstatus. */
slli t1, t1, 4
or t0, t0, t1 /* Set MPIE and MPP bits in mstatus value. */
#endif
addi a0, a0, -portWORD_SIZE
store_x t0, 0(a0) /* mstatus onto the stack. */
addi a0, a0, -(22 * portWORD_SIZE) /* Space for registers x11-x31. */
store_x a2, 0(a0) /* Task parameters (pvParameters parameter) goes into register X10/a0 on the stack. */
addi a0, a0, -(6 * portWORD_SIZE) /* Space for registers x5-x9. */
store_x x0, 0(a0) /* Return address onto the stack, could be portTASK_RETURN_ADDRESS */
addi t0, x0, portasmADDITIONAL_CONTEXT_SIZE /* The number of chip specific additional registers. */
chip_specific_stack_frame: /* First add any chip specific registers to the stack frame being created. */
beq t0, x0, 1f /* No more chip specific registers to save. */
addi a0, a0, -portWORD_SIZE /* Make space for chip specific register. */
store_x x0, 0(a0) /* Give the chip specific register an initial value of zero. */
addi t0, t0, -1 /* Decrement the count of chip specific registers remaining. */
j chip_specific_stack_frame /* Until no more chip specific registers. */
1:
addi a0, a0, -portWORD_SIZE
store_x a1, 0(a0) /* mret value (pxCode parameter) onto the stack. */
ret
.endfunc
/*-----------------------------------------------------------*/

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/*
* FreeRTOS Kernel V10.2.1
* Copyright (C) 2019 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
* http://www.FreeRTOS.org
* http://aws.amazon.com/freertos
*
* 1 tab == 4 spaces!
*/
#ifndef PORTMACRO_H
#define PORTMACRO_H
#ifdef __cplusplus
extern "C" {
#endif
/*-----------------------------------------------------------
* Port specific definitions.
*
* The settings in this file configure FreeRTOS correctly for the
* given hardware and compiler.
*
* These settings should not be altered.
*-----------------------------------------------------------
*/
/* Type definitions. */
#if __riscv_xlen == 64
#define portSTACK_TYPE uint64_t
#define portBASE_TYPE int64_t
#define portUBASE_TYPE uint64_t
#define portMAX_DELAY ( TickType_t ) 0xffffffffffffffffUL
#define portPOINTER_SIZE_TYPE uint64_t
#elif __riscv_xlen == 32
#define portSTACK_TYPE uint32_t
#define portBASE_TYPE int /* int32_t */
#define portUBASE_TYPE uint32_t
#define portMAX_DELAY ( TickType_t ) 0xffffffffUL
#if __riscv_float_abi_single
/* better to use float replace double here,
* so that it will generates floating point instructions
*/
#define portDOUBLE float /* double */
#else
#define portDOUBLE double
#endif
#else
#error Assembler did not define __riscv_xlen
#endif
typedef portSTACK_TYPE StackType_t;
typedef portBASE_TYPE BaseType_t;
typedef portUBASE_TYPE UBaseType_t;
typedef portUBASE_TYPE TickType_t;
/* 32-bit tick type on a 32-bit architecture, so reads of the tick count do
not need to be guarded with a critical section. */
#define portTICK_TYPE_IS_ATOMIC 1
/*-----------------------------------------------------------*/
/* Architecture specifics. */
#define portSTACK_GROWTH ( -1 )
#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ )
#ifdef __riscv64
#error This is the RV32 port that has not yet been adapted for 64.
#define portBYTE_ALIGNMENT 16
#else
#define portBYTE_ALIGNMENT 16
#endif
/*-----------------------------------------------------------*/
/* Scheduler utilities. */
extern void vTaskSwitchContext( void );
#define portYIELD() __asm volatile( "ecall" );
#define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) vTaskSwitchContext()
#define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x )
/*-----------------------------------------------------------*/
/* Critical section management. */
#define portCRITICAL_NESTING_IN_TCB 1
extern void vTaskEnterCritical( void );
extern void vTaskExitCritical( void );
#define portSET_INTERRUPT_MASK_FROM_ISR() 0
#define portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedStatusValue ) ( void ) uxSavedStatusValue
#define portDISABLE_INTERRUPTS() __asm volatile( "csrc mstatus, 8" )
#define portENABLE_INTERRUPTS() __asm volatile( "csrs mstatus, 8" )
#define portENTER_CRITICAL() vTaskEnterCritical()
#define portEXIT_CRITICAL() vTaskExitCritical()
/*-----------------------------------------------------------*/
/* Architecture specific optimisations. */
#ifndef configUSE_PORT_OPTIMISED_TASK_SELECTION
#define configUSE_PORT_OPTIMISED_TASK_SELECTION 1
#endif
#if( configUSE_PORT_OPTIMISED_TASK_SELECTION == 1 )
/* Check the configuration. */
#if( configMAX_PRIORITIES > 32 )
#error configUSE_PORT_OPTIMISED_TASK_SELECTION can only be set to 1 when configMAX_PRIORITIES is less than or equal to 32. It is very rare that a system requires more than 10 to 15 difference priorities as tasks that share a priority will time slice.
#endif
/* Store/clear the ready priorities in a bit map. */
#define portRECORD_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) |= ( 1UL << ( uxPriority ) )
#define portRESET_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) &= ~( 1UL << ( uxPriority ) )
/*-----------------------------------------------------------*/
#define portGET_HIGHEST_PRIORITY( uxTopPriority, uxReadyPriorities ) uxTopPriority = ( 31UL - __builtin_clz( uxReadyPriorities ) )
#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
/*-----------------------------------------------------------*/
/* Task function macros as described on the FreeRTOS.org WEB site. These are
not necessary for to use this port. They are defined so the common demo files
(which build with all the ports) will build. */
#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters )
#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters )
/*-----------------------------------------------------------*/
#define portNOP() __asm volatile ( " nop " )
#define portINLINE __inline
#ifndef portFORCE_INLINE
#define portFORCE_INLINE inline __attribute__(( always_inline))
#endif
#define portMEMORY_BARRIER() __asm volatile( "" ::: "memory" )
#ifdef __cplusplus
}
#endif
#endif /* PORTMACRO_H */

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set(BSP_COMMON_DIR ${CMAKE_SOURCE_DIR}/bsp/bsp_common)
set(TARGET_REQUIRED_LIBS freertos)
set(mains main.c)
generate_bin()

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/**
* @file main.c
* @brief
*
* Copyright (c) 2021 Bouffalolab team
*
* Licensed to the Apache Software Foundation (ASF) under one or more
* contributor license agreements. See the NOTICE file distributed with
* this work for additional information regarding copyright ownership. The
* ASF licenses this file to you under the Apache License, Version 2.0 (the
* "License"); you may not use this file except in compliance with the
* License. You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
* License for the specific language governing permissions and limitations
* under the License.
*
*/
#include "hal_uart.h"
#include <FreeRTOS.h>
#include "semphr.h"
static uint8_t freertos_heap[4096];
static HeapRegion_t xHeapRegions[] =
{
{ (uint8_t *)freertos_heap, 0},
{ NULL, 0 }, /* Terminates the array. */
{ NULL, 0 } /* Terminates the array. */
};
static StackType_t consumer_stack[512];
static StaticTask_t consumer_handle;
static StackType_t producer_stack[512];
static StaticTask_t producer_handle;
uint8_t sharedBuf[16];
SemaphoreHandle_t sem_empty = NULL;
SemaphoreHandle_t sem_full = NULL;
SemaphoreHandle_t mtx_lock = NULL;
void vAssertCalled(void)
{
MSG("vAssertCalled\r\n");
while( 1 );
}
void vApplicationTickHook(void)
{
//MSG("vApplicationTickHook\r\n");
}
void vApplicationStackOverflowHook(void)
{
MSG("vApplicationStackOverflowHook\r\n");
while( 1 );
}
void vApplicationMallocFailedHook(void)
{
MSG("vApplicationMallocFailedHook\r\n");
while( 1 );
}
void vApplicationGetIdleTaskMemory(StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize)
{
/* If the buffers to be provided to the Idle task are declared inside this
function then they must be declared static - otherwise they will be allocated on
the stack and so not exists after this function exits. */
static StaticTask_t xIdleTaskTCB;
static StackType_t uxIdleTaskStack[ configMINIMAL_STACK_SIZE ];
/* Pass out a pointer to the StaticTask_t structure in which the Idle task's
state will be stored. */
*ppxIdleTaskTCBBuffer = &xIdleTaskTCB;
/* Pass out the array that will be used as the Idle task's stack. */
*ppxIdleTaskStackBuffer = uxIdleTaskStack;
/* Pass out the size of the array pointed to by *ppxIdleTaskStackBuffer.
Note that, as the array is necessarily of type StackType_t,
configMINIMAL_STACK_SIZE is specified in words, not bytes. */
*pulIdleTaskStackSize = configMINIMAL_STACK_SIZE;
}
/* configSUPPORT_STATIC_ALLOCATION and configUSE_TIMERS are both set to 1, so the
application must provide an implementation of vApplicationGetTimerTaskMemory()
to provide the memory that is used by the Timer service task. */
void vApplicationGetTimerTaskMemory(StaticTask_t **ppxTimerTaskTCBBuffer, StackType_t **ppxTimerTaskStackBuffer, uint32_t *pulTimerTaskStackSize)
{
/* If the buffers to be provided to the Timer task are declared inside this
function then they must be declared static - otherwise they will be allocated on
the stack and so not exists after this function exits. */
static StaticTask_t xTimerTaskTCB;
static StackType_t uxTimerTaskStack[ configTIMER_TASK_STACK_DEPTH ];
/* Pass out a pointer to the StaticTask_t structure in which the Timer
task's state will be stored. */
*ppxTimerTaskTCBBuffer = &xTimerTaskTCB;
/* Pass out the array that will be used as the Timer task's stack. */
*ppxTimerTaskStackBuffer = uxTimerTaskStack;
/* Pass out the size of the array pointed to by *ppxTimerTaskStackBuffer.
Note that, as the array is necessarily of type StackType_t,
configTIMER_TASK_STACK_DEPTH is specified in words, not bytes. */
*pulTimerTaskStackSize = configTIMER_TASK_STACK_DEPTH;
}
static void consumer_task(void *pvParameters)
{
MSG("Consumer task enter \r\n");
vTaskDelay(1000);
MSG("Consumer task start \r\n");
MSG("begin to loop %s\n", __FILE__);
while(1){
if( xSemaphoreTake( sem_full, portMAX_DELAY ) == pdTRUE ){
xSemaphoreTake(mtx_lock,portMAX_DELAY);
MSG("Consumer get:%s\r\n",sharedBuf);
xSemaphoreGive(mtx_lock);
xSemaphoreGive(sem_empty);
}else{
MSG("Take sem_full fail\r\n");
}
}
vTaskDelete(NULL);
}
static void producer_task(void *pvParameters)
{
uint8_t buf = 100;
MSG("Producer task enter \r\n");
vTaskDelay(1000);
MSG("Producer task start \r\n");
while(1){
if( xSemaphoreTake(sem_empty, portMAX_DELAY) == pdTRUE ){
xSemaphoreTake(mtx_lock,portMAX_DELAY);
buf++;
sprintf((char *)sharedBuf,"%d",buf);
MSG("Producer generates:%s\r\n",sharedBuf);
xSemaphoreGive(mtx_lock);
xSemaphoreGive(sem_full);
vTaskDelay(buf);
}else{
MSG("Take sem_empty fail\r\n");
}
}
vTaskDelete(NULL);
}
int main(void)
{
bflb_platform_init(0);
xHeapRegions[0].xSizeInBytes=4096;
vPortDefineHeapRegions(xHeapRegions);
/* Create semaphore */
vSemaphoreCreateBinary(sem_empty);
vSemaphoreCreateBinary(sem_full);
vSemaphoreCreateBinary(mtx_lock);
if(sem_empty==NULL||sem_full==NULL||mtx_lock==NULL){
MSG("Create sem fail\r\n");
BL_CASE_FAIL;
}
MSG("[OS] Starting consumer task...\r\n");
xTaskCreateStatic(consumer_task, (char*)"consumer_task", sizeof(consumer_stack)/4, NULL, 16, consumer_stack, &consumer_handle);
MSG("[OS] Starting producer task...\r\n");
xTaskCreateStatic(producer_task, (char*)"producer_task", sizeof(producer_stack)/4, NULL, 15, producer_stack, &producer_handle);
vTaskStartScheduler();
while (1)
{
}
}