portmacro.h

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*/

#ifndef PORTMACRO_H
#define PORTMACRO_H

#ifdef __cplusplus
extern "C" {
#endif

#ifndef __ASSEMBLER__

#include <stdint.h>

#include <xtensa/hal.h>
#include <xtensa/config/core.h>
#include <xtensa/config/system.h>	/* required for XSHAL_CLIB */
#include <xtensa/xtruntime.h>
#include "esp_crosscore_int.h"
#include "esp_timer.h"              /* required for FreeRTOS run time stats */


#include <esp_heap_caps.h>
#include "soc/soc_memory_layout.h"

//#include "xtensa_context.h"

/*-----------------------------------------------------------
 * 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. */

#define portCHAR		int8_t
#define portFLOAT		float
#define portDOUBLE		double
#define portLONG		int32_t
#define portSHORT		int16_t
#define portSTACK_TYPE	uint8_t
#define portBASE_TYPE	int

typedef portSTACK_TYPE			StackType_t;
typedef portBASE_TYPE			BaseType_t;
typedef unsigned portBASE_TYPE	UBaseType_t;

#if( configUSE_16_BIT_TICKS == 1 )
	typedef uint16_t TickType_t;
	#define portMAX_DELAY ( TickType_t ) 0xffff
#else
	typedef uint32_t TickType_t;
	#define portMAX_DELAY ( TickType_t ) 0xffffffffUL
#endif
/*-----------------------------------------------------------*/

// portbenchmark
#include "portbenchmark.h"

#include "sdkconfig.h"
#include "esp_attr.h"

/* "mux" data structure (spinlock) */
typedef struct {
	/* owner field values:
	 * 0                - Uninitialized (invalid)
	 * portMUX_FREE_VAL - Mux is free, can be locked by either CPU
	 * CORE_ID_PRO / CORE_ID_APP - Mux is locked to the particular core
	 *
	 * Any value other than portMUX_FREE_VAL, CORE_ID_PRO, CORE_ID_APP indicates corruption
	 */
	uint32_t owner;
	/* count field:
	 * If mux is unlocked, count should be zero.
	 * If mux is locked, count is non-zero & represents the number of recursive locks on the mux.
	 */
	uint32_t count;
#ifdef CONFIG_FREERTOS_PORTMUX_DEBUG
	const char *lastLockedFn;
	int lastLockedLine;
#endif
} portMUX_TYPE;

#define portMUX_FREE_VAL		0xB33FFFFF

/* Special constants for vPortCPUAcquireMutexTimeout() */
#define portMUX_NO_TIMEOUT      (-1)  /* When passed for 'timeout_cycles', spin forever if necessary */
#define portMUX_TRY_LOCK        0     /* Try to acquire the spinlock a single time only */

// Keep this in sync with the portMUX_TYPE struct definition please.
#ifndef CONFIG_FREERTOS_PORTMUX_DEBUG
#define portMUX_INITIALIZER_UNLOCKED {					\
		.owner = portMUX_FREE_VAL,						\
		.count = 0,										\
	}
#else
#define portMUX_INITIALIZER_UNLOCKED {					\
		.owner = portMUX_FREE_VAL,						\
		.count = 0,										\
		.lastLockedFn = "(never locked)",				\
		.lastLockedLine = -1							\
	}
#endif


#define portASSERT_IF_IN_ISR()        vPortAssertIfInISR()
void vPortAssertIfInISR();

#define portCRITICAL_NESTING_IN_TCB 1

/*
Modifications to portENTER_CRITICAL.

For an introduction, see "Critical Sections & Disabling Interrupts" in docs/api-guides/freertos-smp.rst

The original portENTER_CRITICAL only disabled the ISRs. This is enough for single-CPU operation: by
disabling the interrupts, there is no task switch so no other tasks can meddle in the data, and because
interrupts are disabled, ISRs can't corrupt data structures either.

For multiprocessing, things get a bit more hairy. First of all, disabling the interrupts doesn't stop
the tasks or ISRs on the other processors meddling with our CPU. For tasks, this is solved by adding
a spinlock to the portENTER_CRITICAL macro. A task running on the other CPU accessing the same data will
spinlock in the portENTER_CRITICAL code until the first CPU is done.

For ISRs, we now also need muxes: while portENTER_CRITICAL disabling interrupts will stop ISRs on the same
CPU from meddling with the data, it does not stop interrupts on the other cores from interfering with the
data. For this, we also use a spinlock in the routines called by the ISR, but these spinlocks
do not disable the interrupts (because they already are).

This all assumes that interrupts are either entirely disabled or enabled. Interrupt priority levels
will break this scheme.

Remark: For the ESP32, portENTER_CRITICAL and portENTER_CRITICAL_ISR both alias vTaskEnterCritical, meaning
that either function can be called both from ISR as well as task context. This is not standard FreeRTOS 
behaviour; please keep this in mind if you need any compatibility with other FreeRTOS implementations.
*/
void vPortCPUInitializeMutex(portMUX_TYPE *mux);
#ifdef CONFIG_FREERTOS_PORTMUX_DEBUG
void vPortCPUAcquireMutex(portMUX_TYPE *mux, const char *function, int line);
bool vPortCPUAcquireMutexTimeout(portMUX_TYPE *mux, int timeout_cycles, const char *function, int line);
void vPortCPUReleaseMutex(portMUX_TYPE *mux, const char *function, int line);


void vTaskEnterCritical( portMUX_TYPE *mux, const char *function, int line );
void vTaskExitCritical( portMUX_TYPE *mux, const char *function, int line );

#ifdef CONFIG_FREERTOS_CHECK_PORT_CRITICAL_COMPLIANCE
/* Calling port*_CRITICAL from ISR context would cause an assert failure.
 * If the parent function is called from both ISR and Non-ISR context then call port*_CRITICAL_SAFE
 */
#define portENTER_CRITICAL(mux)        do {                                                                                             \
                                            if(!xPortInIsrContext()) {                                                                  \
                                                vTaskEnterCritical(mux, __FUNCTION__, __LINE__);                                        \
                                            } else {                                                                                    \
                                                ets_printf("%s:%d (%s)- port*_CRITICAL called from ISR context!\n", __FILE__, __LINE__, \
                                                           __FUNCTION__);                                                               \
                                                abort();                                                                                \
                                            }                                                                                           \
                                       } while(0)

#define portEXIT_CRITICAL(mux)        do {                                                                                              \
                                            if(!xPortInIsrContext()) {                                                                  \
                                                vTaskExitCritical(mux, __FUNCTION__, __LINE__);                                         \
                                            } else {                                                                                    \
                                                ets_printf("%s:%d (%s)- port*_CRITICAL called from ISR context!\n", __FILE__, __LINE__, \
                                                           __FUNCTION__);                                                               \
                                                abort();                                                                                \
                                            }                                                                                           \
                                       } while(0)
#else
#define portENTER_CRITICAL(mux)        vTaskEnterCritical(mux, __FUNCTION__, __LINE__)
#define portEXIT_CRITICAL(mux)         vTaskExitCritical(mux, __FUNCTION__, __LINE__)
#endif
#define portENTER_CRITICAL_ISR(mux)    vTaskEnterCritical(mux, __FUNCTION__, __LINE__)
#define portEXIT_CRITICAL_ISR(mux)     vTaskExitCritical(mux, __FUNCTION__, __LINE__)
#else
void vTaskExitCritical( portMUX_TYPE *mux );
void vTaskEnterCritical( portMUX_TYPE *mux );
void vPortCPUAcquireMutex(portMUX_TYPE *mux);

/** @brief Acquire a portmux spinlock with a timeout
 *
 * @param mux Pointer to portmux to acquire.
 * @param timeout_cycles Timeout to spin, in CPU cycles. Pass portMUX_NO_TIMEOUT to wait forever,
 * portMUX_TRY_LOCK to try a single time to acquire the lock.
 *
 * @return true if mutex is successfully acquired, false on timeout.
 */
bool vPortCPUAcquireMutexTimeout(portMUX_TYPE *mux, int timeout_cycles);
void vPortCPUReleaseMutex(portMUX_TYPE *mux);

#ifdef CONFIG_FREERTOS_CHECK_PORT_CRITICAL_COMPLIANCE
/* Calling port*_CRITICAL from ISR context would cause an assert failure.
 * If the parent function is called from both ISR and Non-ISR context then call port*_CRITICAL_SAFE
 */
#define portENTER_CRITICAL(mux)        do {                                                                                             \
                                            if(!xPortInIsrContext()) {                                                                  \
                                                vTaskEnterCritical(mux);                                                                \
                                            } else {                                                                                    \
                                                ets_printf("%s:%d (%s)- port*_CRITICAL called from ISR context!\n", __FILE__, __LINE__, \
                                                           __FUNCTION__);                                                               \
                                                abort();                                                                                \
                                            }                                                                                           \
                                       } while(0)

#define portEXIT_CRITICAL(mux)        do {                                                                                              \
                                            if(!xPortInIsrContext()) {                                                                  \
                                                vTaskExitCritical(mux);                                                                 \
                                            } else {                                                                                    \
                                                ets_printf("%s:%d (%s)- port*_CRITICAL called from ISR context!\n", __FILE__, __LINE__, \
                                                           __FUNCTION__);                                                               \
                                                abort();                                                                                \
                                            }                                                                                           \
                                       } while(0)
#else
#define portENTER_CRITICAL(mux)        vTaskEnterCritical(mux)
#define portEXIT_CRITICAL(mux)         vTaskExitCritical(mux)
#endif
#define portENTER_CRITICAL_ISR(mux)    vTaskEnterCritical(mux)
#define portEXIT_CRITICAL_ISR(mux)     vTaskExitCritical(mux)
#endif

#define portENTER_CRITICAL_SAFE(mux)  do {                                             \
                                         if (xPortInIsrContext()) {                    \
                                             portENTER_CRITICAL_ISR(mux);              \
                                         } else {                                      \
                                             portENTER_CRITICAL(mux);                  \
                                         }                                             \
                                      } while(0)

#define portEXIT_CRITICAL_SAFE(mux)  do {                                              \
                                         if (xPortInIsrContext()) {                    \
                                             portEXIT_CRITICAL_ISR(mux);               \
                                         } else {                                      \
                                             portEXIT_CRITICAL(mux);                   \
                                         }                                             \
                                      } while(0)


// Critical section management. NW-TODO: replace XTOS_SET_INTLEVEL with more efficient version, if any?
// These cannot be nested. They should be used with a lot of care and cannot be called from interrupt level.
//
// Only applies to one CPU. See notes above & below for reasons not to use these.
#define portDISABLE_INTERRUPTS()      do { XTOS_SET_INTLEVEL(XCHAL_EXCM_LEVEL); portbenchmarkINTERRUPT_DISABLE(); } while (0)
#define portENABLE_INTERRUPTS()       do { portbenchmarkINTERRUPT_RESTORE(0); XTOS_SET_INTLEVEL(0); } while (0)

// Cleaner solution allows nested interrupts disabling and restoring via local registers or stack.
// They can be called from interrupts too.
// WARNING: Only applies to current CPU. See notes above.
static inline unsigned portENTER_CRITICAL_NESTED() {
	unsigned state = XTOS_SET_INTLEVEL(XCHAL_EXCM_LEVEL);
	portbenchmarkINTERRUPT_DISABLE();
	return state;
}
#define portEXIT_CRITICAL_NESTED(state)   do { portbenchmarkINTERRUPT_RESTORE(state); XTOS_RESTORE_JUST_INTLEVEL(state); } while (0)

// These FreeRTOS versions are similar to the nested versions above
#define portSET_INTERRUPT_MASK_FROM_ISR()            portENTER_CRITICAL_NESTED()
#define portCLEAR_INTERRUPT_MASK_FROM_ISR(state)     portEXIT_CRITICAL_NESTED(state)

//Because the ROM routines don't necessarily handle a stack in external RAM correctly, we force
//the stack memory to always be internal.
#define portTcbMemoryCaps (MALLOC_CAP_INTERNAL|MALLOC_CAP_8BIT)
#define portStackMemoryCaps (MALLOC_CAP_INTERNAL|MALLOC_CAP_8BIT)

#define pvPortMallocTcbMem(size) heap_caps_malloc(size, portTcbMemoryCaps)
#define pvPortMallocStackMem(size)  heap_caps_malloc(size, portStackMemoryCaps)

//xTaskCreateStatic uses these functions to check incoming memory.
#define portVALID_TCB_MEM(ptr) (esp_ptr_internal(ptr) && esp_ptr_byte_accessible(ptr))
#ifdef CONFIG_SPIRAM_ALLOW_STACK_EXTERNAL_MEMORY
#define portVALID_STACK_MEM(ptr) esp_ptr_byte_accessible(ptr)
#else
#define portVALID_STACK_MEM(ptr) (esp_ptr_internal(ptr) && esp_ptr_byte_accessible(ptr))
#endif

/*
 * Wrapper for the Xtensa compare-and-set instruction. This subroutine will atomically compare
 * *addr to 'compare'. If *addr == compare, *addr is set to *set. *set is updated with the previous
 * value of *addr (either 'compare' or some other value.)
 *
 * Warning: From the ISA docs: in some (unspecified) cases, the s32c1i instruction may return the
 * *bitwise inverse* of the old mem if the mem wasn't written. This doesn't seem to happen on the
 * ESP32 (portMUX assertions would fail).
 */
static inline void uxPortCompareSet(volatile uint32_t *addr, uint32_t compare, uint32_t *set) {
    __asm__ __volatile__ (
        "WSR 	    %2,SCOMPARE1 \n"
        "S32C1I     %0, %1, 0	 \n"
        :"=r"(*set)
        :"r"(addr), "r"(compare), "0"(*set)
        );
}


/*-----------------------------------------------------------*/

/* Architecture specifics. */
#define portSTACK_GROWTH			( -1 )
#define portTICK_PERIOD_MS			( ( TickType_t ) 1000 / configTICK_RATE_HZ )
#define portBYTE_ALIGNMENT			4
#define portNOP()					XT_NOP()
/*-----------------------------------------------------------*/

/* Fine resolution time */
#define portGET_RUN_TIME_COUNTER_VALUE()  xthal_get_ccount()
//ccount or esp_timer are initialized elsewhere
#define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS()

#ifdef CONFIG_FREERTOS_RUN_TIME_STATS_USING_ESP_TIMER
/* Coarse resolution time (us) */
#define portALT_GET_RUN_TIME_COUNTER_VALUE(x)    x = (uint32_t)esp_timer_get_time()
#endif



/* Kernel utilities. */
void vPortYield( void );
void _frxt_setup_switch( void );
#define portYIELD()					vPortYield()
#define portYIELD_FROM_ISR()        {traceISR_EXIT_TO_SCHEDULER(); _frxt_setup_switch();}

static inline uint32_t xPortGetCoreID();

/* Yielding within an API call (when interrupts are off), means the yield should be delayed
   until interrupts are re-enabled.

   To do this, we use the "cross-core" interrupt as a trigger to yield on this core when interrupts are re-enabled.This
   is the same interrupt & code path which is used to trigger a yield between CPUs, although in this case the yield is
   happening on the same CPU.
*/
#define portYIELD_WITHIN_API() esp_crosscore_int_send_yield(xPortGetCoreID())

/*-----------------------------------------------------------*/

/* Task function macros as described on the FreeRTOS.org WEB site. */
#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters )
#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters )

// When coprocessors are defined, we to maintain a pointer to coprocessors area.
// We currently use a hack: redefine field xMPU_SETTINGS in TCB block as a structure that can hold:
// MPU wrappers, coprocessor area pointer, trace code structure, and more if needed.
// The field is normally used for memory protection. FreeRTOS should create another general purpose field.
typedef struct {
	#if XCHAL_CP_NUM > 0
	volatile StackType_t* coproc_area; // Pointer to coprocessor save area; MUST BE FIRST
	#endif

	#if portUSING_MPU_WRAPPERS
	// Define here mpu_settings, which is port dependent
	int mpu_setting; // Just a dummy example here; MPU not ported to Xtensa yet
	#endif

	#if configUSE_TRACE_FACILITY_2
	struct {
		// Cf. porttraceStamp()
		int taskstamp;        /* Stamp from inside task to see where we are */
		int taskstampcount;   /* A counter usually incremented when we restart the task's loop */
	} porttrace;
	#endif
} xMPU_SETTINGS;

// Main hack to use MPU_wrappers even when no MPU is defined (warning: mpu_setting should not be accessed; otherwise move this above xMPU_SETTINGS)
#if (XCHAL_CP_NUM > 0 || configUSE_TRACE_FACILITY_2) && !portUSING_MPU_WRAPPERS   // If MPU wrappers not used, we still need to allocate coproc area
	#undef portUSING_MPU_WRAPPERS
	#define portUSING_MPU_WRAPPERS 1   // Enable it to allocate coproc area
	#define MPU_WRAPPERS_H             // Override mpu_wrapper.h to disable unwanted code
	#define PRIVILEGED_FUNCTION
	#define PRIVILEGED_DATA
#endif

extern void esp_vApplicationIdleHook( void );
extern void esp_vApplicationTickHook( void );

#ifndef CONFIG_FREERTOS_LEGACY_HOOKS
#define vApplicationIdleHook    esp_vApplicationIdleHook
#define vApplicationTickHook    esp_vApplicationTickHook
#endif /* !CONFIG_FREERTOS_LEGACY_HOOKS */

void _xt_coproc_release(volatile void * coproc_sa_base);
void vApplicationSleep( TickType_t xExpectedIdleTime );

#define portSUPPRESS_TICKS_AND_SLEEP( idleTime ) vApplicationSleep( idleTime )

// porttrace
#if configUSE_TRACE_FACILITY_2
#include "porttrace.h"
#endif

// configASSERT_2 if requested
#if configASSERT_2
#include <stdio.h>
void exit(int);
#define configASSERT( x )   if (!(x)) { porttracePrint(-1); printf("\nAssertion failed in %s:%d\n", __FILE__, __LINE__); exit(-1); }
#endif

#endif // __ASSEMBLER__

#ifdef __cplusplus
}
#endif

#endif /* PORTMACRO_H */