300 lines
13 KiB
C
300 lines
13 KiB
C
/*
|
|
* FreeRTOS Kernel Port For Nuclei RISC-V Processor
|
|
* Copyright (C) 2020 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
|
|
|
|
#include "nuclei_sdk_soc.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 char
|
|
#define portFLOAT float
|
|
#define portDOUBLE double
|
|
#define portLONG long
|
|
#define portSHORT short
|
|
#define portSTACK_TYPE unsigned long
|
|
#define portBASE_TYPE long
|
|
#define portPOINTER_SIZE_TYPE unsigned long
|
|
|
|
typedef portSTACK_TYPE StackType_t;
|
|
typedef long BaseType_t;
|
|
typedef unsigned long UBaseType_t;
|
|
|
|
|
|
/* TODO If you want to use openocd rtos-aware debug, you need to define OPENOCD_RTOS_AWARE macro */
|
|
//#define OPENOCD_RTOS_AWARE
|
|
#ifdef OPENOCD_RTOS_AWARE
|
|
#undef configTICK_TYPE_WIDTH_IN_BITS
|
|
#define configTICK_TYPE_WIDTH_IN_BITS TICK_TYPE_WIDTH_32_BITS
|
|
#endif
|
|
|
|
/* TODO If you dont want features provided by configMAX_SYSCALL_INTERRUPT_PRIORITY */
|
|
/* If configMAX_SYSCALL_INTERRUPT_PRIORITY >= 255, interrupt disable/enable will use MSTATUS.MIE,
|
|
* otherwise interrupt disable/enable will use ECLIC.MTH to control interrupt threshold,
|
|
* this will make Interrupts that do not call API functions can execute at priorities above configMAX_SYSCALL_INTERRUPT_PRIORITY
|
|
* and therefore never be delayed by the RTOS kernel execution.
|
|
* For configMAX_SYSCALL_INTERRUPT_PRIORITY set value, please see port.c for details
|
|
* About FreeRTOS configuration, see see https://www.freertos.org/zh-cn-cmn-s/Documentation/02-Kernel/03-Supported-devices/02-Customization
|
|
*/
|
|
#ifndef configMAX_SYSCALL_INTERRUPT_PRIORITY
|
|
// See function prvCheckMaxSysCallPrio and prvCalcMaxSysCallMTH
|
|
#define configMAX_SYSCALL_INTERRUPT_PRIORITY 255
|
|
#endif
|
|
|
|
// configTICK_TYPE_WIDTH_IN_BITS
|
|
// see https://github.com/FreeRTOS/FreeRTOS-Kernel/blob/03db672b8f45db24aa99f12051f7cf86746b9ed9/examples/template_configuration/FreeRTOSConfig.h#L124-L139
|
|
#if ( configTICK_TYPE_WIDTH_IN_BITS == TICK_TYPE_WIDTH_16_BITS )
|
|
typedef uint16_t TickType_t;
|
|
#define portMAX_DELAY ( TickType_t )0xffff
|
|
#elif ( configTICK_TYPE_WIDTH_IN_BITS == TICK_TYPE_WIDTH_32_BITS )
|
|
typedef uint32_t TickType_t;
|
|
#define portMAX_DELAY ( TickType_t )0xFFFFFFFFUL
|
|
#else
|
|
typedef uint64_t TickType_t;
|
|
#define portMAX_DELAY ( TickType_t )0xFFFFFFFFFFFFFFFFULL
|
|
#endif
|
|
/*-----------------------------------------------------------*/
|
|
|
|
/* Architecture specifics. */
|
|
#define portSTACK_GROWTH ( -1 )
|
|
#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ )
|
|
|
|
#ifndef __riscv_32e
|
|
/* The stack grows downwards (towards lower addresses) and the stack pointer shall be aligned to a 128-bit boundary upon procedure entry. */
|
|
#define portBYTE_ALIGNMENT 16
|
|
#else
|
|
/* ILP32E calling convention The stack pointer need only be aligned to a 32-bit boundary */
|
|
#define portBYTE_ALIGNMENT 4
|
|
#endif
|
|
/*-----------------------------------------------------------*/
|
|
|
|
/* Scheduler utilities. */
|
|
#define portYIELD() \
|
|
{ \
|
|
/* Set a software interrupt(SWI) request to request a context switch. */ \
|
|
SysTimer_SetSWIRQ(); \
|
|
/* Barriers are normally not required but do ensure the code is completely \
|
|
within the specified behaviour for the architecture. */ \
|
|
__RWMB(); \
|
|
}
|
|
|
|
#define portEND_SWITCHING_ISR( xSwitchRequired ) if ( xSwitchRequired != pdFALSE ) portYIELD()
|
|
#define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x )
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if configMAX_SYSCALL_INTERRUPT_PRIORITY >= 255
|
|
#define portSET_INTERRUPT_MASK_FROM_ISR() ({ BaseType_t _tmpstatus = __RV_CSR_READ_CLEAR(CSR_MSTATUS, MSTATUS_MIE); __RWMB(); _tmpstatus; })
|
|
#define portCLEAR_INTERRUPT_MASK_FROM_ISR(x) { __RV_CSR_SET(CSR_MSTATUS, ((x) & MSTATUS_MIE)); __RWMB(); }
|
|
#define portDISABLE_INTERRUPTS() { __RV_CSR_CLEAR(CSR_MSTATUS, MSTATUS_MIE); __RWMB(); }
|
|
#define portENABLE_INTERRUPTS() { __RV_CSR_SET(CSR_MSTATUS, MSTATUS_MIE); __RWMB(); }
|
|
#else
|
|
#define portSET_INTERRUPT_MASK_FROM_ISR() ulPortRaiseBASEPRI()
|
|
#define portCLEAR_INTERRUPT_MASK_FROM_ISR(x) vPortSetBASEPRI(x)
|
|
#define portDISABLE_INTERRUPTS() vPortRaiseBASEPRI()
|
|
#define portENABLE_INTERRUPTS() vPortSetBASEPRI(0)
|
|
#endif
|
|
|
|
/*-----------------------------------------------------------*/
|
|
|
|
/* 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 )
|
|
/*-----------------------------------------------------------*/
|
|
|
|
/* Tickless idle/low power functionality. */
|
|
#ifndef portSUPPRESS_TICKS_AND_SLEEP
|
|
extern void vPortSuppressTicksAndSleep(TickType_t xExpectedIdleTime);
|
|
#define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ) vPortSuppressTicksAndSleep( xExpectedIdleTime )
|
|
#endif
|
|
/*-----------------------------------------------------------*/
|
|
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#ifdef configASSERT
|
|
extern void vPortValidateInterruptPriority(void);
|
|
#define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() vPortValidateInterruptPriority()
|
|
#endif
|
|
|
|
/* portNOP() is not required by this port. */
|
|
#define portNOP() __NOP()
|
|
|
|
#define portINLINE __inline
|
|
|
|
#ifndef portFORCE_INLINE
|
|
#define portFORCE_INLINE inline __attribute__(( always_inline))
|
|
#endif
|
|
|
|
#if configMAX_SYSCALL_INTERRUPT_PRIORITY < 255
|
|
/* This variable should not be set in any of the FreeRTOS application
|
|
only used internal of FreeRTOS Port code */
|
|
extern uint8_t uxMaxSysCallMTH;
|
|
|
|
/*-----------------------------------------------------------*/
|
|
portFORCE_INLINE static void vPortRaiseBASEPRI(void)
|
|
{
|
|
unsigned long saved_status = __RV_CSR_READ_CLEAR(CSR_MSTATUS, MSTATUS_MIE);
|
|
ECLIC_SetMth(uxMaxSysCallMTH);
|
|
__RWMB();
|
|
__RV_CSR_WRITE(CSR_MSTATUS, saved_status);
|
|
}
|
|
|
|
/*-----------------------------------------------------------*/
|
|
|
|
portFORCE_INLINE static uint8_t ulPortRaiseBASEPRI(void)
|
|
{
|
|
uint8_t ulOriginalBASEPRI;
|
|
unsigned long saved_status = __RV_CSR_READ_CLEAR(CSR_MSTATUS, MSTATUS_MIE);
|
|
|
|
ulOriginalBASEPRI = ECLIC_GetMth();
|
|
ECLIC_SetMth(uxMaxSysCallMTH);
|
|
__RWMB();
|
|
__RV_CSR_WRITE(CSR_MSTATUS, saved_status);
|
|
|
|
/* This return might not be reached but is necessary to prevent compiler
|
|
warnings. */
|
|
return ulOriginalBASEPRI;
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
portFORCE_INLINE static void vPortSetBASEPRI(uint8_t ulNewMaskValue)
|
|
{
|
|
unsigned long saved_status = __RV_CSR_READ_CLEAR(CSR_MSTATUS, MSTATUS_MIE);
|
|
|
|
ECLIC_SetMth(ulNewMaskValue);
|
|
__RWMB();
|
|
__RV_CSR_WRITE(CSR_MSTATUS, saved_status);
|
|
}
|
|
#endif
|
|
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#define portMEMORY_BARRIER() __RWMB()
|
|
|
|
#if ( configNUMBER_OF_CORES == 1 )
|
|
extern UBaseType_t uxCriticalNesting;
|
|
#define portGET_CORE_ID() 0
|
|
#define portGET_CRITICAL_NESTING_COUNT( xCoreID ) ( uxCriticalNesting )
|
|
#define portSET_CRITICAL_NESTING_COUNT( xCoreID, x ) ( uxCriticalNesting = ( x ) )
|
|
#define portINCREMENT_CRITICAL_NESTING_COUNT( xCoreID ) ( uxCriticalNesting++ )
|
|
#define portDECREMENT_CRITICAL_NESTING_COUNT( xCoreID ) ( uxCriticalNesting-- )
|
|
#define portGET_ISR_LOCK( xCoreID )
|
|
#define portRELEASE_ISR_LOCK( xCoreID )
|
|
#define portGET_TASK_LOCK( xCoreID )
|
|
#define portRELEASE_TASK_LOCK( xCoreID )
|
|
|
|
/* Critical section management. */
|
|
extern void vPortEnterCritical(void);
|
|
extern void vPortExitCritical(void);
|
|
|
|
#define portENTER_CRITICAL() vPortEnterCritical()
|
|
#define portEXIT_CRITICAL() vPortExitCritical()
|
|
#else
|
|
/* Return the core ID on which the code is running. */
|
|
#define portGET_CORE_ID() __get_hart_index()
|
|
|
|
/* Set the interrupt mask. */
|
|
#define portSET_INTERRUPT_MASK() portSET_INTERRUPT_MASK_FROM_ISR()
|
|
|
|
/* Clear the interrupt mask. */
|
|
#define portCLEAR_INTERRUPT_MASK( x ) portCLEAR_INTERRUPT_MASK_FROM_ISR(x)
|
|
|
|
/* Request the core ID x to yield. */
|
|
#define portYIELD_CORE( x ) \
|
|
{ \
|
|
/* Set a software interrupt(SWI) to core x to request a context switch. */ \
|
|
SysTimer_SetHartSWIRQ(x); \
|
|
/* Barriers are normally not required but do ensure the code is completely \
|
|
within the specified behaviour for the architecture. */ \
|
|
__RWMB(); \
|
|
}
|
|
|
|
#define portRTOS_SPINLOCK_COUNT 2
|
|
/* Multi-core */
|
|
#define portMAX_CORE_COUNT 16
|
|
|
|
typedef volatile uint32_t spin_lock_t;
|
|
extern spin_lock_t hw_sync_locks[portRTOS_SPINLOCK_COUNT];
|
|
extern void vPortRecursiveLock(BaseType_t xCoreID, unsigned long ulLockNum, spin_lock_t *pxSpinLock, BaseType_t uxAcquire);
|
|
|
|
/* Acquire the TASK lock. TASK lock is a recursive lock.
|
|
* It should be able to be locked by the same core multiple times. */
|
|
#define portGET_TASK_LOCK( xCoreID ) vPortRecursiveLock(xCoreID, 1, &hw_sync_locks[1], pdTRUE )
|
|
|
|
/* Release the TASK lock. If a TASK lock is locked by the same core multiple times,
|
|
* it should be released as many times as it is locked. */
|
|
#define portRELEASE_TASK_LOCK( xCoreID ) vPortRecursiveLock(xCoreID, 1, &hw_sync_locks[1], pdFALSE )
|
|
|
|
/* Acquire the ISR lock. ISR lock is a recursive lock.
|
|
* It should be able to be locked by the same core multiple times. */
|
|
#define portGET_ISR_LOCK( xCoreID ) vPortRecursiveLock(xCoreID, 0, &hw_sync_locks[0], pdTRUE )
|
|
|
|
/* Release the ISR lock. If a ISR lock is locked by the same core multiple times, \
|
|
* it should be released as many times as it is locked. */
|
|
#define portRELEASE_ISR_LOCK( xCoreID ) vPortRecursiveLock(xCoreID, 0, &hw_sync_locks[0], pdFALSE )
|
|
|
|
extern void vTaskEnterCritical( void );
|
|
extern void vTaskExitCritical( void );
|
|
extern UBaseType_t vTaskEnterCriticalFromISR( void );
|
|
extern void vTaskExitCriticalFromISR( UBaseType_t uxSavedInterruptStatus );
|
|
#define portENTER_CRITICAL() vTaskEnterCritical()
|
|
#define portEXIT_CRITICAL() vTaskExitCritical()
|
|
#define portENTER_CRITICAL_FROM_ISR() vTaskEnterCriticalFromISR()
|
|
#define portEXIT_CRITICAL_FROM_ISR( x ) vTaskExitCriticalFromISR( x )
|
|
|
|
/* Critical nesting count management. */
|
|
extern UBaseType_t uxCriticalNestings[ configNUMBER_OF_CORES ];
|
|
#define portGET_CRITICAL_NESTING_COUNT( xCoreID ) ( uxCriticalNestings[ ( xCoreID ) ] )
|
|
#define portSET_CRITICAL_NESTING_COUNT( xCoreID, x ) ( uxCriticalNestings[ ( xCoreID ) ] = ( x ) )
|
|
#define portINCREMENT_CRITICAL_NESTING_COUNT( xCoreID ) ( uxCriticalNestings[ ( xCoreID ) ]++ )
|
|
#define portDECREMENT_CRITICAL_NESTING_COUNT( xCoreID ) ( uxCriticalNestings[ ( xCoreID ) ]-- )
|
|
|
|
#endif /* if ( configNUMBER_OF_CORES > 1 ) */
|
|
|
|
#ifdef __cplusplus
|
|
}
|
|
#endif
|
|
|
|
#endif /* PORTMACRO_H */
|
|
|