FreeRTOS-Kernel/portable/ThirdParty/XCC/Xtensa/port.c

/*
 * FreeRTOS Kernel V10.0.0
 * Copyright (C) 2017 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. If you wish to use our Amazon
 * FreeRTOS name, please do so in a fair use way that does not cause confusion.
 *
 * 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
 *
 */

/*
 * Copyright (c) 2015-2019 Cadence Design Systems, Inc.
 *
 * 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.
 */

#include <stdlib.h>
#include <xtensa/config/core.h>

#include "xtensa_rtos.h"

#include "FreeRTOS.h"
#include "task.h"


/* Defined in portasm.h */
extern void _frxt_tick_timer_init( void );

/* Defined in xtensa_context.S */
extern void _xt_coproc_init( void );


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

/* We require the address of the pxCurrentTCB variable, but don't want to know
 * any details of its type. */
typedef void TCB_t;
extern volatile TCB_t * volatile pxCurrentTCB;

unsigned port_xSchedulerRunning = 0; /* Duplicate of inaccessible xSchedulerRunning; needed at startup to avoid counting nesting */
unsigned port_interruptNesting  = 0; /* Interrupt nesting level */

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

/* User exception dispatcher when exiting */
void _xt_user_exit( void );

/*
 * Stack initialization
 */
#if portUSING_MPU_WRAPPERS
    StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack,
                                         TaskFunction_t pxCode,
                                         void * pvParameters,
                                         BaseType_t xRunPrivileged )
#else
    StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack,
                                         TaskFunction_t pxCode,
                                         void * pvParameters )
#endif
{
    StackType_t *  sp, * tp;
    XtExcFrame *   frame;

    #if XCHAL_CP_NUM > 0
        uint32_t * p;
    #endif

    /* Create interrupt stack frame aligned to 16 byte boundary */
    sp              = ( StackType_t * ) ( ( ( UBaseType_t ) ( pxTopOfStack + 1 ) - XT_CP_SIZE - XT_STK_FRMSZ ) & ~0xf );

    /* Clear the entire frame (do not use memset() because we don't depend on C library) */
    for( tp = sp; tp <= pxTopOfStack; ++tp )
    {
        *tp = 0;
    }

    frame           = ( XtExcFrame * ) sp;

    /* Explicitly initialize certain saved registers */
    frame->pc       = ( UBaseType_t ) pxCode;            /* task entrypoint                */
    frame->a0       = 0;                                 /* to terminate GDB backtrace     */
    frame->a1       = ( UBaseType_t ) sp + XT_STK_FRMSZ; /* physical top of stack frame    */
    frame->exit     = ( UBaseType_t ) _xt_user_exit;     /* user exception exit dispatcher */

    /* Set initial PS to int level 0, EXCM disabled ('rfe' will enable), user mode. */
    /* Also set entry point argument parameter. */
    #ifdef __XTENSA_CALL0_ABI__
        frame->a2   = ( UBaseType_t ) pvParameters;
        frame->ps   = PS_UM | PS_EXCM;
    #else
        /* + for windowed ABI also set WOE and CALLINC (pretend task was 'call4'd). */
        frame->a6   = ( UBaseType_t ) pvParameters;
        frame->ps   = PS_UM | PS_EXCM | PS_WOE | PS_CALLINC( 1 );
    #endif

    #ifdef XT_USE_SWPRI
        /* Set the initial virtual priority mask value to all 1's. */
        frame->vpri = 0xFFFFFFFF;
    #endif

    #if XCHAL_CP_NUM > 0
        /* Init the coprocessor save area (see xtensa_context.h) */

        /* No access to TCB here, so derive indirectly. Stack growth is top to bottom.
         * //p = (uint32_t *) xMPUSettings->coproc_area;
         */
        p           = ( uint32_t * ) ( ( ( uint32_t ) pxTopOfStack - XT_CP_SIZE ) & ~0xf );
        p[ 0 ]      = 0;
        p[ 1 ]      = 0;
        p[ 2 ]      = ( ( ( uint32_t ) p ) + 12 + XCHAL_TOTAL_SA_ALIGN - 1 ) & -XCHAL_TOTAL_SA_ALIGN;
    #endif

    return sp;
}

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

void vPortEndScheduler( void )
{
    /* It is unlikely that the Xtensa port will get stopped.  If required simply
     * disable the tick interrupt here. */
}

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

BaseType_t xPortStartScheduler( void )
{
    /* Interrupts are disabled at this point and stack contains PS with enabled interrupts when task context is restored */

    #if XCHAL_CP_NUM > 0
        /* Initialize co-processor management for tasks. Leave CPENABLE alone. */
        _xt_coproc_init();
    #endif

    /* Init the tick divisor value */
    _xt_tick_divisor_init();

    /* Setup the hardware to generate the tick. */
    _frxt_tick_timer_init();

    #if XT_USE_THREAD_SAFE_CLIB
        /* Init C library */
        vPortClibInit();
    #endif

    port_xSchedulerRunning = 1;

    /* Cannot be directly called from C; never returns */
    __asm__ volatile ( "call0    _frxt_dispatch\n" );

    /* Should not get here. */
    return pdTRUE;
}
/*-----------------------------------------------------------*/

BaseType_t xPortSysTickHandler( void )
{
    BaseType_t ret;
    uint32_t   interruptMask;

    portbenchmarkIntLatency();

    /* Interrupts upto configMAX_SYSCALL_INTERRUPT_PRIORITY must be
     * disabled before calling xTaskIncrementTick as it access the
     * kernel lists. */
    interruptMask = portSET_INTERRUPT_MASK_FROM_ISR();
    {
        ret = xTaskIncrementTick();
    }
    portCLEAR_INTERRUPT_MASK_FROM_ISR( interruptMask );

    portYIELD_FROM_ISR( ret );

    return ret;
}
/*-----------------------------------------------------------*/

/*
 * Used to set coprocessor area in stack. Current hack is to reuse MPU pointer for coprocessor area.
 */
#if portUSING_MPU_WRAPPERS
    void vPortStoreTaskMPUSettings( xMPU_SETTINGS * xMPUSettings,
                                    const struct xMEMORY_REGION * const xRegions,
                                    StackType_t * pxBottomOfStack,
                                    uint32_t ulStackDepth )
    {
        #if XCHAL_CP_NUM > 0
            xMPUSettings->coproc_area = ( StackType_t * ) ( ( ( ( uint32_t ) ( pxBottomOfStack + ulStackDepth - 1 ) ) - XT_CP_SIZE ) & ~0xf );


            /* NOTE: we cannot initialize the coprocessor save area here because FreeRTOS is going to
             * clear the stack area after we return. This is done in pxPortInitialiseStack().
             */
        #endif
    }
#endif /* if portUSING_MPU_WRAPPERS */