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Add trap handler to RISC-V port so there is no dependency on third party code.

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pull/4/head
Richard Barry 6 years ago
parent 32f35e9130
commit 2bcb1ab02b
2 changed files with 204 additions and 76 deletions
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113
FreeRTOS/Source/portable/GCC/RISC-V-RV32/port.c
Unescape Escape View File

@ -94,67 +94,67 @@ StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t px
*/
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pxCode; /* X1 */
pxTopOfStack--;
// *pxTopOfStack = ( StackType_t ) 2; /* Stack pointer is handled separately. */
// pxTopOfStack--;
// *pxTopOfStack = ( StackType_t ) 3; /* Global pointer is not manipulated. */
// pxTopOfStack--;
// *pxTopOfStack = ( StackType_t ) 4; /* Thread pointer is not manipulated. */
// pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 5;
*pxTopOfStack = ( StackType_t ) 31;
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 6;
*pxTopOfStack = ( StackType_t ) 30;
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 7;
*pxTopOfStack = ( StackType_t ) 29;
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 8;
*pxTopOfStack = ( StackType_t ) 28;
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 9;
*pxTopOfStack = ( StackType_t ) 27;
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pvParameters;
*pxTopOfStack = ( StackType_t ) 26;
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 11;
*pxTopOfStack = ( StackType_t ) 25;
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 12;
*pxTopOfStack = ( StackType_t ) 24;
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 13;
*pxTopOfStack = ( StackType_t ) 23;
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 14;
*pxTopOfStack = ( StackType_t ) 22;
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 15;
*pxTopOfStack = ( StackType_t ) 21;
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 16;
*pxTopOfStack = ( StackType_t ) 20;
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 17;
*pxTopOfStack = ( StackType_t ) 19;
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 18;
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 19;
*pxTopOfStack = ( StackType_t ) 17;
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 20;
*pxTopOfStack = ( StackType_t ) 16;
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 21;
*pxTopOfStack = ( StackType_t ) 15;
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 22;
*pxTopOfStack = ( StackType_t ) 14;
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 23;
*pxTopOfStack = ( StackType_t ) 13;
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 24;
*pxTopOfStack = ( StackType_t ) 12;
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 25;
*pxTopOfStack = ( StackType_t ) 11;
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 26;
*pxTopOfStack = ( StackType_t ) pvParameters;
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 27;
*pxTopOfStack = ( StackType_t ) 9;
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 28;
*pxTopOfStack = ( StackType_t ) 8;
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 29;
*pxTopOfStack = ( StackType_t ) 7;
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 30;
*pxTopOfStack = ( StackType_t ) 6;
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 31;
*pxTopOfStack = ( StackType_t ) 5;
pxTopOfStack--;
// *pxTopOfStack = ( StackType_t ) 4; /* Thread pointer. */
// pxTopOfStack--;
// *pxTopOfStack = ( StackType_t ) 3; /* Global pointer. */
// pxTopOfStack--;
// *pxTopOfStack = ( StackType_t ) 2; /* Stack pointer. */
// pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pxCode;
return pxTopOfStack;
}
@ -183,50 +183,11 @@ volatile uint32_t * const pulTimeLow = ( volatile uint32_t * const ) 0x200BFFc;
}
/*-----------------------------------------------------------*/
BaseType_t xPortStartScheduler( void )
void Software_IRQHandler( void )
{
__asm volatile
(
".extern pxCurrentTCB \r\n"
"lw sp, pxCurrentTCB \r\n" /* Load pxCurrentTCB. */
"lw sp, 0x00( sp ) \r\n" /* Read sp from first TCB member. */
"lw x31, 0( sp ) \r\n" /* X31 */
"lw x30, 4( sp ) \r\n" /* X30 */
"lw x29, 8( sp ) \r\n" /* X29 */
"lw x28, 12( sp ) \r\n" /* X28 */
"lw x27, 16( sp ) \r\n" /* X27 */
"lw x26, 20( sp ) \r\n" /* X26 */
"lw x25, 24( sp ) \r\n" /* X25 */
"lw x24, 28( sp ) \r\n" /* X24 */
"lw x23, 32( sp ) \r\n" /* X23 */
"lw x22, 36( sp ) \r\n" /* X22 */
"lw x21, 40( sp ) \r\n" /* X21 */
"lw x20, 44( sp ) \r\n" /* X20 */
"lw x19, 48( sp ) \r\n" /* X19 */
"lw x18, 52( sp ) \r\n" /* X18 */
"lw x17, 56( sp ) \r\n" /* X17 */
"lw x16, 60( sp ) \r\n" /* X16 */
"lw x15, 64( sp ) \r\n" /* X15 */
"lw x14, 68( sp ) \r\n" /* X14 */
"lw x13, 72( sp ) \r\n" /* X13 */
"lw x12, 76( sp ) \r\n" /* X12 */
"lw x11, 80( sp ) \r\n" /* X11 */
"lw x10, 84( sp ) \r\n" /* X10 */
"lw x9, 88( sp ) \r\n" /* X9 */
"lw x8, 92( sp ) \r\n" /* X8 */
"lw x7, 96( sp ) \r\n" /* X7 */
"lw x6, 100( sp ) \r\n" /* X6 */
"lw x5, 104( sp ) \r\n" /* X5 */
"lw x1, 108( sp ) \r\n" /* X1 */
"csrs mie, 8 \r\n" /* Enable soft interrupt. */
"csrs mstatus, 8 \r\n" /* Enable interrupts. */
"ret "
);
/*Should not get here*/
return pdFALSE;
vTaskSwitchContext();
}
/*-----------------------------------------------------------*/

167
FreeRTOS/Source/portable/GCC/RISC-V-RV32/portASM.S
Unescape Escape View File

@ -0,0 +1,167 @@
/*
* FreeRTOS Kernel V10.1.1
* Copyright (C) 2018 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 t
o 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!
*/
#if __riscv_xlen == 64
#error Not implemented yet - change lw to ld, and sw to sd.
#define WORD_SIZE 8
#elif __riscv_xlen == 32
#define WORD_SIZE 4
#else
#error Assembler has not defined __riscv_xlen
#endif
#define CONTEXT_SIZE ( 28 * WORD_SIZE )
.global xPortStartScheduler
.global vPortTrapHandler
.extern pxCurrentTCB
.extern handle_trap
/*-----------------------------------------------------------*/
.align 8
xPortStartScheduler:
lw sp, pxCurrentTCB /* Load pxCurrentTCB. */
lw sp, 0( sp ) /* Read sp from first TCB member. */
lw x1, 0( sp )
lw x5, 1 * WORD_SIZE( sp ) /* t0 */
lw x6, 2 * WORD_SIZE( sp ) /* t1 */
lw x7, 3 * WORD_SIZE( sp ) /* t2 */
lw x8, 4 * WORD_SIZE( sp ) /* s0/fp */
lw x9, 5 * WORD_SIZE( sp ) /* s1 */
lw x10, 6 * WORD_SIZE( sp ) /* a0 */
lw x11, 7 * WORD_SIZE( sp ) /* a1 */
lw x12, 8 * WORD_SIZE( sp ) /* a2 */
lw x13, 9 * WORD_SIZE( sp ) /* a3 */
lw x14, 10 * WORD_SIZE( sp ) /* a4 */
lw x15, 11 * WORD_SIZE( sp ) /* a5 */
lw x16, 12 * WORD_SIZE( sp ) /* a6 */
lw x17, 13 * WORD_SIZE( sp ) /* a7 */
lw x18, 14 * WORD_SIZE( sp ) /* s2 */
lw x19, 15 * WORD_SIZE( sp ) /* s3 */
lw x20, 16 * WORD_SIZE( sp ) /* s4 */
lw x21, 17 * WORD_SIZE( sp ) /* s5 */
lw x22, 18 * WORD_SIZE( sp ) /* s6 */
lw x23, 19 * WORD_SIZE( sp ) /* s7 */
lw x24, 20 * WORD_SIZE( sp ) /* s8 */
lw x25, 21 * WORD_SIZE( sp ) /* s9 */
lw x26, 22 * WORD_SIZE( sp ) /* s10 */
lw x27, 23 * WORD_SIZE( sp ) /* s11 */
lw x28, 24 * WORD_SIZE( sp ) /* t3 */
lw x29, 25 * WORD_SIZE( sp ) /* t4 */
lw x30, 26 * WORD_SIZE( sp ) /* t5 */
lw x31, 27 * WORD_SIZE( sp ) /* t6 */
addi sp, sp, CONTEXT_SIZE
csrs mie, 8 /* Enable soft interrupt. */
csrs mstatus, 8 /* Enable interrupts. */
ret
/*-----------------------------------------------------------*/
.align 8
vPortTrapHandler:
addi sp, sp, -CONTEXT_SIZE
sw x1, 0( sp )
sw x5, 1 * WORD_SIZE( sp )
sw x6, 2 * WORD_SIZE( sp )
sw x7, 3 * WORD_SIZE( sp )
sw x8, 4 * WORD_SIZE( sp )
sw x9, 5 * WORD_SIZE( sp )
sw x10, 6 * WORD_SIZE( sp )
sw x11, 7 * WORD_SIZE( sp )
sw x12, 8 * WORD_SIZE( sp )
sw x13, 9 * WORD_SIZE( sp )
sw x14, 10 * WORD_SIZE( sp )
sw x15, 11 * WORD_SIZE( sp )
sw x16, 12 * WORD_SIZE( sp )
sw x17, 13 * WORD_SIZE( sp )
sw x18, 14 * WORD_SIZE( sp )
sw x19, 15 * WORD_SIZE( sp )
sw x20, 16 * WORD_SIZE( sp )
sw x21, 17 * WORD_SIZE( sp )
sw x22, 18 * WORD_SIZE( sp )
sw x23, 19 * WORD_SIZE( sp )
sw x24, 20 * WORD_SIZE( sp )
sw x25, 21 * WORD_SIZE( sp )
sw x26, 22 * WORD_SIZE( sp )
sw x27, 23 * WORD_SIZE( sp )
sw x28, 24 * WORD_SIZE( sp )
sw x29, 25 * WORD_SIZE( sp )
sw x30, 26 * WORD_SIZE( sp )
sw x31, 27 * WORD_SIZE( sp )
lw t0, pxCurrentTCB /* Load pxCurrentTCB. */
sw sp, 0( t0 ) /* Write sp from first TCB member. */
csrr t0, mepc
sw t0, 31 * WORD_SIZE( sp )
csrr a0, mcause
csrr a1, mepc
mv a2, sp
jal handle_trap
csrw mepc, a0
# Remain in M-mode after mret
li t0, 0x00001800 /* MSTATUS MPP */
csrs mstatus, t0
/* Cut and past restore code from xPortStartScheduler - can be made a macro
but that makes debugging harder. */
lw sp, pxCurrentTCB /* Load pxCurrentTCB. */
lw sp, 0( sp ) /* Read sp from first TCB member. */
lw x1, 0( sp )
lw x5, 1 * WORD_SIZE( sp ) /* t0 */
lw x6, 2 * WORD_SIZE( sp ) /* t1 */
lw x7, 3 * WORD_SIZE( sp ) /* t2 */
lw x8, 4 * WORD_SIZE( sp ) /* s0/fp */
lw x9, 5 * WORD_SIZE( sp ) /* s1 */
lw x10, 6 * WORD_SIZE( sp ) /* a0 */
lw x11, 7 * WORD_SIZE( sp ) /* a1 */
lw x12, 8 * WORD_SIZE( sp ) /* a2 */
lw x13, 9 * WORD_SIZE( sp ) /* a3 */
lw x14, 10 * WORD_SIZE( sp ) /* a4 */
lw x15, 11 * WORD_SIZE( sp ) /* a5 */
lw x16, 12 * WORD_SIZE( sp ) /* a6 */
lw x17, 13 * WORD_SIZE( sp ) /* a7 */
lw x18, 14 * WORD_SIZE( sp ) /* s2 */
lw x19, 15 * WORD_SIZE( sp ) /* s3 */
lw x20, 16 * WORD_SIZE( sp ) /* s4 */
lw x21, 17 * WORD_SIZE( sp ) /* s5 */
lw x22, 18 * WORD_SIZE( sp ) /* s6 */
lw x23, 19 * WORD_SIZE( sp ) /* s7 */
lw x24, 20 * WORD_SIZE( sp ) /* s8 */
lw x25, 21 * WORD_SIZE( sp ) /* s9 */
lw x26, 22 * WORD_SIZE( sp ) /* s10 */
lw x27, 23 * WORD_SIZE( sp ) /* s11 */
lw x28, 24 * WORD_SIZE( sp ) /* t3 */
lw x29, 25 * WORD_SIZE( sp ) /* t4 */
lw x30, 26 * WORD_SIZE( sp ) /* t5 */
lw x31, 27 * WORD_SIZE( sp ) /* t6 */
addi sp, sp, CONTEXT_SIZE
mret
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