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Some efficiency improvements in Risc-V port.

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pull/4/head
Richard Barry 6 years ago
parent dc99300fa9
commit e85ea96f78
2 changed files with 102 additions and 76 deletions
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26
FreeRTOS/Source/portable/GCC/RISC-V-RV32/port.c
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@ -49,9 +49,10 @@ static void prvTaskExitError( void );
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Used to program the machine timer compare register. */ /* Used to program the machine timer compare register. */
static uint64_t ullNextTime = 0ULL; uint64_t ullNextTime = 0ULL;
static const uint64_t ullTimerIncrementsForOneTick = ( uint64_t ) ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ); const uint64_t *pullNextTime = &ullNextTime;
static volatile uint64_t * const pullMachineTimerCompareRegister = ( volatile uint64_t * const ) ( configCLINT_BASE_ADDRESS + 0x4000 ); const uint32_t ulTimerIncrementsForOneTick = ( uint32_t ) ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ); /* Assumes increment won't go over 32-bits. */
volatile uint64_t * const pullMachineTimerCompareRegister = ( volatile uint64_t * const ) ( configCLINT_BASE_ADDRESS + 0x4000 );
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
@ -187,11 +188,11 @@ volatile uint32_t * const pulTimeLow = ( volatile uint32_t * const ) ( configCLI
ullNextTime = ( uint64_t ) ulCurrentTimeHigh; ullNextTime = ( uint64_t ) ulCurrentTimeHigh;
ullNextTime <<= 32ULL; ullNextTime <<= 32ULL;
ullNextTime |= ( uint64_t ) ulCurrentTimeLow; ullNextTime |= ( uint64_t ) ulCurrentTimeLow;
ullNextTime += ullTimerIncrementsForOneTick; ullNextTime += ( uint64_t ) ulTimerIncrementsForOneTick;
*pullMachineTimerCompareRegister = ullNextTime; *pullMachineTimerCompareRegister = ullNextTime;
/* Prepare the time to use after the next tick interrupt. */ /* Prepare the time to use after the next tick interrupt. */
ullNextTime += ullTimerIncrementsForOneTick; ullNextTime += ( uint64_t ) ulTimerIncrementsForOneTick;
/* Enable timer interrupt */ /* Enable timer interrupt */
__asm volatile( "csrs mie, %0" :: "r"(0x80) ); /* 1<<7 for timer interrupt. */ __asm volatile( "csrs mie, %0" :: "r"(0x80) ); /* 1<<7 for timer interrupt. */
@ -209,21 +210,6 @@ volatile uint32_t * const ulSoftInterrupt = ( uint32_t * ) configCLINT_BASE_ADDR
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void Timer_IRQHandler( void )
{
extern void vTaskSwitchContext( void );
/* Reload for the next timer interrupt. */
*pullMachineTimerCompareRegister = ullNextTime;
ullNextTime += ullTimerIncrementsForOneTick;
if( xTaskIncrementTick() != pdFALSE )
{
vTaskSwitchContext();
}
}
/*-----------------------------------------------------------*/
BaseType_t xPortStartScheduler( void ) BaseType_t xPortStartScheduler( void )
{ {
extern void xPortStartFirstTask( void ); extern void xPortStartFirstTask( void );

152
FreeRTOS/Source/portable/GCC/RISC-V-RV32/portASM.S
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@ -28,12 +28,12 @@
*/ */
#if __riscv_xlen == 64 #if __riscv_xlen == 64
#error Not implemented yet - change lw to ld, and sw to sd. #error Not implemented yet - change lw to ld, and sw to sd.
#define WORD_SIZE 8 #define WORD_SIZE 8
#elif __riscv_xlen == 32 #elif __riscv_xlen == 32
#define WORD_SIZE 4 #define WORD_SIZE 4
#else #else
#error Assembler has not defined __riscv_xlen #error Assembler has not defined __riscv_xlen
#endif #endif
#define CONTEXT_SIZE ( 30 * WORD_SIZE ) #define CONTEXT_SIZE ( 30 * WORD_SIZE )
@ -42,6 +42,14 @@
.global vPortTrapHandler .global vPortTrapHandler
.extern pxCurrentTCB .extern pxCurrentTCB
.extern ulPortTrapHandler .extern ulPortTrapHandler
.extern vTaskSwitchContext
.extern Timer_IRQHandler
.extern pullMachineTimerCompareRegister
.extern pullNextTime
.extern ulTimerIncrementsForOneTick
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
@ -51,18 +59,18 @@ xPortStartFirstTask:
la t0, vPortTrapHandler la t0, vPortTrapHandler
csrw mtvec, t0 csrw mtvec, t0
lw sp, pxCurrentTCB /* Load pxCurrentTCB. */ lw sp, pxCurrentTCB /* Load pxCurrentTCB. */
lw sp, 0( sp ) /* Read sp from first TCB member. */ lw sp, 0( sp ) /* Read sp from first TCB member. */
lw x1, 0( sp ) /* Note for starting the scheduler the exception return address is used as the function return address. */ lw x1, 0( sp ) /* Note for starting the scheduler the exception return address is used as the function return address. */
lw x5, 2 * WORD_SIZE( sp ) /* t0 */ lw x5, 2 * WORD_SIZE( sp ) /* t0 */
lw x6, 3 * WORD_SIZE( sp ) /* t1 */ lw x6, 3 * WORD_SIZE( sp ) /* t1 */
lw x7, 4 * WORD_SIZE( sp ) /* t2 */ lw x7, 4 * WORD_SIZE( sp ) /* t2 */
lw x8, 5 * WORD_SIZE( sp ) /* s0/fp */ lw x8, 5 * WORD_SIZE( sp ) /* s0/fp */
lw x9, 6 * WORD_SIZE( sp ) /* s1 */ lw x9, 6 * WORD_SIZE( sp ) /* s1 */
lw x10, 7 * WORD_SIZE( sp ) /* a0 */ lw x10, 7 * WORD_SIZE( sp ) /* a0 */
lw x11, 8 * WORD_SIZE( sp ) /* a1 */ lw x11, 8 * WORD_SIZE( sp ) /* a1 */
lw x12, 9 * WORD_SIZE( sp ) /* a2 */ lw x12, 9 * WORD_SIZE( sp ) /* a2 */
lw x13, 10 * WORD_SIZE( sp ) /* a3 */ lw x13, 10 * WORD_SIZE( sp ) /* a3 */
lw x14, 11 * WORD_SIZE( sp ) /* a4 */ lw x14, 11 * WORD_SIZE( sp ) /* a4 */
lw x15, 12 * WORD_SIZE( sp ) /* a5 */ lw x15, 12 * WORD_SIZE( sp ) /* a5 */
@ -82,8 +90,8 @@ xPortStartFirstTask:
lw x29, 26 * WORD_SIZE( sp ) /* t4 */ lw x29, 26 * WORD_SIZE( sp ) /* t4 */
lw x30, 27 * WORD_SIZE( sp ) /* t5 */ lw x30, 27 * WORD_SIZE( sp ) /* t5 */
lw x31, 28 * WORD_SIZE( sp ) /* t6 */ lw x31, 28 * WORD_SIZE( sp ) /* t6 */
addi sp, sp, CONTEXT_SIZE addi sp, sp, CONTEXT_SIZE
csrs mstatus, 8 /* Enable machine interrupts. */ csrs mstatus, 8 /* Enable machine interrupts. */
ret ret
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
@ -120,24 +128,56 @@ vPortTrapHandler:
sw x30, 27 * WORD_SIZE( sp ) sw x30, 27 * WORD_SIZE( sp )
sw x31, 28 * WORD_SIZE( sp ) sw x31, 28 * WORD_SIZE( sp )
csrr t0, mstatus /* Required for MPIE bit. */ csrr t0, mstatus /* Required for MPIE bit. */
sw t0, 29 * WORD_SIZE( sp ) sw t0, 29 * WORD_SIZE( sp )
lw t0, pxCurrentTCB /* Load pxCurrentTCB. */ lw t0, pxCurrentTCB /* Load pxCurrentTCB. */
sw sp, 0( t0 ) /* Write sp to first TCB member. */ sw sp, 0( t0 ) /* Write sp to first TCB member. */
csrr a0, mcause csrr a0, mcause
csrr a1, mepc csrr a1, mepc
mv a2, sp mv a2, sp
/*_RB_ Does stack need aligning here? */
jal ulPortTrapHandler
csrw mepc, a0
/* Save exception return address. */
sw a0, 0( sp )
test_if_environment_call:
lw sp, pxCurrentTCB /* Load pxCurrentTCB. */ li t0, 11 /* 11 == environment call when using qemu. */
lw sp, 0( sp ) /* Read sp from first TCB member. */ bne a0, t0, test_if_timer
addi a1, a1, 4 /* Synchronous so return to the instruction after the environment call. */
sw a1, 0( sp ) /* Save updated exception return address. */
/*_RB_ Does stack need aligning here? */
jal vTaskSwitchContext
j processed_source
test_if_timer:
sw a1, 0( sp ) /* Asynch so save unmodified exception return address. */
lui t0, 0x80000
addi t1,t0, 7 /* 0x80000007 == machine timer interrupt. */
bne a0, t1, as_yet_unhandled
lw t0, pullMachineTimerCompareRegister /* Load address of compare register into t0. */
lw t1, pullNextTime /* Load the address of ullNextTime into t1. */
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 t2, 0(t0) /* Store low word of ullNextTime into compare register. */
sw t3, 4(t0) /* Store high word of ullNextTime into compare register. */
lw t0, ulTimerIncrementsForOneTick /* 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. */
jal xTaskIncrementTick
beqz a0, processed_source /* Don't switch context if incrementing tick didn't unblock a task. */
jal vTaskSwitchContext
j processed_source
as_yet_unhandled:
j as_yet_unhandled /* External interrupt? */
processed_source:
lw sp, pxCurrentTCB /* Load pxCurrentTCB. */
lw sp, 0( sp ) /* Read sp from first TCB member. */
/* Load mret with the address of the next task. */ /* Load mret with the address of the next task. */
lw t0, 0( sp ) lw t0, 0( sp )
@ -145,37 +185,37 @@ vPortTrapHandler:
/* Load mstatus with the interrupt enable bits used by the task. */ /* Load mstatus with the interrupt enable bits used by the task. */
lw t0, 29 * WORD_SIZE( sp ) lw t0, 29 * WORD_SIZE( sp )
csrw mstatus, t0 /* Required for MPIE bit. */ csrw mstatus, t0 /* Required for MPIE bit. */
lw x1, 1 * WORD_SIZE( sp ) lw x1, 1 * WORD_SIZE( sp )
lw x5, 2 * WORD_SIZE( sp ) /* t0 */ lw x5, 2 * WORD_SIZE( sp ) /* t0 */
lw x6, 3 * WORD_SIZE( sp ) /* t1 */ lw x6, 3 * WORD_SIZE( sp ) /* t1 */
lw x7, 4 * WORD_SIZE( sp ) /* t2 */ lw x7, 4 * WORD_SIZE( sp ) /* t2 */
lw x8, 5 * WORD_SIZE( sp ) /* s0/fp */ lw x8, 5 * WORD_SIZE( sp ) /* s0/fp */
lw x9, 6 * WORD_SIZE( sp ) /* s1 */ lw x9, 6 * WORD_SIZE( sp ) /* s1 */
lw x10, 7 * WORD_SIZE( sp ) /* a0 */ lw x10, 7 * WORD_SIZE( sp ) /* a0 */
lw x11, 8 * WORD_SIZE( sp ) /* a1 */ lw x11, 8 * WORD_SIZE( sp ) /* a1 */
lw x12, 9 * WORD_SIZE( sp ) /* a2 */ lw x12, 9 * WORD_SIZE( sp ) /* a2 */
lw x13, 10 * WORD_SIZE( sp ) /* a3 */ lw x13, 10 * WORD_SIZE( sp ) /* a3 */
lw x14, 11 * WORD_SIZE( sp ) /* a4 */ lw x14, 11 * WORD_SIZE( sp ) /* a4 */
lw x15, 12 * WORD_SIZE( sp ) /* a5 */ lw x15, 12 * WORD_SIZE( sp ) /* a5 */
lw x16, 13 * WORD_SIZE( sp ) /* a6 */ lw x16, 13 * WORD_SIZE( sp ) /* a6 */
lw x17, 14 * WORD_SIZE( sp ) /* a7 */ lw x17, 14 * WORD_SIZE( sp ) /* a7 */
lw x18, 15 * WORD_SIZE( sp ) /* s2 */ lw x18, 15 * WORD_SIZE( sp ) /* s2 */
lw x19, 16 * WORD_SIZE( sp ) /* s3 */ lw x19, 16 * WORD_SIZE( sp ) /* s3 */
lw x20, 17 * WORD_SIZE( sp ) /* s4 */ lw x20, 17 * WORD_SIZE( sp ) /* s4 */
lw x21, 18 * WORD_SIZE( sp ) /* s5 */ lw x21, 18 * WORD_SIZE( sp ) /* s5 */
lw x22, 19 * WORD_SIZE( sp ) /* s6 */ lw x22, 19 * WORD_SIZE( sp ) /* s6 */
lw x23, 20 * WORD_SIZE( sp ) /* s7 */ lw x23, 20 * WORD_SIZE( sp ) /* s7 */
lw x24, 21 * WORD_SIZE( sp ) /* s8 */ lw x24, 21 * WORD_SIZE( sp ) /* s8 */
lw x25, 22 * WORD_SIZE( sp ) /* s9 */ lw x25, 22 * WORD_SIZE( sp ) /* s9 */
lw x26, 23 * WORD_SIZE( sp ) /* s10 */ lw x26, 23 * WORD_SIZE( sp ) /* s10 */
lw x27, 24 * WORD_SIZE( sp ) /* s11 */ lw x27, 24 * WORD_SIZE( sp ) /* s11 */
lw x28, 25 * WORD_SIZE( sp ) /* t3 */ lw x28, 25 * WORD_SIZE( sp ) /* t3 */
lw x29, 26 * WORD_SIZE( sp ) /* t4 */ lw x29, 26 * WORD_SIZE( sp ) /* t4 */
lw x30, 27 * WORD_SIZE( sp ) /* t5 */ lw x30, 27 * WORD_SIZE( sp ) /* t5 */
lw x31, 28 * WORD_SIZE( sp ) /* t6 */ lw x31, 28 * WORD_SIZE( sp ) /* t6 */
addi sp, sp, CONTEXT_SIZE addi sp, sp, CONTEXT_SIZE
mret mret

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