nuclei-sdk/OS/FreeRTOS/Source/portable/port.c

/*
 * FreeRTOS Kernel V10.3.1
 * 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!
 */

/*-----------------------------------------------------------
 * Implementation of functions defined in portable.h for the Nuclei N/NX Processor port.
 *----------------------------------------------------------*/

/* Scheduler includes. */
#include <stdio.h>
#include "FreeRTOS.h"
#include "task.h"

//#define ENABLE_KERNEL_DEBUG

#ifdef ENABLE_KERNEL_DEBUG
#define FREERTOS_PORT_DEBUG(...)                printf(__VA_ARGS__)
#else
#define FREERTOS_PORT_DEBUG(...)
#endif

#ifndef configSYSTICK_CLOCK_HZ
#define configSYSTICK_CLOCK_HZ                  SOC_TIMER_FREQ
#endif

#ifndef configKERNEL_INTERRUPT_PRIORITY
#define configKERNEL_INTERRUPT_PRIORITY         0
#endif

#ifndef configMAX_SYSCALL_INTERRUPT_PRIORITY
#define configMAX_SYSCALL_INTERRUPT_PRIORITY    255
#endif

/* Constants required to check the validity of an interrupt priority. */
#define portFIRST_USER_INTERRUPT_NUMBER ( 18 )

#define SYSTICK_TICK_CONST          (configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ)

/* Constants required to set up the initial stack. */
#define portINITIAL_MSTATUS         ( MSTATUS_MPP | MSTATUS_MPIE | MSTATUS_FS_INITIAL | MSTATUS_VS_INITIAL)
#define portINITIAL_EXC_RETURN      ( 0xfffffffd )

/* The systick is a 24-bit counter. */
#define portMAX_BIT_NUMBER          ( SysTimer_MTIME_Msk )

/* A fiddle factor to estimate the number of SysTick counts that would have
occurred while the SysTick counter is stopped during tickless idle
calculations. */
#define portMISSED_COUNTS_FACTOR    ( 45UL )

/* Let the user override the pre-loading of the initial LR with the address of
prvTaskExitError() in case it messes up unwinding of the stack in the
debugger. */
#ifdef configTASK_RETURN_ADDRESS
#define portTASK_RETURN_ADDRESS configTASK_RETURN_ADDRESS
#else
#define portTASK_RETURN_ADDRESS prvTaskExitError
#endif

/*
 * Setup the timer to generate the tick interrupts.  The implementation in this
 * file is weak to allow application writers to change the timer used to
 * generate the tick interrupt.
 */
void vPortSetupTimerInterrupt(void);

/*
 * Exception handlers.
 */
void xPortSysTickHandler(void);

/*
 * Start first task is a separate function so it can be tested in isolation.
 */
extern void prvPortStartFirstTask(void) __attribute__((naked));

/*
 * Used to catch tasks that attempt to return from their implementing function.
 */
static void prvTaskExitError(void);

#define xPortSysTickHandler     irqc_mtip_handler

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

/* Each task maintains its own interrupt status in the critical nesting
variable. */
static UBaseType_t uxCriticalNesting = 0xaaaaaaaa;

/*
 * The number of SysTick increments that make up one tick period.
 */
#if( configUSE_TICKLESS_IDLE == 1 )
static TickType_t ulTimerCountsForOneTick = 0;
#endif /* configUSE_TICKLESS_IDLE */

/*
 * The maximum number of tick periods that can be suppressed is limited by the
 * 24 bit resolution of the SysTick timer.
 */
#if( configUSE_TICKLESS_IDLE == 1 )
static TickType_t xMaximumPossibleSuppressedTicks = 0;
#endif /* configUSE_TICKLESS_IDLE */

/*
 * Compensate for the CPU cycles that pass while the SysTick is stopped (low
 * power functionality only.
 */
#if( configUSE_TICKLESS_IDLE == 1 )
static TickType_t ulStoppedTimerCompensation = 0;
#endif /* configUSE_TICKLESS_IDLE */

/*
 * Used by the portASSERT_IF_INTERRUPT_PRIORITY_INVALID() macro to ensure
 * FreeRTOS API functions are not called from interrupts that have been assigned
 * a priority above configMAX_SYSCALL_INTERRUPT_PRIORITY.
 */
#if( configASSERT_DEFINED == 1 )
#endif /* configASSERT_DEFINED */

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

/*
 * See header file for description.
 * As per the standard RISC-V ABI pxTopcOfStack is passed in in a0, pxCode in
 * a1, and pvParameters in a2.  The new top of stack is passed out in a0.
 *
 * RISC-V maps registers to ABI names as follows (X1 to X31 integer registers
 * for the 'I' profile, X1 to X15 for the 'E' profile, currently I assumed).
 *
 * Register        ABI Name    Description                         Saver
 * x0              zero        Hard-wired zero                     -
 * x1              ra          Return address                      Caller
 * x2              sp          Stack pointer                       Callee
 * x3              gp          Global pointer                      -
 * x4              tp          Thread pointer                      -
 * x5-7            t0-2        Temporaries                         Caller
 * x8              s0/fp       Saved register/Frame pointer        Callee
 * x9              s1          Saved register                      Callee
 * x10-11          a0-1        Function Arguments/return values    Caller
 * x12-17          a2-7        Function arguments                  Caller
 * x18-27          s2-11       Saved registers                     Callee
 * x28-31          t3-6        Temporaries                         Caller
 *
 * The RISC-V context is saved RTOS tasks in the following stack frame,
 * where the global and thread pointers are currently assumed to be constant so
 * are not saved:
 *
 * mstatus
 * #ifndef __riscv_32e
 * rsv1
 * rsv0
 * x31
 * x30
 * x29
 * x28
 * x27
 * x26
 * x25
 * x24
 * x23
 * x22
 * x21
 * x20
 * x19
 * x18
 * x17
 * x16
 * #endif
 * x15
 * x14
 * x13
 * x12
 * x11
 * pvParameters
 * x9
 * x8
 * x7
 * x6
 * x5
 * portTASK_RETURN_ADDRESS
 * pxCode
 */
StackType_t* pxPortInitialiseStack(StackType_t* pxTopOfStack, TaskFunction_t pxCode, void* pvParameters)
{
    /* Simulate the stack frame as it would be created by a context switch
    interrupt. */

    /* Offset added to account for the way the MCU uses the stack on entry/exit
    of interrupts, and to ensure alignment. */
    pxTopOfStack--;
    *pxTopOfStack = portINITIAL_MSTATUS;    /* MSTATUS */

    /* Save code space by skipping register initialisation. */
#ifndef __riscv_32e
    pxTopOfStack -= 24;    /* X11 - X31 + 2 reserved. */
#else
    pxTopOfStack -= 6;    /* X11 - X15. */
#endif
    *pxTopOfStack = (StackType_t) pvParameters;      /* X10/A0 */
    pxTopOfStack -= 6; /* X5 - X9 */
    *pxTopOfStack = (StackType_t) portTASK_RETURN_ADDRESS;      /* RA, X1 */

    pxTopOfStack --;
    *pxTopOfStack = ((StackType_t) pxCode) ;        /* PC */

    return pxTopOfStack;
}
/*-----------------------------------------------------------*/

static void prvTaskExitError(void)
{
    volatile uint32_t ulDummy = 0;

    /* A function that implements a task must not exit or attempt to return to
    its caller as there is nothing to return to.  If a task wants to exit it
    should instead call vTaskDelete( NULL ).

    Artificially force an assert() to be triggered if configASSERT() is
    defined, then stop here so application writers can catch the error. */
    configASSERT(uxCriticalNesting == ~0UL);
    portDISABLE_INTERRUPTS();
    while (ulDummy == 0) {
        /* This file calls prvTaskExitError() after the scheduler has been
        started to remove a compiler warning about the function being defined
        but never called.  ulDummy is used purely to quieten other warnings
        about code appearing after this function is called - making ulDummy
        volatile makes the compiler think the function could return and
        therefore not output an 'unreachable code' warning for code that appears
        after it. */
        /* Sleep and wait for interrupt */
        __WFI();
    }
}
/*-----------------------------------------------------------*/

/*
 * See header file for description.
 */
BaseType_t xPortStartScheduler(void)
{
    __disable_irq();
    /* Start the timer that generates the tick ISR.  Interrupts are disabled
    here already. */
    vPortSetupTimerInterrupt();

    /* Initialise the critical nesting count ready for the first task. */
    uxCriticalNesting = 0;

    /* Start the first task. */
    prvPortStartFirstTask();

    /* Should never get here as the tasks will now be executing!  Call the task
    exit error function to prevent compiler warnings about a static function
    not being called in the case that the application writer overrides this
    functionality by defining configTASK_RETURN_ADDRESS.  Call
    vTaskSwitchContext() so link time optimisation does not remove the
    symbol. */
    vTaskSwitchContext();
    prvTaskExitError();

    /* Should not get here! */
    return 0;
}
/*-----------------------------------------------------------*/

void vPortEndScheduler(void)
{
    /* Not implemented in ports where there is nothing to return to.
    Artificially force an assert. */
    configASSERT(uxCriticalNesting == 1000UL);
}
/*-----------------------------------------------------------*/

void vPortEnterCritical(void)
{
    portDISABLE_INTERRUPTS();
    uxCriticalNesting++;

    /* This is not the interrupt safe version of the enter critical function so
    assert() if it is being called from an interrupt context.  Only API
    functions that end in "FromISR" can be used in an interrupt.  Only assert if
    the critical nesting count is 1 to protect against recursive calls if the
    assert function also uses a critical section. */
    if (uxCriticalNesting == 1) {
    }
}
/*-----------------------------------------------------------*/

void vPortExitCritical(void)
{
    configASSERT(uxCriticalNesting);
    uxCriticalNesting--;
    if (uxCriticalNesting == 0) {
        portENABLE_INTERRUPTS();
    }
}
/*-----------------------------------------------------------*/

void vPortAssert(int32_t x)
{
    TaskHandle_t th;
    if ((x) == 0) {
        taskDISABLE_INTERRUPTS();
#if (INCLUDE_xTaskGetCurrentTaskHandle == 1)
        th = xTaskGetCurrentTaskHandle();
        if (th) {
            printf("Assert in task %s\n", pcTaskGetName(th));
        }
#endif
        while (1) {
            /* Sleep and wait for interrupt */
            __WFI();
        };
    }
}
/*-----------------------------------------------------------*/


void xPortTaskSwitch(void)
{
    portDISABLE_INTERRUPTS();
    /* Clear Software IRQ, A MUST */
    SysTimer_ClearSWIRQ();
    vTaskSwitchContext();
    portENABLE_INTERRUPTS();
}
/*-----------------------------------------------------------*/

__INTERRUPT void xPortSysTickHandler(void)
{
    /* The SysTick runs at the lowest interrupt priority, so when this interrupt
    executes all interrupts must be unmasked.  There is therefore no need to
    save and then restore the interrupt mask value as its value is already
    known. */
    portDISABLE_INTERRUPTS();
    {
        SysTick_Reload(SYSTICK_TICK_CONST);
        /* Increment the RTOS tick. */
        if (xTaskIncrementTick() != pdFALSE) {
            /* A context switch is required.  Context switching is performed in
            the SWI interrupt.  Pend the SWI interrupt. */
            portYIELD();
        }
    }
    portENABLE_INTERRUPTS();
}
/*-----------------------------------------------------------*/

#if( configUSE_TICKLESS_IDLE == 1 )

__attribute__((weak)) void vPortSuppressTicksAndSleep(TickType_t xExpectedIdleTime)
{
    uint32_t ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements;
    volatile TickType_t xModifiableIdleTime, xTickCountBeforeSleep, XLastLoadValue;

    FREERTOS_PORT_DEBUG("Enter TickLess %d\n", (uint32_t)xExpectedIdleTime);

    /* Make sure the SysTick reload value does not overflow the counter. */
    if (xExpectedIdleTime > xMaximumPossibleSuppressedTicks) {
        xExpectedIdleTime = xMaximumPossibleSuppressedTicks;
    }

    /* Stop the SysTick momentarily.  The time the SysTick is stopped for
    is accounted for as best it can be, but using the tickless mode will
    inevitably result in some tiny drift of the time maintained by the
    kernel with respect to calendar time. */
    SysTimer_Stop();

    /* Calculate the reload value required to wait xExpectedIdleTime
    tick periods.  -1 is used because this code will execute part way
    through one of the tick periods. */
    ulReloadValue = (ulTimerCountsForOneTick * (xExpectedIdleTime - 1UL));
    if (ulReloadValue > ulStoppedTimerCompensation) {
        ulReloadValue -= ulStoppedTimerCompensation;
    }

    /* Enter a critical section but don't use the taskENTER_CRITICAL()
    method as that will mask interrupts that should exit sleep mode. */
    __disable_irq();

    /* If a context switch is pending or a task is waiting for the scheduler
    to be unsuspended then abandon the low power entry. */
    if (eTaskConfirmSleepModeStatus() == eAbortSleep) {
        /* Restart from whatever is left in the count register to complete
        this tick period. */
        /* Restart SysTick. */
        SysTimer_Start();

        /* Reset the reload register to the value required for normal tick
           periods. */
        SysTick_Reload(ulTimerCountsForOneTick);

        /* Re-enable interrupts - see comments above the cpsid instruction()
           above. */
        __enable_irq();
    } else {
        xTickCountBeforeSleep = xTaskGetTickCount();

        /* Set the new reload value. */
        SysTick_Reload(ulReloadValue);

        /* Get System timer load value before sleep */
        XLastLoadValue = SysTimer_GetLoadValue();

        /* Restart SysTick. */
        SysTimer_Start();
        IRQC_EnableIRQ(SysTimer_IRQn);
        __RWMB();

        /* Sleep until something happens.  configPRE_SLEEP_PROCESSING() can
        set its parameter to 0 to indicate that its implementation contains
        its own wait for interrupt or wait for event instruction, and so wfi
        should not be executed again.  However, the original expected idle
        time variable must remain unmodified, so a copy is taken. */
        xModifiableIdleTime = xExpectedIdleTime;
        configPRE_SLEEP_PROCESSING(xModifiableIdleTime);
        if (xModifiableIdleTime > 0) {
            __WFI();
        }
        configPOST_SLEEP_PROCESSING(xExpectedIdleTime);

        /* Re-enable interrupts to allow the interrupt that brought the MCU
        out of sleep mode to execute immediately. */
        __enable_irq();

        /* Make sure interrupt enable is executed */
        __RWMB();
        __FENCE_I();
        __NOP();

        /* Disable interrupts again because the clock is about to be stopped
           and interrupts that execute while the clock is stopped will increase
           any slippage between the time maintained by the RTOS and calendar
           time. */
        __disable_irq();

        /* Disable the SysTick clock.  Again,
           the time the SysTick is stopped for is accounted for as best it can
           be, but using the tickless mode will inevitably result in some tiny
           drift of the time maintained by the kernel with respect to calendar
           time*/
        IRQC_DisableIRQ(SysTimer_IRQn);

        /* Determine if SysTimer Interrupt is not yet happened,
        (in which case an interrupt other than the SysTick
        must have brought the system out of sleep mode). */
        if (SysTimer_GetLoadValue() >= (XLastLoadValue + ulReloadValue)) {
            /* As the pending tick will be processed as soon as this
            function exits, the tick value maintained by the tick is stepped
            forward by one less than the time spent waiting. */
            ulCompleteTickPeriods = xExpectedIdleTime - 1UL;
            FREERTOS_PORT_DEBUG("TickLess - SysTimer Interrupt Entered!\n");
        } else {
            /* Something other than the tick interrupt ended the sleep.
            Work out how long the sleep lasted rounded to complete tick
            periods (not the ulReload value which accounted for part
            ticks). */
            xModifiableIdleTime = SysTimer_GetLoadValue();
            if (xModifiableIdleTime > XLastLoadValue) {
                ulCompletedSysTickDecrements = (xModifiableIdleTime - XLastLoadValue);
            } else {
                ulCompletedSysTickDecrements = (xModifiableIdleTime + portMAX_BIT_NUMBER - XLastLoadValue);
            }

            /* How many complete tick periods passed while the processor
            was waiting? */
            ulCompleteTickPeriods = ulCompletedSysTickDecrements / ulTimerCountsForOneTick;

            /* The reload value is set to whatever fraction of a single tick
            period remains. */
            SysTick_Reload(ulTimerCountsForOneTick);
            FREERTOS_PORT_DEBUG("TickLess - External Interrupt Happened!\n");
        }

        FREERTOS_PORT_DEBUG("End TickLess %d\n", (uint32_t)ulCompleteTickPeriods);

        /* Restart SysTick */
        vTaskStepTick(ulCompleteTickPeriods);

        /* Exit with interrupts enabled. */
        IRQC_EnableIRQ(SysTimer_IRQn);
        __enable_irq();
    }
}

#endif /* #if configUSE_TICKLESS_IDLE */
/*-----------------------------------------------------------*/

/*
 * Setup the systick timer to generate the tick interrupts at the required
 * frequency.
 */
__attribute__((weak)) void vPortSetupTimerInterrupt(void)
{
    /* Calculate the constants required to configure the tick interrupt. */
#if( configUSE_TICKLESS_IDLE == 1 )
    {
        ulTimerCountsForOneTick = (SYSTICK_TICK_CONST);
        xMaximumPossibleSuppressedTicks = portMAX_BIT_NUMBER / ulTimerCountsForOneTick;
        ulStoppedTimerCompensation = portMISSED_COUNTS_FACTOR / (configCPU_CLOCK_HZ / configSYSTICK_CLOCK_HZ);
        FREERTOS_PORT_DEBUG("CountsForOneTick, SuppressedTicks and TimerCompensation: %u, %u, %u\n", \
                            (uint32_t)ulTimerCountsForOneTick, (uint32_t)xMaximumPossibleSuppressedTicks, (uint32_t)ulStoppedTimerCompensation);
    }
#endif /* configUSE_TICKLESS_IDLE */
    TickType_t ticks = SYSTICK_TICK_CONST;

    /* Make SWI and SysTick the lowest priority interrupts. */
    /* Stop and clear the SysTimer. SysTimer as Vector Interrupt */
    SysTick_Config(ticks);
    IRQC_EnableIRQ(SysTimer_IRQn);

    /* Set as Vector Interrupt */
    IRQC_EnableIRQ(SysTimerSW_IRQn);
}
/*-----------------------------------------------------------*/

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

#if( configASSERT_DEFINED == 1 )

void vPortValidateInterruptPriority(void)
{
}

#endif /* configASSERT_DEFINED */