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Update RISC-V IAR port to support vector mode. (#458)

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* Update RISC-V IAR port to support vector mode.

* uncrustify

Co-authored-by: David Chalco <david@chalco.io>
Co-authored-by: Gaurav-Aggarwal-AWS <33462878+aggarg@users.noreply.github.com>
Co-authored-by: alfred gedeon <28123637+alfred2g@users.noreply.github.com>
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Ming Yue 2022-09-20 15:32:41 -07:00 committed by GitHub
parent 49777e3387
commit f789a0e790
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4 changed files with 615 additions and 464 deletions
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248
portable/IAR/RISC-V/port.c
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@ -27,8 +27,8 @@
*/ */
/*----------------------------------------------------------- /*-----------------------------------------------------------
* Implementation of functions defined in portable.h for the RISC-V RV32 port. * Implementation of functions defined in portable.h for the RISC-V port.
*----------------------------------------------------------*/ *----------------------------------------------------------*/
/* Scheduler includes. */ /* Scheduler includes. */
#include "FreeRTOS.h" #include "FreeRTOS.h"
@ -39,175 +39,203 @@
#include "string.h" #include "string.h"
#ifdef configCLINT_BASE_ADDRESS #ifdef configCLINT_BASE_ADDRESS
#warning The configCLINT_BASE_ADDRESS constant has been deprecated. configMTIME_BASE_ADDRESS and configMTIMECMP_BASE_ADDRESS are currently being derived from the (possibly 0) configCLINT_BASE_ADDRESS setting. Please update to define configMTIME_BASE_ADDRESS and configMTIMECMP_BASE_ADDRESS dirctly in place of configCLINT_BASE_ADDRESS. See https://www.FreeRTOS.org/Using-FreeRTOS-on-RISC-V.html #warning The configCLINT_BASE_ADDRESS constant has been deprecated. configMTIME_BASE_ADDRESS and configMTIMECMP_BASE_ADDRESS are currently being derived from the (possibly 0) configCLINT_BASE_ADDRESS setting. Please update to define configMTIME_BASE_ADDRESS and configMTIMECMP_BASE_ADDRESS dirctly in place of configCLINT_BASE_ADDRESS. See https: /*www.FreeRTOS.org/Using-FreeRTOS-on-RISC-V.html */
#endif #endif
#ifndef configMTIME_BASE_ADDRESS #ifndef configMTIME_BASE_ADDRESS
#warning configMTIME_BASE_ADDRESS must be defined in FreeRTOSConfig.h. If the target chip includes a memory-mapped mtime register then set configMTIME_BASE_ADDRESS to the mapped address. Otherwise set configMTIME_BASE_ADDRESS to 0. See https://www.FreeRTOS.org/Using-FreeRTOS-on-RISC-V.html #warning configMTIME_BASE_ADDRESS must be defined in FreeRTOSConfig.h. If the target chip includes a memory-mapped mtime register then set configMTIME_BASE_ADDRESS to the mapped address. Otherwise set configMTIME_BASE_ADDRESS to 0. See https: /*www.FreeRTOS.org/Using-FreeRTOS-on-RISC-V.html */
#endif #endif
#ifndef configMTIMECMP_BASE_ADDRESS #ifndef configMTIMECMP_BASE_ADDRESS
#warning configMTIMECMP_BASE_ADDRESS must be defined in FreeRTOSConfig.h. If the target chip includes a memory-mapped mtimecmp register then set configMTIMECMP_BASE_ADDRESS to the mapped address. Otherwise set configMTIMECMP_BASE_ADDRESS to 0. See https://www.FreeRTOS.org/Using-FreeRTOS-on-RISC-V.html #warning configMTIMECMP_BASE_ADDRESS must be defined in FreeRTOSConfig.h. If the target chip includes a memory-mapped mtimecmp register then set configMTIMECMP_BASE_ADDRESS to the mapped address. Otherwise set configMTIMECMP_BASE_ADDRESS to 0. See https: /*www.FreeRTOS.org/Using-FreeRTOS-on-RISC-V.html */
#endif #endif
/* Let the user override the pre-loading of the initial LR with the address of /* 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 * prvTaskExitError() in case it messes up unwinding of the stack in the
debugger. */ * debugger. */
#ifdef configTASK_RETURN_ADDRESS #ifdef configTASK_RETURN_ADDRESS
#define portTASK_RETURN_ADDRESS configTASK_RETURN_ADDRESS #define portTASK_RETURN_ADDRESS configTASK_RETURN_ADDRESS
#else #else
#define portTASK_RETURN_ADDRESS prvTaskExitError #define portTASK_RETURN_ADDRESS prvTaskExitError
#endif #endif
/* The stack used by interrupt service routines. Set configISR_STACK_SIZE_WORDS /* The stack used by interrupt service routines. Set configISR_STACK_SIZE_WORDS
to use a statically allocated array as the interrupt stack. Alternative leave * to use a statically allocated array as the interrupt stack. Alternative leave
configISR_STACK_SIZE_WORDS undefined and update the linker script so that a * configISR_STACK_SIZE_WORDS undefined and update the linker script so that a
linker variable names __freertos_irq_stack_top has the same value as the top * linker variable names __freertos_irq_stack_top has the same value as the top
of the stack used by main. Using the linker script method will repurpose the * of the stack used by main. Using the linker script method will repurpose the
stack that was used by main before the scheduler was started for use as the * stack that was used by main before the scheduler was started for use as the
interrupt stack after the scheduler has started. */ * interrupt stack after the scheduler has started. */
#ifdef configISR_STACK_SIZE_WORDS #ifdef configISR_STACK_SIZE_WORDS
static __attribute__ ((aligned(16))) StackType_t xISRStack[ configISR_STACK_SIZE_WORDS ] = { 0 }; static __attribute__( ( aligned( 16 ) ) ) StackType_t xISRStack[ configISR_STACK_SIZE_WORDS ] = { 0 };
const StackType_t xISRStackTop = ( StackType_t ) &( xISRStack[ configISR_STACK_SIZE_WORDS & ~portBYTE_ALIGNMENT_MASK ] ); const StackType_t xISRStackTop = ( StackType_t ) &( xISRStack[ configISR_STACK_SIZE_WORDS & ~portBYTE_ALIGNMENT_MASK ] );
/* Don't use 0xa5 as the stack fill bytes as that is used by the kernerl for /* Don't use 0xa5 as the stack fill bytes as that is used by the kernerl for
the task stacks, and so will legitimately appear in many positions within * the task stacks, and so will legitimately appear in many positions within
the ISR stack. */ * the ISR stack. */
#define portISR_STACK_FILL_BYTE 0xee #define portISR_STACK_FILL_BYTE 0xee
#else #else
extern const uint32_t __freertos_irq_stack_top[]; extern const uint32_t __freertos_irq_stack_top[];
const StackType_t xISRStackTop = ( StackType_t ) __freertos_irq_stack_top; const StackType_t xISRStackTop = ( StackType_t ) __freertos_irq_stack_top;
#endif #endif
/**
* @brief Used to catch tasks that attempt to return from their implementing
* function.
*/
static void prvTaskExitError( void );
/* /*
* Setup the timer to generate the tick interrupts. The implementation in this * 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 * file is weak to allow application writers to change the timer used to
* generate the tick interrupt. * generate the tick interrupt.
*/ */
void vPortSetupTimerInterrupt( void ) __attribute__(( weak )); void vPortSetupTimerInterrupt( void ) __attribute__( ( weak ) );
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Used to program the machine timer compare register. */ /* Used to program the machine timer compare register. */
uint64_t ullNextTime = 0ULL; uint64_t ullNextTime = 0ULL;
const uint64_t *pullNextTime = &ullNextTime; const uint64_t * pullNextTime = &ullNextTime;
const size_t uxTimerIncrementsForOneTick = ( size_t ) ( ( configCPU_CLOCK_HZ ) / ( configTICK_RATE_HZ ) ); /* Assumes increment won't go over 32-bits. */ const size_t uxTimerIncrementsForOneTick = ( size_t ) ( ( configCPU_CLOCK_HZ ) / ( configTICK_RATE_HZ ) ); /* Assumes increment won't go over 32-bits. */
uint32_t const ullMachineTimerCompareRegisterBase = configMTIMECMP_BASE_ADDRESS; uint32_t const ullMachineTimerCompareRegisterBase = configMTIMECMP_BASE_ADDRESS;
volatile uint64_t * pullMachineTimerCompareRegister = NULL; volatile uint64_t * pullMachineTimerCompareRegister = NULL;
/* Holds the critical nesting value - deliberately non-zero at start up to
* ensure interrupts are not accidentally enabled before the scheduler starts. */
size_t xCriticalNesting = ( size_t ) 0xaaaaaaaa;
size_t * pxCriticalNesting = &xCriticalNesting;
/* Used to catch tasks that attempt to return from their implementing function. */
size_t xTaskReturnAddress = ( size_t ) portTASK_RETURN_ADDRESS;
/* Set configCHECK_FOR_STACK_OVERFLOW to 3 to add ISR stack checking to task /* Set configCHECK_FOR_STACK_OVERFLOW to 3 to add ISR stack checking to task
stack checking. A problem in the ISR stack will trigger an assert, not call the * stack checking. A problem in the ISR stack will trigger an assert, not call
stack overflow hook function (because the stack overflow hook is specific to a * the stack overflow hook function (because the stack overflow hook is specific
task stack, not the ISR stack). */ * to a task stack, not the ISR stack). */
#if defined( configISR_STACK_SIZE_WORDS ) && ( configCHECK_FOR_STACK_OVERFLOW > 2 ) #if defined( configISR_STACK_SIZE_WORDS ) && ( configCHECK_FOR_STACK_OVERFLOW > 2 )
#warning This path not tested, or even compiled yet. #warning This path not tested, or even compiled yet.
static const uint8_t ucExpectedStackBytes[] = { static const uint8_t ucExpectedStackBytes[] =
portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, \ {
portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, \ portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, \
portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, \ portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, \
portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, \ portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, \
portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE }; \ portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, \
portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE
}; \
#define portCHECK_ISR_STACK() configASSERT( ( memcmp( ( void * ) xISRStack, ( void * ) ucExpectedStackBytes, sizeof( ucExpectedStackBytes ) ) == 0 ) ) #define portCHECK_ISR_STACK() configASSERT( ( memcmp( ( void * ) xISRStack, ( void * ) ucExpectedStackBytes, sizeof( ucExpectedStackBytes ) ) == 0 ) )
#else #else /* if defined( configISR_STACK_SIZE_WORDS ) && ( configCHECK_FOR_STACK_OVERFLOW > 2 ) */
/* Define the function away. */ /* Define the function away. */
#define portCHECK_ISR_STACK() #define portCHECK_ISR_STACK()
#endif /* configCHECK_FOR_STACK_OVERFLOW > 2 */ #endif /* configCHECK_FOR_STACK_OVERFLOW > 2 */
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
#if( configMTIME_BASE_ADDRESS != 0 ) && ( configMTIMECMP_BASE_ADDRESS != 0 ) static void prvTaskExitError( void )
{
volatile uint32_t ulDummy = 0UL;
void vPortSetupTimerInterrupt( void ) /* 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
uint32_t ulCurrentTimeHigh, ulCurrentTimeLow; * should instead call vTaskDelete( NULL ). Artificially force an assert()
volatile uint32_t * const pulTimeHigh = ( uint32_t * ) ( ( configMTIME_BASE_ADDRESS ) + 4UL ); /* 8-byte typer so high 32-bit word is 4 bytes up. */ * to be triggered if configASSERT() is defined, then stop here so
volatile uint32_t * const pulTimeLow = ( uint32_t * ) ( configMTIME_BASE_ADDRESS ); * application writers can catch the error. */
volatile uint32_t ulHartId; configASSERT( xCriticalNesting == ~0UL );
portDISABLE_INTERRUPTS();
__asm volatile( "csrr %0, 0xf14" : "=r"( ulHartId ) ); /* 0xf14 is hartid. */ while( ulDummy == 0 )
pullMachineTimerCompareRegister = ( volatile uint64_t * ) ( ullMachineTimerCompareRegisterBase + ( ulHartId * sizeof( uint64_t ) ) ); {
/* 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. */
}
}
/*-----------------------------------------------------------*/
do #if ( configMTIME_BASE_ADDRESS != 0 ) && ( configMTIMECMP_BASE_ADDRESS != 0 )
{
ulCurrentTimeHigh = *pulTimeHigh;
ulCurrentTimeLow = *pulTimeLow;
} while( ulCurrentTimeHigh != *pulTimeHigh );
ullNextTime = ( uint64_t ) ulCurrentTimeHigh; void vPortSetupTimerInterrupt( void )
ullNextTime <<= 32ULL; /* High 4-byte word is 32-bits up. */ {
ullNextTime |= ( uint64_t ) ulCurrentTimeLow; uint32_t ulCurrentTimeHigh, ulCurrentTimeLow;
ullNextTime += ( uint64_t ) uxTimerIncrementsForOneTick; volatile uint32_t * const pulTimeHigh = ( uint32_t * ) ( ( configMTIME_BASE_ADDRESS ) + 4UL ); /* 8-byte type so high 32-bit word is 4 bytes up. */
*pullMachineTimerCompareRegister = ullNextTime; volatile uint32_t * const pulTimeLow = ( uint32_t * ) ( configMTIME_BASE_ADDRESS );
volatile uint32_t ulHartId;
/* Prepare the time to use after the next tick interrupt. */ __asm volatile ( "csrr %0, 0xf14" : "=r" ( ulHartId ) ); /* 0xf14 is hartid. */
ullNextTime += ( uint64_t ) uxTimerIncrementsForOneTick;
} pullMachineTimerCompareRegister = ( volatile uint64_t * ) ( ullMachineTimerCompareRegisterBase + ( ulHartId * sizeof( uint64_t ) ) );
do
{
ulCurrentTimeHigh = *pulTimeHigh;
ulCurrentTimeLow = *pulTimeLow;
} while( ulCurrentTimeHigh != *pulTimeHigh );
ullNextTime = ( uint64_t ) ulCurrentTimeHigh;
ullNextTime <<= 32ULL; /* High 4-byte word is 32-bits up. */
ullNextTime |= ( uint64_t ) ulCurrentTimeLow;
ullNextTime += ( uint64_t ) uxTimerIncrementsForOneTick;
*pullMachineTimerCompareRegister = ullNextTime;
/* Prepare the time to use after the next tick interrupt. */
ullNextTime += ( uint64_t ) uxTimerIncrementsForOneTick;
}
#endif /* ( configMTIME_BASE_ADDRESS != 0 ) && ( configMTIME_BASE_ADDRESS != 0 ) */ #endif /* ( configMTIME_BASE_ADDRESS != 0 ) && ( configMTIME_BASE_ADDRESS != 0 ) */
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
BaseType_t xPortStartScheduler( void ) BaseType_t xPortStartScheduler( void )
{ {
extern void xPortStartFirstTask( void ); extern void xPortStartFirstTask( void );
#if( configASSERT_DEFINED == 1 ) #if ( configASSERT_DEFINED == 1 )
{ {
volatile uint32_t mtvec = 0; /* Check alignment of the interrupt stack - which is the same as the
* stack that was being used by main() prior to the scheduler being
* started. */
configASSERT( ( xISRStackTop & portBYTE_ALIGNMENT_MASK ) == 0 );
/* Check the least significant two bits of mtvec are 00 - indicating #ifdef configISR_STACK_SIZE_WORDS
single vector mode. */ {
__asm volatile( "csrr %0, 0x305" : "=r"( mtvec ) ); /* 0x305 is mtvec. */ memset( ( void * ) xISRStack, portISR_STACK_FILL_BYTE, sizeof( xISRStack ) );
configASSERT( ( mtvec & 0x03UL ) == 0 ); }
#endif /* configISR_STACK_SIZE_WORDS */
}
#endif /* configASSERT_DEFINED */
/* Check alignment of the interrupt stack - which is the same as the /* If there is a CLINT then it is ok to use the default implementation
stack that was being used by main() prior to the scheduler being * in this file, otherwise vPortSetupTimerInterrupt() must be implemented to
started. */ * configure whichever clock is to be used to generate the tick interrupt. */
configASSERT( ( xISRStackTop & portBYTE_ALIGNMENT_MASK ) == 0 ); vPortSetupTimerInterrupt();
#ifdef configISR_STACK_SIZE_WORDS #if ( ( configMTIME_BASE_ADDRESS != 0 ) && ( configMTIMECMP_BASE_ADDRESS != 0 ) )
{ {
memset( ( void * ) xISRStack, portISR_STACK_FILL_BYTE, sizeof( xISRStack ) ); /* Enable mtime and external interrupts. 1<<7 for timer interrupt,
} * 1<<11 for external interrupt. _RB_ What happens here when mtime is
#endif /* configISR_STACK_SIZE_WORDS */ * not present as with pulpino? */
} __asm volatile ( "csrs 0x304, %0" ::"r" ( 0x880 ) ); /* 0x304 is mie. */
#endif /* configASSERT_DEFINED */ }
#endif /* ( configMTIME_BASE_ADDRESS != 0 ) && ( configMTIMECMP_BASE_ADDRESS != 0 ) */
/* If there is a CLINT then it is ok to use the default implementation xPortStartFirstTask();
in this file, otherwise vPortSetupTimerInterrupt() must be implemented to
configure whichever clock is to be used to generate the tick interrupt. */
vPortSetupTimerInterrupt();
#if( ( configMTIME_BASE_ADDRESS != 0 ) && ( configMTIMECMP_BASE_ADDRESS != 0 ) ) /* Should not get here as after calling xPortStartFirstTask() only tasks
{ * should be executing. */
/* Enable mtime and external interrupts. 1<<7 for timer interrupt, 1<<11 return pdFAIL;
for external interrupt. _RB_ What happens here when mtime is not present as
with pulpino? */
__asm volatile( "csrs 0x304, %0" :: "r"(0x880) ); /* 0x304 is mie. */
}
#else
{
/* Enable external interrupts. */
__asm volatile( "csrs 0x304, %0" :: "r"(0x800) ); /* 304 is mie. */
}
#endif /* ( configMTIME_BASE_ADDRESS != 0 ) && ( configMTIMECMP_BASE_ADDRESS != 0 ) */
xPortStartFirstTask();
/* Should not get here as after calling xPortStartFirstTask() only tasks
should be executing. */
return pdFAIL;
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void vPortEndScheduler( void ) void vPortEndScheduler( void )
{ {
/* Not implemented. */ /* Not implemented. */
for( ;; ); for( ; ; )
{
}
} }
/*-----------------------------------------------------------*/

533
portable/IAR/RISC-V/portASM.s
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@ -56,43 +56,27 @@
* registers. * registers.
* *
*/ */
#if __riscv_xlen == 64
#define portWORD_SIZE 8
#define store_x sd
#define load_x ld
#elif __riscv_xlen == 32
#define store_x sw
#define load_x lw
#define portWORD_SIZE 4
#else
#error Assembler did not define __riscv_xlen
#endif
#include "freertos_risc_v_chip_specific_extensions.h" #include "portContext.h"
/* Check the freertos_risc_v_chip_specific_extensions.h and/or command line /* Check the freertos_risc_v_chip_specific_extensions.h and/or command line
definitions. */ definitions. */
#if defined( portasmHAS_CLINT ) && defined( portasmHAS_MTIME ) #if defined( portasmHAS_CLINT ) && defined( portasmHAS_MTIME )
#error The portasmHAS_CLINT constant has been deprecated. Please replace it with portasmHAS_MTIME. portasmHAS_CLINT and portasmHAS_MTIME cannot both be defined at once. See https://www.FreeRTOS.org/Using-FreeRTOS-on-RISC-V.html #error The portasmHAS_CLINT constant has been deprecated. Please replace it with portasmHAS_MTIME. portasmHAS_CLINT and portasmHAS_MTIME cannot both be defined at once. See https://www.FreeRTOS.org/Using-FreeRTOS-on-RISC-V.html
#endif #endif
#ifdef portasmHAS_CLINT #ifdef portasmHAS_CLINT
#warning The portasmHAS_CLINT constant has been deprecated. Please replace it with portasmHAS_MTIME and portasmHAS_SIFIVE_CLINT. For now portasmHAS_MTIME and portasmHAS_SIFIVE_CLINT are derived from portasmHAS_CLINT. See https://www.FreeRTOS.org/Using-FreeRTOS-on-RISC-V.html #warning The portasmHAS_CLINT constant has been deprecated. Please replace it with portasmHAS_MTIME and portasmHAS_SIFIVE_CLINT. For now portasmHAS_MTIME and portasmHAS_SIFIVE_CLINT are derived from portasmHAS_CLINT. See https://www.FreeRTOS.org/Using-FreeRTOS-on-RISC-V.html
#define portasmHAS_MTIME portasmHAS_CLINT #define portasmHAS_MTIME portasmHAS_CLINT
#define portasmHAS_SIFIVE_CLINT portasmHAS_CLINT #define portasmHAS_SIFIVE_CLINT portasmHAS_CLINT
#endif #endif
#ifndef portasmHAS_MTIME #ifndef portasmHAS_MTIME
#error freertos_risc_v_chip_specific_extensions.h must define portasmHAS_MTIME to either 1 (MTIME clock present) or 0 (MTIME clock not present). See https://www.FreeRTOS.org/Using-FreeRTOS-on-RISC-V.html #error freertos_risc_v_chip_specific_extensions.h must define portasmHAS_MTIME to either 1 (MTIME clock present) or 0 (MTIME clock not present). See https://www.FreeRTOS.org/Using-FreeRTOS-on-RISC-V.html
#endif #endif
#ifndef portasmHANDLE_INTERRUPT
#error portasmHANDLE_INTERRUPT must be defined to the function to be called to handle external/peripheral interrupts. portasmHANDLE_INTERRUPT can be defined on the assembler command line or in the appropriate freertos_risc_v_chip_specific_extensions.h header file. https://www.FreeRTOS.org/Using-FreeRTOS-on-RISC-V.html
#endif
#ifndef portasmHAS_SIFIVE_CLINT #ifndef portasmHAS_SIFIVE_CLINT
#define portasmHAS_SIFIVE_CLINT 0 #define portasmHAS_SIFIVE_CLINT 0
#endif #endif
/* CSR definitions. */ /* CSR definitions. */
@ -101,260 +85,60 @@ definitions. */
#define CSR_MEPC 0x341 #define CSR_MEPC 0x341
#define CSR_MCAUSE 0x342 #define CSR_MCAUSE 0x342
/* Only the standard core registers are stored by default. Any additional
registers must be saved by the portasmSAVE_ADDITIONAL_REGISTERS and
portasmRESTORE_ADDITIONAL_REGISTERS macros - which can be defined in a chip
specific version of freertos_risc_v_chip_specific_extensions.h. See the notes
at the top of this file. */
#define portCONTEXT_SIZE ( 30 * portWORD_SIZE )
PUBLIC xPortStartFirstTask PUBLIC xPortStartFirstTask
PUBLIC freertos_risc_v_trap_handler
PUBLIC pxPortInitialiseStack PUBLIC pxPortInitialiseStack
EXTERN pxCurrentTCB PUBLIC freertos_risc_v_trap_handler
EXTERN ulPortTrapHandler PUBLIC freertos_risc_v_exception_handler
PUBLIC freertos_risc_v_interrupt_handler
PUBLIC freertos_risc_v_mtimer_interrupt_handler
EXTERN vTaskSwitchContext EXTERN vTaskSwitchContext
EXTERN xTaskIncrementTick EXTERN xTaskIncrementTick
EXTERN Timer_IRQHandler
EXTERN pullMachineTimerCompareRegister EXTERN pullMachineTimerCompareRegister
EXTERN pullNextTime EXTERN pullNextTime
EXTERN uxTimerIncrementsForOneTick /* size_t type so 32-bit on 32-bit core and 64-bits on 64-bit core. */ EXTERN uxTimerIncrementsForOneTick /* size_t type so 32-bit on 32-bit core and 64-bits on 64-bit core. */
EXTERN xISRStackTop EXTERN xTaskReturnAddress
EXTERN portasmHANDLE_INTERRUPT
PUBWEAK freertos_risc_v_application_exception_handler
PUBWEAK freertos_risc_v_application_interrupt_handler
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
SECTION `.text`:CODE:NOROOT(2) SECTION `.text`:CODE:NOROOT(2)
CODE CODE
freertos_risc_v_trap_handler: portUPDATE_MTIMER_COMPARE_REGISTER MACRO
addi sp, sp, -portCONTEXT_SIZE load_x t0, pullMachineTimerCompareRegister /* Load address of compare register into t0. */
store_x x1, 1 * portWORD_SIZE( sp ) load_x t1, pullNextTime /* Load the address of ullNextTime into t1. */
store_x x5, 2 * portWORD_SIZE( sp )
store_x x6, 3 * portWORD_SIZE( sp )
store_x x7, 4 * portWORD_SIZE( sp )
store_x x8, 5 * portWORD_SIZE( sp )
store_x x9, 6 * portWORD_SIZE( sp )
store_x x10, 7 * portWORD_SIZE( sp )
store_x x11, 8 * portWORD_SIZE( sp )
store_x x12, 9 * portWORD_SIZE( sp )
store_x x13, 10 * portWORD_SIZE( sp )
store_x x14, 11 * portWORD_SIZE( sp )
store_x x15, 12 * portWORD_SIZE( sp )
store_x x16, 13 * portWORD_SIZE( sp )
store_x x17, 14 * portWORD_SIZE( sp )
store_x x18, 15 * portWORD_SIZE( sp )
store_x x19, 16 * portWORD_SIZE( sp )
store_x x20, 17 * portWORD_SIZE( sp )
store_x x21, 18 * portWORD_SIZE( sp )
store_x x22, 19 * portWORD_SIZE( sp )
store_x x23, 20 * portWORD_SIZE( sp )
store_x x24, 21 * portWORD_SIZE( sp )
store_x x25, 22 * portWORD_SIZE( sp )
store_x x26, 23 * portWORD_SIZE( sp )
store_x x27, 24 * portWORD_SIZE( sp )
store_x x28, 25 * portWORD_SIZE( sp )
store_x x29, 26 * portWORD_SIZE( sp )
store_x x30, 27 * portWORD_SIZE( sp )
store_x x31, 28 * portWORD_SIZE( sp )
csrr t0, CSR_MSTATUS /* Required for MPIE bit. */ #if( __riscv_xlen == 32 )
store_x t0, 29 * portWORD_SIZE( sp )
portasmSAVE_ADDITIONAL_REGISTERS /* Defined in freertos_risc_v_chip_specific_extensions.h to save any registers unique to the RISC-V implementation. */ /* Update the 64-bit mtimer compare match value in two 32-bit writes. */
li t4, -1
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 t4, 0(t0) /* Low word no smaller than old value to start with - will be overwritten below. */
sw t3, 4(t0) /* Store high word of ullNextTime into compare register. No smaller than new value. */
sw t2, 0(t0) /* Store low word of ullNextTime into compare register. */
lw t0, uxTimerIncrementsForOneTick /* 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. */
load_x t0, pxCurrentTCB /* Load pxCurrentTCB. */ #endif /* __riscv_xlen == 32 */
store_x sp, 0( t0 ) /* Write sp to first TCB member. */
csrr a0, CSR_MCAUSE #if( __riscv_xlen == 64 )
csrr a1, CSR_MEPC
test_if_asynchronous: /* Update the 64-bit mtimer compare match value. */
srli a2, a0, __riscv_xlen - 1 /* MSB of mcause is 1 if handing an asynchronous interrupt - shift to LSB to clear other bits. */ ld t2, 0(t1) /* Load ullNextTime into t2. */
beq a2, x0, handle_synchronous /* Branch past interrupt handing if not asynchronous. */ sd t2, 0(t0) /* Store ullNextTime into compare register. */
store_x a1, 0( sp ) /* Asynch so save unmodified exception return address. */ ld t0, uxTimerIncrementsForOneTick /* Load the value of ullTimerIncrementForOneTick into t0 (could this be optimized by storing in an array next to pullNextTime?). */
add t4, t0, t2 /* Add ullNextTime to the timer increments for one tick. */
handle_asynchronous: sd t4, 0(t1) /* Store ullNextTime. */
#if( portasmHAS_MTIME != 0 )
test_if_mtimer: /* If there is a CLINT then the mtimer is used to generate the tick interrupt. */
addi t0, x0, 1
slli t0, t0, __riscv_xlen - 1 /* LSB is already set, shift into MSB. Shift 31 on 32-bit or 63 on 64-bit cores. */
addi t1, t0, 7 /* 0x8000[]0007 == machine timer interrupt. */
bne a0, t1, test_if_external_interrupt
load_x t0, pullMachineTimerCompareRegister /* Load address of compare register into t0. */
load_x t1, pullNextTime /* Load the address of ullNextTime into t1. */
#if( __riscv_xlen == 32 )
/* Update the 64-bit mtimer compare match value in two 32-bit writes. */
li t4, -1
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 t4, 0(t0) /* Low word no smaller than old value to start with - will be overwritten below. */
sw t3, 4(t0) /* Store high word of ullNextTime into compare register. No smaller than new value. */
sw t2, 0(t0) /* Store low word of ullNextTime into compare register. */
lw t0, uxTimerIncrementsForOneTick /* 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. */
#endif /* __riscv_xlen == 32 */
#if( __riscv_xlen == 64 )
/* Update the 64-bit mtimer compare match value. */
ld t2, 0(t1) /* Load ullNextTime into t2. */
sd t2, 0(t0) /* Store ullNextTime into compare register. */
ld t0, uxTimerIncrementsForOneTick /* Load the value of ullTimerIncrementForOneTick into t0 (could this be optimized by storing in an array next to pullNextTime?). */
add t4, t0, t2 /* Add ullNextTime to the timer increments for one tick. */
sd t4, 0(t1) /* Store ullNextTime. */
#endif /* __riscv_xlen == 64 */
load_x sp, xISRStackTop /* Switch to ISR stack before function call. */
jal xTaskIncrementTick
beqz a0, processed_source /* Don't switch context if incrementing tick didn't unblock a task. */
jal vTaskSwitchContext
j processed_source
test_if_external_interrupt: /* If there is a CLINT and the mtimer interrupt is not pending then check to see if an external interrupt is pending. */
addi t1, t1, 4 /* 0x80000007 + 4 = 0x8000000b == Machine external interrupt. */
bne a0, t1, as_yet_unhandled /* Something as yet unhandled. */
#endif /* portasmHAS_MTIME */
load_x sp, xISRStackTop /* Switch to ISR stack before function call. */
jal portasmHANDLE_INTERRUPT /* Jump to the interrupt handler if there is no CLINT or if there is a CLINT and it has been determined that an external interrupt is pending. */
j processed_source
handle_synchronous:
addi a1, a1, 4 /* Synchronous so updated exception return address to the instruction after the instruction that generated the exeption. */
store_x a1, 0( sp ) /* Save updated exception return address. */
test_if_environment_call:
li t0, 11 /* 11 == environment call. */
bne a0, t0, is_exception /* Not an M environment call, so some other exception. */
load_x sp, xISRStackTop /* Switch to ISR stack before function call. */
jal vTaskSwitchContext
j processed_source
is_exception:
csrr t0, CSR_MCAUSE /* For viewing in the debugger only. */
csrr t1, CSR_MEPC /* For viewing in the debugger only */
csrr t2, CSR_MSTATUS
j is_exception /* No other exceptions handled yet. */
as_yet_unhandled:
csrr t0, mcause /* For viewing in the debugger only. */
j as_yet_unhandled
processed_source:
load_x t1, pxCurrentTCB /* Load pxCurrentTCB. */
load_x sp, 0( t1 ) /* Read sp from first TCB member. */
/* Load mret with the address of the next instruction in the task to run next. */
load_x t0, 0( sp )
csrw CSR_MEPC, t0
portasmRESTORE_ADDITIONAL_REGISTERS /* Defined in freertos_risc_v_chip_specific_extensions.h to restore any registers unique to the RISC-V implementation. */
/* Load mstatus with the interrupt enable bits used by the task. */
load_x t0, 29 * portWORD_SIZE( sp )
csrw CSR_MSTATUS, t0 /* Required for MPIE bit. */
load_x x1, 1 * portWORD_SIZE( sp )
load_x x5, 2 * portWORD_SIZE( sp ) /* t0 */
load_x x6, 3 * portWORD_SIZE( sp ) /* t1 */
load_x x7, 4 * portWORD_SIZE( sp ) /* t2 */
load_x x8, 5 * portWORD_SIZE( sp ) /* s0/fp */
load_x x9, 6 * portWORD_SIZE( sp ) /* s1 */
load_x x10, 7 * portWORD_SIZE( sp ) /* a0 */
load_x x11, 8 * portWORD_SIZE( sp ) /* a1 */
load_x x12, 9 * portWORD_SIZE( sp ) /* a2 */
load_x x13, 10 * portWORD_SIZE( sp ) /* a3 */
load_x x14, 11 * portWORD_SIZE( sp ) /* a4 */
load_x x15, 12 * portWORD_SIZE( sp ) /* a5 */
load_x x16, 13 * portWORD_SIZE( sp ) /* a6 */
load_x x17, 14 * portWORD_SIZE( sp ) /* a7 */
load_x x18, 15 * portWORD_SIZE( sp ) /* s2 */
load_x x19, 16 * portWORD_SIZE( sp ) /* s3 */
load_x x20, 17 * portWORD_SIZE( sp ) /* s4 */
load_x x21, 18 * portWORD_SIZE( sp ) /* s5 */
load_x x22, 19 * portWORD_SIZE( sp ) /* s6 */
load_x x23, 20 * portWORD_SIZE( sp ) /* s7 */
load_x x24, 21 * portWORD_SIZE( sp ) /* s8 */
load_x x25, 22 * portWORD_SIZE( sp ) /* s9 */
load_x x26, 23 * portWORD_SIZE( sp ) /* s10 */
load_x x27, 24 * portWORD_SIZE( sp ) /* s11 */
load_x x28, 25 * portWORD_SIZE( sp ) /* t3 */
load_x x29, 26 * portWORD_SIZE( sp ) /* t4 */
load_x x30, 27 * portWORD_SIZE( sp ) /* t5 */
load_x x31, 28 * portWORD_SIZE( sp ) /* t6 */
addi sp, sp, portCONTEXT_SIZE
mret
/*-----------------------------------------------------------*/
xPortStartFirstTask:
#if( portasmHAS_SIFIVE_CLINT != 0 )
/* If there is a clint then interrupts can branch directly to the FreeRTOS
trap handler. Otherwise the interrupt controller will need to be configured
outside of this file. */
la t0, freertos_risc_v_trap_handler
csrw CSR_MTVEC, t0
#endif /* portasmHAS_CLILNT */
load_x sp, pxCurrentTCB /* Load pxCurrentTCB. */
load_x sp, 0( sp ) /* Read sp from first TCB member. */
load_x x1, 0( sp ) /* Note for starting the scheduler the exception return address is used as the function return address. */
portasmRESTORE_ADDITIONAL_REGISTERS /* Defined in freertos_risc_v_chip_specific_extensions.h to restore any registers unique to the RISC-V implementation. */
load_x x6, 3 * portWORD_SIZE( sp ) /* t1 */
load_x x7, 4 * portWORD_SIZE( sp ) /* t2 */
load_x x8, 5 * portWORD_SIZE( sp ) /* s0/fp */
load_x x9, 6 * portWORD_SIZE( sp ) /* s1 */
load_x x10, 7 * portWORD_SIZE( sp ) /* a0 */
load_x x11, 8 * portWORD_SIZE( sp ) /* a1 */
load_x x12, 9 * portWORD_SIZE( sp ) /* a2 */
load_x x13, 10 * portWORD_SIZE( sp ) /* a3 */
load_x x14, 11 * portWORD_SIZE( sp ) /* a4 */
load_x x15, 12 * portWORD_SIZE( sp ) /* a5 */
load_x x16, 13 * portWORD_SIZE( sp ) /* a6 */
load_x x17, 14 * portWORD_SIZE( sp ) /* a7 */
load_x x18, 15 * portWORD_SIZE( sp ) /* s2 */
load_x x19, 16 * portWORD_SIZE( sp ) /* s3 */
load_x x20, 17 * portWORD_SIZE( sp ) /* s4 */
load_x x21, 18 * portWORD_SIZE( sp ) /* s5 */
load_x x22, 19 * portWORD_SIZE( sp ) /* s6 */
load_x x23, 20 * portWORD_SIZE( sp ) /* s7 */
load_x x24, 21 * portWORD_SIZE( sp ) /* s8 */
load_x x25, 22 * portWORD_SIZE( sp ) /* s9 */
load_x x26, 23 * portWORD_SIZE( sp ) /* s10 */
load_x x27, 24 * portWORD_SIZE( sp ) /* s11 */
load_x x28, 25 * portWORD_SIZE( sp ) /* t3 */
load_x x29, 26 * portWORD_SIZE( sp ) /* t4 */
load_x x30, 27 * portWORD_SIZE( sp ) /* t5 */
load_x x31, 28 * portWORD_SIZE( sp ) /* t6 */
load_x x5, 29 * portWORD_SIZE( sp ) /* Initial mstatus into x5 (t0) */
addi x5, x5, 0x08 /* Set MIE bit so the first task starts with interrupts enabled - required as returns with ret not eret. */
csrrw x0, CSR_MSTATUS, x5 /* Interrupts enabled from here! */
load_x x5, 2 * portWORD_SIZE( sp ) /* Initial x5 (t0) value. */
addi sp, sp, portCONTEXT_SIZE
ret
#endif /* __riscv_xlen == 64 */
ENDM
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* /*
@ -369,25 +153,26 @@ xPortStartFirstTask:
* RISC-V maps registers to ABI names as follows (X1 to X31 integer registers * 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). * for the 'I' profile, X1 to X15 for the 'E' profile, currently I assumed).
* *
* Register ABI Name Description Saver * Register ABI Name Description Saver
* x0 zero Hard-wired zero - * x0 zero Hard-wired zero -
* x1 ra Return address Caller * x1 ra Return address Caller
* x2 sp Stack pointer Callee * x2 sp Stack pointer Callee
* x3 gp Global pointer - * x3 gp Global pointer -
* x4 tp Thread pointer - * x4 tp Thread pointer -
* x5-7 t0-2 Temporaries Caller * x5-7 t0-2 Temporaries Caller
* x8 s0/fp Saved register/Frame pointer Callee * x8 s0/fp Saved register/Frame pointer Callee
* x9 s1 Saved register Callee * x9 s1 Saved register Callee
* x10-11 a0-1 Function Arguments/return values Caller * x10-11 a0-1 Function Arguments/return values Caller
* x12-17 a2-7 Function arguments Caller * x12-17 a2-7 Function arguments Caller
* x18-27 s2-11 Saved registers Callee * x18-27 s2-11 Saved registers Callee
* x28-31 t3-6 Temporaries Caller * x28-31 t3-6 Temporaries Caller
* *
* The RISC-V context is saved t FreeRTOS tasks in the following stack frame, * The RISC-V context is saved t FreeRTOS tasks in the following stack frame,
* where the global and thread pointers are currently assumed to be constant so * where the global and thread pointers are currently assumed to be constant so
* are not saved: * are not saved:
* *
* mstatus * mstatus
* xCriticalNesting
* x31 * x31
* x30 * x30
* x29 * x29
@ -420,29 +205,189 @@ xPortStartFirstTask:
* pxCode * pxCode
*/ */
pxPortInitialiseStack: pxPortInitialiseStack:
csrr t0, CSR_MSTATUS /* Obtain current mstatus value. */
andi t0, t0, ~0x8 /* Ensure interrupts are disabled when the stack is restored within an ISR. Required when a task is created after the schedulre has been started, otherwise interrupts would be disabled anyway. */
addi t1, x0, 0x188 /* Generate the value 0x1880, which are the MPIE and MPP bits to set in mstatus. */
slli t1, t1, 4
or t0, t0, t1 /* Set MPIE and MPP bits in mstatus value. */
csrr t0, CSR_MSTATUS /* Obtain current mstatus value. */ addi a0, a0, -portWORD_SIZE
andi t0, t0, ~0x8 /* Ensure interrupts are disabled when the stack is restored within an ISR. Required when a task is created after the schedulre has been started, otherwise interrupts would be disabled anyway. */ store_x t0, 0(a0) /* mstatus onto the stack. */
addi t1, x0, 0x188 /* Generate the value 0x1880, which are the MPIE and MPP bits to set in mstatus. */ addi a0, a0, -portWORD_SIZE /* Space for critical nesting count. */
slli t1, t1, 4 store_x x0, 0(a0) /* Critical nesting count starts at 0 for every task. */
or t0, t0, t1 /* Set MPIE and MPP bits in mstatus value. */ addi a0, a0, -(22 * portWORD_SIZE) /* Space for registers x11-x31. */
store_x a2, 0(a0) /* Task parameters (pvParameters parameter) goes into register X10/a0 on the stack. */
addi a0, a0, -portWORD_SIZE addi a0, a0, -(6 * portWORD_SIZE) /* Space for registers x5-x9. */
store_x t0, 0(a0) /* mstatus onto the stack. */ load_x t0, xTaskReturnAddress
addi a0, a0, -(22 * portWORD_SIZE) /* Space for registers x11-x31. */ store_x t0, 0(a0) /* Return address onto the stack. */
store_x a2, 0(a0) /* Task parameters (pvParameters parameter) goes into register X10/a0 on the stack. */ addi t0, x0, portasmADDITIONAL_CONTEXT_SIZE /* The number of chip specific additional registers. */
addi a0, a0, -(6 * portWORD_SIZE) /* Space for registers x5-x9. */ chip_specific_stack_frame: /* First add any chip specific registers to the stack frame being created. */
store_x x0, 0(a0) /* Return address onto the stack, could be portTASK_RETURN_ADDRESS */ beq t0, x0, no_more_regs /* No more chip specific registers to save. */
addi t0, x0, portasmADDITIONAL_CONTEXT_SIZE /* The number of chip specific additional registers. */ addi a0, a0, -portWORD_SIZE /* Make space for chip specific register. */
chip_specific_stack_frame: /* First add any chip specific registers to the stack frame being created. */ store_x x0, 0(a0) /* Give the chip specific register an initial value of zero. */
beq t0, x0, no_more_regs /* No more chip specific registers to save. */ addi t0, t0, -1 /* Decrement the count of chip specific registers remaining. */
addi a0, a0, -portWORD_SIZE /* Make space for chip specific register. */ j chip_specific_stack_frame /* Until no more chip specific registers. */
store_x x0, 0(a0) /* Give the chip specific register an initial value of zero. */
addi t0, t0, -1 /* Decrement the count of chip specific registers remaining. */
j chip_specific_stack_frame /* Until no more chip specific registers. */
no_more_regs: no_more_regs:
addi a0, a0, -portWORD_SIZE addi a0, a0, -portWORD_SIZE
store_x a1, 0(a0) /* mret value (pxCode parameter) onto the stack. */ store_x a1, 0(a0) /* mret value (pxCode parameter) onto the stack. */
ret ret
/*-----------------------------------------------------------*/
xPortStartFirstTask:
load_x sp, pxCurrentTCB /* Load pxCurrentTCB. */
load_x sp, 0( sp ) /* Read sp from first TCB member. */
load_x x1, 0( sp ) /* Note for starting the scheduler the exception return address is used as the function return address. */
portasmRESTORE_ADDITIONAL_REGISTERS /* Defined in freertos_risc_v_chip_specific_extensions.h to restore any registers unique to the RISC-V implementation. */
load_x x7, 4 * portWORD_SIZE( sp ) /* t2 */
load_x x8, 5 * portWORD_SIZE( sp ) /* s0/fp */
load_x x9, 6 * portWORD_SIZE( sp ) /* s1 */
load_x x10, 7 * portWORD_SIZE( sp ) /* a0 */
load_x x11, 8 * portWORD_SIZE( sp ) /* a1 */
load_x x12, 9 * portWORD_SIZE( sp ) /* a2 */
load_x x13, 10 * portWORD_SIZE( sp ) /* a3 */
load_x x14, 11 * portWORD_SIZE( sp ) /* a4 */
load_x x15, 12 * portWORD_SIZE( sp ) /* a5 */
load_x x16, 13 * portWORD_SIZE( sp ) /* a6 */
load_x x17, 14 * portWORD_SIZE( sp ) /* a7 */
load_x x18, 15 * portWORD_SIZE( sp ) /* s2 */
load_x x19, 16 * portWORD_SIZE( sp ) /* s3 */
load_x x20, 17 * portWORD_SIZE( sp ) /* s4 */
load_x x21, 18 * portWORD_SIZE( sp ) /* s5 */
load_x x22, 19 * portWORD_SIZE( sp ) /* s6 */
load_x x23, 20 * portWORD_SIZE( sp ) /* s7 */
load_x x24, 21 * portWORD_SIZE( sp ) /* s8 */
load_x x25, 22 * portWORD_SIZE( sp ) /* s9 */
load_x x26, 23 * portWORD_SIZE( sp ) /* s10 */
load_x x27, 24 * portWORD_SIZE( sp ) /* s11 */
load_x x28, 25 * portWORD_SIZE( sp ) /* t3 */
load_x x29, 26 * portWORD_SIZE( sp ) /* t4 */
load_x x30, 27 * portWORD_SIZE( sp ) /* t5 */
load_x x31, 28 * portWORD_SIZE( sp ) /* t6 */
load_x x5, 29 * portWORD_SIZE( sp ) /* Obtain xCriticalNesting value for this task from task's stack. */
load_x x6, pxCriticalNesting /* Load the address of xCriticalNesting into x6. */
store_x x5, 0( x6 ) /* Restore the critical nesting value for this task. */
load_x x5, 30 * portWORD_SIZE( sp ) /* Initial mstatus into x5 (t0). */
addi x5, x5, 0x08 /* Set MIE bit so the first task starts with interrupts enabled - required as returns with ret not eret. */
csrrw x0, CSR_MSTATUS, x5 /* Interrupts enabled from here! */
load_x x5, 2 * portWORD_SIZE( sp ) /* Initial x5 (t0) value. */
load_x x6, 3 * portWORD_SIZE( sp ) /* Initial x6 (t1) value. */
addi sp, sp, portCONTEXT_SIZE
ret
/*-----------------------------------------------------------*/
freertos_risc_v_application_exception_handler:
csrr t0, CSR_MCAUSE /* For viewing in the debugger only. */
csrr t1, CSR_MEPC /* For viewing in the debugger only */
csrr t2, CSR_MSTATUS /* For viewing in the debugger only */
j $
/*-----------------------------------------------------------*/
freertos_risc_v_application_interrupt_handler:
csrr t0, CSR_MCAUSE /* For viewing in the debugger only. */
csrr t1, CSR_MEPC /* For viewing in the debugger only */
csrr t2, CSR_MSTATUS /* For viewing in the debugger only */
j $
/*-----------------------------------------------------------*/
SECTION `.text.freertos_risc_v_exception_handler`:CODE:NOROOT(2)
CODE
freertos_risc_v_exception_handler:
portcontextSAVE_EXCEPTION_CONTEXT
/* a0 now contains mcause. */
li t0, 11 /* 11 == environment call. */
bne a0, t0, other_exception /* Not an M environment call, so some other exception. */
call vTaskSwitchContext
portcontextRESTORE_CONTEXT
other_exception:
call freertos_risc_v_application_exception_handler
portcontextRESTORE_CONTEXT
/*-----------------------------------------------------------*/
SECTION `.text.freertos_risc_v_interrupt_handler`:CODE:NOROOT(2)
CODE
freertos_risc_v_interrupt_handler:
portcontextSAVE_INTERRUPT_CONTEXT
call freertos_risc_v_application_interrupt_handler
portcontextRESTORE_CONTEXT
/*-----------------------------------------------------------*/
SECTION `.text.freertos_risc_v_mtimer_interrupt_handler`:CODE:NOROOT(2)
CODE
freertos_risc_v_mtimer_interrupt_handler:
portcontextSAVE_INTERRUPT_CONTEXT
portUPDATE_MTIMER_COMPARE_REGISTER
call xTaskIncrementTick
beqz a0, exit_without_context_switch /* Don't switch context if incrementing tick didn't unblock a task. */
call vTaskSwitchContext
exit_without_context_switch:
portcontextRESTORE_CONTEXT
/*-----------------------------------------------------------*/
SECTION `.text.freertos_risc_v_trap_handler`:CODE:NOROOT(8)
CODE
freertos_risc_v_trap_handler:
portcontextSAVE_CONTEXT_INTERNAL
csrr a0, CSR_MCAUSE
csrr a1, CSR_MEPC
bge a0, x0, synchronous_exception
asynchronous_interrupt:
store_x a1, 0( sp ) /* Asynchronous interrupt so save unmodified exception return address. */
load_x sp, xISRStackTop /* Switch to ISR stack. */
j handle_interrupt
synchronous_exception:
addi a1, a1, 4 /* Synchronous so update exception return address to the instruction after the instruction that generated the exeption. */
store_x a1, 0( sp ) /* Save updated exception return address. */
load_x sp, xISRStackTop /* Switch to ISR stack. */
j handle_exception
handle_interrupt:
#if( portasmHAS_MTIME != 0 )
test_if_mtimer: /* If there is a CLINT then the mtimer is used to generate the tick interrupt. */
addi t0, x0, 1
slli t0, t0, __riscv_xlen - 1 /* LSB is already set, shift into MSB. Shift 31 on 32-bit or 63 on 64-bit cores. */
addi t1, t0, 7 /* 0x8000[]0007 == machine timer interrupt. */
bne a0, t1, application_interrupt_handler
portUPDATE_MTIMER_COMPARE_REGISTER
call xTaskIncrementTick
beqz a0, processed_source /* Don't switch context if incrementing tick didn't unblock a task. */
call vTaskSwitchContext
j processed_source
#endif /* portasmHAS_MTIME */
application_interrupt_handler:
call freertos_risc_v_application_interrupt_handler
j processed_source
handle_exception:
/* a0 contains mcause. */
li t0, 11 /* 11 == environment call. */
bne a0, t0, application_exception_handler /* Not an M environment call, so some other exception. */
call vTaskSwitchContext
j processed_source
application_exception_handler:
call freertos_risc_v_application_exception_handler
j processed_source /* No other exceptions handled yet. */
processed_source:
portcontextRESTORE_CONTEXT
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/

177
portable/IAR/RISC-V/portContext.h Normal file
View File

@ -0,0 +1,177 @@
/*
* FreeRTOS Kernel <DEVELOPMENT BRANCH>
* Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* SPDX-License-Identifier: MIT
*
* 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.
*
* https://www.FreeRTOS.org
* https://github.com/FreeRTOS
*
*/
#ifndef PORTCONTEXT_H
#define PORTCONTEXT_H
#if __riscv_xlen == 64
#define portWORD_SIZE 8
#define store_x sd
#define load_x ld
#elif __riscv_xlen == 32
#define store_x sw
#define load_x lw
#define portWORD_SIZE 4
#else
#error Assembler did not define __riscv_xlen
#endif
#include "freertos_risc_v_chip_specific_extensions.h"
/* Only the standard core registers are stored by default. Any additional
* registers must be saved by the portasmSAVE_ADDITIONAL_REGISTERS and
* portasmRESTORE_ADDITIONAL_REGISTERS macros - which can be defined in a chip
* specific version of freertos_risc_v_chip_specific_extensions.h. See the
* notes at the top of portASM.S file. */
#define portCONTEXT_SIZE ( 31 * portWORD_SIZE )
EXTERN pxCurrentTCB
EXTERN xISRStackTop
EXTERN xCriticalNesting
EXTERN pxCriticalNesting
/*-----------------------------------------------------------*/
portcontextSAVE_CONTEXT_INTERNAL MACRO
addi sp, sp, -portCONTEXT_SIZE
store_x x1, 1 * portWORD_SIZE( sp )
store_x x5, 2 * portWORD_SIZE( sp )
store_x x6, 3 * portWORD_SIZE( sp )
store_x x7, 4 * portWORD_SIZE( sp )
store_x x8, 5 * portWORD_SIZE( sp )
store_x x9, 6 * portWORD_SIZE( sp )
store_x x10, 7 * portWORD_SIZE( sp )
store_x x11, 8 * portWORD_SIZE( sp )
store_x x12, 9 * portWORD_SIZE( sp )
store_x x13, 10 * portWORD_SIZE( sp )
store_x x14, 11 * portWORD_SIZE( sp )
store_x x15, 12 * portWORD_SIZE( sp )
store_x x16, 13 * portWORD_SIZE( sp )
store_x x17, 14 * portWORD_SIZE( sp )
store_x x18, 15 * portWORD_SIZE( sp )
store_x x19, 16 * portWORD_SIZE( sp )
store_x x20, 17 * portWORD_SIZE( sp )
store_x x21, 18 * portWORD_SIZE( sp )
store_x x22, 19 * portWORD_SIZE( sp )
store_x x23, 20 * portWORD_SIZE( sp )
store_x x24, 21 * portWORD_SIZE( sp )
store_x x25, 22 * portWORD_SIZE( sp )
store_x x26, 23 * portWORD_SIZE( sp )
store_x x27, 24 * portWORD_SIZE( sp )
store_x x28, 25 * portWORD_SIZE( sp )
store_x x29, 26 * portWORD_SIZE( sp )
store_x x30, 27 * portWORD_SIZE( sp )
store_x x31, 28 * portWORD_SIZE( sp )
load_x t0, xCriticalNesting /* Load the value of xCriticalNesting into t0. */
store_x t0, 29 * portWORD_SIZE( sp ) /* Store the critical nesting value to the stack. */
csrr t0, mstatus /* Required for MPIE bit. */
store_x t0, 30 * portWORD_SIZE( sp )
portasmSAVE_ADDITIONAL_REGISTERS /* Defined in freertos_risc_v_chip_specific_extensions.h to save any registers unique to the RISC-V implementation. */
load_x t0, pxCurrentTCB /* Load pxCurrentTCB. */
store_x sp, 0( t0 ) /* Write sp to first TCB member. */
ENDM
/*-----------------------------------------------------------*/
portcontextSAVE_EXCEPTION_CONTEXT MACRO
portcontextSAVE_CONTEXT_INTERNAL
csrr a0, mcause
csrr a1, mepc
addi a1, a1, 4 /* Synchronous so update exception return address to the instruction after the instruction that generated the exception. */
store_x a1, 0( sp ) /* Save updated exception return address. */
load_x sp, xISRStackTop /* Switch to ISR stack. */
ENDM
/*-----------------------------------------------------------*/
portcontextSAVE_INTERRUPT_CONTEXT MACRO
portcontextSAVE_CONTEXT_INTERNAL
csrr a0, mcause
csrr a1, mepc
store_x a1, 0( sp ) /* Asynchronous interrupt so save unmodified exception return address. */
load_x sp, xISRStackTop /* Switch to ISR stack. */
ENDM
/*-----------------------------------------------------------*/
portcontextRESTORE_CONTEXT MACRO
load_x t1, pxCurrentTCB /* Load pxCurrentTCB. */
load_x sp, 0( t1 ) /* Read sp from first TCB member. */
/* Load mepc with the address of the instruction in the task to run next. */
load_x t0, 0( sp )
csrw mepc, t0
/* Defined in freertos_risc_v_chip_specific_extensions.h to restore any registers unique to the RISC-V implementation. */
portasmRESTORE_ADDITIONAL_REGISTERS
/* Load mstatus with the interrupt enable bits used by the task. */
load_x t0, 30 * portWORD_SIZE( sp )
csrw mstatus, t0 /* Required for MPIE bit. */
load_x t0, 29 * portWORD_SIZE( sp ) /* Obtain xCriticalNesting value for this task from task's stack. */
load_x t1, pxCriticalNesting /* Load the address of xCriticalNesting into t1. */
store_x t0, 0( t1 ) /* Restore the critical nesting value for this task. */
load_x x1, 1 * portWORD_SIZE( sp )
load_x x5, 2 * portWORD_SIZE( sp )
load_x x6, 3 * portWORD_SIZE( sp )
load_x x7, 4 * portWORD_SIZE( sp )
load_x x8, 5 * portWORD_SIZE( sp )
load_x x9, 6 * portWORD_SIZE( sp )
load_x x10, 7 * portWORD_SIZE( sp )
load_x x11, 8 * portWORD_SIZE( sp )
load_x x12, 9 * portWORD_SIZE( sp )
load_x x13, 10 * portWORD_SIZE( sp )
load_x x14, 11 * portWORD_SIZE( sp )
load_x x15, 12 * portWORD_SIZE( sp )
load_x x16, 13 * portWORD_SIZE( sp )
load_x x17, 14 * portWORD_SIZE( sp )
load_x x18, 15 * portWORD_SIZE( sp )
load_x x19, 16 * portWORD_SIZE( sp )
load_x x20, 17 * portWORD_SIZE( sp )
load_x x21, 18 * portWORD_SIZE( sp )
load_x x22, 19 * portWORD_SIZE( sp )
load_x x23, 20 * portWORD_SIZE( sp )
load_x x24, 21 * portWORD_SIZE( sp )
load_x x25, 22 * portWORD_SIZE( sp )
load_x x26, 23 * portWORD_SIZE( sp )
load_x x27, 24 * portWORD_SIZE( sp )
load_x x28, 25 * portWORD_SIZE( sp )
load_x x29, 26 * portWORD_SIZE( sp )
load_x x30, 27 * portWORD_SIZE( sp )
load_x x31, 28 * portWORD_SIZE( sp )
addi sp, sp, portCONTEXT_SIZE
mret
ENDM
/*-----------------------------------------------------------*/
#endif /* PORTCONTEXT_H */

121
portable/IAR/RISC-V/portmacro.h
View File

@ -48,50 +48,43 @@ extern "C" {
/* Type definitions. */ /* Type definitions. */
#if __riscv_xlen == 64 #if __riscv_xlen == 64
#define portSTACK_TYPE uint64_t #define portSTACK_TYPE uint64_t
#define portBASE_TYPE int64_t #define portBASE_TYPE int64_t
#define portUBASE_TYPE uint64_t #define portUBASE_TYPE uint64_t
#define portMAX_DELAY ( TickType_t ) 0xffffffffffffffffUL #define portMAX_DELAY ( TickType_t ) 0xffffffffffffffffUL
#define portPOINTER_SIZE_TYPE uint64_t #define portPOINTER_SIZE_TYPE uint64_t
#elif __riscv_xlen == 32 #elif __riscv_xlen == 32
#define portSTACK_TYPE uint32_t #define portSTACK_TYPE uint32_t
#define portBASE_TYPE int32_t #define portBASE_TYPE int32_t
#define portUBASE_TYPE uint32_t #define portUBASE_TYPE uint32_t
#define portMAX_DELAY ( TickType_t ) 0xffffffffUL #define portMAX_DELAY ( TickType_t ) 0xffffffffUL
#else #else
#error Assembler did not define __riscv_xlen #error Assembler did not define __riscv_xlen
#endif #endif
typedef portSTACK_TYPE StackType_t; typedef portSTACK_TYPE StackType_t;
typedef portBASE_TYPE BaseType_t; typedef portBASE_TYPE BaseType_t;
typedef portUBASE_TYPE UBaseType_t; typedef portUBASE_TYPE UBaseType_t;
typedef portUBASE_TYPE TickType_t; typedef portUBASE_TYPE TickType_t;
/* Legacy type definitions. */ /* Legacy type definitions. */
#define portCHAR char #define portCHAR char
#define portFLOAT float #define portFLOAT float
#define portDOUBLE double #define portDOUBLE double
#define portLONG long #define portLONG long
#define portSHORT short #define portSHORT short
/* 32-bit tick type on a 32-bit architecture, so reads of the tick count do /* 32-bit tick type on a 32-bit architecture, so reads of the tick count do
not need to be guarded with a critical section. */ * not need to be guarded with a critical section. */
#define portTICK_TYPE_IS_ATOMIC 1 #define portTICK_TYPE_IS_ATOMIC 1
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Architecture specifics. */ /* Architecture specifics. */
#define portSTACK_GROWTH ( -1 ) #define portSTACK_GROWTH ( -1 )
#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) #define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ )
#ifdef __riscv64 #define portBYTE_ALIGNMENT 16
#error This is the RV32 port that has not yet been adapted for 64.
#define portBYTE_ALIGNMENT 16
#else
#define portBYTE_ALIGNMENT 16
#endif
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Scheduler utilities. */ /* Scheduler utilities. */
extern void vTaskSwitchContext( void ); extern void vTaskSwitchContext( void );
#define portYIELD() __asm volatile( "ecall" ); #define portYIELD() __asm volatile( "ecall" );
@ -99,18 +92,30 @@ extern void vTaskSwitchContext( void );
#define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x ) #define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Critical section management. */ /* Critical section management. */
#define portCRITICAL_NESTING_IN_TCB 1 #define portCRITICAL_NESTING_IN_TCB 0
extern void vTaskEnterCritical( void );
extern void vTaskExitCritical( void );
#define portSET_INTERRUPT_MASK_FROM_ISR() 0 #define portSET_INTERRUPT_MASK_FROM_ISR() 0
#define portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedStatusValue ) ( void ) uxSavedStatusValue #define portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedStatusValue ) ( void ) uxSavedStatusValue
#define portDISABLE_INTERRUPTS() __disable_interrupt() #define portDISABLE_INTERRUPTS() __disable_interrupt()
#define portENABLE_INTERRUPTS() __enable_interrupt() #define portENABLE_INTERRUPTS() __enable_interrupt()
#define portENTER_CRITICAL() vTaskEnterCritical()
#define portEXIT_CRITICAL() vTaskExitCritical() extern size_t xCriticalNesting;
#define portENTER_CRITICAL() \
{ \
portDISABLE_INTERRUPTS(); \
xCriticalNesting++; \
}
#define portEXIT_CRITICAL() \
{ \
xCriticalNesting--; \
if( xCriticalNesting == 0 ) \
{ \
portENABLE_INTERRUPTS(); \
} \
}
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
@ -124,55 +129,51 @@ extern void vTaskExitCritical( void );
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Task function macros as described on the FreeRTOS.org WEB site. These are /* 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 * not necessary for to use this port. They are defined so the common demo
(which build with all the ports) will build. */ * files (which build with all the ports) will build. */
#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) #define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters )
#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) #define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
#define portNOP() __asm volatile ( " nop " ) #define portNOP() __asm volatile( " nop " )
#define portINLINE __inline
#define portINLINE __inline
#ifndef portFORCE_INLINE #ifndef portFORCE_INLINE
#define portFORCE_INLINE inline __attribute__(( always_inline)) #define portFORCE_INLINE inline __attribute__(( always_inline))
#endif #endif
#define portMEMORY_BARRIER() __asm volatile( "" ::: "memory" ) #define portMEMORY_BARRIER() __asm volatile( "" ::: "memory" )
/*-----------------------------------------------------------*/
/* Suppress warnings that are generated by the IAR tools, but cannot be fixed in /* Suppress warnings that are generated by the IAR tools, but cannot be fixed in
the source code because to do so would cause other compilers to generate * the source code because to do so would cause other compilers to generate
warnings. */ * warnings. */
#pragma diag_suppress=Pa082 #pragma diag_suppress=Pa082
/* configCLINT_BASE_ADDRESS is a legacy definition that was replaced by the /* configCLINT_BASE_ADDRESS is a legacy definition that was replaced by the
configMTIME_BASE_ADDRESS and configMTIMECMP_BASE_ADDRESS definitions. For * configMTIME_BASE_ADDRESS and configMTIMECMP_BASE_ADDRESS definitions. For
backward compatibility derive the newer definitions from the old if the old * backward compatibility derive the newer definitions from the old if the old
definition is found. */ * definition is found. */
#if defined( configCLINT_BASE_ADDRESS ) && !defined( configMTIME_BASE_ADDRESS ) && ( configCLINT_BASE_ADDRESS == 0 ) #if defined( configCLINT_BASE_ADDRESS ) && !defined( configMTIME_BASE_ADDRESS ) && ( configCLINT_BASE_ADDRESS == 0 )
/* Legacy case where configCLINT_BASE_ADDRESS was defined as 0 to indicate /* Legacy case where configCLINT_BASE_ADDRESS was defined as 0 to indicate
there was no CLINT. Equivalent now is to set the MTIME and MTIMECMP * there was no CLINT. Equivalent now is to set the MTIME and MTIMECMP
addresses to 0. */ * addresses to 0. */
#define configMTIME_BASE_ADDRESS ( 0 ) #define configMTIME_BASE_ADDRESS ( 0 )
#define configMTIMECMP_BASE_ADDRESS ( 0 ) #define configMTIMECMP_BASE_ADDRESS ( 0 )
#elif defined( configCLINT_BASE_ADDRESS ) && !defined( configMTIME_BASE_ADDRESS ) #elif defined( configCLINT_BASE_ADDRESS ) && !defined( configMTIME_BASE_ADDRESS )
/* Legacy case where configCLINT_BASE_ADDRESS was set to the base address of /* Legacy case where configCLINT_BASE_ADDRESS was set to the base address of
the CLINT. Equivalent now is to derive the MTIME and MTIMECMP addresses * the CLINT. Equivalent now is to derive the MTIME and MTIMECMP addresses
from the CLINT address. */ * from the CLINT address. */
#define configMTIME_BASE_ADDRESS ( ( configCLINT_BASE_ADDRESS ) + 0xBFF8UL ) #define configMTIME_BASE_ADDRESS ( ( configCLINT_BASE_ADDRESS ) + 0xBFF8UL )
#define configMTIMECMP_BASE_ADDRESS ( ( configCLINT_BASE_ADDRESS ) + 0x4000UL ) #define configMTIMECMP_BASE_ADDRESS ( ( configCLINT_BASE_ADDRESS ) + 0x4000UL )
#elif !defined( configMTIME_BASE_ADDRESS ) || !defined( configMTIMECMP_BASE_ADDRESS ) #elif !defined( configMTIME_BASE_ADDRESS ) || !defined( configMTIMECMP_BASE_ADDRESS )
#error configMTIME_BASE_ADDRESS and configMTIMECMP_BASE_ADDRESS must be defined in FreeRTOSConfig.h. Set them to zero if there is no MTIME (machine time) clock. See https://www.FreeRTOS.org/Using-FreeRTOS-on-RISC-V.html #error configMTIME_BASE_ADDRESS and configMTIMECMP_BASE_ADDRESS must be defined in FreeRTOSConfig.h. Set them to zero if there is no MTIME (machine time) clock. See https://www.FreeRTOS.org/Using-FreeRTOS-on-RISC-V.html
#endif #endif
#ifdef __cplusplus #ifdef __cplusplus
} }
#endif #endif
#endif /* PORTMACRO_H */ #endif /* PORTMACRO_H */