edu-freertos-c/lab-rv32i-freertos-c-isr-semaphore
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feat: publish FreeRTOS C FC07 card

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This commit is contained in:
M. Pabiszczak
2026-07-19 16:36:03 +02:00
commit 9fad4f4ccc
196 changed files with 59368 additions and 0 deletions
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.gitea/workflows/render-pdf.yml
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name: Render PDF
on:
push:
branches:
- deploy
workflow_dispatch:
jobs:
render-pdf:
runs-on: ubuntu-latest
steps:
- name: Checkout
uses: actions/checkout@v4
- name: Install TeX
run: |
if ! command -v latexmk >/dev/null 2>&1; then
if ! command -v apt-get >/dev/null 2>&1; then
echo "latexmk is missing and apt-get is unavailable" >&2
exit 1
fi
if command -v sudo >/dev/null 2>&1; then
SUDO=sudo
else
SUDO=
fi
$SUDO apt-get update
$SUDO apt-get install -y --no-install-recommends \
latexmk \
texlive-fonts-recommended \
texlive-lang-polish \
texlive-latex-base \
texlive-latex-extra \
texlive-latex-recommended
fi
- name: Render PDF with commit metadata
run: ./scripts/render_pdf.sh
- name: Commit rendered PDF
run: |
set -eu
repo_name="${GITHUB_REPOSITORY#*/}"
pdf_file="$(find doc/pdf -maxdepth 1 -type f -name '*.pdf' -print -quit)"
if [ -z "$pdf_file" ]; then
echo "rendered PDF is missing" >&2
exit 1
fi
remote_sha="$(git ls-remote origin refs/heads/deploy | cut -f1)"
if [ "$remote_sha" != "$GITHUB_SHA" ]; then
echo "deploy advanced from $GITHUB_SHA to $remote_sha; skip publishing stale PDF"
exit 0
fi
git config user.name "gitea-actions"
git config user.email "gitea-actions@noreply.local"
printf '%s\n' "$GITHUB_SHA" > doc/pdf/source-commit.txt
git add -u doc/pdf
git add -f "$pdf_file"
git add doc/pdf/source-commit.txt
git diff --cached --quiet && exit 0
git commit -m "Render ${repo_name} PDF for ${GITHUB_SHA::12} [skip actions]"
git push origin HEAD:deploy
.gitignore
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build/
host-build/
*.pdf
doc/build-meta.tex
*.aux
*.fdb_latexmk
*.fls
*.log
*.out
*.synctex.gz
.gdb_history
.rv/
.stem/
.nvim/
.vim/
Makefile
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RISCV_PREFIX ?= riscv64-unknown-elf-
CC := $(RISCV_PREFIX)gcc
OBJCOPY := $(RISCV_PREFIX)objcopy
OBJDUMP := $(RISCV_PREFIX)objdump
SIZE := $(RISCV_PREFIX)size
NM := $(RISCV_PREFIX)nm
READELF := $(RISCV_PREFIX)readelf
HOSTCC ?= cc
H3_COMMON := vendor/Hazard3/test/sim/common
H3_INIT := $(H3_COMMON)/init.S
LDSCRIPT := $(H3_COMMON)/link_hazard3.ld
TB ?= vendor/Hazard3/test/sim/tb_verilator/tb
FREERTOS := vendor/FreeRTOS-Kernel
FREERTOS_PORT := $(FREERTOS)/portable/GCC/RISC-V
BUILD := build
TASK := task01_isr_semaphore
ARCH ?= rv32i_zicsr_zifencei
ABI ?= ilp32
CPPFLAGS := -Iinclude -Isrc/common -I$(FREERTOS)/include -I$(FREERTOS_PORT)
TARGET_FLAGS := -march=$(ARCH) -mabi=$(ABI) -Og -g3 -ffreestanding -fno-builtin -fno-stack-protector -ffunction-sections -fdata-sections -Wall -Wextra -Werror
CFLAGS := -std=c11 $(TARGET_FLAGS) $(CPPFLAGS)
ASFLAGS := -march=$(ARCH) -mabi=$(ABI) -g3 $(CPPFLAGS)
LDFLAGS := -march=$(ARCH) -mabi=$(ABI) -nostdlib -nostartfiles -T$(LDSCRIPT) -Wl,--no-relax -Wl,--gc-sections
LIBS := -lgcc
COMMON_OBJS := \
$(BUILD)/common/init.o \
$(BUILD)/common/crt0.o \
$(BUILD)/common/lab_io.o \
$(BUILD)/common/lab_freertos.o \
$(BUILD)/common/hazard3_freertos_traps.o \
$(BUILD)/common/memops.o
KERNEL_OBJS := \
$(BUILD)/kernel/tasks.o \
$(BUILD)/kernel/list.o \
$(BUILD)/kernel/queue.o \
$(BUILD)/kernel/heap_4.o \
$(BUILD)/kernel/port.o \
$(BUILD)/kernel/portASM.o
.PHONY: all tasks task1 t1 host-test check-abi sim check-determinism check pdf clean
all tasks task1 t1: $(BUILD)/$(TASK)/prog.bin
$(BUILD)/common/init.o: $(H3_INIT)
mkdir -p $(@D)
$(CC) $(ASFLAGS) -c $< -o $@
$(BUILD)/common/crt0.o: src/common/crt0.S
mkdir -p $(@D)
$(CC) $(ASFLAGS) -c $< -o $@
$(BUILD)/common/lab_io.o: src/common/lab_io.c src/common/lab_io.h
mkdir -p $(@D)
$(CC) $(CFLAGS) -c $< -o $@
$(BUILD)/common/lab_freertos.o: src/common/lab_freertos.c src/common/lab_freertos.h
mkdir -p $(@D)
$(CC) $(CFLAGS) -c $< -o $@
$(BUILD)/common/hazard3_freertos_traps.o: src/common/hazard3_freertos_traps.S
mkdir -p $(@D)
$(CC) $(ASFLAGS) -c $< -o $@
$(BUILD)/common/memops.o: src/common/memops.c
mkdir -p $(@D)
$(CC) $(CFLAGS) -c $< -o $@
$(BUILD)/kernel/tasks.o: $(FREERTOS)/tasks.c
mkdir -p $(@D)
$(CC) $(CFLAGS) -c $< -o $@
$(BUILD)/kernel/list.o: $(FREERTOS)/list.c
mkdir -p $(@D)
$(CC) $(CFLAGS) -c $< -o $@
$(BUILD)/kernel/queue.o: $(FREERTOS)/queue.c
mkdir -p $(@D)
$(CC) $(CFLAGS) -c $< -o $@
$(BUILD)/kernel/heap_4.o: $(FREERTOS)/portable/MemMang/heap_4.c
mkdir -p $(@D)
$(CC) $(CFLAGS) -c $< -o $@
$(BUILD)/kernel/port.o: $(FREERTOS_PORT)/port.c
mkdir -p $(@D)
$(CC) $(CFLAGS) -c $< -o $@
$(BUILD)/kernel/portASM.o: $(FREERTOS_PORT)/portASM.S
mkdir -p $(@D)
$(CC) $(ASFLAGS) -c $< -o $@
$(BUILD)/$(TASK)/app.o: src/tasks/$(TASK).c include/$(TASK).h include/$(TASK)_model.h
mkdir -p $(@D)
$(CC) $(CFLAGS) -c $< -o $@
$(BUILD)/$(TASK)/$(TASK).s: src/tasks/$(TASK).c include/$(TASK).h include/$(TASK)_model.h
mkdir -p $(@D)
$(CC) $(CFLAGS) -S $< -o $@
$(BUILD)/$(TASK)/prog.elf: $(COMMON_OBJS) $(KERNEL_OBJS) $(BUILD)/$(TASK)/app.o
$(CC) $(LDFLAGS) -Wl,-Map,$(BUILD)/$(TASK)/prog.map -o $@ $^ $(LIBS)
$(SIZE) -A -x $@
$(BUILD)/$(TASK)/prog.bin: $(BUILD)/$(TASK)/prog.elf $(BUILD)/$(TASK)/$(TASK).s
$(OBJCOPY) -O binary $< $@
$(OBJDUMP) -d -M no-aliases,numeric $< > $(BUILD)/$(TASK)/prog.lst
host-test:
mkdir -p $(BUILD)/host
$(HOSTCC) -std=c11 -Wall -Wextra -Werror -Iinclude tests/isr_semaphore_model_host.c -o $(BUILD)/host/isr_semaphore_model_host
$(BUILD)/host/isr_semaphore_model_host
check-abi: $(BUILD)/$(TASK)/prog.elf
RISCV_NM=$(NM) RISCV_READELF=$(READELF) ./scripts/check_abi.sh
sim: tasks
@test -x "$(TB)" || { echo "missing simulator $(TB)" >&2; exit 1; }
./scripts/run_sim.sh "$(TB)" "$(BUILD)"
check-determinism: tasks
@test -x "$(TB)" || { echo "missing simulator $(TB)" >&2; exit 1; }
./scripts/check_determinism.sh "$(TB)" "$(BUILD)"
check: tasks host-test check-abi sim check-determinism
pdf:
./scripts/render_pdf.sh
clean:
rm -rf $(BUILD)
README.md
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# FC07 — real external IRQ and semaphore handoff
This card drives Hazard3 external IRQ input 5 through testbench MMIO. The
external vector enters the official FreeRTOS full-context trap path, switches to
`xISRStack`, calls an application ISR and returns through the context selected
by `portYIELD_FROM_ISR()`.
The ISR clears the hardware source before `xSemaphoreGiveFromISR()`. Because a
priority-3 waiter is blocked while a priority-2 stimulus is interrupted,
`xHigherPriorityTaskWoken` becomes `pdTRUE`. Evidence E07 proves that the waiter
runs before E08, where the interrupted stimulus continues after its MMIO store.
```sh
make check
python3 /home/user/dev/workspace/stem/tools/card-layouts/tools/build_freertos_c_card.py .
python3 /home/user/dev/workspace/stem/tools/card-layouts/tools/render_card.py .
```
doc/assets/a1-context.png
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doc/assets/a1-context.puml
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@startuml
scale max 900*520
skinparam backgroundColor transparent
skinparam shadowing false
skinparam defaultFontName "DejaVu Sans Mono"
skinparam defaultFontSize 13
skinparam rectangleBorderColor #2b6f8e
skinparam rectangleBackgroundColor #edf6fa
skinparam ArrowColor #8295a0
top to bottom direction
title A1 CONTEXT — real Hazard3 external interrupt to FreeRTOS task
rectangle "01 Testbench IRQ source\nIO_SET_IRQ bit 5" as Source
rectangle "02 Hazard3 IRQ controller\nMEIEA · priority · mcause=MEI" as H3
rectangle "03 FreeRTOS trap port\nfull context → xISRStack" as Port
rectangle "04 Application ISR\nclear · GiveFromISR · yield" as ISR
rectangle "05 High-priority waiter\nbinary semaphore" as Waiter
Source --> H3
H3 --> Port
Port --> ISR
ISR --> Waiter
@enduml
doc/assets/a1-context.svg
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<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="520.8603px" preserveAspectRatio="none" style="width:498px;height:520px;" version="1.1" viewBox="0 0 498 520" width="498.0417px" zoomAndPan="magnify"><defs/><g><text fill="#000000" font-family="DejaVu Sans Mono" font-size="12.8975" lengthAdjust="spacingAndGlyphs" textLength="484.1521" x="1.9842" y="11.9717">A1 CONTEXT — real Hazard3 external interrupt to FreeRTOS task</text><!--MD5=[c8da82a3e4fd5c54db14ac48b9861466]
entity Source--><rect fill="#EDF6FA" height="49.8693" style="stroke: #2B6F8E; stroke-width: 1.488172427670706;" width="202.3915" x="136.9119" y="22.623"/><text fill="#000000" font-family="DejaVu Sans Mono" font-size="12.8975" lengthAdjust="spacingAndGlyphs" textLength="182.5492" x="146.833" y="44.5159">01 Testbench IRQ source</text><text fill="#000000" font-family="DejaVu Sans Mono" font-size="12.8975" lengthAdjust="spacingAndGlyphs" textLength="126.9907" x="146.833" y="59.5294">IO_SET_IRQ bit 5</text><!--MD5=[6075f46e3e6c82b53df9f2400a94965b]
entity H3--><rect fill="#EDF6FA" height="49.8693" style="stroke: #2B6F8E; stroke-width: 1.488172427670706;" width="250.013" x="113.1011" y="132.0235"/><text fill="#000000" font-family="DejaVu Sans Mono" font-size="12.8975" lengthAdjust="spacingAndGlyphs" textLength="198.423" x="123.0223" y="153.9164">02 Hazard3 IRQ controller</text><text fill="#000000" font-family="DejaVu Sans Mono" font-size="12.8975" lengthAdjust="spacingAndGlyphs" textLength="230.1707" x="123.0223" y="168.9299">MEIEA · priority · mcause=MEI</text><!--MD5=[551215425a7de5316c648a342d6ec73b]
entity Port--><rect fill="#EDF6FA" height="49.8693" style="stroke: #2B6F8E; stroke-width: 1.488172427670706;" width="210.3284" x="132.9434" y="241.4141"/><text fill="#000000" font-family="DejaVu Sans Mono" font-size="12.8975" lengthAdjust="spacingAndGlyphs" textLength="166.6753" x="142.8646" y="263.307">03 FreeRTOS trap port</text><text fill="#000000" font-family="DejaVu Sans Mono" font-size="12.8975" lengthAdjust="spacingAndGlyphs" textLength="190.4861" x="142.8646" y="278.3205">full context → xISRStack</text><!--MD5=[463c99212ccdf2a9aa2a23645c423e5c]
entity ISR--><rect fill="#EDF6FA" height="49.8693" style="stroke: #2B6F8E; stroke-width: 1.488172427670706;" width="234.1391" x="121.038" y="350.8146"/><text fill="#000000" font-family="DejaVu Sans Mono" font-size="12.8975" lengthAdjust="spacingAndGlyphs" textLength="142.8646" x="130.9592" y="372.7075">04 Application ISR</text><text fill="#000000" font-family="DejaVu Sans Mono" font-size="12.8975" lengthAdjust="spacingAndGlyphs" textLength="214.2968" x="130.9592" y="387.721">clear · GiveFromISR · yield</text><!--MD5=[323c25cdec349f5ea5907cb1b91ccd49]
entity Waiter--><rect fill="#EDF6FA" height="49.8693" style="stroke: #2B6F8E; stroke-width: 1.488172427670706;" width="202.3915" x="136.9119" y="460.2052"/><text fill="#000000" font-family="DejaVu Sans Mono" font-size="12.8975" lengthAdjust="spacingAndGlyphs" textLength="182.5492" x="146.833" y="482.0981">05 High-priority waiter</text><text fill="#000000" font-family="DejaVu Sans Mono" font-size="12.8975" lengthAdjust="spacingAndGlyphs" textLength="126.9907" x="146.833" y="497.1116">binary semaphore</text><!--MD5=[4fc73c884cfe531f1547a3d4074fe1a7]
link Source to H3--><path d="M238.1076,72.9232 C238.1076,88.4399 238.1076,108.6791 238.1076,125.2871 " fill="none" id="Source-&gt;H3" style="stroke: #8295A0; stroke-width: 0.9921149517804707;"/><polygon fill="#8295A0" points="238.1076,130.1881,242.076,121.2591,238.1076,125.2275,234.1391,121.2591,238.1076,130.1881" style="stroke: #8295A0; stroke-width: 0.9921149517804707;"/><!--MD5=[397ca8f0de5b8fef912417d592dc57e9]
link H3 to Port--><path d="M238.1076,182.3238 C238.1076,197.8404 238.1076,218.0697 238.1076,234.6777 " fill="none" id="H3-&gt;Port" style="stroke: #8295A0; stroke-width: 0.9921149517804707;"/><polygon fill="#8295A0" points="238.1076,239.5787,242.076,230.6497,238.1076,234.6181,234.1391,230.6497,238.1076,239.5787" style="stroke: #8295A0; stroke-width: 0.9921149517804707;"/><!--MD5=[0a408f81ebbcac93bd520e188d4e2be1]
link Port to ISR--><path d="M238.1076,291.7143 C238.1076,307.231 238.1076,327.4702 238.1076,344.0782 " fill="none" id="Port-&gt;ISR" style="stroke: #8295A0; stroke-width: 0.9921149517804707;"/><polygon fill="#8295A0" points="238.1076,348.9792,242.076,340.0502,238.1076,344.0186,234.1391,340.0502,238.1076,348.9792" style="stroke: #8295A0; stroke-width: 0.9921149517804707;"/><!--MD5=[4d2bc5b9e47152e661298c7abd7751c2]
link ISR to Waiter--><path d="M238.1076,401.1149 C238.1076,416.6315 238.1076,436.8608 238.1076,453.4688 " fill="none" id="ISR-&gt;Waiter" style="stroke: #8295A0; stroke-width: 0.9921149517804707;"/><polygon fill="#8295A0" points="238.1076,458.3698,242.076,449.4408,238.1076,453.4092,234.1391,449.4408,238.1076,458.3698" style="stroke: #8295A0; stroke-width: 0.9921149517804707;"/><!--MD5=[c45f4dcd47a45ccf047c3a5a75637cb5]
@startuml
scale max 900*520
skinparam backgroundColor transparent
skinparam shadowing false
skinparam defaultFontName "DejaVu Sans Mono"
skinparam defaultFontSize 13
skinparam rectangleBorderColor #2b6f8e
skinparam rectangleBackgroundColor #edf6fa
skinparam ArrowColor #8295a0
top to bottom direction
title A1 CONTEXT — real Hazard3 external interrupt to FreeRTOS task
rectangle "01 Testbench IRQ source\nIO_SET_IRQ bit 5" as Source
rectangle "02 Hazard3 IRQ controller\nMEIEA · priority · mcause=MEI" as H3
rectangle "03 FreeRTOS trap port\nfull context → xISRStack" as Port
rectangle "04 Application ISR\nclear · GiveFromISR · yield" as ISR
rectangle "05 High-priority waiter\nbinary semaphore" as Waiter
Source - -> H3
H3 - -> Port
Port - -> ISR
ISR - -> Waiter
@enduml
PlantUML version 1.2020.02(Sun Mar 01 11:22:07 CET 2020)
(GPL source distribution)
Java Runtime: OpenJDK Runtime Environment
JVM: OpenJDK 64-Bit Server VM
Java Version: 25.0.4-ea+4-1-Debian
Operating System: Linux
Default Encoding: UTF-8
Language: en
Country: null
--></g></svg>
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doc/assets/a3-dispatch.png
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doc/assets/a3-dispatch.puml
+25
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@startuml
scale max 900*520
skinparam backgroundColor transparent
skinparam shadowing false
skinparam defaultFontName "DejaVu Sans Mono"
skinparam defaultFontSize 12
skinparam rectangleBorderColor #2b6f8e
skinparam rectangleBackgroundColor #edf6fa
skinparam ArrowColor #8295a0
top to bottom direction
title A3 DISPATCH — external vector, saved context and FromISR switch
rectangle "01 isr_external_irq" as Vector
rectangle "02 freertos_risc_v_trap_handler\nsave full task context" as Trap
rectangle "03 xISRStack\nmcause = 0x8000000b" as Stack
rectangle "04 application_interrupt_handler" as App
rectangle "05 xSemaphoreGiveFromISR\nxHPW = pdTRUE" as Give
rectangle "06 portYIELD_FROM_ISR\nvTaskSwitchContext" as Yield
rectangle "07 restore selected task context" as Restore
Vector --> Trap
Trap --> Stack
Stack --> App
App --> Give
Give --> Yield
Yield --> Restore
@enduml
doc/assets/a3-dispatch.svg
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<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="520.0237px" preserveAspectRatio="none" style="width:344px;height:520px;" version="1.1" viewBox="0 0 344 520" width="344.9137px" zoomAndPan="magnify"><defs/><g><text fill="#000000" font-family="DejaVu Sans Mono" font-size="9.0966" lengthAdjust="spacingAndGlyphs" textLength="334.3009" x="1.5161" y="8.4437">A3 DISPATCH — external vector, saved context and FromISR switch</text><!--MD5=[aabf3b499c2cf719265b7c3ac778f6cd]
entity Vector--><rect fill="#EDF6FA" height="25.7501" style="stroke: #2B6F8E; stroke-width: 1.137078037447041;" width="115.982" x="106.1273" y="16.9112"/><text fill="#000000" font-family="DejaVu Sans Mono" font-size="9.0966" lengthAdjust="spacingAndGlyphs" textLength="100.8209" x="113.7078" y="32.9354">01 isr_external_irq</text><!--MD5=[8fb8d31695e54a435865fdf9a8b62965]
entity Trap--><rect fill="#EDF6FA" height="36.3391" style="stroke: #2B6F8E; stroke-width: 1.137078037447041;" width="179.6583" x="74.2891" y="88.1453"/><text fill="#000000" font-family="DejaVu Sans Mono" font-size="9.0966" lengthAdjust="spacingAndGlyphs" textLength="164.4973" x="81.8696" y="104.1696">02 freertos_risc_v_trap_handler</text><text fill="#000000" font-family="DejaVu Sans Mono" font-size="9.0966" lengthAdjust="spacingAndGlyphs" textLength="116.74" x="81.8696" y="114.7586">save full task context</text><!--MD5=[ec069bc136e2ed19ea7849b563e95cbb]
entity Stack--><rect fill="#EDF6FA" height="36.3391" style="stroke: #2B6F8E; stroke-width: 1.137078037447041;" width="115.982" x="106.1273" y="169.9695"/><text fill="#000000" font-family="DejaVu Sans Mono" font-size="9.0966" lengthAdjust="spacingAndGlyphs" textLength="63.6764" x="113.7078" y="185.9937">03 xISRStack</text><text fill="#000000" font-family="DejaVu Sans Mono" font-size="9.0966" lengthAdjust="spacingAndGlyphs" textLength="100.8209" x="113.7078" y="196.5827">mcause = 0x8000000b</text><!--MD5=[6e8f311b0aa23032184ffba0ef926f91]
entity App--><rect fill="#EDF6FA" height="25.7501" style="stroke: #2B6F8E; stroke-width: 1.137078037447041;" width="184.9647" x="71.6359" y="251.7936"/><text fill="#000000" font-family="DejaVu Sans Mono" font-size="9.0966" lengthAdjust="spacingAndGlyphs" textLength="169.8037" x="79.2164" y="267.8178">04 application_interrupt_handler</text><!--MD5=[5b1bd6a7e81d56a128126ca894b4dea0]
entity Give--><rect fill="#EDF6FA" height="36.3391" style="stroke: #2B6F8E; stroke-width: 1.137078037447041;" width="142.5138" x="92.8614" y="323.0278"/><text fill="#000000" font-family="DejaVu Sans Mono" font-size="9.0966" lengthAdjust="spacingAndGlyphs" textLength="127.3527" x="100.4419" y="339.052">05 xSemaphoreGiveFromISR</text><text fill="#000000" font-family="DejaVu Sans Mono" font-size="9.0966" lengthAdjust="spacingAndGlyphs" textLength="68.9827" x="100.4419" y="349.641">xHPW = pdTRUE</text><!--MD5=[89b6b9f582cb55b01c677c38f03b5a6e]
entity Yield--><rect fill="#EDF6FA" height="36.3391" style="stroke: #2B6F8E; stroke-width: 1.137078037447041;" width="126.5947" x="100.8209" y="404.8443"/><text fill="#000000" font-family="DejaVu Sans Mono" font-size="9.0966" lengthAdjust="spacingAndGlyphs" textLength="111.4336" x="108.4014" y="420.8685">06 portYIELD_FROM_ISR</text><text fill="#000000" font-family="DejaVu Sans Mono" font-size="9.0966" lengthAdjust="spacingAndGlyphs" textLength="95.5146" x="108.4014" y="431.4576">vTaskSwitchContext</text><!--MD5=[2999f9717112c470f2aa05529e02a51b]
entity Restore--><rect fill="#EDF6FA" height="25.7501" style="stroke: #2B6F8E; stroke-width: 1.137078037447041;" width="184.9647" x="71.6359" y="486.6685"/><text fill="#000000" font-family="DejaVu Sans Mono" font-size="9.0966" lengthAdjust="spacingAndGlyphs" textLength="169.8037" x="79.2164" y="502.6927">07 restore selected task context</text><!--MD5=[6cbf32367f714346f3b133b410d79dad]
link Vector to Trap--><path d="M164.1183,42.9351 C164.1183,53.8283 164.1183,69.9597 164.1183,83.1195 " fill="none" id="Vector-&gt;Trap" style="stroke: #8295A0; stroke-width: 0.758052024964694;"/><polygon fill="#8295A0" points="164.1183,86.6747,167.1505,79.8523,164.1183,82.8845,161.0861,79.8523,164.1183,86.6747" style="stroke: #8295A0; stroke-width: 0.758052024964694;"/><!--MD5=[b0767bc8531d10a9b766350c06937c90]
link Trap to Stack--><path d="M164.1183,124.6986 C164.1183,136.5166 164.1183,152.1932 164.1183,164.9057 " fill="none" id="Trap-&gt;Stack" style="stroke: #8295A0; stroke-width: 0.758052024964694;"/><polygon fill="#8295A0" points="164.1183,168.6505,167.1505,161.828,164.1183,164.8602,161.0861,161.828,164.1183,168.6505" style="stroke: #8295A0; stroke-width: 0.758052024964694;"/><!--MD5=[e4dab99c883f7bd47772c670c9868b5c]
link Stack to App--><path d="M164.1183,206.6744 C164.1183,218.7274 164.1183,234.5858 164.1183,246.5479 " fill="none" id="Stack-&gt;App" style="stroke: #8295A0; stroke-width: 0.758052024964694;"/><polygon fill="#8295A0" points="164.1183,250.2699,167.1505,243.4475,164.1183,246.4797,161.0861,243.4475,164.1183,250.2699" style="stroke: #8295A0; stroke-width: 0.758052024964694;"/><!--MD5=[1be6bdf4fccaffb580315b926a55fdeb]
link App to Give--><path d="M164.1183,277.81 C164.1183,288.7107 164.1183,304.8345 164.1183,318.0019 " fill="none" id="App-&gt;Give" style="stroke: #8295A0; stroke-width: 0.758052024964694;"/><polygon fill="#8295A0" points="164.1183,321.5496,167.1505,314.7271,164.1183,317.7593,161.0861,314.7271,164.1183,321.5496" style="stroke: #8295A0; stroke-width: 0.758052024964694;"/><!--MD5=[26e107217348d7820e3534419db97115]
link Give to Yield--><path d="M164.1183,359.5734 C164.1183,371.3991 164.1183,387.068 164.1183,399.7881 " fill="none" id="Give-&gt;Yield" style="stroke: #8295A0; stroke-width: 0.758052024964694;"/><polygon fill="#8295A0" points="164.1183,403.5253,167.1505,396.7028,164.1183,399.735,161.0861,396.7028,164.1183,403.5253" style="stroke: #8295A0; stroke-width: 0.758052024964694;"/><!--MD5=[3fcff4eda15420d09f3f572de4dd84c6]
link Yield to Restore--><path d="M164.1183,441.5492 C164.1183,453.6098 164.1183,469.4607 164.1183,481.4303 " fill="none" id="Yield-&gt;Restore" style="stroke: #8295A0; stroke-width: 0.758052024964694;"/><polygon fill="#8295A0" points="164.1183,485.1448,167.1505,478.3223,164.1183,481.3545,161.0861,478.3223,164.1183,485.1448" style="stroke: #8295A0; stroke-width: 0.758052024964694;"/><!--MD5=[d2de30118125ffc21081098f887fa52b]
@startuml
scale max 900*520
skinparam backgroundColor transparent
skinparam shadowing false
skinparam defaultFontName "DejaVu Sans Mono"
skinparam defaultFontSize 12
skinparam rectangleBorderColor #2b6f8e
skinparam rectangleBackgroundColor #edf6fa
skinparam ArrowColor #8295a0
top to bottom direction
title A3 DISPATCH — external vector, saved context and FromISR switch
rectangle "01 isr_external_irq" as Vector
rectangle "02 freertos_risc_v_trap_handler\nsave full task context" as Trap
rectangle "03 xISRStack\nmcause = 0x8000000b" as Stack
rectangle "04 application_interrupt_handler" as App
rectangle "05 xSemaphoreGiveFromISR\nxHPW = pdTRUE" as Give
rectangle "06 portYIELD_FROM_ISR\nvTaskSwitchContext" as Yield
rectangle "07 restore selected task context" as Restore
Vector - -> Trap
Trap - -> Stack
Stack - -> App
App - -> Give
Give - -> Yield
Yield - -> Restore
@enduml
PlantUML version 1.2020.02(Sun Mar 01 11:22:07 CET 2020)
(GPL source distribution)
Java Runtime: OpenJDK Runtime Environment
JVM: OpenJDK 64-Bit Server VM
Java Version: 25.0.4-ea+4-1-Debian
Operating System: Linux
Default Encoding: UTF-8
Language: en
Country: null
--></g></svg>
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@startuml
scale max 900*520
skinparam backgroundColor transparent
skinparam shadowing false
skinparam defaultFontName "DejaVu Sans Mono"
skinparam defaultFontSize 12
skinparam sequenceParticipantBorderColor #2b6f8e
skinparam sequenceParticipantBackgroundColor #edf6fa
skinparam sequenceArrowColor #8295a0
title A5 FLOW — ISR wakes waiter before interrupted stimulus continues
participant waiter
participant semaphore
participant stimulus
participant Hazard3
participant ISR
participant verifier
waiter -> semaphore : 02 take / Blocked
stimulus -> stimulus : 03 before trigger
stimulus -> Hazard3 : IO_SET_IRQ bit 5
Hazard3 -> ISR : 04 MEI / xISRStack
ISR -> Hazard3 : 05 clear source
ISR -> semaphore : 06 give / xHPW=pdTRUE
ISR -> waiter : portYIELD_FROM_ISR
waiter -> waiter : 07 runs; stimulus_after=0
waiter -> waiter : self-delete
stimulus -> stimulus : 08 resumes after trigger; waiter_ran=1
verifier -> verifier : 09 order + stacks + mcause = PASS
@enduml
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@startuml
scale max 900*520
skinparam backgroundColor transparent
skinparam shadowing false
skinparam defaultFontName "DejaVu Sans Mono"
skinparam defaultFontSize 13
skinparam stateBorderColor #2b6f8e
skinparam stateBackgroundColor #edf6fa
skinparam ArrowColor #8295a0
top to bottom direction
title A6 STATE — binary semaphore and task readiness across ISR
state "01 EMPTY\nwaiter Blocked" as Empty
state "02 IRQ PENDING\nstimulus interrupted" as Pending
state "03 GIVEN FROM ISR\nwaiter Ready" as Given
state "04 SWITCH REQUESTED\nxHPW=true" as Switch
state "05 TAKEN\nwaiter Running" as Taken
state "06 STIMULUS RESUMED" as Resumed
[*] --> Empty
Empty --> Pending : SET_IRQ
Pending --> Given : GiveFromISR
Given --> Switch : portYIELD_FROM_ISR
Switch --> Taken : restore waiter context
Taken --> Resumed : waiter completes
Resumed --> [*]
@enduml
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<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="520.5118px" preserveAspectRatio="none" style="width:277px;height:520px;" version="1.1" viewBox="0 0 277 520" width="277.3702px" zoomAndPan="magnify"><defs/><g><text fill="#000000" font-family="DejaVu Sans Mono" font-size="7.6719" lengthAdjust="spacingAndGlyphs" textLength="269.1081" x="1.1803" y="7.1213">A6 STATE — binary semaphore and task readiness across ISR</text><rect fill="#EDF6FA" height="29.6642" rx="7.3769" ry="7.3769" style="stroke: #2B6F8E; stroke-width: 0.8852240989493283;" width="77.8997" x="67.277" y="61.2592"/><line style="stroke: #2B6F8E; stroke-width: 0.8852240989493283;" x1="67.277" x2="145.1768" y1="85.0219" y2="85.0219"/><text fill="#000000" font-family="DejaVu Sans Mono" font-size="7.6719" lengthAdjust="spacingAndGlyphs" textLength="37.7696" x="87.3421" y="71.3312">01 EMPTY</text><text fill="#000000" font-family="DejaVu Sans Mono" font-size="7.6719" lengthAdjust="spacingAndGlyphs" textLength="66.0967" x="73.1785" y="80.2618">waiter Blocked</text><rect fill="#EDF6FA" height="29.6642" rx="7.3769" ry="7.3769" style="stroke: #2B6F8E; stroke-width: 0.8852240989493283;" width="106.2269" x="53.1134" y="136.3675"/><line style="stroke: #2B6F8E; stroke-width: 0.8852240989493283;" x1="53.1134" x2="159.3403" y1="160.1302" y2="160.1302"/><text fill="#000000" font-family="DejaVu Sans Mono" font-size="7.6719" lengthAdjust="spacingAndGlyphs" textLength="66.0967" x="73.1785" y="146.4395">02 IRQ PENDING</text><text fill="#000000" font-family="DejaVu Sans Mono" font-size="7.6719" lengthAdjust="spacingAndGlyphs" textLength="94.4239" x="59.0149" y="155.3701">stimulus interrupted</text><rect fill="#EDF6FA" height="29.6642" rx="7.3769" ry="7.3769" style="stroke: #2B6F8E; stroke-width: 0.8852240989493283;" width="92.0633" x="60.1952" y="211.4699"/><line style="stroke: #2B6F8E; stroke-width: 0.8852240989493283;" x1="60.1952" x2="152.2585" y1="235.2326" y2="235.2326"/><text fill="#000000" font-family="DejaVu Sans Mono" font-size="7.6719" lengthAdjust="spacingAndGlyphs" textLength="80.2603" x="66.0967" y="221.5419">03 GIVEN FROM ISR</text><text fill="#000000" font-family="DejaVu Sans Mono" font-size="7.6719" lengthAdjust="spacingAndGlyphs" textLength="56.6543" x="77.8997" y="230.4725">waiter Ready</text><rect fill="#EDF6FA" height="29.6642" rx="7.3769" ry="7.3769" style="stroke: #2B6F8E; stroke-width: 0.8852240989493283;" width="101.5057" x="55.474" y="286.5782"/><line style="stroke: #2B6F8E; stroke-width: 0.8852240989493283;" x1="55.474" x2="156.9797" y1="310.3409" y2="310.3409"/><text fill="#000000" font-family="DejaVu Sans Mono" font-size="7.6719" lengthAdjust="spacingAndGlyphs" textLength="89.7027" x="61.3755" y="296.6502">04 SWITCH REQUESTED</text><text fill="#000000" font-family="DejaVu Sans Mono" font-size="7.6719" lengthAdjust="spacingAndGlyphs" textLength="42.4908" x="84.9815" y="305.5808">xHPW=true</text><rect fill="#EDF6FA" height="29.6642" rx="7.3769" ry="7.3769" style="stroke: #2B6F8E; stroke-width: 0.8852240989493283;" width="77.8997" x="67.277" y="361.6806"/><line style="stroke: #2B6F8E; stroke-width: 0.8852240989493283;" x1="67.277" x2="145.1768" y1="385.4434" y2="385.4434"/><text fill="#000000" font-family="DejaVu Sans Mono" font-size="7.6719" lengthAdjust="spacingAndGlyphs" textLength="37.7696" x="87.3421" y="371.7526">05 TAKEN</text><text fill="#000000" font-family="DejaVu Sans Mono" font-size="7.6719" lengthAdjust="spacingAndGlyphs" textLength="66.0967" x="73.1785" y="380.6833">waiter Running</text><rect fill="#EDF6FA" height="29.5075" rx="7.3769" ry="7.3769" style="stroke: #2B6F8E; stroke-width: 0.8852240989493283;" width="101.5057" x="55.474" y="436.7889"/><line style="stroke: #2B6F8E; stroke-width: 0.8852240989493283;" x1="55.474" x2="156.9797" y1="451.621" y2="451.621"/><text fill="#000000" font-family="DejaVu Sans Mono" font-size="7.6719" lengthAdjust="spacingAndGlyphs" textLength="89.7027" x="61.3755" y="446.861">06 STIMULUS RESUMED</text><ellipse cx="106.2269" cy="19.3586" fill="#000000" rx="5.9015" ry="5.9015" style="stroke: none; stroke-width: 0.5901493992995522;"/><ellipse cx="106.2269" cy="508.197" fill="none" rx="5.9015" ry="5.9015" style="stroke: #000000; stroke-width: 0.5901493992995522;"/><ellipse cx="106.522" cy="508.4921" fill="#000000" rx="3.5409" ry="3.5409" style="stroke: none; stroke-width: 0.5901493992995522;"/><!--MD5=[1b6c22f718d70b2acdc4891e2995ec55]
link *start to Empty--><path d="M106.2269,25.4784 C106.2269,32.8789 106.2269,46.3461 106.2269,57.4468 " fill="none" id="*start-&gt;Empty" style="stroke: #8295A0; stroke-width: 0.5901493992995522;"/><polygon fill="#8295A0" points="106.2269,60.2146,108.5875,54.9033,106.2269,57.2639,103.8663,54.9033,106.2269,60.2146" style="stroke: #8295A0; stroke-width: 0.5901493992995522;"/><!--MD5=[a4880e26ac2cdc0de7f354aa96112041]
link Empty to Pending--><path d="M106.2269,91.1089 C106.2269,102.9178 106.2269,119.6781 106.2269,132.4076 " fill="none" id="Empty-&gt;Pending" style="stroke: #8295A0; stroke-width: 0.5901493992995522;"/><polygon fill="#8295A0" points="106.2269,135.3229,108.5875,130.0116,106.2269,132.3722,103.8663,130.0116,106.2269,135.3229" style="stroke: #8295A0; stroke-width: 0.5901493992995522;"/><text fill="#000000" font-family="DejaVu Sans Mono" font-size="7.6719" lengthAdjust="spacingAndGlyphs" textLength="33.0484" x="106.817" y="116.3419">SET_IRQ</text><!--MD5=[5616f7cb50bde399db1f2ae7efa7296c]
link Pending to Given--><path d="M106.2269,166.2172 C106.2269,178.0202 106.2269,194.7864 106.2269,207.51 " fill="none" id="Pending-&gt;Given" style="stroke: #8295A0; stroke-width: 0.5901493992995522;"/><polygon fill="#8295A0" points="106.2269,210.4253,108.5875,205.114,106.2269,207.4746,103.8663,205.114,106.2269,210.4253" style="stroke: #8295A0; stroke-width: 0.5901493992995522;"/><text fill="#000000" font-family="DejaVu Sans Mono" font-size="7.6719" lengthAdjust="spacingAndGlyphs" textLength="51.9331" x="106.817" y="191.4443">GiveFromISR</text><!--MD5=[1c2dd5d84ba08954ba58943cc4492326]
link Given to Switch--><path d="M106.2269,241.3256 C106.2269,253.1285 106.2269,269.8888 106.2269,282.6183 " fill="none" id="Given-&gt;Switch" style="stroke: #8295A0; stroke-width: 0.5901493992995522;"/><polygon fill="#8295A0" points="106.2269,285.5336,108.5875,280.2223,106.2269,282.5829,103.8663,280.2223,106.2269,285.5336" style="stroke: #8295A0; stroke-width: 0.5901493992995522;"/><text fill="#000000" font-family="DejaVu Sans Mono" font-size="7.6719" lengthAdjust="spacingAndGlyphs" textLength="84.9815" x="106.817" y="266.5526">portYIELD_FROM_ISR</text><!--MD5=[b7d08ae4f9d76760ec8e02a899807a57]
link Switch to Taken--><path d="M106.2269,316.428 C106.2269,328.231 106.2269,344.9971 106.2269,357.7207 " fill="none" id="Switch-&gt;Taken" style="stroke: #8295A0; stroke-width: 0.5901493992995522;"/><polygon fill="#8295A0" points="106.2269,360.642,108.5875,355.3306,106.2269,357.6912,103.8663,355.3306,106.2269,360.642" style="stroke: #8295A0; stroke-width: 0.5901493992995522;"/><text fill="#000000" font-family="DejaVu Sans Mono" font-size="7.6719" lengthAdjust="spacingAndGlyphs" textLength="103.8663" x="106.817" y="341.655">restore waiter context</text><!--MD5=[667f95f273f4398779e2224fc978fb4f]
link Taken to Resumed--><path d="M106.2269,391.5186 C106.2269,403.3098 106.2269,420.0582 106.2269,432.77 " fill="none" id="Taken-&gt;Resumed" style="stroke: #8295A0; stroke-width: 0.5901493992995522;"/><polygon fill="#8295A0" points="106.2269,435.6795,108.5875,430.3681,106.2269,432.7287,103.8663,430.3681,106.2269,435.6795" style="stroke: #8295A0; stroke-width: 0.5901493992995522;"/><text fill="#000000" font-family="DejaVu Sans Mono" font-size="7.6719" lengthAdjust="spacingAndGlyphs" textLength="75.5391" x="106.817" y="416.7633">waiter completes</text><!--MD5=[c6ccdde97f90e7952aef870c82e2f1d1]
link Resumed to *end--><path d="M106.2269,466.4203 C106.2269,476.5532 106.2269,489.8434 106.2269,498.554 " fill="none" id="Resumed-&gt;*end" style="stroke: #8295A0; stroke-width: 0.5901493992995522;"/><polygon fill="#8295A0" points="106.2269,501.31,108.5875,495.9986,106.2269,498.3592,103.8663,495.9986,106.2269,501.31" style="stroke: #8295A0; stroke-width: 0.5901493992995522;"/><!--MD5=[b5a5f540820077c6d0ff1a37c770258d]
@startuml
scale max 900*520
skinparam backgroundColor transparent
skinparam shadowing false
skinparam defaultFontName "DejaVu Sans Mono"
skinparam defaultFontSize 13
skinparam stateBorderColor #2b6f8e
skinparam stateBackgroundColor #edf6fa
skinparam ArrowColor #8295a0
top to bottom direction
title A6 STATE — binary semaphore and task readiness across ISR
state "01 EMPTY\nwaiter Blocked" as Empty
state "02 IRQ PENDING\nstimulus interrupted" as Pending
state "03 GIVEN FROM ISR\nwaiter Ready" as Given
state "04 SWITCH REQUESTED\nxHPW=true" as Switch
state "05 TAKEN\nwaiter Running" as Taken
state "06 STIMULUS RESUMED" as Resumed
[*] - -> Empty
Empty - -> Pending : SET_IRQ
Pending - -> Given : GiveFromISR
Given - -> Switch : portYIELD_FROM_ISR
Switch - -> Taken : restore waiter context
Taken - -> Resumed : waiter completes
Resumed - -> [*]
@enduml
PlantUML version 1.2020.02(Sun Mar 01 11:22:07 CET 2020)
(GPL source distribution)
Java Runtime: OpenJDK Runtime Environment
JVM: OpenJDK 64-Bit Server VM
Java Version: 25.0.4-ea+4-1-Debian
Operating System: Linux
Default Encoding: UTF-8
Language: en
Country: null
--></g></svg>
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doc/assets/a7-runtime.puml
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@startuml
scale max 900*520
skinparam backgroundColor transparent
skinparam shadowing false
skinparam defaultFontName "DejaVu Sans Mono"
skinparam defaultFontSize 13
skinparam objectBorderColor #2b6f8e
skinparam objectBackgroundColor #edf6fa
skinparam ArrowColor #8295a0
top to bottom direction
title A7 RUNTIME — three stacks and context-selected return
object "01 waiter TCB" as Waiter {
priority = 3
waiter_sp
state: Blocked → Running
}
object "02 stimulus TCB" as Stimulus {
priority = 2
stimulus_sp
interrupted after SET_IRQ
}
object "03 xISRStack" as ISR {
isr_sp
mcause = 0x8000000b
source_after_clear = 0
}
object "04 binary semaphore" as Sem
object "05 evidence[9]" as Evidence {
E07 waiter before E08 stimulus
}
Stimulus --> ISR : interrupt
ISR --> Sem : GiveFromISR
Sem --> Waiter : unblock
ISR --> Waiter : restore selected context
Waiter --> Evidence
Stimulus --> Evidence
@enduml
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title A7 RUNTIME — three stacks and context-selected return
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doc/card-plan.md
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# FC07 card plan
## Thesis
An ISR and a task use different APIs and different stacks. A FromISR operation
may unblock a higher-priority task, but the task runs immediately only if the
ISR explicitly requests a context switch.
## Evidence
The nine-record replay proves a real MEI cause, source clear before give,
`xHigherPriorityTaskWoken=pdTRUE`, distinct ISR/waiter/stimulus stack pointers,
and ordering `ISR → waiter → interrupted stimulus`.
doc/generated/main.tex
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\newtcolorbox{ESCStepFrame}[1]{enhanced,breakable,arc=0pt,boxrule=0.35pt,colback=white,colframe=black!28,boxsep=0pt,left=0.8mm,right=0.8mm,top=0.45mm,bottom=0.45mm,colbacktitle=black!2,coltitle=black,title={\ttfamily STEP\quad #1}}
\newtcolorbox{ESCConclusionFrame}{enhanced,breakable,arc=0pt,boxrule=0.45pt,colback=blue!2,colframe=blue!45!black,boxsep=0pt,left=1.2mm,right=1.2mm,top=0.7mm,bottom=0.7mm,colbacktitle=blue!7,coltitle=black,title={\ttfamily\bfseries WNIOSEK}}
\newcommand{\ESCLearningTreeWidget}{%
\reversemarginpar
\marginnote[%
\begin{minipage}{\marginparwidth}%
\raggedright
{\fontsize{3.55}{3.95}\selectfont\ttfamily
\begin{minipage}[t]{\marginparwidth}%
\raggedright
{\bfseries\textcolor{black!65}{TECH}\par}%
\vspace{0.08em}%
\hspace*{0.00em}\textcolor{red}{WE~01}\textcolor{black!48}{}\par%
\hspace*{0.28em}\textcolor{orange!85!black}{EK~LOCAL~RTOS}\textcolor{black!48}{\pdftooltip[width=\textwidth]{.07}{Uczeń odtwarza E01–E09 i wiąże mcause, source clear, xHPW, trzy SP oraz kolejność context\textCR restore.}}\par%
\hspace*{0.54em}\textcolor{blue!70!black}{KW~LOCAL~RTOS}\textcolor{black!48}{\pdftooltip[width=\textwidth]{.07}{Łączy kod, diagram i zweryfikowany dowód.}}\par%
\end{minipage}%
}%
\end{minipage}%
]{}
\normalmarginpar
\marginnote{%
\begin{minipage}{\marginparwidth}%
\raggedright
{\fontsize{3.55}{3.95}\selectfont\ttfamily
\hspace*{0.06cm}%
\begin{minipage}[t]{\dimexpr\marginparwidth-0.06cm\relax}%
\raggedright
{\bfseries\textcolor{black!65}{OG}\par}%
\vspace{0.08em}%
\hspace*{0.00em}\textcolor{red}{WE~01}\textcolor{black!48}{}\par%
\hspace*{0.28em}\textcolor{green!50!black}{EN~LOCAL~EN~RTOS}\textcolor{black!48}{\pdftooltip[width=\textwidth]{.07}{Uczeń rozdziela hardware source, trap port, xISRStack, FromISR API i task scheduling.}}\par%
\hspace*{0.54em}\textcolor{blue!70!black}{KW~LOCAL~KW~RTOS}\textcolor{black!48}{\pdftooltip[width=\textwidth]{.07}{Łączy kod, diagram i zweryfikowany dowód.}}\par%
\end{minipage}%
}%
\end{minipage}%
}
}
\begin{document}
\sloppy
\vspace{1.0em}
\noindent{\Large\bfseries Cel karty}\par
\vspace{0.35em}
Uczeń rozdziela task context od ISR context, używa API FromISR i dowodzi natychmiastowego przełączenia do wyższego taska.
\vspace{0.8em}
\noindent\textcolor{black!25}{\rule{\textwidth}{0.35pt}}
\vspace{0.7em}
\noindent{\Large\bfseries Zakres karty}\par
\vspace{0.35em}
Prawdziwe wejście IRQ5 testbencha wywołuje machine external interrupt. Port zapisuje pełny kontekst i przechodzi na xISRStack. ISR czyści źródło, daje binary semaphore i wywołuje portYIELD_FROM_ISR. Waiter priority 3 działa przed powrotem do stimulus priority 2.
\vspace{0.55em}
\small\begin{tabularx}{\textwidth}{@{}>{\ttfamily\raggedright\arraybackslash}p{0.85cm}>{\ttfamily\raggedright\arraybackslash}p{1.45cm}X>{\raggedright\arraybackslash}p{2.45cm}>{\raggedright\arraybackslash}p{1.75cm}>{\ttfamily\raggedright\arraybackslash}p{1.50cm}@{}}
\textbf{Lekcja} & \textbf{Task} & \textbf{Najważniejsza idea} & \textbf{Priorytet} & \textbf{Status} & \textbf{Version} \\ \hline
\hline
\multicolumn{1}{|l|}{\textbf{\texttt{FC07}}} & \multicolumn{1}{l|}{\textbf{\texttt{Task01}}} & \multicolumn{1}{l|}{\textbf{Hazard3 MEI, xISRStack, xSemaphoreGiveFromISR i yield}} & \multicolumn{1}{l|}{\textbf{główny}} & \multicolumn{1}{l|}{\textbf{opracowane}} & \multicolumn{1}{l|}{\textbf{\texttt{v00.01}}} \\ \hline
\end{tabularx}
\normalsize
\vspace{0.8em}
\noindent\textcolor{black!25}{\rule{\textwidth}{0.35pt}}
\clearpage
\begin{landscape}
\ESCSectionBlockStart
\noindent{\small\bfseries A1 — Context \hfill część 1/1 \textperiodcentered\ r1 c1}\par
\vspace{0.35em}
\begin{figure}[H]
\centering
\includegraphics[width=0.52979\linewidth,trim=0.000bp 0.000bp 0.000bp 0.000bp,clip]{\detokenize{../assets/a1-context.png}}
\caption{A1 CONTEXT — IRQ5 do high-priority waitera. — część 1/1 (r1 c1).}
\label{fig:a1-context}
\end{figure}
\ESCSectionBlockEnd
\end{landscape}
\clearpage
\begin{landscape}
\ESCSectionBlockStart
\noindent{\small\bfseries A3 — Dispatch \hfill część 1/1 \textperiodcentered\ r1 c1}\par
\vspace{0.35em}
\begin{figure}[H]
\centering
\includegraphics[width=0.36596\linewidth,trim=0.000bp 0.000bp 0.000bp 0.000bp,clip]{\detokenize{../assets/a3-dispatch.png}}
\caption{A3 DISPATCH — vector, trap, FromISR i restore. — część 1/1 (r1 c1).}
\label{fig:a3-dispatch}
\end{figure}
\ESCSectionBlockEnd
\end{landscape}
\clearpage
\begin{landscape}
\ESCSectionBlockStart
\noindent{\small\bfseries A5 — Flow \hfill część 1/1 \textperiodcentered\ r1 c1}\par
\vspace{0.35em}
\begin{figure}[H]
\centering
\includegraphics[width=0.96383\linewidth,trim=0.000bp 0.000bp 0.000bp 0.000bp,clip]{\detokenize{../assets/a5-flow.png}}
\caption{A5 FLOW — od Blocked przez ISR do natychmiastowego waitera. — część 1/1 (r1 c1).}
\label{fig:a5-flow}
\end{figure}
\ESCSectionBlockEnd
\end{landscape}
\clearpage
\ESCSectionBlockStart
\noindent{\small\bfseries A6 — State \hfill część 1/1 \textperiodcentered\ r1 c1}\par
\vspace{0.35em}
\begin{figure}[H]
\centering
\includegraphics[width=0.4197\linewidth,trim=0.000bp 0.000bp 0.000bp 0.000bp,clip]{\detokenize{../assets/a6-state.png}}
\caption{A6 STATE — empty, given, switch i taken. — część 1/1 (r1 c1).}
\label{fig:a6-state}
\end{figure}
\ESCSectionBlockEnd
\clearpage
\ESCSectionBlockStart
\noindent{\small\bfseries A7 — Runtime \hfill część 1/1 \textperiodcentered\ r1 c1}\par
\vspace{0.35em}
\begin{figure}[H]
\centering
\includegraphics[width=0.64697\linewidth,trim=0.000bp 0.000bp 0.000bp 0.000bp,clip]{\detokenize{../assets/a7-runtime.png}}
\caption{A7 RUNTIME — stimulus TCB, xISRStack i waiter TCB. — część 1/1 (r1 c1).}
\label{fig:a7-runtime}
\end{figure}
\ESCSectionBlockEnd
\clearpage
\ESCSectionBlockStart
\section{Task01 — ISR semaphore}
\begin{ESCTaskFrame}{TASK01 · External IRQ → FromISR semaphore → high-priority task}
{\scriptsize\ttfamily a6da1075-8d1f-5615-b0e6-0fc33e59e1e3}\par
\begin{ESCBlockFrame}{A — kontrakt przerwania}
Rozdziel source, vector, port, ISR i task.
\begin{ESCStepFrame}{order · Ustal kolejność ISR.}
Najpierw clear, potem give, na końcu yield.
\end{ESCStepFrame}
\begin{ESCStepFrame}{predict · Przewidź context restore.}
Wskaż, czy pierwszy wykona się waiter czy stimulus.
\end{ESCStepFrame}
\end{ESCBlockFrame}
\begin{ESCBlockFrame}{B — replay Hazard3}
Każdy RUN zaczyna się od czystej RAM i wyłączonego źródła.
\begin{ESCStepFrame}{trap · Zbadaj E03–E05.}
Zapisz mcause, mepc, isr_sp i source state.
\end{ESCStepFrame}
\begin{ESCStepFrame}{handoff · Zbadaj E06–E08.}
Porównaj xHPW i kolejność tasków.
\end{ESCStepFrame}
\begin{ESCStepFrame}{pass · Zbadaj E09.}
Sprawdź trzy stosy, markers i digest.
\end{ESCStepFrame}
\end{ESCBlockFrame}
\begin{ESCBlockFrame}{Ćwiczenie · Ćwiczenie — brak yield request}
W kontrolowanym wariancie pomiń portYIELD_FROM_ISR, zachowując GiveFromISR. Zmierz, kiedy waiter zacznie działać i wskaż następny legalny scheduling point.
\par\textbf{Evidence:} Dwa timestampowane ślady E07/E08 z yield i bez yield oraz opis różnicy.
\par\textbf{Acceptance:} Uczeń nie myli odblokowania taska z natychmiastowym wykonaniem i przywraca poprawny yield w wersji finalnej.
\end{ESCBlockFrame}
\tcblower\textbf{Task acceptance:} PASS; mcause=MEI; source=0 przed give; xHPW=1; waiter E07 przed stimulus E08; trzy różne stosy; deterministyczny digest.
\end{ESCTaskFrame}
\begin{ESCConclusionFrame}
ISR działa na osobnym stacku i używa FromISR API. xHigherPriorityTaskWoken jest informacją dla portu; dopiero portYIELD_FROM_ISR powoduje restore kontekstu wyższego taska przed powrotem do przerwanego kodu.
\end{ESCConclusionFrame}
\ESCSectionBlockEnd
\end{document}
doc/page-layout.md
+4
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# Page layout
A1, A3, A5, A6 and A7 each use one fresh landscape page. Generated diagrams are
single SVGs below 900×520 and require neither tiling nor scrollbars.
include/FreeRTOSConfig.h
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#ifndef FREERTOS_CONFIG_H
#define FREERTOS_CONFIG_H
#define configCPU_CLOCK_HZ ( 10000000UL )
#define configTICK_RATE_HZ ( 1000U )
#define configMTIME_BASE_ADDRESS ( 0xC0000100UL )
#define configMTIMECMP_BASE_ADDRESS ( 0xC0000108UL )
#define configUSE_PREEMPTION 1
#define configUSE_TIME_SLICING 1
#define configNUMBER_OF_CORES 1
#define configUSE_PORT_OPTIMISED_TASK_SELECTION 0
#define configUSE_IDLE_HOOK 0
#define configUSE_TICK_HOOK 0
#define configMAX_PRIORITIES 5
#define configMINIMAL_STACK_SIZE 128
#define configMAX_TASK_NAME_LEN 16
#define configTICK_TYPE_WIDTH_IN_BITS TICK_TYPE_WIDTH_32_BITS
#define configIDLE_SHOULD_YIELD 1
#define configSUPPORT_DYNAMIC_ALLOCATION 1
#define configSUPPORT_STATIC_ALLOCATION 0
#define configTOTAL_HEAP_SIZE ( 16U * 1024U )
#define configAPPLICATION_ALLOCATED_HEAP 1
#define configUSE_MALLOC_FAILED_HOOK 1
#define configHEAP_CLEAR_MEMORY_ON_FREE 0
#define configUSE_TIMERS 0
#define configUSE_MUTEXES 0
#define configUSE_RECURSIVE_MUTEXES 0
#define configUSE_COUNTING_SEMAPHORES 0
#define configUSE_TASK_NOTIFICATIONS 0
#define configUSE_TRACE_FACILITY 1
#define configUSE_STATS_FORMATTING_FUNCTIONS 0
#define configGENERATE_RUN_TIME_STATS 0
#define configUSE_CO_ROUTINES 0
#define configUSE_NEWLIB_REENTRANT 0
#define configUSE_POSIX_ERRNO 0
#define configCHECK_FOR_STACK_OVERFLOW 0
#define configRECORD_STACK_HIGH_ADDRESS 1
#define INCLUDE_vTaskDelay 1
#define INCLUDE_vTaskDelayUntil 0
#define INCLUDE_vTaskDelete 1
#define INCLUDE_vTaskSuspend 0
#define INCLUDE_eTaskGetState 1
#define INCLUDE_uxTaskPriorityGet 1
#define INCLUDE_vTaskPrioritySet 0
#define INCLUDE_xTaskGetSchedulerState 1
#define INCLUDE_uxTaskGetStackHighWaterMark 1
#define configENABLE_FPU 0
#define configENABLE_VPU 0
#define configISR_STACK_SIZE_WORDS 256
#ifndef __ASSEMBLER__
void lab_assert_fail( const char * file, int line );
#define configASSERT( condition ) \
do { if( !( condition ) ) { lab_assert_fail( __FILE__, __LINE__ ); } } while( 0 )
#else
#define configASSERT( condition )
#endif
#endif
include/freertos_risc_v_chip_specific_extensions.h
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#ifndef FREERTOS_RISC_V_CHIP_SPECIFIC_EXTENSIONS_H
#define FREERTOS_RISC_V_CHIP_SPECIFIC_EXTENSIONS_H
/* Hazard3 adds no architectural registers to the base RV32I context. */
#define portasmHAS_MTIME 1
#define portasmHAS_SIFIVE_CLINT 0
#define portasmADDITIONAL_CONTEXT_SIZE 0
.macro portasmSAVE_ADDITIONAL_REGISTERS
.endm
.macro portasmRESTORE_ADDITIONAL_REGISTERS
.endm
#endif
include/hazard3_csr.h
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#ifndef _HAZARD3_CSR_H
#define _HAZARD3_CSR_H
#ifndef __ASSEMBLER__
#include "stdint.h"
#endif
#define hazard3_csr_dmdata0 0xbff // Debug-mode shadow CSR for DM data transfer
#define hazard3_csr_meiea 0xbe0 // External interrupt pending array
#define hazard3_csr_meipa 0xbe1 // External interrupt enable array
#define hazard3_csr_meifa 0xbe2 // External interrupt force array
#define hazard3_csr_meipra 0xbe3 // External interrupt priority array
#define hazard3_csr_meinext 0xbe4 // Next external interrupt
#define hazard3_csr_meicontext 0xbe5 // External interrupt context register
#define hazard3_csr_msleep 0xbf0 // M-mode sleep control register
#define hazard3_csr_pmpcfgm0 0xbd0 // Non-locking M-mode enables for PMP regions
#define _read_csr(csrname) ({ \
uint32_t __csr_tmp_u32; \
__asm__ volatile ("csrr %0, " #csrname : "=r" (__csr_tmp_u32)); \
__csr_tmp_u32; \
})
#define _write_csr(csrname, data) ({ \
__asm__ volatile ("csrw " #csrname ", %0" : : "r" (data)); \
})
#define _set_csr(csrname, data) ({ \
__asm__ volatile ("csrs " #csrname ", %0" : : "r" (data)); \
})
#define _clear_csr(csrname, data) ({ \
__asm__ volatile ("csrc " #csrname ", %0" : : "r" (data)); \
})
#define _read_write_csr(csrname, data) ({ \
uint32_t __csr_tmp_u32; \
__asm__ volatile ("csrrw %0, " #csrname ", %1" : "=r" (__csr_tmp_u32) : "r" (data)); \
__csr_tmp_u32; \
})
#define _read_set_csr(csrname, data) ({ \
uint32_t __csr_tmp_u32; \
__asm__ volatile ("csrrs %0, " #csrname ", %1" : "=r" (__csr_tmp_u32) : "r" (data)); \
__csr_tmp_u32; \
})
#define _read_clear_csr(csrname, data) ({ \
uint32_t __csr_tmp_u32; \
__asm__ volatile ("csrrc %0, " #csrname ", %1" : "=r" (__csr_tmp_u32) : "r" (data)); \
__csr_tmp_u32; \
})
// Argument macro expansion layer
#define read_csr(csrname) _read_csr(csrname)
#define write_csr(csrname, data) _write_csr(csrname, data)
#define set_csr(csrname, data) _set_csr(csrname, data)
#define clear_csr(csrname, data) _clear_csr(csrname, data)
#define read_write_csr(csrname, data) _read_write_csr(csrname, data)
#define read_set_csr(csrname, data) _read_set_csr(csrname, data)
#define read_clear_csr(csrname, data) _read_clear_csr(csrname, data)
#endif
include/hazard3_irq.h
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#ifndef _HAZARD3_IRQ_H
#define _HAZARD3_IRQ_H
#include "hazard3_csr.h"
#include "stdint.h"
#include "stdbool.h"
// Should match processor configuration in testbench:
#define NUM_IRQS 32
#define MAX_PRIORITY 15
// Declarations for irq_dispatch.S
extern uintptr_t _external_irq_table[NUM_IRQS];
extern uint32_t _external_irq_entry_count;
#define h3irq_array_read(csr, index) (read_set_csr(csr, (index)) >> 16)
#define h3irq_array_write(csr, index, data) (write_csr(csr, (index) | ((uint32_t)(data) << 16)))
#define h3irq_array_set(csr, index, data) (set_csr(csr, (index) | ((uint32_t)(data) << 16)))
#define h3irq_array_clear(csr, index, data) (clear_csr(csr, (index) | ((uint32_t)(data) << 16)))
static inline void h3irq_enable(unsigned int irq, bool enable) {
if (enable) {
h3irq_array_set(hazard3_csr_meiea, irq >> 4, 1u << (irq & 0xfu));
}
else {
h3irq_array_clear(hazard3_csr_meiea, irq >> 4, 1u << (irq & 0xfu));
}
}
static inline bool h3irq_pending(unsigned int irq) {
return h3irq_array_read(hazard3_csr_meipa, irq >> 4) & (1u << (irq & 0xfu));
}
static inline void h3irq_force_pending(unsigned int irq, bool force) {
if (force) {
h3irq_array_set(hazard3_csr_meifa, irq >> 4, 1u << (irq & 0xfu));
}
else {
h3irq_array_clear(hazard3_csr_meifa, irq >> 4, 1u << (irq & 0xfu));
}
}
static inline bool h3irq_is_forced(unsigned int irq) {
return h3irq_array_read(hazard3_csr_meifa, irq >> 4) & (1u << (irq & 0xfu));
}
// -1 for no IRQ
static inline int h3irq_get_current_irq() {
uint32_t meicontext = read_csr(hazard3_csr_meicontext);
return ( meicontext & 0x8000u ) != 0U
? -1
: ( int ) ( ( meicontext >> 4 ) & 0x1ffu );
}
static inline void h3irq_set_priority(unsigned int irq, uint32_t priority) {
// Don't want read-modify-write, but no instruction for atomically writing
// a bitfield. So, first drop priority to minimum, then set to the target
// value. It should be safe to drop an IRQ's priority below its current
// even from within that IRQ (but it is never safe to boost an IRQ when
// it may already be in an older stack frame)
h3irq_array_clear(hazard3_csr_meipra, irq >> 2, 0xfu << (4 * (irq & 0x3)));
h3irq_array_set(hazard3_csr_meipra, irq >> 2, (priority & 0xfu) << (4 * (irq & 0x3)));
}
static inline void h3irq_set_handler(unsigned int irq, void (*handler)(void)) {
_external_irq_table[irq] = (uintptr_t)handler;
}
static inline void global_irq_enable(bool en) {
// mstatus.mie
if (en) {
set_csr(mstatus, 0x8);
}
else {
clear_csr(mstatus, 0x8);
}
}
static inline void external_irq_enable(bool en) {
// mie.meie
if (en) {
set_csr(mie, 0x800);
}
else {
clear_csr(mie, 0x800);
}
}
static inline void timer_irq_enable(bool en) {
// mie.mtie
if (en) {
set_csr(mie, 0x080);
}
else {
clear_csr(mie, 0x080);
}
}
#endif
include/stdlib.h
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#ifndef LAB_FREESTANDING_STDLIB_H
#define LAB_FREESTANDING_STDLIB_H
/*
* The selected FreeRTOS sources include <stdlib.h> for standard types, but the
* configuration used by this card does not call hosted stdlib functions.
* GCC's freestanding headers provide size_t through <stddef.h>.
*/
#include <stddef.h>
#endif
include/string.h
+17
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@@ -0,0 +1,17 @@
#ifndef LAB_FREESTANDING_STRING_H
#define LAB_FREESTANDING_STRING_H
#include <stddef.h>
#ifdef __cplusplus
extern "C" {
#endif
void * memcpy( void * destination, const void * source, size_t count );
void * memset( void * destination, int value, size_t count );
size_t strlen( const char * text );
#ifdef __cplusplus
}
#endif
#endif
include/task01_isr_semaphore.h
+49
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#ifndef TASK01_ISR_SEMAPHORE_H
#define TASK01_ISR_SEMAPHORE_H
#include <stdint.h>
#include "FreeRTOS.h"
#include "semphr.h"
#include "task.h"
#include "task01_isr_semaphore_model.h"
#define FC07_IRQ_NUMBER 5U
#define FC07_IRQ_MASK ( 1UL << FC07_IRQ_NUMBER )
#define FC07_TASK_STACK_WORDS 256U
#define FC07_WAITER_PRIORITY 3U
#define FC07_STIMULUS_PRIORITY 2U
#define FC07_VERIFIER_PRIORITY 1U
#define FC07_EVENT_CAPACITY 10U
#define FC07_TIMEOUT_TICKS 20U
typedef struct IsrExperiment
{
SemaphoreHandle_t semaphore;
TaskHandle_t waiter;
TaskHandle_t stimulus;
TaskHandle_t verifier;
uintptr_t waiter_sp;
uintptr_t stimulus_sp;
uintptr_t isr_sp;
uint32_t mcause;
uint32_t irq_source_after_clear;
BaseType_t higher_priority_task_woken;
uint32_t waiter_ran;
uint32_t stimulus_after;
uint32_t pass;
uint32_t digest;
} IsrExperiment;
extern IsrExperiment g_fc07;
extern IsrEvidence g_fc07_events[ FC07_EVENT_CAPACITY ];
extern volatile uint32_t g_fc07_event_count;
extern volatile uint32_t g_fc07_last_checkpoint;
extern volatile uint32_t g_fc07_pass;
void fc07_checkpoint_committed( uint32_t point, const void * subject );
void freertos_risc_v_application_interrupt_handler( void );
void fc07_waiter_entry( void * context );
void fc07_stimulus_entry( void * context );
void fc07_verifier_entry( void * context );
#endif
include/task01_isr_semaphore_model.h
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#ifndef TASK01_ISR_SEMAPHORE_MODEL_H
#define TASK01_ISR_SEMAPHORE_MODEL_H
#include <stddef.h>
#include <stdint.h>
typedef struct IsrEvidence
{
uint32_t sequence;
uint32_t event;
uint32_t tick;
uint32_t actor;
uint32_t value;
uint32_t committed;
} IsrEvidence;
static inline int fc07_order_is_valid( const IsrEvidence * events,
size_t count )
{
size_t index;
if( count != 9U )
{
return 0;
}
for( index = 0U; index < count; ++index )
{
if( events[ index ].sequence != index + 1U ||
events[ index ].event != index + 1U ||
events[ index ].committed !=
( 0xFC070000U | ( uint32_t ) ( index + 1U ) ) )
{
return 0;
}
}
return 1;
}
static inline uint32_t fc07_digest( const IsrEvidence * events,
size_t count )
{
uint32_t hash = 2166136261U;
size_t index;
for( index = 0U; index < count; ++index )
{
hash = ( hash ^ events[ index ].event ) * 16777619U;
hash = ( hash ^ events[ index ].actor ) * 16777619U;
hash = ( hash ^ events[ index ].value ) * 16777619U;
hash = ( hash ^ events[ index ].committed ) * 16777619U;
}
return hash;
}
#endif
json/card_source.json
+1365
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json/card_spec.json
+82
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@@ -0,0 +1,82 @@
{
"card":{"number":"07","slug":"isr-semaphore","title":"Przerwanie zewnętrzne i semaphore FromISR","topic":"Hazard3 MEI, xISRStack, xSemaphoreGiveFromISR i yield","status":"Gotowa","version":"v00.01"},
"front":{"goal":"Uczeń rozdziela task context od ISR context, używa API FromISR i dowodzi natychmiastowego przełączenia do wyższego taska.","scope":"Prawdziwe wejście IRQ5 testbencha wywołuje machine external interrupt. Port zapisuje pełny kontekst i przechodzi na xISRStack. ISR czyści źródło, daje binary semaphore i wywołuje portYIELD_FROM_ISR. Waiter priority 3 działa przed powrotem do stimulus priority 2."},
"viewpoints":[
{"id":"A1","label":"CONTEXT","status":"enabled","subtitle":"Testbench → Hazard3 → port → task"},
{"id":"A2","label":"STRUCTURE","status":"unavailable","subtitle":"Struktura","reason":"Obiekty runtime i ich relacje są pełniej pokazane w A7."},
{"id":"A3","label":"DISPATCH","status":"enabled","subtitle":"Vector, trap, FromISR i context switch"},
{"id":"A4","label":"APPLICATION","status":"unavailable","subtitle":"Eksperyment","reason":"Konkretny handoff jest kompletny w A5."},
{"id":"A5","label":"FLOW","status":"enabled","subtitle":"E01–E09: trigger do PASS"},
{"id":"A6","label":"STATE","status":"enabled","subtitle":"Semaphore empty/given/taken i task state"},
{"id":"A7","label":"RUNTIME","status":"enabled","subtitle":"Waiter, stimulus i xISRStack"},
{"id":"A8","label":"PATTERNS","status":"unavailable","subtitle":"Wzorce","reason":"Deferred interrupt handoff jest tu mechanizmem wykonania A3/A5, nie osobnym wzorcem aplikacyjnym."}
],
"artifact":{"source":"src/tasks/task01_isr_semaphore.c","elf":"build/task01_isr_semaphore/prog.elf","image":"build/task01_isr_semaphore/prog.bin"},
"strategies":[
{"id":"code.irq-contract","kind":"code","prerequisites":["źródło FC07"],"layout":["vector bridge","FreeRTOS trap","application ISR","config"],"commands":["rg -n 'isr_external_irq|application_interrupt|GiveFromISR|SET_IRQ' src include"],"expected_observations":["external vector trafia do pełnego trap path","ISR API ma osobny suffix"],"assertions":["source clear poprzedza give","port ma 256-word ISR stack"],"evidence_fields":["code_ref","symbol","ABI"]},
{"id":"run.trap","kind":"run","prerequisites":["Hazard3 online","IRQ5 enabled","czysta RAM"],"layout":["mcause","mepc","xISRStack","source register"],"commands":["print/x g_fc07.mcause","print/x g_fc07.isr_sp","print g_fc07.irq_source_after_clear"],"expected_observations":["mcause=0x8000000b","ISR SP różny od task SP","source=0"],"assertions":["real MEI","full context saved"],"evidence_fields":["mcause","SP","PC","IRQ register","timestamp"]},
{"id":"run.handoff","kind":"run","prerequisites":["waiter Blocked na binary semaphore"],"layout":["semaphore","xHPW","waiter/stimulus TCB","event order"],"commands":["print g_fc07.higher_priority_task_woken","print g_fc07_events"],"expected_observations":["xHPW=pdTRUE","E07 poprzedza E08"],"assertions":["waiter value widzi stimulus_after=0","stimulus po resume widzi waiter_ran=1"],"evidence_fields":["state","actor","value","PC/SP"]},
{"id":"run.pass","kind":"run","prerequisites":["E01–E08 committed"],"layout":["nine records","stack separation","digest"],"commands":["print g_fc07_pass","print g_fc07.digest"],"expected_observations":["PASS=1","nine sequential markers"],"assertions":["three distinct stack contexts","digest stable"],"evidence_fields":["PASS","digest","source blob","ELF hash","timestamp"]}
],
"checkpoints":{
"task01.config":{"event_id":"E01","stop":{"symbol":"fc07_checkpoint_committed","offset":0,"condition":"$a0 == 1"},"verify":{"expressions":[{"expr":"g_fc07_event_count","equals":1},{"expr":"g_fc07.semaphore == 0","equals":1}]}},
"task01.waiter-block":{"event_id":"E02","stop":{"symbol":"fc07_checkpoint_committed","offset":0,"condition":"$a0 == 2"},"verify":{"expressions":[{"expr":"g_fc07.waiter_sp != 0","equals":1},{"expr":"g_fc07.waiter_ran","equals":0}]}},
"task01.before-trigger":{"event_id":"E03","stop":{"symbol":"fc07_checkpoint_committed","offset":0,"condition":"$a0 == 3"},"verify":{"expressions":[{"expr":"g_fc07.stimulus_sp != 0","equals":1},{"expr":"g_fc07.stimulus_after","equals":0}]}},
"task01.isr-entry":{"event_id":"E04","stop":{"symbol":"fc07_checkpoint_committed","offset":0,"condition":"$a0 == 4"},"verify":{"expressions":[{"expr":"g_fc07.mcause","equals":2147483659},{"expr":"g_fc07.isr_sp != g_fc07.stimulus_sp","equals":1}]}},
"task01.source-clear":{"event_id":"E05","stop":{"symbol":"fc07_checkpoint_committed","offset":0,"condition":"$a0 == 5"},"verify":{"expressions":[{"expr":"g_fc07.irq_source_after_clear","equals":0},{"expr":"g_fc07.waiter_ran","equals":0}]}},
"task01.give-yield":{"event_id":"E06","stop":{"symbol":"fc07_checkpoint_committed","offset":0,"condition":"$a0 == 6"},"verify":{"expressions":[{"expr":"g_fc07.higher_priority_task_woken","equals":1},{"expr":"g_fc07.stimulus_after","equals":0}]}},
"task01.waiter-runs":{"event_id":"E07","stop":{"symbol":"fc07_checkpoint_committed","offset":0,"condition":"$a0 == 7"},"verify":{"expressions":[{"expr":"g_fc07.waiter_ran","equals":1},{"expr":"g_fc07.stimulus_after","equals":0}]}},
"task01.stimulus-resumes":{"event_id":"E08","stop":{"symbol":"fc07_checkpoint_committed","offset":0,"condition":"$a0 == 8"},"verify":{"expressions":[{"expr":"g_fc07.waiter_ran","equals":1},{"expr":"g_fc07.stimulus_after","equals":1}]}},
"task01.pass":{"event_id":"E09","stop":{"symbol":"fc07_checkpoint_committed","offset":0,"condition":"$a0 == 9"},"verify":{"expressions":[{"expr":"g_fc07_pass","equals":1},{"expr":"g_fc07_event_count","equals":9},{"expr":"g_fc07_events[6].actor","equals":2}]}}
},
"sections":[
{"id":"A1","label":"CONTEXT","title":"Context","order":10,"orientation":"landscape","description":"Od fizycznej linii IRQ do odblokowanego taska.","content_tex":"Źródło testbencha, kontroler Hazard3, port FreeRTOS, ISR aplikacji i waiter są osobnymi warstwami odpowiedzialności.","assets":[{"stem":"a1-context","title":"A1 · granice interrupt path","caption":"A1 CONTEXT — IRQ5 do high-priority waitera.","label":"fig:a1-context","alt":"Warstwy realnego external IRQ.","phases":[{"id":"context","label":"SOURCE / CPU / PORT / ISR / TASK","steps":[
{"id":"source","number":1,"label":"testbench drives a real IRQ line","mode":"RUN","event_id":"E03","strategy_ref":"run.trap","svg_label":"01","code_ref":"src/tasks/task01_isr_semaphore.c:156","snapshot_ref":"task01.before-trigger","description":"MMIO store ustawia bit wejścia CPU.","evidence":"IRQ mask bit 5."},
{"id":"hazard","number":2,"label":"Hazard3 raises machine external interrupt","mode":"RUN","event_id":"E04","strategy_ref":"run.trap","svg_label":"02","code_ref":"src/tasks/task01_isr_semaphore.c:103","snapshot_ref":"task01.isr-entry","description":"To nie jest tick hook.","evidence":"mcause=MEI."},
{"id":"port","number":3,"label":"port saves full task context","mode":"CODE","strategy_ref":"code.irq-contract","svg_label":"03","code_ref":"src/common/hazard3_freertos_traps.S:24","description":"Vector skacze do official trap handler.","evidence":"xISRStack."},
{"id":"isr","number":4,"label":"application ISR clears and gives","mode":"RUN","event_id":"E06","strategy_ref":"run.handoff","svg_label":"04","code_ref":"src/tasks/task01_isr_semaphore.c:99","snapshot_ref":"task01.give-yield","description":"API FromISR ustawia xHPW.","evidence":"source=0, xHPW=1."},
{"id":"waiter","number":5,"label":"higher waiter consumes semaphore","mode":"RUN","event_id":"E07","strategy_ref":"run.handoff","svg_label":"05","code_ref":"src/tasks/task01_isr_semaphore.c:135","snapshot_ref":"task01.waiter-runs","description":"Context restore wybiera waiter TCB.","evidence":"stimulus_after=0."}
]}]}]},
{"id":"A3","label":"DISPATCH","title":"Dispatch","order":30,"orientation":"landscape","description":"Pełny context save umożliwia yield z ISR.","content_tex":"Samo vTaskSwitchContext w zwykłym handlerze nie wystarcza. Port musi najpierw zapisać pełny kontekst przerwanego taska, przejść na ISR stack i dopiero potem odtworzyć kontekst wybranego taska.","assets":[{"stem":"a3-dispatch","title":"A3 · external interrupt dispatch","caption":"A3 DISPATCH — vector, trap, FromISR i restore.","label":"fig:a3-dispatch","alt":"Dispatch external IRQ w porcie FreeRTOS.","phases":[{"id":"dispatch","label":"VECTOR / SAVE / ISR / RESTORE","steps":[
{"id":"vector","number":1,"label":"external vector enters port","mode":"CODE","strategy_ref":"code.irq-contract","svg_label":"01","code_ref":"src/common/hazard3_freertos_traps.S:24","description":"Strong symbol zastępuje weak handler testbencha.","evidence":"isr_external_irq."},
{"id":"trap","number":2,"label":"trap saves full context","mode":"RUN","event_id":"E04","strategy_ref":"run.trap","svg_label":"02","code_ref":"vendor/FreeRTOS-Kernel/portable/GCC/RISC-V/portASM.S:356","snapshot_ref":"task01.isr-entry","description":"Interrupted SP jest zapisany w TCB.","evidence":"mepc/mstatus/registers."},
{"id":"stack","number":3,"label":"handler runs on xISRStack","mode":"RUN","event_id":"E04","strategy_ref":"run.trap","svg_label":"03","code_ref":"src/tasks/task01_isr_semaphore.c:104","snapshot_ref":"task01.isr-entry","description":"ISR SP różni się od obu tasków.","evidence":"isr_sp."},
{"id":"app","number":4,"label":"application handler owns device protocol","mode":"RUN","event_id":"E05","strategy_ref":"run.trap","svg_label":"04","code_ref":"src/tasks/task01_isr_semaphore.c:107","snapshot_ref":"task01.source-clear","description":"Najpierw clear source.","evidence":"register=0."},
{"id":"give","number":5,"label":"FromISR unblocks waiter","mode":"RUN","event_id":"E06","strategy_ref":"run.handoff","svg_label":"05","code_ref":"src/tasks/task01_isr_semaphore.c:111","snapshot_ref":"task01.give-yield","description":"Binary semaphore staje się available.","evidence":"xHPW=1."},
{"id":"yield","number":6,"label":"yield selects waiter TCB","mode":"RUN","event_id":"E06","strategy_ref":"run.handoff","svg_label":"06","code_ref":"src/tasks/task01_isr_semaphore.c:118","snapshot_ref":"task01.give-yield","description":"Switch następuje przed mret.","evidence":"vTaskSwitchContext."},
{"id":"restore","number":7,"label":"port restores selected task","mode":"RUN","event_id":"E07","strategy_ref":"run.handoff","svg_label":"07","code_ref":"src/tasks/task01_isr_semaphore.c:135","snapshot_ref":"task01.waiter-runs","description":"CPU nie wraca od razu do stimulus.","evidence":"E07 before E08."}
]}]}]},
{"id":"A5","label":"FLOW","title":"Flow","order":40,"orientation":"landscape","description":"Jeden realny handoff E01–E09.","content_tex":"Sekwencja dowodzi source-clear-before-give oraz waiter-before-interrupted-task.","assets":[{"stem":"a5-flow","diagram_kind":"sequence","title":"A5 · IRQ handoff replay","caption":"A5 FLOW — od Blocked przez ISR do natychmiastowego waitera.","label":"fig:a5-flow","alt":"Sekwencja ISR semaphore handoff.","phases":[{"id":"flow","label":"TRIGGER / ISR / YIELD / PASS","steps":[
{"id":"config","number":1,"label":"IRQ contract configured","mode":"RUN","event_id":"E01","strategy_ref":"run.trap","svg_label":"01","code_ref":"src/tasks/task01_isr_semaphore.c:238","snapshot_ref":"task01.config","description":"IRQ5 i priority są jawne.","evidence":"event count 1."},
{"id":"wait","number":2,"label":"waiter reaches empty take","mode":"RUN","event_id":"E02","strategy_ref":"run.handoff","svg_label":"02","code_ref":"src/tasks/task01_isr_semaphore.c:130","snapshot_ref":"task01.waiter-block","description":"Następnie przechodzi do Blocked.","evidence":"waiter_ran=0."},
{"id":"trigger","number":3,"label":"stimulus commits before trigger","mode":"RUN","event_id":"E03","strategy_ref":"run.trap","svg_label":"03","code_ref":"src/tasks/task01_isr_semaphore.c:155","snapshot_ref":"task01.before-trigger","description":"Kontrolowany punkt przed MMIO.","evidence":"stimulus_after=0."},
{"id":"entry","number":4,"label":"MEI enters xISRStack","mode":"RUN","event_id":"E04","strategy_ref":"run.trap","svg_label":"04","code_ref":"src/tasks/task01_isr_semaphore.c:103","snapshot_ref":"task01.isr-entry","description":"Prawdziwy async trap.","evidence":"mcause and SP."},
{"id":"clear","number":5,"label":"ISR clears hardware source","mode":"RUN","event_id":"E05","strategy_ref":"run.trap","svg_label":"05","code_ref":"src/tasks/task01_isr_semaphore.c:107","snapshot_ref":"task01.source-clear","description":"Zapobiega retrigger.","evidence":"source=0."},
{"id":"give","number":6,"label":"give requests a switch","mode":"RUN","event_id":"E06","strategy_ref":"run.handoff","svg_label":"06","code_ref":"src/tasks/task01_isr_semaphore.c:111","snapshot_ref":"task01.give-yield","description":"Wyższy task stał się Ready.","evidence":"xHPW=pdTRUE."},
{"id":"waiter","number":7,"label":"waiter runs before stimulus","mode":"RUN","event_id":"E07","strategy_ref":"run.handoff","svg_label":"07","code_ref":"src/tasks/task01_isr_semaphore.c:135","snapshot_ref":"task01.waiter-runs","description":"Natychmiastowy efekt yield.","evidence":"stimulus_after=0."},
{"id":"resume","number":8,"label":"interrupted stimulus resumes","mode":"RUN","event_id":"E08","strategy_ref":"run.handoff","svg_label":"08","code_ref":"src/tasks/task01_isr_semaphore.c:158","snapshot_ref":"task01.stimulus-resumes","description":"Dopiero po zakończeniu waitera.","evidence":"waiter_ran=1."},
{"id":"pass","number":9,"label":"verifier commits PASS","mode":"RUN","event_id":"E09","strategy_ref":"run.pass","svg_label":"09","code_ref":"src/tasks/task01_isr_semaphore.c:186","snapshot_ref":"task01.pass","description":"Sprawdza order, stacks i cause.","evidence":"PASS=1, digest."}
]}]}]},
{"id":"A6","label":"STATE","title":"State","order":50,"orientation":"portrait","description":"Semaphore state i scheduler decision.","content_tex":"GiveFromISR zmienia obiekt synchronizacyjny i stan waitera, lecz natychmiastowe wykonanie wymaga dodatkowego yield request.","assets":[{"stem":"a6-state","title":"A6 · ISR handoff state","caption":"A6 STATE — empty, given, switch i taken.","label":"fig:a6-state","alt":"Maszyna stanu semaphore handoff.","phases":[{"id":"state","label":"SEMAPHORE / TASK / SWITCH","steps":[
{"id":"empty","number":1,"label":"empty semaphore blocks waiter","mode":"RUN","event_id":"E02","strategy_ref":"run.handoff","svg_label":"01","code_ref":"src/tasks/task01_isr_semaphore.c:131","snapshot_ref":"task01.waiter-block","description":"Waiter trafia na wait list.","evidence":"Blocked."},
{"id":"pending","number":2,"label":"IRQ interrupts stimulus","mode":"RUN","event_id":"E04","strategy_ref":"run.trap","svg_label":"02","code_ref":"src/tasks/task01_isr_semaphore.c:99","snapshot_ref":"task01.isr-entry","description":"Stimulus context jest zachowany.","evidence":"mepc and SP."},
{"id":"given","number":3,"label":"give makes waiter Ready","mode":"RUN","event_id":"E06","strategy_ref":"run.handoff","svg_label":"03","code_ref":"src/tasks/task01_isr_semaphore.c:111","snapshot_ref":"task01.give-yield","description":"Semaphore nie pozostaje full.","evidence":"xHPW=true."},
{"id":"switch","number":4,"label":"yield requests context switch","mode":"RUN","event_id":"E06","strategy_ref":"run.handoff","svg_label":"04","code_ref":"src/tasks/task01_isr_semaphore.c:118","snapshot_ref":"task01.give-yield","description":"pxCurrentTCB wybiera waitera.","evidence":"vTaskSwitchContext."},
{"id":"taken","number":5,"label":"waiter consumes token","mode":"RUN","event_id":"E07","strategy_ref":"run.handoff","svg_label":"05","code_ref":"src/tasks/task01_isr_semaphore.c:131","snapshot_ref":"task01.waiter-runs","description":"Take wraca pdPASS.","evidence":"waiter Running."},
{"id":"resumed","number":6,"label":"stimulus eventually resumes","mode":"RUN","event_id":"E08","strategy_ref":"run.handoff","svg_label":"06","code_ref":"src/tasks/task01_isr_semaphore.c:158","snapshot_ref":"task01.stimulus-resumes","description":"Oryginalny mepc nie ginie.","evidence":"E08 after E07."}
]}]}]},
{"id":"A7","label":"RUNTIME","title":"Runtime","order":60,"orientation":"portrait","description":"Trzy stosy i dwa TCB w jednym trap replay.","content_tex":"ISR stack nie należy do żadnego taska. Port zapisuje interrupted task stack, wykonuje ISR na xISRStack i odtwarza stack wybranego waitera.","assets":[{"stem":"a7-runtime","title":"A7 · stack and context evidence","caption":"A7 RUNTIME — stimulus TCB, xISRStack i waiter TCB.","label":"fig:a7-runtime","alt":"Runtime trzech kontekstów stosu.","phases":[{"id":"runtime","label":"TCB / ISR STACK / RESTORE","steps":[
{"id":"waiter","number":1,"label":"waiter owns priority-3 stack","mode":"RUN","event_id":"E02","strategy_ref":"run.handoff","svg_label":"01","code_ref":"src/tasks/task01_isr_semaphore.c:129","snapshot_ref":"task01.waiter-block","description":"SP zapisany przed take.","evidence":"waiter_sp."},
{"id":"stimulus","number":2,"label":"stimulus owns interrupted stack","mode":"RUN","event_id":"E03","strategy_ref":"run.trap","svg_label":"02","code_ref":"src/tasks/task01_isr_semaphore.c:153","snapshot_ref":"task01.before-trigger","description":"Priority 2.","evidence":"stimulus_sp."},
{"id":"isr","number":3,"label":"trap switches to xISRStack","mode":"RUN","event_id":"E04","strategy_ref":"run.trap","svg_label":"03","code_ref":"src/tasks/task01_isr_semaphore.c:104","snapshot_ref":"task01.isr-entry","description":"ISR nie zużywa task stack.","evidence":"isr_sp distinct."},
{"id":"sem","number":4,"label":"semaphore links ISR and waiter","mode":"RUN","event_id":"E06","strategy_ref":"run.handoff","svg_label":"04","code_ref":"src/tasks/task01_isr_semaphore.c:111","snapshot_ref":"task01.give-yield","description":"Only FromISR API in ISR.","evidence":"xHPW."},
{"id":"evidence","number":5,"label":"event order proves selected return","mode":"RUN","event_id":"E09","strategy_ref":"run.pass","svg_label":"05","code_ref":"src/tasks/task01_isr_semaphore.c:195","snapshot_ref":"task01.pass","description":"E07 waiter, E08 stimulus.","evidence":"nine committed records."}
]}]}]}
],
"learning":{"model_label":"Model ISR handoff","model":"Uczeń rozdziela hardware source, trap port, xISRStack, FromISR API i task scheduling.","replay_label":"Replay realnego MEI","replay":"Uczeń odtwarza E01–E09 i wiąże mcause, source clear, xHPW, trzy SP oraz kolejność context restore.","criterion":"PASS; mcause=MEI; source=0 przed give; xHPW=1; waiter E07 przed stimulus E08; trzy różne stosy; deterministyczny digest.","requirement":"Zaprojektowanie i zbadanie bezpiecznego handoff z prawdziwego przerwania do taska FreeRTOS."},
"task":{"short_label":"ISR semaphore","title":"External IRQ → FromISR semaphore → high-priority task","prompt_tex":"Przejdź po A1, A3, A5, A6 i A7. Odtwórz E01–E09 i udowodnij source-clear-before-give oraz waiter-before-stimulus.","conclusion_tex":"ISR działa na osobnym stacku i używa FromISR API. xHigherPriorityTaskWoken jest informacją dla portu; dopiero portYIELD_FROM_ISR powoduje restore kontekstu wyższego taska przed powrotem do przerwanego kodu.","flow":[
{"kind":"block","id":"contract","title":"A — kontrakt przerwania","content_tex":"Rozdziel source, vector, port, ISR i task.","steps":[{"id":"order","title":"Ustal kolejność ISR.","content_tex":"Najpierw clear, potem give, na końcu yield."},{"id":"predict","title":"Przewidź context restore.","content_tex":"Wskaż, czy pierwszy wykona się waiter czy stimulus."}]},
{"kind":"block","id":"replay","title":"B — replay Hazard3","content_tex":"Każdy RUN zaczyna się od czystej RAM i wyłączonego źródła.","steps":[{"id":"trap","title":"Zbadaj E03–E05.","content_tex":"Zapisz mcause, mepc, isr_sp i source state."},{"id":"handoff","title":"Zbadaj E06–E08.","content_tex":"Porównaj xHPW i kolejność tasków."},{"id":"pass","title":"Zbadaj E09.","content_tex":"Sprawdź trzy stosy, markers i digest."}]},
{"kind":"exercise","id":"no-yield","title":"Ćwiczenie — brak yield request","prompt_tex":"W kontrolowanym wariancie pomiń portYIELD_FROM_ISR, zachowując GiveFromISR. Zmierz, kiedy waiter zacznie działać i wskaż następny legalny scheduling point.","evidence_tex":"Dwa timestampowane ślady E07/E08 z yield i bez yield oraz opis różnicy.","criterion":"Uczeń nie myli odblokowania taska z natychmiastowym wykonaniem i przywraca poprawny yield w wersji finalnej.","based_on":["contract","replay"]}
]}
}
scripts/check_abi.sh
Executable
+27
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#!/usr/bin/env sh
set -eu
nm=$(printenv RISCV_NM || true)
readelf=$(printenv RISCV_READELF || true)
test -n "$nm" || nm=riscv64-unknown-elf-nm
test -n "$readelf" || readelf=riscv64-unknown-elf-readelf
elf=build/task01_isr_semaphore/prog.elf
if "$nm" --defined-only "$elf" | awk '{print $3}' | grep -Eq '^_Z|^__cxa_|^_Unwind_'; then
echo "unexpected C++ or unwind symbol in FC07" >&2
exit 1
fi
if "$readelf" -S "$elf" | grep -Eq '\.init_array|\.eh_frame|\.gcc_except_table'; then
echo "unexpected C++ initialization or unwind section in FC07" >&2
exit 1
fi
for symbol in freertos_risc_v_application_interrupt_handler \
fc07_waiter_entry fc07_stimulus_entry fc07_verifier_entry \
fc07_checkpoint_committed isr_external_irq xQueueGiveFromISR \
xQueueSemaphoreTake vTaskSwitchContext; do
"$nm" --defined-only "$elf" | grep -Eq "[[:space:]]$symbol$" || {
echo "required symbol is missing: $symbol" >&2
exit 1
}
done
echo "PASS ABI: FC07 is freestanding C11 with real external IRQ and FromISR APIs"
scripts/check_determinism.sh
Executable
+19
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@@ -0,0 +1,19 @@
#!/usr/bin/env sh
set -eu
tb=${1:?usage: check_determinism.sh /path/to/tb [build-dir]}
build_dir=${2:-build}
artifact="$build_dir/task01_isr_semaphore/prog.bin"
reference="$build_dir/determinism-1.log"
run_once() {
output=$1
"$tb" --bin "$artifact" --cycles 3000000 --cpuret >"$output"
}
run_once "$reference"
run_once "$build_dir/determinism-2.log"
run_once "$build_dir/determinism-3.log"
cmp "$reference" "$build_dir/determinism-2.log"
cmp "$reference" "$build_dir/determinism-3.log"
echo "PASS determinism: three clean Hazard3 processes produced identical evidence"
scripts/render_pdf.sh
Executable
+52
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@@ -0,0 +1,52 @@
#!/usr/bin/env sh
set -eu
script_dir=$(CDPATH= cd "$(dirname "$0")" && pwd)
repo_root=$(CDPATH= cd "$script_dir/.." && pwd)
tex_path="$repo_root/doc/generated/main.tex"
read_tex_command() {
sed -n "s/^\\\\newcommand{\\\\$1}{\\([^}]*\\)}$/\\1/p" "$tex_path" | head -n 1
}
publisher=mpabi
area=inf
series=$(read_tex_command CardSeries)
number=$(read_tex_command CardNumber)
slug=$(read_tex_command CardSlug)
version=$(read_tex_command CardVersion)
uuid=$(read_tex_command DocumentUUID)
if [ -z "$publisher" ] || [ -z "$area" ] || [ -z "$series" ] || \
[ -z "$number" ] || [ -z "$slug" ] || [ -z "$version" ] || [ -z "$uuid" ]; then
echo "missing card metadata in $tex_path" >&2
exit 1
fi
commit=${GITEA_SHA:-${GITHUB_SHA:-}}
if [ -z "$commit" ]; then
git_root=$(git -C "$repo_root" rev-parse --show-toplevel 2>/dev/null || true)
if [ "$git_root" = "$repo_root" ]; then
commit=$(git -C "$repo_root" rev-parse HEAD)
else
commit=local
fi
fi
short_commit=$(printf '%s' "$commit" | cut -c1-12)
meta="$repo_root/doc/build-meta.tex"
trap 'rm -f "$meta"' EXIT HUP INT TERM
printf '\\newcommand{\\BuildCommit}{%s}\n' "$short_commit" > "$meta"
out="$repo_root/doc/pdf"
mkdir -p "$out"
find "$out" -maxdepth 1 -type f -name '*.pdf' -delete
(
cd "$repo_root/doc/generated"
latexmk -pdf -interaction=nonstopmode -halt-on-error -outdir="$out" main.tex
)
target="$out/$publisher-$area-$series-$number-$slug-$version-$uuid.pdf"
mv "$out/main.pdf" "$target"
find "$out" -maxdepth 1 -type f \( -name '*.aux' -o -name '*.log' -o \
-name '*.out' -o -name '*.fls' -o -name '*.fdb_latexmk' \) -delete
printf '%s\n' "$target"
scripts/run_sim.sh
Executable
+8
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@@ -0,0 +1,8 @@
#!/usr/bin/env sh
set -eu
tb=${1:?usage: run_sim.sh /path/to/tb [build-dir]}
build_dir=${2:-build}
echo "== task01_isr_semaphore =="
"$tb" --bin "$build_dir/task01_isr_semaphore/prog.bin" --cycles 3000000 --cpuret
src/common/crt0.S
+23
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@@ -0,0 +1,23 @@
.section .text
.global _start
.type _start, @function
_start:
.option push
.option norelax
la gp, __global_pointer$
.option pop
/* Hazard3 init.S has already installed the bootstrap stack. */
la a0, __bss_start
la a1, __bss_end
1:
bgeu a0, a1, 2f
sb zero, 0(a0)
addi a0, a0, 1
j 1b
2:
call main
tail _exit
.size _start, .-_start
src/common/hazard3_freertos_traps.S
+27
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@@ -0,0 +1,27 @@
.section .text.hazard3_freertos_traps, "ax", @progbits
/*
* Hazard3 init.S owns mtvec and exposes weak vector targets. Strong symbols
* below route exceptions (including ecall/yield) and the machine timer IRQ to
* the official FreeRTOS RISC-V trap handler.
*/
.global handle_exception
.type handle_exception, @function
handle_exception:
j freertos_risc_v_trap_handler
.size handle_exception, .-handle_exception
.global isr_machine_timer
.type isr_machine_timer, @function
isr_machine_timer:
j freertos_risc_v_trap_handler
.size isr_machine_timer, .-isr_machine_timer
/* Route a real machine-external interrupt through the FreeRTOS full-context
* trap path. The application handler runs on xISRStack and may request a
* context switch before portcontextRESTORE_CONTEXT selects the next task. */
.global isr_external_irq
.type isr_external_irq, @function
isr_external_irq:
j freertos_risc_v_trap_handler
.size isr_external_irq, .-isr_external_irq
src/common/lab_freertos.c
+48
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@@ -0,0 +1,48 @@
#include <stdint.h>
#include "FreeRTOS.h"
#include "lab_freertos.h"
#include "lab_io.h"
/* Official heap_4.c uses this application-owned arena. */
__attribute__( ( aligned( 16 ) ) ) uint8_t ucHeap[ configTOTAL_HEAP_SIZE ];
volatile uint32_t g_failure_code;
int lab_address_in_heap( const volatile void * address )
{
const uintptr_t value = ( uintptr_t ) address;
const uintptr_t first = ( uintptr_t ) &ucHeap[ 0 ];
const uintptr_t past_last = ( uintptr_t ) &ucHeap[ configTOTAL_HEAP_SIZE ];
return ( value >= first ) && ( value < past_last );
}
void lab_heap_initialize( void )
{
void * probe = pvPortMalloc( 1U );
if( probe == NULL )
{
lab_fail( 0xA6000002UL );
}
vPortFree( probe );
}
void lab_fail( uint32_t code )
{
g_failure_code = code;
lab_puts( "FAIL\n" );
lab_put_u32( code );
lab_exit( code );
}
void lab_assert_fail( const char * file, int line )
{
( void ) file;
lab_fail( 0xA5000000UL | ( ( uint32_t ) line & 0xFFFFUL ) );
}
void vApplicationMallocFailedHook( void )
{
lab_fail( 0xA6000001UL );
}
src/common/lab_freertos.h
+16
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@@ -0,0 +1,16 @@
#ifndef LAB_FREERTOS_H
#define LAB_FREERTOS_H
#include <stddef.h>
#include <stdint.h>
#include "FreeRTOS.h"
extern uint8_t ucHeap[ configTOTAL_HEAP_SIZE ];
extern volatile uint32_t g_failure_code;
int lab_address_in_heap( const volatile void * address );
void lab_heap_initialize( void );
void lab_fail( uint32_t code ) __attribute__( ( noreturn ) );
#endif
src/common/lab_io.c
+30
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@@ -0,0 +1,30 @@
#include <stdint.h>
#include "lab_io.h"
#define H3_IO_BASE ( 0xC0000000UL )
#define H3_IO_PRINT_CHAR ( *( ( volatile uint32_t * ) ( H3_IO_BASE + 0x0UL ) ) )
#define H3_IO_PRINT_U32 ( *( ( volatile uint32_t * ) ( H3_IO_BASE + 0x4UL ) ) )
#define H3_IO_EXIT ( *( ( volatile uint32_t * ) ( H3_IO_BASE + 0x8UL ) ) )
void lab_puts( const char * text )
{
while( *text != '\0' )
{
H3_IO_PRINT_CHAR = ( uint32_t ) ( unsigned char ) *text;
++text;
}
}
void lab_put_u32( uint32_t value )
{
H3_IO_PRINT_U32 = value;
}
void lab_exit( uint32_t code )
{
H3_IO_EXIT = code;
for( ; ; )
{
__asm volatile ( "wfi" );
}
}
src/common/lab_io.h
+10
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@@ -0,0 +1,10 @@
#ifndef LAB_IO_H
#define LAB_IO_H
#include <stdint.h>
void lab_puts( const char * text );
void lab_put_u32( uint32_t value );
void lab_exit( uint32_t code ) __attribute__( ( noreturn ) );
#endif
src/common/memops.c
+34
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@@ -0,0 +1,34 @@
#include <stddef.h>
void * memcpy( void * destination, const void * source, size_t count )
{
unsigned char * out = ( unsigned char * ) destination;
const unsigned char * in = ( const unsigned char * ) source;
for( size_t index = 0; index < count; ++index )
{
out[ index ] = in[ index ];
}
return destination;
}
void * memset( void * destination, int value, size_t count )
{
unsigned char * out = ( unsigned char * ) destination;
for( size_t index = 0; index < count; ++index )
{
out[ index ] = ( unsigned char ) value;
}
return destination;
}
size_t strlen( const char * text )
{
size_t length = 0;
while( text[ length ] != '\0' )
{
++length;
}
return length;
}
src/tasks/task01_isr_semaphore.c
+257
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@@ -0,0 +1,257 @@
#include <stddef.h>
#include <stdint.h>
#include "FreeRTOS.h"
#include "semphr.h"
#include "task.h"
#include "hazard3_irq.h"
#include "lab_freertos.h"
#include "lab_io.h"
#include "task01_isr_semaphore.h"
#define H3_IO_BASE 0xC0000000UL
#define H3_IO_SET_IRQ ( *( ( volatile uint32_t * ) ( H3_IO_BASE + 0x020UL ) ) )
#define H3_IO_CLR_IRQ ( *( ( volatile uint32_t * ) ( H3_IO_BASE + 0x030UL ) ) )
#define FC07_ACTOR_MAIN 1U
#define FC07_ACTOR_WAITER 2U
#define FC07_ACTOR_STIMULUS 3U
#define FC07_ACTOR_ISR 4U
#define FC07_ACTOR_VERIFIER 5U
IsrExperiment g_fc07;
IsrEvidence g_fc07_events[ FC07_EVENT_CAPACITY ];
volatile uint32_t g_fc07_event_count;
volatile uint32_t g_fc07_last_checkpoint;
volatile uint32_t g_fc07_pass;
static uintptr_t read_sp( void )
{
uintptr_t value;
__asm__ volatile( "mv %0, sp" : "=r"( value ) );
return value;
}
static uint32_t read_mcause( void )
{
uint32_t value;
__asm__ volatile( "csrr %0, mcause" : "=r"( value ) );
return value;
}
__attribute__( ( noinline, used ) )
void fc07_checkpoint_committed( uint32_t point, const void * subject )
{
( void ) point;
( void ) subject;
__asm__ volatile( "" ::: "memory" );
}
static void fc07_publish_task( uint32_t point,
uint32_t actor,
uint32_t value,
const void * subject )
{
UBaseType_t state = taskENTER_CRITICAL_FROM_ISR();
uint32_t index = g_fc07_event_count;
IsrEvidence * event;
if( index >= FC07_EVENT_CAPACITY )
{
taskEXIT_CRITICAL_FROM_ISR( state );
lab_fail( 0xFC070001U );
}
event = &g_fc07_events[ index ];
event->sequence = index + 1U;
event->event = point;
event->tick = ( uint32_t ) xTaskGetTickCount();
event->actor = actor;
event->value = value;
__asm__ volatile( "" ::: "memory" );
event->committed = 0xFC070000U | ( index + 1U );
g_fc07_event_count = index + 1U;
g_fc07_last_checkpoint = point;
taskEXIT_CRITICAL_FROM_ISR( state );
fc07_checkpoint_committed( point, subject );
}
static void fc07_publish_isr( uint32_t point, uint32_t value )
{
uint32_t index = g_fc07_event_count;
IsrEvidence * event;
if( index >= FC07_EVENT_CAPACITY )
{
return;
}
event = &g_fc07_events[ index ];
event->sequence = index + 1U;
event->event = point;
event->tick = ( uint32_t ) xTaskGetTickCountFromISR();
event->actor = FC07_ACTOR_ISR;
event->value = value;
__asm__ volatile( "" ::: "memory" );
event->committed = 0xFC070000U | ( index + 1U );
g_fc07_event_count = index + 1U;
g_fc07_last_checkpoint = point;
fc07_checkpoint_committed( point, &g_fc07 );
}
__attribute__( ( noinline, used ) )
void freertos_risc_v_application_interrupt_handler( void )
{
BaseType_t higher_priority_task_woken = pdFALSE;
g_fc07.mcause = read_mcause();
g_fc07.isr_sp = read_sp();
fc07_publish_isr( 4U, g_fc07.mcause );
H3_IO_CLR_IRQ = FC07_IRQ_MASK;
g_fc07.irq_source_after_clear = H3_IO_CLR_IRQ;
fc07_publish_isr( 5U, g_fc07.irq_source_after_clear );
if( xSemaphoreGiveFromISR( g_fc07.semaphore,
&higher_priority_task_woken ) != pdPASS )
{
lab_fail( 0xFC070101U );
}
g_fc07.higher_priority_task_woken = higher_priority_task_woken;
fc07_publish_isr( 6U, ( uint32_t ) higher_priority_task_woken );
portYIELD_FROM_ISR( higher_priority_task_woken );
}
__attribute__( ( noinline, used ) )
void fc07_waiter_entry( void * context )
{
IsrExperiment * experiment = ( IsrExperiment * ) context;
if( experiment == NULL )
{
lab_fail( 0xFC070201U );
}
experiment->waiter_sp = read_sp();
fc07_publish_task( 2U, FC07_ACTOR_WAITER, 0U, experiment );
if( xSemaphoreTake( experiment->semaphore, portMAX_DELAY ) != pdPASS )
{
lab_fail( 0xFC070202U );
}
experiment->waiter_ran = 1U;
fc07_publish_task( 7U,
FC07_ACTOR_WAITER,
experiment->stimulus_after,
experiment );
experiment->waiter = NULL;
vTaskDelete( NULL );
lab_fail( 0xFC070203U );
}
__attribute__( ( noinline, used ) )
void fc07_stimulus_entry( void * context )
{
IsrExperiment * experiment = ( IsrExperiment * ) context;
if( experiment == NULL )
{
lab_fail( 0xFC070301U );
}
experiment->stimulus_sp = read_sp();
vTaskDelay( 1U );
fc07_publish_task( 3U, FC07_ACTOR_STIMULUS, FC07_IRQ_MASK, experiment );
H3_IO_SET_IRQ = FC07_IRQ_MASK;
__asm__ volatile( "nop" ::: "memory" );
experiment->stimulus_after = 1U;
fc07_publish_task( 8U,
FC07_ACTOR_STIMULUS,
experiment->waiter_ran,
experiment );
experiment->stimulus = NULL;
vTaskDelete( NULL );
lab_fail( 0xFC070302U );
}
__attribute__( ( noinline, used ) )
void fc07_verifier_entry( void * context )
{
IsrExperiment * experiment = ( IsrExperiment * ) context;
TickType_t started;
if( experiment == NULL )
{
lab_fail( 0xFC070401U );
}
started = xTaskGetTickCount();
while( experiment->stimulus_after == 0U || experiment->waiter_ran == 0U )
{
if( ( xTaskGetTickCount() - started ) > FC07_TIMEOUT_TICKS )
{
lab_fail( 0xFC070402U );
}
vTaskDelay( 1U );
}
experiment->pass =
experiment->mcause == 0x8000000bU &&
experiment->irq_source_after_clear == 0U &&
experiment->higher_priority_task_woken == pdTRUE &&
experiment->waiter_ran == 1U &&
experiment->stimulus_after == 1U &&
experiment->isr_sp != experiment->stimulus_sp &&
experiment->isr_sp != experiment->waiter_sp;
/* E07 must precede E08: the ISR-requested context switch runs waiter
* before the interrupted stimulus continues past the trigger store. */
experiment->pass = experiment->pass != 0U &&
g_fc07_events[ 6 ].actor == FC07_ACTOR_WAITER &&
g_fc07_events[ 6 ].value == 0U &&
g_fc07_events[ 7 ].actor == FC07_ACTOR_STIMULUS &&
g_fc07_events[ 7 ].value == 1U;
g_fc07_pass = experiment->pass;
fc07_publish_task( 9U,
FC07_ACTOR_VERIFIER,
experiment->pass,
experiment );
experiment->digest = fc07_digest( g_fc07_events, g_fc07_event_count );
if( experiment->pass == 0U ||
fc07_order_is_valid( g_fc07_events, g_fc07_event_count ) == 0 )
{
lab_fail( 0xFC070403U );
}
lab_puts( "PASS FC07: real external IRQ, FromISR semaphore, immediate yield\n" );
lab_put_u32( experiment->digest );
lab_exit( 0U );
}
static TaskHandle_t fc07_create_task( TaskFunction_t entry,
const char * name,
UBaseType_t priority )
{
TaskHandle_t handle = NULL;
if( xTaskCreate( entry,
name,
FC07_TASK_STACK_WORDS,
&g_fc07,
priority,
&handle ) != pdPASS )
{
lab_fail( 0xFC070501U + priority );
}
return handle;
}
int main( void )
{
lab_heap_initialize();
fc07_publish_task( 1U, FC07_ACTOR_MAIN, FC07_IRQ_NUMBER, &g_fc07 );
g_fc07.semaphore = xSemaphoreCreateBinary();
if( g_fc07.semaphore == NULL )
{
lab_fail( 0xFC070505U );
}
h3irq_enable( FC07_IRQ_NUMBER, true );
h3irq_set_priority( FC07_IRQ_NUMBER, 8U );
g_fc07.waiter = fc07_create_task( fc07_waiter_entry,
"irq-waiter",
FC07_WAITER_PRIORITY );
g_fc07.stimulus = fc07_create_task( fc07_stimulus_entry,
"irq-source",
FC07_STIMULUS_PRIORITY );
g_fc07.verifier = fc07_create_task( fc07_verifier_entry,
"verifier",
FC07_VERIFIER_PRIORITY );
vTaskStartScheduler();
lab_fail( 0xFC070506U );
}
tests/isr_semaphore_model_host.c
+23
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@@ -0,0 +1,23 @@
#include <assert.h>
#include "task01_isr_semaphore_model.h"
int main( void )
{
IsrEvidence events[ 9 ];
uint32_t index;
for( index = 0U; index < 9U; ++index )
{
events[ index ].sequence = index + 1U;
events[ index ].event = index + 1U;
events[ index ].actor = index;
events[ index ].value = index;
events[ index ].tick = 0U;
events[ index ].committed = 0xFC070000U | ( index + 1U );
}
assert( fc07_order_is_valid( events, 9U ) != 0 );
events[ 7 ].event = 9U;
assert( fc07_order_is_valid( events, 9U ) == 0 );
assert( fc07_digest( events, 9U ) != 0U );
return 0;
}
vendor/FreeRTOS-Kernel/LICENSE.md
Vendored
+19
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@@ -0,0 +1,19 @@
MIT License
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.
vendor/FreeRTOS-Kernel/UPSTREAM.md
Vendored
+12
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@@ -0,0 +1,12 @@
# Vendored FreeRTOS kernel subset
- Upstream: <https://github.com/FreeRTOS/FreeRTOS-Kernel>
- Release: `V11.3.0`
- Commit: `9b777ae5c5b8e9e456065a00294d1e5f5f9facf5`
- License: MIT; see `LICENSE.md` in this directory.
- Imported: 2026-07-14.
The vendored files are unmodified upstream sources. This card needs only
`tasks.c`, `list.c`, `heap_4.c`, the GCC RISC-V port and public headers.
Hazard3-specific configuration and trap routing live outside this directory in
`include/` and `src/common/`.
vendor/FreeRTOS-Kernel/include/FreeRTOS.h
Vendored
+3359
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File diff suppressed because it is too large Load Diff
vendor/FreeRTOS-Kernel/include/StackMacros.h
Vendored
+34
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@@ -0,0 +1,34 @@
/*
* FreeRTOS Kernel V11.3.0
* 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 _MSC_VER /* Visual Studio doesn't support #warning. */
#warning The name of this file has changed to stack_macros.h. Please update your code accordingly. This source file (which has the original name) will be removed in a future release.
#endif
#include "stack_macros.h"
vendor/FreeRTOS-Kernel/include/atomic.h
Vendored
+427
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@@ -0,0 +1,427 @@
/*
* FreeRTOS Kernel V11.3.0
* 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
*
*/
/**
* @file atomic.h
* @brief FreeRTOS atomic operation support.
*
* This file implements atomic functions by disabling interrupts globally.
* Implementations with architecture specific atomic instructions can be
* provided under each compiler directory.
*
* The atomic interface can be used in FreeRTOS tasks on all FreeRTOS ports. It
* can also be used in Interrupt Service Routines (ISRs) on FreeRTOS ports that
* support nested interrupts (i.e. portHAS_NESTED_INTERRUPTS is set to 1). The
* atomic interface must not be used in ISRs on FreeRTOS ports that do not
* support nested interrupts (i.e. portHAS_NESTED_INTERRUPTS is set to 0)
* because ISRs on these ports cannot be interrupted and therefore, do not need
* atomics in ISRs.
*/
#ifndef ATOMIC_H
#define ATOMIC_H
#ifndef INC_FREERTOS_H
#error "include FreeRTOS.h must appear in source files before include atomic.h"
#endif
/* Standard includes. */
#include <stdint.h>
/* *INDENT-OFF* */
#ifdef __cplusplus
extern "C" {
#endif
/* *INDENT-ON* */
/*
* Port specific definitions -- entering/exiting critical section.
* Refer template -- ./lib/FreeRTOS/portable/Compiler/Arch/portmacro.h
*
* Every call to ATOMIC_EXIT_CRITICAL() must be closely paired with
* ATOMIC_ENTER_CRITICAL().
*
*/
#if ( portHAS_NESTED_INTERRUPTS == 1 )
/* Nested interrupt scheme is supported in this port. */
#define ATOMIC_ENTER_CRITICAL() \
UBaseType_t uxCriticalSectionType = portSET_INTERRUPT_MASK_FROM_ISR()
#define ATOMIC_EXIT_CRITICAL() \
portCLEAR_INTERRUPT_MASK_FROM_ISR( uxCriticalSectionType )
#else
/* Nested interrupt scheme is NOT supported in this port. */
#define ATOMIC_ENTER_CRITICAL() portENTER_CRITICAL()
#define ATOMIC_EXIT_CRITICAL() portEXIT_CRITICAL()
#endif /* portSET_INTERRUPT_MASK_FROM_ISR() */
/*
* Port specific definition -- "always inline".
* Inline is compiler specific, and may not always get inlined depending on your
* optimization level. Also, inline is considered as performance optimization
* for atomic. Thus, if portFORCE_INLINE is not provided by portmacro.h,
* instead of resulting error, simply define it away.
*/
#ifndef portFORCE_INLINE
#define portFORCE_INLINE
#endif
#define ATOMIC_COMPARE_AND_SWAP_SUCCESS 0x1U /**< Compare and swap succeeded, swapped. */
#define ATOMIC_COMPARE_AND_SWAP_FAILURE 0x0U /**< Compare and swap failed, did not swap. */
/*----------------------------- Swap && CAS ------------------------------*/
/**
* Atomic compare-and-swap
*
* @brief Performs an atomic compare-and-swap operation on the specified values.
*
* @param[in, out] pulDestination Pointer to memory location from where value is
* to be loaded and checked.
* @param[in] ulExchange If condition meets, write this value to memory.
* @param[in] ulComparand Swap condition.
*
* @return Unsigned integer of value 1 or 0. 1 for swapped, 0 for not swapped.
*
* @note This function only swaps *pulDestination with ulExchange, if previous
* *pulDestination value equals ulComparand.
*/
static portFORCE_INLINE uint32_t Atomic_CompareAndSwap_u32( uint32_t volatile * pulDestination,
uint32_t ulExchange,
uint32_t ulComparand )
{
uint32_t ulReturnValue;
ATOMIC_ENTER_CRITICAL();
{
if( *pulDestination == ulComparand )
{
*pulDestination = ulExchange;
ulReturnValue = ATOMIC_COMPARE_AND_SWAP_SUCCESS;
}
else
{
ulReturnValue = ATOMIC_COMPARE_AND_SWAP_FAILURE;
}
}
ATOMIC_EXIT_CRITICAL();
return ulReturnValue;
}
/*-----------------------------------------------------------*/
/**
* Atomic swap (pointers)
*
* @brief Atomically sets the address pointed to by *ppvDestination to the value
* of *pvExchange.
*
* @param[in, out] ppvDestination Pointer to memory location from where a pointer
* value is to be loaded and written back to.
* @param[in] pvExchange Pointer value to be written to *ppvDestination.
*
* @return The initial value of *ppvDestination.
*/
static portFORCE_INLINE void * Atomic_SwapPointers_p32( void * volatile * ppvDestination,
void * pvExchange )
{
void * pReturnValue;
ATOMIC_ENTER_CRITICAL();
{
pReturnValue = *ppvDestination;
*ppvDestination = pvExchange;
}
ATOMIC_EXIT_CRITICAL();
return pReturnValue;
}
/*-----------------------------------------------------------*/
/**
* Atomic compare-and-swap (pointers)
*
* @brief Performs an atomic compare-and-swap operation on the specified pointer
* values.
*
* @param[in, out] ppvDestination Pointer to memory location from where a pointer
* value is to be loaded and checked.
* @param[in] pvExchange If condition meets, write this value to memory.
* @param[in] pvComparand Swap condition.
*
* @return Unsigned integer of value 1 or 0. 1 for swapped, 0 for not swapped.
*
* @note This function only swaps *ppvDestination with pvExchange, if previous
* *ppvDestination value equals pvComparand.
*/
static portFORCE_INLINE uint32_t Atomic_CompareAndSwapPointers_p32( void * volatile * ppvDestination,
void * pvExchange,
void * pvComparand )
{
uint32_t ulReturnValue = ATOMIC_COMPARE_AND_SWAP_FAILURE;
ATOMIC_ENTER_CRITICAL();
{
if( *ppvDestination == pvComparand )
{
*ppvDestination = pvExchange;
ulReturnValue = ATOMIC_COMPARE_AND_SWAP_SUCCESS;
}
}
ATOMIC_EXIT_CRITICAL();
return ulReturnValue;
}
/*----------------------------- Arithmetic ------------------------------*/
/**
* Atomic add
*
* @brief Atomically adds count to the value of the specified pointer points to.
*
* @param[in,out] pulAddend Pointer to memory location from where value is to be
* loaded and written back to.
* @param[in] ulCount Value to be added to *pulAddend.
*
* @return previous *pulAddend value.
*/
static portFORCE_INLINE uint32_t Atomic_Add_u32( uint32_t volatile * pulAddend,
uint32_t ulCount )
{
uint32_t ulCurrent;
ATOMIC_ENTER_CRITICAL();
{
ulCurrent = *pulAddend;
*pulAddend += ulCount;
}
ATOMIC_EXIT_CRITICAL();
return ulCurrent;
}
/*-----------------------------------------------------------*/
/**
* Atomic subtract
*
* @brief Atomically subtracts count from the value of the specified pointer
* pointers to.
*
* @param[in,out] pulAddend Pointer to memory location from where value is to be
* loaded and written back to.
* @param[in] ulCount Value to be subtract from *pulAddend.
*
* @return previous *pulAddend value.
*/
static portFORCE_INLINE uint32_t Atomic_Subtract_u32( uint32_t volatile * pulAddend,
uint32_t ulCount )
{
uint32_t ulCurrent;
ATOMIC_ENTER_CRITICAL();
{
ulCurrent = *pulAddend;
*pulAddend -= ulCount;
}
ATOMIC_EXIT_CRITICAL();
return ulCurrent;
}
/*-----------------------------------------------------------*/
/**
* Atomic increment
*
* @brief Atomically increments the value of the specified pointer points to.
*
* @param[in,out] pulAddend Pointer to memory location from where value is to be
* loaded and written back to.
*
* @return *pulAddend value before increment.
*/
static portFORCE_INLINE uint32_t Atomic_Increment_u32( uint32_t volatile * pulAddend )
{
uint32_t ulCurrent;
ATOMIC_ENTER_CRITICAL();
{
ulCurrent = *pulAddend;
*pulAddend += 1;
}
ATOMIC_EXIT_CRITICAL();
return ulCurrent;
}
/*-----------------------------------------------------------*/
/**
* Atomic decrement
*
* @brief Atomically decrements the value of the specified pointer points to
*
* @param[in,out] pulAddend Pointer to memory location from where value is to be
* loaded and written back to.
*
* @return *pulAddend value before decrement.
*/
static portFORCE_INLINE uint32_t Atomic_Decrement_u32( uint32_t volatile * pulAddend )
{
uint32_t ulCurrent;
ATOMIC_ENTER_CRITICAL();
{
ulCurrent = *pulAddend;
*pulAddend -= 1;
}
ATOMIC_EXIT_CRITICAL();
return ulCurrent;
}
/*----------------------------- Bitwise Logical ------------------------------*/
/**
* Atomic OR
*
* @brief Performs an atomic OR operation on the specified values.
*
* @param [in, out] pulDestination Pointer to memory location from where value is
* to be loaded and written back to.
* @param [in] ulValue Value to be ORed with *pulDestination.
*
* @return The original value of *pulDestination.
*/
static portFORCE_INLINE uint32_t Atomic_OR_u32( uint32_t volatile * pulDestination,
uint32_t ulValue )
{
uint32_t ulCurrent;
ATOMIC_ENTER_CRITICAL();
{
ulCurrent = *pulDestination;
*pulDestination |= ulValue;
}
ATOMIC_EXIT_CRITICAL();
return ulCurrent;
}
/*-----------------------------------------------------------*/
/**
* Atomic AND
*
* @brief Performs an atomic AND operation on the specified values.
*
* @param [in, out] pulDestination Pointer to memory location from where value is
* to be loaded and written back to.
* @param [in] ulValue Value to be ANDed with *pulDestination.
*
* @return The original value of *pulDestination.
*/
static portFORCE_INLINE uint32_t Atomic_AND_u32( uint32_t volatile * pulDestination,
uint32_t ulValue )
{
uint32_t ulCurrent;
ATOMIC_ENTER_CRITICAL();
{
ulCurrent = *pulDestination;
*pulDestination &= ulValue;
}
ATOMIC_EXIT_CRITICAL();
return ulCurrent;
}
/*-----------------------------------------------------------*/
/**
* Atomic NAND
*
* @brief Performs an atomic NAND operation on the specified values.
*
* @param [in, out] pulDestination Pointer to memory location from where value is
* to be loaded and written back to.
* @param [in] ulValue Value to be NANDed with *pulDestination.
*
* @return The original value of *pulDestination.
*/
static portFORCE_INLINE uint32_t Atomic_NAND_u32( uint32_t volatile * pulDestination,
uint32_t ulValue )
{
uint32_t ulCurrent;
ATOMIC_ENTER_CRITICAL();
{
ulCurrent = *pulDestination;
*pulDestination = ~( ulCurrent & ulValue );
}
ATOMIC_EXIT_CRITICAL();
return ulCurrent;
}
/*-----------------------------------------------------------*/
/**
* Atomic XOR
*
* @brief Performs an atomic XOR operation on the specified values.
*
* @param [in, out] pulDestination Pointer to memory location from where value is
* to be loaded and written back to.
* @param [in] ulValue Value to be XORed with *pulDestination.
*
* @return The original value of *pulDestination.
*/
static portFORCE_INLINE uint32_t Atomic_XOR_u32( uint32_t volatile * pulDestination,
uint32_t ulValue )
{
uint32_t ulCurrent;
ATOMIC_ENTER_CRITICAL();
{
ulCurrent = *pulDestination;
*pulDestination ^= ulValue;
}
ATOMIC_EXIT_CRITICAL();
return ulCurrent;
}
/* *INDENT-OFF* */
#ifdef __cplusplus
}
#endif
/* *INDENT-ON* */
#endif /* ATOMIC_H */
vendor/FreeRTOS-Kernel/include/croutine.h
Vendored
+765
View File
@@ -0,0 +1,765 @@
/*
* FreeRTOS Kernel V11.3.0
* 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 CO_ROUTINE_H
#define CO_ROUTINE_H
#ifndef INC_FREERTOS_H
#error "include FreeRTOS.h must appear in source files before include croutine.h"
#endif
#include "list.h"
/* *INDENT-OFF* */
#ifdef __cplusplus
extern "C" {
#endif
/* *INDENT-ON* */
/* Used to hide the implementation of the co-routine control block. The
* control block structure however has to be included in the header due to
* the macro implementation of the co-routine functionality. */
typedef void * CoRoutineHandle_t;
/* Defines the prototype to which co-routine functions must conform. */
typedef void (* crCOROUTINE_CODE)( CoRoutineHandle_t xHandle,
UBaseType_t uxIndex );
typedef struct corCoRoutineControlBlock
{
crCOROUTINE_CODE pxCoRoutineFunction;
ListItem_t xGenericListItem; /**< List item used to place the CRCB in ready and blocked queues. */
ListItem_t xEventListItem; /**< List item used to place the CRCB in event lists. */
UBaseType_t uxPriority; /**< The priority of the co-routine in relation to other co-routines. */
UBaseType_t uxIndex; /**< Used to distinguish between co-routines when multiple co-routines use the same co-routine function. */
uint16_t uxState; /**< Used internally by the co-routine implementation. */
} CRCB_t; /* Co-routine control block. Note must be identical in size down to uxPriority with TCB_t. */
/**
* croutine. h
* @code{c}
* BaseType_t xCoRoutineCreate(
* crCOROUTINE_CODE pxCoRoutineCode,
* UBaseType_t uxPriority,
* UBaseType_t uxIndex
* );
* @endcode
*
* Create a new co-routine and add it to the list of co-routines that are
* ready to run.
*
* @param pxCoRoutineCode Pointer to the co-routine function. Co-routine
* functions require special syntax - see the co-routine section of the WEB
* documentation for more information.
*
* @param uxPriority The priority with respect to other co-routines at which
* the co-routine will run.
*
* @param uxIndex Used to distinguish between different co-routines that
* execute the same function. See the example below and the co-routine section
* of the WEB documentation for further information.
*
* @return pdPASS if the co-routine was successfully created and added to a ready
* list, otherwise an error code defined with ProjDefs.h.
*
* Example usage:
* @code{c}
* // Co-routine to be created.
* void vFlashCoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
* {
* // Variables in co-routines must be declared static if they must maintain value across a blocking call.
* // This may not be necessary for const variables.
* static const char cLedToFlash[ 2 ] = { 5, 6 };
* static const TickType_t uxFlashRates[ 2 ] = { 200, 400 };
*
* // Must start every co-routine with a call to crSTART();
* crSTART( xHandle );
*
* for( ;; )
* {
* // This co-routine just delays for a fixed period, then toggles
* // an LED. Two co-routines are created using this function, so
* // the uxIndex parameter is used to tell the co-routine which
* // LED to flash and how int32_t to delay. This assumes xQueue has
* // already been created.
* vParTestToggleLED( cLedToFlash[ uxIndex ] );
* crDELAY( xHandle, uxFlashRates[ uxIndex ] );
* }
*
* // Must end every co-routine with a call to crEND();
* crEND();
* }
*
* // Function that creates two co-routines.
* void vOtherFunction( void )
* {
* uint8_t ucParameterToPass;
* TaskHandle_t xHandle;
*
* // Create two co-routines at priority 0. The first is given index 0
* // so (from the code above) toggles LED 5 every 200 ticks. The second
* // is given index 1 so toggles LED 6 every 400 ticks.
* for( uxIndex = 0; uxIndex < 2; uxIndex++ )
* {
* xCoRoutineCreate( vFlashCoRoutine, 0, uxIndex );
* }
* }
* @endcode
* \defgroup xCoRoutineCreate xCoRoutineCreate
* \ingroup Tasks
*/
BaseType_t xCoRoutineCreate( crCOROUTINE_CODE pxCoRoutineCode,
UBaseType_t uxPriority,
UBaseType_t uxIndex );
/**
* croutine. h
* @code{c}
* void vCoRoutineSchedule( void );
* @endcode
*
* Run a co-routine.
*
* vCoRoutineSchedule() executes the highest priority co-routine that is able
* to run. The co-routine will execute until it either blocks, yields or is
* preempted by a task. Co-routines execute cooperatively so one
* co-routine cannot be preempted by another, but can be preempted by a task.
*
* If an application comprises of both tasks and co-routines then
* vCoRoutineSchedule should be called from the idle task (in an idle task
* hook).
*
* Example usage:
* @code{c}
* // This idle task hook will schedule a co-routine each time it is called.
* // The rest of the idle task will execute between co-routine calls.
* void vApplicationIdleHook( void )
* {
* vCoRoutineSchedule();
* }
*
* // Alternatively, if you do not require any other part of the idle task to
* // execute, the idle task hook can call vCoRoutineSchedule() within an
* // infinite loop.
* void vApplicationIdleHook( void )
* {
* for( ;; )
* {
* vCoRoutineSchedule();
* }
* }
* @endcode
* \defgroup vCoRoutineSchedule vCoRoutineSchedule
* \ingroup Tasks
*/
void vCoRoutineSchedule( void );
/**
* croutine. h
* @code{c}
* crSTART( CoRoutineHandle_t xHandle );
* @endcode
*
* This macro MUST always be called at the start of a co-routine function.
*
* Example usage:
* @code{c}
* // Co-routine to be created.
* void vACoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
* {
* // Variables in co-routines must be declared static if they must maintain value across a blocking call.
* static int32_t ulAVariable;
*
* // Must start every co-routine with a call to crSTART();
* crSTART( xHandle );
*
* for( ;; )
* {
* // Co-routine functionality goes here.
* }
*
* // Must end every co-routine with a call to crEND();
* crEND();
* }
* @endcode
* \defgroup crSTART crSTART
* \ingroup Tasks
*/
#define crSTART( pxCRCB ) \
switch( ( ( CRCB_t * ) ( pxCRCB ) )->uxState ) { \
case 0:
/**
* croutine. h
* @code{c}
* crEND();
* @endcode
*
* This macro MUST always be called at the end of a co-routine function.
*
* Example usage:
* @code{c}
* // Co-routine to be created.
* void vACoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
* {
* // Variables in co-routines must be declared static if they must maintain value across a blocking call.
* static int32_t ulAVariable;
*
* // Must start every co-routine with a call to crSTART();
* crSTART( xHandle );
*
* for( ;; )
* {
* // Co-routine functionality goes here.
* }
*
* // Must end every co-routine with a call to crEND();
* crEND();
* }
* @endcode
* \defgroup crSTART crSTART
* \ingroup Tasks
*/
/* *INDENT-OFF* */
#define crEND() }
/* *INDENT-ON* */
/*
* These macros are intended for internal use by the co-routine implementation
* only. The macros should not be used directly by application writers.
*/
#define crSET_STATE0( xHandle ) \
( ( CRCB_t * ) ( xHandle ) )->uxState = ( __LINE__ * 2 ); return; \
case ( __LINE__ * 2 ):
#define crSET_STATE1( xHandle ) \
( ( CRCB_t * ) ( xHandle ) )->uxState = ( ( __LINE__ * 2 ) + 1 ); return; \
case ( ( __LINE__ * 2 ) + 1 ):
/**
* croutine. h
* @code{c}
* crDELAY( CoRoutineHandle_t xHandle, TickType_t xTicksToDelay );
* @endcode
*
* Delay a co-routine for a fixed period of time.
*
* crDELAY can only be called from the co-routine function itself - not
* from within a function called by the co-routine function. This is because
* co-routines do not maintain their own stack.
*
* @param xHandle The handle of the co-routine to delay. This is the xHandle
* parameter of the co-routine function.
*
* @param xTickToDelay The number of ticks that the co-routine should delay
* for. The actual amount of time this equates to is defined by
* configTICK_RATE_HZ (set in FreeRTOSConfig.h). The constant portTICK_PERIOD_MS
* can be used to convert ticks to milliseconds.
*
* Example usage:
* @code{c}
* // Co-routine to be created.
* void vACoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
* {
* // Variables in co-routines must be declared static if they must maintain value across a blocking call.
* // This may not be necessary for const variables.
* // We are to delay for 200ms.
* static const xTickType xDelayTime = 200 / portTICK_PERIOD_MS;
*
* // Must start every co-routine with a call to crSTART();
* crSTART( xHandle );
*
* for( ;; )
* {
* // Delay for 200ms.
* crDELAY( xHandle, xDelayTime );
*
* // Do something here.
* }
*
* // Must end every co-routine with a call to crEND();
* crEND();
* }
* @endcode
* \defgroup crDELAY crDELAY
* \ingroup Tasks
*/
#define crDELAY( xHandle, xTicksToDelay ) \
do { \
if( ( xTicksToDelay ) > 0 ) \
{ \
vCoRoutineAddToDelayedList( ( xTicksToDelay ), NULL ); \
} \
crSET_STATE0( ( xHandle ) ); \
} while( 0 )
/**
* @code{c}
* crQUEUE_SEND(
* CoRoutineHandle_t xHandle,
* QueueHandle_t pxQueue,
* void *pvItemToQueue,
* TickType_t xTicksToWait,
* BaseType_t *pxResult
* )
* @endcode
*
* The macro's crQUEUE_SEND() and crQUEUE_RECEIVE() are the co-routine
* equivalent to the xQueueSend() and xQueueReceive() functions used by tasks.
*
* crQUEUE_SEND and crQUEUE_RECEIVE can only be used from a co-routine whereas
* xQueueSend() and xQueueReceive() can only be used from tasks.
*
* crQUEUE_SEND can only be called from the co-routine function itself - not
* from within a function called by the co-routine function. This is because
* co-routines do not maintain their own stack.
*
* See the co-routine section of the WEB documentation for information on
* passing data between tasks and co-routines and between ISR's and
* co-routines.
*
* @param xHandle The handle of the calling co-routine. This is the xHandle
* parameter of the co-routine function.
*
* @param pxQueue The handle of the queue on which the data will be posted.
* The handle is obtained as the return value when the queue is created using
* the xQueueCreate() API function.
*
* @param pvItemToQueue A pointer to the data being posted onto the queue.
* The number of bytes of each queued item is specified when the queue is
* created. This number of bytes is copied from pvItemToQueue into the queue
* itself.
*
* @param xTickToDelay The number of ticks that the co-routine should block
* to wait for space to become available on the queue, should space not be
* available immediately. The actual amount of time this equates to is defined
* by configTICK_RATE_HZ (set in FreeRTOSConfig.h). The constant
* portTICK_PERIOD_MS can be used to convert ticks to milliseconds (see example
* below).
*
* @param pxResult The variable pointed to by pxResult will be set to pdPASS if
* data was successfully posted onto the queue, otherwise it will be set to an
* error defined within ProjDefs.h.
*
* Example usage:
* @code{c}
* // Co-routine function that blocks for a fixed period then posts a number onto
* // a queue.
* static void prvCoRoutineFlashTask( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
* {
* // Variables in co-routines must be declared static if they must maintain value across a blocking call.
* static BaseType_t xNumberToPost = 0;
* static BaseType_t xResult;
*
* // Co-routines must begin with a call to crSTART().
* crSTART( xHandle );
*
* for( ;; )
* {
* // This assumes the queue has already been created.
* crQUEUE_SEND( xHandle, xCoRoutineQueue, &xNumberToPost, NO_DELAY, &xResult );
*
* if( xResult != pdPASS )
* {
* // The message was not posted!
* }
*
* // Increment the number to be posted onto the queue.
* xNumberToPost++;
*
* // Delay for 100 ticks.
* crDELAY( xHandle, 100 );
* }
*
* // Co-routines must end with a call to crEND().
* crEND();
* }
* @endcode
* \defgroup crQUEUE_SEND crQUEUE_SEND
* \ingroup Tasks
*/
#define crQUEUE_SEND( xHandle, pxQueue, pvItemToQueue, xTicksToWait, pxResult ) \
do { \
*( pxResult ) = xQueueCRSend( ( pxQueue ), ( pvItemToQueue ), ( xTicksToWait ) ); \
if( *( pxResult ) == errQUEUE_BLOCKED ) \
{ \
crSET_STATE0( ( xHandle ) ); \
*pxResult = xQueueCRSend( ( pxQueue ), ( pvItemToQueue ), 0 ); \
} \
if( *pxResult == errQUEUE_YIELD ) \
{ \
crSET_STATE1( ( xHandle ) ); \
*pxResult = pdPASS; \
} \
} while( 0 )
/**
* croutine. h
* @code{c}
* crQUEUE_RECEIVE(
* CoRoutineHandle_t xHandle,
* QueueHandle_t pxQueue,
* void *pvBuffer,
* TickType_t xTicksToWait,
* BaseType_t *pxResult
* )
* @endcode
*
* The macro's crQUEUE_SEND() and crQUEUE_RECEIVE() are the co-routine
* equivalent to the xQueueSend() and xQueueReceive() functions used by tasks.
*
* crQUEUE_SEND and crQUEUE_RECEIVE can only be used from a co-routine whereas
* xQueueSend() and xQueueReceive() can only be used from tasks.
*
* crQUEUE_RECEIVE can only be called from the co-routine function itself - not
* from within a function called by the co-routine function. This is because
* co-routines do not maintain their own stack.
*
* See the co-routine section of the WEB documentation for information on
* passing data between tasks and co-routines and between ISR's and
* co-routines.
*
* @param xHandle The handle of the calling co-routine. This is the xHandle
* parameter of the co-routine function.
*
* @param pxQueue The handle of the queue from which the data will be received.
* The handle is obtained as the return value when the queue is created using
* the xQueueCreate() API function.
*
* @param pvBuffer The buffer into which the received item is to be copied.
* The number of bytes of each queued item is specified when the queue is
* created. This number of bytes is copied into pvBuffer.
*
* @param xTickToDelay The number of ticks that the co-routine should block
* to wait for data to become available from the queue, should data not be
* available immediately. The actual amount of time this equates to is defined
* by configTICK_RATE_HZ (set in FreeRTOSConfig.h). The constant
* portTICK_PERIOD_MS can be used to convert ticks to milliseconds (see the
* crQUEUE_SEND example).
*
* @param pxResult The variable pointed to by pxResult will be set to pdPASS if
* data was successfully retrieved from the queue, otherwise it will be set to
* an error code as defined within ProjDefs.h.
*
* Example usage:
* @code{c}
* // A co-routine receives the number of an LED to flash from a queue. It
* // blocks on the queue until the number is received.
* static void prvCoRoutineFlashWorkTask( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
* {
* // Variables in co-routines must be declared static if they must maintain value across a blocking call.
* static BaseType_t xResult;
* static UBaseType_t uxLEDToFlash;
*
* // All co-routines must start with a call to crSTART().
* crSTART( xHandle );
*
* for( ;; )
* {
* // Wait for data to become available on the queue.
* crQUEUE_RECEIVE( xHandle, xCoRoutineQueue, &uxLEDToFlash, portMAX_DELAY, &xResult );
*
* if( xResult == pdPASS )
* {
* // We received the LED to flash - flash it!
* vParTestToggleLED( uxLEDToFlash );
* }
* }
*
* crEND();
* }
* @endcode
* \defgroup crQUEUE_RECEIVE crQUEUE_RECEIVE
* \ingroup Tasks
*/
#define crQUEUE_RECEIVE( xHandle, pxQueue, pvBuffer, xTicksToWait, pxResult ) \
do { \
*( pxResult ) = xQueueCRReceive( ( pxQueue ), ( pvBuffer ), ( xTicksToWait ) ); \
if( *( pxResult ) == errQUEUE_BLOCKED ) \
{ \
crSET_STATE0( ( xHandle ) ); \
*( pxResult ) = xQueueCRReceive( ( pxQueue ), ( pvBuffer ), 0 ); \
} \
if( *( pxResult ) == errQUEUE_YIELD ) \
{ \
crSET_STATE1( ( xHandle ) ); \
*( pxResult ) = pdPASS; \
} \
} while( 0 )
/**
* croutine. h
* @code{c}
* crQUEUE_SEND_FROM_ISR(
* QueueHandle_t pxQueue,
* void *pvItemToQueue,
* BaseType_t xCoRoutinePreviouslyWoken
* )
* @endcode
*
* The macro's crQUEUE_SEND_FROM_ISR() and crQUEUE_RECEIVE_FROM_ISR() are the
* co-routine equivalent to the xQueueSendFromISR() and xQueueReceiveFromISR()
* functions used by tasks.
*
* crQUEUE_SEND_FROM_ISR() and crQUEUE_RECEIVE_FROM_ISR() can only be used to
* pass data between a co-routine and and ISR, whereas xQueueSendFromISR() and
* xQueueReceiveFromISR() can only be used to pass data between a task and and
* ISR.
*
* crQUEUE_SEND_FROM_ISR can only be called from an ISR to send data to a queue
* that is being used from within a co-routine.
*
* See the co-routine section of the WEB documentation for information on
* passing data between tasks and co-routines and between ISR's and
* co-routines.
*
* @param xQueue The handle to the queue on which the item is to be posted.
*
* @param pvItemToQueue A pointer to the item that is to be placed on the
* queue. The size of the items the queue will hold was defined when the
* queue was created, so this many bytes will be copied from pvItemToQueue
* into the queue storage area.
*
* @param xCoRoutinePreviouslyWoken This is included so an ISR can post onto
* the same queue multiple times from a single interrupt. The first call
* should always pass in pdFALSE. Subsequent calls should pass in
* the value returned from the previous call.
*
* @return pdTRUE if a co-routine was woken by posting onto the queue. This is
* used by the ISR to determine if a context switch may be required following
* the ISR.
*
* Example usage:
* @code{c}
* // A co-routine that blocks on a queue waiting for characters to be received.
* static void vReceivingCoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
* {
* char cRxedChar;
* BaseType_t xResult;
*
* // All co-routines must start with a call to crSTART().
* crSTART( xHandle );
*
* for( ;; )
* {
* // Wait for data to become available on the queue. This assumes the
* // queue xCommsRxQueue has already been created!
* crQUEUE_RECEIVE( xHandle, xCommsRxQueue, &uxLEDToFlash, portMAX_DELAY, &xResult );
*
* // Was a character received?
* if( xResult == pdPASS )
* {
* // Process the character here.
* }
* }
*
* // All co-routines must end with a call to crEND().
* crEND();
* }
*
* // An ISR that uses a queue to send characters received on a serial port to
* // a co-routine.
* void vUART_ISR( void )
* {
* char cRxedChar;
* BaseType_t xCRWokenByPost = pdFALSE;
*
* // We loop around reading characters until there are none left in the UART.
* while( UART_RX_REG_NOT_EMPTY() )
* {
* // Obtain the character from the UART.
* cRxedChar = UART_RX_REG;
*
* // Post the character onto a queue. xCRWokenByPost will be pdFALSE
* // the first time around the loop. If the post causes a co-routine
* // to be woken (unblocked) then xCRWokenByPost will be set to pdTRUE.
* // In this manner we can ensure that if more than one co-routine is
* // blocked on the queue only one is woken by this ISR no matter how
* // many characters are posted to the queue.
* xCRWokenByPost = crQUEUE_SEND_FROM_ISR( xCommsRxQueue, &cRxedChar, xCRWokenByPost );
* }
* }
* @endcode
* \defgroup crQUEUE_SEND_FROM_ISR crQUEUE_SEND_FROM_ISR
* \ingroup Tasks
*/
#define crQUEUE_SEND_FROM_ISR( pxQueue, pvItemToQueue, xCoRoutinePreviouslyWoken ) \
xQueueCRSendFromISR( ( pxQueue ), ( pvItemToQueue ), ( xCoRoutinePreviouslyWoken ) )
/**
* croutine. h
* @code{c}
* crQUEUE_SEND_FROM_ISR(
* QueueHandle_t pxQueue,
* void *pvBuffer,
* BaseType_t * pxCoRoutineWoken
* )
* @endcode
*
* The macro's crQUEUE_SEND_FROM_ISR() and crQUEUE_RECEIVE_FROM_ISR() are the
* co-routine equivalent to the xQueueSendFromISR() and xQueueReceiveFromISR()
* functions used by tasks.
*
* crQUEUE_SEND_FROM_ISR() and crQUEUE_RECEIVE_FROM_ISR() can only be used to
* pass data between a co-routine and and ISR, whereas xQueueSendFromISR() and
* xQueueReceiveFromISR() can only be used to pass data between a task and and
* ISR.
*
* crQUEUE_RECEIVE_FROM_ISR can only be called from an ISR to receive data
* from a queue that is being used from within a co-routine (a co-routine
* posted to the queue).
*
* See the co-routine section of the WEB documentation for information on
* passing data between tasks and co-routines and between ISR's and
* co-routines.
*
* @param xQueue The handle to the queue on which the item is to be posted.
*
* @param pvBuffer A pointer to a buffer into which the received item will be
* placed. The size of the items the queue will hold was defined when the
* queue was created, so this many bytes will be copied from the queue into
* pvBuffer.
*
* @param pxCoRoutineWoken A co-routine may be blocked waiting for space to become
* available on the queue. If crQUEUE_RECEIVE_FROM_ISR causes such a
* co-routine to unblock *pxCoRoutineWoken will get set to pdTRUE, otherwise
* *pxCoRoutineWoken will remain unchanged.
*
* @return pdTRUE an item was successfully received from the queue, otherwise
* pdFALSE.
*
* Example usage:
* @code{c}
* // A co-routine that posts a character to a queue then blocks for a fixed
* // period. The character is incremented each time.
* static void vSendingCoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
* {
* // cChar holds its value while this co-routine is blocked and must therefore
* // be declared static.
* static char cCharToTx = 'a';
* BaseType_t xResult;
*
* // All co-routines must start with a call to crSTART().
* crSTART( xHandle );
*
* for( ;; )
* {
* // Send the next character to the queue.
* crQUEUE_SEND( xHandle, xCoRoutineQueue, &cCharToTx, NO_DELAY, &xResult );
*
* if( xResult == pdPASS )
* {
* // The character was successfully posted to the queue.
* }
* else
* {
* // Could not post the character to the queue.
* }
*
* // Enable the UART Tx interrupt to cause an interrupt in this
* // hypothetical UART. The interrupt will obtain the character
* // from the queue and send it.
* ENABLE_RX_INTERRUPT();
*
* // Increment to the next character then block for a fixed period.
* // cCharToTx will maintain its value across the delay as it is
* // declared static.
* cCharToTx++;
* if( cCharToTx > 'x' )
* {
* cCharToTx = 'a';
* }
* crDELAY( 100 );
* }
*
* // All co-routines must end with a call to crEND().
* crEND();
* }
*
* // An ISR that uses a queue to receive characters to send on a UART.
* void vUART_ISR( void )
* {
* char cCharToTx;
* BaseType_t xCRWokenByPost = pdFALSE;
*
* while( UART_TX_REG_EMPTY() )
* {
* // Are there any characters in the queue waiting to be sent?
* // xCRWokenByPost will automatically be set to pdTRUE if a co-routine
* // is woken by the post - ensuring that only a single co-routine is
* // woken no matter how many times we go around this loop.
* if( crQUEUE_RECEIVE_FROM_ISR( pxQueue, &cCharToTx, &xCRWokenByPost ) )
* {
* SEND_CHARACTER( cCharToTx );
* }
* }
* }
* @endcode
* \defgroup crQUEUE_RECEIVE_FROM_ISR crQUEUE_RECEIVE_FROM_ISR
* \ingroup Tasks
*/
#define crQUEUE_RECEIVE_FROM_ISR( pxQueue, pvBuffer, pxCoRoutineWoken ) \
xQueueCRReceiveFromISR( ( pxQueue ), ( pvBuffer ), ( pxCoRoutineWoken ) )
/*
* This function is intended for internal use by the co-routine macros only.
* The macro nature of the co-routine implementation requires that the
* prototype appears here. The function should not be used by application
* writers.
*
* Removes the current co-routine from its ready list and places it in the
* appropriate delayed list.
*/
void vCoRoutineAddToDelayedList( TickType_t xTicksToDelay,
List_t * pxEventList );
/*
* This function is intended for internal use by the queue implementation only.
* The function should not be used by application writers.
*
* Removes the highest priority co-routine from the event list and places it in
* the pending ready list.
*/
BaseType_t xCoRoutineRemoveFromEventList( const List_t * pxEventList );
/*
* This function resets the internal state of the coroutine module. It must be
* called by the application before restarting the scheduler.
*/
void vCoRoutineResetState( void ) PRIVILEGED_FUNCTION;
/* *INDENT-OFF* */
#ifdef __cplusplus
}
#endif
/* *INDENT-ON* */
#endif /* CO_ROUTINE_H */
vendor/FreeRTOS-Kernel/include/deprecated_definitions.h
Vendored
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/*
* FreeRTOS Kernel V11.3.0
* 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 DEPRECATED_DEFINITIONS_H
#define DEPRECATED_DEFINITIONS_H
/* Each FreeRTOS port has a unique portmacro.h header file. Originally a
* pre-processor definition was used to ensure the pre-processor found the correct
* portmacro.h file for the port being used. That scheme was deprecated in favour
* of setting the compiler's include path such that it found the correct
* portmacro.h file - removing the need for the constant and allowing the
* portmacro.h file to be located anywhere in relation to the port being used. The
* definitions below remain in the code for backward compatibility only. New
* projects should not use them. */
#ifdef OPEN_WATCOM_INDUSTRIAL_PC_PORT
#include "..\..\Source\portable\owatcom\16bitdos\pc\portmacro.h"
typedef void ( __interrupt __far * pxISR )();
#endif
#ifdef OPEN_WATCOM_FLASH_LITE_186_PORT
#include "..\..\Source\portable\owatcom\16bitdos\flsh186\portmacro.h"
typedef void ( __interrupt __far * pxISR )();
#endif
#ifdef GCC_MEGA_AVR
#include "../portable/GCC/ATMega323/portmacro.h"
#endif
#ifdef IAR_MEGA_AVR
#include "../portable/IAR/ATMega323/portmacro.h"
#endif
#ifdef MPLAB_PIC24_PORT
#include "../../Source/portable/MPLAB/PIC24_dsPIC/portmacro.h"
#endif
#ifdef MPLAB_DSPIC_PORT
#include "../../Source/portable/MPLAB/PIC24_dsPIC/portmacro.h"
#endif
#ifdef MPLAB_PIC18F_PORT
#include "../../Source/portable/MPLAB/PIC18F/portmacro.h"
#endif
#ifdef MPLAB_PIC32MX_PORT
#include "../../Source/portable/MPLAB/PIC32MX/portmacro.h"
#endif
#ifdef _FEDPICC
#include "libFreeRTOS/Include/portmacro.h"
#endif
#ifdef SDCC_CYGNAL
#include "../../Source/portable/SDCC/Cygnal/portmacro.h"
#endif
#ifdef GCC_ARM7
#include "../../Source/portable/GCC/ARM7_LPC2000/portmacro.h"
#endif
#ifdef GCC_ARM7_ECLIPSE
#include "portmacro.h"
#endif
#ifdef ROWLEY_LPC23xx
#include "../../Source/portable/GCC/ARM7_LPC23xx/portmacro.h"
#endif
#ifdef IAR_MSP430
#include "..\..\Source\portable\IAR\MSP430\portmacro.h"
#endif
#ifdef GCC_MSP430
#include "../../Source/portable/GCC/MSP430F449/portmacro.h"
#endif
#ifdef ROWLEY_MSP430
#include "../../Source/portable/Rowley/MSP430F449/portmacro.h"
#endif
#ifdef ARM7_LPC21xx_KEIL_RVDS
#include "..\..\Source\portable\RVDS\ARM7_LPC21xx\portmacro.h"
#endif
#ifdef SAM7_GCC
#include "../../Source/portable/GCC/ARM7_AT91SAM7S/portmacro.h"
#endif
#ifdef SAM7_IAR
#include "..\..\Source\portable\IAR\AtmelSAM7S64\portmacro.h"
#endif
#ifdef SAM9XE_IAR
#include "..\..\Source\portable\IAR\AtmelSAM9XE\portmacro.h"
#endif
#ifdef LPC2000_IAR
#include "..\..\Source\portable\IAR\LPC2000\portmacro.h"
#endif
#ifdef STR71X_IAR
#include "..\..\Source\portable\IAR\STR71x\portmacro.h"
#endif
#ifdef STR75X_IAR
#include "..\..\Source\portable\IAR\STR75x\portmacro.h"
#endif
#ifdef STR75X_GCC
#include "..\..\Source\portable\GCC\STR75x\portmacro.h"
#endif
#ifdef STR91X_IAR
#include "..\..\Source\portable\IAR\STR91x\portmacro.h"
#endif
#ifdef GCC_H8S
#include "../../Source/portable/GCC/H8S2329/portmacro.h"
#endif
#ifdef GCC_AT91FR40008
#include "../../Source/portable/GCC/ARM7_AT91FR40008/portmacro.h"
#endif
#ifdef RVDS_ARMCM3_LM3S102
#include "../../Source/portable/RVDS/ARM_CM3/portmacro.h"
#endif
#ifdef GCC_ARMCM3_LM3S102
#include "../../Source/portable/GCC/ARM_CM3/portmacro.h"
#endif
#ifdef GCC_ARMCM3
#include "../../Source/portable/GCC/ARM_CM3/portmacro.h"
#endif
#ifdef IAR_ARM_CM3
#include "../../Source/portable/IAR/ARM_CM3/portmacro.h"
#endif
#ifdef IAR_ARMCM3_LM
#include "../../Source/portable/IAR/ARM_CM3/portmacro.h"
#endif
#ifdef HCS12_CODE_WARRIOR
#include "../../Source/portable/CodeWarrior/HCS12/portmacro.h"
#endif
#ifdef MICROBLAZE_GCC
#include "../../Source/portable/GCC/MicroBlaze/portmacro.h"
#endif
#ifdef TERN_EE
#include "..\..\Source\portable\Paradigm\Tern_EE\small\portmacro.h"
#endif
#ifdef GCC_HCS12
#include "../../Source/portable/GCC/HCS12/portmacro.h"
#endif
#ifdef GCC_MCF5235
#include "../../Source/portable/GCC/MCF5235/portmacro.h"
#endif
#ifdef COLDFIRE_V2_GCC
#include "../../../Source/portable/GCC/ColdFire_V2/portmacro.h"
#endif
#ifdef COLDFIRE_V2_CODEWARRIOR
#include "../../Source/portable/CodeWarrior/ColdFire_V2/portmacro.h"
#endif
#ifdef GCC_PPC405
#include "../../Source/portable/GCC/PPC405_Xilinx/portmacro.h"
#endif
#ifdef GCC_PPC440
#include "../../Source/portable/GCC/PPC440_Xilinx/portmacro.h"
#endif
#ifdef _16FX_SOFTUNE
#include "..\..\Source\portable\Softune\MB96340\portmacro.h"
#endif
#ifdef BCC_INDUSTRIAL_PC_PORT
/* A short file name has to be used in place of the normal
* FreeRTOSConfig.h when using the Borland compiler. */
#include "frconfig.h"
#include "..\portable\BCC\16BitDOS\PC\prtmacro.h"
typedef void ( __interrupt __far * pxISR )();
#endif
#ifdef BCC_FLASH_LITE_186_PORT
/* A short file name has to be used in place of the normal
* FreeRTOSConfig.h when using the Borland compiler. */
#include "frconfig.h"
#include "..\portable\BCC\16BitDOS\flsh186\prtmacro.h"
typedef void ( __interrupt __far * pxISR )();
#endif
#ifdef __GNUC__
#ifdef __AVR32_AVR32A__
#include "portmacro.h"
#endif
#endif
#ifdef __ICCAVR32__
#ifdef __CORE__
#if __CORE__ == __AVR32A__
#include "portmacro.h"
#endif
#endif
#endif
#ifdef __91467D
#include "portmacro.h"
#endif
#ifdef __96340
#include "portmacro.h"
#endif
#ifdef __IAR_V850ES_Fx3__
#include "../../Source/portable/IAR/V850ES/portmacro.h"
#endif
#ifdef __IAR_V850ES_Jx3__
#include "../../Source/portable/IAR/V850ES/portmacro.h"
#endif
#ifdef __IAR_V850ES_Jx3_L__
#include "../../Source/portable/IAR/V850ES/portmacro.h"
#endif
#ifdef __IAR_V850ES_Jx2__
#include "../../Source/portable/IAR/V850ES/portmacro.h"
#endif
#ifdef __IAR_V850ES_Hx2__
#include "../../Source/portable/IAR/V850ES/portmacro.h"
#endif
#ifdef __IAR_78K0R_Kx3__
#include "../../Source/portable/IAR/78K0R/portmacro.h"
#endif
#ifdef __IAR_78K0R_Kx3L__
#include "../../Source/portable/IAR/78K0R/portmacro.h"
#endif
#endif /* DEPRECATED_DEFINITIONS_H */
vendor/FreeRTOS-Kernel/include/event_groups.h
Vendored
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/*
* FreeRTOS Kernel V11.3.0
* 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 EVENT_GROUPS_H
#define EVENT_GROUPS_H
#ifndef INC_FREERTOS_H
#error "include FreeRTOS.h" must appear in source files before "include event_groups.h"
#endif
/* FreeRTOS includes. */
#include "timers.h"
/* The following bit fields convey control information in a task's event list
* item value. It is important they don't clash with the
* taskEVENT_LIST_ITEM_VALUE_IN_USE definition. */
#if ( configTICK_TYPE_WIDTH_IN_BITS == TICK_TYPE_WIDTH_16_BITS )
#define eventCLEAR_EVENTS_ON_EXIT_BIT ( ( uint16_t ) 0x0100U )
#define eventUNBLOCKED_DUE_TO_BIT_SET ( ( uint16_t ) 0x0200U )
#define eventWAIT_FOR_ALL_BITS ( ( uint16_t ) 0x0400U )
#define eventEVENT_BITS_CONTROL_BYTES ( ( uint16_t ) 0xff00U )
#elif ( configTICK_TYPE_WIDTH_IN_BITS == TICK_TYPE_WIDTH_32_BITS )
#define eventCLEAR_EVENTS_ON_EXIT_BIT ( ( uint32_t ) 0x01000000U )
#define eventUNBLOCKED_DUE_TO_BIT_SET ( ( uint32_t ) 0x02000000U )
#define eventWAIT_FOR_ALL_BITS ( ( uint32_t ) 0x04000000U )
#define eventEVENT_BITS_CONTROL_BYTES ( ( uint32_t ) 0xff000000U )
#elif ( configTICK_TYPE_WIDTH_IN_BITS == TICK_TYPE_WIDTH_64_BITS )
#define eventCLEAR_EVENTS_ON_EXIT_BIT ( ( uint64_t ) 0x0100000000000000U )
#define eventUNBLOCKED_DUE_TO_BIT_SET ( ( uint64_t ) 0x0200000000000000U )
#define eventWAIT_FOR_ALL_BITS ( ( uint64_t ) 0x0400000000000000U )
#define eventEVENT_BITS_CONTROL_BYTES ( ( uint64_t ) 0xff00000000000000U )
#endif /* if ( configTICK_TYPE_WIDTH_IN_BITS == TICK_TYPE_WIDTH_16_BITS ) */
/* *INDENT-OFF* */
#ifdef __cplusplus
extern "C" {
#endif
/* *INDENT-ON* */
/**
* An event group is a collection of bits to which an application can assign a
* meaning. For example, an application may create an event group to convey
* the status of various CAN bus related events in which bit 0 might mean "A CAN
* message has been received and is ready for processing", bit 1 might mean "The
* application has queued a message that is ready for sending onto the CAN
* network", and bit 2 might mean "It is time to send a SYNC message onto the
* CAN network" etc. A task can then test the bit values to see which events
* are active, and optionally enter the Blocked state to wait for a specified
* bit or a group of specified bits to be active. To continue the CAN bus
* example, a CAN controlling task can enter the Blocked state (and therefore
* not consume any processing time) until either bit 0, bit 1 or bit 2 are
* active, at which time the bit that was actually active would inform the task
* which action it had to take (process a received message, send a message, or
* send a SYNC).
*
* The event groups implementation contains intelligence to avoid race
* conditions that would otherwise occur were an application to use a simple
* variable for the same purpose. This is particularly important with respect
* to when a bit within an event group is to be cleared, and when bits have to
* be set and then tested atomically - as is the case where event groups are
* used to create a synchronisation point between multiple tasks (a
* 'rendezvous').
*/
/**
* event_groups.h
*
* Type by which event groups are referenced. For example, a call to
* xEventGroupCreate() returns an EventGroupHandle_t variable that can then
* be used as a parameter to other event group functions.
*
* \defgroup EventGroupHandle_t EventGroupHandle_t
* \ingroup EventGroup
*/
struct EventGroupDef_t;
typedef struct EventGroupDef_t * EventGroupHandle_t;
/*
* The type that holds event bits always matches TickType_t - therefore the
* number of bits it holds is set by configTICK_TYPE_WIDTH_IN_BITS (16 bits if set to 0,
* 32 bits if set to 1, 64 bits if set to 2.
*
* \defgroup EventBits_t EventBits_t
* \ingroup EventGroup
*/
typedef TickType_t EventBits_t;
/**
* event_groups.h
* @code{c}
* EventGroupHandle_t xEventGroupCreate( void );
* @endcode
*
* Create a new event group.
*
* Internally, within the FreeRTOS implementation, event groups use a [small]
* block of memory, in which the event group's structure is stored. If an event
* groups is created using xEventGroupCreate() then the required memory is
* automatically dynamically allocated inside the xEventGroupCreate() function.
* (see https://www.FreeRTOS.org/a00111.html). If an event group is created
* using xEventGroupCreateStatic() then the application writer must instead
* provide the memory that will get used by the event group.
* xEventGroupCreateStatic() therefore allows an event group to be created
* without using any dynamic memory allocation.
*
* Although event groups are not related to ticks, for internal implementation
* reasons the number of bits available for use in an event group is dependent
* on the configTICK_TYPE_WIDTH_IN_BITS setting in FreeRTOSConfig.h. If
* configTICK_TYPE_WIDTH_IN_BITS is 0 then each event group contains 8 usable bits (bit
* 0 to bit 7). If configTICK_TYPE_WIDTH_IN_BITS is set to 1 then each event group has
* 24 usable bits (bit 0 to bit 23). If configTICK_TYPE_WIDTH_IN_BITS is set to 2 then
* each event group has 56 usable bits (bit 0 to bit 53). The EventBits_t type
* is used to store event bits within an event group.
*
* The configUSE_EVENT_GROUPS configuration constant must be set to 1 for xEventGroupCreate()
* to be available.
*
* @return If the event group was created then a handle to the event group is
* returned. If there was insufficient FreeRTOS heap available to create the
* event group then NULL is returned. See https://www.FreeRTOS.org/a00111.html
*
* Example usage:
* @code{c}
* // Declare a variable to hold the created event group.
* EventGroupHandle_t xCreatedEventGroup;
*
* // Attempt to create the event group.
* xCreatedEventGroup = xEventGroupCreate();
*
* // Was the event group created successfully?
* if( xCreatedEventGroup == NULL )
* {
* // The event group was not created because there was insufficient
* // FreeRTOS heap available.
* }
* else
* {
* // The event group was created.
* }
* @endcode
* \defgroup xEventGroupCreate xEventGroupCreate
* \ingroup EventGroup
*/
#if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
EventGroupHandle_t xEventGroupCreate( void ) PRIVILEGED_FUNCTION;
#endif
/**
* event_groups.h
* @code{c}
* EventGroupHandle_t xEventGroupCreateStatic( EventGroupHandle_t * pxEventGroupBuffer );
* @endcode
*
* Create a new event group.
*
* Internally, within the FreeRTOS implementation, event groups use a [small]
* block of memory, in which the event group's structure is stored. If an event
* groups is created using xEventGroupCreate() then the required memory is
* automatically dynamically allocated inside the xEventGroupCreate() function.
* (see https://www.FreeRTOS.org/a00111.html). If an event group is created
* using xEventGroupCreateStatic() then the application writer must instead
* provide the memory that will get used by the event group.
* xEventGroupCreateStatic() therefore allows an event group to be created
* without using any dynamic memory allocation.
*
* Although event groups are not related to ticks, for internal implementation
* reasons the number of bits available for use in an event group is dependent
* on the configTICK_TYPE_WIDTH_IN_BITS setting in FreeRTOSConfig.h. If
* configTICK_TYPE_WIDTH_IN_BITS is 0 then each event group contains 8 usable bits (bit
* 0 to bit 7). If configTICK_TYPE_WIDTH_IN_BITS is set to 1 then each event group has
* 24 usable bits (bit 0 to bit 23). If configTICK_TYPE_WIDTH_IN_BITS is set to 2 then
* each event group has 56 usable bits (bit 0 to bit 53). The EventBits_t type
* is used to store event bits within an event group.
*
* The configUSE_EVENT_GROUPS configuration constant must be set to 1 for xEventGroupCreateStatic()
* to be available.
*
* @param pxEventGroupBuffer pxEventGroupBuffer must point to a variable of type
* StaticEventGroup_t, which will be then be used to hold the event group's data
* structures, removing the need for the memory to be allocated dynamically.
*
* @return If the event group was created then a handle to the event group is
* returned. If pxEventGroupBuffer was NULL then NULL is returned.
*
* Example usage:
* @code{c}
* // StaticEventGroup_t is a publicly accessible structure that has the same
* // size and alignment requirements as the real event group structure. It is
* // provided as a mechanism for applications to know the size of the event
* // group (which is dependent on the architecture and configuration file
* // settings) without breaking the strict data hiding policy by exposing the
* // real event group internals. This StaticEventGroup_t variable is passed
* // into the xSemaphoreCreateEventGroupStatic() function and is used to store
* // the event group's data structures
* StaticEventGroup_t xEventGroupBuffer;
*
* // Create the event group without dynamically allocating any memory.
* xEventGroup = xEventGroupCreateStatic( &xEventGroupBuffer );
* @endcode
*/
#if ( configSUPPORT_STATIC_ALLOCATION == 1 )
EventGroupHandle_t xEventGroupCreateStatic( StaticEventGroup_t * pxEventGroupBuffer ) PRIVILEGED_FUNCTION;
#endif
/**
* event_groups.h
* @code{c}
* EventBits_t xEventGroupWaitBits( EventGroupHandle_t xEventGroup,
* const EventBits_t uxBitsToWaitFor,
* const BaseType_t xClearOnExit,
* const BaseType_t xWaitForAllBits,
* const TickType_t xTicksToWait );
* @endcode
*
* [Potentially] block to wait for one or more bits to be set within a
* previously created event group.
*
* This function cannot be called from an interrupt.
*
* The configUSE_EVENT_GROUPS configuration constant must be set to 1 for xEventGroupWaitBits()
* to be available.
*
* @param xEventGroup The event group in which the bits are being tested. The
* event group must have previously been created using a call to
* xEventGroupCreate().
*
* @param uxBitsToWaitFor A bitwise value that indicates the bit or bits to test
* inside the event group. For example, to wait for bit 0 and/or bit 2 set
* uxBitsToWaitFor to 0x05. To wait for bits 0 and/or bit 1 and/or bit 2 set
* uxBitsToWaitFor to 0x07. Etc.
*
* @param xClearOnExit If xClearOnExit is set to pdTRUE then any bits within
* uxBitsToWaitFor that are set within the event group will be cleared before
* xEventGroupWaitBits() returns if the wait condition was met (if the function
* returns for a reason other than a timeout). If xClearOnExit is set to
* pdFALSE then the bits set in the event group are not altered when the call to
* xEventGroupWaitBits() returns.
*
* @param xWaitForAllBits If xWaitForAllBits is set to pdTRUE then
* xEventGroupWaitBits() will return when either all the bits in uxBitsToWaitFor
* are set or the specified block time expires. If xWaitForAllBits is set to
* pdFALSE then xEventGroupWaitBits() will return when any one of the bits set
* in uxBitsToWaitFor is set or the specified block time expires. The block
* time is specified by the xTicksToWait parameter.
*
* @param xTicksToWait The maximum amount of time (specified in 'ticks') to wait
* for one/all (depending on the xWaitForAllBits value) of the bits specified by
* uxBitsToWaitFor to become set. A value of portMAX_DELAY can be used to block
* indefinitely (provided INCLUDE_vTaskSuspend is set to 1 in FreeRTOSConfig.h).
*
* @return The value of the event group at the time either the bits being waited
* for became set, or the block time expired. Test the return value to know
* which bits were set. If xEventGroupWaitBits() returned because its timeout
* expired then not all the bits being waited for will be set. If
* xEventGroupWaitBits() returned because the bits it was waiting for were set
* then the returned value is the event group value before any bits were
* automatically cleared in the case that xClearOnExit parameter was set to
* pdTRUE.
*
* Example usage:
* @code{c}
* #define BIT_0 ( 1 << 0 )
* #define BIT_4 ( 1 << 4 )
*
* void aFunction( EventGroupHandle_t xEventGroup )
* {
* EventBits_t uxBits;
* const TickType_t xTicksToWait = 100 / portTICK_PERIOD_MS;
*
* // Wait a maximum of 100ms for either bit 0 or bit 4 to be set within
* // the event group. Clear the bits before exiting.
* uxBits = xEventGroupWaitBits(
* xEventGroup, // The event group being tested.
* BIT_0 | BIT_4, // The bits within the event group to wait for.
* pdTRUE, // BIT_0 and BIT_4 should be cleared before returning.
* pdFALSE, // Don't wait for both bits, either bit will do.
* xTicksToWait ); // Wait a maximum of 100ms for either bit to be set.
*
* if( ( uxBits & ( BIT_0 | BIT_4 ) ) == ( BIT_0 | BIT_4 ) )
* {
* // xEventGroupWaitBits() returned because both bits were set.
* }
* else if( ( uxBits & BIT_0 ) != 0 )
* {
* // xEventGroupWaitBits() returned because just BIT_0 was set.
* }
* else if( ( uxBits & BIT_4 ) != 0 )
* {
* // xEventGroupWaitBits() returned because just BIT_4 was set.
* }
* else
* {
* // xEventGroupWaitBits() returned because xTicksToWait ticks passed
* // without either BIT_0 or BIT_4 becoming set.
* }
* }
* @endcode
* \defgroup xEventGroupWaitBits xEventGroupWaitBits
* \ingroup EventGroup
*/
EventBits_t xEventGroupWaitBits( EventGroupHandle_t xEventGroup,
const EventBits_t uxBitsToWaitFor,
const BaseType_t xClearOnExit,
const BaseType_t xWaitForAllBits,
TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
/**
* event_groups.h
* @code{c}
* EventBits_t xEventGroupClearBits( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToClear );
* @endcode
*
* Clear bits within an event group. This function cannot be called from an
* interrupt.
*
* The configUSE_EVENT_GROUPS configuration constant must be set to 1 for xEventGroupClearBits()
* to be available.
*
* @param xEventGroup The event group in which the bits are to be cleared.
*
* @param uxBitsToClear A bitwise value that indicates the bit or bits to clear
* in the event group. For example, to clear bit 3 only, set uxBitsToClear to
* 0x08. To clear bit 3 and bit 0 set uxBitsToClear to 0x09.
*
* @return The value of the event group before the specified bits were cleared.
*
* Example usage:
* @code{c}
* #define BIT_0 ( 1 << 0 )
* #define BIT_4 ( 1 << 4 )
*
* void aFunction( EventGroupHandle_t xEventGroup )
* {
* EventBits_t uxBits;
*
* // Clear bit 0 and bit 4 in xEventGroup.
* uxBits = xEventGroupClearBits(
* xEventGroup, // The event group being updated.
* BIT_0 | BIT_4 );// The bits being cleared.
*
* if( ( uxBits & ( BIT_0 | BIT_4 ) ) == ( BIT_0 | BIT_4 ) )
* {
* // Both bit 0 and bit 4 were set before xEventGroupClearBits() was
* // called. Both will now be clear (not set).
* }
* else if( ( uxBits & BIT_0 ) != 0 )
* {
* // Bit 0 was set before xEventGroupClearBits() was called. It will
* // now be clear.
* }
* else if( ( uxBits & BIT_4 ) != 0 )
* {
* // Bit 4 was set before xEventGroupClearBits() was called. It will
* // now be clear.
* }
* else
* {
* // Neither bit 0 nor bit 4 were set in the first place.
* }
* }
* @endcode
* \defgroup xEventGroupClearBits xEventGroupClearBits
* \ingroup EventGroup
*/
EventBits_t xEventGroupClearBits( EventGroupHandle_t xEventGroup,
const EventBits_t uxBitsToClear ) PRIVILEGED_FUNCTION;
/**
* event_groups.h
* @code{c}
* BaseType_t xEventGroupClearBitsFromISR( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet );
* @endcode
*
* A version of xEventGroupClearBits() that can be called from an interrupt.
*
* Setting bits in an event group is not a deterministic operation because there
* are an unknown number of tasks that may be waiting for the bit or bits being
* set. FreeRTOS does not allow nondeterministic operations to be performed
* while interrupts are disabled, so protects event groups that are accessed
* from tasks by suspending the scheduler rather than disabling interrupts. As
* a result event groups cannot be accessed directly from an interrupt service
* routine. Therefore xEventGroupClearBitsFromISR() sends a message to the
* timer task to have the clear operation performed in the context of the timer
* task.
*
* @note If this function returns pdPASS then the timer task is ready to run
* and a portYIELD_FROM_ISR(pdTRUE) should be executed to perform the needed
* clear on the event group. This behavior is different from
* xEventGroupSetBitsFromISR because the parameter xHigherPriorityTaskWoken is
* not present.
*
* @param xEventGroup The event group in which the bits are to be cleared.
*
* @param uxBitsToClear A bitwise value that indicates the bit or bits to clear.
* For example, to clear bit 3 only, set uxBitsToClear to 0x08. To clear bit 3
* and bit 0 set uxBitsToClear to 0x09.
*
* @return If the request to execute the function was posted successfully then
* pdPASS is returned, otherwise pdFALSE is returned. pdFALSE will be returned
* if the timer service queue was full.
*
* Example usage:
* @code{c}
* #define BIT_0 ( 1 << 0 )
* #define BIT_4 ( 1 << 4 )
*
* // An event group which it is assumed has already been created by a call to
* // xEventGroupCreate().
* EventGroupHandle_t xEventGroup;
*
* void anInterruptHandler( void )
* {
* // Clear bit 0 and bit 4 in xEventGroup.
* xResult = xEventGroupClearBitsFromISR(
* xEventGroup, // The event group being updated.
* BIT_0 | BIT_4 ); // The bits being set.
*
* if( xResult == pdPASS )
* {
* // The message was posted successfully.
* portYIELD_FROM_ISR(pdTRUE);
* }
* }
* @endcode
* \defgroup xEventGroupClearBitsFromISR xEventGroupClearBitsFromISR
* \ingroup EventGroup
*/
#if ( ( INCLUDE_xTimerPendFunctionCall == 1 ) && ( configUSE_TIMERS == 1 ) )
BaseType_t xEventGroupClearBitsFromISR( EventGroupHandle_t xEventGroup,
const EventBits_t uxBitsToClear ) PRIVILEGED_FUNCTION;
#endif /* if ( ( INCLUDE_xTimerPendFunctionCall == 1 ) && ( configUSE_TIMERS == 1 ) ) */
/**
* event_groups.h
* @code{c}
* EventBits_t xEventGroupSetBits( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet );
* @endcode
*
* Set bits within an event group.
* This function cannot be called from an interrupt. xEventGroupSetBitsFromISR()
* is a version that can be called from an interrupt.
*
* Setting bits in an event group will automatically unblock tasks that are
* blocked waiting for the bits.
*
* The configUSE_EVENT_GROUPS configuration constant must be set to 1 for xEventGroupSetBits()
* to be available.
*
* @param xEventGroup The event group in which the bits are to be set.
*
* @param uxBitsToSet A bitwise value that indicates the bit or bits to set.
* For example, to set bit 3 only, set uxBitsToSet to 0x08. To set bit 3
* and bit 0 set uxBitsToSet to 0x09.
*
* @return The value of the event group at the time the call to
* xEventGroupSetBits() returns. Returned value might have the bits specified
* by the uxBitsToSet parameter cleared if setting a bit results in a task
* that was waiting for the bit leaving the blocked state then it is possible
* the bit will be cleared automatically (see the xClearBitOnExit parameter
* of xEventGroupWaitBits()).
*
* Example usage:
* @code{c}
* #define BIT_0 ( 1 << 0 )
* #define BIT_4 ( 1 << 4 )
*
* void aFunction( EventGroupHandle_t xEventGroup )
* {
* EventBits_t uxBits;
*
* // Set bit 0 and bit 4 in xEventGroup.
* uxBits = xEventGroupSetBits(
* xEventGroup, // The event group being updated.
* BIT_0 | BIT_4 );// The bits being set.
*
* if( ( uxBits & ( BIT_0 | BIT_4 ) ) == ( BIT_0 | BIT_4 ) )
* {
* // Both bit 0 and bit 4 remained set when the function returned.
* }
* else if( ( uxBits & BIT_0 ) != 0 )
* {
* // Bit 0 remained set when the function returned, but bit 4 was
* // cleared. It might be that bit 4 was cleared automatically as a
* // task that was waiting for bit 4 was removed from the Blocked
* // state.
* }
* else if( ( uxBits & BIT_4 ) != 0 )
* {
* // Bit 4 remained set when the function returned, but bit 0 was
* // cleared. It might be that bit 0 was cleared automatically as a
* // task that was waiting for bit 0 was removed from the Blocked
* // state.
* }
* else
* {
* // Neither bit 0 nor bit 4 remained set. It might be that a task
* // was waiting for both of the bits to be set, and the bits were
* // cleared as the task left the Blocked state.
* }
* }
* @endcode
* \defgroup xEventGroupSetBits xEventGroupSetBits
* \ingroup EventGroup
*/
EventBits_t xEventGroupSetBits( EventGroupHandle_t xEventGroup,
const EventBits_t uxBitsToSet ) PRIVILEGED_FUNCTION;
/**
* event_groups.h
* @code{c}
* BaseType_t xEventGroupSetBitsFromISR( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet, BaseType_t *pxHigherPriorityTaskWoken );
* @endcode
*
* A version of xEventGroupSetBits() that can be called from an interrupt.
*
* Setting bits in an event group is not a deterministic operation because there
* are an unknown number of tasks that may be waiting for the bit or bits being
* set. FreeRTOS does not allow nondeterministic operations to be performed in
* interrupts or from critical sections. Therefore xEventGroupSetBitsFromISR()
* sends a message to the timer task to have the set operation performed in the
* context of the timer task - where a scheduler lock is used in place of a
* critical section.
*
* @param xEventGroup The event group in which the bits are to be set.
*
* @param uxBitsToSet A bitwise value that indicates the bit or bits to set.
* For example, to set bit 3 only, set uxBitsToSet to 0x08. To set bit 3
* and bit 0 set uxBitsToSet to 0x09.
*
* @param pxHigherPriorityTaskWoken As mentioned above, calling this function
* will result in a message being sent to the timer daemon task. If the
* priority of the timer daemon task is higher than the priority of the
* currently running task (the task the interrupt interrupted) then
* *pxHigherPriorityTaskWoken will be set to pdTRUE by
* xEventGroupSetBitsFromISR(), indicating that a context switch should be
* requested before the interrupt exits. For that reason
* *pxHigherPriorityTaskWoken must be initialised to pdFALSE. See the
* example code below.
*
* @return If the request to execute the function was posted successfully then
* pdPASS is returned, otherwise pdFALSE is returned. pdFALSE will be returned
* if the timer service queue was full.
*
* Example usage:
* @code{c}
* #define BIT_0 ( 1 << 0 )
* #define BIT_4 ( 1 << 4 )
*
* // An event group which it is assumed has already been created by a call to
* // xEventGroupCreate().
* EventGroupHandle_t xEventGroup;
*
* void anInterruptHandler( void )
* {
* BaseType_t xHigherPriorityTaskWoken, xResult;
*
* // xHigherPriorityTaskWoken must be initialised to pdFALSE.
* xHigherPriorityTaskWoken = pdFALSE;
*
* // Set bit 0 and bit 4 in xEventGroup.
* xResult = xEventGroupSetBitsFromISR(
* xEventGroup, // The event group being updated.
* BIT_0 | BIT_4 // The bits being set.
* &xHigherPriorityTaskWoken );
*
* // Was the message posted successfully?
* if( xResult == pdPASS )
* {
* // If xHigherPriorityTaskWoken is now set to pdTRUE then a context
* // switch should be requested. The macro used is port specific and
* // will be either portYIELD_FROM_ISR() or portEND_SWITCHING_ISR() -
* // refer to the documentation page for the port being used.
* portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
* }
* }
* @endcode
* \defgroup xEventGroupSetBitsFromISR xEventGroupSetBitsFromISR
* \ingroup EventGroup
*/
#if ( ( INCLUDE_xTimerPendFunctionCall == 1 ) && ( configUSE_TIMERS == 1 ) )
BaseType_t xEventGroupSetBitsFromISR( EventGroupHandle_t xEventGroup,
const EventBits_t uxBitsToSet,
BaseType_t * pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
#endif /* if ( ( INCLUDE_xTimerPendFunctionCall == 1 ) && ( configUSE_TIMERS == 1 ) ) */
/**
* event_groups.h
* @code{c}
* EventBits_t xEventGroupSync( EventGroupHandle_t xEventGroup,
* const EventBits_t uxBitsToSet,
* const EventBits_t uxBitsToWaitFor,
* TickType_t xTicksToWait );
* @endcode
*
* Atomically set bits within an event group, then wait for a combination of
* bits to be set within the same event group. This functionality is typically
* used to synchronise multiple tasks, where each task has to wait for the other
* tasks to reach a synchronisation point before proceeding.
*
* This function cannot be used from an interrupt.
*
* The function will return before its block time expires if the bits specified
* by the uxBitsToWait parameter are set, or become set within that time. In
* this case all the bits specified by uxBitsToWait will be automatically
* cleared before the function returns.
*
* The configUSE_EVENT_GROUPS configuration constant must be set to 1 for xEventGroupSync()
* to be available.
*
* @param xEventGroup The event group in which the bits are being tested. The
* event group must have previously been created using a call to
* xEventGroupCreate().
*
* @param uxBitsToSet The bits to set in the event group before determining
* if, and possibly waiting for, all the bits specified by the uxBitsToWait
* parameter are set.
*
* @param uxBitsToWaitFor A bitwise value that indicates the bit or bits to test
* inside the event group. For example, to wait for bit 0 and bit 2 set
* uxBitsToWaitFor to 0x05. To wait for bits 0 and bit 1 and bit 2 set
* uxBitsToWaitFor to 0x07. Etc.
*
* @param xTicksToWait The maximum amount of time (specified in 'ticks') to wait
* for all of the bits specified by uxBitsToWaitFor to become set.
*
* @return The value of the event group at the time either the bits being waited
* for became set, or the block time expired. Test the return value to know
* which bits were set. If xEventGroupSync() returned because its timeout
* expired then not all the bits being waited for will be set. If
* xEventGroupSync() returned because all the bits it was waiting for were
* set then the returned value is the event group value before any bits were
* automatically cleared.
*
* Example usage:
* @code{c}
* // Bits used by the three tasks.
* #define TASK_0_BIT ( 1 << 0 )
* #define TASK_1_BIT ( 1 << 1 )
* #define TASK_2_BIT ( 1 << 2 )
*
* #define ALL_SYNC_BITS ( TASK_0_BIT | TASK_1_BIT | TASK_2_BIT )
*
* // Use an event group to synchronise three tasks. It is assumed this event
* // group has already been created elsewhere.
* EventGroupHandle_t xEventBits;
*
* void vTask0( void *pvParameters )
* {
* EventBits_t uxReturn;
* TickType_t xTicksToWait = 100 / portTICK_PERIOD_MS;
*
* for( ;; )
* {
* // Perform task functionality here.
*
* // Set bit 0 in the event flag to note this task has reached the
* // sync point. The other two tasks will set the other two bits defined
* // by ALL_SYNC_BITS. All three tasks have reached the synchronisation
* // point when all the ALL_SYNC_BITS are set. Wait a maximum of 100ms
* // for this to happen.
* uxReturn = xEventGroupSync( xEventBits, TASK_0_BIT, ALL_SYNC_BITS, xTicksToWait );
*
* if( ( uxReturn & ALL_SYNC_BITS ) == ALL_SYNC_BITS )
* {
* // All three tasks reached the synchronisation point before the call
* // to xEventGroupSync() timed out.
* }
* }
* }
*
* void vTask1( void *pvParameters )
* {
* for( ;; )
* {
* // Perform task functionality here.
*
* // Set bit 1 in the event flag to note this task has reached the
* // synchronisation point. The other two tasks will set the other two
* // bits defined by ALL_SYNC_BITS. All three tasks have reached the
* // synchronisation point when all the ALL_SYNC_BITS are set. Wait
* // indefinitely for this to happen.
* xEventGroupSync( xEventBits, TASK_1_BIT, ALL_SYNC_BITS, portMAX_DELAY );
*
* // xEventGroupSync() was called with an indefinite block time, so
* // this task will only reach here if the synchronisation was made by all
* // three tasks, so there is no need to test the return value.
* }
* }
*
* void vTask2( void *pvParameters )
* {
* for( ;; )
* {
* // Perform task functionality here.
*
* // Set bit 2 in the event flag to note this task has reached the
* // synchronisation point. The other two tasks will set the other two
* // bits defined by ALL_SYNC_BITS. All three tasks have reached the
* // synchronisation point when all the ALL_SYNC_BITS are set. Wait
* // indefinitely for this to happen.
* xEventGroupSync( xEventBits, TASK_2_BIT, ALL_SYNC_BITS, portMAX_DELAY );
*
* // xEventGroupSync() was called with an indefinite block time, so
* // this task will only reach here if the synchronisation was made by all
* // three tasks, so there is no need to test the return value.
* }
* }
*
* @endcode
* \defgroup xEventGroupSync xEventGroupSync
* \ingroup EventGroup
*/
EventBits_t xEventGroupSync( EventGroupHandle_t xEventGroup,
const EventBits_t uxBitsToSet,
const EventBits_t uxBitsToWaitFor,
TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
/**
* event_groups.h
* @code{c}
* EventBits_t xEventGroupGetBits( EventGroupHandle_t xEventGroup );
* @endcode
*
* Returns the current value of the bits in an event group. This function
* cannot be used from an interrupt.
*
* The configUSE_EVENT_GROUPS configuration constant must be set to 1 for xEventGroupGetBits()
* to be available.
*
* @param xEventGroup The event group being queried.
*
* @return The event group bits at the time xEventGroupGetBits() was called.
*
* \defgroup xEventGroupGetBits xEventGroupGetBits
* \ingroup EventGroup
*/
#define xEventGroupGetBits( xEventGroup ) xEventGroupClearBits( ( xEventGroup ), 0 )
/**
* event_groups.h
* @code{c}
* EventBits_t xEventGroupGetBitsFromISR( EventGroupHandle_t xEventGroup );
* @endcode
*
* A version of xEventGroupGetBits() that can be called from an ISR.
*
* The configUSE_EVENT_GROUPS configuration constant must be set to 1 for xEventGroupGetBitsFromISR()
* to be available.
*
* @param xEventGroup The event group being queried.
*
* @return The event group bits at the time xEventGroupGetBitsFromISR() was called.
*
* \defgroup xEventGroupGetBitsFromISR xEventGroupGetBitsFromISR
* \ingroup EventGroup
*/
EventBits_t xEventGroupGetBitsFromISR( EventGroupHandle_t xEventGroup ) PRIVILEGED_FUNCTION;
/**
* event_groups.h
* @code{c}
* void xEventGroupDelete( EventGroupHandle_t xEventGroup );
* @endcode
*
* Delete an event group that was previously created by a call to
* xEventGroupCreate(). Tasks that are blocked on the event group will be
* unblocked and obtain 0 as the event group's value.
*
* The configUSE_EVENT_GROUPS configuration constant must be set to 1 for vEventGroupDelete()
* to be available.
*
* @param xEventGroup The event group being deleted.
*/
void vEventGroupDelete( EventGroupHandle_t xEventGroup ) PRIVILEGED_FUNCTION;
/**
* event_groups.h
* @code{c}
* BaseType_t xEventGroupGetStaticBuffer( EventGroupHandle_t xEventGroup,
* StaticEventGroup_t ** ppxEventGroupBuffer );
* @endcode
*
* Retrieve a pointer to a statically created event groups's data structure
* buffer. It is the same buffer that is supplied at the time of creation.
*
* The configUSE_EVENT_GROUPS configuration constant must be set to 1 for xEventGroupGetStaticBuffer()
* to be available.
*
* @param xEventGroup The event group for which to retrieve the buffer.
*
* @param ppxEventGroupBuffer Used to return a pointer to the event groups's
* data structure buffer.
*
* @return pdTRUE if the buffer was retrieved, pdFALSE otherwise.
*/
#if ( configSUPPORT_STATIC_ALLOCATION == 1 )
BaseType_t xEventGroupGetStaticBuffer( EventGroupHandle_t xEventGroup,
StaticEventGroup_t ** ppxEventGroupBuffer ) PRIVILEGED_FUNCTION;
#endif /* configSUPPORT_STATIC_ALLOCATION */
/* For internal use only. */
void vEventGroupSetBitsCallback( void * pvEventGroup,
uint32_t ulBitsToSet ) PRIVILEGED_FUNCTION;
void vEventGroupClearBitsCallback( void * pvEventGroup,
uint32_t ulBitsToClear ) PRIVILEGED_FUNCTION;
#if ( configUSE_TRACE_FACILITY == 1 )
UBaseType_t uxEventGroupGetNumber( void * xEventGroup ) PRIVILEGED_FUNCTION;
void vEventGroupSetNumber( void * xEventGroup,
UBaseType_t uxEventGroupNumber ) PRIVILEGED_FUNCTION;
#endif
/* *INDENT-OFF* */
#ifdef __cplusplus
}
#endif
/* *INDENT-ON* */
#endif /* EVENT_GROUPS_H */
vendor/FreeRTOS-Kernel/include/list.h
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/*
* FreeRTOS Kernel V11.3.0
* 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
*
*/
/*
* This is the list implementation used by the scheduler. While it is tailored
* heavily for the schedulers needs, it is also available for use by
* application code.
*
* list_ts can only store pointers to list_item_ts. Each ListItem_t contains a
* numeric value (xItemValue). Most of the time the lists are sorted in
* ascending item value order.
*
* Lists are created already containing one list item. The value of this
* item is the maximum possible that can be stored, it is therefore always at
* the end of the list and acts as a marker. The list member pxHead always
* points to this marker - even though it is at the tail of the list. This
* is because the tail contains a wrap back pointer to the true head of
* the list.
*
* In addition to it's value, each list item contains a pointer to the next
* item in the list (pxNext), a pointer to the list it is in (pxContainer)
* and a pointer back to the object that contains it. These later two
* pointers are included for efficiency of list manipulation. There is
* effectively a two way link between the object containing the list item and
* the list item itself.
*
*
* \page ListIntroduction List Implementation
* \ingroup FreeRTOSIntro
*/
#ifndef LIST_H
#define LIST_H
#ifndef INC_FREERTOS_H
#error "FreeRTOS.h must be included before list.h"
#endif
/*
* The list structure members are modified from within interrupts, and therefore
* by rights should be declared volatile. However, they are only modified in a
* functionally atomic way (within critical sections of with the scheduler
* suspended) and are either passed by reference into a function or indexed via
* a volatile variable. Therefore, in all use cases tested so far, the volatile
* qualifier can be omitted in order to provide a moderate performance
* improvement without adversely affecting functional behaviour. The assembly
* instructions generated by the IAR, ARM and GCC compilers when the respective
* compiler's options were set for maximum optimisation has been inspected and
* deemed to be as intended. That said, as compiler technology advances, and
* especially if aggressive cross module optimisation is used (a use case that
* has not been exercised to any great extend) then it is feasible that the
* volatile qualifier will be needed for correct optimisation. It is expected
* that a compiler removing essential code because, without the volatile
* qualifier on the list structure members and with aggressive cross module
* optimisation, the compiler deemed the code unnecessary will result in
* complete and obvious failure of the scheduler. If this is ever experienced
* then the volatile qualifier can be inserted in the relevant places within the
* list structures by simply defining configLIST_VOLATILE to volatile in
* FreeRTOSConfig.h (as per the example at the bottom of this comment block).
* If configLIST_VOLATILE is not defined then the preprocessor directives below
* will simply #define configLIST_VOLATILE away completely.
*
* To use volatile list structure members then add the following line to
* FreeRTOSConfig.h (without the quotes):
* "#define configLIST_VOLATILE volatile"
*/
#ifndef configLIST_VOLATILE
#define configLIST_VOLATILE
#endif /* configSUPPORT_CROSS_MODULE_OPTIMISATION */
/* *INDENT-OFF* */
#ifdef __cplusplus
extern "C" {
#endif
/* *INDENT-ON* */
/* Macros that can be used to place known values within the list structures,
* then check that the known values do not get corrupted during the execution of
* the application. These may catch the list data structures being overwritten in
* memory. They will not catch data errors caused by incorrect configuration or
* use of FreeRTOS.*/
#if ( configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES == 0 )
/* Define the macros to do nothing. */
#define listFIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE
#define listSECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE
#define listFIRST_LIST_INTEGRITY_CHECK_VALUE
#define listSECOND_LIST_INTEGRITY_CHECK_VALUE
#define listSET_FIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem )
#define listSET_SECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem )
#define listSET_LIST_INTEGRITY_CHECK_1_VALUE( pxList )
#define listSET_LIST_INTEGRITY_CHECK_2_VALUE( pxList )
#define listTEST_LIST_ITEM_INTEGRITY( pxItem )
#define listTEST_LIST_INTEGRITY( pxList )
#else /* if ( configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES == 0 ) */
/* Define macros that add new members into the list structures. */
#define listFIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE TickType_t xListItemIntegrityValue1;
#define listSECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE TickType_t xListItemIntegrityValue2;
#define listFIRST_LIST_INTEGRITY_CHECK_VALUE TickType_t xListIntegrityValue1;
#define listSECOND_LIST_INTEGRITY_CHECK_VALUE TickType_t xListIntegrityValue2;
/* Define macros that set the new structure members to known values. */
#define listSET_FIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem ) ( pxItem )->xListItemIntegrityValue1 = pdINTEGRITY_CHECK_VALUE
#define listSET_SECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem ) ( pxItem )->xListItemIntegrityValue2 = pdINTEGRITY_CHECK_VALUE
#define listSET_LIST_INTEGRITY_CHECK_1_VALUE( pxList ) ( pxList )->xListIntegrityValue1 = pdINTEGRITY_CHECK_VALUE
#define listSET_LIST_INTEGRITY_CHECK_2_VALUE( pxList ) ( pxList )->xListIntegrityValue2 = pdINTEGRITY_CHECK_VALUE
/* Define macros that will assert if one of the structure members does not
* contain its expected value. */
#define listTEST_LIST_ITEM_INTEGRITY( pxItem ) configASSERT( ( ( pxItem )->xListItemIntegrityValue1 == pdINTEGRITY_CHECK_VALUE ) && ( ( pxItem )->xListItemIntegrityValue2 == pdINTEGRITY_CHECK_VALUE ) )
#define listTEST_LIST_INTEGRITY( pxList ) configASSERT( ( ( pxList )->xListIntegrityValue1 == pdINTEGRITY_CHECK_VALUE ) && ( ( pxList )->xListIntegrityValue2 == pdINTEGRITY_CHECK_VALUE ) )
#endif /* configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES */
/*
* Definition of the only type of object that a list can contain.
*/
struct xLIST;
struct xLIST_ITEM
{
listFIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE /**< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */
configLIST_VOLATILE TickType_t xItemValue; /**< The value being listed. In most cases this is used to sort the list in ascending order. */
struct xLIST_ITEM * configLIST_VOLATILE pxNext; /**< Pointer to the next ListItem_t in the list. */
struct xLIST_ITEM * configLIST_VOLATILE pxPrevious; /**< Pointer to the previous ListItem_t in the list. */
void * pvOwner; /**< Pointer to the object (normally a TCB) that contains the list item. There is therefore a two way link between the object containing the list item and the list item itself. */
struct xLIST * configLIST_VOLATILE pxContainer; /**< Pointer to the list in which this list item is placed (if any). */
listSECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE /**< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */
};
typedef struct xLIST_ITEM ListItem_t;
#if ( configUSE_MINI_LIST_ITEM == 1 )
struct xMINI_LIST_ITEM
{
listFIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE /**< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */
configLIST_VOLATILE TickType_t xItemValue;
struct xLIST_ITEM * configLIST_VOLATILE pxNext;
struct xLIST_ITEM * configLIST_VOLATILE pxPrevious;
};
typedef struct xMINI_LIST_ITEM MiniListItem_t;
#else
typedef struct xLIST_ITEM MiniListItem_t;
#endif
/*
* Definition of the type of queue used by the scheduler.
*/
typedef struct xLIST
{
listFIRST_LIST_INTEGRITY_CHECK_VALUE /**< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */
configLIST_VOLATILE UBaseType_t uxNumberOfItems;
ListItem_t * configLIST_VOLATILE pxIndex; /**< Used to walk through the list. Points to the last item returned by a call to listGET_OWNER_OF_NEXT_ENTRY (). */
MiniListItem_t xListEnd; /**< List item that contains the maximum possible item value meaning it is always at the end of the list and is therefore used as a marker. */
listSECOND_LIST_INTEGRITY_CHECK_VALUE /**< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */
} List_t;
/*
* Access macro to set the owner of a list item. The owner of a list item
* is the object (usually a TCB) that contains the list item.
*
* \page listSET_LIST_ITEM_OWNER listSET_LIST_ITEM_OWNER
* \ingroup LinkedList
*/
#define listSET_LIST_ITEM_OWNER( pxListItem, pxOwner ) ( ( pxListItem )->pvOwner = ( void * ) ( pxOwner ) )
/*
* Access macro to get the owner of a list item. The owner of a list item
* is the object (usually a TCB) that contains the list item.
*
* \page listGET_LIST_ITEM_OWNER listSET_LIST_ITEM_OWNER
* \ingroup LinkedList
*/
#define listGET_LIST_ITEM_OWNER( pxListItem ) ( ( pxListItem )->pvOwner )
/*
* Access macro to set the value of the list item. In most cases the value is
* used to sort the list in ascending order.
*
* \page listSET_LIST_ITEM_VALUE listSET_LIST_ITEM_VALUE
* \ingroup LinkedList
*/
#define listSET_LIST_ITEM_VALUE( pxListItem, xValue ) ( ( pxListItem )->xItemValue = ( xValue ) )
/*
* Access macro to retrieve the value of the list item. The value can
* represent anything - for example the priority of a task, or the time at
* which a task should be unblocked.
*
* \page listGET_LIST_ITEM_VALUE listGET_LIST_ITEM_VALUE
* \ingroup LinkedList
*/
#define listGET_LIST_ITEM_VALUE( pxListItem ) ( ( pxListItem )->xItemValue )
/*
* Access macro to retrieve the value of the list item at the head of a given
* list.
*
* \page listGET_LIST_ITEM_VALUE listGET_LIST_ITEM_VALUE
* \ingroup LinkedList
*/
#define listGET_ITEM_VALUE_OF_HEAD_ENTRY( pxList ) ( ( ( pxList )->xListEnd ).pxNext->xItemValue )
/*
* Return the list item at the head of the list.
*
* \page listGET_HEAD_ENTRY listGET_HEAD_ENTRY
* \ingroup LinkedList
*/
#define listGET_HEAD_ENTRY( pxList ) ( ( ( pxList )->xListEnd ).pxNext )
/*
* Return the next list item.
*
* \page listGET_NEXT listGET_NEXT
* \ingroup LinkedList
*/
#define listGET_NEXT( pxListItem ) ( ( pxListItem )->pxNext )
/*
* Return the list item that marks the end of the list
*
* \page listGET_END_MARKER listGET_END_MARKER
* \ingroup LinkedList
*/
#define listGET_END_MARKER( pxList ) ( ( ListItem_t const * ) ( &( ( pxList )->xListEnd ) ) )
/*
* Access macro to determine if a list contains any items. The macro will
* only have the value true if the list is empty.
*
* \page listLIST_IS_EMPTY listLIST_IS_EMPTY
* \ingroup LinkedList
*/
#define listLIST_IS_EMPTY( pxList ) ( ( ( pxList )->uxNumberOfItems == ( UBaseType_t ) 0 ) ? pdTRUE : pdFALSE )
/*
* Access macro to return the number of items in the list.
*/
#define listCURRENT_LIST_LENGTH( pxList ) ( ( pxList )->uxNumberOfItems )
/*
* Access function to obtain the owner of the next entry in a list.
*
* The list member pxIndex is used to walk through a list. Calling
* listGET_OWNER_OF_NEXT_ENTRY increments pxIndex to the next item in the list
* and returns that entry's pxOwner parameter. Using multiple calls to this
* function it is therefore possible to move through every item contained in
* a list.
*
* The pxOwner parameter of a list item is a pointer to the object that owns
* the list item. In the scheduler this is normally a task control block.
* The pxOwner parameter effectively creates a two way link between the list
* item and its owner.
*
* @param pxTCB pxTCB is set to the address of the owner of the next list item.
* @param pxList The list from which the next item owner is to be returned.
*
* \page listGET_OWNER_OF_NEXT_ENTRY listGET_OWNER_OF_NEXT_ENTRY
* \ingroup LinkedList
*/
#if ( configNUMBER_OF_CORES == 1 )
#define listGET_OWNER_OF_NEXT_ENTRY( pxTCB, pxList ) \
do { \
List_t * const pxConstList = ( pxList ); \
/* Increment the index to the next item and return the item, ensuring */ \
/* we don't return the marker used at the end of the list. */ \
( pxConstList )->pxIndex = ( pxConstList )->pxIndex->pxNext; \
if( ( void * ) ( pxConstList )->pxIndex == ( void * ) &( ( pxConstList )->xListEnd ) ) \
{ \
( pxConstList )->pxIndex = ( pxConstList )->xListEnd.pxNext; \
} \
( pxTCB ) = ( pxConstList )->pxIndex->pvOwner; \
} while( 0 )
#else /* #if ( configNUMBER_OF_CORES == 1 ) */
/* This function is not required in SMP. FreeRTOS SMP scheduler doesn't use
* pxIndex and it should always point to the xListEnd. Not defining this macro
* here to prevent updating pxIndex.
*/
#endif /* #if ( configNUMBER_OF_CORES == 1 ) */
/*
* Version of uxListRemove() that does not return a value. Provided as a slight
* optimisation for xTaskIncrementTick() by being inline.
*
* Remove an item from a list. The list item has a pointer to the list that
* it is in, so only the list item need be passed into the function.
*
* @param uxListRemove The item to be removed. The item will remove itself from
* the list pointed to by it's pxContainer parameter.
*
* @return The number of items that remain in the list after the list item has
* been removed.
*
* \page listREMOVE_ITEM listREMOVE_ITEM
* \ingroup LinkedList
*/
#define listREMOVE_ITEM( pxItemToRemove ) \
do { \
/* The list item knows which list it is in. Obtain the list from the list \
* item. */ \
List_t * const pxList = ( pxItemToRemove )->pxContainer; \
\
( pxItemToRemove )->pxNext->pxPrevious = ( pxItemToRemove )->pxPrevious; \
( pxItemToRemove )->pxPrevious->pxNext = ( pxItemToRemove )->pxNext; \
/* Make sure the index is left pointing to a valid item. */ \
if( pxList->pxIndex == ( pxItemToRemove ) ) \
{ \
pxList->pxIndex = ( pxItemToRemove )->pxPrevious; \
} \
\
( pxItemToRemove )->pxContainer = NULL; \
( ( pxList )->uxNumberOfItems ) = ( UBaseType_t ) ( ( ( pxList )->uxNumberOfItems ) - 1U ); \
} while( 0 )
/*
* Inline version of vListInsertEnd() to provide slight optimisation for
* xTaskIncrementTick().
*
* Insert a list item into a list. The item will be inserted in a position
* such that it will be the last item within the list returned by multiple
* calls to listGET_OWNER_OF_NEXT_ENTRY.
*
* The list member pxIndex is used to walk through a list. Calling
* listGET_OWNER_OF_NEXT_ENTRY increments pxIndex to the next item in the list.
* Placing an item in a list using vListInsertEnd effectively places the item
* in the list position pointed to by pxIndex. This means that every other
* item within the list will be returned by listGET_OWNER_OF_NEXT_ENTRY before
* the pxIndex parameter again points to the item being inserted.
*
* @param pxList The list into which the item is to be inserted.
*
* @param pxNewListItem The list item to be inserted into the list.
*
* \page listINSERT_END listINSERT_END
* \ingroup LinkedList
*/
#define listINSERT_END( pxList, pxNewListItem ) \
do { \
ListItem_t * const pxIndex = ( pxList )->pxIndex; \
\
/* Only effective when configASSERT() is also defined, these tests may catch \
* the list data structures being overwritten in memory. They will not catch \
* data errors caused by incorrect configuration or use of FreeRTOS. */ \
listTEST_LIST_INTEGRITY( ( pxList ) ); \
listTEST_LIST_ITEM_INTEGRITY( ( pxNewListItem ) ); \
\
/* Insert a new list item into ( pxList ), but rather than sort the list, \
* makes the new list item the last item to be removed by a call to \
* listGET_OWNER_OF_NEXT_ENTRY(). */ \
( pxNewListItem )->pxNext = pxIndex; \
( pxNewListItem )->pxPrevious = pxIndex->pxPrevious; \
\
pxIndex->pxPrevious->pxNext = ( pxNewListItem ); \
pxIndex->pxPrevious = ( pxNewListItem ); \
\
/* Remember which list the item is in. */ \
( pxNewListItem )->pxContainer = ( pxList ); \
\
( ( pxList )->uxNumberOfItems ) = ( UBaseType_t ) ( ( ( pxList )->uxNumberOfItems ) + 1U ); \
} while( 0 )
/*
* Access function to obtain the owner of the first entry in a list. Lists
* are normally sorted in ascending item value order.
*
* This function returns the pxOwner member of the first item in the list.
* The pxOwner parameter of a list item is a pointer to the object that owns
* the list item. In the scheduler this is normally a task control block.
* The pxOwner parameter effectively creates a two way link between the list
* item and its owner.
*
* @param pxList The list from which the owner of the head item is to be
* returned.
*
* \page listGET_OWNER_OF_HEAD_ENTRY listGET_OWNER_OF_HEAD_ENTRY
* \ingroup LinkedList
*/
#define listGET_OWNER_OF_HEAD_ENTRY( pxList ) ( ( &( ( pxList )->xListEnd ) )->pxNext->pvOwner )
/*
* Check to see if a list item is within a list. The list item maintains a
* "container" pointer that points to the list it is in. All this macro does
* is check to see if the container and the list match.
*
* @param pxList The list we want to know if the list item is within.
* @param pxListItem The list item we want to know if is in the list.
* @return pdTRUE if the list item is in the list, otherwise pdFALSE.
*/
#define listIS_CONTAINED_WITHIN( pxList, pxListItem ) ( ( ( pxListItem )->pxContainer == ( pxList ) ) ? ( pdTRUE ) : ( pdFALSE ) )
/*
* Return the list a list item is contained within (referenced from).
*
* @param pxListItem The list item being queried.
* @return A pointer to the List_t object that references the pxListItem
*/
#define listLIST_ITEM_CONTAINER( pxListItem ) ( ( pxListItem )->pxContainer )
/*
* This provides a crude means of knowing if a list has been initialised, as
* pxList->xListEnd.xItemValue is set to portMAX_DELAY by the vListInitialise()
* function.
*/
#define listLIST_IS_INITIALISED( pxList ) ( ( pxList )->xListEnd.xItemValue == portMAX_DELAY )
/*
* Must be called before a list is used! This initialises all the members
* of the list structure and inserts the xListEnd item into the list as a
* marker to the back of the list.
*
* @param pxList Pointer to the list being initialised.
*
* \page vListInitialise vListInitialise
* \ingroup LinkedList
*/
void vListInitialise( List_t * const pxList ) PRIVILEGED_FUNCTION;
/*
* Must be called before a list item is used. This sets the list container to
* null so the item does not think that it is already contained in a list.
*
* @param pxItem Pointer to the list item being initialised.
*
* \page vListInitialiseItem vListInitialiseItem
* \ingroup LinkedList
*/
void vListInitialiseItem( ListItem_t * const pxItem ) PRIVILEGED_FUNCTION;
/*
* Insert a list item into a list. The item will be inserted into the list in
* a position determined by its item value (ascending item value order).
*
* @param pxList The list into which the item is to be inserted.
*
* @param pxNewListItem The item that is to be placed in the list.
*
* \page vListInsert vListInsert
* \ingroup LinkedList
*/
void vListInsert( List_t * const pxList,
ListItem_t * const pxNewListItem ) PRIVILEGED_FUNCTION;
/*
* Insert a list item into a list. The item will be inserted in a position
* such that it will be the last item within the list returned by multiple
* calls to listGET_OWNER_OF_NEXT_ENTRY.
*
* The list member pxIndex is used to walk through a list. Calling
* listGET_OWNER_OF_NEXT_ENTRY increments pxIndex to the next item in the list.
* Placing an item in a list using vListInsertEnd effectively places the item
* in the list position pointed to by pxIndex. This means that every other
* item within the list will be returned by listGET_OWNER_OF_NEXT_ENTRY before
* the pxIndex parameter again points to the item being inserted.
*
* @param pxList The list into which the item is to be inserted.
*
* @param pxNewListItem The list item to be inserted into the list.
*
* \page vListInsertEnd vListInsertEnd
* \ingroup LinkedList
*/
void vListInsertEnd( List_t * const pxList,
ListItem_t * const pxNewListItem ) PRIVILEGED_FUNCTION;
/*
* Remove an item from a list. The list item has a pointer to the list that
* it is in, so only the list item need be passed into the function.
*
* @param uxListRemove The item to be removed. The item will remove itself from
* the list pointed to by it's pxContainer parameter.
*
* @return The number of items that remain in the list after the list item has
* been removed.
*
* \page uxListRemove uxListRemove
* \ingroup LinkedList
*/
UBaseType_t uxListRemove( ListItem_t * const pxItemToRemove ) PRIVILEGED_FUNCTION;
/* *INDENT-OFF* */
#ifdef __cplusplus
}
#endif
/* *INDENT-ON* */
#endif /* ifndef LIST_H */
vendor/FreeRTOS-Kernel/include/message_buffer.h
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/*
* FreeRTOS Kernel V11.3.0
* 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
*
*/
/*
* Message buffers build functionality on top of FreeRTOS stream buffers.
* Whereas stream buffers are used to send a continuous stream of data from one
* task or interrupt to another, message buffers are used to send variable
* length discrete messages from one task or interrupt to another. Their
* implementation is light weight, making them particularly suited for interrupt
* to task and core to core communication scenarios.
*
* ***NOTE***: Uniquely among FreeRTOS objects, the stream buffer
* implementation (so also the message buffer implementation, as message buffers
* are built on top of stream buffers) assumes there is only one task or
* interrupt that will write to the buffer (the writer), and only one task or
* interrupt that will read from the buffer (the reader). It is safe for the
* writer and reader to be different tasks or interrupts, but, unlike other
* FreeRTOS objects, it is not safe to have multiple different writers or
* multiple different readers. If there are to be multiple different writers
* then the application writer must serialize calls to writing API functions
* (such as xStreamBufferSend()). Likewise, if there are to be multiple
* different readers then the application writer must serialize calls to reading
* API functions (such as xStreamBufferReceive()). One way to achieve such
* serialization in single core or SMP kernel is to place each API call inside a
* critical section and use a block time of 0.
*
* Message buffers hold variable length messages. To enable that, when a
* message is written to the message buffer an additional sizeof( size_t ) bytes
* are also written to store the message's length (that happens internally, with
* the API function). sizeof( size_t ) is typically 4 bytes on a 32-bit
* architecture, so writing a 10 byte message to a message buffer on a 32-bit
* architecture will actually reduce the available space in the message buffer
* by 14 bytes (10 byte are used by the message, and 4 bytes to hold the length
* of the message).
*/
#ifndef FREERTOS_MESSAGE_BUFFER_H
#define FREERTOS_MESSAGE_BUFFER_H
#ifndef INC_FREERTOS_H
#error "include FreeRTOS.h must appear in source files before include message_buffer.h"
#endif
/* Message buffers are built onto of stream buffers. */
#include "stream_buffer.h"
/* *INDENT-OFF* */
#if defined( __cplusplus )
extern "C" {
#endif
/* *INDENT-ON* */
/**
* Type by which message buffers are referenced. For example, a call to
* xMessageBufferCreate() returns an MessageBufferHandle_t variable that can
* then be used as a parameter to xMessageBufferSend(), xMessageBufferReceive(),
* etc. Message buffer is essentially built as a stream buffer hence its handle
* is also set to same type as a stream buffer handle.
*/
typedef StreamBufferHandle_t MessageBufferHandle_t;
/*-----------------------------------------------------------*/
/**
* message_buffer.h
*
* @code{c}
* MessageBufferHandle_t xMessageBufferCreate( size_t xBufferSizeBytes );
* @endcode
*
* Creates a new message buffer using dynamically allocated memory. See
* xMessageBufferCreateStatic() for a version that uses statically allocated
* memory (memory that is allocated at compile time).
*
* configSUPPORT_DYNAMIC_ALLOCATION must be set to 1 or left undefined in
* FreeRTOSConfig.h for xMessageBufferCreate() to be available.
* configUSE_STREAM_BUFFERS must be set to 1 in for FreeRTOSConfig.h for
* xMessageBufferCreate() to be available.
*
* @param xBufferSizeBytes The total number of bytes (not messages) the message
* buffer will be able to hold at any one time. When a message is written to
* the message buffer an additional sizeof( size_t ) bytes are also written to
* store the message's length. sizeof( size_t ) is typically 4 bytes on a
* 32-bit architecture, so on most 32-bit architectures a 10 byte message will
* take up 14 bytes of message buffer space.
*
* @param pxSendCompletedCallback Callback invoked when a send operation to the
* message buffer is complete. If the parameter is NULL or xMessageBufferCreate()
* is called without the parameter, then it will use the default implementation
* provided by sbSEND_COMPLETED macro. To enable the callback,
* configUSE_SB_COMPLETED_CALLBACK must be set to 1 in FreeRTOSConfig.h.
*
* @param pxReceiveCompletedCallback Callback invoked when a receive operation from
* the message buffer is complete. If the parameter is NULL or xMessageBufferCreate()
* is called without the parameter, it will use the default implementation provided
* by sbRECEIVE_COMPLETED macro. To enable the callback,
* configUSE_SB_COMPLETED_CALLBACK must be set to 1 in FreeRTOSConfig.h.
*
* @return If NULL is returned, then the message buffer cannot be created
* because there is insufficient heap memory available for FreeRTOS to allocate
* the message buffer data structures and storage area. A non-NULL value being
* returned indicates that the message buffer has been created successfully -
* the returned value should be stored as the handle to the created message
* buffer.
*
* Example use:
* @code{c}
*
* void vAFunction( void )
* {
* MessageBufferHandle_t xMessageBuffer;
* const size_t xMessageBufferSizeBytes = 100;
*
* // Create a message buffer that can hold 100 bytes. The memory used to hold
* // both the message buffer structure and the messages themselves is allocated
* // dynamically. Each message added to the buffer consumes an additional 4
* // bytes which are used to hold the length of the message.
* xMessageBuffer = xMessageBufferCreate( xMessageBufferSizeBytes );
*
* if( xMessageBuffer == NULL )
* {
* // There was not enough heap memory space available to create the
* // message buffer.
* }
* else
* {
* // The message buffer was created successfully and can now be used.
* }
*
* @endcode
* \defgroup xMessageBufferCreate xMessageBufferCreate
* \ingroup MessageBufferManagement
*/
#define xMessageBufferCreate( xBufferSizeBytes ) \
xStreamBufferGenericCreate( ( xBufferSizeBytes ), ( size_t ) 0, sbTYPE_MESSAGE_BUFFER, NULL, NULL )
#if ( configUSE_SB_COMPLETED_CALLBACK == 1 )
#define xMessageBufferCreateWithCallback( xBufferSizeBytes, pxSendCompletedCallback, pxReceiveCompletedCallback ) \
xStreamBufferGenericCreate( ( xBufferSizeBytes ), ( size_t ) 0, sbTYPE_MESSAGE_BUFFER, ( pxSendCompletedCallback ), ( pxReceiveCompletedCallback ) )
#endif
/**
* message_buffer.h
*
* @code{c}
* MessageBufferHandle_t xMessageBufferCreateStatic( size_t xBufferSizeBytes,
* uint8_t *pucMessageBufferStorageArea,
* StaticMessageBuffer_t *pxStaticMessageBuffer );
* @endcode
* Creates a new message buffer using statically allocated memory. See
* xMessageBufferCreate() for a version that uses dynamically allocated memory.
*
* configUSE_STREAM_BUFFERS must be set to 1 in for FreeRTOSConfig.h for
* xMessageBufferCreateStatic() to be available.
*
* @param xBufferSizeBytes The size, in bytes, of the buffer pointed to by the
* pucMessageBufferStorageArea parameter. When a message is written to the
* message buffer an additional sizeof( size_t ) bytes are also written to store
* the message's length. sizeof( size_t ) is typically 4 bytes on a 32-bit
* architecture, so on most 32-bit architecture a 10 byte message will take up
* 14 bytes of message buffer space. The maximum number of bytes that can be
* stored in the message buffer is actually (xBufferSizeBytes - 1).
*
* @param pucMessageBufferStorageArea Must point to a uint8_t array that is at
* least xBufferSizeBytes big. This is the array to which messages are
* copied when they are written to the message buffer.
*
* @param pxStaticMessageBuffer Must point to a variable of type
* StaticMessageBuffer_t, which will be used to hold the message buffer's data
* structure.
*
* @param pxSendCompletedCallback Callback invoked when a new message is sent to the message buffer.
* If the parameter is NULL or xMessageBufferCreate() is called without the parameter, then it will use the default
* implementation provided by sbSEND_COMPLETED macro. To enable the callback,
* configUSE_SB_COMPLETED_CALLBACK must be set to 1 in FreeRTOSConfig.h.
*
* @param pxReceiveCompletedCallback Callback invoked when a message is read from a
* message buffer. If the parameter is NULL or xMessageBufferCreate() is called without the parameter, it will
* use the default implementation provided by sbRECEIVE_COMPLETED macro. To enable the callback,
* configUSE_SB_COMPLETED_CALLBACK must be set to 1 in FreeRTOSConfig.h.
*
* @return If the message buffer is created successfully then a handle to the
* created message buffer is returned. If either pucMessageBufferStorageArea or
* pxStaticmessageBuffer are NULL then NULL is returned.
*
* Example use:
* @code{c}
*
* // Used to dimension the array used to hold the messages. The available space
* // will actually be one less than this, so 999.
#define STORAGE_SIZE_BYTES 1000
*
* // Defines the memory that will actually hold the messages within the message
* // buffer.
* static uint8_t ucStorageBuffer[ STORAGE_SIZE_BYTES ];
*
* // The variable used to hold the message buffer structure.
* StaticMessageBuffer_t xMessageBufferStruct;
*
* void MyFunction( void )
* {
* MessageBufferHandle_t xMessageBuffer;
*
* xMessageBuffer = xMessageBufferCreateStatic( sizeof( ucStorageBuffer ),
* ucStorageBuffer,
* &xMessageBufferStruct );
*
* // As neither the pucMessageBufferStorageArea or pxStaticMessageBuffer
* // parameters were NULL, xMessageBuffer will not be NULL, and can be used to
* // reference the created message buffer in other message buffer API calls.
*
* // Other code that uses the message buffer can go here.
* }
*
* @endcode
* \defgroup xMessageBufferCreateStatic xMessageBufferCreateStatic
* \ingroup MessageBufferManagement
*/
#define xMessageBufferCreateStatic( xBufferSizeBytes, pucMessageBufferStorageArea, pxStaticMessageBuffer ) \
xStreamBufferGenericCreateStatic( ( xBufferSizeBytes ), 0, sbTYPE_MESSAGE_BUFFER, ( pucMessageBufferStorageArea ), ( pxStaticMessageBuffer ), NULL, NULL )
#if ( configUSE_SB_COMPLETED_CALLBACK == 1 )
#define xMessageBufferCreateStaticWithCallback( xBufferSizeBytes, pucMessageBufferStorageArea, pxStaticMessageBuffer, pxSendCompletedCallback, pxReceiveCompletedCallback ) \
xStreamBufferGenericCreateStatic( ( xBufferSizeBytes ), 0, sbTYPE_MESSAGE_BUFFER, ( pucMessageBufferStorageArea ), ( pxStaticMessageBuffer ), ( pxSendCompletedCallback ), ( pxReceiveCompletedCallback ) )
#endif
/**
* message_buffer.h
*
* @code{c}
* BaseType_t xMessageBufferGetStaticBuffers( MessageBufferHandle_t xMessageBuffer,
* uint8_t ** ppucMessageBufferStorageArea,
* StaticMessageBuffer_t ** ppxStaticMessageBuffer );
* @endcode
*
* Retrieve pointers to a statically created message buffer's data structure
* buffer and storage area buffer. These are the same buffers that are supplied
* at the time of creation.
*
* configUSE_STREAM_BUFFERS must be set to 1 in for FreeRTOSConfig.h for
* xMessageBufferGetStaticBuffers() to be available.
*
* @param xMessageBuffer The message buffer for which to retrieve the buffers.
*
* @param ppucMessageBufferStorageArea Used to return a pointer to the
* message buffer's storage area buffer.
*
* @param ppxStaticMessageBuffer Used to return a pointer to the message
* buffer's data structure buffer.
*
* @return pdTRUE if buffers were retrieved, pdFALSE otherwise..
*
* \defgroup xMessageBufferGetStaticBuffers xMessageBufferGetStaticBuffers
* \ingroup MessageBufferManagement
*/
#if ( configSUPPORT_STATIC_ALLOCATION == 1 )
#define xMessageBufferGetStaticBuffers( xMessageBuffer, ppucMessageBufferStorageArea, ppxStaticMessageBuffer ) \
xStreamBufferGetStaticBuffers( ( xMessageBuffer ), ( ppucMessageBufferStorageArea ), ( ppxStaticMessageBuffer ) )
#endif /* configSUPPORT_STATIC_ALLOCATION */
/**
* message_buffer.h
*
* @code{c}
* size_t xMessageBufferSend( MessageBufferHandle_t xMessageBuffer,
* const void *pvTxData,
* size_t xDataLengthBytes,
* TickType_t xTicksToWait );
* @endcode
*
* Sends a discrete message to the message buffer. The message can be any
* length that fits within the buffer's free space, and is copied into the
* buffer.
*
* ***NOTE***: Uniquely among FreeRTOS objects, the stream buffer
* implementation (so also the message buffer implementation, as message buffers
* are built on top of stream buffers) assumes there is only one task or
* interrupt that will write to the buffer (the writer), and only one task or
* interrupt that will read from the buffer (the reader). It is safe for the
* writer and reader to be different tasks or interrupts, but, unlike other
* FreeRTOS objects, it is not safe to have multiple different writers or
* multiple different readers. If there are to be multiple different writers
* then the application writer must serialize calls to writing API functions
* (such as xStreamBufferSend()). Likewise, if there are to be multiple
* different readers then the application writer must serialize calls to reading
* API functions (such as xStreamBufferReceive()). One way to achieve such
* serialization in single core or SMP kernel is to place each API call inside a
* critical section and use a block time of 0.
*
* Use xMessageBufferSend() to write to a message buffer from a task. Use
* xMessageBufferSendFromISR() to write to a message buffer from an interrupt
* service routine (ISR).
*
* configUSE_STREAM_BUFFERS must be set to 1 in for FreeRTOSConfig.h for
* xMessageBufferSend() to be available.
*
* @param xMessageBuffer The handle of the message buffer to which a message is
* being sent.
*
* @param pvTxData A pointer to the message that is to be copied into the
* message buffer.
*
* @param xDataLengthBytes The length of the message. That is, the number of
* bytes to copy from pvTxData into the message buffer. When a message is
* written to the message buffer an additional sizeof( size_t ) bytes are also
* written to store the message's length. sizeof( size_t ) is typically 4 bytes
* on a 32-bit architecture, so on most 32-bit architecture setting
* xDataLengthBytes to 20 will reduce the free space in the message buffer by 24
* bytes (20 bytes of message data and 4 bytes to hold the message length).
*
* @param xTicksToWait The maximum amount of time the calling task should remain
* in the Blocked state to wait for enough space to become available in the
* message buffer, should the message buffer have insufficient space when
* xMessageBufferSend() is called. The calling task will never block if
* xTicksToWait is zero. The block time is specified in tick periods, so the
* absolute time it represents is dependent on the tick frequency. The macro
* pdMS_TO_TICKS() can be used to convert a time specified in milliseconds into
* a time specified in ticks. Setting xTicksToWait to portMAX_DELAY will cause
* the task to wait indefinitely (without timing out), provided
* INCLUDE_vTaskSuspend is set to 1 in FreeRTOSConfig.h. Tasks do not use any
* CPU time when they are in the Blocked state.
*
* @return The number of bytes written to the message buffer. If the call to
* xMessageBufferSend() times out before there was enough space to write the
* message into the message buffer then zero is returned. If the call did not
* time out then xDataLengthBytes is returned.
*
* Example use:
* @code{c}
* void vAFunction( MessageBufferHandle_t xMessageBuffer )
* {
* size_t xBytesSent;
* uint8_t ucArrayToSend[] = { 0, 1, 2, 3 };
* char *pcStringToSend = "String to send";
* const TickType_t x100ms = pdMS_TO_TICKS( 100 );
*
* // Send an array to the message buffer, blocking for a maximum of 100ms to
* // wait for enough space to be available in the message buffer.
* xBytesSent = xMessageBufferSend( xMessageBuffer, ( void * ) ucArrayToSend, sizeof( ucArrayToSend ), x100ms );
*
* if( xBytesSent != sizeof( ucArrayToSend ) )
* {
* // The call to xMessageBufferSend() times out before there was enough
* // space in the buffer for the data to be written.
* }
*
* // Send the string to the message buffer. Return immediately if there is
* // not enough space in the buffer.
* xBytesSent = xMessageBufferSend( xMessageBuffer, ( void * ) pcStringToSend, strlen( pcStringToSend ), 0 );
*
* if( xBytesSent != strlen( pcStringToSend ) )
* {
* // The string could not be added to the message buffer because there was
* // not enough free space in the buffer.
* }
* }
* @endcode
* \defgroup xMessageBufferSend xMessageBufferSend
* \ingroup MessageBufferManagement
*/
#define xMessageBufferSend( xMessageBuffer, pvTxData, xDataLengthBytes, xTicksToWait ) \
xStreamBufferSend( ( xMessageBuffer ), ( pvTxData ), ( xDataLengthBytes ), ( xTicksToWait ) )
/**
* message_buffer.h
*
* @code{c}
* size_t xMessageBufferSendFromISR( MessageBufferHandle_t xMessageBuffer,
* const void *pvTxData,
* size_t xDataLengthBytes,
* BaseType_t *pxHigherPriorityTaskWoken );
* @endcode
*
* Interrupt safe version of the API function that sends a discrete message to
* the message buffer. The message can be any length that fits within the
* buffer's free space, and is copied into the buffer.
*
* ***NOTE***: Uniquely among FreeRTOS objects, the stream buffer
* implementation (so also the message buffer implementation, as message buffers
* are built on top of stream buffers) assumes there is only one task or
* interrupt that will write to the buffer (the writer), and only one task or
* interrupt that will read from the buffer (the reader). It is safe for the
* writer and reader to be different tasks or interrupts, but, unlike other
* FreeRTOS objects, it is not safe to have multiple different writers or
* multiple different readers. If there are to be multiple different writers
* then the application writer must serialize calls to writing API functions
* (such as xStreamBufferSend()). Likewise, if there are to be multiple
* different readers then the application writer must serialize calls to reading
* API functions (such as xStreamBufferReceive()). One way to achieve such
* serialization in single core or SMP kernel is to place each API call inside a
* critical section and use a block time of 0.
*
* Use xMessageBufferSend() to write to a message buffer from a task. Use
* xMessageBufferSendFromISR() to write to a message buffer from an interrupt
* service routine (ISR).
*
* configUSE_STREAM_BUFFERS must be set to 1 in for FreeRTOSConfig.h for
* xMessageBufferSendFromISR() to be available.
*
* @param xMessageBuffer The handle of the message buffer to which a message is
* being sent.
*
* @param pvTxData A pointer to the message that is to be copied into the
* message buffer.
*
* @param xDataLengthBytes The length of the message. That is, the number of
* bytes to copy from pvTxData into the message buffer. When a message is
* written to the message buffer an additional sizeof( size_t ) bytes are also
* written to store the message's length. sizeof( size_t ) is typically 4 bytes
* on a 32-bit architecture, so on most 32-bit architecture setting
* xDataLengthBytes to 20 will reduce the free space in the message buffer by 24
* bytes (20 bytes of message data and 4 bytes to hold the message length).
*
* @param pxHigherPriorityTaskWoken It is possible that a message buffer will
* have a task blocked on it waiting for data. Calling
* xMessageBufferSendFromISR() can make data available, and so cause a task that
* was waiting for data to leave the Blocked state. If calling
* xMessageBufferSendFromISR() causes a task to leave the Blocked state, and the
* unblocked task has a priority higher than the currently executing task (the
* task that was interrupted), then, internally, xMessageBufferSendFromISR()
* will set *pxHigherPriorityTaskWoken to pdTRUE. If
* xMessageBufferSendFromISR() sets this value to pdTRUE, then normally a
* context switch should be performed before the interrupt is exited. This will
* ensure that the interrupt returns directly to the highest priority Ready
* state task. *pxHigherPriorityTaskWoken should be set to pdFALSE before it
* is passed into the function. See the code example below for an example.
*
* @return The number of bytes actually written to the message buffer. If the
* message buffer didn't have enough free space for the message to be stored
* then 0 is returned, otherwise xDataLengthBytes is returned.
*
* Example use:
* @code{c}
* // A message buffer that has already been created.
* MessageBufferHandle_t xMessageBuffer;
*
* void vAnInterruptServiceRoutine( void )
* {
* size_t xBytesSent;
* char *pcStringToSend = "String to send";
* BaseType_t xHigherPriorityTaskWoken = pdFALSE; // Initialised to pdFALSE.
*
* // Attempt to send the string to the message buffer.
* xBytesSent = xMessageBufferSendFromISR( xMessageBuffer,
* ( void * ) pcStringToSend,
* strlen( pcStringToSend ),
* &xHigherPriorityTaskWoken );
*
* if( xBytesSent != strlen( pcStringToSend ) )
* {
* // The string could not be added to the message buffer because there was
* // not enough free space in the buffer.
* }
*
* // If xHigherPriorityTaskWoken was set to pdTRUE inside
* // xMessageBufferSendFromISR() then a task that has a priority above the
* // priority of the currently executing task was unblocked and a context
* // switch should be performed to ensure the ISR returns to the unblocked
* // task. In most FreeRTOS ports this is done by simply passing
* // xHigherPriorityTaskWoken into portYIELD_FROM_ISR(), which will test the
* // variables value, and perform the context switch if necessary. Check the
* // documentation for the port in use for port specific instructions.
* portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
* }
* @endcode
* \defgroup xMessageBufferSendFromISR xMessageBufferSendFromISR
* \ingroup MessageBufferManagement
*/
#define xMessageBufferSendFromISR( xMessageBuffer, pvTxData, xDataLengthBytes, pxHigherPriorityTaskWoken ) \
xStreamBufferSendFromISR( ( xMessageBuffer ), ( pvTxData ), ( xDataLengthBytes ), ( pxHigherPriorityTaskWoken ) )
/**
* message_buffer.h
*
* @code{c}
* size_t xMessageBufferReceive( MessageBufferHandle_t xMessageBuffer,
* void *pvRxData,
* size_t xBufferLengthBytes,
* TickType_t xTicksToWait );
* @endcode
*
* Receives a discrete message from a message buffer. Messages can be of
* variable length and are copied out of the buffer.
*
* ***NOTE***: Uniquely among FreeRTOS objects, the stream buffer
* implementation (so also the message buffer implementation, as message buffers
* are built on top of stream buffers) assumes there is only one task or
* interrupt that will write to the buffer (the writer), and only one task or
* interrupt that will read from the buffer (the reader). It is safe for the
* writer and reader to be different tasks or interrupts, but, unlike other
* FreeRTOS objects, it is not safe to have multiple different writers or
* multiple different readers. If there are to be multiple different writers
* then the application writer must serialize calls to writing API functions
* (such as xStreamBufferSend()). Likewise, if there are to be multiple
* different readers then the application writer must serialize calls to reading
* API functions (such as xStreamBufferReceive()). One way to achieve such
* serialization in single core or SMP kernel is to place each API call inside a
* critical section and use a block time of 0.
*
* Use xMessageBufferReceive() to read from a message buffer from a task. Use
* xMessageBufferReceiveFromISR() to read from a message buffer from an
* interrupt service routine (ISR).
*
* configUSE_STREAM_BUFFERS must be set to 1 in for FreeRTOSConfig.h for
* xMessageBufferReceive() to be available.
*
* @param xMessageBuffer The handle of the message buffer from which a message
* is being received.
*
* @param pvRxData A pointer to the buffer into which the received message is
* to be copied.
*
* @param xBufferLengthBytes The length of the buffer pointed to by the pvRxData
* parameter. This sets the maximum length of the message that can be received.
* If xBufferLengthBytes is too small to hold the next message then the message
* will be left in the message buffer and 0 will be returned.
*
* @param xTicksToWait The maximum amount of time the task should remain in the
* Blocked state to wait for a message, should the message buffer be empty.
* xMessageBufferReceive() will return immediately if xTicksToWait is zero and
* the message buffer is empty. The block time is specified in tick periods, so
* the absolute time it represents is dependent on the tick frequency. The
* macro pdMS_TO_TICKS() can be used to convert a time specified in milliseconds
* into a time specified in ticks. Setting xTicksToWait to portMAX_DELAY will
* cause the task to wait indefinitely (without timing out), provided
* INCLUDE_vTaskSuspend is set to 1 in FreeRTOSConfig.h. Tasks do not use any
* CPU time when they are in the Blocked state.
*
* @return The length, in bytes, of the message read from the message buffer, if
* any. If xMessageBufferReceive() times out before a message became available
* then zero is returned. If the length of the message is greater than
* xBufferLengthBytes then the message will be left in the message buffer and
* zero is returned.
*
* Example use:
* @code{c}
* void vAFunction( MessageBuffer_t xMessageBuffer )
* {
* uint8_t ucRxData[ 20 ];
* size_t xReceivedBytes;
* const TickType_t xBlockTime = pdMS_TO_TICKS( 20 );
*
* // Receive the next message from the message buffer. Wait in the Blocked
* // state (so not using any CPU processing time) for a maximum of 100ms for
* // a message to become available.
* xReceivedBytes = xMessageBufferReceive( xMessageBuffer,
* ( void * ) ucRxData,
* sizeof( ucRxData ),
* xBlockTime );
*
* if( xReceivedBytes > 0 )
* {
* // A ucRxData contains a message that is xReceivedBytes long. Process
* // the message here....
* }
* }
* @endcode
* \defgroup xMessageBufferReceive xMessageBufferReceive
* \ingroup MessageBufferManagement
*/
#define xMessageBufferReceive( xMessageBuffer, pvRxData, xBufferLengthBytes, xTicksToWait ) \
xStreamBufferReceive( ( xMessageBuffer ), ( pvRxData ), ( xBufferLengthBytes ), ( xTicksToWait ) )
/**
* message_buffer.h
*
* @code{c}
* size_t xMessageBufferReceiveFromISR( MessageBufferHandle_t xMessageBuffer,
* void *pvRxData,
* size_t xBufferLengthBytes,
* BaseType_t *pxHigherPriorityTaskWoken );
* @endcode
*
* An interrupt safe version of the API function that receives a discrete
* message from a message buffer. Messages can be of variable length and are
* copied out of the buffer.
*
* ***NOTE***: Uniquely among FreeRTOS objects, the stream buffer
* implementation (so also the message buffer implementation, as message buffers
* are built on top of stream buffers) assumes there is only one task or
* interrupt that will write to the buffer (the writer), and only one task or
* interrupt that will read from the buffer (the reader). It is safe for the
* writer and reader to be different tasks or interrupts, but, unlike other
* FreeRTOS objects, it is not safe to have multiple different writers or
* multiple different readers. If there are to be multiple different writers
* then the application writer must serialize calls to writing API functions
* (such as xStreamBufferSend()). Likewise, if there are to be multiple
* different readers then the application writer must serialize calls to reading
* API functions (such as xStreamBufferReceive()). One way to achieve such
* serialization in single core or SMP kernel is to place each API call inside a
* critical section and use a block time of 0.
*
* Use xMessageBufferReceive() to read from a message buffer from a task. Use
* xMessageBufferReceiveFromISR() to read from a message buffer from an
* interrupt service routine (ISR).
*
* configUSE_STREAM_BUFFERS must be set to 1 in for FreeRTOSConfig.h for
* xMessageBufferReceiveFromISR() to be available.
*
* @param xMessageBuffer The handle of the message buffer from which a message
* is being received.
*
* @param pvRxData A pointer to the buffer into which the received message is
* to be copied.
*
* @param xBufferLengthBytes The length of the buffer pointed to by the pvRxData
* parameter. This sets the maximum length of the message that can be received.
* If xBufferLengthBytes is too small to hold the next message then the message
* will be left in the message buffer and 0 will be returned.
*
* @param pxHigherPriorityTaskWoken It is possible that a message buffer will
* have a task blocked on it waiting for space to become available. Calling
* xMessageBufferReceiveFromISR() can make space available, and so cause a task
* that is waiting for space to leave the Blocked state. If calling
* xMessageBufferReceiveFromISR() causes a task to leave the Blocked state, and
* the unblocked task has a priority higher than the currently executing task
* (the task that was interrupted), then, internally,
* xMessageBufferReceiveFromISR() will set *pxHigherPriorityTaskWoken to pdTRUE.
* If xMessageBufferReceiveFromISR() sets this value to pdTRUE, then normally a
* context switch should be performed before the interrupt is exited. That will
* ensure the interrupt returns directly to the highest priority Ready state
* task. *pxHigherPriorityTaskWoken should be set to pdFALSE before it is
* passed into the function. See the code example below for an example.
*
* @return The length, in bytes, of the message read from the message buffer, if
* any.
*
* Example use:
* @code{c}
* // A message buffer that has already been created.
* MessageBuffer_t xMessageBuffer;
*
* void vAnInterruptServiceRoutine( void )
* {
* uint8_t ucRxData[ 20 ];
* size_t xReceivedBytes;
* BaseType_t xHigherPriorityTaskWoken = pdFALSE; // Initialised to pdFALSE.
*
* // Receive the next message from the message buffer.
* xReceivedBytes = xMessageBufferReceiveFromISR( xMessageBuffer,
* ( void * ) ucRxData,
* sizeof( ucRxData ),
* &xHigherPriorityTaskWoken );
*
* if( xReceivedBytes > 0 )
* {
* // A ucRxData contains a message that is xReceivedBytes long. Process
* // the message here....
* }
*
* // If xHigherPriorityTaskWoken was set to pdTRUE inside
* // xMessageBufferReceiveFromISR() then a task that has a priority above the
* // priority of the currently executing task was unblocked and a context
* // switch should be performed to ensure the ISR returns to the unblocked
* // task. In most FreeRTOS ports this is done by simply passing
* // xHigherPriorityTaskWoken into portYIELD_FROM_ISR(), which will test the
* // variables value, and perform the context switch if necessary. Check the
* // documentation for the port in use for port specific instructions.
* portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
* }
* @endcode
* \defgroup xMessageBufferReceiveFromISR xMessageBufferReceiveFromISR
* \ingroup MessageBufferManagement
*/
#define xMessageBufferReceiveFromISR( xMessageBuffer, pvRxData, xBufferLengthBytes, pxHigherPriorityTaskWoken ) \
xStreamBufferReceiveFromISR( ( xMessageBuffer ), ( pvRxData ), ( xBufferLengthBytes ), ( pxHigherPriorityTaskWoken ) )
/**
* message_buffer.h
*
* @code{c}
* void vMessageBufferDelete( MessageBufferHandle_t xMessageBuffer );
* @endcode
*
* Deletes a message buffer that was previously created using a call to
* xMessageBufferCreate() or xMessageBufferCreateStatic(). If the message
* buffer was created using dynamic memory (that is, by xMessageBufferCreate()),
* then the allocated memory is freed.
*
* A message buffer handle must not be used after the message buffer has been
* deleted.
*
* configUSE_STREAM_BUFFERS must be set to 1 in for FreeRTOSConfig.h for
* vMessageBufferDelete() to be available.
*
* @param xMessageBuffer The handle of the message buffer to be deleted.
*
*/
#define vMessageBufferDelete( xMessageBuffer ) \
vStreamBufferDelete( xMessageBuffer )
/**
* message_buffer.h
* @code{c}
* BaseType_t xMessageBufferIsFull( MessageBufferHandle_t xMessageBuffer );
* @endcode
*
* Tests to see if a message buffer is full. A message buffer is full if it
* cannot accept any more messages, of any size, until space is made available
* by a message being removed from the message buffer.
*
* configUSE_STREAM_BUFFERS must be set to 1 in for FreeRTOSConfig.h for
* xMessageBufferIsFull() to be available.
*
* @param xMessageBuffer The handle of the message buffer being queried.
*
* @return If the message buffer referenced by xMessageBuffer is full then
* pdTRUE is returned. Otherwise pdFALSE is returned.
*/
#define xMessageBufferIsFull( xMessageBuffer ) \
xStreamBufferIsFull( xMessageBuffer )
/**
* message_buffer.h
* @code{c}
* BaseType_t xMessageBufferIsEmpty( MessageBufferHandle_t xMessageBuffer );
* @endcode
*
* Tests to see if a message buffer is empty (does not contain any messages).
*
* configUSE_STREAM_BUFFERS must be set to 1 in for FreeRTOSConfig.h for
* xMessageBufferIsEmpty() to be available.
*
* @param xMessageBuffer The handle of the message buffer being queried.
*
* @return If the message buffer referenced by xMessageBuffer is empty then
* pdTRUE is returned. Otherwise pdFALSE is returned.
*
*/
#define xMessageBufferIsEmpty( xMessageBuffer ) \
xStreamBufferIsEmpty( xMessageBuffer )
/**
* message_buffer.h
* @code{c}
* BaseType_t xMessageBufferReset( MessageBufferHandle_t xMessageBuffer );
* @endcode
*
* Resets a message buffer to its initial empty state, discarding any message it
* contained.
*
* A message buffer can only be reset if there are no tasks blocked on it.
*
* Use xMessageBufferReset() to reset a message buffer from a task.
* Use xMessageBufferResetFromISR() to reset a message buffer from an
* interrupt service routine (ISR).
*
* configUSE_STREAM_BUFFERS must be set to 1 in for FreeRTOSConfig.h for
* xMessageBufferReset() to be available.
*
* @param xMessageBuffer The handle of the message buffer being reset.
*
* @return If the message buffer was reset then pdPASS is returned. If the
* message buffer could not be reset because either there was a task blocked on
* the message queue to wait for space to become available, or to wait for a
* a message to be available, then pdFAIL is returned.
*
* \defgroup xMessageBufferReset xMessageBufferReset
* \ingroup MessageBufferManagement
*/
#define xMessageBufferReset( xMessageBuffer ) \
xStreamBufferReset( xMessageBuffer )
/**
* message_buffer.h
* @code{c}
* BaseType_t xMessageBufferResetFromISR( MessageBufferHandle_t xMessageBuffer );
* @endcode
*
* An interrupt safe version of the API function that resets the message buffer.
* Resets a message buffer to its initial empty state, discarding any message it
* contained.
*
* A message buffer can only be reset if there are no tasks blocked on it.
*
* Use xMessageBufferReset() to reset a message buffer from a task.
* Use xMessageBufferResetFromISR() to reset a message buffer from an
* interrupt service routine (ISR).
*
* configUSE_STREAM_BUFFERS must be set to 1 in for FreeRTOSConfig.h for
* xMessageBufferResetFromISR() to be available.
*
* @param xMessageBuffer The handle of the message buffer being reset.
*
* @return If the message buffer was reset then pdPASS is returned. If the
* message buffer could not be reset because either there was a task blocked on
* the message queue to wait for space to become available, or to wait for a
* a message to be available, then pdFAIL is returned.
*
* \defgroup xMessageBufferResetFromISR xMessageBufferResetFromISR
* \ingroup MessageBufferManagement
*/
#define xMessageBufferResetFromISR( xMessageBuffer ) \
xStreamBufferResetFromISR( xMessageBuffer )
/**
* message_buffer.h
* @code{c}
* size_t xMessageBufferSpaceAvailable( MessageBufferHandle_t xMessageBuffer );
* @endcode
* Returns the number of bytes of free space in the message buffer.
*
* configUSE_STREAM_BUFFERS must be set to 1 in for FreeRTOSConfig.h for
* xMessageBufferSpaceAvailable() to be available.
*
* @param xMessageBuffer The handle of the message buffer being queried.
*
* @return The number of bytes that can be written to the message buffer before
* the message buffer would be full. When a message is written to the message
* buffer an additional sizeof( size_t ) bytes are also written to store the
* message's length. sizeof( size_t ) is typically 4 bytes on a 32-bit
* architecture, so if xMessageBufferSpacesAvailable() returns 10, then the size
* of the largest message that can be written to the message buffer is 6 bytes.
*
* \defgroup xMessageBufferSpaceAvailable xMessageBufferSpaceAvailable
* \ingroup MessageBufferManagement
*/
#define xMessageBufferSpaceAvailable( xMessageBuffer ) \
xStreamBufferSpacesAvailable( xMessageBuffer )
#define xMessageBufferSpacesAvailable( xMessageBuffer ) \
xStreamBufferSpacesAvailable( xMessageBuffer ) /* Corrects typo in original macro name. */
/**
* message_buffer.h
* @code{c}
* size_t xMessageBufferNextLengthBytes( MessageBufferHandle_t xMessageBuffer );
* @endcode
* Returns the length (in bytes) of the next message in a message buffer.
* Useful if xMessageBufferReceive() returned 0 because the size of the buffer
* passed into xMessageBufferReceive() was too small to hold the next message.
*
* configUSE_STREAM_BUFFERS must be set to 1 in for FreeRTOSConfig.h for
* xMessageBufferNextLengthBytes() to be available.
*
* @param xMessageBuffer The handle of the message buffer being queried.
*
* @return The length (in bytes) of the next message in the message buffer, or 0
* if the message buffer is empty.
*
* \defgroup xMessageBufferNextLengthBytes xMessageBufferNextLengthBytes
* \ingroup MessageBufferManagement
*/
#define xMessageBufferNextLengthBytes( xMessageBuffer ) \
xStreamBufferNextMessageLengthBytes( xMessageBuffer )
/**
* message_buffer.h
*
* @code{c}
* BaseType_t xMessageBufferSendCompletedFromISR( MessageBufferHandle_t xMessageBuffer, BaseType_t *pxHigherPriorityTaskWoken );
* @endcode
*
* For advanced users only.
*
* The sbSEND_COMPLETED() macro is called from within the FreeRTOS APIs when
* data is sent to a message buffer or stream buffer. If there was a task that
* was blocked on the message or stream buffer waiting for data to arrive then
* the sbSEND_COMPLETED() macro sends a notification to the task to remove it
* from the Blocked state. xMessageBufferSendCompletedFromISR() does the same
* thing. It is provided to enable application writers to implement their own
* version of sbSEND_COMPLETED(), and MUST NOT BE USED AT ANY OTHER TIME.
*
* See the example implemented in FreeRTOS/Demo/Minimal/MessageBufferAMP.c for
* additional information.
*
* configUSE_STREAM_BUFFERS must be set to 1 in for FreeRTOSConfig.h for
* xMessageBufferSendCompletedFromISR() to be available.
*
* @param xMessageBuffer The handle of the stream buffer to which data was
* written.
*
* @param pxHigherPriorityTaskWoken *pxHigherPriorityTaskWoken should be
* initialised to pdFALSE before it is passed into
* xMessageBufferSendCompletedFromISR(). If calling
* xMessageBufferSendCompletedFromISR() removes a task from the Blocked state,
* and the task has a priority above the priority of the currently running task,
* then *pxHigherPriorityTaskWoken will get set to pdTRUE indicating that a
* context switch should be performed before exiting the ISR.
*
* @return If a task was removed from the Blocked state then pdTRUE is returned.
* Otherwise pdFALSE is returned.
*
* \defgroup xMessageBufferSendCompletedFromISR xMessageBufferSendCompletedFromISR
* \ingroup StreamBufferManagement
*/
#define xMessageBufferSendCompletedFromISR( xMessageBuffer, pxHigherPriorityTaskWoken ) \
xStreamBufferSendCompletedFromISR( ( xMessageBuffer ), ( pxHigherPriorityTaskWoken ) )
/**
* message_buffer.h
*
* @code{c}
* BaseType_t xMessageBufferReceiveCompletedFromISR( MessageBufferHandle_t xMessageBuffer, BaseType_t *pxHigherPriorityTaskWoken );
* @endcode
*
* For advanced users only.
*
* The sbRECEIVE_COMPLETED() macro is called from within the FreeRTOS APIs when
* data is read out of a message buffer or stream buffer. If there was a task
* that was blocked on the message or stream buffer waiting for data to arrive
* then the sbRECEIVE_COMPLETED() macro sends a notification to the task to
* remove it from the Blocked state. xMessageBufferReceiveCompletedFromISR()
* does the same thing. It is provided to enable application writers to
* implement their own version of sbRECEIVE_COMPLETED(), and MUST NOT BE USED AT
* ANY OTHER TIME.
*
* See the example implemented in FreeRTOS/Demo/Minimal/MessageBufferAMP.c for
* additional information.
*
* configUSE_STREAM_BUFFERS must be set to 1 in for FreeRTOSConfig.h for
* xMessageBufferReceiveCompletedFromISR() to be available.
*
* @param xMessageBuffer The handle of the stream buffer from which data was
* read.
*
* @param pxHigherPriorityTaskWoken *pxHigherPriorityTaskWoken should be
* initialised to pdFALSE before it is passed into
* xMessageBufferReceiveCompletedFromISR(). If calling
* xMessageBufferReceiveCompletedFromISR() removes a task from the Blocked state,
* and the task has a priority above the priority of the currently running task,
* then *pxHigherPriorityTaskWoken will get set to pdTRUE indicating that a
* context switch should be performed before exiting the ISR.
*
* @return If a task was removed from the Blocked state then pdTRUE is returned.
* Otherwise pdFALSE is returned.
*
* \defgroup xMessageBufferReceiveCompletedFromISR xMessageBufferReceiveCompletedFromISR
* \ingroup StreamBufferManagement
*/
#define xMessageBufferReceiveCompletedFromISR( xMessageBuffer, pxHigherPriorityTaskWoken ) \
xStreamBufferReceiveCompletedFromISR( ( xMessageBuffer ), ( pxHigherPriorityTaskWoken ) )
/* *INDENT-OFF* */
#if defined( __cplusplus )
} /* extern "C" */
#endif
/* *INDENT-ON* */
#endif /* !defined( FREERTOS_MESSAGE_BUFFER_H ) */
vendor/FreeRTOS-Kernel/include/mpu_prototypes.h
Vendored
+495
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@@ -0,0 +1,495 @@
/*
* FreeRTOS Kernel V11.3.0
* 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
*
*/
/*
* When the MPU is used the standard (non MPU) API functions are mapped to
* equivalents that start "MPU_", the prototypes for which are defined in this
* header files. This will cause the application code to call the MPU_ version
* which wraps the non-MPU version with privilege promoting then demoting code,
* so the kernel code always runs will full privileges.
*/
#ifndef MPU_PROTOTYPES_H
#define MPU_PROTOTYPES_H
typedef struct xTaskGenericNotifyParams
{
TaskHandle_t xTaskToNotify;
UBaseType_t uxIndexToNotify;
uint32_t ulValue;
eNotifyAction eAction;
uint32_t * pulPreviousNotificationValue;
} xTaskGenericNotifyParams_t;
typedef struct xTaskGenericNotifyWaitParams
{
UBaseType_t uxIndexToWaitOn;
uint32_t ulBitsToClearOnEntry;
uint32_t ulBitsToClearOnExit;
uint32_t * pulNotificationValue;
TickType_t xTicksToWait;
} xTaskGenericNotifyWaitParams_t;
typedef struct xTimerGenericCommandFromTaskParams
{
TimerHandle_t xTimer;
BaseType_t xCommandID;
TickType_t xOptionalValue;
BaseType_t * pxHigherPriorityTaskWoken;
TickType_t xTicksToWait;
} xTimerGenericCommandFromTaskParams_t;
typedef struct xEventGroupWaitBitsParams
{
EventGroupHandle_t xEventGroup;
EventBits_t uxBitsToWaitFor;
BaseType_t xClearOnExit;
BaseType_t xWaitForAllBits;
TickType_t xTicksToWait;
} xEventGroupWaitBitsParams_t;
/* MPU versions of task.h API functions. */
void MPU_vTaskDelay( const TickType_t xTicksToDelay ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xTaskDelayUntil( TickType_t * const pxPreviousWakeTime,
const TickType_t xTimeIncrement ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xTaskAbortDelay( TaskHandle_t xTask ) FREERTOS_SYSTEM_CALL;
UBaseType_t MPU_uxTaskPriorityGet( const TaskHandle_t xTask ) FREERTOS_SYSTEM_CALL;
eTaskState MPU_eTaskGetState( TaskHandle_t xTask ) FREERTOS_SYSTEM_CALL;
void MPU_vTaskGetInfo( TaskHandle_t xTask,
TaskStatus_t * pxTaskStatus,
BaseType_t xGetFreeStackSpace,
eTaskState eState ) FREERTOS_SYSTEM_CALL;
void MPU_vTaskSuspend( TaskHandle_t xTaskToSuspend ) FREERTOS_SYSTEM_CALL;
void MPU_vTaskResume( TaskHandle_t xTaskToResume ) FREERTOS_SYSTEM_CALL;
TickType_t MPU_xTaskGetTickCount( void ) FREERTOS_SYSTEM_CALL;
UBaseType_t MPU_uxTaskGetNumberOfTasks( void ) FREERTOS_SYSTEM_CALL;
UBaseType_t MPU_uxTaskGetStackHighWaterMark( TaskHandle_t xTask ) FREERTOS_SYSTEM_CALL;
configSTACK_DEPTH_TYPE MPU_uxTaskGetStackHighWaterMark2( TaskHandle_t xTask ) FREERTOS_SYSTEM_CALL;
void MPU_vTaskSetApplicationTaskTag( TaskHandle_t xTask,
TaskHookFunction_t pxHookFunction ) FREERTOS_SYSTEM_CALL;
TaskHookFunction_t MPU_xTaskGetApplicationTaskTag( TaskHandle_t xTask ) FREERTOS_SYSTEM_CALL;
void MPU_vTaskSetThreadLocalStoragePointer( TaskHandle_t xTaskToSet,
BaseType_t xIndex,
void * pvValue ) FREERTOS_SYSTEM_CALL;
void * MPU_pvTaskGetThreadLocalStoragePointer( TaskHandle_t xTaskToQuery,
BaseType_t xIndex ) FREERTOS_SYSTEM_CALL;
TaskHandle_t MPU_xTaskGetIdleTaskHandle( void ) FREERTOS_SYSTEM_CALL;
UBaseType_t MPU_uxTaskGetSystemState( TaskStatus_t * const pxTaskStatusArray,
const UBaseType_t uxArraySize,
configRUN_TIME_COUNTER_TYPE * const pulTotalRunTime ) FREERTOS_SYSTEM_CALL;
configRUN_TIME_COUNTER_TYPE MPU_ulTaskGetRunTimeCounter( const TaskHandle_t xTask ) FREERTOS_SYSTEM_CALL;
configRUN_TIME_COUNTER_TYPE MPU_ulTaskGetRunTimePercent( const TaskHandle_t xTask ) FREERTOS_SYSTEM_CALL;
configRUN_TIME_COUNTER_TYPE MPU_ulTaskGetIdleRunTimeCounter( void ) FREERTOS_SYSTEM_CALL;
configRUN_TIME_COUNTER_TYPE MPU_ulTaskGetIdleRunTimePercent( void ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xTaskGenericNotify( TaskHandle_t xTaskToNotify,
UBaseType_t uxIndexToNotify,
uint32_t ulValue,
eNotifyAction eAction,
uint32_t * pulPreviousNotificationValue ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xTaskGenericNotifyEntry( const xTaskGenericNotifyParams_t * pxParams ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xTaskGenericNotifyWait( UBaseType_t uxIndexToWaitOn,
uint32_t ulBitsToClearOnEntry,
uint32_t ulBitsToClearOnExit,
uint32_t * pulNotificationValue,
TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xTaskGenericNotifyWaitEntry( const xTaskGenericNotifyWaitParams_t * pxParams ) FREERTOS_SYSTEM_CALL;
uint32_t MPU_ulTaskGenericNotifyTake( UBaseType_t uxIndexToWaitOn,
BaseType_t xClearCountOnExit,
TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xTaskGenericNotifyStateClear( TaskHandle_t xTask,
UBaseType_t uxIndexToClear ) FREERTOS_SYSTEM_CALL;
uint32_t MPU_ulTaskGenericNotifyValueClear( TaskHandle_t xTask,
UBaseType_t uxIndexToClear,
uint32_t ulBitsToClear ) FREERTOS_SYSTEM_CALL;
void MPU_vTaskSetTimeOutState( TimeOut_t * const pxTimeOut ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut,
TickType_t * const pxTicksToWait ) FREERTOS_SYSTEM_CALL;
TaskHandle_t MPU_xTaskGetCurrentTaskHandle( void ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xTaskGetSchedulerState( void ) FREERTOS_SYSTEM_CALL;
/* Privileged only wrappers for Task APIs. These are needed so that
* the application can use opaque handles maintained in mpu_wrappers.c
* with all the APIs. */
#if ( configUSE_MPU_WRAPPERS_V1 == 1 )
BaseType_t MPU_xTaskCreate( TaskFunction_t pxTaskCode,
const char * const pcName,
const configSTACK_DEPTH_TYPE uxStackDepth,
void * const pvParameters,
UBaseType_t uxPriority,
TaskHandle_t * const pxCreatedTask ) FREERTOS_SYSTEM_CALL;
TaskHandle_t MPU_xTaskCreateStatic( TaskFunction_t pxTaskCode,
const char * const pcName,
const configSTACK_DEPTH_TYPE uxStackDepth,
void * const pvParameters,
UBaseType_t uxPriority,
StackType_t * const puxStackBuffer,
StaticTask_t * const pxTaskBuffer ) FREERTOS_SYSTEM_CALL;
void MPU_vTaskDelete( TaskHandle_t xTaskToDelete ) FREERTOS_SYSTEM_CALL;
void MPU_vTaskPrioritySet( TaskHandle_t xTask,
UBaseType_t uxNewPriority ) FREERTOS_SYSTEM_CALL;
TaskHandle_t MPU_xTaskGetHandle( const char * pcNameToQuery ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xTaskCallApplicationTaskHook( TaskHandle_t xTask,
void * pvParameter ) FREERTOS_SYSTEM_CALL;
void MPU_vTaskGetRunTimeStatistics( char * pcWriteBuffer,
size_t uxBufferLength ) FREERTOS_SYSTEM_CALL;
void MPU_vTaskListTasks( char * pcWriteBuffer,
size_t uxBufferLength ) FREERTOS_SYSTEM_CALL;
void MPU_vTaskSuspendAll( void ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xTaskCatchUpTicks( TickType_t xTicksToCatchUp ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xTaskResumeAll( void ) FREERTOS_SYSTEM_CALL;
#else /* #if ( configUSE_MPU_WRAPPERS_V1 == 1 ) */
BaseType_t MPU_xTaskCreate( TaskFunction_t pxTaskCode,
const char * const pcName,
const configSTACK_DEPTH_TYPE uxStackDepth,
void * const pvParameters,
UBaseType_t uxPriority,
TaskHandle_t * const pxCreatedTask ) PRIVILEGED_FUNCTION;
TaskHandle_t MPU_xTaskCreateStatic( TaskFunction_t pxTaskCode,
const char * const pcName,
const configSTACK_DEPTH_TYPE uxStackDepth,
void * const pvParameters,
UBaseType_t uxPriority,
StackType_t * const puxStackBuffer,
StaticTask_t * const pxTaskBuffer ) PRIVILEGED_FUNCTION;
void MPU_vTaskDelete( TaskHandle_t xTaskToDelete ) PRIVILEGED_FUNCTION;
void MPU_vTaskPrioritySet( TaskHandle_t xTask,
UBaseType_t uxNewPriority ) PRIVILEGED_FUNCTION;
TaskHandle_t MPU_xTaskGetHandle( const char * pcNameToQuery ) PRIVILEGED_FUNCTION;
BaseType_t MPU_xTaskCallApplicationTaskHook( TaskHandle_t xTask,
void * pvParameter ) PRIVILEGED_FUNCTION;
#endif /* #if ( configUSE_MPU_WRAPPERS_V1 == 1 ) */
char * MPU_pcTaskGetName( TaskHandle_t xTaskToQuery ) PRIVILEGED_FUNCTION;
BaseType_t MPU_xTaskCreateRestricted( const TaskParameters_t * const pxTaskDefinition,
TaskHandle_t * pxCreatedTask ) PRIVILEGED_FUNCTION;
BaseType_t MPU_xTaskCreateRestrictedStatic( const TaskParameters_t * const pxTaskDefinition,
TaskHandle_t * pxCreatedTask ) PRIVILEGED_FUNCTION;
void MPU_vTaskAllocateMPURegions( TaskHandle_t xTaskToModify,
const MemoryRegion_t * const xRegions ) PRIVILEGED_FUNCTION;
BaseType_t MPU_xTaskGetStaticBuffers( TaskHandle_t xTask,
StackType_t ** ppuxStackBuffer,
StaticTask_t ** ppxTaskBuffer ) PRIVILEGED_FUNCTION;
UBaseType_t MPU_uxTaskPriorityGetFromISR( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
UBaseType_t MPU_uxTaskBasePriorityGet( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
UBaseType_t MPU_uxTaskBasePriorityGetFromISR( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
BaseType_t MPU_xTaskResumeFromISR( TaskHandle_t xTaskToResume ) PRIVILEGED_FUNCTION;
TaskHookFunction_t MPU_xTaskGetApplicationTaskTagFromISR( TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
BaseType_t MPU_xTaskGenericNotifyFromISR( TaskHandle_t xTaskToNotify,
UBaseType_t uxIndexToNotify,
uint32_t ulValue,
eNotifyAction eAction,
uint32_t * pulPreviousNotificationValue,
BaseType_t * pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
void MPU_vTaskGenericNotifyGiveFromISR( TaskHandle_t xTaskToNotify,
UBaseType_t uxIndexToNotify,
BaseType_t * pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
/* MPU versions of queue.h API functions. */
BaseType_t MPU_xQueueGenericSend( QueueHandle_t xQueue,
const void * const pvItemToQueue,
TickType_t xTicksToWait,
const BaseType_t xCopyPosition ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xQueueReceive( QueueHandle_t xQueue,
void * const pvBuffer,
TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xQueuePeek( QueueHandle_t xQueue,
void * const pvBuffer,
TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xQueueSemaphoreTake( QueueHandle_t xQueue,
TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
UBaseType_t MPU_uxQueueMessagesWaiting( const QueueHandle_t xQueue ) FREERTOS_SYSTEM_CALL;
UBaseType_t MPU_uxQueueSpacesAvailable( const QueueHandle_t xQueue ) FREERTOS_SYSTEM_CALL;
TaskHandle_t MPU_xQueueGetMutexHolder( QueueHandle_t xSemaphore ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xQueueTakeMutexRecursive( QueueHandle_t xMutex,
TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xQueueGiveMutexRecursive( QueueHandle_t pxMutex ) FREERTOS_SYSTEM_CALL;
void MPU_vQueueAddToRegistry( QueueHandle_t xQueue,
const char * pcName ) FREERTOS_SYSTEM_CALL;
void MPU_vQueueUnregisterQueue( QueueHandle_t xQueue ) FREERTOS_SYSTEM_CALL;
const char * MPU_pcQueueGetName( QueueHandle_t xQueue ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xQueueAddToSet( QueueSetMemberHandle_t xQueueOrSemaphore,
QueueSetHandle_t xQueueSet ) FREERTOS_SYSTEM_CALL;
QueueSetMemberHandle_t MPU_xQueueSelectFromSet( QueueSetHandle_t xQueueSet,
const TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
void MPU_vQueueSetQueueNumber( QueueHandle_t xQueue,
UBaseType_t uxQueueNumber ) FREERTOS_SYSTEM_CALL;
UBaseType_t MPU_uxQueueGetQueueNumber( QueueHandle_t xQueue ) FREERTOS_SYSTEM_CALL;
uint8_t MPU_ucQueueGetQueueType( QueueHandle_t xQueue ) FREERTOS_SYSTEM_CALL;
/* Privileged only wrappers for Queue APIs. These are needed so that
* the application can use opaque handles maintained in mpu_wrappers.c
* with all the APIs. */
#if ( configUSE_MPU_WRAPPERS_V1 == 1 )
void MPU_vQueueDelete( QueueHandle_t xQueue ) FREERTOS_SYSTEM_CALL;
QueueHandle_t MPU_xQueueCreateMutex( const uint8_t ucQueueType ) FREERTOS_SYSTEM_CALL;
QueueHandle_t MPU_xQueueCreateMutexStatic( const uint8_t ucQueueType,
StaticQueue_t * pxStaticQueue ) FREERTOS_SYSTEM_CALL;
QueueHandle_t MPU_xQueueCreateCountingSemaphore( const UBaseType_t uxMaxCount,
const UBaseType_t uxInitialCount ) FREERTOS_SYSTEM_CALL;
QueueHandle_t MPU_xQueueCreateCountingSemaphoreStatic( const UBaseType_t uxMaxCount,
const UBaseType_t uxInitialCount,
StaticQueue_t * pxStaticQueue ) FREERTOS_SYSTEM_CALL;
QueueHandle_t MPU_xQueueGenericCreate( const UBaseType_t uxQueueLength,
const UBaseType_t uxItemSize,
const uint8_t ucQueueType ) FREERTOS_SYSTEM_CALL;
QueueHandle_t MPU_xQueueGenericCreateStatic( const UBaseType_t uxQueueLength,
const UBaseType_t uxItemSize,
uint8_t * pucQueueStorage,
StaticQueue_t * pxStaticQueue,
const uint8_t ucQueueType ) FREERTOS_SYSTEM_CALL;
QueueSetHandle_t MPU_xQueueCreateSet( const UBaseType_t uxEventQueueLength ) FREERTOS_SYSTEM_CALL;
QueueSetHandle_t MPU_xQueueCreateSetStatic( const UBaseType_t uxEventQueueLength,
uint8_t * pucQueueStorage,
StaticQueue_t * pxStaticQueue ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xQueueRemoveFromSet( QueueSetMemberHandle_t xQueueOrSemaphore,
QueueSetHandle_t xQueueSet ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xQueueGenericReset( QueueHandle_t xQueue,
BaseType_t xNewQueue ) FREERTOS_SYSTEM_CALL;
#else /* #if ( configUSE_MPU_WRAPPERS_V1 == 1 ) */
void MPU_vQueueDelete( QueueHandle_t xQueue ) PRIVILEGED_FUNCTION;
QueueHandle_t MPU_xQueueCreateMutex( const uint8_t ucQueueType ) PRIVILEGED_FUNCTION;
QueueHandle_t MPU_xQueueCreateMutexStatic( const uint8_t ucQueueType,
StaticQueue_t * pxStaticQueue ) PRIVILEGED_FUNCTION;
QueueHandle_t MPU_xQueueCreateCountingSemaphore( const UBaseType_t uxMaxCount,
const UBaseType_t uxInitialCount ) PRIVILEGED_FUNCTION;
QueueHandle_t MPU_xQueueCreateCountingSemaphoreStatic( const UBaseType_t uxMaxCount,
const UBaseType_t uxInitialCount,
StaticQueue_t * pxStaticQueue ) PRIVILEGED_FUNCTION;
QueueHandle_t MPU_xQueueGenericCreate( const UBaseType_t uxQueueLength,
const UBaseType_t uxItemSize,
const uint8_t ucQueueType ) PRIVILEGED_FUNCTION;
QueueHandle_t MPU_xQueueGenericCreateStatic( const UBaseType_t uxQueueLength,
const UBaseType_t uxItemSize,
uint8_t * pucQueueStorage,
StaticQueue_t * pxStaticQueue,
const uint8_t ucQueueType ) PRIVILEGED_FUNCTION;
QueueSetHandle_t MPU_xQueueCreateSet( const UBaseType_t uxEventQueueLength ) PRIVILEGED_FUNCTION;
QueueSetHandle_t MPU_xQueueCreateSetStatic( const UBaseType_t uxEventQueueLength,
uint8_t * pucQueueStorage,
StaticQueue_t * pxStaticQueue ) PRIVILEGED_FUNCTION;
BaseType_t MPU_xQueueRemoveFromSet( QueueSetMemberHandle_t xQueueOrSemaphore,
QueueSetHandle_t xQueueSet ) PRIVILEGED_FUNCTION;
BaseType_t MPU_xQueueGenericReset( QueueHandle_t xQueue,
BaseType_t xNewQueue ) PRIVILEGED_FUNCTION;
#endif /* #if ( configUSE_MPU_WRAPPERS_V1 == 1 ) */
BaseType_t MPU_xQueueGenericGetStaticBuffers( QueueHandle_t xQueue,
uint8_t ** ppucQueueStorage,
StaticQueue_t ** ppxStaticQueue ) PRIVILEGED_FUNCTION;
BaseType_t MPU_xQueueGenericSendFromISR( QueueHandle_t xQueue,
const void * const pvItemToQueue,
BaseType_t * const pxHigherPriorityTaskWoken,
const BaseType_t xCopyPosition ) PRIVILEGED_FUNCTION;
BaseType_t MPU_xQueueGiveFromISR( QueueHandle_t xQueue,
BaseType_t * const pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
BaseType_t MPU_xQueuePeekFromISR( QueueHandle_t xQueue,
void * const pvBuffer ) PRIVILEGED_FUNCTION;
BaseType_t MPU_xQueueReceiveFromISR( QueueHandle_t xQueue,
void * const pvBuffer,
BaseType_t * const pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
BaseType_t MPU_xQueueIsQueueEmptyFromISR( const QueueHandle_t xQueue ) PRIVILEGED_FUNCTION;
BaseType_t MPU_xQueueIsQueueFullFromISR( const QueueHandle_t xQueue ) PRIVILEGED_FUNCTION;
UBaseType_t MPU_uxQueueMessagesWaitingFromISR( const QueueHandle_t xQueue ) PRIVILEGED_FUNCTION;
TaskHandle_t MPU_xQueueGetMutexHolderFromISR( QueueHandle_t xSemaphore ) PRIVILEGED_FUNCTION;
QueueSetMemberHandle_t MPU_xQueueSelectFromSetFromISR( QueueSetHandle_t xQueueSet ) PRIVILEGED_FUNCTION;
/* MPU versions of timers.h API functions. */
void * MPU_pvTimerGetTimerID( const TimerHandle_t xTimer ) FREERTOS_SYSTEM_CALL;
void MPU_vTimerSetTimerID( TimerHandle_t xTimer,
void * pvNewID ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xTimerIsTimerActive( TimerHandle_t xTimer ) FREERTOS_SYSTEM_CALL;
TaskHandle_t MPU_xTimerGetTimerDaemonTaskHandle( void ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xTimerGenericCommandFromTask( TimerHandle_t xTimer,
const BaseType_t xCommandID,
const TickType_t xOptionalValue,
BaseType_t * const pxHigherPriorityTaskWoken,
const TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xTimerGenericCommandFromTaskEntry( const xTimerGenericCommandFromTaskParams_t * pxParams ) FREERTOS_SYSTEM_CALL;
const char * MPU_pcTimerGetName( TimerHandle_t xTimer ) FREERTOS_SYSTEM_CALL;
void MPU_vTimerSetReloadMode( TimerHandle_t xTimer,
const BaseType_t xAutoReload ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xTimerGetReloadMode( TimerHandle_t xTimer ) FREERTOS_SYSTEM_CALL;
UBaseType_t MPU_uxTimerGetReloadMode( TimerHandle_t xTimer ) FREERTOS_SYSTEM_CALL;
TickType_t MPU_xTimerGetPeriod( TimerHandle_t xTimer ) FREERTOS_SYSTEM_CALL;
TickType_t MPU_xTimerGetExpiryTime( TimerHandle_t xTimer ) FREERTOS_SYSTEM_CALL;
/* Privileged only wrappers for Timer APIs. These are needed so that
* the application can use opaque handles maintained in mpu_wrappers.c
* with all the APIs. */
TimerHandle_t MPU_xTimerCreate( const char * const pcTimerName,
const TickType_t xTimerPeriodInTicks,
const BaseType_t xAutoReload,
void * const pvTimerID,
TimerCallbackFunction_t pxCallbackFunction ) PRIVILEGED_FUNCTION;
TimerHandle_t MPU_xTimerCreateStatic( const char * const pcTimerName,
const TickType_t xTimerPeriodInTicks,
const BaseType_t xAutoReload,
void * const pvTimerID,
TimerCallbackFunction_t pxCallbackFunction,
StaticTimer_t * pxTimerBuffer ) PRIVILEGED_FUNCTION;
BaseType_t MPU_xTimerGetStaticBuffer( TimerHandle_t xTimer,
StaticTimer_t ** ppxTimerBuffer ) PRIVILEGED_FUNCTION;
BaseType_t MPU_xTimerGenericCommandFromISR( TimerHandle_t xTimer,
const BaseType_t xCommandID,
const TickType_t xOptionalValue,
BaseType_t * const pxHigherPriorityTaskWoken,
const TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
/* MPU versions of event_group.h API functions. */
EventBits_t MPU_xEventGroupWaitBits( EventGroupHandle_t xEventGroup,
const EventBits_t uxBitsToWaitFor,
const BaseType_t xClearOnExit,
const BaseType_t xWaitForAllBits,
TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
EventBits_t MPU_xEventGroupWaitBitsEntry( const xEventGroupWaitBitsParams_t * pxParams ) FREERTOS_SYSTEM_CALL;
EventBits_t MPU_xEventGroupClearBits( EventGroupHandle_t xEventGroup,
const EventBits_t uxBitsToClear ) FREERTOS_SYSTEM_CALL;
EventBits_t MPU_xEventGroupSetBits( EventGroupHandle_t xEventGroup,
const EventBits_t uxBitsToSet ) FREERTOS_SYSTEM_CALL;
EventBits_t MPU_xEventGroupSync( EventGroupHandle_t xEventGroup,
const EventBits_t uxBitsToSet,
const EventBits_t uxBitsToWaitFor,
TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
#if ( configUSE_TRACE_FACILITY == 1 )
UBaseType_t MPU_uxEventGroupGetNumber( void * xEventGroup ) FREERTOS_SYSTEM_CALL;
void MPU_vEventGroupSetNumber( void * xEventGroup,
UBaseType_t uxEventGroupNumber ) FREERTOS_SYSTEM_CALL;
#endif /* #if ( configUSE_TRACE_FACILITY == 1 ) */
/* Privileged only wrappers for Event Group APIs. These are needed so that
* the application can use opaque handles maintained in mpu_wrappers.c
* with all the APIs. */
#if ( configUSE_MPU_WRAPPERS_V1 == 1 )
EventGroupHandle_t MPU_xEventGroupCreate( void ) FREERTOS_SYSTEM_CALL;
EventGroupHandle_t MPU_xEventGroupCreateStatic( StaticEventGroup_t * pxEventGroupBuffer ) FREERTOS_SYSTEM_CALL;
void MPU_vEventGroupDelete( EventGroupHandle_t xEventGroup ) FREERTOS_SYSTEM_CALL;
#else /* #if ( configUSE_MPU_WRAPPERS_V1 == 1 ) */
EventGroupHandle_t MPU_xEventGroupCreate( void ) PRIVILEGED_FUNCTION;
EventGroupHandle_t MPU_xEventGroupCreateStatic( StaticEventGroup_t * pxEventGroupBuffer ) PRIVILEGED_FUNCTION;
void MPU_vEventGroupDelete( EventGroupHandle_t xEventGroup ) PRIVILEGED_FUNCTION;
#endif /* #if ( configUSE_MPU_WRAPPERS_V1 == 1 ) */
BaseType_t MPU_xEventGroupGetStaticBuffer( EventGroupHandle_t xEventGroup,
StaticEventGroup_t ** ppxEventGroupBuffer ) PRIVILEGED_FUNCTION;
EventBits_t MPU_xEventGroupGetBitsFromISR( EventGroupHandle_t xEventGroup ) PRIVILEGED_FUNCTION;
#if ( configUSE_MPU_WRAPPERS_V1 == 0 )
BaseType_t MPU_xEventGroupClearBitsFromISR( EventGroupHandle_t xEventGroup,
const EventBits_t uxBitsToClear ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xEventGroupSetBitsFromISR( EventGroupHandle_t xEventGroup,
const EventBits_t uxBitsToSet,
BaseType_t * pxHigherPriorityTaskWoken ) FREERTOS_SYSTEM_CALL;
#endif /* #if ( configUSE_MPU_WRAPPERS_V1 == 0 ) */
/* MPU versions of message/stream_buffer.h API functions. */
size_t MPU_xStreamBufferSend( StreamBufferHandle_t xStreamBuffer,
const void * pvTxData,
size_t xDataLengthBytes,
TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
size_t MPU_xStreamBufferReceive( StreamBufferHandle_t xStreamBuffer,
void * pvRxData,
size_t xBufferLengthBytes,
TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xStreamBufferIsFull( StreamBufferHandle_t xStreamBuffer ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xStreamBufferIsEmpty( StreamBufferHandle_t xStreamBuffer ) FREERTOS_SYSTEM_CALL;
size_t MPU_xStreamBufferSpacesAvailable( StreamBufferHandle_t xStreamBuffer ) FREERTOS_SYSTEM_CALL;
size_t MPU_xStreamBufferBytesAvailable( StreamBufferHandle_t xStreamBuffer ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xStreamBufferSetTriggerLevel( StreamBufferHandle_t xStreamBuffer,
size_t xTriggerLevel ) FREERTOS_SYSTEM_CALL;
size_t MPU_xStreamBufferNextMessageLengthBytes( StreamBufferHandle_t xStreamBuffer ) FREERTOS_SYSTEM_CALL;
/* Privileged only wrappers for Stream Buffer APIs. These are needed so that
* the application can use opaque handles maintained in mpu_wrappers.c
* with all the APIs. */
#if ( configUSE_MPU_WRAPPERS_V1 == 1 )
StreamBufferHandle_t MPU_xStreamBufferGenericCreate( size_t xBufferSizeBytes,
size_t xTriggerLevelBytes,
BaseType_t xStreamBufferType,
StreamBufferCallbackFunction_t pxSendCompletedCallback,
StreamBufferCallbackFunction_t pxReceiveCompletedCallback ) FREERTOS_SYSTEM_CALL;
StreamBufferHandle_t MPU_xStreamBufferGenericCreateStatic( size_t xBufferSizeBytes,
size_t xTriggerLevelBytes,
BaseType_t xStreamBufferType,
uint8_t * const pucStreamBufferStorageArea,
StaticStreamBuffer_t * const pxStaticStreamBuffer,
StreamBufferCallbackFunction_t pxSendCompletedCallback,
StreamBufferCallbackFunction_t pxReceiveCompletedCallback ) FREERTOS_SYSTEM_CALL;
void MPU_vStreamBufferDelete( StreamBufferHandle_t xStreamBuffer ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xStreamBufferReset( StreamBufferHandle_t xStreamBuffer ) FREERTOS_SYSTEM_CALL;
#else /* #if ( configUSE_MPU_WRAPPERS_V1 == 1 ) */
StreamBufferHandle_t MPU_xStreamBufferGenericCreate( size_t xBufferSizeBytes,
size_t xTriggerLevelBytes,
BaseType_t xStreamBufferType,
StreamBufferCallbackFunction_t pxSendCompletedCallback,
StreamBufferCallbackFunction_t pxReceiveCompletedCallback ) PRIVILEGED_FUNCTION;
StreamBufferHandle_t MPU_xStreamBufferGenericCreateStatic( size_t xBufferSizeBytes,
size_t xTriggerLevelBytes,
BaseType_t xStreamBufferType,
uint8_t * const pucStreamBufferStorageArea,
StaticStreamBuffer_t * const pxStaticStreamBuffer,
StreamBufferCallbackFunction_t pxSendCompletedCallback,
StreamBufferCallbackFunction_t pxReceiveCompletedCallback ) PRIVILEGED_FUNCTION;
void MPU_vStreamBufferDelete( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION;
BaseType_t MPU_xStreamBufferReset( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION;
#endif /* #if ( configUSE_MPU_WRAPPERS_V1 == 1 ) */
BaseType_t MPU_xStreamBufferGetStaticBuffers( StreamBufferHandle_t xStreamBuffers,
uint8_t * ppucStreamBufferStorageArea,
StaticStreamBuffer_t * ppxStaticStreamBuffer ) PRIVILEGED_FUNCTION;
size_t MPU_xStreamBufferSendFromISR( StreamBufferHandle_t xStreamBuffer,
const void * pvTxData,
size_t xDataLengthBytes,
BaseType_t * const pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
size_t MPU_xStreamBufferReceiveFromISR( StreamBufferHandle_t xStreamBuffer,
void * pvRxData,
size_t xBufferLengthBytes,
BaseType_t * const pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
BaseType_t MPU_xStreamBufferSendCompletedFromISR( StreamBufferHandle_t xStreamBuffer,
BaseType_t * pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
BaseType_t MPU_xStreamBufferReceiveCompletedFromISR( StreamBufferHandle_t xStreamBuffer,
BaseType_t * pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
BaseType_t MPU_xStreamBufferResetFromISR( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION;
#endif /* MPU_PROTOTYPES_H */
vendor/FreeRTOS-Kernel/include/mpu_syscall_numbers.h
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/*
* FreeRTOS Kernel V11.3.0
* 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 MPU_SYSCALL_NUMBERS_H
#define MPU_SYSCALL_NUMBERS_H
/* Numbers assigned to various system calls. */
#define SYSTEM_CALL_xTaskGenericNotify 0
#define SYSTEM_CALL_xTaskGenericNotifyWait 1
#define SYSTEM_CALL_xTimerGenericCommandFromTask 2
#define SYSTEM_CALL_xEventGroupWaitBits 3
#define SYSTEM_CALL_xTaskDelayUntil 4
#define SYSTEM_CALL_xTaskAbortDelay 5
#define SYSTEM_CALL_vTaskDelay 6
#define SYSTEM_CALL_uxTaskPriorityGet 7
#define SYSTEM_CALL_eTaskGetState 8
#define SYSTEM_CALL_vTaskGetInfo 9
#define SYSTEM_CALL_xTaskGetIdleTaskHandle 10
#define SYSTEM_CALL_vTaskSuspend 11
#define SYSTEM_CALL_vTaskResume 12
#define SYSTEM_CALL_xTaskGetTickCount 13
#define SYSTEM_CALL_uxTaskGetNumberOfTasks 14
#define SYSTEM_CALL_ulTaskGetRunTimeCounter 15
#define SYSTEM_CALL_ulTaskGetRunTimePercent 16
#define SYSTEM_CALL_ulTaskGetIdleRunTimePercent 17
#define SYSTEM_CALL_ulTaskGetIdleRunTimeCounter 18
#define SYSTEM_CALL_vTaskSetApplicationTaskTag 19
#define SYSTEM_CALL_xTaskGetApplicationTaskTag 20
#define SYSTEM_CALL_vTaskSetThreadLocalStoragePointer 21
#define SYSTEM_CALL_pvTaskGetThreadLocalStoragePointer 22
#define SYSTEM_CALL_uxTaskGetSystemState 23
#define SYSTEM_CALL_uxTaskGetStackHighWaterMark 24
#define SYSTEM_CALL_uxTaskGetStackHighWaterMark2 25
#define SYSTEM_CALL_xTaskGetCurrentTaskHandle 26
#define SYSTEM_CALL_xTaskGetSchedulerState 27
#define SYSTEM_CALL_vTaskSetTimeOutState 28
#define SYSTEM_CALL_xTaskCheckForTimeOut 29
#define SYSTEM_CALL_ulTaskGenericNotifyTake 30
#define SYSTEM_CALL_xTaskGenericNotifyStateClear 31
#define SYSTEM_CALL_ulTaskGenericNotifyValueClear 32
#define SYSTEM_CALL_xQueueGenericSend 33
#define SYSTEM_CALL_uxQueueMessagesWaiting 34
#define SYSTEM_CALL_uxQueueSpacesAvailable 35
#define SYSTEM_CALL_xQueueReceive 36
#define SYSTEM_CALL_xQueuePeek 37
#define SYSTEM_CALL_xQueueSemaphoreTake 38
#define SYSTEM_CALL_xQueueGetMutexHolder 39
#define SYSTEM_CALL_xQueueTakeMutexRecursive 40
#define SYSTEM_CALL_xQueueGiveMutexRecursive 41
#define SYSTEM_CALL_xQueueSelectFromSet 42
#define SYSTEM_CALL_xQueueAddToSet 43
#define SYSTEM_CALL_vQueueAddToRegistry 44
#define SYSTEM_CALL_vQueueUnregisterQueue 45
#define SYSTEM_CALL_pcQueueGetName 46
#define SYSTEM_CALL_pvTimerGetTimerID 47
#define SYSTEM_CALL_vTimerSetTimerID 48
#define SYSTEM_CALL_xTimerIsTimerActive 49
#define SYSTEM_CALL_xTimerGetTimerDaemonTaskHandle 50
#define SYSTEM_CALL_pcTimerGetName 51
#define SYSTEM_CALL_vTimerSetReloadMode 52
#define SYSTEM_CALL_xTimerGetReloadMode 53
#define SYSTEM_CALL_uxTimerGetReloadMode 54
#define SYSTEM_CALL_xTimerGetPeriod 55
#define SYSTEM_CALL_xTimerGetExpiryTime 56
#define SYSTEM_CALL_xEventGroupClearBits 57
#define SYSTEM_CALL_xEventGroupSetBits 58
#define SYSTEM_CALL_xEventGroupSync 59
#define SYSTEM_CALL_uxEventGroupGetNumber 60
#define SYSTEM_CALL_vEventGroupSetNumber 61
#define SYSTEM_CALL_xStreamBufferSend 62
#define SYSTEM_CALL_xStreamBufferReceive 63
#define SYSTEM_CALL_xStreamBufferIsFull 64
#define SYSTEM_CALL_xStreamBufferIsEmpty 65
#define SYSTEM_CALL_xStreamBufferSpacesAvailable 66
#define SYSTEM_CALL_xStreamBufferBytesAvailable 67
#define SYSTEM_CALL_xStreamBufferSetTriggerLevel 68
#define SYSTEM_CALL_xStreamBufferNextMessageLengthBytes 69
#define NUM_SYSTEM_CALLS 70 /* Total number of system calls. */
#endif /* MPU_SYSCALL_NUMBERS_H */
vendor/FreeRTOS-Kernel/include/mpu_wrappers.h
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/*
* FreeRTOS Kernel V11.3.0
* 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 MPU_WRAPPERS_H
#define MPU_WRAPPERS_H
/* This file redefines API functions to be called through a wrapper macro, but
* only for ports that are using the MPU. */
#if ( portUSING_MPU_WRAPPERS == 1 )
/* MPU_WRAPPERS_INCLUDED_FROM_API_FILE will be defined when this file is
* included from queue.c or task.c to prevent it from having an effect within
* those files. */
#ifndef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
/*
* Map standard (non MPU) API functions to equivalents that start
* "MPU_". This will cause the application code to call the MPU_
* version, which wraps the non-MPU version with privilege promoting
* then demoting code, so the kernel code always runs will full
* privileges.
*/
/* Map standard task.h API functions to the MPU equivalents. */
#define vTaskDelay MPU_vTaskDelay
#define xTaskDelayUntil MPU_xTaskDelayUntil
#define xTaskAbortDelay MPU_xTaskAbortDelay
#define uxTaskPriorityGet MPU_uxTaskPriorityGet
#define eTaskGetState MPU_eTaskGetState
#define vTaskGetInfo MPU_vTaskGetInfo
#define vTaskSuspend MPU_vTaskSuspend
#define vTaskResume MPU_vTaskResume
#define xTaskGetTickCount MPU_xTaskGetTickCount
#define uxTaskGetNumberOfTasks MPU_uxTaskGetNumberOfTasks
#define uxTaskGetStackHighWaterMark MPU_uxTaskGetStackHighWaterMark
#define uxTaskGetStackHighWaterMark2 MPU_uxTaskGetStackHighWaterMark2
#define vTaskSetApplicationTaskTag MPU_vTaskSetApplicationTaskTag
#define xTaskGetApplicationTaskTag MPU_xTaskGetApplicationTaskTag
#define vTaskSetThreadLocalStoragePointer MPU_vTaskSetThreadLocalStoragePointer
#define pvTaskGetThreadLocalStoragePointer MPU_pvTaskGetThreadLocalStoragePointer
#define xTaskGetIdleTaskHandle MPU_xTaskGetIdleTaskHandle
#define uxTaskGetSystemState MPU_uxTaskGetSystemState
#define ulTaskGetIdleRunTimeCounter MPU_ulTaskGetIdleRunTimeCounter
#define ulTaskGetIdleRunTimePercent MPU_ulTaskGetIdleRunTimePercent
#define xTaskGenericNotify MPU_xTaskGenericNotify
#define xTaskGenericNotifyWait MPU_xTaskGenericNotifyWait
#define ulTaskGenericNotifyTake MPU_ulTaskGenericNotifyTake
#define xTaskGenericNotifyStateClear MPU_xTaskGenericNotifyStateClear
#define ulTaskGenericNotifyValueClear MPU_ulTaskGenericNotifyValueClear
#define vTaskSetTimeOutState MPU_vTaskSetTimeOutState
#define xTaskCheckForTimeOut MPU_xTaskCheckForTimeOut
#define xTaskGetCurrentTaskHandle MPU_xTaskGetCurrentTaskHandle
#define xTaskGetSchedulerState MPU_xTaskGetSchedulerState
#if ( configUSE_MPU_WRAPPERS_V1 == 0 )
#define ulTaskGetRunTimeCounter MPU_ulTaskGetRunTimeCounter
#define ulTaskGetRunTimePercent MPU_ulTaskGetRunTimePercent
#endif /* #if ( configUSE_MPU_WRAPPERS_V1 == 0 ) */
/* Privileged only wrappers for Task APIs. These are needed so that
* the application can use opaque handles maintained in mpu_wrappers.c
* with all the APIs. */
#if ( configUSE_MPU_WRAPPERS_V1 == 1 )
/* These are not needed in v2 because they do not take a task
* handle and therefore, no lookup is needed. Needed in v1 because
* these are available as system calls in v1. */
#define vTaskGetRunTimeStatistics MPU_vTaskGetRunTimeStatistics
#define vTaskListTasks MPU_vTaskListTasks
#define vTaskSuspendAll MPU_vTaskSuspendAll
#define xTaskCatchUpTicks MPU_xTaskCatchUpTicks
#define xTaskResumeAll MPU_xTaskResumeAll
#endif /* #if ( configUSE_MPU_WRAPPERS_V1 == 1 ) */
#define xTaskCreate MPU_xTaskCreate
#define xTaskCreateStatic MPU_xTaskCreateStatic
#define vTaskDelete MPU_vTaskDelete
#define vTaskPrioritySet MPU_vTaskPrioritySet
#define xTaskGetHandle MPU_xTaskGetHandle
#define xTaskCallApplicationTaskHook MPU_xTaskCallApplicationTaskHook
#if ( configUSE_MPU_WRAPPERS_V1 == 0 )
#define pcTaskGetName MPU_pcTaskGetName
#define xTaskCreateRestricted MPU_xTaskCreateRestricted
#define xTaskCreateRestrictedStatic MPU_xTaskCreateRestrictedStatic
#define vTaskAllocateMPURegions MPU_vTaskAllocateMPURegions
#define xTaskGetStaticBuffers MPU_xTaskGetStaticBuffers
#define uxTaskPriorityGetFromISR MPU_uxTaskPriorityGetFromISR
#define uxTaskBasePriorityGet MPU_uxTaskBasePriorityGet
#define uxTaskBasePriorityGetFromISR MPU_uxTaskBasePriorityGetFromISR
#define xTaskResumeFromISR MPU_xTaskResumeFromISR
#define xTaskGetApplicationTaskTagFromISR MPU_xTaskGetApplicationTaskTagFromISR
#define xTaskGenericNotifyFromISR MPU_xTaskGenericNotifyFromISR
#define vTaskGenericNotifyGiveFromISR MPU_vTaskGenericNotifyGiveFromISR
#endif /* #if ( configUSE_MPU_WRAPPERS_V1 == 0 ) */
/* Map standard queue.h API functions to the MPU equivalents. */
#define xQueueGenericSend MPU_xQueueGenericSend
#define xQueueReceive MPU_xQueueReceive
#define xQueuePeek MPU_xQueuePeek
#define xQueueSemaphoreTake MPU_xQueueSemaphoreTake
#define uxQueueMessagesWaiting MPU_uxQueueMessagesWaiting
#define uxQueueSpacesAvailable MPU_uxQueueSpacesAvailable
#define xQueueGetMutexHolder MPU_xQueueGetMutexHolder
#define xQueueTakeMutexRecursive MPU_xQueueTakeMutexRecursive
#define xQueueGiveMutexRecursive MPU_xQueueGiveMutexRecursive
#define xQueueAddToSet MPU_xQueueAddToSet
#define xQueueSelectFromSet MPU_xQueueSelectFromSet
#if ( configQUEUE_REGISTRY_SIZE > 0 )
#define vQueueAddToRegistry MPU_vQueueAddToRegistry
#define vQueueUnregisterQueue MPU_vQueueUnregisterQueue
#define pcQueueGetName MPU_pcQueueGetName
#endif /* #if ( configQUEUE_REGISTRY_SIZE > 0 ) */
/* Privileged only wrappers for Queue APIs. These are needed so that
* the application can use opaque handles maintained in mpu_wrappers.c
* with all the APIs. */
#define vQueueDelete MPU_vQueueDelete
#define xQueueCreateMutex MPU_xQueueCreateMutex
#define xQueueCreateMutexStatic MPU_xQueueCreateMutexStatic
#define xQueueCreateCountingSemaphore MPU_xQueueCreateCountingSemaphore
#define xQueueCreateCountingSemaphoreStatic MPU_xQueueCreateCountingSemaphoreStatic
#define xQueueGenericCreate MPU_xQueueGenericCreate
#define xQueueGenericCreateStatic MPU_xQueueGenericCreateStatic
#define xQueueGenericReset MPU_xQueueGenericReset
#define xQueueCreateSet MPU_xQueueCreateSet
#define xQueueCreateSetStatic MPU_xQueueCreateSetStatic
#define xQueueRemoveFromSet MPU_xQueueRemoveFromSet
#if ( configUSE_MPU_WRAPPERS_V1 == 0 )
#define xQueueGenericGetStaticBuffers MPU_xQueueGenericGetStaticBuffers
#define xQueueGenericSendFromISR MPU_xQueueGenericSendFromISR
#define xQueueGiveFromISR MPU_xQueueGiveFromISR
#define xQueuePeekFromISR MPU_xQueuePeekFromISR
#define xQueueReceiveFromISR MPU_xQueueReceiveFromISR
#define xQueueIsQueueEmptyFromISR MPU_xQueueIsQueueEmptyFromISR
#define xQueueIsQueueFullFromISR MPU_xQueueIsQueueFullFromISR
#define uxQueueMessagesWaitingFromISR MPU_uxQueueMessagesWaitingFromISR
#define xQueueGetMutexHolderFromISR MPU_xQueueGetMutexHolderFromISR
#define xQueueSelectFromSetFromISR MPU_xQueueSelectFromSetFromISR
#endif /* if ( configUSE_MPU_WRAPPERS_V1 == 0 ) */
/* Map standard timer.h API functions to the MPU equivalents. */
#define pvTimerGetTimerID MPU_pvTimerGetTimerID
#define vTimerSetTimerID MPU_vTimerSetTimerID
#define xTimerIsTimerActive MPU_xTimerIsTimerActive
#define xTimerGetTimerDaemonTaskHandle MPU_xTimerGetTimerDaemonTaskHandle
#define xTimerGenericCommandFromTask MPU_xTimerGenericCommandFromTask
#define pcTimerGetName MPU_pcTimerGetName
#define vTimerSetReloadMode MPU_vTimerSetReloadMode
#define uxTimerGetReloadMode MPU_uxTimerGetReloadMode
#define xTimerGetPeriod MPU_xTimerGetPeriod
#define xTimerGetExpiryTime MPU_xTimerGetExpiryTime
#if ( configUSE_MPU_WRAPPERS_V1 == 0 )
#define xTimerGetReloadMode MPU_xTimerGetReloadMode
#endif /* #if ( configUSE_MPU_WRAPPERS_V1 == 0 ) */
/* Privileged only wrappers for Timer APIs. These are needed so that
* the application can use opaque handles maintained in mpu_wrappers.c
* with all the APIs. */
#if ( configUSE_MPU_WRAPPERS_V1 == 0 )
#define xTimerCreate MPU_xTimerCreate
#define xTimerCreateStatic MPU_xTimerCreateStatic
#define xTimerGetStaticBuffer MPU_xTimerGetStaticBuffer
#define xTimerGenericCommandFromISR MPU_xTimerGenericCommandFromISR
#endif /* #if ( configUSE_MPU_WRAPPERS_V1 == 0 ) */
/* Map standard event_group.h API functions to the MPU equivalents. */
#define xEventGroupWaitBits MPU_xEventGroupWaitBits
#define xEventGroupClearBits MPU_xEventGroupClearBits
#define xEventGroupSetBits MPU_xEventGroupSetBits
#define xEventGroupSync MPU_xEventGroupSync
#if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) )
#define uxEventGroupGetNumber MPU_uxEventGroupGetNumber
#define vEventGroupSetNumber MPU_vEventGroupSetNumber
#endif /* #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) ) */
/* Privileged only wrappers for Event Group APIs. These are needed so that
* the application can use opaque handles maintained in mpu_wrappers.c
* with all the APIs. */
#define xEventGroupCreate MPU_xEventGroupCreate
#define xEventGroupCreateStatic MPU_xEventGroupCreateStatic
#define vEventGroupDelete MPU_vEventGroupDelete
#if ( configUSE_MPU_WRAPPERS_V1 == 0 )
#define xEventGroupGetStaticBuffer MPU_xEventGroupGetStaticBuffer
#define xEventGroupClearBitsFromISR MPU_xEventGroupClearBitsFromISR
#define xEventGroupSetBitsFromISR MPU_xEventGroupSetBitsFromISR
#define xEventGroupGetBitsFromISR MPU_xEventGroupGetBitsFromISR
#endif /* #if ( configUSE_MPU_WRAPPERS_V1 == 0 ) */
/* Map standard message/stream_buffer.h API functions to the MPU
* equivalents. */
#define xStreamBufferSend MPU_xStreamBufferSend
#define xStreamBufferReceive MPU_xStreamBufferReceive
#define xStreamBufferIsFull MPU_xStreamBufferIsFull
#define xStreamBufferIsEmpty MPU_xStreamBufferIsEmpty
#define xStreamBufferSpacesAvailable MPU_xStreamBufferSpacesAvailable
#define xStreamBufferBytesAvailable MPU_xStreamBufferBytesAvailable
#define xStreamBufferSetTriggerLevel MPU_xStreamBufferSetTriggerLevel
#define xStreamBufferNextMessageLengthBytes MPU_xStreamBufferNextMessageLengthBytes
/* Privileged only wrappers for Stream Buffer APIs. These are needed so that
* the application can use opaque handles maintained in mpu_wrappers.c
* with all the APIs. */
#define xStreamBufferGenericCreate MPU_xStreamBufferGenericCreate
#define xStreamBufferGenericCreateStatic MPU_xStreamBufferGenericCreateStatic
#define vStreamBufferDelete MPU_vStreamBufferDelete
#define xStreamBufferReset MPU_xStreamBufferReset
#if ( configUSE_MPU_WRAPPERS_V1 == 0 )
#define xStreamBufferGetStaticBuffers MPU_xStreamBufferGetStaticBuffers
#define xStreamBufferSendFromISR MPU_xStreamBufferSendFromISR
#define xStreamBufferReceiveFromISR MPU_xStreamBufferReceiveFromISR
#define xStreamBufferSendCompletedFromISR MPU_xStreamBufferSendCompletedFromISR
#define xStreamBufferReceiveCompletedFromISR MPU_xStreamBufferReceiveCompletedFromISR
#define xStreamBufferResetFromISR MPU_xStreamBufferResetFromISR
#endif /* #if ( configUSE_MPU_WRAPPERS_V1 == 0 ) */
#if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) )
#define vGrantAccessToTask( xTask, xTaskToGrantAccess ) vGrantAccessToKernelObject( ( xTask ), ( int32_t ) ( xTaskToGrantAccess ) )
#define vRevokeAccessToTask( xTask, xTaskToRevokeAccess ) vRevokeAccessToKernelObject( ( xTask ), ( int32_t ) ( xTaskToRevokeAccess ) )
#define vGrantAccessToSemaphore( xTask, xSemaphoreToGrantAccess ) vGrantAccessToKernelObject( ( xTask ), ( int32_t ) ( xSemaphoreToGrantAccess ) )
#define vRevokeAccessToSemaphore( xTask, xSemaphoreToRevokeAccess ) vRevokeAccessToKernelObject( ( xTask ), ( int32_t ) ( xSemaphoreToRevokeAccess ) )
#define vGrantAccessToQueue( xTask, xQueueToGrantAccess ) vGrantAccessToKernelObject( ( xTask ), ( int32_t ) ( xQueueToGrantAccess ) )
#define vRevokeAccessToQueue( xTask, xQueueToRevokeAccess ) vRevokeAccessToKernelObject( ( xTask ), ( int32_t ) ( xQueueToRevokeAccess ) )
#define vGrantAccessToQueueSet( xTask, xQueueSetToGrantAccess ) vGrantAccessToKernelObject( ( xTask ), ( int32_t ) ( xQueueSetToGrantAccess ) )
#define vRevokeAccessToQueueSet( xTask, xQueueSetToRevokeAccess ) vRevokeAccessToKernelObject( ( xTask ), ( int32_t ) ( xQueueSetToRevokeAccess ) )
#define vGrantAccessToEventGroup( xTask, xEventGroupToGrantAccess ) vGrantAccessToKernelObject( ( xTask ), ( int32_t ) ( xEventGroupToGrantAccess ) )
#define vRevokeAccessToEventGroup( xTask, xEventGroupToRevokeAccess ) vRevokeAccessToKernelObject( ( xTask ), ( int32_t ) ( xEventGroupToRevokeAccess ) )
#define vGrantAccessToStreamBuffer( xTask, xStreamBufferToGrantAccess ) vGrantAccessToKernelObject( ( xTask ), ( int32_t ) ( xStreamBufferToGrantAccess ) )
#define vRevokeAccessToStreamBuffer( xTask, xStreamBufferToRevokeAccess ) vRevokeAccessToKernelObject( ( xTask ), ( int32_t ) ( xStreamBufferToRevokeAccess ) )
#define vGrantAccessToMessageBuffer( xTask, xMessageBufferToGrantAccess ) vGrantAccessToKernelObject( ( xTask ), ( int32_t ) ( xMessageBufferToGrantAccess ) )
#define vRevokeAccessToMessageBuffer( xTask, xMessageBufferToRevokeAccess ) vRevokeAccessToKernelObject( ( xTask ), ( int32_t ) ( xMessageBufferToRevokeAccess ) )
#define vGrantAccessToTimer( xTask, xTimerToGrantAccess ) vGrantAccessToKernelObject( ( xTask ), ( int32_t ) ( xTimerToGrantAccess ) )
#define vRevokeAccessToTimer( xTask, xTimerToRevokeAccess ) vRevokeAccessToKernelObject( ( xTask ), ( int32_t ) ( xTimerToRevokeAccess ) )
#endif /* #if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) ) */
#endif /* MPU_WRAPPERS_INCLUDED_FROM_API_FILE */
#define PRIVILEGED_FUNCTION __attribute__( ( section( "privileged_functions" ) ) )
#define PRIVILEGED_DATA __attribute__( ( section( "privileged_data" ) ) )
#define FREERTOS_SYSTEM_CALL __attribute__( ( section( "freertos_system_calls" ) ) )
#else /* portUSING_MPU_WRAPPERS */
#define PRIVILEGED_FUNCTION
#define PRIVILEGED_DATA
#define FREERTOS_SYSTEM_CALL
#endif /* portUSING_MPU_WRAPPERS */
#endif /* MPU_WRAPPERS_H */
vendor/FreeRTOS-Kernel/include/newlib-freertos.h
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/*
* FreeRTOS Kernel V11.3.0
* 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 INC_NEWLIB_FREERTOS_H
#define INC_NEWLIB_FREERTOS_H
/* Note Newlib support has been included by popular demand, but is not
* used by the FreeRTOS maintainers themselves. FreeRTOS is not
* responsible for resulting newlib operation. User must be familiar with
* newlib and must provide system-wide implementations of the necessary
* stubs. Be warned that (at the time of writing) the current newlib design
* implements a system-wide malloc() that must be provided with locks.
*
* See the third party link http://www.nadler.com/embedded/newlibAndFreeRTOS.html
* for additional information. */
#include <reent.h>
#define configUSE_C_RUNTIME_TLS_SUPPORT 1
#ifndef configTLS_BLOCK_TYPE
#define configTLS_BLOCK_TYPE struct _reent
#endif
#ifndef configINIT_TLS_BLOCK
#define configINIT_TLS_BLOCK( xTLSBlock, pxTopOfStack ) _REENT_INIT_PTR( &( xTLSBlock ) )
#endif
#ifndef configSET_TLS_BLOCK
#define configSET_TLS_BLOCK( xTLSBlock ) ( _impure_ptr = &( xTLSBlock ) )
#endif
#ifndef configDEINIT_TLS_BLOCK
#define configDEINIT_TLS_BLOCK( xTLSBlock ) _reclaim_reent( &( xTLSBlock ) )
#endif
#endif /* INC_NEWLIB_FREERTOS_H */
vendor/FreeRTOS-Kernel/include/picolibc-freertos.h
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/*
* FreeRTOS Kernel V11.3.0
* 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 INC_PICOLIBC_FREERTOS_H
#define INC_PICOLIBC_FREERTOS_H
/* Use picolibc TLS support to allocate space for __thread variables,
* initialize them at thread creation and set the TLS context at
* thread switch time.
*
* See the picolibc TLS docs:
* https://github.com/picolibc/picolibc/blob/main/doc/tls.md
* for additional information. */
#include <picotls.h>
#define configUSE_C_RUNTIME_TLS_SUPPORT 1
#define configTLS_BLOCK_TYPE void *
#define picolibcTLS_SIZE ( ( portPOINTER_SIZE_TYPE ) _tls_size() )
#define picolibcSTACK_ALIGNMENT_MASK ( ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK )
#if __PICOLIBC_MAJOR__ > 1 || __PICOLIBC_MINOR__ >= 8
/* Picolibc 1.8 and newer have explicit alignment values provided
* by the _tls_align() inline */
#define picolibcTLS_ALIGNMENT_MASK ( ( portPOINTER_SIZE_TYPE ) ( _tls_align() - 1 ) )
#else
/* For older Picolibc versions, use the general port alignment value */
#define picolibcTLS_ALIGNMENT_MASK ( ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK )
#endif
/* Allocate thread local storage block off the end of the
* stack. The picolibcTLS_SIZE macro returns the size (in
* bytes) of the total TLS area used by the application.
* Calculate the top of stack address. */
#if ( portSTACK_GROWTH < 0 )
#define configINIT_TLS_BLOCK( xTLSBlock, pxTopOfStack ) \
do { \
xTLSBlock = ( void * ) ( ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack ) - \
picolibcTLS_SIZE ) & \
~picolibcTLS_ALIGNMENT_MASK ); \
pxTopOfStack = ( StackType_t * ) ( ( ( ( portPOINTER_SIZE_TYPE ) xTLSBlock ) - 1 ) & \
~picolibcSTACK_ALIGNMENT_MASK ); \
_init_tls( xTLSBlock ); \
} while( 0 )
#else /* portSTACK_GROWTH */
#define configINIT_TLS_BLOCK( xTLSBlock, pxTopOfStack ) \
do { \
xTLSBlock = ( void * ) ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack + \
picolibcTLS_ALIGNMENT_MASK ) & ~picolibcTLS_ALIGNMENT_MASK ); \
pxTopOfStack = ( StackType_t * ) ( ( ( ( ( portPOINTER_SIZE_TYPE ) xTLSBlock ) + \
picolibcTLS_SIZE ) + picolibcSTACK_ALIGNMENT_MASK ) & \
~picolibcSTACK_ALIGNMENT_MASK ); \
_init_tls( xTLSBlock ); \
} while( 0 )
#endif /* portSTACK_GROWTH */
#define configSET_TLS_BLOCK( xTLSBlock ) _set_tls( xTLSBlock )
#define configDEINIT_TLS_BLOCK( xTLSBlock )
#endif /* INC_PICOLIBC_FREERTOS_H */
vendor/FreeRTOS-Kernel/include/portable.h
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/*
* FreeRTOS Kernel V11.3.0
* 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
*
*/
/*-----------------------------------------------------------
* Portable layer API. Each function must be defined for each port.
*----------------------------------------------------------*/
#ifndef PORTABLE_H
#define PORTABLE_H
/* Each FreeRTOS port has a unique portmacro.h header file. Originally a
* pre-processor definition was used to ensure the pre-processor found the correct
* portmacro.h file for the port being used. That scheme was deprecated in favour
* of setting the compiler's include path such that it found the correct
* portmacro.h file - removing the need for the constant and allowing the
* portmacro.h file to be located anywhere in relation to the port being used.
* Purely for reasons of backward compatibility the old method is still valid, but
* to make it clear that new projects should not use it, support for the port
* specific constants has been moved into the deprecated_definitions.h header
* file. */
#include "deprecated_definitions.h"
/* If portENTER_CRITICAL is not defined then including deprecated_definitions.h
* did not result in a portmacro.h header file being included - and it should be
* included here. In this case the path to the correct portmacro.h header file
* must be set in the compiler's include path. */
#ifndef portENTER_CRITICAL
#include "portmacro.h"
#endif
#if portBYTE_ALIGNMENT == 32
#define portBYTE_ALIGNMENT_MASK ( 0x001f )
#elif portBYTE_ALIGNMENT == 16
#define portBYTE_ALIGNMENT_MASK ( 0x000f )
#elif portBYTE_ALIGNMENT == 8
#define portBYTE_ALIGNMENT_MASK ( 0x0007 )
#elif portBYTE_ALIGNMENT == 4
#define portBYTE_ALIGNMENT_MASK ( 0x0003 )
#elif portBYTE_ALIGNMENT == 2
#define portBYTE_ALIGNMENT_MASK ( 0x0001 )
#elif portBYTE_ALIGNMENT == 1
#define portBYTE_ALIGNMENT_MASK ( 0x0000 )
#else /* if portBYTE_ALIGNMENT == 32 */
#error "Invalid portBYTE_ALIGNMENT definition"
#endif /* if portBYTE_ALIGNMENT == 32 */
#ifndef portUSING_MPU_WRAPPERS
#define portUSING_MPU_WRAPPERS 0
#endif
#ifndef portNUM_CONFIGURABLE_REGIONS
#define portNUM_CONFIGURABLE_REGIONS 1
#endif
#ifndef portHAS_STACK_OVERFLOW_CHECKING
#define portHAS_STACK_OVERFLOW_CHECKING 0
#endif
#ifndef portARCH_NAME
#define portARCH_NAME NULL
#endif
#ifndef portBASE_TYPE_ENTER_CRITICAL
#define portBASE_TYPE_ENTER_CRITICAL() taskENTER_CRITICAL()
#endif
#ifndef portBASE_TYPE_EXIT_CRITICAL
#define portBASE_TYPE_EXIT_CRITICAL() taskEXIT_CRITICAL()
#endif
#ifndef configSTACK_DEPTH_TYPE
#define configSTACK_DEPTH_TYPE StackType_t
#endif
#ifndef configSTACK_ALLOCATION_FROM_SEPARATE_HEAP
/* Defaults to 0 for backward compatibility. */
#define configSTACK_ALLOCATION_FROM_SEPARATE_HEAP 0
#endif
#include "mpu_wrappers.h"
/* *INDENT-OFF* */
#ifdef __cplusplus
extern "C" {
#endif
/* *INDENT-ON* */
/*
* Setup the stack of a new task so it is ready to be placed under the
* scheduler control. The registers have to be placed on the stack in
* the order that the port expects to find them.
*
*/
#if ( portUSING_MPU_WRAPPERS == 1 )
#if ( portHAS_STACK_OVERFLOW_CHECKING == 1 )
StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack,
StackType_t * pxEndOfStack,
TaskFunction_t pxCode,
void * pvParameters,
BaseType_t xRunPrivileged,
xMPU_SETTINGS * xMPUSettings ) PRIVILEGED_FUNCTION;
#else
StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack,
TaskFunction_t pxCode,
void * pvParameters,
BaseType_t xRunPrivileged,
xMPU_SETTINGS * xMPUSettings ) PRIVILEGED_FUNCTION;
#endif /* if ( portHAS_STACK_OVERFLOW_CHECKING == 1 ) */
#else /* if ( portUSING_MPU_WRAPPERS == 1 ) */
#if ( portHAS_STACK_OVERFLOW_CHECKING == 1 )
StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack,
StackType_t * pxEndOfStack,
TaskFunction_t pxCode,
void * pvParameters ) PRIVILEGED_FUNCTION;
#else
StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack,
TaskFunction_t pxCode,
void * pvParameters ) PRIVILEGED_FUNCTION;
#endif
#endif /* if ( portUSING_MPU_WRAPPERS == 1 ) */
/* Used by heap_5.c to define the start address and size of each memory region
* that together comprise the total FreeRTOS heap space. */
typedef struct HeapRegion
{
uint8_t * pucStartAddress;
size_t xSizeInBytes;
} HeapRegion_t;
/* Used to pass information about the heap out of vPortGetHeapStats(). */
typedef struct xHeapStats
{
size_t xAvailableHeapSpaceInBytes; /* The total heap size currently available - this is the sum of all the free blocks, not the largest block that can be allocated. */
size_t xSizeOfLargestFreeBlockInBytes; /* The maximum size, in bytes, of all the free blocks within the heap at the time vPortGetHeapStats() is called. */
size_t xSizeOfSmallestFreeBlockInBytes; /* The minimum size, in bytes, of all the free blocks within the heap at the time vPortGetHeapStats() is called. */
size_t xNumberOfFreeBlocks; /* The number of free memory blocks within the heap at the time vPortGetHeapStats() is called. */
size_t xMinimumEverFreeBytesRemaining; /* The minimum amount of total free memory (sum of all free blocks) there has been in the heap since the system booted. */
size_t xNumberOfSuccessfulAllocations; /* The number of calls to pvPortMalloc() that have returned a valid memory block. */
size_t xNumberOfSuccessfulFrees; /* The number of calls to vPortFree() that has successfully freed a block of memory. */
} HeapStats_t;
/*
* Used to define multiple heap regions for use by heap_5.c. This function
* must be called before any calls to pvPortMalloc() - not creating a task,
* queue, semaphore, mutex, software timer, event group, etc. will result in
* pvPortMalloc being called.
*
* pxHeapRegions passes in an array of HeapRegion_t structures - each of which
* defines a region of memory that can be used as the heap. The array is
* terminated by a HeapRegions_t structure that has a size of 0. The region
* with the lowest start address must appear first in the array.
*/
void vPortDefineHeapRegions( const HeapRegion_t * const pxHeapRegions ) PRIVILEGED_FUNCTION;
/*
* Returns a HeapStats_t structure filled with information about the current
* heap state.
*/
void vPortGetHeapStats( HeapStats_t * pxHeapStats );
/*
* Map to the memory management routines required for the port.
*/
void * pvPortMalloc( size_t xWantedSize ) PRIVILEGED_FUNCTION;
void * pvPortCalloc( size_t xNum,
size_t xSize ) PRIVILEGED_FUNCTION;
void vPortFree( void * pv ) PRIVILEGED_FUNCTION;
void vPortInitialiseBlocks( void ) PRIVILEGED_FUNCTION;
size_t xPortGetFreeHeapSize( void ) PRIVILEGED_FUNCTION;
size_t xPortGetMinimumEverFreeHeapSize( void ) PRIVILEGED_FUNCTION;
void xPortResetHeapMinimumEverFreeHeapSize( void ) PRIVILEGED_FUNCTION;
#if ( configSTACK_ALLOCATION_FROM_SEPARATE_HEAP == 1 )
void * pvPortMallocStack( size_t xSize ) PRIVILEGED_FUNCTION;
void vPortFreeStack( void * pv ) PRIVILEGED_FUNCTION;
#else
#define pvPortMallocStack pvPortMalloc
#define vPortFreeStack vPortFree
#endif
/*
* This function resets the internal state of the heap module. It must be called
* by the application before restarting the scheduler.
*/
void vPortHeapResetState( void ) PRIVILEGED_FUNCTION;
#if ( configUSE_MALLOC_FAILED_HOOK == 1 )
/**
* task.h
* @code{c}
* void vApplicationMallocFailedHook( void )
* @endcode
*
* This hook function is called when allocation failed.
*/
void vApplicationMallocFailedHook( void );
#endif
/*
* Setup the hardware ready for the scheduler to take control. This generally
* sets up a tick interrupt and sets timers for the correct tick frequency.
*/
BaseType_t xPortStartScheduler( void ) PRIVILEGED_FUNCTION;
/*
* Undo any hardware/ISR setup that was performed by xPortStartScheduler() so
* the hardware is left in its original condition after the scheduler stops
* executing.
*/
void vPortEndScheduler( void ) PRIVILEGED_FUNCTION;
/*
* The structures and methods of manipulating the MPU are contained within the
* port layer.
*
* Fills the xMPUSettings structure with the memory region information
* contained in xRegions.
*/
#if ( portUSING_MPU_WRAPPERS == 1 )
struct xMEMORY_REGION;
void vPortStoreTaskMPUSettings( xMPU_SETTINGS * xMPUSettings,
const struct xMEMORY_REGION * const xRegions,
StackType_t * pxBottomOfStack,
configSTACK_DEPTH_TYPE uxStackDepth ) PRIVILEGED_FUNCTION;
#endif
/**
* @brief Checks if the calling task is authorized to access the given buffer.
*
* @param pvBuffer The buffer which the calling task wants to access.
* @param ulBufferLength The length of the pvBuffer.
* @param ulAccessRequested The permissions that the calling task wants.
*
* @return pdTRUE if the calling task is authorized to access the buffer,
* pdFALSE otherwise.
*/
#if ( portUSING_MPU_WRAPPERS == 1 )
BaseType_t xPortIsAuthorizedToAccessBuffer( const void * pvBuffer,
uint32_t ulBufferLength,
uint32_t ulAccessRequested ) PRIVILEGED_FUNCTION;
#endif
/**
* @brief Checks if the calling task is authorized to access the given kernel object.
*
* @param lInternalIndexOfKernelObject The index of the kernel object in the kernel
* object handle pool.
*
* @return pdTRUE if the calling task is authorized to access the kernel object,
* pdFALSE otherwise.
*/
#if ( ( portUSING_MPU_WRAPPERS == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) )
BaseType_t xPortIsAuthorizedToAccessKernelObject( int32_t lInternalIndexOfKernelObject ) PRIVILEGED_FUNCTION;
#endif
/* *INDENT-OFF* */
#ifdef __cplusplus
}
#endif
/* *INDENT-ON* */
#endif /* PORTABLE_H */
vendor/FreeRTOS-Kernel/include/projdefs.h
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/*
* FreeRTOS Kernel V11.3.0
* 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 PROJDEFS_H
#define PROJDEFS_H
/*
* Defines the prototype to which task functions must conform. Defined in this
* file to ensure the type is known before portable.h is included.
*/
typedef void (* TaskFunction_t)( void * arg );
/* Converts a time in milliseconds to a time in ticks. This macro can be
* overridden by a macro of the same name defined in FreeRTOSConfig.h in case the
* definition here is not suitable for your application. */
#ifndef pdMS_TO_TICKS
#define pdMS_TO_TICKS( xTimeInMs ) ( ( TickType_t ) ( ( ( uint64_t ) ( xTimeInMs ) * ( uint64_t ) configTICK_RATE_HZ ) / ( uint64_t ) 1000U ) )
#endif
/* Converts a time in ticks to a time in milliseconds. This macro can be
* overridden by a macro of the same name defined in FreeRTOSConfig.h in case the
* definition here is not suitable for your application. */
#ifndef pdTICKS_TO_MS
#define pdTICKS_TO_MS( xTimeInTicks ) ( ( TickType_t ) ( ( ( uint64_t ) ( xTimeInTicks ) * ( uint64_t ) 1000U ) / ( uint64_t ) configTICK_RATE_HZ ) )
#endif
#define pdFALSE ( ( BaseType_t ) 0 )
#define pdTRUE ( ( BaseType_t ) 1 )
#define pdFALSE_SIGNED ( ( BaseType_t ) 0 )
#define pdTRUE_SIGNED ( ( BaseType_t ) 1 )
#define pdFALSE_UNSIGNED ( ( UBaseType_t ) 0 )
#define pdTRUE_UNSIGNED ( ( UBaseType_t ) 1 )
#define pdPASS ( pdTRUE )
#define pdFAIL ( pdFALSE )
#define errQUEUE_EMPTY ( ( BaseType_t ) 0 )
#define errQUEUE_FULL ( ( BaseType_t ) 0 )
/* FreeRTOS error definitions. */
#define errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY ( -1 )
#define errQUEUE_BLOCKED ( -4 )
#define errQUEUE_YIELD ( -5 )
/* Macros used for basic data corruption checks. */
#ifndef configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES
#define configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES 0
#endif
#if ( configTICK_TYPE_WIDTH_IN_BITS == TICK_TYPE_WIDTH_16_BITS )
#define pdINTEGRITY_CHECK_VALUE 0x5a5a
#elif ( configTICK_TYPE_WIDTH_IN_BITS == TICK_TYPE_WIDTH_32_BITS )
#define pdINTEGRITY_CHECK_VALUE 0x5a5a5a5aUL
#elif ( configTICK_TYPE_WIDTH_IN_BITS == TICK_TYPE_WIDTH_64_BITS )
#define pdINTEGRITY_CHECK_VALUE 0x5a5a5a5a5a5a5a5aULL
#else
#error configTICK_TYPE_WIDTH_IN_BITS set to unsupported tick type width.
#endif
/* The following errno values are used by FreeRTOS+ components, not FreeRTOS
* itself. */
#define pdFREERTOS_ERRNO_NONE 0 /* No errors */
#define pdFREERTOS_ERRNO_ENOENT 2 /* No such file or directory */
#define pdFREERTOS_ERRNO_EINTR 4 /* Interrupted system call */
#define pdFREERTOS_ERRNO_EIO 5 /* I/O error */
#define pdFREERTOS_ERRNO_ENXIO 6 /* No such device or address */
#define pdFREERTOS_ERRNO_EBADF 9 /* Bad file number */
#define pdFREERTOS_ERRNO_EAGAIN 11 /* No more processes */
#define pdFREERTOS_ERRNO_EWOULDBLOCK 11 /* Operation would block */
#define pdFREERTOS_ERRNO_ENOMEM 12 /* Not enough memory */
#define pdFREERTOS_ERRNO_EACCES 13 /* Permission denied */
#define pdFREERTOS_ERRNO_EFAULT 14 /* Bad address */
#define pdFREERTOS_ERRNO_EBUSY 16 /* Mount device busy */
#define pdFREERTOS_ERRNO_EEXIST 17 /* File exists */
#define pdFREERTOS_ERRNO_EXDEV 18 /* Cross-device link */
#define pdFREERTOS_ERRNO_ENODEV 19 /* No such device */
#define pdFREERTOS_ERRNO_ENOTDIR 20 /* Not a directory */
#define pdFREERTOS_ERRNO_EISDIR 21 /* Is a directory */
#define pdFREERTOS_ERRNO_EINVAL 22 /* Invalid argument */
#define pdFREERTOS_ERRNO_ENOSPC 28 /* No space left on device */
#define pdFREERTOS_ERRNO_ESPIPE 29 /* Illegal seek */
#define pdFREERTOS_ERRNO_EROFS 30 /* Read only file system */
#define pdFREERTOS_ERRNO_EUNATCH 42 /* Protocol driver not attached */
#define pdFREERTOS_ERRNO_EBADE 50 /* Invalid exchange */
#define pdFREERTOS_ERRNO_EFTYPE 79 /* Inappropriate file type or format */
#define pdFREERTOS_ERRNO_ENMFILE 89 /* No more files */
#define pdFREERTOS_ERRNO_ENOTEMPTY 90 /* Directory not empty */
#define pdFREERTOS_ERRNO_ENAMETOOLONG 91 /* File or path name too long */
#define pdFREERTOS_ERRNO_EOPNOTSUPP 95 /* Operation not supported on transport endpoint */
#define pdFREERTOS_ERRNO_EAFNOSUPPORT 97 /* Address family not supported by protocol */
#define pdFREERTOS_ERRNO_ENOBUFS 105 /* No buffer space available */
#define pdFREERTOS_ERRNO_ENOPROTOOPT 109 /* Protocol not available */
#define pdFREERTOS_ERRNO_EADDRINUSE 112 /* Address already in use */
#define pdFREERTOS_ERRNO_ETIMEDOUT 116 /* Connection timed out */
#define pdFREERTOS_ERRNO_EINPROGRESS 119 /* Connection already in progress */
#define pdFREERTOS_ERRNO_EALREADY 120 /* Socket already connected */
#define pdFREERTOS_ERRNO_EADDRNOTAVAIL 125 /* Address not available */
#define pdFREERTOS_ERRNO_EISCONN 127 /* Socket is already connected */
#define pdFREERTOS_ERRNO_ENOTCONN 128 /* Socket is not connected */
#define pdFREERTOS_ERRNO_ENOMEDIUM 135 /* No medium inserted */
#define pdFREERTOS_ERRNO_EILSEQ 138 /* An invalid UTF-16 sequence was encountered. */
#define pdFREERTOS_ERRNO_ECANCELED 140 /* Operation canceled. */
/* The following endian values are used by FreeRTOS+ components, not FreeRTOS
* itself. */
#define pdFREERTOS_LITTLE_ENDIAN 0
#define pdFREERTOS_BIG_ENDIAN 1
/* Re-defining endian values for generic naming. */
#define pdLITTLE_ENDIAN pdFREERTOS_LITTLE_ENDIAN
#define pdBIG_ENDIAN pdFREERTOS_BIG_ENDIAN
#endif /* PROJDEFS_H */
vendor/FreeRTOS-Kernel/include/queue.h
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vendor/FreeRTOS-Kernel/include/stack_macros.h
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/*
* FreeRTOS Kernel V11.3.0
* 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 STACK_MACROS_H
#define STACK_MACROS_H
/*
* Call the stack overflow hook function if the stack of the task being swapped
* out is currently overflowed, or looks like it might have overflowed in the
* past.
*
* Setting configCHECK_FOR_STACK_OVERFLOW to 1 will cause the macro to check
* the current stack state only - comparing the current top of stack value to
* the stack limit. Setting configCHECK_FOR_STACK_OVERFLOW to greater than 1
* will also cause the last few stack bytes to be checked to ensure the value
* to which the bytes were set when the task was created have not been
* overwritten. Note this second test does not guarantee that an overflowed
* stack will always be recognised.
*/
/*-----------------------------------------------------------*/
/*
* portSTACK_LIMIT_PADDING is a number of extra words to consider to be in
* use on the stack.
*/
#ifndef portSTACK_LIMIT_PADDING
#define portSTACK_LIMIT_PADDING 0
#endif
/* Stack overflow check is not straight forward to implement for MPU ports
* because of the following reasons:
* 1. The context is stored in TCB and as a result, pxTopOfStack member points
* to the context location in TCB.
* 2. System calls are executed on a separate privileged only stack.
*
* It is still okay because an MPU region is used to protect task stack which
* means task stack overflow will trigger an MPU fault for unprivileged tasks.
* Additionally, architectures with hardware stack overflow checking support
* (such as Armv8-M) will trigger a fault when a task's stack overflows.
*/
#if ( ( configCHECK_FOR_STACK_OVERFLOW == 1 ) && ( portSTACK_GROWTH < 0 ) && ( portUSING_MPU_WRAPPERS != 1 ) )
/* Only the current stack state is to be checked. */
#define taskCHECK_FOR_STACK_OVERFLOW() \
do \
{ \
/* Is the currently saved stack pointer within the stack limit? */ \
if( pxCurrentTCB->pxTopOfStack <= pxCurrentTCB->pxStack + portSTACK_LIMIT_PADDING ) \
{ \
char * pcOverflowTaskName = pxCurrentTCB->pcTaskName; \
vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB, pcOverflowTaskName ); \
} \
} while( 0 )
#endif /* configCHECK_FOR_STACK_OVERFLOW == 1 */
/*-----------------------------------------------------------*/
#if ( ( configCHECK_FOR_STACK_OVERFLOW == 1 ) && ( portSTACK_GROWTH > 0 ) && ( portUSING_MPU_WRAPPERS != 1 ) )
/* Only the current stack state is to be checked. */
#define taskCHECK_FOR_STACK_OVERFLOW() \
do \
{ \
/* Is the currently saved stack pointer within the stack limit? */ \
if( pxCurrentTCB->pxTopOfStack >= pxCurrentTCB->pxEndOfStack - portSTACK_LIMIT_PADDING ) \
{ \
char * pcOverflowTaskName = pxCurrentTCB->pcTaskName; \
vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB, pcOverflowTaskName ); \
} \
} while( 0 )
#endif /* configCHECK_FOR_STACK_OVERFLOW == 1 */
/*-----------------------------------------------------------*/
#if ( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) && ( portSTACK_GROWTH < 0 ) && ( portUSING_MPU_WRAPPERS != 1 ) )
#define taskCHECK_FOR_STACK_OVERFLOW() \
do \
{ \
const uint32_t * const pulStack = ( uint32_t * ) pxCurrentTCB->pxStack; \
const uint32_t ulCheckValue = ( uint32_t ) 0xa5a5a5a5U; \
\
if( ( pxCurrentTCB->pxTopOfStack <= pxCurrentTCB->pxStack + portSTACK_LIMIT_PADDING ) || \
( pulStack[ 0 ] != ulCheckValue ) || \
( pulStack[ 1 ] != ulCheckValue ) || \
( pulStack[ 2 ] != ulCheckValue ) || \
( pulStack[ 3 ] != ulCheckValue ) ) \
{ \
char * pcOverflowTaskName = pxCurrentTCB->pcTaskName; \
vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB, pcOverflowTaskName ); \
} \
} while( 0 )
#endif /* #if( configCHECK_FOR_STACK_OVERFLOW > 1 ) */
/*-----------------------------------------------------------*/
#if ( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) && ( portSTACK_GROWTH > 0 ) && ( portUSING_MPU_WRAPPERS != 1 ) )
#define taskCHECK_FOR_STACK_OVERFLOW() \
do \
{ \
int8_t * pcEndOfStack = ( int8_t * ) pxCurrentTCB->pxEndOfStack; \
static const uint8_t ucExpectedStackBytes[] = { tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \
tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \
tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \
tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \
tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE }; \
\
pcEndOfStack -= sizeof( ucExpectedStackBytes ); \
\
if( ( pxCurrentTCB->pxTopOfStack >= pxCurrentTCB->pxEndOfStack - portSTACK_LIMIT_PADDING ) || \
( memcmp( ( void * ) pcEndOfStack, ( void * ) ucExpectedStackBytes, sizeof( ucExpectedStackBytes ) ) != 0 ) ) \
{ \
char * pcOverflowTaskName = pxCurrentTCB->pcTaskName; \
vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB, pcOverflowTaskName ); \
} \
} while( 0 )
#endif /* #if( configCHECK_FOR_STACK_OVERFLOW > 1 ) */
/*-----------------------------------------------------------*/
/* Remove stack overflow macro if not being used. */
#ifndef taskCHECK_FOR_STACK_OVERFLOW
#define taskCHECK_FOR_STACK_OVERFLOW()
#endif
#endif /* STACK_MACROS_H */
vendor/FreeRTOS-Kernel/include/stream_buffer.h
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vendor/FreeRTOS-Kernel/list.c
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/*
* FreeRTOS Kernel V11.3.0
* 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
*
*/
#include <stdlib.h>
/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
* all the API functions to use the MPU wrappers. That should only be done when
* task.h is included from an application file. */
#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
#include "FreeRTOS.h"
#include "list.h"
/* The MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be
* defined for the header files above, but not in this file, in order to
* generate the correct privileged Vs unprivileged linkage and placement. */
#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
/*-----------------------------------------------------------
* PUBLIC LIST API documented in list.h
*----------------------------------------------------------*/
void vListInitialise( List_t * const pxList )
{
traceENTER_vListInitialise( pxList );
/* The list structure contains a list item which is used to mark the
* end of the list. To initialise the list the list end is inserted
* as the only list entry. */
pxList->pxIndex = ( ListItem_t * ) &( pxList->xListEnd );
listSET_FIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE( &( pxList->xListEnd ) );
/* The list end value is the highest possible value in the list to
* ensure it remains at the end of the list. */
pxList->xListEnd.xItemValue = portMAX_DELAY;
/* The list end next and previous pointers point to itself so we know
* when the list is empty. */
pxList->xListEnd.pxNext = ( ListItem_t * ) &( pxList->xListEnd );
pxList->xListEnd.pxPrevious = ( ListItem_t * ) &( pxList->xListEnd );
/* Initialize the remaining fields of xListEnd when it is a proper ListItem_t */
#if ( configUSE_MINI_LIST_ITEM == 0 )
{
pxList->xListEnd.pvOwner = NULL;
pxList->xListEnd.pxContainer = NULL;
listSET_SECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE( &( pxList->xListEnd ) );
}
#endif
pxList->uxNumberOfItems = ( UBaseType_t ) 0U;
/* Write known values into the list if
* configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */
listSET_LIST_INTEGRITY_CHECK_1_VALUE( pxList );
listSET_LIST_INTEGRITY_CHECK_2_VALUE( pxList );
traceRETURN_vListInitialise();
}
/*-----------------------------------------------------------*/
void vListInitialiseItem( ListItem_t * const pxItem )
{
traceENTER_vListInitialiseItem( pxItem );
/* Make sure the list item is not recorded as being on a list. */
pxItem->pxContainer = NULL;
/* Write known values into the list item if
* configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */
listSET_FIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem );
listSET_SECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem );
traceRETURN_vListInitialiseItem();
}
/*-----------------------------------------------------------*/
void vListInsertEnd( List_t * const pxList,
ListItem_t * const pxNewListItem )
{
ListItem_t * const pxIndex = pxList->pxIndex;
traceENTER_vListInsertEnd( pxList, pxNewListItem );
/* Only effective when configASSERT() is also defined, these tests may catch
* the list data structures being overwritten in memory. They will not catch
* data errors caused by incorrect configuration or use of FreeRTOS. */
listTEST_LIST_INTEGRITY( pxList );
listTEST_LIST_ITEM_INTEGRITY( pxNewListItem );
/* Insert a new list item into pxList, but rather than sort the list,
* makes the new list item the last item to be removed by a call to
* listGET_OWNER_OF_NEXT_ENTRY(). */
pxNewListItem->pxNext = pxIndex;
pxNewListItem->pxPrevious = pxIndex->pxPrevious;
/* Only used during decision coverage testing. */
mtCOVERAGE_TEST_DELAY();
pxIndex->pxPrevious->pxNext = pxNewListItem;
pxIndex->pxPrevious = pxNewListItem;
/* Remember which list the item is in. */
pxNewListItem->pxContainer = pxList;
( pxList->uxNumberOfItems ) = ( UBaseType_t ) ( pxList->uxNumberOfItems + 1U );
traceRETURN_vListInsertEnd();
}
/*-----------------------------------------------------------*/
void vListInsert( List_t * const pxList,
ListItem_t * const pxNewListItem )
{
ListItem_t * pxIterator;
const TickType_t xValueOfInsertion = pxNewListItem->xItemValue;
traceENTER_vListInsert( pxList, pxNewListItem );
/* Only effective when configASSERT() is also defined, these tests may catch
* the list data structures being overwritten in memory. They will not catch
* data errors caused by incorrect configuration or use of FreeRTOS. */
listTEST_LIST_INTEGRITY( pxList );
listTEST_LIST_ITEM_INTEGRITY( pxNewListItem );
/* Insert the new list item into the list, sorted in xItemValue order.
*
* If the list already contains a list item with the same item value then the
* new list item should be placed after it. This ensures that TCBs which are
* stored in ready lists (all of which have the same xItemValue value) get a
* share of the CPU. However, if the xItemValue is the same as the back marker
* the iteration loop below will not end. Therefore the value is checked
* first, and the algorithm slightly modified if necessary. */
if( xValueOfInsertion == portMAX_DELAY )
{
pxIterator = pxList->xListEnd.pxPrevious;
}
else
{
/* *** NOTE ***********************************************************
* If you find your application is crashing here then likely causes are
* listed below. In addition see https://www.freertos.org/Why-FreeRTOS/FAQs for
* more tips, and ensure configASSERT() is defined!
* https://www.FreeRTOS.org/a00110.html#configASSERT
*
* 1) Stack overflow -
* see https://www.FreeRTOS.org/Stacks-and-stack-overflow-checking.html
* 2) Incorrect interrupt priority assignment, especially on Cortex-M
* parts where numerically high priority values denote low actual
* interrupt priorities, which can seem counter intuitive. See
* https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html and the definition
* of configMAX_SYSCALL_INTERRUPT_PRIORITY on
* https://www.FreeRTOS.org/a00110.html
* 3) Calling an API function from within a critical section or when
* the scheduler is suspended, or calling an API function that does
* not end in "FromISR" from an interrupt.
* 4) Using a queue or semaphore before it has been initialised or
* before the scheduler has been started (are interrupts firing
* before vTaskStartScheduler() has been called?).
* 5) If the FreeRTOS port supports interrupt nesting then ensure that
* the priority of the tick interrupt is at or below
* configMAX_SYSCALL_INTERRUPT_PRIORITY.
**********************************************************************/
for( pxIterator = ( ListItem_t * ) &( pxList->xListEnd ); pxIterator->pxNext->xItemValue <= xValueOfInsertion; pxIterator = pxIterator->pxNext )
{
/* There is nothing to do here, just iterating to the wanted
* insertion position.
* IF YOU FIND YOUR CODE STUCK HERE, SEE THE NOTE JUST ABOVE.
*/
}
}
pxNewListItem->pxNext = pxIterator->pxNext;
pxNewListItem->pxNext->pxPrevious = pxNewListItem;
pxNewListItem->pxPrevious = pxIterator;
pxIterator->pxNext = pxNewListItem;
/* Remember which list the item is in. This allows fast removal of the
* item later. */
pxNewListItem->pxContainer = pxList;
( pxList->uxNumberOfItems ) = ( UBaseType_t ) ( pxList->uxNumberOfItems + 1U );
traceRETURN_vListInsert();
}
/*-----------------------------------------------------------*/
UBaseType_t uxListRemove( ListItem_t * const pxItemToRemove )
{
/* The list item knows which list it is in. Obtain the list from the list
* item. */
List_t * const pxList = pxItemToRemove->pxContainer;
traceENTER_uxListRemove( pxItemToRemove );
pxItemToRemove->pxNext->pxPrevious = pxItemToRemove->pxPrevious;
pxItemToRemove->pxPrevious->pxNext = pxItemToRemove->pxNext;
/* Only used during decision coverage testing. */
mtCOVERAGE_TEST_DELAY();
/* Make sure the index is left pointing to a valid item. */
if( pxList->pxIndex == pxItemToRemove )
{
pxList->pxIndex = pxItemToRemove->pxPrevious;
}
else
{
mtCOVERAGE_TEST_MARKER();
}
pxItemToRemove->pxContainer = NULL;
( pxList->uxNumberOfItems ) = ( UBaseType_t ) ( pxList->uxNumberOfItems - 1U );
traceRETURN_uxListRemove( pxList->uxNumberOfItems );
return pxList->uxNumberOfItems;
}
/*-----------------------------------------------------------*/
vendor/FreeRTOS-Kernel/portable/GCC/RISC-V/port.c
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/*
* FreeRTOS Kernel V11.3.0
* 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
*
*/
/*-----------------------------------------------------------
* Implementation of functions defined in portable.h for the RISC-V port.
*----------------------------------------------------------*/
/* Scheduler includes. */
#include "FreeRTOS.h"
#include "task.h"
#include "portmacro.h"
/* Standard includes. */
#include "string.h"
#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 directly in place of configCLINT_BASE_ADDRESS. See www.FreeRTOS.org/Using-FreeRTOS-on-RISC-V.html"
#endif
#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 www.FreeRTOS.org/Using-FreeRTOS-on-RISC-V.html"
#endif
#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 www.FreeRTOS.org/Using-FreeRTOS-on-RISC-V.html"
#endif
/* Let the user override the pre-loading of the initial RA. */
#ifdef configTASK_RETURN_ADDRESS
#define portTASK_RETURN_ADDRESS configTASK_RETURN_ADDRESS
#else
#define portTASK_RETURN_ADDRESS 0
#endif
/* The stack used by interrupt service routines. Set configISR_STACK_SIZE_WORDS
* 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
* 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
* stack that was used by main before the scheduler was started for use as the
* interrupt stack after the scheduler has started. */
#ifdef configISR_STACK_SIZE_WORDS
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 ] );
/* Don't use 0xa5 as the stack fill bytes as that is used by the kernel for
* the task stacks, and so will legitimately appear in many positions within
* the ISR stack. */
#define portISR_STACK_FILL_BYTE 0xee
#else
extern const uint32_t __freertos_irq_stack_top[];
const StackType_t xISRStackTop = ( StackType_t ) __freertos_irq_stack_top;
#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 ) __attribute__( ( weak ) );
/*-----------------------------------------------------------*/
/* Used to program the machine timer compare register. */
uint64_t ullNextTime = 0ULL;
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. */
UBaseType_t const ullMachineTimerCompareRegisterBase = configMTIMECMP_BASE_ADDRESS;
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
* stack checking. A problem in the ISR stack will trigger an assert, not call
* the stack overflow hook function (because the stack overflow hook is specific
* to a task stack, not the ISR stack). */
#if defined( configISR_STACK_SIZE_WORDS ) && ( configCHECK_FOR_STACK_OVERFLOW > 2 )
#warning "This path not tested, or even compiled yet."
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
}; \
#define portCHECK_ISR_STACK() configASSERT( ( memcmp( ( void * ) xISRStack, ( void * ) ucExpectedStackBytes, sizeof( ucExpectedStackBytes ) ) == 0 ) )
#else /* if defined( configISR_STACK_SIZE_WORDS ) && ( configCHECK_FOR_STACK_OVERFLOW > 2 ) */
/* Define the function away. */
#define portCHECK_ISR_STACK()
#endif /* configCHECK_FOR_STACK_OVERFLOW > 2 */
/*-----------------------------------------------------------*/
#if ( configMTIME_BASE_ADDRESS != 0 ) && ( configMTIMECMP_BASE_ADDRESS != 0 )
void vPortSetupTimerInterrupt( void )
{
uint32_t ulCurrentTimeHigh, ulCurrentTimeLow;
volatile uint32_t * const pulTimeHigh = ( volatile uint32_t * const ) ( ( configMTIME_BASE_ADDRESS ) + 4UL ); /* 8-byte type so high 32-bit word is 4 bytes up. */
volatile uint32_t * const pulTimeLow = ( volatile uint32_t * const ) ( configMTIME_BASE_ADDRESS );
volatile uint32_t ulHartId;
__asm volatile ( "csrr %0, mhartid" : "=r" ( ulHartId ) );
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 ) */
/*-----------------------------------------------------------*/
BaseType_t xPortStartScheduler( void )
{
extern void xPortStartFirstTask( void );
#if ( configASSERT_DEFINED == 1 )
{
/* 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 );
#ifdef configISR_STACK_SIZE_WORDS
{
memset( ( void * ) xISRStack, portISR_STACK_FILL_BYTE, sizeof( xISRStack ) );
}
#endif /* configISR_STACK_SIZE_WORDS */
}
#endif /* configASSERT_DEFINED */
/* If there is a CLINT then it is ok to use the default implementation
* 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 ) )
{
/* Enable mtime and external interrupts. 1<<7 for timer interrupt,
* 1<<11 for external interrupt. _RB_ What happens here when mtime is
* not present as with pulpino? */
__asm volatile ( "csrs mie, %0" ::"r" ( 0x880 ) );
}
#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 )
{
/* Not implemented. */
for( ; ; )
{
}
}
/*-----------------------------------------------------------*/
vendor/FreeRTOS-Kernel/portable/GCC/RISC-V/portASM.S
Vendored
+406
View File
@@ -0,0 +1,406 @@
/*
* FreeRTOS Kernel V11.3.0
* 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
*
*/
/*
* The FreeRTOS kernel's RISC-V port is split between the the code that is
* common across all currently supported RISC-V chips (implementations of the
* RISC-V ISA), and code which tailors the port to a specific RISC-V chip:
*
* + The code that is common to all RISC-V chips is implemented in
* FreeRTOS\Source\portable\GCC\RISC-V\portASM.S. There is only one
* portASM.S file because the same file is used no matter which RISC-V chip is
* in use.
*
* + The code that tailors the kernel's RISC-V port to a specific RISC-V
* chip is implemented in freertos_risc_v_chip_specific_extensions.h. There
* is one freertos_risc_v_chip_specific_extensions.h that can be used with any
* RISC-V chip that both includes a standard CLINT and does not add to the
* base set of RISC-V registers. There are additional
* freertos_risc_v_chip_specific_extensions.h files for RISC-V implementations
* that do not include a standard CLINT or do add to the base set of RISC-V
* registers.
*
* CARE MUST BE TAKEN TO INCLDUE THE CORRECT
* freertos_risc_v_chip_specific_extensions.h HEADER FILE FOR THE CHIP
* IN USE. To include the correct freertos_risc_v_chip_specific_extensions.h
* header file ensure the path to the correct header file is in the assembler's
* include path.
*
* This freertos_risc_v_chip_specific_extensions.h is for use on RISC-V chips
* that include a standard CLINT and do not add to the base set of RISC-V
* registers.
*
*/
#include "portContext.h"
/* Check the freertos_risc_v_chip_specific_extensions.h and/or command line
definitions. */
#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
#endif
#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
#define portasmHAS_MTIME portasmHAS_CLINT
#define portasmHAS_SIFIVE_CLINT portasmHAS_CLINT
#endif
#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
#endif
#ifndef portasmHAS_SIFIVE_CLINT
#define portasmHAS_SIFIVE_CLINT 0
#endif
.global xPortStartFirstTask
.global pxPortInitialiseStack
.global freertos_risc_v_trap_handler
.global freertos_risc_v_exception_handler
.global freertos_risc_v_interrupt_handler
.global freertos_risc_v_mtimer_interrupt_handler
.extern vTaskSwitchContext
.extern xTaskIncrementTick
.extern pullMachineTimerCompareRegister
.extern pullNextTime
.extern uxTimerIncrementsForOneTick /* size_t type so 32-bit on 32-bit core and 64-bits on 64-bit core. */
.extern xTaskReturnAddress
.weak freertos_risc_v_application_exception_handler
.weak freertos_risc_v_application_interrupt_handler
/*-----------------------------------------------------------*/
.macro portUPDATE_MTIMER_COMPARE_REGISTER
load_x a0, pullMachineTimerCompareRegister /* Load address of compare register into a0. */
load_x a1, pullNextTime /* Load the address of ullNextTime into a1. */
#if( __riscv_xlen == 32 )
/* Update the 64-bit mtimer compare match value in two 32-bit writes. */
li a4, -1
lw a2, 0(a1) /* Load the low word of ullNextTime into a2. */
lw a3, 4(a1) /* Load the high word of ullNextTime into a3. */
sw a4, 0(a0) /* Low word no smaller than old value to start with - will be overwritten below. */
sw a3, 4(a0) /* Store high word of ullNextTime into compare register. No smaller than new value. */
sw a2, 0(a0) /* 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 a4, t0, a2 /* Add the low word of ullNextTime to the timer increments for one tick (assumes timer increment for one tick fits in 32-bits). */
sltu t1, a4, a2 /* See if the sum of low words overflowed (what about the zero case?). */
add t2, a3, t1 /* Add overflow to high word of ullNextTime. */
sw a4, 0(a1) /* Store new low word of ullNextTime. */
sw t2, 4(a1) /* 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(a1) /* Load ullNextTime into t2. */
sd t2, 0(a0) /* 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(a1) /* Store ullNextTime. */
#endif /* __riscv_xlen == 64 */
.endm
/*-----------------------------------------------------------*/
/*
* Unlike other ports pxPortInitialiseStack() is written in assembly code as it
* needs access to the portasmADDITIONAL_CONTEXT_SIZE constant. The prototype
* for the function is as per the other ports:
* StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters );
*
* As per the standard RISC-V ABI pxTopOfStack 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 to FreeRTOS tasks in the following stack frame,
* where the global and thread pointers are currently assumed to be constant so
* are not saved:
*
* xCriticalNesting
* x31
* x30
* x29
* x28
* x27
* x26
* x25
* x24
* x23
* x22
* x21
* x20
* x19
* x18
* x17
* x16
* x15
* x14
* x13
* x12
* x11
* pvParameters
* x9
* x8
* x7
* x6
* x5
* portTASK_RETURN_ADDRESS
* [FPU registers (when enabled/available) go here]
* [VPU registers (when enabled/available) go here]
* mstatus
* [chip specific registers go here]
* pxCode
*/
pxPortInitialiseStack:
addi a0, a0, -portWORD_SIZE /* Space for critical nesting count. */
store_x x0, 0(a0) /* Critical nesting count starts at 0 for every task. */
#ifdef __riscv_32e
addi a0, a0, -(6 * portWORD_SIZE) /* Space for registers x10-x15. */
#else
addi a0, a0, -(22 * portWORD_SIZE) /* Space for registers x10-x31. */
#endif
store_x a2, 0(a0) /* Task parameters (pvParameters parameter) goes into register x10/a0 on the stack. */
addi a0, a0, -(6 * portWORD_SIZE) /* Space for registers x5-x9 + taskReturnAddress (register x1). */
load_x t0, xTaskReturnAddress
store_x t0, 0(a0) /* Return address onto the stack. */
csrr t0, 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 scheduler has been started, otherwise interrupts would be disabled anyway. */
addi t1, x0, 0x188 /* Generate the value 0x1880, which are the MPIE=1 and MPP=M_Mode in mstatus. */
slli t1, t1, 4
or t0, t0, t1 /* Set MPIE and MPP bits in mstatus value. */
#if( configENABLE_FPU == 1 )
/* Mark the FPU as clean in the mstatus value. */
li t1, ~MSTATUS_FS_MASK
and t0, t0, t1
li t1, MSTATUS_FS_CLEAN
or t0, t0, t1
#endif
#if( configENABLE_VPU == 1 )
/* Mark the VPU as clean in the mstatus value. */
li t1, ~MSTATUS_VS_MASK
and t0, t0, t1
li t1, MSTATUS_VS_CLEAN
or t0, t0, t1
#endif
addi a0, a0, -portWORD_SIZE
store_x t0, 0(a0) /* mstatus onto the stack. */
addi t0, x0, portasmADDITIONAL_CONTEXT_SIZE /* The number of chip specific additional registers. */
chip_specific_stack_frame: /* First add any chip specific registers to the stack frame being created. */
beq t0, x0, 1f /* No more chip specific registers to save. */
addi a0, a0, -portWORD_SIZE /* Make space for chip specific register. */
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. */
1:
addi a0, a0, -portWORD_SIZE
store_x a1, 0(a0) /* mret value (pxCode parameter) onto the stack. */
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 x5, 1 * 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. */
csrw mstatus, x5 /* Interrupts enabled from here! */
load_x x7, 5 * portWORD_SIZE( sp ) /* t2 */
load_x x8, 6 * portWORD_SIZE( sp ) /* s0/fp */
load_x x9, 7 * portWORD_SIZE( sp ) /* s1 */
load_x x10, 8 * portWORD_SIZE( sp ) /* a0 */
load_x x11, 9 * portWORD_SIZE( sp ) /* a1 */
load_x x12, 10 * portWORD_SIZE( sp ) /* a2 */
load_x x13, 11 * portWORD_SIZE( sp ) /* a3 */
load_x x14, 12 * portWORD_SIZE( sp ) /* a4 */
load_x x15, 13 * portWORD_SIZE( sp ) /* a5 */
#ifndef __riscv_32e
load_x x16, 14 * portWORD_SIZE( sp ) /* a6 */
load_x x17, 15 * portWORD_SIZE( sp ) /* a7 */
load_x x18, 16 * portWORD_SIZE( sp ) /* s2 */
load_x x19, 17 * portWORD_SIZE( sp ) /* s3 */
load_x x20, 18 * portWORD_SIZE( sp ) /* s4 */
load_x x21, 19 * portWORD_SIZE( sp ) /* s5 */
load_x x22, 20 * portWORD_SIZE( sp ) /* s6 */
load_x x23, 21 * portWORD_SIZE( sp ) /* s7 */
load_x x24, 22 * portWORD_SIZE( sp ) /* s8 */
load_x x25, 23 * portWORD_SIZE( sp ) /* s9 */
load_x x26, 24 * portWORD_SIZE( sp ) /* s10 */
load_x x27, 25 * portWORD_SIZE( sp ) /* s11 */
load_x x28, 26 * portWORD_SIZE( sp ) /* t3 */
load_x x29, 27 * portWORD_SIZE( sp ) /* t4 */
load_x x30, 28 * portWORD_SIZE( sp ) /* t5 */
load_x x31, 29 * portWORD_SIZE( sp ) /* t6 */
#endif
load_x x5, portCRITICAL_NESTING_OFFSET * 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, 3 * portWORD_SIZE( sp ) /* Initial x5 (t0) value. */
load_x x6, 4 * portWORD_SIZE( sp ) /* Initial x6 (t1) value. */
addi sp, sp, portCONTEXT_SIZE
ret
/*-----------------------------------------------------------*/
freertos_risc_v_application_exception_handler:
csrr t0, mcause /* For viewing in the debugger only. */
csrr t1, mepc /* For viewing in the debugger only */
csrr t2, mstatus /* For viewing in the debugger only */
j .
/*-----------------------------------------------------------*/
freertos_risc_v_application_interrupt_handler:
csrr t0, mcause /* For viewing in the debugger only. */
csrr t1, mepc /* For viewing in the debugger only */
csrr t2, mstatus /* For viewing in the debugger only */
j .
/*-----------------------------------------------------------*/
.section .text.freertos_risc_v_exception_handler
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
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
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
.align 8
freertos_risc_v_trap_handler:
portcontextSAVE_CONTEXT_INTERNAL
csrr a0, mcause
csrr a1, 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
/*-----------------------------------------------------------*/
vendor/FreeRTOS-Kernel/portable/GCC/RISC-V/portContext.h
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/*
* FreeRTOS Kernel V11.3.0
* 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
#ifndef configENABLE_FPU
#define configENABLE_FPU 0
#endif
#ifndef configENABLE_VPU
#define configENABLE_VPU 0
#endif
#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. */
#ifdef __riscv_32e
#define portCONTEXT_SIZE ( 15 * portWORD_SIZE )
#define portCRITICAL_NESTING_OFFSET 14
#else
#define portCONTEXT_SIZE ( 31 * portWORD_SIZE )
#define portCRITICAL_NESTING_OFFSET 30
#endif
#if ( configENABLE_FPU == 1 )
/* Bit [14:13] in the mstatus encode the status of FPU state which is one of
* the following values:
* 1. Value: 0, Meaning: Off.
* 2. Value: 1, Meaning: Initial.
* 3. Value: 2, Meaning: Clean.
* 4. Value: 3, Meaning: Dirty.
*/
#define MSTATUS_FS_MASK 0x6000
#define MSTATUS_FS_INITIAL 0x2000
#define MSTATUS_FS_CLEAN 0x4000
#define MSTATUS_FS_DIRTY 0x6000
#define MSTATUS_FS_OFFSET 13
#ifdef __riscv_fdiv
#if __riscv_flen == 32
#define load_f flw
#define store_f fsw
#elif __riscv_flen == 64
#define load_f fld
#define store_f fsd
#else
#error Assembler did not define __riscv_flen
#endif
#define portFPU_REG_SIZE ( __riscv_flen / 8 )
#define portFPU_REG_COUNT 33 /* 32 Floating point registers plus one CSR. */
#define portFPU_REG_OFFSET( regIndex ) ( ( 2 * portWORD_SIZE ) + ( regIndex * portFPU_REG_SIZE ) )
#define portFPU_CONTEXT_SIZE ( portFPU_REG_SIZE * portFPU_REG_COUNT )
#else
#error configENABLE_FPU must not be set to 1 if the hardware does not have FPU
#endif
#endif
#if ( configENABLE_VPU == 1 )
/* Bit [10:9] in the mstatus encode the status of VPU state which is one of
* the following values:
* 1. Value: 0, Meaning: Off.
* 2. Value: 1, Meaning: Initial.
* 3. Value: 2, Meaning: Clean.
* 4. Value: 3, Meaning: Dirty.
*/
#define MSTATUS_VS_MASK 0x600
#define MSTATUS_VS_INITIAL 0x200
#define MSTATUS_VS_CLEAN 0x400
#define MSTATUS_VS_DIRTY 0x600
#define MSTATUS_VS_OFFSET 9
#ifndef __riscv_vector
#error configENABLE_VPU must not be set to 1 if the hardware does not have VPU
#endif
#endif
/*-----------------------------------------------------------*/
.extern pxCurrentTCB
.extern xISRStackTop
.extern xCriticalNesting
.extern pxCriticalNesting
/*-----------------------------------------------------------*/
.macro portcontexSAVE_FPU_CONTEXT
addi sp, sp, -( portFPU_CONTEXT_SIZE )
/* Store the FPU registers. */
store_f f0, portFPU_REG_OFFSET( 0 )( sp )
store_f f1, portFPU_REG_OFFSET( 1 )( sp )
store_f f2, portFPU_REG_OFFSET( 2 )( sp )
store_f f3, portFPU_REG_OFFSET( 3 )( sp )
store_f f4, portFPU_REG_OFFSET( 4 )( sp )
store_f f5, portFPU_REG_OFFSET( 5 )( sp )
store_f f6, portFPU_REG_OFFSET( 6 )( sp )
store_f f7, portFPU_REG_OFFSET( 7 )( sp )
store_f f8, portFPU_REG_OFFSET( 8 )( sp )
store_f f9, portFPU_REG_OFFSET( 9 )( sp )
store_f f10, portFPU_REG_OFFSET( 10 )( sp )
store_f f11, portFPU_REG_OFFSET( 11 )( sp )
store_f f12, portFPU_REG_OFFSET( 12 )( sp )
store_f f13, portFPU_REG_OFFSET( 13 )( sp )
store_f f14, portFPU_REG_OFFSET( 14 )( sp )
store_f f15, portFPU_REG_OFFSET( 15 )( sp )
store_f f16, portFPU_REG_OFFSET( 16 )( sp )
store_f f17, portFPU_REG_OFFSET( 17 )( sp )
store_f f18, portFPU_REG_OFFSET( 18 )( sp )
store_f f19, portFPU_REG_OFFSET( 19 )( sp )
store_f f20, portFPU_REG_OFFSET( 20 )( sp )
store_f f21, portFPU_REG_OFFSET( 21 )( sp )
store_f f22, portFPU_REG_OFFSET( 22 )( sp )
store_f f23, portFPU_REG_OFFSET( 23 )( sp )
store_f f24, portFPU_REG_OFFSET( 24 )( sp )
store_f f25, portFPU_REG_OFFSET( 25 )( sp )
store_f f26, portFPU_REG_OFFSET( 26 )( sp )
store_f f27, portFPU_REG_OFFSET( 27 )( sp )
store_f f28, portFPU_REG_OFFSET( 28 )( sp )
store_f f29, portFPU_REG_OFFSET( 29 )( sp )
store_f f30, portFPU_REG_OFFSET( 30 )( sp )
store_f f31, portFPU_REG_OFFSET( 31 )( sp )
csrr t0, fcsr
store_x t0, portFPU_REG_OFFSET( 32 )( sp )
.endm
/*-----------------------------------------------------------*/
.macro portcontextRESTORE_FPU_CONTEXT
/* Restore the FPU registers. */
load_f f0, portFPU_REG_OFFSET( 0 )( sp )
load_f f1, portFPU_REG_OFFSET( 1 )( sp )
load_f f2, portFPU_REG_OFFSET( 2 )( sp )
load_f f3, portFPU_REG_OFFSET( 3 )( sp )
load_f f4, portFPU_REG_OFFSET( 4 )( sp )
load_f f5, portFPU_REG_OFFSET( 5 )( sp )
load_f f6, portFPU_REG_OFFSET( 6 )( sp )
load_f f7, portFPU_REG_OFFSET( 7 )( sp )
load_f f8, portFPU_REG_OFFSET( 8 )( sp )
load_f f9, portFPU_REG_OFFSET( 9 )( sp )
load_f f10, portFPU_REG_OFFSET( 10 )( sp )
load_f f11, portFPU_REG_OFFSET( 11 )( sp )
load_f f12, portFPU_REG_OFFSET( 12 )( sp )
load_f f13, portFPU_REG_OFFSET( 13 )( sp )
load_f f14, portFPU_REG_OFFSET( 14 )( sp )
load_f f15, portFPU_REG_OFFSET( 15 )( sp )
load_f f16, portFPU_REG_OFFSET( 16 )( sp )
load_f f17, portFPU_REG_OFFSET( 17 )( sp )
load_f f18, portFPU_REG_OFFSET( 18 )( sp )
load_f f19, portFPU_REG_OFFSET( 19 )( sp )
load_f f20, portFPU_REG_OFFSET( 20 )( sp )
load_f f21, portFPU_REG_OFFSET( 21 )( sp )
load_f f22, portFPU_REG_OFFSET( 22 )( sp )
load_f f23, portFPU_REG_OFFSET( 23 )( sp )
load_f f24, portFPU_REG_OFFSET( 24 )( sp )
load_f f25, portFPU_REG_OFFSET( 25 )( sp )
load_f f26, portFPU_REG_OFFSET( 26 )( sp )
load_f f27, portFPU_REG_OFFSET( 27 )( sp )
load_f f28, portFPU_REG_OFFSET( 28 )( sp )
load_f f29, portFPU_REG_OFFSET( 29 )( sp )
load_f f30, portFPU_REG_OFFSET( 30 )( sp )
load_f f31, portFPU_REG_OFFSET( 31 )( sp )
load_x t0, portFPU_REG_OFFSET( 32 )( sp )
csrw fcsr, t0
addi sp, sp, ( portFPU_CONTEXT_SIZE )
.endm
/*-----------------------------------------------------------*/
.macro portcontexSAVE_VPU_CONTEXT
/* Un-reserve the space reserved for mstatus and epc. */
add sp, sp, ( 2 * portWORD_SIZE )
csrr t0, vlenb /* t0 = vlenb. vlenb is the length of each vector register in bytes. */
slli t0, t0, 3 /* t0 = vlenb * 8. t0 now contains the space required to store 8 vector registers. */
neg t0, t0
/* Store the vector registers in group of 8. */
add sp, sp, t0
vs8r.v v24, (sp) /* Store v24-v31. */
add sp, sp, t0
vs8r.v v16, (sp) /* Store v16-v23. */
add sp, sp, t0
vs8r.v v8, (sp) /* Store v8-v15. */
add sp, sp, t0
vs8r.v v0, (sp) /* Store v0-v7. */
/* Store the VPU CSRs. */
addi sp, sp, -( 4 * portWORD_SIZE )
csrr t0, vstart
store_x t0, 0 * portWORD_SIZE( sp )
csrr t0, vcsr
store_x t0, 1 * portWORD_SIZE( sp )
csrr t0, vl
store_x t0, 2 * portWORD_SIZE( sp )
csrr t0, vtype
store_x t0, 3 * portWORD_SIZE( sp )
/* Re-reserve the space for mstatus and epc. */
add sp, sp, -( 2 * portWORD_SIZE )
.endm
/*-----------------------------------------------------------*/
.macro portcontextRESTORE_VPU_CONTEXT
/* Un-reserve the space reserved for mstatus and epc. */
add sp, sp, ( 2 * portWORD_SIZE )
/* Restore the VPU CSRs. */
load_x t0, 0 * portWORD_SIZE( sp )
csrw vstart, t0
load_x t0, 1 * portWORD_SIZE( sp )
csrw vcsr, t0
load_x t0, 2 * portWORD_SIZE( sp )
load_x t1, 3 * portWORD_SIZE( sp )
vsetvl x0, t0, t1 /* vlen and vtype can only be updated by using vset*vl* instructions. */
addi sp, sp, ( 4 * portWORD_SIZE )
csrr t0, vlenb /* t0 = vlenb. vlenb is the length of each vector register in bytes. */
slli t0, t0, 3 /* t0 = vlenb * 8. t0 now contains the space required to store 8 vector registers. */
/* Restore the vector registers. */
vl8r.v v0, (sp) /* Restore v0-v7. */
add sp, sp, t0
vl8r.v v8, (sp) /* Restore v8-v15. */
add sp, sp, t0
vl8r.v v16, (sp) /* Restore v16-v23. */
add sp, sp, t0
vl8r.v v24, (sp) /* Restore v23-v31. */
add sp, sp, t0
/* Re-reserve the space for mstatus and epc. */
add sp, sp, -( 2 * portWORD_SIZE )
.endm
/*-----------------------------------------------------------*/
.macro portcontextSAVE_CONTEXT_INTERNAL
addi sp, sp, -portCONTEXT_SIZE
store_x x1, 2 * portWORD_SIZE( sp )
store_x x5, 3 * portWORD_SIZE( sp )
store_x x6, 4 * portWORD_SIZE( sp )
store_x x7, 5 * portWORD_SIZE( sp )
store_x x8, 6 * portWORD_SIZE( sp )
store_x x9, 7 * portWORD_SIZE( sp )
store_x x10, 8 * portWORD_SIZE( sp )
store_x x11, 9 * portWORD_SIZE( sp )
store_x x12, 10 * portWORD_SIZE( sp )
store_x x13, 11 * portWORD_SIZE( sp )
store_x x14, 12 * portWORD_SIZE( sp )
store_x x15, 13 * portWORD_SIZE( sp )
#ifndef __riscv_32e
store_x x16, 14 * portWORD_SIZE( sp )
store_x x17, 15 * portWORD_SIZE( sp )
store_x x18, 16 * portWORD_SIZE( sp )
store_x x19, 17 * portWORD_SIZE( sp )
store_x x20, 18 * portWORD_SIZE( sp )
store_x x21, 19 * portWORD_SIZE( sp )
store_x x22, 20 * portWORD_SIZE( sp )
store_x x23, 21 * portWORD_SIZE( sp )
store_x x24, 22 * portWORD_SIZE( sp )
store_x x25, 23 * portWORD_SIZE( sp )
store_x x26, 24 * portWORD_SIZE( sp )
store_x x27, 25 * portWORD_SIZE( sp )
store_x x28, 26 * portWORD_SIZE( sp )
store_x x29, 27 * portWORD_SIZE( sp )
store_x x30, 28 * portWORD_SIZE( sp )
store_x x31, 29 * portWORD_SIZE( sp )
#endif /* ifndef __riscv_32e */
load_x t0, xCriticalNesting /* Load the value of xCriticalNesting into t0. */
store_x t0, portCRITICAL_NESTING_OFFSET * portWORD_SIZE( sp ) /* Store the critical nesting value to the stack. */
#if( configENABLE_FPU == 1 )
csrr t0, mstatus
srl t1, t0, MSTATUS_FS_OFFSET
andi t1, t1, 3
addi t2, x0, 3
bne t1, t2, 1f /* If FPU status is not dirty, do not save FPU registers. */
portcontexSAVE_FPU_CONTEXT
1:
#endif
#if( configENABLE_VPU == 1 )
csrr t0, mstatus
srl t1, t0, MSTATUS_VS_OFFSET
andi t1, t1, 3
addi t2, x0, 3
bne t1, t2, 2f /* If VPU status is not dirty, do not save VPU registers. */
portcontexSAVE_VPU_CONTEXT
2:
#endif
csrr t0, mstatus
store_x t0, 1 * 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. */
#if( configENABLE_FPU == 1 )
/* Mark the FPU as clean, if it was dirty and we saved FPU registers. */
srl t1, t0, MSTATUS_FS_OFFSET
andi t1, t1, 3
addi t2, x0, 3
bne t1, t2, 3f
li t1, ~MSTATUS_FS_MASK
and t0, t0, t1
li t1, MSTATUS_FS_CLEAN
or t0, t0, t1
csrw mstatus, t0
3:
#endif
#if( configENABLE_VPU == 1 )
/* Mark the VPU as clean, if it was dirty and we saved VPU registers. */
srl t1, t0, MSTATUS_VS_OFFSET
andi t1, t1, 3
addi t2, x0, 3
bne t1, t2, 4f
li t1, ~MSTATUS_VS_MASK
and t0, t0, t1
li t1, MSTATUS_VS_CLEAN
or t0, t0, t1
csrw mstatus, t0
4:
#endif
load_x t0, pxCurrentTCB /* Load pxCurrentTCB. */
store_x sp, 0 ( t0 ) /* Write sp to first TCB member. */
.endm
/*-----------------------------------------------------------*/
.macro portcontextSAVE_EXCEPTION_CONTEXT
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
/*-----------------------------------------------------------*/
.macro portcontextSAVE_INTERRUPT_CONTEXT
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
/*-----------------------------------------------------------*/
.macro portcontextRESTORE_CONTEXT
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
/* Restore mstatus register. It is important to use t3 (and not t0) here as t3
* is not clobbered by portcontextRESTORE_VPU_CONTEXT and
* portcontextRESTORE_FPU_CONTEXT. */
load_x t3, 1 * portWORD_SIZE( sp )
csrw mstatus, t3
#if( configENABLE_VPU == 1 )
srl t1, t3, MSTATUS_VS_OFFSET
andi t1, t1, 3
addi t2, x0, 3
bne t1, t2, 5f /* If VPU status is not dirty, do not restore VPU registers. */
portcontextRESTORE_VPU_CONTEXT
5:
#endif /* ifdef portasmSTORE_VPU_CONTEXT */
#if( configENABLE_FPU == 1 )
srl t1, t3, MSTATUS_FS_OFFSET
andi t1, t1, 3
addi t2, x0, 3
bne t1, t2, 6f /* If FPU status is not dirty, do not restore FPU registers. */
portcontextRESTORE_FPU_CONTEXT
6:
#endif /* ifdef portasmSTORE_FPU_CONTEXT */
load_x t0, portCRITICAL_NESTING_OFFSET * 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, 2 * portWORD_SIZE( sp )
load_x x5, 3 * portWORD_SIZE( sp )
load_x x6, 4 * portWORD_SIZE( sp )
load_x x7, 5 * portWORD_SIZE( sp )
load_x x8, 6 * portWORD_SIZE( sp )
load_x x9, 7 * portWORD_SIZE( sp )
load_x x10, 8 * portWORD_SIZE( sp )
load_x x11, 9 * portWORD_SIZE( sp )
load_x x12, 10 * portWORD_SIZE( sp )
load_x x13, 11 * portWORD_SIZE( sp )
load_x x14, 12 * portWORD_SIZE( sp )
load_x x15, 13 * portWORD_SIZE( sp )
#ifndef __riscv_32e
load_x x16, 14 * portWORD_SIZE( sp )
load_x x17, 15 * portWORD_SIZE( sp )
load_x x18, 16 * portWORD_SIZE( sp )
load_x x19, 17 * portWORD_SIZE( sp )
load_x x20, 18 * portWORD_SIZE( sp )
load_x x21, 19 * portWORD_SIZE( sp )
load_x x22, 20 * portWORD_SIZE( sp )
load_x x23, 21 * portWORD_SIZE( sp )
load_x x24, 22 * portWORD_SIZE( sp )
load_x x25, 23 * portWORD_SIZE( sp )
load_x x26, 24 * portWORD_SIZE( sp )
load_x x27, 25 * portWORD_SIZE( sp )
load_x x28, 26 * portWORD_SIZE( sp )
load_x x29, 27 * portWORD_SIZE( sp )
load_x x30, 28 * portWORD_SIZE( sp )
load_x x31, 29 * portWORD_SIZE( sp )
#endif /* ifndef __riscv_32e */
addi sp, sp, portCONTEXT_SIZE
mret
.endm
/*-----------------------------------------------------------*/
#endif /* PORTCONTEXT_H */
vendor/FreeRTOS-Kernel/portable/GCC/RISC-V/portmacro.h
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/*
* FreeRTOS Kernel V11.3.0
* 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 PORTMACRO_H
#define PORTMACRO_H
/* *INDENT-OFF* */
#ifdef __cplusplus
extern "C" {
#endif
/* *INDENT-ON* */
/*-----------------------------------------------------------
* Port specific definitions.
*
* The settings in this file configure FreeRTOS correctly for the
* given hardware and compiler.
*
* These settings should not be altered.
*-----------------------------------------------------------
*/
/* Type definitions. */
#if __riscv_xlen == 64
#define portSTACK_TYPE uint64_t
#define portBASE_TYPE int64_t
#define portUBASE_TYPE uint64_t
#define portMAX_DELAY ( TickType_t ) 0xffffffffffffffffUL
#define portPOINTER_SIZE_TYPE uint64_t
#elif __riscv_xlen == 32
#define portSTACK_TYPE uint32_t
#define portBASE_TYPE int32_t
#define portUBASE_TYPE uint32_t
#define portMAX_DELAY ( TickType_t ) 0xffffffffUL
#else /* if __riscv_xlen == 64 */
#error "Assembler did not define __riscv_xlen"
#endif /* if __riscv_xlen == 64 */
typedef portSTACK_TYPE StackType_t;
typedef portBASE_TYPE BaseType_t;
typedef portUBASE_TYPE UBaseType_t;
typedef portUBASE_TYPE TickType_t;
/* Legacy type definitions. */
#define portCHAR char
#define portFLOAT float
#define portDOUBLE double
#define portLONG long
#define portSHORT short
/* 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. */
#define portTICK_TYPE_IS_ATOMIC 1
/*-----------------------------------------------------------*/
/* Architecture specifics. */
#define portSTACK_GROWTH ( -1 )
#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ )
#ifdef __riscv_32e
#define portBYTE_ALIGNMENT 8 /* RV32E uses RISC-V EABI with reduced stack alignment requirements */
#else
#define portBYTE_ALIGNMENT 16
#endif
/*-----------------------------------------------------------*/
/* Scheduler utilities. */
extern void vTaskSwitchContext( void );
#define portYIELD() __asm volatile ( "ecall" );
#define portEND_SWITCHING_ISR( xSwitchRequired ) \
do \
{ \
if( xSwitchRequired != pdFALSE ) \
{ \
traceISR_EXIT_TO_SCHEDULER(); \
vTaskSwitchContext(); \
} \
else \
{ \
traceISR_EXIT(); \
} \
} while( 0 )
#define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x )
/*-----------------------------------------------------------*/
/* Critical section management. */
#define portCRITICAL_NESTING_IN_TCB 0
#define portDISABLE_INTERRUPTS() __asm volatile ( "csrc mstatus, 8" )
#define portENABLE_INTERRUPTS() __asm volatile ( "csrs mstatus, 8" )
extern size_t xCriticalNesting;
#define portENTER_CRITICAL() \
{ \
portDISABLE_INTERRUPTS(); \
xCriticalNesting++; \
}
#define portEXIT_CRITICAL() \
{ \
xCriticalNesting--; \
if( xCriticalNesting == 0 ) \
{ \
portENABLE_INTERRUPTS(); \
} \
}
/*-----------------------------------------------------------*/
/* Architecture specific optimisations. */
#ifndef configUSE_PORT_OPTIMISED_TASK_SELECTION
#define configUSE_PORT_OPTIMISED_TASK_SELECTION 1
#endif
#if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 1 )
/* Check the configuration. */
#if ( configMAX_PRIORITIES > 32 )
#error "configUSE_PORT_OPTIMISED_TASK_SELECTION can only be set to 1 when configMAX_PRIORITIES is less than or equal to 32. It is very rare that a system requires more than 10 to 15 difference priorities as tasks that share a priority will time slice."
#endif
/* Store/clear the ready priorities in a bit map. */
#define portRECORD_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) |= ( 1UL << ( uxPriority ) )
#define portRESET_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) &= ~( 1UL << ( uxPriority ) )
/*-----------------------------------------------------------*/
#define portGET_HIGHEST_PRIORITY( uxTopPriority, uxReadyPriorities ) uxTopPriority = ( 31UL - __builtin_clz( uxReadyPriorities ) )
#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
/*-----------------------------------------------------------*/
/* 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 (which build with all the ports) will build. */
#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void * pvParameters )
#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void * pvParameters )
/*-----------------------------------------------------------*/
#define portNOP() __asm volatile ( " nop " )
#define portINLINE __inline
#ifndef portFORCE_INLINE
#define portFORCE_INLINE inline __attribute__( ( always_inline ) )
#endif
#define portMEMORY_BARRIER() __asm volatile ( "" ::: "memory" )
/*-----------------------------------------------------------*/
/* configCLINT_BASE_ADDRESS is a legacy definition that was replaced by the
* configMTIME_BASE_ADDRESS and configMTIMECMP_BASE_ADDRESS definitions. For
* backward compatibility derive the newer definitions from the old if the old
* definition is found. */
#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
* there was no CLINT. Equivalent now is to set the MTIME and MTIMECMP
* addresses to 0. */
#define configMTIME_BASE_ADDRESS ( 0 )
#define configMTIMECMP_BASE_ADDRESS ( 0 )
#elif defined( configCLINT_BASE_ADDRESS ) && !defined( configMTIME_BASE_ADDRESS )
/* 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
* from the CLINT address. */
#define configMTIME_BASE_ADDRESS ( ( configCLINT_BASE_ADDRESS ) + 0xBFF8UL )
#define configMTIMECMP_BASE_ADDRESS ( ( configCLINT_BASE_ADDRESS ) + 0x4000UL )
#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 www.FreeRTOS.org/Using-FreeRTOS-on-RISC-V.html"
#endif /* if defined( configCLINT_BASE_ADDRESS ) && !defined( configMTIME_BASE_ADDRESS ) && ( configCLINT_BASE_ADDRESS == 0 ) */
/* *INDENT-OFF* */
#ifdef __cplusplus
}
#endif
/* *INDENT-ON* */
#endif /* PORTMACRO_H */
vendor/FreeRTOS-Kernel/portable/MemMang/heap_4.c
Vendored
+638
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@@ -0,0 +1,638 @@
/*
* FreeRTOS Kernel V11.3.0
* 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
*
*/
/*
* A sample implementation of pvPortMalloc() and vPortFree() that combines
* (coalescences) adjacent memory blocks as they are freed, and in so doing
* limits memory fragmentation.
*
* See heap_1.c, heap_2.c and heap_3.c for alternative implementations, and the
* memory management pages of https://www.FreeRTOS.org for more information.
*/
#include <stdlib.h>
#include <string.h>
/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
* all the API functions to use the MPU wrappers. That should only be done when
* task.h is included from an application file. */
#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
#include "FreeRTOS.h"
#include "task.h"
#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
#if ( configSUPPORT_DYNAMIC_ALLOCATION == 0 )
#error This file must not be used if configSUPPORT_DYNAMIC_ALLOCATION is 0
#endif
#ifndef configHEAP_CLEAR_MEMORY_ON_FREE
#define configHEAP_CLEAR_MEMORY_ON_FREE 0
#endif
/* Block sizes must not get too small. */
#define heapMINIMUM_BLOCK_SIZE ( ( size_t ) ( xHeapStructSize << 1 ) )
/* Assumes 8bit bytes! */
#define heapBITS_PER_BYTE ( ( size_t ) 8 )
/* Max value that fits in a size_t type. */
#define heapSIZE_MAX ( ~( ( size_t ) 0 ) )
/* Check if multiplying a and b will result in overflow. */
#define heapMULTIPLY_WILL_OVERFLOW( a, b ) ( ( ( a ) > 0 ) && ( ( b ) > ( heapSIZE_MAX / ( a ) ) ) )
/* Check if adding a and b will result in overflow. */
#define heapADD_WILL_OVERFLOW( a, b ) ( ( a ) > ( heapSIZE_MAX - ( b ) ) )
/* Check if the subtraction operation ( a - b ) will result in underflow. */
#define heapSUBTRACT_WILL_UNDERFLOW( a, b ) ( ( a ) < ( b ) )
/* MSB of the xBlockSize member of an BlockLink_t structure is used to track
* the allocation status of a block. When MSB of the xBlockSize member of
* an BlockLink_t structure is set then the block belongs to the application.
* When the bit is free the block is still part of the free heap space. */
#define heapBLOCK_ALLOCATED_BITMASK ( ( ( size_t ) 1 ) << ( ( sizeof( size_t ) * heapBITS_PER_BYTE ) - 1 ) )
#define heapBLOCK_SIZE_IS_VALID( xBlockSize ) ( ( ( xBlockSize ) & heapBLOCK_ALLOCATED_BITMASK ) == 0 )
#define heapBLOCK_IS_ALLOCATED( pxBlock ) ( ( ( pxBlock->xBlockSize ) & heapBLOCK_ALLOCATED_BITMASK ) != 0 )
#define heapALLOCATE_BLOCK( pxBlock ) ( ( pxBlock->xBlockSize ) |= heapBLOCK_ALLOCATED_BITMASK )
#define heapFREE_BLOCK( pxBlock ) ( ( pxBlock->xBlockSize ) &= ~heapBLOCK_ALLOCATED_BITMASK )
/*-----------------------------------------------------------*/
/* Allocate the memory for the heap. */
#if ( configAPPLICATION_ALLOCATED_HEAP == 1 )
/* The application writer has already defined the array used for the RTOS
* heap - probably so it can be placed in a special segment or address. */
extern uint8_t ucHeap[ configTOTAL_HEAP_SIZE ];
#else
PRIVILEGED_DATA static uint8_t ucHeap[ configTOTAL_HEAP_SIZE ];
#endif /* configAPPLICATION_ALLOCATED_HEAP */
/* Define the linked list structure. This is used to link free blocks in order
* of their memory address. */
typedef struct A_BLOCK_LINK
{
struct A_BLOCK_LINK * pxNextFreeBlock; /**< The next free block in the list. */
size_t xBlockSize; /**< The size of the free block. */
} BlockLink_t;
/* Setting configENABLE_HEAP_PROTECTOR to 1 enables heap block pointers
* protection using an application supplied canary value to catch heap
* corruption should a heap buffer overflow occur.
*/
#if ( configENABLE_HEAP_PROTECTOR == 1 )
/**
* @brief Application provided function to get a random value to be used as canary.
*
* @param pxHeapCanary [out] Output parameter to return the canary value.
*/
extern void vApplicationGetRandomHeapCanary( portPOINTER_SIZE_TYPE * pxHeapCanary );
/* Canary value for protecting internal heap pointers. */
PRIVILEGED_DATA static portPOINTER_SIZE_TYPE xHeapCanary;
/* Macro to load/store BlockLink_t pointers to memory. By XORing the
* pointers with a random canary value, heap overflows will result
* in randomly unpredictable pointer values which will be caught by
* heapVALIDATE_BLOCK_POINTER assert. */
#define heapPROTECT_BLOCK_POINTER( pxBlock ) ( ( BlockLink_t * ) ( ( ( portPOINTER_SIZE_TYPE ) ( pxBlock ) ) ^ xHeapCanary ) )
#else
#define heapPROTECT_BLOCK_POINTER( pxBlock ) ( pxBlock )
#endif /* configENABLE_HEAP_PROTECTOR */
/* Assert that a heap block pointer is within the heap bounds. */
#define heapVALIDATE_BLOCK_POINTER( pxBlock ) \
configASSERT( ( ( uint8_t * ) ( pxBlock ) >= &( ucHeap[ 0 ] ) ) && \
( ( uint8_t * ) ( pxBlock ) <= &( ucHeap[ configTOTAL_HEAP_SIZE - 1 ] ) ) )
/*-----------------------------------------------------------*/
/*
* Inserts a block of memory that is being freed into the correct position in
* the list of free memory blocks. The block being freed will be merged with
* the block in front it and/or the block behind it if the memory blocks are
* adjacent to each other.
*/
static void prvInsertBlockIntoFreeList( BlockLink_t * pxBlockToInsert ) PRIVILEGED_FUNCTION;
/*
* Called automatically to setup the required heap structures the first time
* pvPortMalloc() is called.
*/
static void prvHeapInit( void ) PRIVILEGED_FUNCTION;
/*-----------------------------------------------------------*/
/* The size of the structure placed at the beginning of each allocated memory
* block must by correctly byte aligned. */
static const size_t xHeapStructSize = ( sizeof( BlockLink_t ) + ( ( size_t ) ( portBYTE_ALIGNMENT - 1 ) ) ) & ~( ( size_t ) portBYTE_ALIGNMENT_MASK );
/* Create a couple of list links to mark the start and end of the list. */
PRIVILEGED_DATA static BlockLink_t xStart;
PRIVILEGED_DATA static BlockLink_t * pxEnd = NULL;
/* Keeps track of the number of calls to allocate and free memory as well as the
* number of free bytes remaining, but says nothing about fragmentation. */
PRIVILEGED_DATA static size_t xFreeBytesRemaining = ( size_t ) 0U;
PRIVILEGED_DATA static size_t xMinimumEverFreeBytesRemaining = ( size_t ) 0U;
PRIVILEGED_DATA static size_t xNumberOfSuccessfulAllocations = ( size_t ) 0U;
PRIVILEGED_DATA static size_t xNumberOfSuccessfulFrees = ( size_t ) 0U;
/*-----------------------------------------------------------*/
void * pvPortMalloc( size_t xWantedSize )
{
BlockLink_t * pxBlock;
BlockLink_t * pxPreviousBlock;
BlockLink_t * pxNewBlockLink;
void * pvReturn = NULL;
size_t xAdditionalRequiredSize;
size_t xAllocatedBlockSize = 0;
if( xWantedSize > 0 )
{
/* The wanted size must be increased so it can contain a BlockLink_t
* structure in addition to the requested amount of bytes. */
if( heapADD_WILL_OVERFLOW( xWantedSize, xHeapStructSize ) == 0 )
{
xWantedSize += xHeapStructSize;
/* Ensure that blocks are always aligned to the required number
* of bytes. */
if( ( xWantedSize & portBYTE_ALIGNMENT_MASK ) != 0x00 )
{
/* Byte alignment required. */
xAdditionalRequiredSize = portBYTE_ALIGNMENT - ( xWantedSize & portBYTE_ALIGNMENT_MASK );
if( heapADD_WILL_OVERFLOW( xWantedSize, xAdditionalRequiredSize ) == 0 )
{
xWantedSize += xAdditionalRequiredSize;
}
else
{
xWantedSize = 0;
}
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
else
{
xWantedSize = 0;
}
}
else
{
mtCOVERAGE_TEST_MARKER();
}
vTaskSuspendAll();
{
/* If this is the first call to malloc then the heap will require
* initialisation to setup the list of free blocks. */
if( pxEnd == NULL )
{
prvHeapInit();
}
else
{
mtCOVERAGE_TEST_MARKER();
}
/* Check the block size we are trying to allocate is not so large that the
* top bit is set. The top bit of the block size member of the BlockLink_t
* structure is used to determine who owns the block - the application or
* the kernel, so it must be free. */
if( heapBLOCK_SIZE_IS_VALID( xWantedSize ) != 0 )
{
if( ( xWantedSize > 0 ) && ( xWantedSize <= xFreeBytesRemaining ) )
{
/* Traverse the list from the start (lowest address) block until
* one of adequate size is found. */
pxPreviousBlock = &xStart;
pxBlock = heapPROTECT_BLOCK_POINTER( xStart.pxNextFreeBlock );
heapVALIDATE_BLOCK_POINTER( pxBlock );
while( ( pxBlock->xBlockSize < xWantedSize ) && ( pxBlock->pxNextFreeBlock != heapPROTECT_BLOCK_POINTER( NULL ) ) )
{
pxPreviousBlock = pxBlock;
pxBlock = heapPROTECT_BLOCK_POINTER( pxBlock->pxNextFreeBlock );
heapVALIDATE_BLOCK_POINTER( pxBlock );
}
/* If the end marker was reached then a block of adequate size
* was not found. */
if( pxBlock != pxEnd )
{
/* Return the memory space pointed to - jumping over the
* BlockLink_t structure at its start. */
pvReturn = ( void * ) ( ( ( uint8_t * ) heapPROTECT_BLOCK_POINTER( pxPreviousBlock->pxNextFreeBlock ) ) + xHeapStructSize );
heapVALIDATE_BLOCK_POINTER( pvReturn );
/* This block is being returned for use so must be taken out
* of the list of free blocks. */
pxPreviousBlock->pxNextFreeBlock = pxBlock->pxNextFreeBlock;
/* If the block is larger than required it can be split into
* two. */
configASSERT( heapSUBTRACT_WILL_UNDERFLOW( pxBlock->xBlockSize, xWantedSize ) == 0 );
if( ( pxBlock->xBlockSize - xWantedSize ) > heapMINIMUM_BLOCK_SIZE )
{
/* This block is to be split into two. Create a new
* block following the number of bytes requested. The void
* cast is used to prevent byte alignment warnings from the
* compiler. */
pxNewBlockLink = ( void * ) ( ( ( uint8_t * ) pxBlock ) + xWantedSize );
configASSERT( ( ( ( size_t ) pxNewBlockLink ) & portBYTE_ALIGNMENT_MASK ) == 0 );
/* Calculate the sizes of two blocks split from the
* single block. */
pxNewBlockLink->xBlockSize = pxBlock->xBlockSize - xWantedSize;
pxBlock->xBlockSize = xWantedSize;
/* Insert the new block into the list of free blocks. */
pxNewBlockLink->pxNextFreeBlock = pxPreviousBlock->pxNextFreeBlock;
pxPreviousBlock->pxNextFreeBlock = heapPROTECT_BLOCK_POINTER( pxNewBlockLink );
}
else
{
mtCOVERAGE_TEST_MARKER();
}
xFreeBytesRemaining -= pxBlock->xBlockSize;
if( xFreeBytesRemaining < xMinimumEverFreeBytesRemaining )
{
xMinimumEverFreeBytesRemaining = xFreeBytesRemaining;
}
else
{
mtCOVERAGE_TEST_MARKER();
}
xAllocatedBlockSize = pxBlock->xBlockSize;
/* The block is being returned - it is allocated and owned
* by the application and has no "next" block. */
heapALLOCATE_BLOCK( pxBlock );
pxBlock->pxNextFreeBlock = heapPROTECT_BLOCK_POINTER( NULL );
xNumberOfSuccessfulAllocations++;
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
else
{
mtCOVERAGE_TEST_MARKER();
}
traceMALLOC( pvReturn, xAllocatedBlockSize );
/* Prevent compiler warnings when trace macros are not used. */
( void ) xAllocatedBlockSize;
}
( void ) xTaskResumeAll();
#if ( configUSE_MALLOC_FAILED_HOOK == 1 )
{
if( pvReturn == NULL )
{
vApplicationMallocFailedHook();
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
#endif /* if ( configUSE_MALLOC_FAILED_HOOK == 1 ) */
configASSERT( ( ( ( size_t ) pvReturn ) & ( size_t ) portBYTE_ALIGNMENT_MASK ) == 0 );
return pvReturn;
}
/*-----------------------------------------------------------*/
void vPortFree( void * pv )
{
uint8_t * puc = ( uint8_t * ) pv;
BlockLink_t * pxLink;
if( pv != NULL )
{
/* The memory being freed will have an BlockLink_t structure immediately
* before it. */
puc -= xHeapStructSize;
/* This casting is to keep the compiler from issuing warnings. */
pxLink = ( void * ) puc;
heapVALIDATE_BLOCK_POINTER( pxLink );
configASSERT( heapBLOCK_IS_ALLOCATED( pxLink ) != 0 );
configASSERT( pxLink->pxNextFreeBlock == heapPROTECT_BLOCK_POINTER( NULL ) );
if( heapBLOCK_IS_ALLOCATED( pxLink ) != 0 )
{
if( pxLink->pxNextFreeBlock == heapPROTECT_BLOCK_POINTER( NULL ) )
{
/* The block is being returned to the heap - it is no longer
* allocated. */
heapFREE_BLOCK( pxLink );
#if ( configHEAP_CLEAR_MEMORY_ON_FREE == 1 )
{
/* Check for underflow as this can occur if xBlockSize is
* overwritten in a heap block. */
if( heapSUBTRACT_WILL_UNDERFLOW( pxLink->xBlockSize, xHeapStructSize ) == 0 )
{
( void ) memset( puc + xHeapStructSize, 0, pxLink->xBlockSize - xHeapStructSize );
}
}
#endif
vTaskSuspendAll();
{
/* Add this block to the list of free blocks. */
xFreeBytesRemaining += pxLink->xBlockSize;
traceFREE( pv, pxLink->xBlockSize );
prvInsertBlockIntoFreeList( ( ( BlockLink_t * ) pxLink ) );
xNumberOfSuccessfulFrees++;
}
( void ) xTaskResumeAll();
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
}
/*-----------------------------------------------------------*/
size_t xPortGetFreeHeapSize( void )
{
return xFreeBytesRemaining;
}
/*-----------------------------------------------------------*/
size_t xPortGetMinimumEverFreeHeapSize( void )
{
return xMinimumEverFreeBytesRemaining;
}
/*-----------------------------------------------------------*/
void xPortResetHeapMinimumEverFreeHeapSize( void )
{
xMinimumEverFreeBytesRemaining = xFreeBytesRemaining;
}
/*-----------------------------------------------------------*/
void vPortInitialiseBlocks( void )
{
/* This just exists to keep the linker quiet. */
}
/*-----------------------------------------------------------*/
void * pvPortCalloc( size_t xNum,
size_t xSize )
{
void * pv = NULL;
if( heapMULTIPLY_WILL_OVERFLOW( xNum, xSize ) == 0 )
{
pv = pvPortMalloc( xNum * xSize );
if( pv != NULL )
{
( void ) memset( pv, 0, xNum * xSize );
}
}
return pv;
}
/*-----------------------------------------------------------*/
static void prvHeapInit( void ) /* PRIVILEGED_FUNCTION */
{
BlockLink_t * pxFirstFreeBlock;
portPOINTER_SIZE_TYPE uxStartAddress, uxEndAddress;
size_t xTotalHeapSize = configTOTAL_HEAP_SIZE;
/* Ensure the heap starts on a correctly aligned boundary. */
uxStartAddress = ( portPOINTER_SIZE_TYPE ) ucHeap;
if( ( uxStartAddress & portBYTE_ALIGNMENT_MASK ) != 0 )
{
uxStartAddress += ( portBYTE_ALIGNMENT - 1 );
uxStartAddress &= ~( ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK );
xTotalHeapSize -= ( size_t ) ( uxStartAddress - ( portPOINTER_SIZE_TYPE ) ucHeap );
}
#if ( configENABLE_HEAP_PROTECTOR == 1 )
{
vApplicationGetRandomHeapCanary( &( xHeapCanary ) );
}
#endif
/* xStart is used to hold a pointer to the first item in the list of free
* blocks. The void cast is used to prevent compiler warnings. */
xStart.pxNextFreeBlock = ( void * ) heapPROTECT_BLOCK_POINTER( uxStartAddress );
xStart.xBlockSize = ( size_t ) 0;
/* pxEnd is used to mark the end of the list of free blocks and is inserted
* at the end of the heap space. */
uxEndAddress = uxStartAddress + ( portPOINTER_SIZE_TYPE ) xTotalHeapSize;
uxEndAddress -= ( portPOINTER_SIZE_TYPE ) xHeapStructSize;
uxEndAddress &= ~( ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK );
pxEnd = ( BlockLink_t * ) uxEndAddress;
pxEnd->xBlockSize = 0;
pxEnd->pxNextFreeBlock = heapPROTECT_BLOCK_POINTER( NULL );
/* To start with there is a single free block that is sized to take up the
* entire heap space, minus the space taken by pxEnd. */
pxFirstFreeBlock = ( BlockLink_t * ) uxStartAddress;
pxFirstFreeBlock->xBlockSize = ( size_t ) ( uxEndAddress - ( portPOINTER_SIZE_TYPE ) pxFirstFreeBlock );
pxFirstFreeBlock->pxNextFreeBlock = heapPROTECT_BLOCK_POINTER( pxEnd );
/* Only one block exists - and it covers the entire usable heap space. */
xMinimumEverFreeBytesRemaining = pxFirstFreeBlock->xBlockSize;
xFreeBytesRemaining = pxFirstFreeBlock->xBlockSize;
}
/*-----------------------------------------------------------*/
static void prvInsertBlockIntoFreeList( BlockLink_t * pxBlockToInsert ) /* PRIVILEGED_FUNCTION */
{
BlockLink_t * pxIterator;
uint8_t * puc;
/* Iterate through the list until a block is found that has a higher address
* than the block being inserted. */
for( pxIterator = &xStart; heapPROTECT_BLOCK_POINTER( pxIterator->pxNextFreeBlock ) < pxBlockToInsert; pxIterator = heapPROTECT_BLOCK_POINTER( pxIterator->pxNextFreeBlock ) )
{
/* Nothing to do here, just iterate to the right position. */
}
if( pxIterator != &xStart )
{
heapVALIDATE_BLOCK_POINTER( pxIterator );
}
/* Do the block being inserted, and the block it is being inserted after
* make a contiguous block of memory? */
puc = ( uint8_t * ) pxIterator;
if( ( puc + pxIterator->xBlockSize ) == ( uint8_t * ) pxBlockToInsert )
{
pxIterator->xBlockSize += pxBlockToInsert->xBlockSize;
pxBlockToInsert = pxIterator;
}
else
{
mtCOVERAGE_TEST_MARKER();
}
/* Do the block being inserted, and the block it is being inserted before
* make a contiguous block of memory? */
puc = ( uint8_t * ) pxBlockToInsert;
if( ( puc + pxBlockToInsert->xBlockSize ) == ( uint8_t * ) heapPROTECT_BLOCK_POINTER( pxIterator->pxNextFreeBlock ) )
{
if( heapPROTECT_BLOCK_POINTER( pxIterator->pxNextFreeBlock ) != pxEnd )
{
/* Form one big block from the two blocks. */
pxBlockToInsert->xBlockSize += heapPROTECT_BLOCK_POINTER( pxIterator->pxNextFreeBlock )->xBlockSize;
pxBlockToInsert->pxNextFreeBlock = heapPROTECT_BLOCK_POINTER( pxIterator->pxNextFreeBlock )->pxNextFreeBlock;
}
else
{
pxBlockToInsert->pxNextFreeBlock = heapPROTECT_BLOCK_POINTER( pxEnd );
}
}
else
{
pxBlockToInsert->pxNextFreeBlock = pxIterator->pxNextFreeBlock;
}
/* If the block being inserted plugged a gap, so was merged with the block
* before and the block after, then it's pxNextFreeBlock pointer will have
* already been set, and should not be set here as that would make it point
* to itself. */
if( pxIterator != pxBlockToInsert )
{
pxIterator->pxNextFreeBlock = heapPROTECT_BLOCK_POINTER( pxBlockToInsert );
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
/*-----------------------------------------------------------*/
void vPortGetHeapStats( HeapStats_t * pxHeapStats )
{
BlockLink_t * pxBlock;
size_t xBlocks = 0, xMaxSize = 0, xMinSize = SIZE_MAX;
vTaskSuspendAll();
{
pxBlock = heapPROTECT_BLOCK_POINTER( xStart.pxNextFreeBlock );
/* pxBlock will be NULL if the heap has not been initialised. The heap
* is initialised automatically when the first allocation is made. */
if( pxBlock != NULL )
{
while( pxBlock != pxEnd )
{
/* Increment the number of blocks and record the largest block seen
* so far. */
xBlocks++;
if( pxBlock->xBlockSize > xMaxSize )
{
xMaxSize = pxBlock->xBlockSize;
}
if( pxBlock->xBlockSize < xMinSize )
{
xMinSize = pxBlock->xBlockSize;
}
/* Move to the next block in the chain until the last block is
* reached. */
pxBlock = heapPROTECT_BLOCK_POINTER( pxBlock->pxNextFreeBlock );
}
}
}
( void ) xTaskResumeAll();
pxHeapStats->xSizeOfLargestFreeBlockInBytes = xMaxSize;
pxHeapStats->xSizeOfSmallestFreeBlockInBytes = xMinSize;
pxHeapStats->xNumberOfFreeBlocks = xBlocks;
taskENTER_CRITICAL();
{
pxHeapStats->xAvailableHeapSpaceInBytes = xFreeBytesRemaining;
pxHeapStats->xNumberOfSuccessfulAllocations = xNumberOfSuccessfulAllocations;
pxHeapStats->xNumberOfSuccessfulFrees = xNumberOfSuccessfulFrees;
pxHeapStats->xMinimumEverFreeBytesRemaining = xMinimumEverFreeBytesRemaining;
}
taskEXIT_CRITICAL();
}
/*-----------------------------------------------------------*/
/*
* Reset the state in this file. This state is normally initialized at start up.
* This function must be called by the application before restarting the
* scheduler.
*/
void vPortHeapResetState( void )
{
pxEnd = NULL;
xFreeBytesRemaining = ( size_t ) 0U;
xMinimumEverFreeBytesRemaining = ( size_t ) 0U;
xNumberOfSuccessfulAllocations = ( size_t ) 0U;
xNumberOfSuccessfulFrees = ( size_t ) 0U;
}
/*-----------------------------------------------------------*/
vendor/FreeRTOS-Kernel/queue.c
Vendored
+3364
View File
File diff suppressed because it is too large Load Diff
vendor/FreeRTOS-Kernel/tasks.c
Vendored
+8872
View File
File diff suppressed because it is too large Load Diff
vendor/Hazard3/hdl/arith/hazard3_alu.v
Vendored
+269
View File
@@ -0,0 +1,269 @@
/*****************************************************************************\
| Copyright (C) 2021-2022 Luke Wren |
| SPDX-License-Identifier: Apache-2.0 |
\*****************************************************************************/
`default_nettype none
module hazard3_alu #(
`include "hazard3_config.vh"
,
`include "hazard3_width_const.vh"
) (
input wire [W_ALUOP-1:0] aluop,
input wire [6:0] funct7_32b,
input wire [2:0] funct3_32b,
input wire [W_DATA-1:0] op_a,
input wire [W_DATA-1:0] op_b,
output reg [W_DATA-1:0] result,
output wire cmp
);
`include "hazard3_ops.vh"
// ----------------------------------------------------------------------------
// Fiddle around with add/sub, comparisons etc (all related).
wire sub = !(aluop == ALUOP_ADD || (|EXTENSION_ZBA && aluop == ALUOP_SHXADD));
wire inv_op_b = sub && !(
aluop == ALUOP_AND || aluop == ALUOP_OR || aluop == ALUOP_XOR || aluop == ALUOP_RS2
);
wire [W_DATA-1:0] op_a_shifted =
|EXTENSION_ZBA && aluop == ALUOP_SHXADD ? (
!funct3_32b[2] ? op_a << 1 :
!funct3_32b[1] ? op_a << 2 : op_a << 3
) : op_a;
wire [W_DATA-1:0] op_b_inv = op_b ^ {W_DATA{inv_op_b}};
wire [W_DATA-1:0] sum = op_a_shifted + op_b_inv + {{W_DATA-1{1'b0}}, sub};
wire [W_DATA-1:0] op_xor = op_a ^ op_b;
wire cmp_is_unsigned = aluop == ALUOP_LTU ||
|EXTENSION_ZBB && aluop == ALUOP_MAXU ||
|EXTENSION_ZBB && aluop == ALUOP_MINU;
wire lt = op_a[W_DATA-1] == op_b[W_DATA-1] ? sum[W_DATA-1] :
cmp_is_unsigned ? op_b[W_DATA-1] : op_a[W_DATA-1] ;
assign cmp = aluop == ALUOP_SUB ? |op_xor : lt;
// ----------------------------------------------------------------------------
// Separate units for shift, ctz etc
wire [W_DATA-1:0] shift_dout;
wire shift_right_nleft =
aluop == ALUOP_SRL ||
aluop == ALUOP_SRA ||
(|EXTENSION_ZBB && aluop == ALUOP_ROR ) ||
(|EXTENSION_ZBS && aluop == ALUOP_BEXT ) ||
(|EXTENSION_XH3BEXTM && aluop == ALUOP_BEXTM);
wire shift_arith = aluop == ALUOP_SRA;
wire shift_rotate = |EXTENSION_ZBB & (aluop == ALUOP_ROR || aluop == ALUOP_ROL);
hazard3_shift_barrel #(
`include "hazard3_config_inst.vh"
) shifter (
.din (op_a),
.shamt (op_b[4:0]),
.right_nleft (shift_right_nleft),
.rotate (shift_rotate),
.arith (shift_arith),
.dout (shift_dout)
);
reg [W_DATA-1:0] op_a_rev;
always @ (*) begin: rev_op_a
integer i;
for (i = 0; i < W_DATA; i = i + 1) begin
op_a_rev[i] = op_a[W_DATA - 1 - i];
end
end
// "leading" means starting at MSB. This is an LSB-first priority encoder, so
// "leading" is reversed and "trailing" is not.
wire [W_DATA-1:0] ctz_search_mask = aluop == ALUOP_CLZ ? op_a_rev : op_a;
wire [W_SHAMT:0] ctz_clz;
hazard3_priority_encode #(
.W_REQ (W_DATA),
.HIGHEST_WINS (0)
) ctz_priority_encode (
.req (ctz_search_mask),
.gnt (ctz_clz[W_SHAMT-1:0])
);
// Special case: all-zeroes returns XLEN
assign ctz_clz[W_SHAMT] = ~|op_a;
reg [W_SHAMT:0] cpop;
always @ (*) begin: cpop_count
integer i;
cpop = {W_SHAMT+1{1'b0}};
for (i = 0; i < W_DATA; i = i + 1) begin
cpop = cpop + {{W_SHAMT{1'b0}}, op_a[i]};
end
end
reg [2*W_DATA-1:0] clmul64;
always @ (*) begin: clmul_mul
integer i;
clmul64 = {2*W_DATA{1'b0}};
for (i = 0; i < W_DATA; i = i + 1) begin
clmul64 = clmul64 ^ (({{W_DATA{1'b0}}, op_a} << i) & {2*W_DATA{op_b[i]}});
end
end
// funct3: 1=clmul, 2=clmulr, 3=clmulh, never 0.
wire [W_DATA-1:0] clmul =
!funct3_32b[1] ? clmul64[31: 0] :
!funct3_32b[0] ? clmul64[62:31] : clmul64[63:32];
reg [W_DATA-1:0] zip;
reg [W_DATA-1:0] unzip;
always @ (*) begin: do_zip_unzip
integer i;
for (i = 0; i < W_DATA; i = i + 1) begin
zip[i] = op_a[{i[0], i[4:1]}]; // Alternate high/low halves
unzip[i] = op_a[{i[3:0], i[4]}]; // All even then all odd
end
end
reg [W_DATA-1:0] xperm8;
always @ (*) begin: do_xperm8
integer i;
for (i = 0; i < W_DATA; i = i + 8) begin
if (|op_b[i + 2 +: 6]) begin
xperm8[i +: 8] = 8'h00;
end else begin
xperm8[i +: 8] = op_a[8 * op_b[i +: 2] +: 8];
end
end
end
reg [W_DATA-1:0] xperm4;
always @ (*) begin: do_xperm4
integer i;
for (i = 0; i < W_DATA; i = i + 4) begin
if (op_b[i + 3]) begin
xperm4[i +: 4] = 4'h0;
end else begin
xperm4[i +: 4] = op_a[4 * op_b[i +: 3] +: 4];
end
end
end
// ----------------------------------------------------------------------------
// Output mux, with simple operations inline
// iCE40: We can implement all bitwise ops with 1 LUT4/bit total, since each
// result bit uses only two operand bits. Much better than feeding each into
// main mux tree. Doesn't matter for big-LUT FPGAs or for implementations with
// bitmanip extensions enabled.
reg [W_DATA-1:0] bitwise;
always @ (*) begin: bitwise_ops
case (aluop[1:0])
ALUOP_AND[1:0]: bitwise = op_a & op_b_inv;
ALUOP_OR [1:0]: bitwise = op_a | op_b_inv;
ALUOP_XOR[1:0]: bitwise = op_a ^ op_b_inv;
ALUOP_RS2[1:0]: bitwise = op_b_inv;
endcase
end
wire [W_DATA-1:0] zbs_mask = {{W_DATA-1{1'b0}}, 1'b1} << op_b[W_SHAMT-1:0];
always @ (*) begin
casez ({|EXTENSION_A, |EXTENSION_ZBA, |EXTENSION_ZBB, |EXTENSION_ZBC,
|EXTENSION_ZBS, |EXTENSION_ZBKB, |EXTENSION_ZBKX, |EXTENSION_XH3BEXTM, aluop})
// Base ISA
{8'bzzzzzzzz, ALUOP_ADD }: result = sum;
{8'bzzzzzzzz, ALUOP_SUB }: result = sum;
{8'bzzzzzzzz, ALUOP_LT }: result = {{W_DATA-1{1'b0}}, lt};
{8'bzzzzzzzz, ALUOP_LTU }: result = {{W_DATA-1{1'b0}}, lt};
{8'bzzzzzzzz, ALUOP_SRL }: result = shift_dout;
{8'bzzzzzzzz, ALUOP_SRA }: result = shift_dout;
{8'bzzzzzzzz, ALUOP_SLL }: result = shift_dout;
// A or Zbb (written this way to avoid case overlap)
{8'b1zzzzzzz, ALUOP_MAX },
{8'b0z1zzzzz, ALUOP_MAX }: result = lt ? op_b : op_a;
{8'b1zzzzzzz, ALUOP_MIN },
{8'b0z1zzzzz, ALUOP_MIN }: result = lt ? op_a : op_b;
{8'b1zzzzzzz, ALUOP_MAXU },
{8'b0z1zzzzz, ALUOP_MAXU }: result = lt ? op_b : op_a;
{8'b1zzzzzzz, ALUOP_MINU },
{8'b0z1zzzzz, ALUOP_MINU }: result = lt ? op_a : op_b;
// Zba
{8'bz1zzzzzz, ALUOP_SHXADD }: result = sum;
// Zbb
{8'bzz1zzzzz, ALUOP_ANDN }: result = bitwise;
{8'bzz1zzzzz, ALUOP_ORN }: result = bitwise;
{8'bzz1zzzzz, ALUOP_XNOR }: result = bitwise;
{8'bzz1zzzzz, ALUOP_CLZ }: result = {{W_DATA-W_SHAMT-1{1'b0}}, ctz_clz};
{8'bzz1zzzzz, ALUOP_CTZ }: result = {{W_DATA-W_SHAMT-1{1'b0}}, ctz_clz};
{8'bzz1zzzzz, ALUOP_CPOP }: result = {{W_DATA-W_SHAMT-1{1'b0}}, cpop};
{8'bzz1zzzzz, ALUOP_SEXT_B }: result = {{W_DATA-8{op_a[7]}}, op_a[7:0]};
{8'bzz1zzzzz, ALUOP_SEXT_H }: result = {{W_DATA-16{op_a[15]}}, op_a[15:0]};
{8'bzz1zzzzz, ALUOP_ZEXT_H }: result = {{W_DATA-16{1'b0}}, op_a[15:0]};
{8'bzz1zzzzz, ALUOP_ORC_B }: result = {{8{|op_a[31:24]}}, {8{|op_a[23:16]}}, {8{|op_a[15:8]}}, {8{|op_a[7:0]}}};
{8'bzz1zzzzz, ALUOP_REV8 }: result = {op_a[7:0], op_a[15:8], op_a[23:16], op_a[31:24]};
{8'bzz1zzzzz, ALUOP_ROL }: result = shift_dout;
{8'bzz1zzzzz, ALUOP_ROR }: result = shift_dout;
// Zbc
{8'bzzz1zzzz, ALUOP_CLMUL }: result = clmul;
// Zbs
{8'bzzzz1zzz, ALUOP_BCLR }: result = op_a & ~zbs_mask;
{8'bzzzz1zzz, ALUOP_BSET }: result = op_a | zbs_mask;
{8'bzzzz1zzz, ALUOP_BINV }: result = op_a ^ zbs_mask;
{8'bzzzz1zzz, ALUOP_BEXT }: result = {{W_DATA-1{1'b0}}, shift_dout[0]};
// Zbkb
{8'bzzzzz1zz, ALUOP_PACK }: result = {op_b[15:0], op_a[15:0]};
{8'bzzzzz1zz, ALUOP_PACKH }: result = {{W_DATA-16{1'b0}}, op_b[7:0], op_a[7:0]};
{8'bzzzzz1zz, ALUOP_BREV8 }: result = {op_a_rev[7:0], op_a_rev[15:8], op_a_rev[23:16], op_a_rev[31:24]};
{8'bzzzzz1zz, ALUOP_UNZIP }: result = unzip;
{8'bzzzzz1zz, ALUOP_ZIP }: result = zip;
// Zbkx
{8'bzzzzzz1z, ALUOP_XPERM }: result = funct3_32b[2] ? xperm8 : xperm4;
// Xh3bextm
{8'bzzzzzzz1, ALUOP_BEXTM }: result = shift_dout & {24'h0, {~(8'hfe << funct7_32b[3:1])}};
default: result = bitwise;
endcase
end
// ----------------------------------------------------------------------------
// Properties for base-ISA instructions
`ifdef HAZARD3_ASSERTIONS
`ifndef RISCV_FORMAL
// Really we're just interested in the shifts and comparisons, as these are
// the nontrivial ones. However, easier to test everything!
wire clk;
always @ (posedge clk) begin
case(aluop)
default: begin end
ALUOP_ADD: assert(result == op_a + op_b);
ALUOP_SUB: assert(result == op_a - op_b);
ALUOP_LT: assert(result == $signed(op_a) < $signed(op_b));
ALUOP_LTU: assert(result == op_a < op_b);
ALUOP_AND: assert(result == (op_a & op_b));
ALUOP_OR: assert(result == (op_a | op_b));
ALUOP_XOR: assert(result == (op_a ^ op_b));
ALUOP_SRL: assert(result == op_a >> op_b[4:0]);
ALUOP_SRA: assert($signed(result) == $signed(op_a) >>> $signed(op_b[4:0]));
ALUOP_SLL: assert(result == op_a << op_b[4:0]);
endcase
end
`endif
`endif
endmodule
`ifndef YOSYS
`default_nettype wire
`endif
vendor/Hazard3/hdl/arith/hazard3_branchcmp.v
Vendored
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/*****************************************************************************\
| Copyright (C) 2022 Luke Wren |
| SPDX-License-Identifier: Apache-2.0 |
\*****************************************************************************/
`default_nettype none
// The branch decision path through the ALU is slow because:
//
// - Sees immediates and PC on its inputs, as well as regs
// - Add/sub rather than just add (with complex decode of the sub condition)
// - 2 extra mux layers in front of adder if Zba extension is enabled
//
// So there is sometimes timing benefit to a dedicated branch comparator.
module hazard3_branchcmp #(
`include "hazard3_config.vh"
,
`include "hazard3_width_const.vh"
) (
input wire [31:0] cir,
input wire [W_DATA-1:0] op_a,
input wire [W_DATA-1:0] op_b,
output wire cmp
);
`include "hazard3_ops.vh"
wire [W_DATA-1:0] diff = op_a - op_b;
// funct3 instruction
// ------------------
// 000 BEQ
// 001 BNE
// 100 BLT
// 101 BGE
// 110 BLTU
// 111 BGEU
wire cmp_is_unsigned = cir[13];
wire lt = op_a[W_DATA-1] == op_b[W_DATA-1] ? diff[W_DATA-1] :
cmp_is_unsigned ? op_b[W_DATA-1] :
op_a[W_DATA-1] ;
assign cmp = cir[14] ? lt : op_a != op_b;
endmodule
`ifndef YOSYS
`default_nettype wire
`endif
vendor/Hazard3/hdl/arith/hazard3_mul_fast.v
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+162
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/*****************************************************************************\
| Copyright (C) 2021-2022 Luke Wren |
| SPDX-License-Identifier: Apache-2.0 |
\*****************************************************************************/
// MUL-only (cfg: MUL_FAST) and MUL/MULH/MULHU/MULHSU (cfg: MUL_FAST &&
// MULH_FAST) are handled by different circuits. In either case it's a simple
// behavioural multiply, and we rely on inference to get good performance on
// FPGA.
`default_nettype none
module hazard3_mul_fast #(
`include "hazard3_config.vh"
,
`include "hazard3_width_const.vh"
) (
input wire clk,
input wire rst_n,
input wire [W_MULOP-1:0] op,
input wire op_vld,
input wire [W_DATA-1:0] op_a,
input wire [W_DATA-1:0] op_b,
output wire [W_DATA-1:0] result,
output reg result_vld
);
`include "hazard3_ops.vh"
localparam XLEN = W_DATA;
//synthesis translate_off
generate if (MULH_FAST && !MUL_FAST) begin: err_require_mul_fast_for_mulh
initial $fatal("%m: MULH_FAST requires that MUL_FAST is also set.");
end endgenerate
generate if (MUL_FASTER && !MUL_FAST) begin: err_require_mul_fast_for_faster
initial $fatal("%m: MUL_FASTER requires that MUL_FAST is also set.");
end endgenerate
//synthesis translate_on
// Latency of 1:
always @ (posedge clk or negedge rst_n) begin
if (!rst_n) begin
result_vld <= 1'b0;
end else begin
result_vld <= op_vld;
end
end
// ----------------------------------------------------------------------------
// Fast MUL only
generate
if (!MULH_FAST) begin: mul_only
// This pipestage is folded into the front of the DSP tiles on UP5k. Note the
// intention is to register the bypassed core regs at the end of X (since
// bypass is quite slow), then perform multiply combinatorially in stage M,
// and mux into MW result register.
reg [XLEN-1:0] op_a_r;
reg [XLEN-1:0] op_b_r;
if (MUL_FASTER) begin: op_passthrough
always @ (*) begin
op_a_r = op_a;
op_b_r = op_b;
end
end else begin: op_register
always @ (posedge clk) begin
if (op_vld) begin
op_a_r <= op_a;
op_b_r <= op_b;
end
end
end
// This should be inferred as 3 DSP tiles on UP5k:
//
// 1. Register then multiply a[15: 0] and b[15: 0]
// 2. Register then multiply a[31:16] and b[15: 0], then directly add output of 1
// 3. Register then multiply a[15: 0] and b[31:16], then directly add output of 2
//
// So there is quite a long path (1x 16-bit multiply, then 2x 16-bit add). On
// other platforms you may just end up with a pile of gates.
`ifndef RISCV_FORMAL_ALTOPS
assign result = op_a_r * op_b_r;
`else
// riscv-formal can use a simpler function, since it's just confirming the
// result is correctly hooked up.
assign result = result_vld ? (op_a_r + op_b_r) ^ 32'h5876063e : 32'hdeadbeef;
`endif
// ----------------------------------------------------------------------------
// Fast MUL/MULH/MULHU/MULHSU
end else begin: mul_and_mulh
reg [XLEN-1:0] op_a_r;
reg [XLEN-1:0] op_b_r;
reg [W_MULOP-1:0] op_r;
if (MUL_FASTER) begin: op_passthrough
always @ (*) begin
op_a_r = op_a;
op_b_r = op_b;
op_r = op;
end
end else begin: op_register
always @ (posedge clk) begin
if (op_vld) begin
op_a_r <= op_a;
op_b_r <= op_b;
op_r <= op;
end
end
end
wire op_a_signed = op_r == M_OP_MULH || op_r == M_OP_MULHSU;
wire op_b_signed = op_r == M_OP_MULH;
wire [2*XLEN-1:0] op_a_sext = {
{XLEN{op_a_r[XLEN - 1] && op_a_signed}},
op_a_r
};
wire [2*XLEN-1:0] op_b_sext = {
{XLEN{op_b_r[XLEN - 1] && op_b_signed}},
op_b_r
};
wire [2*XLEN-1:0] result_full = op_a_sext * op_b_sext;
`ifndef RISCV_FORMAL_ALTOPS
assign result = op_r == M_OP_MUL ? result_full[0 +: XLEN] : result_full[XLEN +: XLEN];
`else
assign result =
op_r == M_OP_MULH ? (op_a_r + op_b_r) ^ 32'hf6583fb7 :
op_r == M_OP_MULHSU ? (op_a_r - op_b_r) ^ 32'hecfbe137 :
op_r == M_OP_MULHU ? (op_a_r + op_b_r) ^ 32'h949ce5e8 :
op_r == M_OP_MUL ? (op_a_r + op_b_r) ^ 32'h5876063e : 32'hdeadbeef;
`endif
end
endgenerate
endmodule
`ifndef YOSYS
`default_nettype wire
`endif
vendor/Hazard3/hdl/arith/hazard3_muldiv_seq.v
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/*****************************************************************************\
| Copyright (C) 2021-2022 Luke Wren |
| SPDX-License-Identifier: Apache-2.0 |
\*****************************************************************************/
// Combined multiply/divide/modulo circuit. All operations performed at 1 bit
// per clock; aiming for minimal resource usage on iCE40 FPGA. Optionally the
// circuit can be unrolled for slightly higher performance.
//
// When op_kill is high, the current calculation halts immediately. op_vld can
// be asserted on the same cycle, and the new calculation begins without
// delay, regardless of op_rdy. This may be used by the processor on e.g.
// mispredict or trap.
//
// The actual multiply/divide hardware is unsigned. We handle signedness at
// input/output.
`default_nettype none
module hazard3_muldiv_seq #(
`include "hazard3_config.vh"
,
`include "hazard3_width_const.vh"
) (
input wire clk,
input wire rst_n,
input wire [W_MULOP-1:0] op,
input wire op_vld,
output wire op_rdy,
input wire op_kill,
input wire [W_DATA-1:0] op_a,
input wire [W_DATA-1:0] op_b,
output wire [W_DATA-1:0] result_h, // mulh* or rem*
output wire [W_DATA-1:0] result_l, // mul or div*
output wire result_vld
);
`include "hazard3_ops.vh"
//synthesis translate_off
generate if (|(MULDIV_UNROLL & (MULDIV_UNROLL - 1)) || ~|MULDIV_UNROLL) begin: err_pow2
initial $fatal("%m: MULDIV_UNROLL must be a positive power of 2");
end endgenerate
//synthesis translate_on
localparam XLEN = W_DATA;
parameter W_CTR = $clog2(XLEN + 1);
// ----------------------------------------------------------------------------
// Operation decode, operand sign adjustment
// On the first cycle, op_a and op_b go straight through to the accumulator
// and the divisor/multiplicand register. They are then adjusted in-place
// on the next cycle. This allows the same circuits to be reused for sign
// adjustment before output (and helps input timing).
reg [W_MULOP-1:0] op_r;
reg [2*XLEN-1:0] accum;
reg [XLEN-1:0] op_b_r;
reg op_a_neg_r;
reg op_b_neg_r;
wire op_a_signed =
op_r == M_OP_MULH ||
op_r == M_OP_MULHSU ||
op_r == M_OP_DIV ||
op_r == M_OP_REM;
wire op_b_signed =
op_r == M_OP_MULH ||
op_r == M_OP_DIV ||
op_r == M_OP_REM;
wire op_a_neg = op_a_signed && accum[XLEN-1];
wire op_b_neg = op_b_signed && op_b_r[XLEN-1];
// Non-divide parts of the circuit should be constant-folded if all the MUL
// operations are handled by the fast multiplier
wire is_div = op_r[2] || (MUL_FAST && MULH_FAST);
// Controls for modifying sign of all/part of accumulator
wire accum_neg_l;
wire accum_inv_h;
wire accum_incr_h;
// ----------------------------------------------------------------------------
// Arithmetic circuit
// Combinatorials:
reg [2*XLEN-1:0] accum_next;
reg [2*XLEN-1:0] addend;
reg [2*XLEN-1:0] shift_tmp;
reg [2*XLEN-1:0] addsub_tmp;
reg neg_l_borrow;
always @ (*) begin: alu
integer i;
// Multiply/divide iteration layers
accum_next = accum;
addend = {2*XLEN{1'b0}};
addsub_tmp = {2*XLEN{1'b0}};
neg_l_borrow = 1'b0;
for (i = 0; i < MULDIV_UNROLL; i = i + 1) begin
addend = {is_div && |op_b_r, op_b_r, {XLEN-1{1'b0}}};
shift_tmp = is_div ? accum_next : accum_next >> 1;
addsub_tmp = shift_tmp + addend;
accum_next = (is_div ? !addsub_tmp[2 * XLEN - 1] : accum_next[0]) ?
addsub_tmp : shift_tmp;
if (is_div)
accum_next = {accum_next[2*XLEN-2:0], !addsub_tmp[2 * XLEN - 1]};
end
// Alternative path for negation of all/part of accumulator
if (accum_neg_l)
{neg_l_borrow, accum_next[XLEN-1:0]} = {~accum[XLEN-1:0]} + 1'b1;
if (accum_incr_h || accum_inv_h)
accum_next[XLEN +: XLEN] = (accum[XLEN +: XLEN] ^ {XLEN{accum_inv_h}})
+ {{XLEN-1{1'b0}}, accum_incr_h};
end
// ----------------------------------------------------------------------------
// Main state machine
reg sign_preadj_done;
reg [W_CTR-1:0] ctr;
reg sign_postadj_done;
reg sign_postadj_carry;
localparam CTR_TOP = XLEN[W_CTR-1:0];
always @ (posedge clk or negedge rst_n) begin
if (!rst_n) begin
ctr <= {W_CTR{1'b0}};
sign_preadj_done <= 1'b1;
sign_postadj_done <= 1'b1;
sign_postadj_carry <= 1'b0;
op_r <= {W_MULOP{1'b0}};
op_a_neg_r <= 1'b0;
op_b_neg_r <= 1'b0;
op_b_r <= {XLEN{1'b0}};
accum <= {XLEN*2{1'b0}};
end else if (op_kill || (op_vld && op_rdy)) begin
// Initialise circuit with operands + state
ctr <= op_vld ? CTR_TOP : {W_CTR{1'b0}};
sign_preadj_done <= !op_vld;
sign_postadj_done <= !op_vld;
sign_postadj_carry <= 1'b0;
op_r <= op;
op_b_r <= op_b;
accum <= {{XLEN{1'b0}}, op_a};
end else if (!sign_preadj_done) begin
// Pre-adjust sign if necessary, else perform first iteration immediately
op_a_neg_r <= op_a_neg;
op_b_neg_r <= op_b_neg;
sign_preadj_done <= 1'b1;
if (accum_neg_l || (op_b_neg ^ is_div)) begin
if (accum_neg_l)
accum[0 +: XLEN] <= accum_next[0 +: XLEN];
if (op_b_neg ^ is_div)
op_b_r <= -op_b_r;
end else begin
ctr <= ctr - MULDIV_UNROLL[W_CTR-1:0];
accum <= accum_next;
end
end else if (|ctr) begin
ctr <= ctr - MULDIV_UNROLL[W_CTR-1:0];
accum <= accum_next;
end else if (!sign_postadj_done || sign_postadj_carry) begin
sign_postadj_done <= 1'b1;
if (accum_inv_h || accum_incr_h)
accum[XLEN +: XLEN] <= accum_next[XLEN +: XLEN];
if (accum_neg_l) begin
accum[0 +: XLEN] <= accum_next[0 +: XLEN];
if (!is_div) begin
sign_postadj_carry <= neg_l_borrow;
sign_postadj_done <= !neg_l_borrow;
end
end
end
end
// ----------------------------------------------------------------------------
// Sign adjustment control
// Pre-adjustment: for any a, b we want |a|, |b|. Note that the magnitude of any
// 32-bit signed integer is representable by a 32-bit unsigned integer.
// Post-adjustment for division:
// We seek q, r to satisfy a = b * q + r, where a and b are given,
// and |r| < |b|. One way to do this is if
// sgn(r) = sgn(a)
// sgn(q) = sgn(a) ^ sgn(b)
// This has additional nice properties like
// -(a / b) = (-a) / b = a / (-b)
// Post-adjustment for multiplication:
// We have calculated the 2*XLEN result of |a| * |b|.
// Negate the entire accumulator if sgn(a) ^ sgn(b).
// This is done in two steps (to share div/mod circuit, and avoid 64-bit carry):
// - Negate lower half of accumulator, and invert upper half
// - Increment upper half if lower half carried
wire do_postadj = ~|{ctr, sign_postadj_done};
wire op_signs_differ = op_a_neg_r ^ op_b_neg_r;
assign accum_neg_l =
!sign_preadj_done && op_a_neg ||
do_postadj && !sign_postadj_carry && op_signs_differ && !(is_div && ~|op_b_r);
assign {accum_incr_h, accum_inv_h} =
do_postadj && is_div && op_a_neg_r ? 2'b11 :
do_postadj && !is_div && op_signs_differ && !sign_postadj_carry ? 2'b01 :
do_postadj && !is_div && op_signs_differ && sign_postadj_carry ? 2'b10 :
2'b00 ;
// ----------------------------------------------------------------------------
// Outputs
assign op_rdy = ~|{ctr, accum_neg_l, accum_incr_h, accum_inv_h};
assign result_vld = op_rdy;
`ifndef RISCV_FORMAL_ALTOPS
assign {result_h, result_l} = accum;
`else
// Provide arithmetically simpler alternative operations, to speed up formal checks
always assert(XLEN == 32);
reg [XLEN-1:0] fml_a_saved;
reg [XLEN-1:0] fml_b_saved;
always @ (posedge clk or negedge rst_n) begin
if (!rst_n) begin
fml_a_saved <= {XLEN{1'b0}};
fml_b_saved <= {XLEN{1'b0}};
end else if (op_vld && op_rdy) begin
fml_a_saved <= op_a;
fml_b_saved <= op_b;
end
end
assign result_h =
op_r == M_OP_MULH ? (fml_a_saved + fml_b_saved) ^ 32'hf6583fb7 :
op_r == M_OP_MULHSU ? (fml_a_saved - fml_b_saved) ^ 32'hecfbe137 :
op_r == M_OP_MULHU ? (fml_a_saved + fml_b_saved) ^ 32'h949ce5e8 :
op_r == M_OP_REM ? (fml_a_saved - fml_b_saved) ^ 32'h8da68fa5 :
op_r == M_OP_REMU ? (fml_a_saved - fml_b_saved) ^ 32'h3138d0e1 : 32'hdeadbeef;
assign result_l =
op_r == M_OP_MUL ? (fml_a_saved + fml_b_saved) ^ 32'h5876063e :
op_r == M_OP_DIV ? (fml_a_saved - fml_b_saved) ^ 32'h7f8529ec :
op_r == M_OP_DIVU ? (fml_a_saved - fml_b_saved) ^ 32'h10e8fd70 : 32'hdeadbeef;
`endif
// ----------------------------------------------------------------------------
// Interface properties
`ifdef HAZARD3_ASSERTIONS
always @ (posedge clk) if (rst_n && $past(rst_n)) begin: properties
integer i;
reg alive;
if ($past(op_rdy && !op_vld))
assert(op_rdy);
if (result_vld && $past(result_vld) && !$past(op_kill))
assert($stable({result_h, result_l}));
// Kill will halt an in-progress operation, but a new operation may be
// asserted simultaneously with kill.
if ($past(op_kill))
assert(op_rdy == !$past(op_vld));
// We should be periodically ready (liveness property), unless new operations
// are forced in immediately, simultaneous with a kill, in which case there
// is no intermediate ready state.
alive = op_rdy || (op_kill && op_vld);
for (i = 1; i <= XLEN / MULDIV_UNROLL + 3; i = i + 1)
alive = alive || $past(op_rdy || (op_kill && op_vld), i);
assert(alive);
end
`endif
endmodule
`ifndef YOSYS
`default_nettype wire
`endif
vendor/Hazard3/hdl/arith/hazard3_onehot_encode.v
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/*****************************************************************************\
| Copyright (C) 2022 Luke Wren |
| SPDX-License-Identifier: Apache-2.0 |
\*****************************************************************************/
// req: one-hot bitmap
// idx: index of the sole set bit in req
`default_nettype none
module hazard3_onehot_encode #(
parameter W_REQ = 16,
parameter W_GNT = $clog2(W_REQ) // do not modify
) (
input wire [W_REQ-1:0] req,
output reg [W_GNT-1:0] gnt
);
always @ (*) begin: encode
reg [W_GNT:0] i;
gnt = {W_GNT{1'b0}};
for (i = 0; i < W_REQ; i = i + 1) begin
gnt = gnt | ({W_GNT{req[i[W_GNT-1:0]]}} & i[W_GNT-1:0]);
end
end
endmodule
`ifndef YOSYS
`default_nettype wire
`endif
vendor/Hazard3/hdl/arith/hazard3_onehot_priority.v
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/*****************************************************************************\
| Copyright (C) 2022 Luke Wren |
| SPDX-License-Identifier: Apache-2.0 |
\*****************************************************************************/
// req: bitmap
// idx: bitmap with all bits clear except the least- (HIGHEST_WINS=0) or
// most- (HIGHEST_WINS=1) significant set bit in req.
`default_nettype none
module hazard3_onehot_priority #(
parameter W_REQ = 16,
parameter HIGHEST_WINS = 0
) (
input wire [W_REQ-1:0] req,
output reg [W_REQ-1:0] gnt
);
always @ (*) begin: select
integer i;
for (i = 0; i < W_REQ; i = i + 1) begin
gnt[i] = req[i] && ~|(req & (
HIGHEST_WINS ? ~({W_REQ{1'b1}} >> (W_REQ - 1 - i)) : ~({W_REQ{1'b1}} << i)
));
end
end
endmodule
`ifndef YOSYS
`default_nettype wire
`endif
vendor/Hazard3/hdl/arith/hazard3_onehot_priority_dynamic.v
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/*****************************************************************************\
| Copyright (C) 2022 Luke Wren |
| SPDX-License-Identifier: Apache-2.0 |
\*****************************************************************************/
// req: bitmap of requests
// priority: packed array of dynamic priority level of each request
// gnt: one-hot bitmap with the highest-priority request.
`default_nettype none
module hazard3_onehot_priority_dynamic #(
parameter W_REQ = 8,
parameter N_PRIORITIES = 2,
parameter PRIORITY_HIGHEST_WINS = 1, // If 1, numerically highest level has greatest priority.
// Otherwise, numerically lowest wins.
parameter TIEBREAK_HIGHEST_WINS = 0, // If 1, highest-numbered request at the highest priority
// level wins the tiebreak. Otherwise, lowest-numbered.
// Do not modify:
parameter W_PRIORITY = $clog2(N_PRIORITIES)
) (
input wire [W_REQ*W_PRIORITY-1:0] pri,
input wire [W_REQ-1:0] req,
output wire [W_REQ-1:0] gnt
);
// 1. Stratify requests according to their level
reg [W_REQ-1:0] req_stratified [0:N_PRIORITIES-1];
reg [N_PRIORITIES-1:0] level_has_req;
always @ (*) begin: stratify
reg signed [31:0] i, j;
for (i = 0; i < N_PRIORITIES; i = i + 1) begin
for (j = 0; j < W_REQ; j = j + 1) begin
req_stratified[i][j] = req[j] &&
pri[W_PRIORITY * j +: W_PRIORITY] == i[W_PRIORITY-1:0];
end
level_has_req[i] = |req_stratified[i];
end
end
// 2. Select the highest level with active requests
wire [N_PRIORITIES-1:0] active_layer_sel;
hazard3_onehot_priority #(
.W_REQ (N_PRIORITIES),
.HIGHEST_WINS (PRIORITY_HIGHEST_WINS)
) prisel_layer (
.req (level_has_req),
.gnt (active_layer_sel)
);
// 3. Mask only those requests at this level
reg [W_REQ-1:0] reqs_from_highest_layer;
always @ (*) begin: mux_reqs_by_layer
integer i;
reqs_from_highest_layer = {W_REQ{1'b0}};
for (i = 0; i < N_PRIORITIES; i = i + 1)
reqs_from_highest_layer = reqs_from_highest_layer |
(req_stratified[i] & {W_REQ{active_layer_sel[i]}});
end
// 4. Do a standard priority select on those requests as a tie break
hazard3_onehot_priority #(
.W_REQ (W_REQ),
.HIGHEST_WINS (TIEBREAK_HIGHEST_WINS)
) prisel_tiebreak (
.req (reqs_from_highest_layer),
.gnt (gnt)
);
endmodule
`ifndef YOSYS
`default_nettype wire
`endif
vendor/Hazard3/hdl/arith/hazard3_priority_encode.v
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/*****************************************************************************\
| Copyright (C) 2021-2022 Luke Wren |
| SPDX-License-Identifier: Apache-2.0 |
\*****************************************************************************/
// req: bitmap
// gnt: index of least set bit (HIGHEST_WINS=0) or most set bit (HIGHEST_WINS=1)
`default_nettype none
module hazard3_priority_encode #(
parameter W_REQ = 16,
parameter HIGHEST_WINS = 0,
parameter W_GNT = $clog2(W_REQ) // do not modify
) (
input wire [W_REQ-1:0] req,
output wire [W_GNT-1:0] gnt
);
wire [W_REQ-1:0] gnt_onehot;
hazard3_onehot_priority #(
.W_REQ (W_REQ),
.HIGHEST_WINS (HIGHEST_WINS)
) priority_u (
.req (req),
.gnt (gnt_onehot)
);
hazard3_onehot_encode #(
.W_REQ (W_REQ)
) encode_u (
.req (gnt_onehot),
.gnt (gnt)
);
endmodule
`ifndef YOSYS
`default_nettype wire
`endif
vendor/Hazard3/hdl/arith/hazard3_shift_barrel.v
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/*****************************************************************************\
| Copyright (C) 2021-2022 Luke Wren |
| SPDX-License-Identifier: Apache-2.0 |
\*****************************************************************************/
// Implement the three shifts (left logical, right logical, right arithmetic)
// using a single log-type barrel shifter. Around 240 LUTs for 32 bits.
// (7 layers of 32 2-input muxes, some extra LUTs and LUT inputs used for arith)
`default_nettype none
module hazard3_shift_barrel #(
`include "hazard3_config.vh"
,
`include "hazard3_width_const.vh"
) (
input wire [W_DATA-1:0] din,
input wire [W_SHAMT-1:0] shamt,
input wire right_nleft,
input wire rotate,
input wire arith,
output reg [W_DATA-1:0] dout
);
reg [W_DATA-1:0] din_rev;
reg [W_DATA-1:0] shift_accum;
reg sext; // haha
always @ (*) begin: shift
integer i;
for (i = 0; i < W_DATA; i = i + 1)
din_rev[i] = right_nleft ? din[W_DATA - 1 - i] : din[i];
sext = arith && din_rev[0];
shift_accum = din_rev;
for (i = 0; i < W_SHAMT; i = i + 1) begin
if (shamt[i]) begin
shift_accum = (shift_accum << (1 << i)) |
({W_DATA{sext}} & ~({W_DATA{1'b1}} << (1 << i))) |
({W_DATA{rotate && |EXTENSION_ZBB}} & (shift_accum >> (W_DATA - (1 << i))));
end
end
for (i = 0; i < W_DATA; i = i + 1)
dout[i] = right_nleft ? shift_accum[W_DATA - 1 - i] : shift_accum[i];
end
`ifdef HAZARD3_ASSERTIONS
always @ (*) begin
if (right_nleft && arith && !rotate) begin: asr
assert($signed(dout) == $signed(din) >>> $signed(shamt));
end else if (right_nleft && !arith && !rotate) begin
assert(dout == din >> shamt);
end else if (!right_nleft && !arith && !rotate) begin
assert(dout == din << shamt);
end
end
`endif
endmodule
`ifndef YOSYS
`default_nettype wire
`endif
vendor/Hazard3/hdl/arith/muldiv_model.py
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#!/usr/bin/env python3
# Quick reference model for sequential unsigned multiply/divide/modulo
def div_step(w, accum, divisor):
sub_tmp = accum - (divisor << (w - 1))
underflow = sub_tmp < 0
if not underflow:
accum = sub_tmp
accum = (accum << 1) | (not underflow)
return accum
def divmod(w, dividend, divisor, debug=True):
accum = dividend
for i in range(w):
accum_prev = accum
accum = div_step(w, accum, divisor)
if debug:
print("Step {:02d}: accum {:0{}x} -> {:0{}x}".format(
i, accum_prev, int(w / 2), accum, int(w / 2)))
return (accum >> w, accum & ((1 << w) - 1))
def mul_step(w, accum, multiplicand):
add_en = accum & 1
accum = accum >> 1
if add_en:
accum += (multiplicand << (w - 1))
return accum
def mul(w, multiplicand, multiplier, debug=True):
accum = multiplier
for i in range(w):
accum_prev = accum
accum = mul_step(w, accum, multiplicand)
if debug:
print("Step {:02d}: accum {:0{}x} -> {:0{}x}".format(
i, accum_prev, int(w / 2), accum, int(w / 2)))
return (accum >> w, accum & ((1 << w) - 1))
def divtest(w=4):
for i in range(2 ** w):
for j in range(1, 2 ** w):
gatemod, gatediv = divmod(w, i, j, debug=False)
goldmod, golddiv = (i % j, i // j)
print("{:02d} % {:02d} = {:02d} (gold {:02d}); ./. = {:02d} (gold {:02d})"
.format(i, j, gatemod, goldmod, gatediv, golddiv))
assert(gatemod == goldmod)
assert(gatediv == golddiv)
def multest(w=4):
for i in range(2 ** w):
for j in range(2 ** w):
gateh, gatel = mul(w, i, j, debug=False)
gold = i * j
goldl, goldh = (gold & ((1 << w) - 1), gold >> w)
print("{:02d} * {:02d} = ({:02d} (gold {:02d}), {:02d} (gold {:02d})"
.format(i, j, gateh, goldh, gatel, goldl))
assert(gatel == goldl)
assert(gateh == goldh)
if __name__ == "__main__":
print("Test division:")
divtest()
print("Test multiplication:")
multest()
vendor/Hazard3/hdl/debug/cdc/hazard3_apb_async_bridge.v
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/*****************************************************************************\
| Copyright (C) 2021-2022 Luke Wren |
| SPDX-License-Identifier: Apache-2.0 |
\*****************************************************************************/
// APB-to-APB asynchronous bridge for connecting DTM to DM, in case DTM is in
// a different clock domain (e.g. running directly from crystal to get a
// fixed baud reference)
//
// Note this module depends on the hazard3_sync_1bit module (a flop-chain
// synchroniser) which should be reimplemented for your FPGA/process.
`ifndef HAZARD3_REG_KEEP_ATTRIBUTE
`define HAZARD3_REG_KEEP_ATTRIBUTE (* keep = 1'b1 *)
`endif
`default_nettype none
module hazard3_apb_async_bridge #(
parameter W_ADDR = 8,
parameter W_DATA = 32,
parameter N_SYNC_STAGES = 2
) (
// Resets assumed to be synchronised externally
input wire clk_src,
input wire rst_n_src,
input wire clk_dst,
input wire rst_n_dst,
// APB port from Transport Module
input wire src_psel,
input wire src_penable,
input wire src_pwrite,
input wire [W_ADDR-1:0] src_paddr,
input wire [W_DATA-1:0] src_pwdata,
output wire [W_DATA-1:0] src_prdata,
output wire src_pready,
output wire src_pslverr,
// APB port to Debug Module
output wire dst_psel,
output wire dst_penable,
output wire dst_pwrite,
output wire [W_ADDR-1:0] dst_paddr,
output wire [W_DATA-1:0] dst_pwdata,
input wire [W_DATA-1:0] dst_prdata,
input wire dst_pready,
input wire dst_pslverr
);
// ----------------------------------------------------------------------------
// Clock-crossing registers
// We're using a modified req/ack handshake:
//
// - Initially both req and ack are low
// - src asserts req high
// - dst responds with ack high and begins transfer
// - src deasserts req once it sees ack high
// - dst deasserts ack once:
// - transfer is complete *and*
// - dst sees req deasserted
// - Once src sees ack low, a new transfer can begin.
//
// A NRZI toggle handshake might be more appropriate, but can cause spurious
// bus accesses when only one side of the link is reset.
`HAZARD3_REG_KEEP_ATTRIBUTE reg src_req;
wire dst_req;
`HAZARD3_REG_KEEP_ATTRIBUTE reg dst_ack;
wire src_ack;
// Note the launch registers are not resettable. We maintain setup/hold on
// launch-to-capture paths thanks to the req/ack handshake. A stray reset
// could violate this.
//
// The req/ack logic itself can be reset safely because the receiving domain
// is protected from metastability by a 2FF synchroniser.
`HAZARD3_REG_KEEP_ATTRIBUTE reg [W_ADDR + W_DATA + 1 -1:0] src_paddr_pwdata_pwrite; // launch
`HAZARD3_REG_KEEP_ATTRIBUTE reg [W_ADDR + W_DATA + 1 -1:0] dst_paddr_pwdata_pwrite; // capture
`HAZARD3_REG_KEEP_ATTRIBUTE reg [W_DATA + 1 -1:0] dst_prdata_pslverr; // launch
`HAZARD3_REG_KEEP_ATTRIBUTE reg [W_DATA + 1 -1:0] src_prdata_pslverr; // capture
hazard3_sync_1bit #(
.N_STAGES (N_SYNC_STAGES)
) sync_req (
.clk (clk_dst),
.rst_n (rst_n_dst),
.i (src_req),
.o (dst_req)
);
hazard3_sync_1bit #(
.N_STAGES (N_SYNC_STAGES)
) sync_ack (
.clk (clk_src),
.rst_n (rst_n_src),
.i (dst_ack),
.o (src_ack)
);
// ----------------------------------------------------------------------------
// src state machine
reg src_waiting_for_downstream;
reg src_pready_r;
always @ (posedge clk_src or negedge rst_n_src) begin
if (!rst_n_src) begin
src_req <= 1'b0;
src_waiting_for_downstream <= 1'b0;
src_prdata_pslverr <= {W_DATA + 1{1'b0}};
src_pready_r <= 1'b1;
end else if (src_waiting_for_downstream) begin
if (src_req && src_ack) begin
// Request was acknowledged, so deassert.
src_req <= 1'b0;
end else if (!(src_req || src_ack)) begin
// Downstream transfer has finished, data is valid.
src_pready_r <= 1'b1;
src_waiting_for_downstream <= 1'b0;
// Note this assignment is cross-domain (but data has been stable
// for duration of ack synchronisation delay):
src_prdata_pslverr <= dst_prdata_pslverr;
end
end else begin
// paddr, pwdata and pwrite are all valid during the setup phase, and
// APB defines the setup phase to always last one cycle and proceed
// to access phase. So, we can ignore penable, and pready is ignored.
if (src_psel) begin
src_pready_r <= 1'b0;
src_req <= 1'b1;
src_waiting_for_downstream <= 1'b1;
end
end
end
// Bus request launch register is not resettable
always @ (posedge clk_src) begin
if (src_psel && !src_waiting_for_downstream)
src_paddr_pwdata_pwrite <= {src_paddr, src_pwdata, src_pwrite};
end
assign {src_prdata, src_pslverr} = src_prdata_pslverr;
assign src_pready = src_pready_r;
// ----------------------------------------------------------------------------
// dst state machine
wire dst_bus_finish = dst_penable && dst_pready;
reg dst_psel_r;
reg dst_penable_r;
always @ (posedge clk_dst or negedge rst_n_dst) begin
if (!rst_n_dst) begin
dst_ack <= 1'b0;
end else if (dst_req) begin
dst_ack <= 1'b1;
end else if (!dst_req && dst_ack && !dst_psel_r) begin
dst_ack <= 1'b0;
end
end
always @ (posedge clk_dst or negedge rst_n_dst) begin
if (!rst_n_dst) begin
dst_psel_r <= 1'b0;
dst_penable_r <= 1'b0;
dst_paddr_pwdata_pwrite <= {W_ADDR + W_DATA + 1{1'b0}};
end else if (dst_req && !dst_ack) begin
dst_psel_r <= 1'b1;
// Note this assignment is cross-domain. The src register has been
// stable for the duration of the req sync delay.
dst_paddr_pwdata_pwrite <= src_paddr_pwdata_pwrite;
end else if (dst_psel_r && !dst_penable_r) begin
dst_penable_r <= 1'b1;
end else if (dst_bus_finish) begin
dst_psel_r <= 1'b0;
dst_penable_r <= 1'b0;
end
end
// Bus response launch register is not resettable
always @ (posedge clk_dst) begin
if (dst_bus_finish)
dst_prdata_pslverr <= {dst_prdata, dst_pslverr};
end
assign dst_psel = dst_psel_r;
assign dst_penable = dst_penable_r;
assign {dst_paddr, dst_pwdata, dst_pwrite} = dst_paddr_pwdata_pwrite;
endmodule
`ifndef YOSYS
`default_nettype wire
`endif
vendor/Hazard3/hdl/debug/cdc/hazard3_reset_sync.v
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/*****************************************************************************\
| Copyright (C) 2021-2022 Luke Wren |
| SPDX-License-Identifier: Apache-2.0 |
\*****************************************************************************/
// The output is asserted asynchronously when the input is asserted,
// but deasserted synchronously when clocked with the input deasserted.
// Input and output are both active-low.
//
// This is a baseline implementation -- you should replace it with cells
// specific to your FPGA/process
`ifndef HAZARD3_REG_KEEP_ATTRIBUTE
`define HAZARD3_REG_KEEP_ATTRIBUTE (* keep = 1'b1 *)
`endif
`default_nettype none
module hazard3_reset_sync #(
parameter N_STAGES = 2 // Should be >= 2
) (
input wire clk,
input wire rst_n_in,
output wire rst_n_out
);
`HAZARD3_REG_KEEP_ATTRIBUTE reg [N_STAGES-1:0] delay;
always @ (posedge clk or negedge rst_n_in)
if (!rst_n_in)
delay <= {N_STAGES{1'b0}};
else
delay <= {delay[N_STAGES-2:0], 1'b1};
assign rst_n_out = delay[N_STAGES-1];
endmodule
`ifndef YOSYS
`default_nettype wire
`endif
vendor/Hazard3/hdl/debug/cdc/hazard3_sync_1bit.v
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/*****************************************************************************\
| Copyright (C) 2021-2022 Luke Wren |
| SPDX-License-Identifier: Apache-2.0 |
\*****************************************************************************/
// A 2FF synchronizer to mitigate metastabilities. This is a baseline
// implementation -- you should replace it with cells specific to your
// FPGA/process
`ifndef HAZARD3_REG_KEEP_ATTRIBUTE
`define HAZARD3_REG_KEEP_ATTRIBUTE (* keep = 1'b1 *) (* async_reg *)
`endif
`default_nettype none
module hazard3_sync_1bit #(
parameter N_STAGES = 2 // Should be >=2
) (
input wire clk,
input wire rst_n,
input wire i,
output wire o
);
`HAZARD3_REG_KEEP_ATTRIBUTE reg [N_STAGES-1:0] sync_flops;
always @ (posedge clk or negedge rst_n)
if (!rst_n)
sync_flops <= {N_STAGES{1'b0}};
else
sync_flops <= {sync_flops[N_STAGES-2:0], i};
assign o = sync_flops[N_STAGES-1];
endmodule
`ifndef YOSYS
`default_nettype wire
`endif
vendor/Hazard3/hdl/debug/dm/hazard3_dm.f
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file hazard3_dm.v
vendor/Hazard3/hdl/debug/dm/hazard3_dm.v
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/*****************************************************************************\
| Copyright (C) 2021-2022 Luke Wren |
| SPDX-License-Identifier: Apache-2.0 |
\*****************************************************************************/
// RISC-V Debug Module for Hazard3. Supports up to 32 cores (1 hart per core).
`default_nettype none
module hazard3_dm #(
// Where there are multiple harts per DM, the least-indexed hart is the
// least-significant on each concatenated hart access bus.
parameter N_HARTS = 1,
// Where there are multiple DMs, the address of each DM should be a
// multiple of 'h200, so that bits[8:2] decode correctly.
parameter NEXT_DM_ADDR = 32'h0000_0000,
// Implement support for system bus access:
parameter HAVE_SBA = 0,
// Do not modify:
parameter XLEN = 32, // Do not modify
parameter W_HARTSEL = N_HARTS > 1 ? $clog2(N_HARTS) : 1 // Do not modify
) (
// DM is assumed to be in same clock domain as core; clock crossing
// (if any) is inside DTM, or between DTM and DM.
input wire clk,
input wire rst_n,
// APB access from Debug Transport Module
input wire dmi_psel,
input wire dmi_penable,
input wire dmi_pwrite,
input wire [8:0] dmi_paddr,
input wire [31:0] dmi_pwdata,
output reg [31:0] dmi_prdata,
output wire dmi_pready,
output wire dmi_pslverr,
// Reset request/acknowledge. "req" is a pulse >= 1 cycle wide. "done" is
// level-sensitive, goes high once component is out of reset.
//
// The "sys" reset (ndmreset) is conventionally everything apart from DM +
// DTM, but, as per section 3.2 in 0.13.2 debug spec: "Exactly what is
// affected by this reset is implementation dependent, as long as it is
// possible to debug programs from the first instruction executed." So
// this could simply be an all-hart reset.
output wire sys_reset_req,
input wire sys_reset_done,
output wire [N_HARTS-1:0] hart_reset_req,
input wire [N_HARTS-1:0] hart_reset_done,
// Hart run/halt control
output wire [N_HARTS-1:0] hart_req_halt,
output wire [N_HARTS-1:0] hart_req_halt_on_reset,
output wire [N_HARTS-1:0] hart_req_resume,
input wire [N_HARTS-1:0] hart_halted,
input wire [N_HARTS-1:0] hart_running,
// Hart access to data0 CSR (assumed to be core-internal but per-hart)
output wire [N_HARTS*XLEN-1:0] hart_data0_rdata,
input wire [N_HARTS*XLEN-1:0] hart_data0_wdata,
input wire [N_HARTS-1:0] hart_data0_wen,
// Hart instruction injection
output wire [N_HARTS*32-1:0] hart_instr_data,
output reg [N_HARTS-1:0] hart_instr_data_vld,
input wire [N_HARTS-1:0] hart_instr_data_rdy,
input wire [N_HARTS-1:0] hart_instr_caught_exception,
input wire [N_HARTS-1:0] hart_instr_caught_ebreak,
// System bus access (optional) -- can be hooked up to the standalone AHB
// shim (hazard3_sbus_to_ahb.v) or the SBA input port on the processor
// wrapper, which muxes SBA into the processor's load/store bus access
// port. SBA does not increase debugger bus throughput, but supports
// minimally intrusive debug bus access for e.g. Segger RTT.
output wire [31:0] sbus_addr,
output wire sbus_write,
output wire [1:0] sbus_size,
output wire sbus_vld,
input wire sbus_rdy,
input wire sbus_err,
output wire [31:0] sbus_wdata,
input wire [31:0] sbus_rdata
);
wire dmi_write = dmi_psel && dmi_penable && dmi_pready && dmi_pwrite;
wire dmi_read = dmi_psel && dmi_penable && dmi_pready && !dmi_pwrite;
assign dmi_pready = 1'b1;
assign dmi_pslverr = 1'b0;
// Program buffer is fixed at 2 words plus impebreak. The main thing we care
// about is support for efficient memory block transfers using abstractauto;
// in this case 2 words + impebreak is sufficient for RV32I, and 1 word +
// impebreak is sufficient for RV32IC.
localparam PROGBUF_SIZE = 2;
// ----------------------------------------------------------------------------
// Address constants
localparam ADDR_DATA0 = 7'h04;
// Other data registers not present.
localparam ADDR_DMCONTROL = 7'h10;
localparam ADDR_DMSTATUS = 7'h11;
localparam ADDR_HARTINFO = 7'h12;
localparam ADDR_HALTSUM1 = 7'h13;
localparam ADDR_HALTSUM0 = 7'h40;
// No HALTSUM2+ registers (we don't support >32 harts anyway)
localparam ADDR_HAWINDOWSEL = 7'h14;
localparam ADDR_HAWINDOW = 7'h15;
localparam ADDR_ABSTRACTCS = 7'h16;
localparam ADDR_COMMAND = 7'h17;
localparam ADDR_ABSTRACTAUTO = 7'h18;
localparam ADDR_CONFSTRPTR0 = 7'h19;
localparam ADDR_CONFSTRPTR1 = 7'h1a;
localparam ADDR_CONFSTRPTR2 = 7'h1b;
localparam ADDR_CONFSTRPTR3 = 7'h1c;
localparam ADDR_NEXTDM = 7'h1d;
localparam ADDR_PROGBUF0 = 7'h20;
localparam ADDR_PROGBUF1 = 7'h21;
// No authentication
localparam ADDR_SBCS = 7'h38;
localparam ADDR_SBADDRESS0 = 7'h39;
localparam ADDR_SBDATA0 = 7'h3c;
// APB is byte-addressed, DM registers are word-addressed.
wire [6:0] dmi_regaddr = dmi_paddr[8:2];
// ----------------------------------------------------------------------------
// Hart selection
reg dmactive;
// Some fiddliness to make sure we get a single-wide zero-valued signal when
// N_HARTS == 1 (so we can use this for indexing of per-hart signals)
reg [W_HARTSEL-1:0] hartsel;
wire [W_HARTSEL-1:0] hartsel_next;
generate
if (N_HARTS > 1) begin: has_hartsel
// Only the lower 10 bits of hartsel are supported
assign hartsel_next = dmi_write && dmi_regaddr == ADDR_DMCONTROL ?
dmi_pwdata[16 +: W_HARTSEL] : hartsel;
end else begin: has_no_hartsel
assign hartsel_next = 1'b0;
end
endgenerate
always @ (posedge clk or negedge rst_n) begin
if (!rst_n) begin
hartsel <= {W_HARTSEL{1'b0}};
end else if (!dmactive) begin
hartsel <= {W_HARTSEL{1'b0}};
end else begin
hartsel <= hartsel_next;
end
end
// Also implement the hart array mask if there is more than one hart.
reg [N_HARTS-1:0] hart_array_mask;
reg hasel;
wire [N_HARTS-1:0] hart_array_mask_next;
wire hasel_next;
generate
if (N_HARTS > 1) begin: has_array_mask
assign hart_array_mask_next = dmi_write && dmi_regaddr == ADDR_HAWINDOW ?
dmi_pwdata[N_HARTS-1:0] : hart_array_mask;
assign hasel_next = dmi_write && dmi_regaddr == ADDR_DMCONTROL ?
dmi_pwdata[26] : hasel;
end else begin: has_no_array_mask
assign hart_array_mask_next = 1'b0;
assign hasel_next = 1'b0;
end
endgenerate
always @ (posedge clk or negedge rst_n) begin
if (!rst_n) begin
hart_array_mask <= {N_HARTS{1'b0}};
hasel <= 1'b0;
end else if (!dmactive) begin
hart_array_mask <= {N_HARTS{1'b0}};
hasel <= 1'b0;
end else begin
hart_array_mask <= hart_array_mask_next;
hasel <= hasel_next;
end
end
// ----------------------------------------------------------------------------
// Run/halt/reset control
// Normal read/write fields for dmcontrol (note some of these are per-hart
// fields that get rotated into dmcontrol based on the current/next hartsel).
reg [N_HARTS-1:0] dmcontrol_haltreq;
reg [N_HARTS-1:0] dmcontrol_hartreset;
reg [N_HARTS-1:0] dmcontrol_resethaltreq;
reg dmcontrol_ndmreset;
wire [N_HARTS-1:0] dmcontrol_op_mask;
generate
if (N_HARTS > 1) begin: dmcontrol_multiple_harts
// Selection is the hart selected by hartsel, *plus* the hart array mask
// if hasel is set. Note we don't need to use the "next" version of
// hart_array_mask since it can't change simultaneously with dmcontrol.
assign dmcontrol_op_mask =
(hartsel_next >= N_HARTS ? {N_HARTS{1'b0}} : {{N_HARTS-1{1'b0}}, 1'b1} << hartsel_next)
| ({N_HARTS{hasel_next}} & hart_array_mask);
end else begin: dmcontrol_single_hart
assign dmcontrol_op_mask = 1'b1;
end
endgenerate
always @ (posedge clk or negedge rst_n) begin
if (!rst_n) begin
dmactive <= 1'b0;
dmcontrol_ndmreset <= 1'b0;
dmcontrol_haltreq <= {N_HARTS{1'b0}};
dmcontrol_hartreset <= {N_HARTS{1'b0}};
dmcontrol_resethaltreq <= {N_HARTS{1'b0}};
end else if (!dmactive) begin
// Only dmactive is writable when !dmactive
if (dmi_write && dmi_regaddr == ADDR_DMCONTROL)
dmactive <= dmi_pwdata[0];
dmcontrol_ndmreset <= 1'b0;
dmcontrol_haltreq <= {N_HARTS{1'b0}};
dmcontrol_hartreset <= {N_HARTS{1'b0}};
dmcontrol_resethaltreq <= {N_HARTS{1'b0}};
end else if (dmi_write && dmi_regaddr == ADDR_DMCONTROL) begin
dmactive <= dmi_pwdata[0];
dmcontrol_ndmreset <= dmi_pwdata[1];
dmcontrol_haltreq <= (dmcontrol_haltreq & ~dmcontrol_op_mask) |
({N_HARTS{dmi_pwdata[31]}} & dmcontrol_op_mask);
dmcontrol_hartreset <= (dmcontrol_hartreset & ~dmcontrol_op_mask) |
({N_HARTS{dmi_pwdata[29]}} & dmcontrol_op_mask);
dmcontrol_resethaltreq <= (dmcontrol_resethaltreq
& ~({N_HARTS{dmi_pwdata[2]}} & dmcontrol_op_mask))
| ({N_HARTS{dmi_pwdata[3]}} & dmcontrol_op_mask);
end
end
assign sys_reset_req = dmcontrol_ndmreset;
assign hart_reset_req = dmcontrol_hartreset;
assign hart_req_halt = dmcontrol_haltreq;
assign hart_req_halt_on_reset = dmcontrol_resethaltreq;
reg [N_HARTS-1:0] hart_reset_done_prev;
reg [N_HARTS-1:0] dmstatus_havereset;
wire [N_HARTS-1:0] hart_available = hart_reset_done & {N_HARTS{sys_reset_done}};
always @ (posedge clk or negedge rst_n) begin
if (!rst_n) begin
hart_reset_done_prev <= {N_HARTS{1'b0}};
end else begin
hart_reset_done_prev <= hart_reset_done;
end
end
wire dmcontrol_ackhavereset = dmi_write && dmi_regaddr == ADDR_DMCONTROL && dmi_pwdata[28];
always @ (posedge clk or negedge rst_n) begin
if (!rst_n) begin
dmstatus_havereset <= {N_HARTS{1'b0}};
end else if (!dmactive) begin
dmstatus_havereset <= {N_HARTS{1'b0}};
end else begin
dmstatus_havereset <= (dmstatus_havereset | (hart_reset_done & ~hart_reset_done_prev))
& ~({N_HARTS{dmcontrol_ackhavereset}} & dmcontrol_op_mask);
end
end
reg [N_HARTS-1:0] dmstatus_resumeack;
reg [N_HARTS-1:0] dmcontrol_resumereq_sticky;
// Note: we are required to ignore resumereq when haltreq is also set, as per
// spec (odd since the host is forbidden from writing both at once anyway).
// The wording is odd, it refers only to `haltreq` which is specifically the
// write-only `dmcontrol` field, not the underlying halt request state bits.
wire dmcontrol_resumereq = dmi_write && dmi_regaddr == ADDR_DMCONTROL &&
dmi_pwdata[30] && !dmi_pwdata[31];
always @ (posedge clk or negedge rst_n) begin
if (!rst_n) begin
dmstatus_resumeack <= {N_HARTS{1'b0}};
dmcontrol_resumereq_sticky <= {N_HARTS{1'b0}};
end else if (!dmactive) begin
dmstatus_resumeack <= {N_HARTS{1'b0}};
dmcontrol_resumereq_sticky <= {N_HARTS{1'b0}};
end else begin
dmstatus_resumeack <= (dmstatus_resumeack
| (dmcontrol_resumereq_sticky & hart_running & hart_available))
& ~({N_HARTS{dmcontrol_resumereq}} & dmcontrol_op_mask);
dmcontrol_resumereq_sticky <= (dmcontrol_resumereq_sticky
& ~(hart_running & hart_available))
| ({N_HARTS{dmcontrol_resumereq}} & dmcontrol_op_mask);
end
end
assign hart_req_resume = dmcontrol_resumereq_sticky;
// ----------------------------------------------------------------------------
// System bus access
reg [31:0] sbaddress;
reg [31:0] sbdata;
// Update logic for address/data registers:
reg sbbusy;
reg sbautoincrement;
reg [2:0] sbaccess; // Size of the transfer
wire sbdata_write_blocked;
always @ (posedge clk or negedge rst_n) begin
if (!rst_n) begin
sbaddress <= {32{1'b0}};
sbdata <= {32{1'b0}};
end else if (!dmactive) begin
sbaddress <= {32{1'b0}};
sbdata <= {32{1'b0}};
end else if (HAVE_SBA) begin
if (dmi_write && dmi_regaddr == ADDR_SBDATA0 && !sbdata_write_blocked) begin
// Note sbbusyerror and sberror block writes to sbdata0, as the
// write is required to have no side effects when they are set.
sbdata <= dmi_pwdata;
end else if (sbus_vld && sbus_rdy && !sbus_write && !sbus_err) begin
// Make sure the lower byte lanes see appropriately shifted data as
// long as the transfer is naturally aligned
sbdata <= sbaddress[1:0] == 2'b01 ? {sbus_rdata[31:8], sbus_rdata[15:8]} :
sbaddress[1:0] == 2'b10 ? {sbus_rdata[31:16], sbus_rdata[31:16]} :
sbaddress[1:0] == 2'b11 ? {sbus_rdata[31:8], sbus_rdata[31:24]} : sbus_rdata;
end
if (dmi_write && dmi_regaddr == ADDR_SBADDRESS0 && !sbbusy) begin
// Note sbaddress can't be written when busy, but
// sberror/sbbusyerror do not prevent writes.
sbaddress <= dmi_pwdata;
end else if (sbus_vld && sbus_rdy && !sbus_err && sbautoincrement) begin
// Note: address increments only following a successful transfer.
// Spec 0.13.2 weirdly implies address should increment following
// a sbdata0 read with sbautoincrement=1 and sbreadondata=0, but
// this seems to be a typo, fixed in later versions.
sbaddress <= sbaddress + (
sbaccess[1:0] == 2'b00 ? 32'd1 :
sbaccess[1:0] == 2'b01 ? 32'd2 : 32'd4
);
end
end
end
// Control logic:
reg sbbusyerror;
reg sbreadonaddr;
reg sbreadondata;
reg [2:0] sberror;
reg sb_current_is_write;
localparam SBERROR_OK = 3'h0;
localparam SBERROR_BADADDR = 3'h2;
localparam SBERROR_BADALIGN = 3'h3;
localparam SBERROR_BADSIZE = 3'h4;
assign sbdata_write_blocked = sbbusy || sbbusyerror || |sberror;
// Notes on behaviour of sbbusyerror: the sbbusyerror description says:
//
// "Set when the debugger attempts to read data while a read is in progress,
// or when the debugger initiates a new access while one is already in
// progress (while sbbusy is set)."
//
// However, sbaddress0 description says:
//
// "When the system bus master is busy, writes to this register will set
// sbbusyerror and don’t do anything else."
//
// ...not conditioned on sbreadonaddr. Likewise the sbdata0 description says:
//
// "If the bus master is busy then accesses set sbbusyerror, and don’t do
// anything else."
//
// ...not conditioned on sbreadondata. We are going to take the union of all
// the cases where the spec says we should raise an error:
wire sb_access_illegal_when_busy =
dmi_regaddr == ADDR_SBDATA0 && (dmi_read || dmi_write) ||
dmi_regaddr == ADDR_SBADDRESS0 && dmi_write;
wire sb_want_start_write = dmi_write && dmi_regaddr == ADDR_SBDATA0;
wire sb_want_start_read =
(sbreadonaddr && dmi_write && dmi_regaddr == ADDR_SBADDRESS0) ||
(sbreadondata && dmi_read && dmi_regaddr == ADDR_SBDATA0);
wire [1:0] sb_next_align = sbreadonaddr && dmi_write && dmi_regaddr == ADDR_SBADDRESS0 ?
dmi_pwdata[1:0] : sbaddress[1:0];
wire sb_badalign =
(sbaccess == 3'h1 && sb_next_align[0]) ||
(sbaccess == 3'h2 && |sb_next_align[1:0]);
wire sb_badsize = sbaccess > 3'h2;
always @ (posedge clk or negedge rst_n) begin
if (!rst_n) begin
sbbusy <= 1'b0;
sbbusyerror <= 1'b0;
sbreadonaddr <= 1'b0;
sbreadondata <= 1'b0;
sbaccess <= 3'h0;
sbautoincrement <= 1'b0;
sberror <= 3'h0;
sb_current_is_write <= 1'b0;
end else if (!dmactive) begin
sbbusy <= 1'b0;
sbbusyerror <= 1'b0;
sbreadonaddr <= 1'b0;
sbreadondata <= 1'b0;
sbaccess <= 3'h0;
sbautoincrement <= 1'b0;
sberror <= 3'h0;
sb_current_is_write <= 1'b0;
end else if (HAVE_SBA) begin
if (dmi_write && dmi_regaddr == ADDR_SBCS) begin
// Assume a transfer is not in progress when written (per spec)
sbbusyerror <= sbbusyerror && !dmi_pwdata[22];
sbreadonaddr <= dmi_pwdata[20];
sbaccess <= dmi_pwdata[19:17];
sbautoincrement <= dmi_pwdata[16];
sbreadondata <= dmi_pwdata[15];
sberror <= sberror & ~dmi_pwdata[14:12];
end
if (sbbusy) begin
if (sb_access_illegal_when_busy) begin
sbbusyerror <= 1'b1;
end
if (sbus_vld && sbus_rdy) begin
sbbusy <= 1'b0;
if (sbus_err) begin
sberror <= SBERROR_BADADDR;
end
end
end else if ((sb_want_start_read || sb_want_start_write) && ~|sberror && !sbbusyerror) begin
if (sb_badsize) begin
sberror <= SBERROR_BADSIZE;
end else if (sb_badalign) begin
sberror <= SBERROR_BADALIGN;
end else begin
sbbusy <= 1'b1;
sb_current_is_write <= sb_want_start_write;
end
end
end
end
assign sbus_addr = sbaddress;
assign sbus_write = sb_current_is_write;
assign sbus_size = sbaccess[1:0];
assign sbus_vld = sbbusy;
// Replicate byte lanes to handle naturally-aligned cases.
assign sbus_wdata = sbaccess[1:0] == 2'b00 ? {4{sbdata[7:0]}} :
sbaccess[1:0] == 2'b01 ? {2{sbdata[15:0]}} : sbdata;
// ----------------------------------------------------------------------------
// Abstract command data registers
wire abstractcs_busy;
// The same data0 register is aliased as a CSR on all harts connected to this
// DM. Cores may read data0 as a CSR when in debug mode, and may write it when:
//
// - That core is in debug mode, and...
// - We are currently executing an abstract command on that core
//
// The DM can also read/write data0 at all times.
reg [XLEN-1:0] abstract_data0;
assign hart_data0_rdata = {N_HARTS{abstract_data0}};
always @ (posedge clk or negedge rst_n) begin: update_hart_data0
reg signed [31:0] i;
if (!rst_n) begin
abstract_data0 <= {XLEN{1'b0}};
end else if (!dmactive) begin
abstract_data0 <= {XLEN{1'b0}};
end else if (dmi_write && dmi_regaddr == ADDR_DATA0) begin
abstract_data0 <= dmi_pwdata;
end else begin
for (i = 0; i < N_HARTS; i = i + 1) begin
if (hartsel == i[W_HARTSEL-1:0] && hart_data0_wen[i] && hart_halted[i] && abstractcs_busy)
abstract_data0 <= hart_data0_wdata[i * XLEN +: XLEN];
end
end
end
reg [XLEN-1:0] progbuf0;
reg [XLEN-1:0] progbuf1;
always @ (posedge clk or negedge rst_n) begin
if (!rst_n) begin
progbuf0 <= {XLEN{1'b0}};
progbuf1 <= {XLEN{1'b0}};
end else if (!dmactive) begin
progbuf0 <= {XLEN{1'b0}};
progbuf1 <= {XLEN{1'b0}};
end else if (dmi_write && !abstractcs_busy) begin
if (dmi_regaddr == ADDR_PROGBUF0)
progbuf0 <= dmi_pwdata;
if (dmi_regaddr == ADDR_PROGBUF1)
progbuf1 <= dmi_pwdata;
end
end
reg abstractauto_autoexecdata;
reg [1:0] abstractauto_autoexecprogbuf;
always @ (posedge clk or negedge rst_n) begin
if (!rst_n) begin
abstractauto_autoexecdata <= 1'b0;
abstractauto_autoexecprogbuf <= 2'b00;
end else if (!dmactive) begin
abstractauto_autoexecdata <= 1'b0;
abstractauto_autoexecprogbuf <= 2'b00;
end else if (dmi_write && dmi_regaddr == ADDR_ABSTRACTAUTO) begin
abstractauto_autoexecdata <= dmi_pwdata[0];
abstractauto_autoexecprogbuf <= dmi_pwdata[17:16];
end
end
// ----------------------------------------------------------------------------
// Abstract command state machine
localparam W_STATE = 4;
localparam S_IDLE = 4'd0;
localparam S_ISSUE_REGREAD = 4'd1;
localparam S_ISSUE_REGWRITE = 4'd2;
localparam S_ISSUE_REGEBREAK = 4'd3;
localparam S_WAIT_REGEBREAK = 4'd4;
localparam S_ISSUE_PROGBUF0 = 4'd5;
localparam S_ISSUE_PROGBUF1 = 4'd6;
localparam S_ISSUE_IMPEBREAK = 4'd7;
localparam S_WAIT_IMPEBREAK = 4'd8;
localparam CMDERR_OK = 3'h0;
localparam CMDERR_BUSY = 3'h1;
localparam CMDERR_UNSUPPORTED = 3'h2;
localparam CMDERR_EXCEPTION = 3'h3;
localparam CMDERR_HALTRESUME = 3'h4;
reg [2:0] abstractcs_cmderr;
reg [2:0] abstractcs_cmderr_nxt;
reg [W_STATE-1:0] acmd_state;
reg [W_STATE-1:0] acmd_state_nxt;
assign abstractcs_busy = acmd_state != S_IDLE;
wire start_abstract_cmd = abstractcs_cmderr == CMDERR_OK && !abstractcs_busy && (
(dmi_write && dmi_regaddr == ADDR_COMMAND) ||
((dmi_write || dmi_read) && abstractauto_autoexecdata && dmi_regaddr == ADDR_DATA0) ||
((dmi_write || dmi_read) && abstractauto_autoexecprogbuf[0] && dmi_regaddr == ADDR_PROGBUF0) ||
((dmi_write || dmi_read) && abstractauto_autoexecprogbuf[1] && dmi_regaddr == ADDR_PROGBUF1)
);
wire dmi_access_illegal_when_busy =
(dmi_write && (
dmi_regaddr == ADDR_ABSTRACTCS || dmi_regaddr == ADDR_COMMAND || dmi_regaddr == ADDR_ABSTRACTAUTO ||
dmi_regaddr == ADDR_DATA0 || dmi_regaddr == ADDR_PROGBUF0 || dmi_regaddr == ADDR_PROGBUF1)) ||
(dmi_read && (
dmi_regaddr == ADDR_DATA0 || dmi_regaddr == ADDR_PROGBUF0 || dmi_regaddr == ADDR_PROGBUF1));
// Decode what acmd may be triggered on this cycle, and whether it is
// supported -- command source may be a registered version of most recent
// command (if abstractauto is used) or a fresh command off the bus. We don't
// register the entire write data; repeats of unsupported commands are
// detected by just registering that the last written command was
// unsupported.
wire acmd_new = dmi_write && dmi_regaddr == ADDR_COMMAND;
wire acmd_new_postexec = dmi_pwdata[18];
wire acmd_new_transfer = dmi_pwdata[17];
wire acmd_new_write = dmi_pwdata[16];
wire [4:0] acmd_new_regno = dmi_pwdata[4:0];
// Note: regno and aarsize are permitted to have otherwise-invalid values if
// the transfer flag is not set.
wire acmd_new_unsupported =
(dmi_pwdata[31:24] != 8'h00 ) || // Only Access Register command supported
(dmi_pwdata[22:20] != 3'h2 && acmd_new_transfer) || // Must be 32 bits in size
(dmi_pwdata[19] ) || // aarpostincrement not supported
(dmi_pwdata[15:12] != 4'h1 && acmd_new_transfer) || // Only core register access supported
(dmi_pwdata[11:5] != 7'h0 && acmd_new_transfer); // Only GPRs supported
reg acmd_prev_postexec;
reg acmd_prev_transfer;
reg acmd_prev_write;
reg [4:0] acmd_prev_regno;
reg acmd_prev_unsupported;
always @ (posedge clk or negedge rst_n) begin
if (!rst_n) begin
acmd_prev_postexec <= 1'b0;
acmd_prev_transfer <= 1'b0;
acmd_prev_write <= 1'b0;
acmd_prev_regno <= 5'h0;
acmd_prev_unsupported <= 1'b1;
end else if (!dmactive) begin
acmd_prev_postexec <= 1'b0;
acmd_prev_transfer <= 1'b0;
acmd_prev_write <= 1'b0;
acmd_prev_regno <= 5'h0;
acmd_prev_unsupported <= 1'b1;
end else if (start_abstract_cmd && acmd_new) begin
acmd_prev_postexec <= acmd_new_postexec;
acmd_prev_transfer <= acmd_new_transfer;
acmd_prev_write <= acmd_new_write;
acmd_prev_regno <= acmd_new_regno;
acmd_prev_unsupported <= acmd_new_unsupported;
end
end
wire acmd_postexec = acmd_new ? acmd_new_postexec : acmd_prev_postexec ;
wire acmd_transfer = acmd_new ? acmd_new_transfer : acmd_prev_transfer ;
wire acmd_write = acmd_new ? acmd_new_write : acmd_prev_write ;
wire [4:0] acmd_regno = acmd_new ? acmd_new_regno : acmd_prev_regno ;
wire acmd_unsupported = acmd_new ? acmd_new_unsupported : acmd_prev_unsupported;
always @ (*) begin
// Default: no state change
acmd_state_nxt = acmd_state;
abstractcs_cmderr_nxt = abstractcs_cmderr;
if (dmi_write && dmi_regaddr == ADDR_ABSTRACTCS && !abstractcs_busy)
abstractcs_cmderr_nxt = abstractcs_cmderr & ~dmi_pwdata[10:8];
if (abstractcs_cmderr == CMDERR_OK && abstractcs_busy && dmi_access_illegal_when_busy)
abstractcs_cmderr_nxt = CMDERR_BUSY;
if (acmd_state != S_IDLE && hart_instr_caught_exception[hartsel])
abstractcs_cmderr_nxt = CMDERR_EXCEPTION;
case (acmd_state)
S_IDLE: begin
if (start_abstract_cmd) begin
if (!hart_halted[hartsel] || !hart_available[hartsel]) begin
abstractcs_cmderr_nxt = CMDERR_HALTRESUME;
end else if (acmd_unsupported) begin
abstractcs_cmderr_nxt = CMDERR_UNSUPPORTED;
end else begin
if (acmd_transfer && acmd_write)
acmd_state_nxt = S_ISSUE_REGWRITE;
else if (acmd_transfer && !acmd_write)
acmd_state_nxt = S_ISSUE_REGREAD;
else if (acmd_postexec)
acmd_state_nxt = S_ISSUE_PROGBUF0;
else
acmd_state_nxt = S_IDLE;
end
end
end
S_ISSUE_REGREAD: begin
if (hart_instr_data_rdy[hartsel])
acmd_state_nxt = S_ISSUE_REGEBREAK;
end
S_ISSUE_REGWRITE: begin
if (hart_instr_data_rdy[hartsel])
acmd_state_nxt = S_ISSUE_REGEBREAK;
end
S_ISSUE_REGEBREAK: begin
if (hart_instr_data_rdy[hartsel])
acmd_state_nxt = S_WAIT_REGEBREAK;
end
S_WAIT_REGEBREAK: begin
if (hart_instr_caught_ebreak[hartsel]) begin
if (acmd_prev_postexec)
acmd_state_nxt = S_ISSUE_PROGBUF0;
else
acmd_state_nxt = S_IDLE;
end
end
S_ISSUE_PROGBUF0: begin
if (hart_instr_data_rdy[hartsel])
acmd_state_nxt = S_ISSUE_PROGBUF1;
end
S_ISSUE_PROGBUF1: begin
if (hart_instr_caught_exception[hartsel] || hart_instr_caught_ebreak[hartsel]) begin
acmd_state_nxt = S_IDLE;
end else if (hart_instr_data_rdy[hartsel]) begin
acmd_state_nxt = S_ISSUE_IMPEBREAK;
end
end
S_ISSUE_IMPEBREAK: begin
if (hart_instr_caught_exception[hartsel] || hart_instr_caught_ebreak[hartsel]) begin
acmd_state_nxt = S_IDLE;
end else if (hart_instr_data_rdy[hartsel]) begin
acmd_state_nxt = S_WAIT_IMPEBREAK;
end
end
S_WAIT_IMPEBREAK: begin
if (hart_instr_caught_exception[hartsel] || hart_instr_caught_ebreak[hartsel]) begin
acmd_state_nxt = S_IDLE;
end
end
default: begin
// Unreachable
end
endcase
end
always @ (posedge clk or negedge rst_n) begin
if (!rst_n) begin
abstractcs_cmderr <= CMDERR_OK;
acmd_state <= S_IDLE;
end else if (!dmactive) begin
abstractcs_cmderr <= CMDERR_OK;
acmd_state <= S_IDLE;
end else begin
abstractcs_cmderr <= abstractcs_cmderr_nxt;
acmd_state <= acmd_state_nxt;
end
end
wire [N_HARTS-1:0] hart_instr_data_vld_nxt = {{N_HARTS-1{1'b0}},
acmd_state_nxt == S_ISSUE_REGREAD || acmd_state_nxt == S_ISSUE_REGWRITE || acmd_state_nxt == S_ISSUE_REGEBREAK ||
acmd_state_nxt == S_ISSUE_PROGBUF0 || acmd_state_nxt == S_ISSUE_PROGBUF1 || acmd_state_nxt == S_ISSUE_IMPEBREAK
} << hartsel;
wire [31:0] hart_instr_data_nxt =
acmd_state_nxt == S_ISSUE_REGWRITE ? 32'hbff02073 | {20'd0, acmd_regno, 7'd0} : // csrr xx, dmdata0
acmd_state_nxt == S_ISSUE_REGREAD ? 32'hbff01073 | {12'd0, acmd_regno, 15'd0} : // csrw dmdata0, xx
acmd_state_nxt == S_ISSUE_PROGBUF0 ? progbuf0 :
acmd_state_nxt == S_ISSUE_PROGBUF1 ? progbuf1 :
32'h00100073; // ebreak
reg [31:0] hart_instr_data_reg;
assign hart_instr_data = {N_HARTS{hart_instr_data_reg}};
always @ (posedge clk or negedge rst_n) begin
if (!rst_n) begin
hart_instr_data_vld <= 1'b0;
hart_instr_data_reg <= 32'h00000000;
end else begin
hart_instr_data_vld <= hart_instr_data_vld_nxt;
if (hart_instr_data_vld_nxt) begin
hart_instr_data_reg <= hart_instr_data_nxt;
end
end
end
// ----------------------------------------------------------------------------
// Status helper functions
function status_any;
input [N_HARTS-1:0] status_mask;
begin
status_any = status_mask[hartsel] || (hasel && |(status_mask & hart_array_mask));
end
endfunction
function status_all;
input [N_HARTS-1:0] status_mask;
begin
status_all = status_mask[hartsel] && (!hasel || ~|(~status_mask & hart_array_mask));
end
endfunction
function [1:0] status_all_any;
input [N_HARTS-1:0] status_mask;
begin
status_all_any = {
status_all(status_mask),
status_any(status_mask)
};
end
endfunction
// ----------------------------------------------------------------------------
// DMI read data mux
always @ (*) begin
case (dmi_regaddr)
ADDR_DATA0: dmi_prdata = abstract_data0;
ADDR_DMCONTROL: dmi_prdata = {
1'b0, // haltreq is a W-only field
1'b0, // resumereq is a W1 field
status_any(dmcontrol_hartreset),
1'b0, // ackhavereset is a W1 field
1'b0, // reserved
hasel,
{{10-W_HARTSEL{1'b0}}, hartsel}, // hartsello
10'h0, // hartselhi
2'h0, // reserved
2'h0, // set/clrresethaltreq are W1 fields
dmcontrol_ndmreset,
dmactive
};
ADDR_DMSTATUS: dmi_prdata = {
9'h0, // reserved
1'b1, // impebreak = 1
2'h0, // reserved
status_all_any(dmstatus_havereset), // allhavereset, anyhavereset
status_all_any(dmstatus_resumeack), // allresumeack, anyresumeack
hartsel >= N_HARTS && !(hasel && |hart_array_mask), // allnonexistent
hartsel >= N_HARTS, // anynonexistent
status_all_any(~hart_available), // allunavail, anyunavail
status_all_any(hart_running & hart_available), // allrunning, anyrunning
status_all_any(hart_halted & hart_available), // allhalted, anyhalted
1'b1, // authenticated
1'b0, // authbusy
1'b1, // hasresethaltreq = 1 (we do support it)
1'b0, // confstrptrvalid
4'd2 // version = 2: RISC-V debug spec 0.13.2
};
ADDR_HARTINFO: dmi_prdata = {
8'h0, // reserved
4'h0, // nscratch = 0
3'h0, // reserved
1'b0, // dataccess = 0, data0 is mapped to each hart's CSR space
4'h1, // datasize = 1, a single data CSR (data0) is available
12'hbff // dataaddr, placed at the top of the M-custom space since
// the spec doesn't reserve a location for it.
};
ADDR_HALTSUM0: dmi_prdata = {
{XLEN - N_HARTS{1'b0}},
hart_halted & hart_available
};
ADDR_HALTSUM1: dmi_prdata = {
{XLEN - 1{1'b0}},
|(hart_halted & hart_available)
};
ADDR_HAWINDOWSEL: dmi_prdata = 32'h00000000;
ADDR_HAWINDOW: dmi_prdata = {
{32-N_HARTS{1'b0}},
hart_array_mask
};
ADDR_ABSTRACTCS: dmi_prdata = {
3'h0, // reserved
5'd2, // progbufsize = 2
11'h0, // reserved
abstractcs_busy,
1'b0,
abstractcs_cmderr,
4'h0,
4'd1 // datacount = 1
};
ADDR_ABSTRACTAUTO: dmi_prdata = {
14'h0,
abstractauto_autoexecprogbuf, // only progbuf0,1 present
15'h0,
abstractauto_autoexecdata // only data0 present
};
ADDR_SBCS: dmi_prdata = {
3'h1, // version = 1
6'h00,
sbbusyerror,
sbbusy,
sbreadonaddr,
sbaccess,
sbautoincrement,
sbreadondata,
sberror,
7'h20, // sbasize = 32
5'b00111 // 8, 16, 32-bit transfers supported
} & {32{|HAVE_SBA}};
ADDR_SBDATA0: dmi_prdata = sbdata & {32{|HAVE_SBA}};
ADDR_SBADDRESS0: dmi_prdata = sbaddress & {32{|HAVE_SBA}};
ADDR_CONFSTRPTR0: dmi_prdata = 32'h4c296328;
ADDR_CONFSTRPTR1: dmi_prdata = 32'h20656b75;
ADDR_CONFSTRPTR2: dmi_prdata = 32'h6e657257;
ADDR_CONFSTRPTR3: dmi_prdata = 32'h31322720;
ADDR_NEXTDM: dmi_prdata = NEXT_DM_ADDR;
ADDR_PROGBUF0: dmi_prdata = progbuf0;
ADDR_PROGBUF1: dmi_prdata = progbuf1;
default: dmi_prdata = {XLEN{1'b0}};
endcase
end
endmodule
`ifndef YOSYS
`default_nettype wire
`endif
vendor/Hazard3/hdl/debug/dm/hazard3_sbus_to_ahb.v
Vendored
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/*****************************************************************************\
| Copyright (C) 2022 Luke Wren |
| SPDX-License-Identifier: Apache-2.0 |
\*****************************************************************************/
// Standalone bus shim for connecting the DM's System Bus Access to AHB
`default_nettype none
module hazard3_sbus_to_ahb #(
parameter W_ADDR = 32,
parameter W_DATA = 32
) (
input wire clk,
input wire rst_n,
input wire [W_ADDR-1:0] sbus_addr,
input wire sbus_write,
input wire [1:0] sbus_size,
input wire sbus_vld,
output wire sbus_rdy,
output wire sbus_err,
input wire [W_DATA-1:0] sbus_wdata,
output wire [W_DATA-1:0] sbus_rdata,
output wire [W_ADDR-1:0] ahblm_haddr,
output wire ahblm_hwrite,
output wire [1:0] ahblm_htrans,
output wire [2:0] ahblm_hsize,
output wire [2:0] ahblm_hburst,
output wire [3:0] ahblm_hprot,
output wire ahblm_hmastlock,
input wire ahblm_hready,
input wire ahblm_hresp,
output wire [W_DATA-1:0] ahblm_hwdata,
input wire [W_DATA-1:0] ahblm_hrdata
);
// Most signals are simple tie-throughs
assign ahblm_haddr = sbus_addr;
assign ahblm_hwrite = sbus_write;
assign ahblm_hsize = {1'b0, sbus_size};
assign ahblm_hwdata = sbus_wdata;
// HPROT = noncacheable nonbufferable privileged data access:
assign ahblm_hprot = 4'b0011;
assign ahblm_hmastlock = 1'b0;
assign ahblm_hburst = 3'h0;
assign sbus_err = ahblm_hresp;
assign sbus_rdata = ahblm_hrdata;
// Handshaking
reg dph_active;
always @ (posedge clk or negedge rst_n) begin
if (!rst_n) begin
dph_active <= 1'b0;
end else if (ahblm_hready) begin
dph_active <= ahblm_htrans[1];
end
end
assign ahblm_htrans = sbus_vld && !dph_active ? 2'b10 : 2'b00;
assign sbus_rdy = ahblm_hready && dph_active;
endmodule
`ifndef YOSYS
`default_nettype wire
`endif
vendor/Hazard3/hdl/debug/dtm/hazard3_ecp5_jtag_dtm.f
Vendored
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file hazard3_ecp5_jtag_dtm.v
file hazard3_jtag_dtm_core.v
file ../cdc/hazard3_apb_async_bridge.v
file ../cdc/hazard3_reset_sync.v
file ../cdc/hazard3_sync_1bit.v
vendor/Hazard3/hdl/debug/dtm/hazard3_ecp5_jtag_dtm.v
Vendored
+194
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/*****************************************************************************\
| Copyright (C) 2021-2022 Luke Wren |
| SPDX-License-Identifier: Apache-2.0 |
\*****************************************************************************/
// The ECP5 JTAGG primitive (yes that is the correct spelling) allows you to
// add two custom DRs to the FPGA's chip TAP, selected using the 8-bit ER1
// (0x32) and ER2 (0x38) instructions.
//
// Brian Swetland pointed out on Twitter that the standard RISC-V JTAG-DTM
// only uses two DRs (DTMCS and DMI), besides the standard IDCODE and BYPASS
// which are provided already by the ECP5 TAP. This file instantiates the
// guts of Hazard3's standard JTAG-DTM and connects the DTMCS and DMI
// registers to the JTAGG primitive's ER1/ER2 DRs.
//
// The exciting part is that upstream OpenOCD already allows you to set the IR
// length *and* set custom DTMCS/DMI IR values for RISC-V JTAG DTMs. This
// means with the right config file, you can access a debug module hung from
// the ECP5 TAP in this fashion using only upstream OpenOCD and gdb.
`default_nettype none
module hazard3_ecp5_jtag_dtm #(
parameter DTMCS_IDLE_HINT = 3'd4,
parameter W_PADDR = 9,
parameter ABITS = W_PADDR - 2 // do not modify
) (
// This is synchronous to TCK and asserted for one TCK cycle only
output wire dmihardreset_req,
// Bus clock + reset for Debug Module Interface
input wire clk_dmi,
input wire rst_n_dmi,
// Debug Module Interface (APB)
output wire dmi_psel,
output wire dmi_penable,
output wire dmi_pwrite,
output wire [W_PADDR-1:0] dmi_paddr,
output wire [31:0] dmi_pwdata,
input wire [31:0] dmi_prdata,
input wire dmi_pready,
input wire dmi_pslverr
);
// Signals to/from the ECP5 TAP
wire jtdo2;
wire jtdo1;
wire jtdi;
wire jtck_posedge_dont_use;
wire jshift;
wire jupdate;
wire jrst_n;
wire jce2;
wire jce1;
JTAGG jtag_u (
.JTDO2 (jtdo2),
.JTDO1 (jtdo1),
.JTDI (jtdi),
.JTCK (jtck_posedge_dont_use),
.JRTI2 (/* unused */),
.JRTI1 (/* unused */),
.JSHIFT (jshift),
.JUPDATE (jupdate),
.JRSTN (jrst_n),
.JCE2 (jce2),
.JCE1 (jce1)
);
// JTAGG primitive asserts its signals synchronously to JTCK's posedge, but
// you get weird and inconsistent results if you try to consume them
// synchronously on JTCK's posedge, possibly due to a lack of hold
// constraints in nextpnr.
//
// A quick hack is to move the sampling onto the negedge of the clock. This
// then creates more problems because we would be running our shift logic on
// a different edge from the control + CDC logic in the DTM core.
//
// So, even worse hack, move all our JTAG-domain logic onto the negedge
// (or near enough) by inverting the clock.
wire jtck = !jtck_posedge_dont_use;
localparam W_DR_SHIFT = ABITS + 32 + 2;
reg core_dr_wen;
reg core_dr_ren;
reg core_dr_sel_dmi_ndtmcs;
reg dr_shift_en;
wire [W_DR_SHIFT-1:0] core_dr_wdata;
wire [W_DR_SHIFT-1:0] core_dr_rdata;
// Decode our shift controls from the interesting ECP5 ones, and re-register
// onto JTCK negedge (our posedge). Note without re-registering we observe
// them a half-cycle (effectively one cycle) too early. This is another
// consequence of the stupid JTDI thing
always @ (posedge jtck or negedge jrst_n) begin
if (!jrst_n) begin
core_dr_sel_dmi_ndtmcs <= 1'b0;
core_dr_wen <= 1'b0;
core_dr_ren <= 1'b0;
dr_shift_en <= 1'b0;
end else begin
if (jce1 || jce2)
core_dr_sel_dmi_ndtmcs <= jce2;
core_dr_ren <= (jce1 || jce2) && !jshift;
core_dr_wen <= jupdate;
dr_shift_en <= jshift;
end
end
reg [W_DR_SHIFT-1:0] dr_shift;
assign core_dr_wdata = dr_shift;
always @ (posedge jtck or negedge jrst_n) begin
if (!jrst_n) begin
dr_shift <= {W_DR_SHIFT{1'b0}};
end else if (core_dr_ren) begin
dr_shift <= core_dr_rdata;
end else if (dr_shift_en) begin
dr_shift <= {jtdi, dr_shift[W_DR_SHIFT-1:1]};
if (!core_dr_sel_dmi_ndtmcs)
dr_shift[31] <= jtdi;
end
end
// Not documented on ECP5: as well as the posedge flop on JTDI, the ECP5 puts
// a negedge flop on JTDO1, JTDO2. (Conjecture based on dicking around with a
// logic analyser.) To get JTDOx to appear with the same timing as our shifter
// LSB (which we update on every JTCK negedge) we:
//
// - Register the LSB of the *next* value of dr_shift on the JTCK posedge, so
// half a cycle earlier than the actual dr_shift update
//
// - This then gets re-registered with the pointless JTDO negedge flops, so
// that it appears with the same timing as our DR shifter update.
reg dr_shift_next_halfcycle;
always @ (negedge jtck or negedge jrst_n) begin
if (!jrst_n) begin
dr_shift_next_halfcycle <= 1'b0;
end else begin
dr_shift_next_halfcycle <=
core_dr_ren ? core_dr_rdata[0] :
dr_shift_en ? dr_shift[1] : dr_shift[0];
end
end
// We have only a single shifter for the ER1 and ER2 chains, so these are tied
// together:
assign jtdo1 = dr_shift_next_halfcycle;
assign jtdo2 = dr_shift_next_halfcycle;
// The actual DTM is in here:
hazard3_jtag_dtm_core #(
.DTMCS_IDLE_HINT (DTMCS_IDLE_HINT),
.W_ADDR (ABITS)
) inst_hazard3_jtag_dtm_core (
.tck (jtck),
.trst_n (jrst_n),
.clk_dmi (clk_dmi),
.rst_n_dmi (rst_n_dmi),
.dr_wen (core_dr_wen),
.dr_ren (core_dr_ren),
.dr_sel_dmi_ndtmcs (core_dr_sel_dmi_ndtmcs),
.dr_wdata (core_dr_wdata),
.dr_rdata (core_dr_rdata),
.dmihardreset_req (dmihardreset_req),
.dmi_psel (dmi_psel),
.dmi_penable (dmi_penable),
.dmi_pwrite (dmi_pwrite),
.dmi_paddr (dmi_paddr[W_PADDR-1:2]),
.dmi_pwdata (dmi_pwdata),
.dmi_prdata (dmi_prdata),
.dmi_pready (dmi_pready),
.dmi_pslverr (dmi_pslverr)
);
assign dmi_paddr[1:0] = 2'b00;
endmodule
`ifndef YOSYS
`default_nettype wire
`endif
vendor/Hazard3/hdl/debug/dtm/hazard3_jtag_dtm.f
Vendored
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file hazard3_jtag_dtm.v
file hazard3_jtag_dtm_core.v
file ../cdc/hazard3_apb_async_bridge.v
file ../cdc/hazard3_reset_sync.v
file ../cdc/hazard3_sync_1bit.v
vendor/Hazard3/hdl/debug/dtm/hazard3_jtag_dtm.v
Vendored
+210
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@@ -0,0 +1,210 @@
/*****************************************************************************\
| Copyright (C) 2021-2022 Luke Wren |
| SPDX-License-Identifier: Apache-2.0 |
\*****************************************************************************/
// Implementation of standard RISC-V JTAG-DTM with an APB Debug Module
// Interface. The TAP itself is clocked directly by JTAG TCK; a clock
// crossing is instantiated internally between the TCK domain and the DMI bus
// clock domain.
`default_nettype none
module hazard3_jtag_dtm #(
parameter IDCODE = 32'h0000_0001,
parameter DTMCS_IDLE_HINT = 3'd4,
parameter W_PADDR = 9,
parameter ABITS = W_PADDR - 2 // do not modify
) (
// Standard JTAG signals -- the JTAG hardware is clocked directly by TCK.
input wire tck,
input wire trst_n,
input wire tms,
input wire tdi,
output reg tdo,
// This is synchronous to TCK and asserted for one TCK cycle only
output wire dmihardreset_req,
// Bus clock + reset for Debug Module Interface
input wire clk_dmi,
input wire rst_n_dmi,
// Debug Module Interface (APB)
output wire dmi_psel,
output wire dmi_penable,
output wire dmi_pwrite,
output wire [W_PADDR-1:0] dmi_paddr,
output wire [31:0] dmi_pwdata,
input wire [31:0] dmi_prdata,
input wire dmi_pready,
input wire dmi_pslverr
);
// ----------------------------------------------------------------------------
// TAP state machine
reg [3:0] tap_state;
localparam S_RESET = 4'd0;
localparam S_RUN_IDLE = 4'd1;
localparam S_SELECT_DR = 4'd2;
localparam S_CAPTURE_DR = 4'd3;
localparam S_SHIFT_DR = 4'd4;
localparam S_EXIT1_DR = 4'd5;
localparam S_PAUSE_DR = 4'd6;
localparam S_EXIT2_DR = 4'd7;
localparam S_UPDATE_DR = 4'd8;
localparam S_SELECT_IR = 4'd9;
localparam S_CAPTURE_IR = 4'd10;
localparam S_SHIFT_IR = 4'd11;
localparam S_EXIT1_IR = 4'd12;
localparam S_PAUSE_IR = 4'd13;
localparam S_EXIT2_IR = 4'd14;
localparam S_UPDATE_IR = 4'd15;
always @ (posedge tck or negedge trst_n) begin
if (!trst_n) begin
tap_state <= S_RESET;
end else case(tap_state)
S_RESET : tap_state <= tms ? S_RESET : S_RUN_IDLE ;
S_RUN_IDLE : tap_state <= tms ? S_SELECT_DR : S_RUN_IDLE ;
S_SELECT_DR : tap_state <= tms ? S_SELECT_IR : S_CAPTURE_DR;
S_CAPTURE_DR : tap_state <= tms ? S_EXIT1_DR : S_SHIFT_DR ;
S_SHIFT_DR : tap_state <= tms ? S_EXIT1_DR : S_SHIFT_DR ;
S_EXIT1_DR : tap_state <= tms ? S_UPDATE_DR : S_PAUSE_DR ;
S_PAUSE_DR : tap_state <= tms ? S_EXIT2_DR : S_PAUSE_DR ;
S_EXIT2_DR : tap_state <= tms ? S_UPDATE_DR : S_SHIFT_DR ;
S_UPDATE_DR : tap_state <= tms ? S_SELECT_DR : S_RUN_IDLE ;
S_SELECT_IR : tap_state <= tms ? S_RESET : S_CAPTURE_IR;
S_CAPTURE_IR : tap_state <= tms ? S_EXIT1_IR : S_SHIFT_IR ;
S_SHIFT_IR : tap_state <= tms ? S_EXIT1_IR : S_SHIFT_IR ;
S_EXIT1_IR : tap_state <= tms ? S_UPDATE_IR : S_PAUSE_IR ;
S_PAUSE_IR : tap_state <= tms ? S_EXIT2_IR : S_PAUSE_IR ;
S_EXIT2_IR : tap_state <= tms ? S_UPDATE_IR : S_SHIFT_IR ;
S_UPDATE_IR : tap_state <= tms ? S_SELECT_DR : S_RUN_IDLE ;
endcase
end
// ----------------------------------------------------------------------------
// Instruction register
localparam W_IR = 5;
// All other encodings behave as BYPASS:
localparam IR_IDCODE = 5'h01;
localparam IR_DTMCS = 5'h10;
localparam IR_DMI = 5'h11;
reg [W_IR-1:0] ir_shift;
reg [W_IR-1:0] ir;
always @ (posedge tck or negedge trst_n) begin
if (!trst_n) begin
ir_shift <= {W_IR{1'b0}};
ir <= IR_IDCODE;
end else if (tap_state == S_RESET) begin
ir_shift <= {W_IR{1'b0}};
ir <= IR_IDCODE;
end else if (tap_state == S_CAPTURE_IR) begin
ir_shift <= ir;
end else if (tap_state == S_SHIFT_IR) begin
ir_shift <= {tdi, ir_shift[W_IR-1:1]};
end else if (tap_state == S_UPDATE_IR) begin
ir <= ir_shift;
end
end
// ----------------------------------------------------------------------------
// Data registers
// Shift register is sized to largest DR, which is DMI:
// {addr[7:0], data[31:0], op[1:0]}
localparam W_DR_SHIFT = ABITS + 32 + 2;
reg [W_DR_SHIFT-1:0] dr_shift;
// Signals to/from the DTM core, which implements the DTMCS and DMI registers
wire core_dr_wen;
wire core_dr_ren;
wire core_dr_sel_dmi_ndtmcs;
wire [W_DR_SHIFT-1:0] core_dr_wdata;
wire [W_DR_SHIFT-1:0] core_dr_rdata;
always @ (posedge tck or negedge trst_n) begin
if (!trst_n) begin
dr_shift <= {W_DR_SHIFT{1'b0}};
end else if (tap_state == S_SHIFT_DR) begin
dr_shift <= {tdi, dr_shift[W_DR_SHIFT-1:1]};
// Shorten DR shift chain according to IR
if (ir == IR_DMI)
dr_shift[W_DR_SHIFT - 1] <= tdi;
else if (ir == IR_IDCODE || ir == IR_DTMCS)
dr_shift[31] <= tdi;
else // BYPASS
dr_shift[0] <= tdi;
end else if (tap_state == S_CAPTURE_DR) begin
if (ir == IR_DMI || ir == IR_DTMCS) begin
dr_shift <= core_dr_rdata;
end else if (ir == IR_IDCODE) begin
dr_shift <= {{W_DR_SHIFT-32{1'b0}}, IDCODE};
end else begin // BYPASS
dr_shift <= {W_DR_SHIFT{1'b0}};
end
end
end
// Must retime shift data onto negedge before presenting on TDO
always @ (negedge tck or negedge trst_n) begin
if (!trst_n) begin
tdo <= 1'b0;
end else begin
tdo <= tap_state == S_SHIFT_IR ? ir_shift[0] :
tap_state == S_SHIFT_DR ? dr_shift[0] : 1'b0;
end
end
// ----------------------------------------------------------------------------
// Core logic and bus interface
assign core_dr_sel_dmi_ndtmcs = ir == IR_DMI;
assign core_dr_wen = (ir == IR_DMI || ir == IR_DTMCS) && tap_state == S_UPDATE_DR;
assign core_dr_ren = (ir == IR_DMI || ir == IR_DTMCS) && tap_state == S_CAPTURE_DR;
assign core_dr_wdata = dr_shift;
hazard3_jtag_dtm_core #(
.DTMCS_IDLE_HINT (DTMCS_IDLE_HINT),
.W_ADDR (ABITS)
) dtm_core (
.tck (tck),
.trst_n (trst_n),
.clk_dmi (clk_dmi),
.rst_n_dmi (rst_n_dmi),
.dmihardreset_req (dmihardreset_req),
.dr_wen (core_dr_wen),
.dr_ren (core_dr_ren),
.dr_sel_dmi_ndtmcs (core_dr_sel_dmi_ndtmcs),
.dr_wdata (core_dr_wdata),
.dr_rdata (core_dr_rdata),
.dmi_psel (dmi_psel),
.dmi_penable (dmi_penable),
.dmi_pwrite (dmi_pwrite),
.dmi_paddr (dmi_paddr[W_PADDR-1:2]),
.dmi_pwdata (dmi_pwdata),
.dmi_prdata (dmi_prdata),
.dmi_pready (dmi_pready),
.dmi_pslverr (dmi_pslverr)
);
assign dmi_paddr[1:0] = 2'b00;
endmodule
`ifndef YOSYS
`default_nettype wire
`endif
vendor/Hazard3/hdl/debug/dtm/hazard3_jtag_dtm_core.v
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+185
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/*****************************************************************************\
| Copyright (C) 2021-2022 Luke Wren |
| SPDX-License-Identifier: Apache-2.0 |
\*****************************************************************************/
// DTMCS + DMI control logic, bus interface and bus clock domain crossing for
// a standard RISC-V APB JTAG-DTM. Essentially everything apart from the
// actual TAP controller, IR and shift registers. Instantiated by
// hazard3_jtag_dtm.v.
//
// This core logic can be reused and connected to some other serial transport
// or, for example, the ECP5 JTAGG primitive (see hazard5_ecp5_jtag_dtm.v)
`default_nettype none
module hazard3_jtag_dtm_core #(
parameter DTMCS_IDLE_HINT = 3'd4,
parameter W_ADDR = 8,
parameter W_DR_SHIFT = W_ADDR + 32 + 2 // do not modify
) (
input wire tck,
input wire trst_n,
input wire clk_dmi,
input wire rst_n_dmi,
// DR capture/update (read/write) signals
input wire dr_wen,
input wire dr_ren,
input wire dr_sel_dmi_ndtmcs,
input wire [W_DR_SHIFT-1:0] dr_wdata,
output wire [W_DR_SHIFT-1:0] dr_rdata,
// This is synchronous to TCK and asserted for one TCK cycle only
output reg dmihardreset_req,
// Debug Module Interface (APB)
output wire dmi_psel,
output wire dmi_penable,
output wire dmi_pwrite,
output wire [W_ADDR-1:0] dmi_paddr,
output wire [31:0] dmi_pwdata,
input wire [31:0] dmi_prdata,
input wire dmi_pready,
input wire dmi_pslverr
);
wire write_dmi = dr_wen && dr_sel_dmi_ndtmcs;
wire write_dtmcs = dr_wen && !dr_sel_dmi_ndtmcs;
wire read_dmi = dr_ren && dr_sel_dmi_ndtmcs;
// ----------------------------------------------------------------------------
// DMI bus adapter
reg [1:0] dmi_cmderr;
reg dmi_busy;
// DTM-domain bus, connected to a matching DM-domain bus via an APB crossing:
wire dtm_psel;
wire dtm_penable;
wire dtm_pwrite;
wire [W_ADDR-1:0] dtm_paddr;
wire [31:0] dtm_pwdata;
wire [31:0] dtm_prdata;
wire dtm_pready;
wire dtm_pslverr;
// We are relying on some particular features of our APB clock crossing here
// to save some registers:
//
// - The transfer is launched immediately when psel is seen, no need to
// actually assert an access phase (as the standard allows the CDC to
// assume that access immediately follows setup) and no need to maintain
// pwrite/paddr/pwdata valid after the setup phase
//
// - prdata/pslverr remain valid after the transfer completes, until the next
// transfer completes
//
// These allow us to connect the upstream side of the CDC directly to our DR
// shifter without any sample/hold registers in between.
// psel is only pulsed for one cycle, penable is not asserted.
assign dtm_psel = write_dmi &&
(dr_wdata[1:0] == 2'd1 || dr_wdata[1:0] == 2'd2) &&
!(dmi_busy || dmi_cmderr != 2'd0) && dtm_pready;
assign dtm_penable = 1'b0;
// paddr/pwdata/pwrite are valid momentarily when psel is asserted.
assign dtm_paddr = dr_wdata[34 +: W_ADDR];
assign dtm_pwrite = dr_wdata[1];
assign dtm_pwdata = dr_wdata[2 +: 32];
always @ (posedge tck or negedge trst_n) begin
if (!trst_n) begin
dmi_busy <= 1'b0;
dmi_cmderr <= 2'd0;
end else if (read_dmi) begin
// Reading while busy sets the busy sticky error. Note the capture
// into shift register should also reflect this update on-the-fly
if (dmi_busy && dmi_cmderr == 2'd0)
dmi_cmderr <= 2'h3;
end else if (write_dtmcs) begin
// Writing dtmcs.dmireset = 1 clears a sticky error
if (dr_wdata[16])
dmi_cmderr <= 2'd0;
end else if (write_dmi) begin
if (dtm_psel) begin
dmi_busy <= 1'b1;
end else if (dr_wdata[1:0] != 2'd0) begin
// DMI ignored operation, so set sticky busy
if (dmi_cmderr == 2'd0)
dmi_cmderr <= 2'd3;
end
end else if (dmi_busy && dtm_pready) begin
dmi_busy <= 1'b0;
if (dmi_cmderr == 2'd0 && dtm_pslverr)
dmi_cmderr <= 2'd2;
end
end
// DTM logic is in TCK domain, actual DMI + DM is in processor domain
hazard3_apb_async_bridge #(
.W_ADDR (W_ADDR),
.W_DATA (32),
.N_SYNC_STAGES (2)
) inst_hazard3_apb_async_bridge (
.clk_src (tck),
.rst_n_src (trst_n),
.clk_dst (clk_dmi),
.rst_n_dst (rst_n_dmi),
.src_psel (dtm_psel),
.src_penable (dtm_penable),
.src_pwrite (dtm_pwrite),
.src_paddr (dtm_paddr),
.src_pwdata (dtm_pwdata),
.src_prdata (dtm_prdata),
.src_pready (dtm_pready),
.src_pslverr (dtm_pslverr),
.dst_psel (dmi_psel),
.dst_penable (dmi_penable),
.dst_pwrite (dmi_pwrite),
.dst_paddr (dmi_paddr),
.dst_pwdata (dmi_pwdata),
.dst_prdata (dmi_prdata),
.dst_pready (dmi_pready),
.dst_pslverr (dmi_pslverr)
);
// ----------------------------------------------------------------------------
// DR read/write
wire [W_DR_SHIFT-1:0] dtmcs_rdata = {
{W_ADDR{1'b0}},
19'h0,
DTMCS_IDLE_HINT[2:0],
dmi_cmderr,
W_ADDR[5:0], // abits
4'd1 // version
};
wire [W_DR_SHIFT-1:0] dmi_rdata = {
{W_ADDR{1'b0}},
dtm_prdata,
dmi_busy && dmi_cmderr == 2'd0 ? 2'd3 : dmi_cmderr
};
assign dr_rdata = dr_sel_dmi_ndtmcs ? dmi_rdata : dtmcs_rdata;
always @ (posedge tck or negedge trst_n) begin
if (!trst_n) begin
dmihardreset_req <= 1'b0;
end else begin
dmihardreset_req <= write_dtmcs && dr_wdata[17];
end
end
endmodule
`ifndef YOSYS
`default_nettype wire
`endif
vendor/Hazard3/hdl/debug/dtm/hazard3_xilinx7_jtag_dtm.v
Vendored
+162
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/*****************************************************************************\
| Copyright (C) 2021-2025 Luke Wren |
| SPDX-License-Identifier: Apache-2.0 |
\*****************************************************************************/
// Implement a RISC-V JTAG DTM tunnelled through a Xilinx BSCANE2 primitive.
//
// Xilinx allows up to four custom DRs to be added to the FPGA TAP controller.
// A JTAG-DTM only needs two: DTMCS and DMI.
//
// With the correct config, OpenOCD can treat the FPGA TAP as a JTAG DTM and
// access RISC-V debug directly. This allows you to debug internal RISC-V
// cores with the same JTAG interface you use to load the FPGA.
//
// CHAIN_DTMCS and CHAIN_DMI select which JTAG IR values are used to access
// these DRs. Values 1 through 4 correspond to Xilinx USER1 through USER4
// instructions, which have IR values 0x02, 0x03, 0x22, 0x23.
`default_nettype none
module hazard3_xilinx7_jtag_dtm #(
parameter SEL_DTMCS = 3,
parameter SEL_DMI = 4,
parameter DTMCS_IDLE_HINT = 3'd4,
parameter W_PADDR = 9,
parameter ABITS = W_PADDR - 2 // do not modify
) (
// This is synchronous to TCK and asserted for one TCK cycle only
output wire dmihardreset_req,
// Bus clock + reset for Debug Module Interface
input wire clk_dmi,
input wire rst_n_dmi,
// Debug Module Interface (APB)
output wire dmi_psel,
output wire dmi_penable,
output wire dmi_pwrite,
output wire [W_PADDR-1:0] dmi_paddr,
output wire [31:0] dmi_pwdata,
input wire [31:0] dmi_prdata,
input wire dmi_pready,
input wire dmi_pslverr
);
// Signals to/from the Xilinx TAP
wire jtck_unbuf;
wire jtck;
wire jtdo2;
wire jtdo1;
wire jtdi;
wire jshift;
wire jupdate;
wire jcapture;
wire jrst;
wire jrst_n = !jrst;
wire jce2;
wire jce1;
BSCANE2 #(
.JTAG_CHAIN (SEL_DTMCS) // Value for USER command.
) bscan_dtmcs (
.CAPTURE (jcapture), // CAPTURE output from TAP controller.
.DRCK (/* unused */), // Gated TCK output. When SEL is asserted, DRCK toggles when CAPTURE or SHIFT are asserted.
.RESET (jrst), // Reset output for TAP controller.
.RUNTEST (/* unused */), // Output asserted when TAP controller is in Run Test/Idle state.
.SEL (jce1), // USER instruction active output.
.SHIFT (jshift), // SHIFT output from TAP controller.
.TCK (jtck_unbuf), // Test Clock output. Fabric connection to TAP Clock pin.
.TDI (jtdi), // Test Data Input (TDI) output from TAP controller.
.TMS (/* unused */), // Test Mode Select output. Fabric connection to TAP.
.UPDATE (jupdate), // UPDATE output from TAP controller
.TDO (jtdo1) // Test Data Output (TDO) input for USER function.
);
BSCANE2 #(
.JTAG_CHAIN (SEL_DMI)
) bscan_dmi (
.CAPTURE (/* unused */),
.DRCK (/* unused */),
.RESET (/* unused */),
.RUNTEST (/* unused */),
.SEL (jce2),
.SHIFT (/* unused */),
.TCK (/* unused */),
.TDI (/* unused */),
.TMS (/* unused */),
.UPDATE (/* unused */),
.TDO (jtdo2)
);
BUFG bufg_jtck (
.I (jtck_unbuf),
.O (jtck)
);
localparam W_DR_SHIFT = ABITS + 32 + 2;
wire core_dr_wen = jupdate;
wire core_dr_ren = jcapture;
wire core_dr_sel_dmi_ndtmcs = !jce1;
wire dr_shift_en = jshift;
wire [W_DR_SHIFT-1:0] core_dr_wdata;
wire [W_DR_SHIFT-1:0] core_dr_rdata;
reg [W_DR_SHIFT-1:0] dr_shift;
assign core_dr_wdata = dr_shift;
always @ (posedge jtck or negedge jrst_n) begin
if (!jrst_n) begin
dr_shift <= {W_DR_SHIFT{1'b0}};
end else if (core_dr_ren) begin
dr_shift <= core_dr_rdata;
end else if (dr_shift_en) begin
dr_shift <= {jtdi, dr_shift[W_DR_SHIFT-1:1]};
if (!core_dr_sel_dmi_ndtmcs)
dr_shift[31] <= jtdi;
end
end
// We have only a single shifter for the two DRs, so these are tied together:
assign jtdo1 = dr_shift[0];
assign jtdo2 = dr_shift[0];
// The actual DTM is in here:
hazard3_jtag_dtm_core #(
.DTMCS_IDLE_HINT (DTMCS_IDLE_HINT),
.W_ADDR (ABITS)
) inst_hazard3_jtag_dtm_core (
.tck (jtck),
.trst_n (jrst_n),
.clk_dmi (clk_dmi),
.rst_n_dmi (rst_n_dmi),
.dr_wen (core_dr_wen),
.dr_ren (core_dr_ren),
.dr_sel_dmi_ndtmcs (core_dr_sel_dmi_ndtmcs),
.dr_wdata (core_dr_wdata),
.dr_rdata (core_dr_rdata),
.dmihardreset_req (dmihardreset_req),
.dmi_psel (dmi_psel),
.dmi_penable (dmi_penable),
.dmi_pwrite (dmi_pwrite),
.dmi_paddr (dmi_paddr[W_PADDR-1:2]),
.dmi_pwdata (dmi_pwdata),
.dmi_prdata (dmi_prdata),
.dmi_pready (dmi_pready),
.dmi_pslverr (dmi_pslverr)
);
assign dmi_paddr[1:0] = 2'b00;
endmodule
`ifndef YOSYS
`default_nettype wire
`endif
vendor/Hazard3/hdl/hazard3.f
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+22
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file hazard3_core.v
file hazard3_cpu_1port.v
file hazard3_cpu_2port.v
file arith/hazard3_alu.v
file arith/hazard3_branchcmp.v
file arith/hazard3_mul_fast.v
file arith/hazard3_muldiv_seq.v
file arith/hazard3_onehot_encode.v
file arith/hazard3_onehot_priority.v
file arith/hazard3_onehot_priority_dynamic.v
file arith/hazard3_priority_encode.v
file arith/hazard3_shift_barrel.v
file hazard3_csr.v
file hazard3_decode.v
file hazard3_frontend.v
file hazard3_instr_decompress.v
file hazard3_irq_ctrl.v
file hazard3_pmp.v
file hazard3_power_ctrl.v
file hazard3_regfile_1w2r.v
file hazard3_triggers.v
include .
vendor/Hazard3/hdl/hazard3_config.vh
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/*****************************************************************************\
| Copyright (C) 2021-2022 Luke Wren |
| SPDX-License-Identifier: Apache-2.0 |
\*****************************************************************************/
// Hazard3 CPU configuration parameters
// To configure Hazard3 you can either edit this file, or set parameters on
// your top-level instantiation, it's up to you. These parameters are all
// plumbed through Hazard3's internal hierarchy to the appropriate places.
// If you add a parameter here, you should add a matching line to
// hazard3_config_inst.vh to propagate the parameter through module
// instantiations.
// ----------------------------------------------------------------------------
// Reset state configuration
// RESET_VECTOR: Address of first instruction executed.
parameter RESET_VECTOR = 32'h00000000,
// MTVEC_INIT: Initial value of trap vector base. Bits clear in MTVEC_WMASK
// will never change from this initial value. Bits set in MTVEC_WMASK can be
// written/set/cleared as normal.
//
// Note that mtvec bits 1:0 do not affect the trap base (as per RISC-V spec).
// Bit 1 is don't care, bit 0 selects the vectoring mode: unvectored if == 0
// (all traps go to mtvec), vectored if == 1 (exceptions go to mtvec, IRQs to
// mtvec + mcause * 4). This means MTVEC_INIT also sets the initial vectoring
// mode.
parameter MTVEC_INIT = 32'h00000000,
// ----------------------------------------------------------------------------
// Standard RISC-V ISA support
// EXTENSION_A: Support for atomic read/modify/write instructions
parameter EXTENSION_A = 1,
// EXTENSION_C: Support for compressed (variable-width) instructions
parameter EXTENSION_C = 1,
// EXTENSION_E: Implement the RV32E base extension rather than RV32I. This
// reduces the number of integer registers from 31 to 15.
parameter EXTENSION_E = 0,
// EXTENSION_M: Support for hardware multiply/divide/modulo instructions
parameter EXTENSION_M = 1,
// EXTENSION_ZBA: Support for Zba address generation instructions
parameter EXTENSION_ZBA = 0,
// EXTENSION_ZBB: Support for Zbb basic bit manipulation instructions
parameter EXTENSION_ZBB = 0,
// EXTENSION_ZBC: Support for Zbc carry-less multiplication instructions
parameter EXTENSION_ZBC = 0,
// EXTENSION_ZBKB: Support for Zbkb basic bit manipulation for cryptography
// Requires: Zbb. (This flag enables instructions in Zbkb which aren't in Zbb.)
parameter EXTENSION_ZBKB = 0,
// EXTENSION_ZBKX: support for Zbkx crossbar permutation instructions
parameter EXTENSION_ZBKX = 0,
// EXTENSION_ZBS: Support for Zbs single-bit manipulation instructions
parameter EXTENSION_ZBS = 0,
// EXTENSION_ZCB: Support for Zcb basic additional compressed instructions
// Requires: EXTENSION_C. (Some Zcb instructions also require Zbb or M.)
// Note Zca is equivalent to C, as we do not support the F extension.
parameter EXTENSION_ZCB = 0,
// EXTENSION_ZCLSD: Support for Zclsd compressed load/store pair instructions
// Requires: EXTENSION_ZILSD, EXTENSION_C.
parameter EXTENSION_ZCLSD = 0,
// EXTENSION_ZCMP: Support for Zcmp push/pop instructions.
// Requires: EXTENSION_C.
parameter EXTENSION_ZCMP = 0,
// EXTENSION_ZIFENCEI: Support for the fence.i instruction
// Optional, since a plain branch/jump will also flush the prefetch queue.
parameter EXTENSION_ZIFENCEI = 0,
// EXTENSION_ZILSD: Support for Zilsd load/store pair instructions
parameter EXTENSION_ZILSD = 0,
// ----------------------------------------------------------------------------
// Custom RISC-V extensions
// EXTENSION_XH3B: Custom bit-extract-multiple instructions for Hazard3
parameter EXTENSION_XH3BEXTM = 0,
// EXTENSION_XH3IRQ: Custom preemptive, prioritised interrupt support. Can be
// disabled if an external interrupt controller (e.g. PLIC) is used. If
// disabled, and NUM_IRQS > 1, the external interrupts are simply OR'd into
// mip.meip.
parameter EXTENSION_XH3IRQ = 0,
// EXTENSION_XH3PMPM: PMPCFGMx CSRs to enforce PMP regions in M-mode without
// locking. Unlike ePMP mseccfg.rlb, locked and unlocked regions can coexist
parameter EXTENSION_XH3PMPM = 0,
// EXTENSION_XH3POWER: Custom power management controls for Hazard3
parameter EXTENSION_XH3POWER = 0,
// ----------------------------------------------------------------------------
// Standard CSR support
// Note the Zicsr extension is implied by any of CSR_M_MANDATORY, CSR_M_TRAP,
// CSR_COUNTER.
// CSR_M_MANDATORY: Bare minimum CSR support e.g. misa. Spec says must = 1 if
// CSRs are present, but I won't tell anyone.
parameter CSR_M_MANDATORY = 1,
// CSR_M_TRAP: Include M-mode trap-handling CSRs, and enable trap support.
parameter CSR_M_TRAP = 1,
// CSR_COUNTER: Include performance counters and Zicntr CSRs
parameter CSR_COUNTER = 0,
// U_MODE: Support the U (user) execution mode. In U mode, the core performs
// unprivileged bus accesses, and software's access to CSRs is restricted.
// Additionally, if the PMP is included, the core may restrict U-mode
// software's access to memory.
// Requires: CSR_M_TRAP.
parameter U_MODE = 0,
// PMP_REGIONS: Number of physical memory protection regions, or 0 for no PMP.
// PMP is more useful if U mode is supported, but this is not a requirement.
parameter PMP_REGIONS = 0,
// PMP_GRAIN: This is the "G" parameter in the privileged spec. Minimum PMP
// region size is 1 << (G + 2) bytes. If G > 0, PMCFG.A can not be set to
// NA4 (will get set to OFF instead). If G > 1, the G - 1 LSBs of pmpaddr are
// read-only-0 when PMPCFG.A is OFF, and read-only-1 when PMPCFG.A is NAPOT.
parameter PMP_GRAIN = 0,
// PMP_MATCH_NAPOT: Enable PMP support for the NAPOT (naturally-aligned
// power-of-two) and NA4 (naturally-aligned four-byte) matching modes. When
// disabled, attempting to select these modes will set the PMP region to OFF.
parameter PMP_MATCH_NAPOT = 1,
// PMP_MATCH_TOR: Enable PMP support for the TOR (top-of-range) matching mode.
// When disabled, attempting to select this mode will set the region to OFF.
parameter PMP_MATCH_TOR = 0,
// PMPADDR_HARDWIRED: If a bit is 1, the corresponding region's pmpaddr and
// pmpcfg registers are read-only. PMP_GRAIN is ignored on hardwired regions.
// It's recommended to make hardwired regions the highest-numbered, so they
// can be overridden by lower-numbered regions.
parameter PMP_HARDWIRED = {(PMP_REGIONS > 0 ? PMP_REGIONS : 1){1'b0}},
// PMPADDR_HARDWIRED_ADDR: Values of pmpaddr registers whose PMP_HARDWIRED
// bits are set to 1. Non-hardwired regions reset to all-zeroes.
parameter PMP_HARDWIRED_ADDR = {(PMP_REGIONS > 0 ? PMP_REGIONS : 1){32'h0}},
// PMPCFG_RESET_VAL: Values of pmpcfg registers whose PMP_HARDWIRED bits are
// set to 1. Non-hardwired regions reset to all zeroes.
parameter PMP_HARDWIRED_CFG = {(PMP_REGIONS > 0 ? PMP_REGIONS : 1){8'h00}},
// DEBUG_SUPPORT: Support for run/halt and instruction injection from an
// external Debug Module, support for Debug Mode, and Debug Mode CSRs.
// Requires: CSR_M_MANDATORY, CSR_M_TRAP.
parameter DEBUG_SUPPORT = 0,
// BREAKPOINT_TRIGGERS: Number of triggers which support type=2 execute=1
// (but not store/load=1, i.e. not a watchpoint). Requires: DEBUG_SUPPORT
parameter BREAKPOINT_TRIGGERS = 0,
// ----------------------------------------------------------------------------
// External interrupt support
// NUM_IRQS: Number of external IRQs. Minimum 1, maximum 512. Note that if
// EXTENSION_XH3IRQ (Hazard3 interrupt controller) is disabled then multiple
// external interrupts are simply OR'd into mip.meip.
parameter NUM_IRQS = 1,
// IRQ_PRIORITY_BITS: Number of priority bits implemented for each interrupt
// in meipra, if EXTENSION_XH3IRQ is enabled. The number of distinct levels
// is (1 << IRQ_PRIORITY_BITS). Minimum 0, max 4. Note that multiple priority
// levels with a large number of IRQs will have a severe effect on timing.
parameter IRQ_PRIORITY_BITS = 0,
// IRQ_INPUT_BYPASS: disable the input registers on the external interrupts,
// to reduce latency by one cycle. Can be applied on an IRQ-by-IRQ basis.
// Ignored if EXTENSION_XH3IRQ is disabled.
parameter IRQ_INPUT_BYPASS = {(NUM_IRQS > 0 ? NUM_IRQS : 1){1'b0}},
// ----------------------------------------------------------------------------
// ID registers
// JEDEC JEP106-compliant vendor ID, can be left at 0 if "not implemented or
// [...] this is a non-commercial implementation" (RISC-V spec).
// 31:7 is continuation code count, 6:0 is ID. Parity bit is not stored.
parameter MVENDORID_VAL = 32'h0,
// Pointer to configuration structure blob, or all-zeroes. Must be at least
// 4-byte-aligned.
parameter MCONFIGPTR_VAL = 32'h0,
// ----------------------------------------------------------------------------
// Performance/size options
// REDUCED_BYPASS: Remove all forwarding paths except X->X (so back-to-back
// ALU ops can still run at 1 CPI), to save area.
parameter REDUCED_BYPASS = 0,
// MULDIV_UNROLL: Bits per clock for multiply/divide circuit, if present. Must
// be a power of 2.
parameter MULDIV_UNROLL = 1,
// MUL_FAST: Use single-cycle multiply circuit for MUL instructions, retiring
// to stage 3. The sequential multiply/divide circuit is still used for MULH*
parameter MUL_FAST = 0,
// MUL_FASTER: Retire fast multiply results to stage 2 instead of stage 3.
// Throughput is the same, but latency is reduced from 2 cycles to 1 cycle.
// Requires: MUL_FAST.
parameter MUL_FASTER = 0,
// MULH_FAST: extend the fast multiply circuit to also cover MULH*, and remove
// the multiply functionality from the sequential multiply/divide circuit.
// Requires: MUL_FAST
parameter MULH_FAST = 0,
// FAST_BRANCHCMP: Instantiate a separate comparator (eq/lt/ltu) for branch
// comparisons, rather than using the ALU. Improves fetch address delay,
// especially if Zba extension is enabled. Disabling may save area.
parameter FAST_BRANCHCMP = 1,
// RESET_REGFILE: whether to support reset of the general purpose registers.
// There are around 1k bits in the register file, so the reset can be
// disabled e.g. to permit block-RAM inference on FPGA.
parameter RESET_REGFILE = 0,
// BRANCH_PREDICTOR: enable branch prediction. The branch predictor consists
// of a single BTB entry which is allocated on a taken backward branch, and
// cleared on a mispredicted nontaken branch, a fence.i or a trap. Successful
// prediction eliminates the 1-cyle fetch bubble on a taken branch, usually
// making tight loops faster.
parameter BRANCH_PREDICTOR = 0,
// MTVEC_WMASK: Mask of which bits in mtvec are writable. Full writability is
// recommended, because a common idiom in setup code is to set mtvec just
// past code that may trap, as a hardware "try {...} catch" block.
//
// - The vectoring mode can be made fixed by clearing the LSB of MTVEC_WMASK
//
// - In vectored mode, the vector table must be aligned to its size, rounded
// up to a power of two.
parameter MTVEC_WMASK = 32'hfffffffd,
// ----------------------------------------------------------------------------
// Port size parameters (do not modify)
parameter W_ADDR = 32, // Do not modify
parameter W_DATA = 32 // Do not modify

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