2 * FreeRTOS Kernel V10.2.1
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3 * Copyright (C) 2019 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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5 * Permission is hereby granted, free of charge, to any person obtaining a copy of
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6 * this software and associated documentation files (the "Software"), to deal in
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7 * the Software without restriction, including without limitation the rights to
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8 * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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9 * the Software, and to permit persons to whom the Software is furnished to do so,
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10 * subject to the following conditions:
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12 * The above copyright notice and this permission notice shall be included in all
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13 * copies or substantial portions of the Software.
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15 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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16 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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17 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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18 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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19 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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20 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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22 * http://www.FreeRTOS.org
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23 * http://aws.amazon.com/freertos
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25 * 1 tab == 4 spaces!
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28 /*-----------------------------------------------------------
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29 * Implementation of functions defined in portable.h for the RISC-V RV32 port.
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30 *----------------------------------------------------------*/
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32 /* Scheduler includes. */
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33 #include "FreeRTOS.h"
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35 #include "portmacro.h"
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37 /* Standard includes. */
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40 #ifdef configCLINT_BASE_ADDRESS
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41 #warning The configCLINT_BASE_ADDRESS constant has been deprecated. configMTIME_BASE_ADDRESS and configMTIMECMP_BASE_ADDRESS are currently being derived from the (possibly 0) configCLINT_BASE_ADDRESS setting. Please update to define configMTIME_BASE_ADDRESS and configMTIMECMP_BASE_ADDRESS dirctly in place of configCLINT_BASE_ADDRESS.
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44 #ifndef configMTIME_BASE_ADDRESS
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45 #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.
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48 #ifndef configMTIMECMP_BASE_ADDRESS
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49 #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.
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52 /* Let the user override the pre-loading of the initial LR with the address of
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53 prvTaskExitError() in case it messes up unwinding of the stack in the
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55 #ifdef configTASK_RETURN_ADDRESS
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56 #define portTASK_RETURN_ADDRESS configTASK_RETURN_ADDRESS
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58 #define portTASK_RETURN_ADDRESS prvTaskExitError
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61 /* The stack used by interrupt service routines. Set configISR_STACK_SIZE_WORDS
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62 to use a statically allocated array as the interrupt stack. Alternative leave
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63 configISR_STACK_SIZE_WORDS undefined and update the linker script so that a
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64 linker variable names __freertos_irq_stack_top has the same value as the top
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65 of the stack used by main. Using the linker script method will repurpose the
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66 stack that was used by main before the scheduler was started for use as the
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67 interrupt stack after the scheduler has started. */
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68 #ifdef configISR_STACK_SIZE_WORDS
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69 static __attribute__ ((aligned(16))) StackType_t xISRStack[ configISR_STACK_SIZE_WORDS ] = { 0 };
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70 const StackType_t xISRStackTop = ( StackType_t ) &( xISRStack[ configISR_STACK_SIZE_WORDS & ~portBYTE_ALIGNMENT_MASK ] );
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72 /* Don't use 0xa5 as the stack fill bytes as that is used by the kernerl for
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73 the task stacks, and so will legitimately appear in many positions within
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75 #define portISR_STACK_FILL_BYTE 0xee
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77 extern const uint32_t __freertos_irq_stack_top[];
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78 const StackType_t xISRStackTop = ( StackType_t ) __freertos_irq_stack_top;
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82 * Setup the timer to generate the tick interrupts. The implementation in this
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83 * file is weak to allow application writers to change the timer used to
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84 * generate the tick interrupt.
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86 void vPortSetupTimerInterrupt( void ) __attribute__(( weak ));
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88 /*-----------------------------------------------------------*/
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90 /* Used to program the machine timer compare register. */
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91 uint64_t ullNextTime = 0ULL;
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92 const uint64_t *pullNextTime = &ullNextTime;
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93 const size_t uxTimerIncrementsForOneTick = ( size_t ) ( ( configCPU_CLOCK_HZ ) / ( configTICK_RATE_HZ ) ); /* Assumes increment won't go over 32-bits. */
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94 uint32_t const ullMachineTimerCompareRegisterBase = configMTIMECMP_BASE_ADDRESS;
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95 volatile uint64_t * pullMachineTimerCompareRegister = NULL;
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97 /* Set configCHECK_FOR_STACK_OVERFLOW to 3 to add ISR stack checking to task
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98 stack checking. A problem in the ISR stack will trigger an assert, not call the
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99 stack overflow hook function (because the stack overflow hook is specific to a
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100 task stack, not the ISR stack). */
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101 #if defined( configISR_STACK_SIZE_WORDS ) && ( configCHECK_FOR_STACK_OVERFLOW > 2 )
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102 #warning This path not tested, or even compiled yet.
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104 static const uint8_t ucExpectedStackBytes[] = {
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105 portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, \
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106 portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, \
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107 portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, \
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108 portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, \
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109 portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE }; \
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111 #define portCHECK_ISR_STACK() configASSERT( ( memcmp( ( void * ) xISRStack, ( void * ) ucExpectedStackBytes, sizeof( ucExpectedStackBytes ) ) == 0 ) )
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113 /* Define the function away. */
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114 #define portCHECK_ISR_STACK()
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115 #endif /* configCHECK_FOR_STACK_OVERFLOW > 2 */
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117 /*-----------------------------------------------------------*/
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119 #if( configMTIME_BASE_ADDRESS != 0 ) && ( configMTIMECMP_BASE_ADDRESS != 0 )
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121 void vPortSetupTimerInterrupt( void )
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123 uint32_t ulCurrentTimeHigh, ulCurrentTimeLow;
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124 volatile uint32_t * const pulTimeHigh = ( volatile uint32_t * const ) ( ( configMTIME_BASE_ADDRESS ) + 4UL ); /* 8-byte typer so high 32-bit word is 4 bytes up. */
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125 volatile uint32_t * const pulTimeLow = ( volatile uint32_t * const ) ( configMTIME_BASE_ADDRESS );
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126 volatile uint32_t ulHartId;
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128 __asm volatile( "csrr %0, mhartid" : "=r"( ulHartId ) );
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129 pullMachineTimerCompareRegister = ( volatile uint64_t * ) ( ullMachineTimerCompareRegisterBase + ( ulHartId * sizeof( uint64_t ) ) );
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133 ulCurrentTimeHigh = *pulTimeHigh;
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134 ulCurrentTimeLow = *pulTimeLow;
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135 } while( ulCurrentTimeHigh != *pulTimeHigh );
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137 ullNextTime = ( uint64_t ) ulCurrentTimeHigh;
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138 ullNextTime <<= 32ULL; /* High 4-byte word is 32-bits up. */
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139 ullNextTime |= ( uint64_t ) ulCurrentTimeLow;
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140 ullNextTime += ( uint64_t ) uxTimerIncrementsForOneTick;
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141 *pullMachineTimerCompareRegister = ullNextTime;
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143 /* Prepare the time to use after the next tick interrupt. */
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144 ullNextTime += ( uint64_t ) uxTimerIncrementsForOneTick;
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147 #endif /* ( configMTIME_BASE_ADDRESS != 0 ) && ( configMTIME_BASE_ADDRESS != 0 ) */
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148 /*-----------------------------------------------------------*/
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150 BaseType_t xPortStartScheduler( void )
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152 extern void xPortStartFirstTask( void );
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154 #if( configASSERT_DEFINED == 1 )
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156 volatile uint32_t mtvec = 0;
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158 /* Check the least significant two bits of mtvec are 00 - indicating
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159 single vector mode. */
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160 __asm volatile( "csrr %0, mtvec" : "=r"( mtvec ) );
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161 configASSERT( ( mtvec & 0x03UL ) == 0 );
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163 /* Check alignment of the interrupt stack - which is the same as the
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164 stack that was being used by main() prior to the scheduler being
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166 configASSERT( ( xISRStackTop & portBYTE_ALIGNMENT_MASK ) == 0 );
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168 #ifdef configISR_STACK_SIZE_WORDS
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170 memset( ( void * ) xISRStack, portISR_STACK_FILL_BYTE, sizeof( xISRStack ) );
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172 #endif /* configISR_STACK_SIZE_WORDS */
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174 #endif /* configASSERT_DEFINED */
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176 /* If there is a CLINT then it is ok to use the default implementation
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177 in this file, otherwise vPortSetupTimerInterrupt() must be implemented to
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178 configure whichever clock is to be used to generate the tick interrupt. */
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179 vPortSetupTimerInterrupt();
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181 #if( ( configMTIME_BASE_ADDRESS != 0 ) && ( configMTIMECMP_BASE_ADDRESS != 0 ) )
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183 /* Enable mtime and external interrupts. 1<<7 for timer interrupt, 1<<11
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184 for external interrupt. _RB_ What happens here when mtime is not present as
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186 __asm volatile( "csrs mie, %0" :: "r"(0x880) );
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190 /* Enable external interrupts. */
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191 __asm volatile( "csrs mie, %0" :: "r"(0x800) );
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193 #endif /* ( configMTIME_BASE_ADDRESS != 0 ) && ( configMTIMECMP_BASE_ADDRESS != 0 ) */
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195 xPortStartFirstTask();
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197 /* Should not get here as after calling xPortStartFirstTask() only tasks
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198 should be executing. */
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201 /*-----------------------------------------------------------*/
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203 void vPortEndScheduler( void )
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205 /* Not implemented. */
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