From 92402217b821c8da7e2a188352f095caaf0818d1 Mon Sep 17 00:00:00 2001 From: tangzz98 Date: Tue, 13 Sep 2022 18:05:44 -0400 Subject: [PATCH 1/2] Add config for RT-Thread --- Kconfig | 4 + components/driver/deprecated/i2s_legacy.c | 4 + components/driver/uart.c | 4 + components/esp_system/crosscore_int.c | 5 +- .../esp_system/ld/esp32c3/sections.ld.in | 37 ++++ .../port/arch/riscv/expression_with_stack.c | 8 + components/esp_system/startup.c | 9 + components/esp_system/task_wdt.c | 4 + components/esp_timer/src/esp_timer.c | 2 + components/freertos/CMakeLists.txt | 50 ++++- .../freertos_tasks_c_additions.h | 6 +- components/riscv/vectors.S | 179 ++++++++++++++++++ 12 files changed, 309 insertions(+), 3 deletions(-) diff --git a/Kconfig b/Kconfig index c86ebeaaef..56d062b2db 100644 --- a/Kconfig +++ b/Kconfig @@ -101,6 +101,10 @@ mainmenu "Espressif IoT Development Framework Configuration" bool default "y" if IDF_TARGET="linux" + config IDF_RTOS_RTTHREAD + bool "RT-THREAD SELECT" + default "n" + config IDF_FIRMWARE_CHIP_ID hex default 0x0000 if IDF_TARGET_ESP32 diff --git a/components/driver/deprecated/i2s_legacy.c b/components/driver/deprecated/i2s_legacy.c index 2e36ab2608..92edf9d2bb 100644 --- a/components/driver/deprecated/i2s_legacy.c +++ b/components/driver/deprecated/i2s_legacy.c @@ -1600,7 +1600,11 @@ esp_err_t i2s_driver_install(i2s_port_t i2s_num, const i2s_config_t *i2s_config, i2s_obj->i2s_queue = xQueueCreate(queue_size, sizeof(i2s_event_t)); ESP_GOTO_ON_FALSE(i2s_obj->i2s_queue, ESP_ERR_NO_MEM, err, TAG, "I2S queue create failed"); *((QueueHandle_t *) i2s_queue) = i2s_obj->i2s_queue; +#if !defined CONFIG_IDF_RTOS_RTTHREAD ESP_LOGD(TAG, "queue free spaces: %d", uxQueueSpacesAvailable(i2s_obj->i2s_queue)); +#else + ESP_LOGD(TAG, "queue free spaces: %lu", uxQueueSpacesAvailable(i2s_obj->i2s_queue)); +#endif } else { i2s_obj->i2s_queue = NULL; } diff --git a/components/driver/uart.c b/components/driver/uart.c index b68b2900e1..63c9841380 100644 --- a/components/driver/uart.c +++ b/components/driver/uart.c @@ -1603,7 +1603,11 @@ esp_err_t uart_driver_install(uart_port_t uart_num, int rx_buffer_size, int tx_b uart_pattern_queue_reset(uart_num, UART_PATTERN_DET_QLEN_DEFAULT); if (uart_queue) { *uart_queue = p_uart_obj[uart_num]->event_queue; +#if !defined CONFIG_IDF_RTOS_RTTHREAD ESP_LOGI(UART_TAG, "queue free spaces: %d", uxQueueSpacesAvailable(p_uart_obj[uart_num]->event_queue)); +#else + ESP_LOGI(UART_TAG, "queue free spaces: %lu", uxQueueSpacesAvailable(p_uart_obj[uart_num]->event_queue)); +#endif } } else { ESP_LOGE(UART_TAG, "UART driver already installed"); diff --git a/components/esp_system/crosscore_int.c b/components/esp_system/crosscore_int.c index 4aae2a2540..8a9079de64 100644 --- a/components/esp_system/crosscore_int.c +++ b/components/esp_system/crosscore_int.c @@ -95,13 +95,14 @@ static void IRAM_ATTR esp_crosscore_isr(void *arg) { if (my_reason_val & REASON_PRINT_BACKTRACE) { esp_backtrace_print(100); } - +#ifdef CONFIG_ESP_TASK_WDT if (my_reason_val & REASON_TWDT_ABORT) { extern void task_wdt_timeout_abort_xtensa(bool); /* Called from a crosscore interrupt, thus, we are not the core that received * the TWDT interrupt, call the function with `false` as a parameter. */ task_wdt_timeout_abort_xtensa(false); } +#endif #endif // CONFIG_IDF_TARGET_ARCH_XTENSA } @@ -171,7 +172,9 @@ void IRAM_ATTR esp_crosscore_int_send_print_backtrace(int core_id) esp_crosscore_int_send(core_id, REASON_PRINT_BACKTRACE); } +#ifdef CONFIG_ESP_TASK_WDT void IRAM_ATTR esp_crosscore_int_send_twdt_abort(int core_id) { esp_crosscore_int_send(core_id, REASON_TWDT_ABORT); } #endif +#endif diff --git a/components/esp_system/ld/esp32c3/sections.ld.in b/components/esp_system/ld/esp32c3/sections.ld.in index d6670bf759..1d51ffeea0 100644 --- a/components/esp_system/ld/esp32c3/sections.ld.in +++ b/components/esp_system/ld/esp32c3/sections.ld.in @@ -178,6 +178,26 @@ SECTIONS _noinit_end = ABSOLUTE(.); } > dram0_0_seg + .stack : + { + . = ALIGN(8); + __STACKSIZE__ = 40960; + __stack_start__ = .; + *(.stack*) + . += __STACKSIZE__; + __stack_cpu0 = .; + __stack_end__ = .; + } > dram0_0_seg + PROVIDE( __rt_rvstack = __stack_end__); + + .heap : + { + . = ALIGN(8); + __HEAPSIZE__ = 40960; + __heap_start__ = .; + . += __HEAPSIZE__; + __heap_end__ = .; + } > dram0_0_seg + /* Shared RAM */ .dram0.bss (NOLOAD) : { @@ -218,6 +238,17 @@ SECTIONS *(.fini) *(.gnu.version) + /* section information for finsh shell */ + . = ALIGN(8); + __fsymtab_start = .; + KEEP(*(FSymTab)) + __fsymtab_end = .; + . = ALIGN(8); + __vsymtab_start = .; + KEEP(*(VSymTab)) + __vsymtab_end = .; + . = ALIGN(8); + /** CPU will try to prefetch up to 16 bytes of * of instructions. This means that any configuration (e.g. MMU, PMS) must allow * safe access to up to 16 bytes after the last real instruction, add @@ -318,6 +349,12 @@ SECTIONS _esp_system_init_fn_array_start = ABSOLUTE(.); KEEP (*(SORT_BY_INIT_PRIORITY(.esp_system_init_fn.*))) _esp_system_init_fn_array_end = ABSOLUTE(.); + /* section information for initial. */ + . = ALIGN(4); + __rt_init_start = .; + KEEP(*(SORT(.rti_fn*))) + __rt_init_end = .; + . = ALIGN(4); _rodata_end = ABSOLUTE(.); /* Literals are also RO data. */ _lit4_start = ABSOLUTE(.); diff --git a/components/esp_system/port/arch/riscv/expression_with_stack.c b/components/esp_system/port/arch/riscv/expression_with_stack.c index 07d22bf3aa..5eac5a88f8 100644 --- a/components/esp_system/port/arch/riscv/expression_with_stack.c +++ b/components/esp_system/port/arch/riscv/expression_with_stack.c @@ -18,6 +18,8 @@ #include "freertos/FreeRTOS.h" #include "freertos/portmacro.h" +#if !defined CONFIG_IDF_RTOS_RTTHREAD + static portMUX_TYPE shared_stack_spinlock = portMUX_INITIALIZER_UNLOCKED; static void *current_task_stack = NULL; @@ -46,9 +48,12 @@ static StackType_t *esp_switch_stack_setup(StackType_t *stack, size_t stack_size return ((StackType_t *)adjusted_top_of_stack); } +#endif + void esp_execute_shared_stack_function(SemaphoreHandle_t lock, void *stack, size_t stack_size, shared_stack_function function) { +#if !defined CONFIG_IDF_RTOS_RTTHREAD assert(lock); assert(stack); assert(stack_size > 0 && stack_size >= CONFIG_ESP_MINIMAL_SHARED_STACK_SIZE); @@ -70,4 +75,7 @@ void esp_execute_shared_stack_function(SemaphoreHandle_t lock, void *stack, size portEXIT_CRITICAL(&shared_stack_spinlock); xSemaphoreGive(lock); +#else + function(); +#endif } diff --git a/components/esp_system/startup.c b/components/esp_system/startup.c index 0feda4e9f5..b1752d91a0 100644 --- a/components/esp_system/startup.c +++ b/components/esp_system/startup.c @@ -72,6 +72,10 @@ #include "esp_psram.h" #include "esp_private/esp_psram_extram.h" #endif + +#if CONFIG_IDF_RTOS_RTTHREAD +#include "rtthread.h" +#endif /***********************************************/ #include "esp_private/startup_internal.h" @@ -266,6 +270,11 @@ static void do_core_init(void) app CPU, and when that is not up yet, the memory will be inaccessible and heap_caps_init may fail initializing it properly. */ heap_caps_init(); +#if CONFIG_IDF_RTOS_RTTHREAD && defined RT_USING_HEAP + extern int __heap_start__; + extern int __heap_end__; + rt_system_heap_init((void *)&__heap_start__, (void *)&__heap_end__); +#endif // When apptrace module is enabled, there will be SEGGER_SYSVIEW calls in the newlib init. // SEGGER_SYSVIEW relies on apptrace module diff --git a/components/esp_system/task_wdt.c b/components/esp_system/task_wdt.c index 58d1247bf0..60330edf8a 100644 --- a/components/esp_system/task_wdt.c +++ b/components/esp_system/task_wdt.c @@ -29,6 +29,8 @@ #include "esp_private/eh_frame_parser.h" #endif // CONFIG_ESP_SYSTEM_USE_EH_FRAME +#if CONFIG_ESP_TASK_WDT + #if CONFIG_IDF_TARGET_ARCH_RISCV && !CONFIG_ESP_SYSTEM_USE_EH_FRAME /* Function used to print all the registers pointed by the given frame .*/ extern void panic_print_registers(const void *frame, int core); @@ -784,3 +786,5 @@ esp_err_t esp_task_wdt_status(TaskHandle_t task_handle) return ret; } + +#endif diff --git a/components/esp_timer/src/esp_timer.c b/components/esp_timer/src/esp_timer.c index 3ca19f642f..78779a08b3 100644 --- a/components/esp_timer/src/esp_timer.c +++ b/components/esp_timer/src/esp_timer.c @@ -460,10 +460,12 @@ out: return ESP_ERR_NO_MEM; } +#if !defined CONFIG_IDF_RTOS_RTTHREAD ESP_SYSTEM_INIT_FN(esp_timer_startup_init, BIT(0), 100) { return esp_timer_init(); } +#endif esp_err_t esp_timer_deinit(void) { diff --git a/components/freertos/CMakeLists.txt b/components/freertos/CMakeLists.txt index 78a8e4ae4e..5cd54494f6 100644 --- a/components/freertos/CMakeLists.txt +++ b/components/freertos/CMakeLists.txt @@ -6,7 +6,36 @@ endif() idf_build_get_property(target IDF_TARGET) -if(CONFIG_FREERTOS_SMP) +if(CONFIG_IDF_RTOS_RTTHREAD) + set(freertos_root "../../../FreeRTOS_Wrapper-latest/FreeRTOS") + set(srcs + "${freertos_root}/portable/esp-idf/riscv/port.c") + + set(include_dirs + "${freertos_root}/include" + esp_additions/include + esp_additions/include/freertos + "${freertos_root}/portable/esp-idf/riscv/include") + + set(private_include_dirs + "${freertos_root}/portable/esp-idf/riscv/include/freertos") + + list(APPEND srcs + "${freertos_root}/portable/esp-idf/port_common.c" + "${freertos_root}/portable/esp-idf/port_rt.c" + "${freertos_root}/event_groups.c" + "${freertos_root}/queue.c" + "${freertos_root}/tasks.c" + "${freertos_root}/timers.c" + "${freertos_root}/list.c" + "FreeRTOS-openocd.c" + "esp_additions/freertos_v8_compat.c") + + list(APPEND private_include_dirs + "${freertos_root}/include/freertos" + "esp_additions/private_include") + +elseif(CONFIG_FREERTOS_SMP) set(ldfragments linker_smp.lf) if(CONFIG_IDF_TARGET_ARCH_XTENSA) set(srcs @@ -133,11 +162,19 @@ else() endif() endif() +if(CONFIG_IDF_RTOS_RTTHREAD) +idf_component_register(SRCS "${srcs}" + INCLUDE_DIRS ${include_dirs} + PRIV_INCLUDE_DIRS ${private_include_dirs} + PRIV_REQUIRES soc esp_pm) +else() idf_component_register(SRCS "${srcs}" INCLUDE_DIRS ${include_dirs} PRIV_INCLUDE_DIRS ${private_include_dirs} LDFRAGMENTS "${ldfragments}" + REQUIRES main PRIV_REQUIRES soc esp_pm) +endif() idf_component_get_property(COMPONENT_DIR freertos COMPONENT_DIR) @@ -153,6 +190,16 @@ if(CONFIG_FREERTOS_DEBUG_OCDAWARE) idf_build_set_property(COMPILE_OPTIONS "-DconfigENABLE_FREERTOS_DEBUG_OCDAWARE=1" APPEND) endif() +if(CONFIG_IDF_RTOS_RTTHREAD) +set_source_files_properties( + tasks.c + event_groups.c + timers.c + queue.c + PROPERTIES COMPILE_DEFINITIONS + _ESP_FREERTOS_INTERNAL + ) +else() set_source_files_properties( tasks.c event_groups.c @@ -162,6 +209,7 @@ set_source_files_properties( PROPERTIES COMPILE_DEFINITIONS _ESP_FREERTOS_INTERNAL ) +endif() # The freertos component provides the `start_app` and `start_app_other_cores` # if it is included in the build. It then calls `app_main` diff --git a/components/freertos/esp_additions/private_include/freertos_tasks_c_additions.h b/components/freertos/esp_additions/private_include/freertos_tasks_c_additions.h index f5ecdbb5a9..96fc4f73ce 100644 --- a/components/freertos/esp_additions/private_include/freertos_tasks_c_additions.h +++ b/components/freertos/esp_additions/private_include/freertos_tasks_c_additions.h @@ -34,8 +34,9 @@ struct _reent *__getreent(void) { // No lock needed because if this changes, we won't be running anymore. - TCB_t *pxCurTask = xTaskGetCurrentTaskHandle(); struct _reent *ret; +#if !defined CONFIG_IDF_RTOS_RTTHREAD + TCB_t *pxCurTask = xTaskGetCurrentTaskHandle(); if (pxCurTask == NULL) { // No task running. Return global struct. ret = _GLOBAL_REENT; @@ -43,6 +44,9 @@ struct _reent *__getreent(void) // We have a task; return its reentrant struct. ret = &pxCurTask->xNewLib_reent; } +#else + ret = _GLOBAL_REENT; +#endif return ret; } #endif // configUSE_NEWLIB_REENTRANT == 1 diff --git a/components/riscv/vectors.S b/components/riscv/vectors.S index 9b868280db..23236f3d8d 100644 --- a/components/riscv/vectors.S +++ b/components/riscv/vectors.S @@ -10,6 +10,9 @@ #include "soc/soc_caps.h" #include "sdkconfig.h" +#define STORE sw +#define LOAD lw +#define REGBYTES 4 .equ SAVE_REGS, 32 .equ CONTEXT_SIZE, (SAVE_REGS * 4) @@ -210,6 +213,8 @@ _return_from_exception: */ .global _interrupt_handler .type _interrupt_handler, @function +#ifndef CONFIG_IDF_RTOS_RTTHREAD + _interrupt_handler: /* Start by saving the general purpose registers and the PC value before * the interrupt happened. */ @@ -308,3 +313,177 @@ _interrupt_handler: /* exit, this will also re-enable the interrupts */ mret .size _interrupt_handler, .-_interrupt_handler +#else +_interrupt_handler: + /* 此时CPU的sp = from_thread->sp */ + /* 注意： 在这里，并没有将mepc的值赋值为from_thread栈中的epc，但后面会赋值 */ + addi sp, sp, -32 * REGBYTES /* sp = sp - 32 * 4 栈指针向下偏移32个寄存器长度，用来将CPU的寄存器保存到from_thread的栈中*/ + STORE x1, 1 * REGBYTES(sp) /* 将CPU的x1寄存器，即ra寄存器，保存到from_thread->栈中 */ + + li t0, 0x80 /* t0 = 0x80 */ + STORE t0, 2 * REGBYTES(sp) /* mstatus = t0, 即关闭全局中断 */ + + /* 将 CPU 的其他寄存器的值，保存到from_thread的任务栈中 */ + STORE x4, 4 * REGBYTES(sp) + STORE x5, 5 * REGBYTES(sp) + STORE x6, 6 * REGBYTES(sp) + STORE x7, 7 * REGBYTES(sp) + STORE x8, 8 * REGBYTES(sp) + STORE x9, 9 * REGBYTES(sp) + STORE x10, 10 * REGBYTES(sp) + STORE x11, 11 * REGBYTES(sp) + STORE x12, 12 * REGBYTES(sp) + STORE x13, 13 * REGBYTES(sp) + STORE x14, 14 * REGBYTES(sp) + STORE x15, 15 * REGBYTES(sp) + STORE x16, 16 * REGBYTES(sp) + STORE x17, 17 * REGBYTES(sp) + STORE x18, 18 * REGBYTES(sp) + STORE x19, 19 * REGBYTES(sp) + STORE x20, 20 * REGBYTES(sp) + STORE x21, 21 * REGBYTES(sp) + STORE x22, 22 * REGBYTES(sp) + STORE x23, 23 * REGBYTES(sp) + STORE x24, 24 * REGBYTES(sp) + STORE x25, 25 * REGBYTES(sp) + STORE x26, 26 * REGBYTES(sp) + STORE x27, 27 * REGBYTES(sp) + STORE x28, 28 * REGBYTES(sp) + STORE x29, 29 * REGBYTES(sp) + STORE x30, 30 * REGBYTES(sp) + STORE x31, 31 * REGBYTES(sp) + + /* 备份 CPU 的 sp (这时，CPU的sp其实就是from thread的sp指针) 寄存器的值到 s0 寄存器中，下面会使用s0，恢复 CPU 的寄存器 */ + move s0, sp /* s0 = sp */ + + /* 在中断函数中，中断函数中调用的C函数，需要使用 sp， 这里，在中断函数中，使用的 sp 为，系统的栈资源 */ + /* switch to interrupt stack */ + la sp, __stack_end__ /* sp = _sp */ + + /* interrupt handle */ + /* 注意： 在调用C函数之前,比如sp的值为0x30001000, 在执行完C函数后，sp的值还是会变成 0x30001000 */ + call rt_interrupt_enter /* 执行所有的中断函数前，调用该函数 */ + + csrr s1, mcause + csrr s2, mstatus + + /* Save the interrupt threshold level */ + la t0, INTERRUPT_CORE0_CPU_INT_THRESH_REG + lw s3, 0(t0) + + li t2, 0x7fffffff + and t1, s1, t2 /* t1 = mcause & mask */ + slli t1, t1, 2 /* t1 = mcause * 4 */ + la t2, INTC_INT_PRIO_REG(0) + add t1, t2, t1 /* t1 = INTC_INT_PRIO_REG + 4 * mcause */ + lw t2, 0(t1) /* t2 = INTC_INT_PRIO_REG[mcause] */ + addi t2, t2, 1 /* t2 = t2 +1 */ + sw t2, 0(t0) /* INTERRUPT_CORE0_CPU_INT_THRESH_REG = t2 */ + fence + + li t0, 0x8 + csrrs t0, mstatus, t0 + + /* call the C dispatcher */ + mv a0, sp /* argument 1, stack pointer */ + mv a1, s1 /* argument 2, interrupt number (mcause) */ + /* mask off the interrupt flag of mcause */ + li t0, 0x7fffffff + and a1, a1, t0 + jal _global_interrupt_handler + + li t0, 0x8 + csrrc t0, mstatus, t0 + + /* restore the interrupt threshold level */ + la t0, INTERRUPT_CORE0_CPU_INT_THRESH_REG + sw s3, 0(t0) + fence + + call rt_interrupt_leave /* 执行所有的中断函数后，调用该函数 */ + + /* 上面，将保存执行中断服务函数之前的CPU的sp寄存器到了s0所指向的位置处，当执行完中断服务函数，需要将之前的CPU寄存器，恢复一下,此时sp又变成了from thread的sp了 */ + move sp, s0 /* sp = s0 */ + + /* 下面两句话，相当于将 rt_thread_switch_interrupt_flag 值，赋值给了s2 */ + /* 将 rt_thread_switch_interrupt_flag 的地址值，赋值给 s0 寄存器*/ + la s0, rt_thread_switch_interrupt_flag /* s0 = &rt_thread_switch_interrupt_flag */ + /* 将 s0 所指向的地址处的内容，取出来，赋值给 s2 寄存器，其实就是将 rt_thread_switch_interrupt_flag 的值，赋值给了 s2 寄存器*/ + lw s2, 0(s0) /* s2 = *s0 = rt_thread_switch_interrupt_flag */ + + /* 如果 s2的值，即 rt_thread_switch_interrupt_flag 值，如果不为0，则需要继续执行下一条指令，如果为0，则需要跳转到 spurious_interrupt 标号处 执行 */ + /* 如果 s2的值等于0，rt_thread_switch_interrupt_flag等于0， 则不需要在中断处理函数中，进行上下文切换，反之则需要 */ + /* 如果不需要上下文切换， */ + + /* 在这里，跳转到 spurious_interrupt的话，是不会进行上下文切换的，因为，此时CPU的sp指针还是from线程的*/ + beqz s2, spurious_interrupt /* if (s2 == 0) goto spurious_interrupt; else 执行下一条语句*/ + + /* 需要上下文切换： 主要目的是将CPU的sp指针，赋值为to_thread的sp */ + + /* 将 s0 所执向的地址的内容设置为0， 也就是，将变量 rt_thread_switch_interrupt_flag 赋值为了 0 */ + /* s0存放的值是 rt_thread_switch_interrupt_flag 变量的地址*/ + sw zero, 0(s0) /* *s0 = 0; 也就是 rt_thread_switch_interrupt_flag = 0 */ + /* 将 mepc 的值，赋值给 a0 寄存器，mepc 的值是，跳转到中断函数执行之前的 PC 指针 */ + /* 这时的mpec其实，还是from线程，在跳转到中断执行前的一个PC地址 */ + csrr a0, mepc /* a0 = mepc */ + + /* 将 mpec 的值写回到freom thread任务栈中的 epc 中,待后续，恢复from线程时，使用 */ + STORE a0, 0 * REGBYTES(sp) /* from_thread->sp->epc = a0 ，中断入口处*/ + + /* 将from_thread的sp指针，赋值为CPU的sp指针 */ + la s0, rt_interrupt_from_thread /* s0 = &rt_interrupt_from_thread 注意： rt_interrupt_from_thread = &(from_thread->sp) */ + LOAD s1, 0(s0) /* s1 = rt_interrupt_from_thread，也就是s1 = &(from_thread->sp) */ + STORE sp, 0(s1) /* from_thread->sp = sp*/ + + /* 接下来，需要开始恢复CPU的sp为to_thread的sp了 */ + la s0, rt_interrupt_to_thread /* s0 = &rt_interrupt_to_thread 注意： rt_interrupt_to_thread = &(to_thred->sp)*/ + LOAD s1, 0(s0) /* s1 = rt_interrupt_to_thread, 也就是s1 = &(to_thred->sp) */ + LOAD sp, 0(s1) /* sp = (to_thred->sp)*/ + + /* 将CPU的 mepc设置为to_thred的mepc，待中断退出，执行mret指令后，将从该地址开始执行 */ + LOAD a0, 0 * REGBYTES(sp) /* a0 = to_thread的mepc的值*/ + csrw mepc, a0 /* mepc = a0 */ + + +spurious_interrupt: + LOAD x1, 1 * REGBYTES(sp) + + /* Remain in M-mode after mret */ + li t0, 0x00001800 + csrs mstatus, t0 + LOAD t0, 2 * REGBYTES(sp) + csrs mstatus, t0 + + LOAD x4, 4 * REGBYTES(sp) + LOAD x5, 5 * REGBYTES(sp) + LOAD x6, 6 * REGBYTES(sp) + LOAD x7, 7 * REGBYTES(sp) + LOAD x8, 8 * REGBYTES(sp) + LOAD x9, 9 * REGBYTES(sp) + LOAD x10, 10 * REGBYTES(sp) + LOAD x11, 11 * REGBYTES(sp) + LOAD x12, 12 * REGBYTES(sp) + LOAD x13, 13 * REGBYTES(sp) + LOAD x14, 14 * REGBYTES(sp) + LOAD x15, 15 * REGBYTES(sp) + LOAD x16, 16 * REGBYTES(sp) + LOAD x17, 17 * REGBYTES(sp) + LOAD x18, 18 * REGBYTES(sp) + LOAD x19, 19 * REGBYTES(sp) + LOAD x20, 20 * REGBYTES(sp) + LOAD x21, 21 * REGBYTES(sp) + LOAD x22, 22 * REGBYTES(sp) + LOAD x23, 23 * REGBYTES(sp) + LOAD x24, 24 * REGBYTES(sp) + LOAD x25, 25 * REGBYTES(sp) + LOAD x26, 26 * REGBYTES(sp) + LOAD x27, 27 * REGBYTES(sp) + LOAD x28, 28 * REGBYTES(sp) + LOAD x29, 29 * REGBYTES(sp) + LOAD x30, 30 * REGBYTES(sp) + LOAD x31, 31 * REGBYTES(sp) + + addi sp, sp, 32 * REGBYTES + mret + .size _interrupt_handler, .-_interrupt_handler +#endif \ No newline at end of file -- 2.32.0 (Apple Git-132) From 394259fb2164e513abd4f0d23d88da92c2a2ac9e Mon Sep 17 00:00:00 2001 From: tangzz98 Date: Fri, 23 Sep 2022 00:12:13 -0400 Subject: [PATCH 2/2] Specify freertos_root in project CMakeLists.txt --- components/freertos/CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/components/freertos/CMakeLists.txt b/components/freertos/CMakeLists.txt index 5cd54494f6..33c901c187 100644 --- a/components/freertos/CMakeLists.txt +++ b/components/freertos/CMakeLists.txt @@ -7,7 +7,7 @@ endif() idf_build_get_property(target IDF_TARGET) if(CONFIG_IDF_RTOS_RTTHREAD) - set(freertos_root "../../../FreeRTOS_Wrapper-latest/FreeRTOS") + message(${freertos_root}) set(srcs "${freertos_root}/portable/esp-idf/riscv/port.c") -- 2.32.0 (Apple Git-132)