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From 92402217b821c8da7e2a188352f095caaf0818d1 Mon Sep 17 00:00:00 2001
From: tangzz98 <tangz98@outlook.com>
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
+
+ .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 <tangz98@outlook.com>
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)
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