[feat] Integrate FreeRTOS - Part1

1. add custom POSIX support as submodule
2. add FreeRTOS and POSIX CMake build support
3. add FreeRTOS port-related code
4. fix mm support in FreeRTOS
5. modify FreeRTOS example

TODO:
1. D0 interrupt support
2. D0 privilege support

.gitignore

@@ -1,3 +1,4 @@
+.idea
 .vscode
 **/__pycache__
 **/build
@@ -12,3 +13,4 @@
 *.svd
 *.pack
 **/_build
+cmake-build-*

.gitmodules

@@ -1,3 +1,6 @@
 [submodule "components/os/freertos2/FreeRTOS-Kernel"]
 	path = components/os/freertos2/FreeRTOS-Kernel
 	url = https://git.0x7f.app/StreamEdge/FreeRTOS-Kernel.git
+[submodule "components/os/freertos2/Lab-Project-FreeRTOS-POSIX"]
+	path = components/os/freertos2/Lab-Project-FreeRTOS-POSIX
+	url = https://git.0x7f.app/StreamEdge/Lab-Project-FreeRTOS-POSIX.git

components/mm/mmheap/bflb_mmheap.c

@@ -35,7 +35,13 @@
 
 #ifdef CONFIG_FREERTOS
 
-#define _IRQ_CONTEXT()          xPortIsInsideInterrupt()
+/* It should be ok to set to zero
+ * 1. bflb_mem_sem_take will enter critical sections -> disable interrupt (CHECK ME)
+ *    there are no race conditions, thus no need to add free operations into delay list
+ * 2. Performance issue in IRQ ??
+ */
+#define _IRQ_CONTEXT()          (0)
+
 #define _SCHED_LOCK()           (taskSCHEDULER_RUNNING != xTaskGetSchedulerState())
 #define _ENTER_CRITICAL()       portENTER_CRITICAL()
 #define _EXIT_CRITICAL()        portEXIT_CRITICAL()

components/mm/tlsf/bflb_tlsf.c

@@ -35,7 +35,8 @@
 
 #ifdef CONFIG_FREERTOS
 
-#define _IRQ_CONTEXT()          xPortIsInsideInterrupt()
+/* described in mmheap/bflb_mmheap.c */
+#define _IRQ_CONTEXT()          (0)
 #define _SCHED_LOCK()           (taskSCHEDULER_RUNNING != xTaskGetSchedulerState())
 #define _ENTER_CRITICAL()       portENTER_CRITICAL()
 #define _EXIT_CRITICAL()        portEXIT_CRITICAL()

components/os/CMakeLists.txt

@@ -1 +1,2 @@
-sdk_add_subdirectory_ifdef(CONFIG_FREERTOS freertos)
+sdk_add_subdirectory_ifdef(CONFIG_FREERTOS  freertos)
+sdk_add_subdirectory_ifdef(CONFIG_FREERTOS2 freertos2)

components/os/freertos2/CMakeLists.txt

@@ -0,0 +1,68 @@
+if( NOT "${CHIP}" STREQUAL "bl808" )
+    message( FATAL_ERROR "CONFIG_FREERTOS2 has only been tested on BL808" )
+endif()
+
+sdk_generate_library()
+
+# kernel sources
+sdk_library_add_sources(
+    FreeRTOS-Kernel/croutine.c
+    FreeRTOS-Kernel/event_groups.c
+    FreeRTOS-Kernel/list.c
+    FreeRTOS-Kernel/queue.c
+    FreeRTOS-Kernel/stream_buffer.c
+    FreeRTOS-Kernel/tasks.c
+    FreeRTOS-Kernel/timers.c
+    FreeRTOS-Kernel/portable/MemMang/heap_4.c
+)
+sdk_add_include_directories( FreeRTOS-Kernel/include )
+
+# portable sources
+sdk_library_add_sources(
+    FreeRTOS-Kernel/portable/GCC/RISC-V/port.c
+    FreeRTOS-Kernel/portable/GCC/RISC-V/portASM.S
+)
+sdk_add_include_directories(
+    FreeRTOS-Kernel/portable/GCC/RISC-V
+    FreeRTOS-Kernel/portable/GCC/RISC-V/chip_specific_extensions/Thead_common
+)
+
+# BL_MCU_SDK port source
+sdk_library_add_sources(
+    port/demo.c
+    port/port.c
+    port/setup.c
+)
+sdk_add_include_directories( port/include )
+sdk_add_compile_definitions( -Ddefault_trap_handler=freertos_risc_v_exception_handler )
+sdk_add_compile_definitions( -Ddefault_interrupt_handler=freertos_risc_v_interrupt_handler )
+
+# POSIX support
+sdk_library_add_sources_ifdef(
+    CONFIG_POSIX
+    Lab-Project-FreeRTOS-POSIX/FreeRTOS-Plus-POSIX/source/FreeRTOS_POSIX_clock.c
+    Lab-Project-FreeRTOS-POSIX/FreeRTOS-Plus-POSIX/source/FreeRTOS_POSIX_mqueue.c
+    Lab-Project-FreeRTOS-POSIX/FreeRTOS-Plus-POSIX/source/FreeRTOS_POSIX_pthread.c
+    Lab-Project-FreeRTOS-POSIX/FreeRTOS-Plus-POSIX/source/FreeRTOS_POSIX_pthread_barrier.c
+    Lab-Project-FreeRTOS-POSIX/FreeRTOS-Plus-POSIX/source/FreeRTOS_POSIX_pthread_cond.c
+    Lab-Project-FreeRTOS-POSIX/FreeRTOS-Plus-POSIX/source/FreeRTOS_POSIX_pthread_mutex.c
+    Lab-Project-FreeRTOS-POSIX/FreeRTOS-Plus-POSIX/source/FreeRTOS_POSIX_sched.c
+    Lab-Project-FreeRTOS-POSIX/FreeRTOS-Plus-POSIX/source/FreeRTOS_POSIX_semaphore.c
+    Lab-Project-FreeRTOS-POSIX/FreeRTOS-Plus-POSIX/source/FreeRTOS_POSIX_timer.c
+    Lab-Project-FreeRTOS-POSIX/FreeRTOS-Plus-POSIX/source/FreeRTOS_POSIX_unistd.c
+    Lab-Project-FreeRTOS-POSIX/FreeRTOS-Plus-POSIX/source/FreeRTOS_POSIX_utils.c
+)
+sdk_add_include_directories_ifdef(
+    CONFIG_POSIX
+    Lab-Project-FreeRTOS-POSIX/include
+)
+sdk_add_private_include_directories_ifdef(
+    CONFIG_POSIX
+    Lab-Project-FreeRTOS-POSIX/FreeRTOS-Plus-POSIX/include
+    Lab-Project-FreeRTOS-POSIX/FreeRTOS-Plus-POSIX/include/portable
+    Lab-Project-FreeRTOS-POSIX/FreeRTOS-Plus-POSIX/include/portable/bl/bl808
+    Lab-Project-FreeRTOS-POSIX/include/private
+)
+
+# BL_MCU_SDK components
+sdk_add_compile_definitions( -DCONFIG_FREERTOS )

components/os/freertos2/FreeRTOS-Kernel

@@ -1 +1 @@
-Subproject commit c9bf3486c6ea83a3499047b35d95edef5321bdfe
+Subproject commit 98c7fbbf8dc7ba9c44504b160590d87e43882beb

components/os/freertos2/Lab-Project-FreeRTOS-POSIX

@@ -0,0 +1 @@
+Subproject commit 06b4e233ec768d3d460571915dd0eb492c91585b

components/os/freertos2/port/demo.c

@@ -0,0 +1,72 @@
+/* Following code snippets are copied from FreeRTOS Demo */
+
+/*
+* FreeRTOS V202212.00
+* Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+*
+* 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 <FreeRTOS.h>
+#include <semphr.h>
+
+__attribute__((weak)) void vApplicationGetIdleTaskMemory(StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize)
+{
+   /* If the buffers to be provided to the Idle task are declared inside this
+   function then they must be declared static - otherwise they will be allocated on
+   the stack and so not exists after this function exits. */
+   static StaticTask_t xIdleTaskTCB;
+   static StackType_t uxIdleTaskStack[configMINIMAL_STACK_SIZE];
+
+   /* Pass out a pointer to the StaticTask_t structure in which the Idle task's
+   state will be stored. */
+   *ppxIdleTaskTCBBuffer = &xIdleTaskTCB;
+
+   /* Pass out the array that will be used as the Idle task's stack. */
+   *ppxIdleTaskStackBuffer = uxIdleTaskStack;
+
+   /* Pass out the size of the array pointed to by *ppxIdleTaskStackBuffer.
+   Note that, as the array is necessarily of type StackType_t,
+   configMINIMAL_STACK_SIZE is specified in words, not bytes. */
+   *pulIdleTaskStackSize = configMINIMAL_STACK_SIZE;
+}
+
+__attribute__((weak)) void vApplicationGetTimerTaskMemory(StaticTask_t **ppxTimerTaskTCBBuffer, StackType_t **ppxTimerTaskStackBuffer, uint32_t *pulTimerTaskStackSize)
+{
+   /* If the buffers to be provided to the Timer task are declared inside this
+   function then they must be declared static - otherwise they will be allocated on
+   the stack and so not exists after this function exits. */
+   static StaticTask_t xTimerTaskTCB;
+   static StackType_t uxTimerTaskStack[configTIMER_TASK_STACK_DEPTH];
+
+   /* Pass out a pointer to the StaticTask_t structure in which the Timer
+   task's state will be stored. */
+   *ppxTimerTaskTCBBuffer = &xTimerTaskTCB;
+
+   /* Pass out the array that will be used as the Timer task's stack. */
+   *ppxTimerTaskStackBuffer = uxTimerTaskStack;
+
+   /* Pass out the size of the array pointed to by *ppxTimerTaskStackBuffer.
+   Note that, as the array is necessarily of type StackType_t,
+   configMINIMAL_STACK_SIZE is specified in words, not bytes. */
+   *pulTimerTaskStackSize = configTIMER_TASK_STACK_DEPTH;
+}

components/os/freertos2/port/include/freertos_bl_port.h

@@ -0,0 +1,6 @@
+#ifndef FREERTOS_BL_PORT_H
+#define FREERTOS_BL_PORT_H
+
+void SetupFreeRTOS(void);
+
+#endif //FREERTOS_BL_PORT_H

components/os/freertos2/port/port.c

@@ -0,0 +1,71 @@
+#include <FreeRTOS.h>
+#include <task.h>
+#include <stdio.h>
+#include <rv_hart.h>
+
+#if defined(CPU_M0)
+
+void freertos_risc_v_application_exception_handler(uint32_t mcause)
+{
+    // Notice: in exception_entry: cause 8, 11 will modify mepc
+    // CONFIG_TRAP_DUMP_ALL_REGS is not supported: not using bl_mcu_sdk stack
+    // TODO: reuse bl_mcu_sdk stack
+#ifdef CONFIG_TRAP_DUMP_ALL_REGS
+#error "CONFIG_TRAP_DUMP_ALL_REGS is not supported"
+#endif
+    extern void exception_entry(uintptr_t * regs);
+    exception_entry((uintptr_t *)0);
+}
+
+void freertos_risc_v_application_interrupt_handler()
+{
+    extern void interrupt_entry(void);
+    interrupt_entry();
+}
+
+#elif defined(CPU_D0)
+// TODO
+
+void freertos_risc_v_application_exception_handler(uint32_t mcause)
+{
+    // Notice: in exception_entry: 8, 11 will modify mepc
+    // CONFIG_TRAP_DUMP_ALL_REGS is not supported: not using bl_mcu_sdk stack
+    // TODO: reuse bl_mcu_sdk stack
+#ifdef CONFIG_TRAP_DUMP_ALL_REGS
+#error "CONFIG_TRAP_DUMP_ALL_REGS is not supported"
+#endif
+    extern void exception_entry(uintptr_t * regs);
+    exception_entry((uintptr_t *)0);
+}
+
+void freertos_risc_v_application_interrupt_handler()
+{
+    // TODO: plic interaction
+    extern void interrupt_entry(uint64_t irq_num);
+}
+
+#endif
+
+__attribute__((weak)) void vAssertCalled(void)
+{
+    printf("vAssertCalled: Halt CPU\r\n");
+    portDISABLE_INTERRUPTS();
+    rv_hart_hang();
+}
+
+__attribute__((weak)) void vApplicationMallocFailedHook(void)
+{
+    printf("vApplicationMallocFailedHook: Halt CPU\r\n");
+    portDISABLE_INTERRUPTS();
+    rv_hart_hang();
+}
+
+void vApplicationStackOverflowHook(TaskHandle_t pxTask, char *pcTaskName)
+{
+    (void)pcTaskName;
+    (void)pxTask;
+
+    printf("vApplicationStackOverflowHook: pcTaskName=%s Halt CPU\r\n", pcTaskName);
+    portDISABLE_INTERRUPTS();
+    rv_hart_hang();
+}

components/os/freertos2/port/setup.c

@@ -0,0 +1,60 @@
+#include "freertos_bl_port.h"
+#include <FreeRTOS.h>
+#include <stdio.h>
+#include <rv_hart.h>
+
+void implement_me(void)
+{
+    printf("TODO: unimplement\r\n");
+    portDISABLE_INTERRUPTS();
+    rv_hart_hang();
+
+    __builtin_unreachable();
+}
+
+#if defined(CPU_M0)
+
+typedef void (*pFunc)(void);
+extern pFunc __Vectors[];
+
+extern pFunc freertos_risc_v_exception_handler;
+extern pFunc freertos_risc_v_mtimer_interrupt_handler;
+
+void reconfigure_m0_vector(void)
+{
+    // default_interrupt_handler is replaced by freertos_risc_v_interrupt_handler in compile commands
+    // default_trap_handler is replaced by freertos_risc_v_exception_handler in compile commands
+
+    // useless since MTVEC.MODE is hard-wired to 2'b11
+    __Vectors[0] = freertos_risc_v_exception_handler;
+
+    // replace mtimer interrupt handler
+    __Vectors[7] = freertos_risc_v_mtimer_interrupt_handler;
+}
+
+#elif defined(CPU_D0)
+
+void reconfigure_d0_vector(void)
+{
+#warning "Currently, FreeRTOS Only Support Machine Mode"
+
+    // disable S-mode interrupt
+    asm("csrci mstatus, 0x2");
+
+    implement_me();
+}
+
+#endif
+
+void SetupFreeRTOS()
+{
+#if defined(CPU_M0)
+    printf("SetupFreeRTOS: CPU_M0\r\n");
+    reconfigure_m0_vector();
+#elif defined(CPU_D0)
+    printf("SetupFreeRTOS: CPU_D0\r\n");
+    reconfigure_d0_vector();
+#else
+#error "Unsupported CPU"
+#endif
+}

examples/freertos/FreeRTOSConfig.h

@@ -44,9 +44,11 @@
 #if __riscv_xlen == 64
 #define configMTIME_BASE_ADDRESS    (0)
 #define configMTIMECMP_BASE_ADDRESS ((0xE4000000UL) + 0x4000UL)
+#define configCPU_THEAD_C906        1
 #else
 #define configMTIME_BASE_ADDRESS    ((0xE0000000UL) + 0xBFF8UL)
 #define configMTIMECMP_BASE_ADDRESS ((0xE0000000UL) + 0x4000UL)
+#define configCPU_THEAD_C906        0
 #endif
 #endif
 #define configSUPPORT_STATIC_ALLOCATION         1

examples/freertos/main.c

@@ -1,5 +1,7 @@
 #include <FreeRTOS.h>
-#include "semphr.h"
+#include <malloc.h>
+#include <semphr.h>
+#include <freertos_bl_port.h>
 #include "board.h"
 
 #define DBG_TAG "MAIN"
@@ -63,6 +65,8 @@ int main(void)
 {
     board_init();
 
+    SetupFreeRTOS();
+
     configASSERT((configMAX_PRIORITIES > 4));
 
     /* Create semaphore */

examples/freertos/proj.conf

@@ -4,4 +4,4 @@ set(CONFIG_VSNPRINTF_FLOAT      1)
 set(CONFIG_VSNPRINTF_FLOAT_EX   1)
 set(CONFIG_VSNPRINTF_LONG_LONG  1)
 
-set(CONFIG_FREERTOS             1)
+set(CONFIG_FREERTOS2            1)