Reintroduce Espressif's IDF v4.2 changes to ESP32 port (#193)

* Renamed old port to ESP_IDF_V3

* Update ESP32 port files to support IDF v4.2.

* Add changes required to support ESP32-S2

Co-authored-by: Shubham Kulkarni <shubham.kulkarni@espressif.com>

Author: lundinc2

portable/ThirdParty/GCC/Xtensa_ESP32/FreeRTOS-openocd.c

@@ -19,6 +19,9 @@
     #define USED
 #endif
 
-#ifdef CONFIG_ESP32_DEBUG_OCDAWARE
-    const int USED DRAM_ATTR uxTopUsedPriority = configMAX_PRIORITIES - 1;
-#endif
+/* 
+ * This file is no longer needed as AFTER FreeRTOS V10.14.1 OpenOCD is fixed in the kernel.
+ * #ifdef CONFIG_ESP32_DEBUG_OCDAWARE
+ *   const int USED DRAM_ATTR uxTopUsedPriority = configMAX_PRIORITIES - 1;
+ * #endif 
+ */

portable/ThirdParty/GCC/Xtensa_ESP32/include/portmacro.h

@@ -307,12 +307,32 @@
                                              uint32_t compare,
                                              uint32_t * set )
         {
-            __asm__ __volatile__ (
-                "WSR 	    %2,SCOMPARE1 \n"
-                "S32C1I     %0, %1, 0	 \n"
-                : "=r" ( *set )
-                : "r" ( addr ), "r" ( compare ), "0" ( *set )
-                );
+            #if ( XCHAL_HAVE_S32C1I > 0 )
+                __asm__ __volatile__ (
+                    "WSR 	    %2,SCOMPARE1 \n"
+                    "S32C1I     %0, %1, 0	 \n"
+                    : "=r" ( *set )
+                    : "r" ( addr ), "r" ( compare ), "0" ( *set )
+                    );
+            #else
+                /* No S32C1I, so do this by disabling and re-enabling interrupts (slower) */
+                uint32_t intlevel, old_value;
+                __asm__ __volatile__ ( "rsil %0, " XTSTR( XCHAL_EXCM_LEVEL ) "\n"
+                                       : "=r" ( intlevel ) );
+
+                old_value = *addr;
+
+                if( old_value == compare )
+                {
+                    *addr = *set;
+                }
+
+                __asm__ __volatile__ ( "memw \n"
+                                       "wsr %0, ps\n"
+                                       : : "r" ( intlevel ) );
+
+                *set = old_value;
+            #endif /* if ( XCHAL_HAVE_S32C1I > 0 ) */
         }
 
         void uxPortCompareSetExtram( volatile uint32_t * addr,
@@ -409,13 +429,6 @@
     #define xPortGetFreeHeapSize               esp_get_free_heap_size
     #define xPortGetMinimumEverFreeHeapSize    esp_get_minimum_free_heap_size
 
-/*
- * Send an interrupt to another core in order to make the task running
- * on it yield for a higher-priority task.
- */
-
-        void vPortYieldOtherCore( BaseType_t coreid ) PRIVILEGED_FUNCTION;
-
 
 /*
  * Callback to set a watchpoint on the end of the stack. Called every context switch to change the stack

portable/ThirdParty/GCC/Xtensa_ESP32/port.c

@@ -97,17 +97,23 @@
 
 #include "xtensa_rtos.h"
 
-#include "rom/ets_sys.h"
+#if CONFIG_IDF_TARGET_ESP32S2
+    #include "esp32s2/rom/ets_sys.h"
+#elif CONFIG_IDF_TARGET_ESP32
+    #include "esp32/rom/ets_sys.h"
+#endif
 #include "soc/cpu.h"
 
 #include "FreeRTOS.h"
 #include "task.h"
 
-#include "esp_panic.h"
+#include "esp_private/panic_reason.h"
+#include "esp_debug_helpers.h"
 #include "esp_heap_caps.h"
-#include "esp_crosscore_int.h"
+#include "esp_private/crosscore_int.h"
 
 #include "esp_intr_alloc.h"
+#include "esp_log.h"
 
 /* Defined in portasm.h */
 extern void _frxt_tick_timer_init( void );
@@ -133,6 +139,19 @@ unsigned port_interruptNesting[ portNUM_PROCESSORS ] = { 0 };  /* Interrupt nest
 /* User exception dispatcher when exiting */
 void _xt_user_exit( void );
 
+#if CONFIG_FREERTOS_TASK_FUNCTION_WRAPPER
+/* Wrapper to allow task functions to return (increases stack overhead by 16 bytes) */
+    static void vPortTaskWrapper( TaskFunction_t pxCode,
+                                  void * pvParameters )
+    {
+        pxCode( pvParameters );
+        /*FreeRTOS tasks should not return. Log the task name and abort. */
+        char * pcTaskName = pcTaskGetTaskName( NULL );
+        ESP_LOGE( "FreeRTOS", "FreeRTOS Task \"%s\" should not return, Aborting now!", pcTaskName );
+        abort();
+    }
+#endif /* if CONFIG_FREERTOS_TASK_FUNCTION_WRAPPER */
+
 /*
  * Stack initialization
  */
@@ -168,21 +187,35 @@ void _xt_user_exit( void );
     frame = ( XtExcFrame * ) sp;
 
     /* Explicitly initialize certain saved registers */
-    frame->pc = ( UBaseType_t ) pxCode;             /* task entrypoint                */
-    frame->a0 = 0;                                  /* to terminate GDB backtrace     */
-    frame->a1 = ( UBaseType_t ) sp + XT_STK_FRMSZ;  /* physical top of stack frame    */
-    frame->exit = ( UBaseType_t ) _xt_user_exit;    /* user exception exit dispatcher */
+    #if CONFIG_FREERTOS_TASK_FUNCTION_WRAPPER
+        frame->pc = ( UBaseType_t ) vPortTaskWrapper; /* task wrapper						*/
+    #else
+        frame->pc = ( UBaseType_t ) pxCode;           /* task entrypoint					*/
+    #endif
+    frame->a0 = 0;                                    /* to terminate GDB backtrace		*/
+    frame->a1 = ( UBaseType_t ) sp + XT_STK_FRMSZ;    /* physical top of stack frame		*/
+    frame->exit = ( UBaseType_t ) _xt_user_exit;      /* user exception exit dispatcher	*/
 
     /* Set initial PS to int level 0, EXCM disabled ('rfe' will enable), user mode. */
     /* Also set entry point argument parameter. */
     #ifdef __XTENSA_CALL0_ABI__
-        frame->a2 = ( UBaseType_t ) pvParameters;
+        #if CONFIG_FREERTOS_TASK_FUNCTION_WRAPPER
+            frame->a2 = ( UBaseType_t ) pxCode;
+            frame->a3 = ( UBaseType_t ) pvParameters;
+        #else
+            frame->a2 = ( UBaseType_t ) pvParameters;
+        #endif
         frame->ps = PS_UM | PS_EXCM;
     #else
         /* + for windowed ABI also set WOE and CALLINC (pretend task was 'call4'd). */
-        frame->a6 = ( UBaseType_t ) pvParameters;
+        #if CONFIG_FREERTOS_TASK_FUNCTION_WRAPPER
+            frame->a6 = ( UBaseType_t ) pxCode;
+            frame->a7 = ( UBaseType_t ) pvParameters;
+        #else
+            frame->a6 = ( UBaseType_t ) pvParameters;
+        #endif
         frame->ps = PS_UM | PS_EXCM | PS_WOE | PS_CALLINC( 1 );
-    #endif
+    #endif /* ifdef __XTENSA_CALL0_ABI__ */
 
     #ifdef XT_USE_SWPRI
         /* Set the initial virtual priority mask value to all 1's. */

portable/ThirdParty/GCC/Xtensa_ESP32/portasm.S

@@ -138,8 +138,24 @@ _frxt_int_enter:
 	mull	a2,  a4, a2
 	add     a1,  a1, a2					/* for current proc */
 
+    #ifdef CONFIG_FREERTOS_FPU_IN_ISR
+    #if XCHAL_CP_NUM > 0
+    rsr     a3, CPENABLE                /* Restore thread scope CPENABLE */
+    addi    sp, sp,-4                   /* ISR will manage FPU coprocessor by forcing */
+    s32i    a3, a1, 0                   /* its trigger */
+    #endif
+    #endif
+
 .Lnested:
 1:
+    #ifdef CONFIG_FREERTOS_FPU_IN_ISR
+    #if XCHAL_CP_NUM > 0
+    movi    a3,  0              /* whilst ISRs pending keep CPENABLE exception active */
+    wsr     a3,  CPENABLE
+    rsync
+    #endif
+    #endif
+
     mov     a0,  a12                    /* restore return addr and return  */
     ret
 
@@ -176,6 +192,15 @@ _frxt_int_exit:
     s32i    a2,  a3, 0                  /* save nesting count              */
     bnez    a2,  .Lnesting              /* !=0 after decr so still nested  */
 
+    #ifdef CONFIG_FREERTOS_FPU_IN_ISR 
+    #if XCHAL_CP_NUM > 0
+    l32i    a3,  sp, 0                  /* Grab last CPENABLE before leave ISR */
+    addi    sp,  sp, 4
+    wsr     a3, CPENABLE
+    rsync                               /* ensure CPENABLE was modified */
+    #endif
+    #endif
+
     movi    a2,  pxCurrentTCB
 	addx4	a2,  a4, a2
     l32i    a2,  a2, 0                  /* a2 = current TCB                */
@@ -642,7 +667,6 @@ _frxt_task_coproc_state:
 	addx4	a15, a3, a15
     l32i    a15, a15, 0                 /* && pxCurrentTCB != 0) {                 */
 
-
     beqz    a15, 2f
     l32i    a15, a15, CP_TOPOFSTACK_OFFS
     ret

portable/ThirdParty/GCC/Xtensa_ESP32/xtensa_init.c

@@ -34,7 +34,11 @@
 #endif
 
 #include    "xtensa_rtos.h"
-#include    "esp_clk.h"
+#if CONFIG_IDF_TARGET_ESP32S2
+#include    "esp32s2/clk.h"
+#elif CONFIG_IDF_TARGET_ESP32
+#include    "esp32/clk.h"
+#endif
 
 #ifdef XT_RTOS_TIMER_INT
 

portable/ThirdParty/GCC/Xtensa_ESP32/xtensa_intr.c

@@ -34,7 +34,11 @@
 #include "freertos/xtensa_api.h"
 #include "freertos/portable.h"
 
-#include "rom/ets_sys.h"
+#if CONFIG_IDF_TARGET_ESP32S2
+#include "esp32s2/rom/ets_sys.h"
+#elif CONFIG_IDF_TARGET_ESP32
+#include "esp32/rom/ets_sys.h"
+#endif
 
 #if XCHAL_HAVE_EXCEPTIONS
 

portable/ThirdParty/GCC/Xtensa_ESP32/xtensa_vector_defaults.S

@@ -13,7 +13,7 @@
 // limitations under the License.
 
 #include "xtensa_rtos.h"
-#include "esp_panic.h"
+#include "esp_private/panic_reason.h"
 #include "sdkconfig.h"
 #include "soc/soc.h"