Sync up MicroblazeV9 port with Xilinx tree (#220)

* MicroblazeV9: Add support for 64 bit microblaze * MicroblazeV9: Add support for generation of run time task stats * MicroblazeV9: Add default implementation for callback functions --------- Signed-off-by: Mubin Usman Sayyed <[email protected]>
FreeRTOS · Jan 26, 2024 · 5040a67 · 5040a67
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commit 5040a67
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diff --git a/.github/.cSpellWords.txt b/.github/.cSpellWords.txt
@@ -54,6 +54,7 @@ bics
 BISR
 BODIEN
 BODSTS
+brealid
 BRGR
 brhi
 brne

diff --git a/.github/workflows/kernel-demos.yml b/.github/workflows/kernel-demos.yml
@@ -1,6 +1,13 @@
 name: FreeRTOS-Kernel Demos
 on: [push, pull_request]
 
+env:
+  # The bash escape character is \033
+  bashPass:   \033[32;1mPASSED -
+  bashInfo:   \033[33;1mINFO -
+  bashFail:   \033[31;1mFAILED -
+  bashEnd:    \033[0m
+
 jobs:
   WIN32-MSVC:
     name: WIN32 MSVC
@@ -147,6 +154,92 @@ jobs:
         working-directory: FreeRTOS/Demo/msp430_GCC
         run: make -j
 
+  MicroBlaze-GCC:
+    name: GCC MicroBlaze Toolchain
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout the FreeRTOS/FreeRTOS Repository
+        uses: actions/checkout@v3
+        with:
+          ref: main
+          repository: FreeRTOS/FreeRTOS
+          fetch-depth: 1
+
+      - env:
+          stepName: Fetch Community-Supported-Demos Submodule
+        shell: bash
+        run: |
+          # Fetch Community-Supported-Demos Submodule
+          echo -e "::group::${{ env.bashInfo }} ${{ env.stepName }} ${{ env.bashEnd }}"
+          git submodule update --checkout --init --depth 1 FreeRTOS/Demo/ThirdParty/Community-Supported-Demos
+          # This repository contains the microblaze_instructions.h header file
+          git clone https://github.com/Xilinx/embeddedsw.git --branch xilinx_v2023.1
+          echo "::endgroup::"
+          echo -e "${{ env.bashPass }} ${{ env.stepName }} ${{ env.bashEnd }}"
+
+      # Checkout user pull request changes
+      - name: Checkout Pull Request
+        uses: actions/checkout@v3
+        with:
+          path: ./FreeRTOS/Source
+
+      - env:
+          stepName: Install Dependancies
+        shell: bash
+        run: |
+          # ${{ env.stepName }}
+          echo -e "::group::${{ env.bashInfo }} ${{ env.stepName }} ${{ env.bashEnd }}"
+          sudo apt update -y
+          sudo apt upgrade -y
+          sudo apt install -y build-essential m4 debhelper bison texinfo dejagnu flex
+          sudo apt install -y autogen gawk libgmp-dev libmpc-dev libmpfr-dev
+          sudo apt install -y patchutils sharutils zlib1g-dev autoconf2.64
+
+          # Download the mb-gcc toolchain from github
+          curl -L -O https://github.com/mdednev/mb-gcc/releases/download/2021-0623%2B2/binutils-microblaze_2.35-2021-0623+1_amd64.deb;
+          curl -L -O https://github.com/mdednev/mb-gcc/releases/download/2021-0623%2B2/gcc-microblaze_10.2.0-2021-0623+2_amd64.deb;
+          curl -L -O https://github.com/mdednev/mb-gcc/releases/download/2021-0623%2B2/libnewlib-microblaze-dev_3.3.0-2021-0623+3_all.deb;
+          curl -L -O https://github.com/mdednev/mb-gcc/releases/download/2021-0623%2B2/libnewlib-microblaze-doc_3.3.0-2021-0623+3_all.deb;
+          curl -L -O https://github.com/mdednev/mb-gcc/releases/download/2021-0623%2B2/libnewlib-microblaze_3.3.0-2021-0623+3_all.deb;
+          curl -L -O https://github.com/mdednev/mb-gcc/releases/download/2021-0623%2B2/newlib-source_3.3.0-2021-0623+3_all.deb;
+
+          # Install the packages for the toolchain
+          sudo apt install -y ./binutils-microblaze*.deb;
+          sudo apt install -y ./gcc-microblaze*.deb;
+          sudo apt install -y ./libnewlib-microblaze-dev*.deb;
+          sudo apt install -y ./libnewlib-microblaze-doc*.deb;
+          sudo apt install -y ./libnewlib-microblaze*.deb;
+          sudo apt install -y ./newlib-source*.deb;
+
+          # Validate that the toolchain is in the path and can be called
+          which mb-gcc
+          mb-gcc --version
+
+          echo -e "${{ env.bashPass }} ${{ env.stepName }} ${{ env.bashEnd }}"
+
+      - env:
+          stepName: Compile Microblaze Port
+        shell: bash
+        run: |
+          # ${{ env.stepName }}
+          echo -e "::group::${{ env.bashInfo }} ${{ env.stepName }} ${{ env.bashEnd }}"
+          # Compile MicroBlazeV9 Port files to validate they build
+          mb-gcc -mcpu=v9.5 -c \
+            FreeRTOS/Source/portable/GCC/MicroBlazeV9/port.c \
+            FreeRTOS/Source/portable/GCC/MicroBlazeV9/portasm.S \
+            FreeRTOS/Source/portable/GCC/MicroBlazeV9/port_exceptions.c \
+            FreeRTOS/Source/tasks.c \
+            FreeRTOS/Source/list.c \
+            -I embeddedsw/lib/bsp/standalone/src/microblaze \
+            -I FreeRTOS/Source/portable/GCC/MicroBlazeV9/ \
+            -I FreeRTOS/Source/include \
+            -I FreeRTOS/Demo/MicroBlaze_Kintex7_EthernetLite/RTOSDemo/src \
+            -I FreeRTOS/Demo/MicroBlaze_Kintex7_EthernetLite/BSP/microblaze_0/libsrc/standalone_v5_4/src \
+            -I FreeRTOS/Demo/MicroBlaze_Kintex7_EthernetLite/BSP/microblaze_0/include \
+            -I FreeRTOS/Demo/MicroBlaze_Kintex7_EthernetLite/BSP/microblaze_0/libsrc/intc_v3_5/src
+          echo -e "${{ env.bashPass }} ${{ env.stepName }} ${{ env.bashEnd }}"
+
+
   ARM-GCC:
     name: GNU ARM Toolchain
     runs-on: ubuntu-latest
@@ -164,7 +257,7 @@ jobs:
           # Fetch Community-Supported-Demos Submodule
           echo "::group::Fetch Community-Supported-Demos Submodule"
           git submodule update --checkout --init --depth 1 FreeRTOS/Demo/ThirdParty/Community-Supported-Demos
-          echo "::engdroup::"
+          echo "::endgroup::"
           if [ "$?" = "0" ]; then
             echo -e "\033[32;3mCloned the Community-Supported-Demos\033[0m"
           else

diff --git a/portable/GCC/MicroBlazeV9/port.c b/portable/GCC/MicroBlazeV9/port.c
@@ -42,6 +42,7 @@
 #include <xintc_i.h>
 #include <xil_exception.h>
 #include <microblaze_exceptions_g.h>
+#include <microblaze_instructions.h>
 
 /* Tasks are started with a critical section nesting of 0 - however, prior to
  * the scheduler being commenced interrupts should not be enabled, so the critical
@@ -58,6 +59,13 @@
  * given to the FSR register when the initial context is set up for a task being
  * created. */
 #define portINITIAL_FSR              ( 0U )
+/*
+ * Global counter used for calculation of run time statistics of tasks.
+ * Defined only when the relevant option is turned on
+ */
+#if (configGENERATE_RUN_TIME_STATS==1)
+    volatile uint32_t ulHighFrequencyTimerTicks;
+#endif
 
 /*-----------------------------------------------------------*/
 
@@ -116,10 +124,11 @@ static XIntc xInterruptControllerInstance;
                                          void * pvParameters )
 #endif
 {
-    extern void * _SDA2_BASE_;
-    extern void * _SDA_BASE_;
-    const uint32_t ulR2 = ( uint32_t ) &_SDA2_BASE_;
-    const uint32_t ulR13 = ( uint32_t ) &_SDA_BASE_;
+    extern void *_SDA2_BASE_;
+    extern void *_SDA_BASE_;
+    const UINTPTR ulR2 = ( UINTPTR ) &_SDA2_BASE_;
+    const UINTPTR ulR13 = ( UINTPTR ) &_SDA_BASE_;
+
     extern void _start1( void );
 
     /* Place a few bytes of known values on the bottom of the stack.
@@ -255,8 +264,8 @@ static XIntc xInterruptControllerInstance;
 
 BaseType_t xPortStartScheduler( void )
 {
-    extern void( vPortStartFirstTask )( void );
-    extern uint32_t _stack[];
+    extern void ( vPortStartFirstTask )( void );
+    extern UINTPTR _stack[];
 
     /* Setup the hardware to generate the tick.  Interrupts are disabled when
      * this function is called.
@@ -270,7 +279,7 @@ BaseType_t xPortStartScheduler( void )
     vApplicationSetupTimerInterrupt();
 
     /* Reuse the stack from main() as the stack for the interrupts/exceptions. */
-    pulISRStack = ( uint32_t * ) _stack;
+    pulISRStack = ( UINTPTR * ) _stack;
 
     /* Ensure there is enough space for the functions called from the interrupt
      * service routines to write back into the stack frame of the caller. */
@@ -304,13 +313,18 @@ void vPortYield( void )
      * not interrupted by the tick ISR.  It is not a problem to do this as
      * each task maintains its own interrupt status. */
     portENTER_CRITICAL();
-    {
-        /* Jump directly to the yield function to ensure there is no
-         * compiler generated prologue code. */
-        asm volatile ( "bralid r14, VPortYieldASM      \n\t" \
-                       "or r0, r0, r0                  \n\t" );
-    }
-    portEXIT_CRITICAL();
+	  {
+		    /* Jump directly to the yield function to ensure there is no
+		    * compiler generated prologue code. */
+        #ifdef __arch64__
+            asm volatile (	"brealid r14, VPortYieldASM		\n\t" \
+        		         				"or r0, r0, r0					      \n\t" );
+        #else
+         		asm volatile (	"bralid r14, VPortYieldASM		\n\t" \
+				                 		"or r0, r0, r0					      \n\t" );
+        #endif
+  	}
+	  portEXIT_CRITICAL();
 }
 /*-----------------------------------------------------------*/
 
@@ -434,22 +448,34 @@ void vPortTickISR( void * pvUnused )
 {
     extern void vApplicationClearTimerInterrupt( void );
 
-    /* Ensure the unused parameter does not generate a compiler warning. */
-    ( void ) pvUnused;
-
-    /* This port uses an application defined callback function to clear the tick
-     * interrupt because the kernel will run on lots of different MicroBlaze and
-     * FPGA configurations - not all of which will have the same timer peripherals
-     * defined or available.  An example definition of
-     * vApplicationClearTimerInterrupt() is provided in the official demo
-     * application that accompanies this port. */
-    vApplicationClearTimerInterrupt();
-
-    /* Increment the RTOS tick - this might cause a task to unblock. */
-    if( xTaskIncrementTick() != pdFALSE )
+	/* Ensure the unused parameter does not generate a compiler warning. */
+	( void ) pvUnused;
+
+    /* The Xilinx implementation of generating run time task stats uses the same timer used for generating
+	   * FreeRTOS ticks. In case user decides to generate run time stats the tick handler is called more
+	   * frequently (10 times faster). The timer    ick handler uses logic to handle the same. It handles
+	   * the FreeRTOS tick once per 10 interrupts.
+	   * For handling generation of run time stats, it increments a pre-defined counter every time the
+	   * interrupt handler executes. */
+#if (configGENERATE_RUN_TIME_STATS == 1)
+    ulHighFrequencyTimerTicks++;
+    if (!(ulHighFrequencyTimerTicks % 10))
+#endif
     {
-        /* Force vTaskSwitchContext() to be called as the interrupt exits. */
-        ulTaskSwitchRequested = 1;
+        /* This port uses an application defined callback function to clear the tick
+         * interrupt because the kernel will run on lots of different MicroBlaze and
+         * FPGA configurations - not all of which will have the same timer peripherals
+         * defined or available.  An example definition of
+         * vApplicationClearTimerInterrupt() is provided in the official demo
+         * application that accompanies this port. */
+        vApplicationClearTimerInterrupt();
+
+        /* Increment the RTOS tick - this might cause a task to unblock. */
+        if( xTaskIncrementTick() != pdFALSE )
+        {
+            /* Force vTaskSwitchContext() to be called as the interrupt exits. */
+            ulTaskSwitchRequested = 1;
+        }
     }
 }
 /*-----------------------------------------------------------*/
@@ -495,4 +521,25 @@ static int32_t prvInitialiseInterruptController( void )
 
     return lStatus;
 }
+
+#if( configGENERATE_RUN_TIME_STATS == 1 )
+/*
+ * For Xilinx implementation this is a dummy function that does a redundant operation
+ * of zeroing out the global counter.
+ * It is called by FreeRTOS kernel.
+ */
+void xCONFIGURE_TIMER_FOR_RUN_TIME_STATS (void)
+{
+	ulHighFrequencyTimerTicks = 0;
+}
+/*
+ * For Xilinx implementation this function returns the global counter used for
+ * run time task stats calculation.
+ * It is called by FreeRTOS kernel task handling logic.
+ */
+uint32_t xGET_RUN_TIME_COUNTER_VALUE (void)
+{
+	return ulHighFrequencyTimerTicks;
+}
+#endif
 /*-----------------------------------------------------------*/
diff --git a/portable/GCC/MicroBlazeV9/port_exceptions.c b/portable/GCC/MicroBlazeV9/port_exceptions.c
@@ -67,7 +67,7 @@
 
 /* This variable is set in the exception entry code, before
  * vPortExceptionHandler is called. */
-    uint32_t * pulStackPointerOnFunctionEntry = NULL;
+    UINTPTR *pulStackPointerOnFunctionEntry = NULL;
 
 /* This is the structure that is filled with the MicroBlaze context as it
  * existed immediately prior to the exception occurrence.  A pointer to this
@@ -80,7 +80,6 @@
  * in portasm.S. */
     void vPortExceptionHandler( void * pvExceptionID );
     extern void vPortExceptionHandlerEntry( void * pvExceptionID );
-
 /*-----------------------------------------------------------*/
 
 /* vApplicationExceptionRegisterDump() is a callback function that the
@@ -149,7 +148,7 @@
         xRegisterDump.ulR29 = mfgpr( R29 );
         xRegisterDump.ulR30 = mfgpr( R30 );
         xRegisterDump.ulR31 = mfgpr( R31 );
-        xRegisterDump.ulR1_SP = ( ( uint32_t ) pulStackPointerOnFunctionEntry ) + portexASM_HANDLER_STACK_FRAME_SIZE;
+        xRegisterDump.ulR1_SP = ( ( UINTPTR ) pulStackPointerOnFunctionEntry ) + portexASM_HANDLER_STACK_FRAME_SIZE;
         xRegisterDump.ulEAR = mfear();
         xRegisterDump.ulESR = mfesr();
         xRegisterDump.ulEDR = mfedr();
-Original file line number
+Diff line change
@@ Expand Up / @@ -54,6 +54,7 @@ bics @@
     BISR
     BODIEN
     BODSTS
+    brealid
     BRGR
     brhi
     brne
@@ Expand Down @@