esp-idf 任务mian_app创建过程

Zero_XL

已于 2024-04-07 16:42:07 修改

阅读量277

点赞数 3

文章标签：单片机

于 2024-04-07 16:13:39 首次发布

本文链接：https://blog.csdn.net/Zero_XL/article/details/137466662

版权

一，由call_start_cpu1 或call_start_cpu0 调用SYS_STARTUP_FN函数

void IRAM_ATTR call_start_cpu1(void)
{
#ifdef __riscv
    // Configure the global pointer register
    // (This should be the first thing IDF app does, as any other piece of code could be
    // relaxed by the linker to access something relative to __global_pointer$)
    __asm__ __volatile__ (
        ".option push\n"
        ".option norelax\n"
        "la gp, __global_pointer$\n"
        ".option pop"
    );
#endif  //#ifdef __riscv

#if SOC_BRANCH_PREDICTOR_SUPPORTED
    esp_cpu_branch_prediction_enable();
#endif  //#if SOC_BRANCH_PREDICTOR_SUPPORTED

    esp_cpu_intr_set_ivt_addr(&_vector_table);
#if SOC_INT_CLIC_SUPPORTED
    /* When hardware vectored interrupts are enabled in CLIC,
     * the CPU jumps to this base address + 4 * interrupt_id.
     */
    esp_cpu_intr_set_mtvt_addr(&_mtvt_table);
#endif

    ets_set_appcpu_boot_addr(0);

    bootloader_init_mem();

#if CONFIG_ESP_CONSOLE_NONE
    esp_rom_install_channel_putc(1, NULL);
    esp_rom_install_channel_putc(2, NULL);
#else // CONFIG_ESP_CONSOLE_NONE
    esp_rom_install_uart_printf();
    esp_rom_uart_set_as_console(CONFIG_ESP_CONSOLE_UART_NUM);
#endif

#if CONFIG_IDF_TARGET_ESP32
    DPORT_REG_SET_BIT(DPORT_APP_CPU_RECORD_CTRL_REG, DPORT_APP_CPU_PDEBUG_ENABLE | DPORT_APP_CPU_RECORD_ENABLE);
    DPORT_REG_CLR_BIT(DPORT_APP_CPU_RECORD_CTRL_REG, DPORT_APP_CPU_RECORD_ENABLE);
#elif CONFIG_IDF_TARGET_ESP32P4
    //TODO: IDF-7688
#else
    REG_WRITE(ASSIST_DEBUG_CORE_1_RCD_PDEBUGENABLE_REG, 1);
    REG_WRITE(ASSIST_DEBUG_CORE_1_RCD_RECORDING_REG, 1);
#endif

    s_cpu_up[1] = true;
    ESP_EARLY_LOGD(TAG, "App cpu up");

    // Clear interrupt matrix for APP CPU core
    core_intr_matrix_clear();

#if !CONFIG_APP_BUILD_TYPE_PURE_RAM_APP
    //Take care putting stuff here: if asked, FreeRTOS will happily tell you the scheduler
    //has started, but it isn't active *on this CPU* yet.
    esp_cache_err_int_init();
#endif

#if (CONFIG_IDF_TARGET_ESP32 && CONFIG_ESP32_TRAX_TWOBANKS) || \
    (CONFIG_IDF_TARGET_ESP32S3 && CONFIG_ESP32S3_TRAX_TWOBANKS)
    trax_start_trace(TRAX_DOWNCOUNT_WORDS);
#endif

    s_cpu_inited[1] = true;

    while (!s_resume_cores) {
        esp_rom_delay_us(100);
    }

    SYS_STARTUP_FN();
}

SYS_STARTUP_FN数组会选择对应的启动内核


// Utility to execute `sys_startup_fn_t` for the current core.
#define SYS_STARTUP_FN()  ((*g_startup_fn[(esp_cpu_get_core_id())])())


const sys_startup_fn_t g_startup_fn[SOC_CPU_CORES_NUM] = { [0] = start_cpu0,
#if SOC_CPU_CORES_NUM > 1
    [1 ... SOC_CPU_CORES_NUM - 1] = start_cpu_other_cores
#endif
};

二，由start_cpu0调用start_cpu0_default

// Entry point for core 0 from hardware init (port layer)
void start_cpu0(void) __attribute__((weak, alias("start_cpu0_default"))) __attribute__((noreturn));

三，由start_cpu0_default调用esp_startup_start_app();函数

static void start_cpu0_default(void)
{

    ESP_EARLY_LOGI(TAG, "Pro cpu start user code");
    int cpu_freq = esp_clk_cpu_freq();
    ESP_EARLY_LOGI(TAG, "cpu freq: %d Hz", cpu_freq);

#ifdef WITH_APP_IMAGE_INFO
    // Display information about the current running image.
    if (LOG_LOCAL_LEVEL >= ESP_LOG_INFO) {
        const esp_app_desc_t *app_desc = esp_app_get_description();
        ESP_EARLY_LOGI(TAG, "Application information:");
#ifndef CONFIG_APP_EXCLUDE_PROJECT_NAME_VAR
        ESP_EARLY_LOGI(TAG, "Project name:     %s", app_desc->project_name);
#endif
#ifndef CONFIG_APP_EXCLUDE_PROJECT_VER_VAR
        ESP_EARLY_LOGI(TAG, "App version:      %s", app_desc->version);
#endif
#ifdef CONFIG_BOOTLOADER_APP_SECURE_VERSION
        ESP_EARLY_LOGI(TAG, "Secure version:   %d", app_desc->secure_version);
#endif
#ifdef CONFIG_APP_COMPILE_TIME_DATE
        ESP_EARLY_LOGI(TAG, "Compile time:     %s %s", app_desc->date, app_desc->time);
#endif
        char buf[17];
        esp_app_get_elf_sha256(buf, sizeof(buf));
        ESP_EARLY_LOGI(TAG, "ELF file SHA256:  %s...", buf);
        ESP_EARLY_LOGI(TAG, "ESP-IDF:          %s", app_desc->idf_ver);

        ESP_EARLY_LOGI(TAG, "Min chip rev:     v%d.%d", CONFIG_ESP_REV_MIN_FULL / 100, CONFIG_ESP_REV_MIN_FULL % 100);
        ESP_EARLY_LOGI(TAG, "Max chip rev:     v%d.%d %s",CONFIG_ESP_REV_MAX_FULL / 100, CONFIG_ESP_REV_MAX_FULL % 100,
                       efuse_hal_get_disable_wafer_version_major() ? "(constraint ignored)" : "");
        unsigned revision = efuse_hal_chip_revision();
        ESP_EARLY_LOGI(TAG, "Chip rev:         v%d.%d", revision / 100, revision % 100);
    }
#endif

    // Initialize core components and services.
    do_core_init();

    // Execute constructors.
    do_global_ctors();

    // Execute init functions of other components; blocks
    // until all cores finish (when !CONFIG_ESP_SYSTEM_SINGLE_CORE_MODE).
    do_secondary_init();

    // Now that the application is about to start, disable boot watchdog
#ifndef CONFIG_BOOTLOADER_WDT_DISABLE_IN_USER_CODE
    wdt_hal_context_t rtc_wdt_ctx = RWDT_HAL_CONTEXT_DEFAULT();
    wdt_hal_write_protect_disable(&rtc_wdt_ctx);
    wdt_hal_disable(&rtc_wdt_ctx);
    wdt_hal_write_protect_enable(&rtc_wdt_ctx);
#endif

#if SOC_CPU_CORES_NUM > 1 && !CONFIG_ESP_SYSTEM_SINGLE_CORE_MODE
    s_system_full_inited = true;
#endif

    esp_startup_start_app();
    while (1);
}

四，由esp_startup_start_app创建main_task任务。

void esp_startup_start_app(void)
{
#if CONFIG_ESP_INT_WDT
    esp_int_wdt_init();
    // Initialize the interrupt watch dog for CPU0.
    esp_int_wdt_cpu_init();
#elif CONFIG_ESP32_ECO3_CACHE_LOCK_FIX
    // If the INT WDT isn't enabled on ESP32 ECO3, issue an error regarding the cache lock bug
    assert(!soc_has_cache_lock_bug() && "ESP32 Rev 3 + Dual Core + PSRAM requires INT WDT enabled in project config!");
#endif

    // Initialize the cross-core interrupt on CPU0
    esp_crosscore_int_init();

#if CONFIG_ESP_SYSTEM_GDBSTUB_RUNTIME
    void esp_gdbstub_init(void);
    esp_gdbstub_init();
#endif // CONFIG_ESP_SYSTEM_GDBSTUB_RUNTIME

    BaseType_t res = xTaskCreatePinnedToCore(main_task, "main",
                                             ESP_TASK_MAIN_STACK, NULL,
                                             ESP_TASK_MAIN_PRIO, NULL, ESP_TASK_MAIN_CORE);
    assert(res == pdTRUE);
    (void)res;

    /*
    If a particular FreeRTOS port has port/arch specific OS startup behavior, they can implement a function of type
    "void port_start_app_hook(void)" in their `port.c` files. This function will be called below, thus allowing each
    FreeRTOS port to implement port specific app startup behavior.
    */
    void __attribute__((weak)) port_start_app_hook(void);
    if (port_start_app_hook != NULL) {
        port_start_app_hook();
    }

    ESP_EARLY_LOGD(APP_START_TAG, "Starting scheduler on CPU0");
    vTaskStartScheduler();
}

五，由main_task任务调用main_app函数

static void main_task(void* args)
{
    ESP_LOGI(MAIN_TAG, "Started on CPU%d", (int)xPortGetCoreID());
#if !CONFIG_FREERTOS_UNICORE
    // Wait for FreeRTOS initialization to finish on other core, before replacing its startup stack
    esp_register_freertos_idle_hook_for_cpu(other_cpu_startup_idle_hook_cb, !xPortGetCoreID());
    while (!s_other_cpu_startup_done) {
        ;
    }
    esp_deregister_freertos_idle_hook_for_cpu(other_cpu_startup_idle_hook_cb, !xPortGetCoreID());
#endif

    // [refactor-todo] check if there is a way to move the following block to esp_system startup
    heap_caps_enable_nonos_stack_heaps();

    // Now we have startup stack RAM available for heap, enable any DMA pool memory
#if CONFIG_SPIRAM_MALLOC_RESERVE_INTERNAL
    if (esp_psram_is_initialized()) {
        esp_err_t r = esp_psram_extram_reserve_dma_pool(CONFIG_SPIRAM_MALLOC_RESERVE_INTERNAL);
        if (r != ESP_OK) {
            ESP_LOGE(MAIN_TAG, "Could not reserve internal/DMA pool (error 0x%x)", r);
            abort();
        }
    }
#endif

    // Initialize TWDT if configured to do so
#if CONFIG_ESP_TASK_WDT_INIT
    esp_task_wdt_config_t twdt_config = {
        .timeout_ms = CONFIG_ESP_TASK_WDT_TIMEOUT_S * 1000,
        .idle_core_mask = 0,
#if CONFIG_ESP_TASK_WDT_PANIC
        .trigger_panic = true,
#endif
    };
#if CONFIG_ESP_TASK_WDT_CHECK_IDLE_TASK_CPU0
    twdt_config.idle_core_mask |= (1 << 0);
#endif
#if CONFIG_ESP_TASK_WDT_CHECK_IDLE_TASK_CPU1
    twdt_config.idle_core_mask |= (1 << 1);
#endif
    ESP_ERROR_CHECK(esp_task_wdt_init(&twdt_config));
#endif // CONFIG_ESP_TASK_WDT

    /*
    Note: Be careful when changing the "Calling app_main()" log below as multiple pytest scripts expect this log as a
    start-of-application marker.
    */
    ESP_LOGI(MAIN_TAG, "Calling app_main()");
    extern void app_main(void);
    app_main();
    ESP_LOGI(MAIN_TAG, "Returned from app_main()");
    vTaskDelete(NULL);
}

六，关于main_app的一些其他信息