Xtensa ESP32: Co-processor state is code complete but uncompiled and untested.

arch/xtensa/src/common/xtensa.h

@@ -236,8 +236,13 @@ void xtensa_dumpstate(void);
 /* Common XTENSA functions */
 /* Initialization */
 
+#if XCHAL_CP_NUM > 0
 void xtensa_coproc_init(void);
 
+struct xtensa_cpstate_s;
+void xtensa_coproc_release(struct xtensa_cpstate_s *cpstate);
+#endif
+
 /* IRQs */
 
 uint32_t *xtensa_int_decode(uint32_t *regs);

arch/xtensa/src/common/xtensa_blocktask.c

@@ -45,6 +45,7 @@
 
 #include <nuttx/arch.h>
 #include <nuttx/sched.h>
+#include <arch/chip/core-isa.h>
 
 #include "sched/sched.h"
 #include "group/group.h"
@@ -148,12 +149,26 @@ void up_block_task(struct tcb_s *tcb, tstate_t task_state)
 
       else if (!xtensa_context_save(rtcb->xcp.regs))
         {
+#if XCHAL_CP_NUM > 0
+          /* Save the co-processor state in in the suspended thread's co-
+           * processor save area.
+           */
+
+          xtensa_coproc_savestate(rtcb);
+#endif
+
           /* Restore the exception context of the rtcb at the (new) head
            * of the ready-to-run task list.
            */
 
           rtcb = this_task();
 
+#if XCHAL_CP_NUM > 0
+          /* Set up the co-processor state for the newly started thread. */
+
+          xtensa_coproc_restorestate(rtcb);
+#endif
+
 #ifdef CONFIG_ARCH_ADDRENV
           /* Make sure that the address environment for the previously
            * running task is closed down gracefully (data caches dump,

arch/xtensa/src/common/xtensa_coproc.S

@@ -167,6 +167,7 @@ xtensa_coproc_release:
 
 1:  l32i	a7, a3, 0						/* a7 = owner at a3 */
 	bne		a2, a7, 2f						/* if (coproc_sa_base == owner) */
+
 	s32i	a5, a3, 0						/*   owner = unowned */
 2:  addi	a3, a3, 1<<2					/* a3 = next entry in owner array */
 	bltu	a3, a4, 1b						/* repeat until end of array */

arch/xtensa/src/common/xtensa_exit.c

@@ -155,6 +155,13 @@ void _exit(int status)
   sched_foreach(_xtensa_dumponexit, NULL);
 #endif
 
+#if XCHAL_CP_NUM > 0
+  /* Disable preprocessor support fo the task that is exit-ing. */
+
+  tcb = this_task();
+  xtensa_coproc_release(&tcb->xcp.cpstate);
+#endif
+
   /* Destroy the task at the head of the ready to run list. */
 
   (void)task_exit();
@@ -165,6 +172,12 @@ void _exit(int status)
 
   tcb = this_task();
 
+#if XCHAL_CP_NUM > 0
+  /* Set up the co-processor state for the newly started thread. */
+
+  xtensa_coproc_restorestate(tcb);
+#endif
+
 #ifdef CONFIG_ARCH_ADDRENV
   /* Make sure that the address environment for the previously running
    * task is closed down gracefully (data caches dump, MMU flushed) and

arch/xtensa/src/common/xtensa_irqdispatch.c

@@ -111,7 +111,7 @@ uint32_t *xtensa_irq_dispatch(int irq, uint32_t *regs)
         */
 
        tcb = this_task();
-       esp32_coproc_restorestate(tcb);
+       xtensa_coproc_restorestate(tcb);
 #endif
 
 #ifdef CONFIG_ARCH_ADDRENV

arch/xtensa/src/common/xtensa_releasepending.c

@@ -41,8 +41,10 @@
 
 #include <sched.h>
 #include <debug.h>
+
 #include <nuttx/arch.h>
 #include <nuttx/sched.h>
+#include <arch/chip/core-isa.h>
 
 #include "sched/sched.h"
 #include "group/group.h"
@@ -117,12 +119,25 @@ void up_release_pending(void)
 
       else if (!xtensa_context_save(rtcb->xcp.regs))
         {
+#if XCHAL_CP_NUM > 0
+          /* Save the co-processor state in in the suspended thread's co-
+           * processor save area.
+           */
+
+          xtensa_coproc_savestate(rtcb);
+#endif
           /* Restore the exception context of the rtcb at the (new) head
            * of the ready-to-run task list.
            */
 
           rtcb = this_task();
 
+#if XCHAL_CP_NUM > 0
+          /* Set up the co-processor state for the newly started thread. */
+
+          xtensa_coproc_restorestate(rtcb);
+#endif
+
 #ifdef CONFIG_ARCH_ADDRENV
           /* Make sure that the address environment for the previously
            * running task is closed down gracefully (data caches dump,

arch/xtensa/src/common/xtensa_reprioritizertr.c

@@ -43,8 +43,10 @@
 #include <stdbool.h>
 #include <sched.h>
 #include <debug.h>
+
 #include <nuttx/arch.h>
 #include <nuttx/sched.h>
+#include <arch/chip/core-isa.h>
 
 #include "sched/sched.h"
 #include "group/group.h"
@@ -170,12 +172,25 @@ void up_reprioritize_rtr(struct tcb_s *tcb, uint8_t priority)
 
           else if (!xtensa_context_save(rtcb->xcp.regs))
             {
+#if XCHAL_CP_NUM > 0
+              /* Save the co-processor state in in the suspended thread's co-
+               * processor save area.
+               */
+
+              xtensa_coproc_savestate(rtcb);
+#endif
               /* Restore the exception context of the rtcb at the (new) head
                * of the ready-to-run task list.
                */
 
               rtcb = this_task();
 
+#if XCHAL_CP_NUM > 0
+              /* Set up the co-processor state for the newly started thread. */
+
+              xtensa_coproc_restorestate(rtcb);
+#endif
+
 #ifdef CONFIG_ARCH_ADDRENV
               /* Make sure that the address environment for the previously
                * running task is closed down gracefully (data caches dump,

arch/xtensa/src/common/xtensa_sigdeliver.c

@@ -117,7 +117,9 @@ void xtensa_sigdeliver(void)
   (void)up_irq_save();
   rtcb->pterrno = saved_errno;
 
-  /* Then restore the correct state for this thread of execution. */
+  /* Then restore the correct state for this thread of execution.
+   * NOTE: The co-processor state should already be correct.
+   */
 
   board_autoled_off(LED_SIGNAL);
   xtensa_context_restore(regs);

arch/xtensa/src/common/xtensa_unblocktask.c

@@ -41,8 +41,10 @@
 
 #include <sched.h>
 #include <debug.h>
+
 #include <nuttx/arch.h>
 #include <nuttx/sched.h>
+#include <arch/chip/core-isa.h>
 
 #include "sched/sched.h"
 #include "group/group.h"
@@ -131,6 +133,14 @@ void up_unblock_task(struct tcb_s *tcb)
 
       else if (!xtensa_context_save(rtcb->xcp.regs))
         {
+#if XCHAL_CP_NUM > 0
+          /* Save the co-processor state in in the suspended thread's co-
+           * processor save area.
+           */
+
+          xtensa_coproc_savestate(rtcb);
+#endif
+
           /* Restore the exception context of the new task that is ready to
            * run (probably tcb).  This is the new rtcb at the head of the
            * ready-to-run task list.
@@ -138,6 +148,12 @@ void up_unblock_task(struct tcb_s *tcb)
 
           rtcb = this_task();
 
+#if XCHAL_CP_NUM > 0
+          /* Set up the co-processor state for the newly started thread. */
+
+          xtensa_coproc_restorestate(rtcb);
+#endif
+
 #ifdef CONFIG_ARCH_ADDRENV
           /* Make sure that the address environment for the previously
            * running task is closed down gracefully (data caches dump,

arch/xtensa/src/esp32/esp32_cpustart.c

@@ -146,6 +146,8 @@ int xtensa_start_handler(int irq, FAR void *context)
 
   xtensa_disable_all();
 
+#warning REVISIT: Do we need to disable co-processors here?
+
   /* Detach all peripheral sources APP CPU interrupts */
 
   for (i = 0; i < ESP32_NPERIPHERALS; i++)

arch/xtensa/src/esp32/esp32_start.c

@@ -85,6 +85,8 @@ void IRAM_ATTR __start(void)
 
   memset(&_sbss, 0, (&_ebss - &_sbss) * sizeof(_sbss));
 
+#warning REVISIT: Do we need to disable co-processors here?
+
   /* Make sure that the APP_CPU is disabled for now */
 
   regval  = getreg32(DPORT_APPCPU_CTRL_B_REG);