[bsp][esp][esp32c3] add the bsp of esp32c3 (#5869)

* add the ESP32_C3 first version

* add the blinky ok version

* fix the code

* format file

* add the readme

* fix the formate

* Update README.md

* Update main.c

* fix the readme

* fix rtconfig.h

* remove cpp config

bsp/ESP32_C3/.vscode/launch.json

+{
+  "version": "0.2.0",
+  "configurations": [
+    {
+      "type": "espidf",
+      "name": "Launch",
+      "request": "launch"
+    }
+  ]
+}
\ No newline at end of file

bsp/ESP32_C3/.vscode/settings.json

+{
+  "C_Cpp.intelliSenseEngine": "Tag Parser",
+  "idf.adapterTargetName": "esp32c3",
+  "idf.openOcdConfigs": [
+    "board/esp32c3-builtin.cfg"
+  ],
+  "idf.portWin": "COM7",
+  "idf.flashType": "UART",
+  "files.associations": {
+    "panic_internal.h": "c",
+    "rtthread.h": "c",
+    "bitset": "c",
+    "chrono": "c",
+    "algorithm": "c",
+    "rtdebug.h": "c",
+    "rtservice.h": "c",
+    "rtdef.h": "c",
+    "rtconfig.h": "c",
+    "thread": "c",
+    "rthw.h": "c",
+    "typeinfo": "c",
+    "serial.h": "c",
+    "timer.h": "c"
+  },
+  "RTT_Studio.Build.Parallel_Jobs": "4"
+}

bsp/ESP32_C3/.vscode/tasks.json

+{
+    "version": "2.0.0",
+    "tasks": [
+        {
+            "label": "Build - Build project",
+            "type": "shell",
+            "command": "${config:idf.pythonBinPath} ${config:idf.espIdfPath}/tools/idf.py build",
+            "windows": {
+                "command": "${config:idf.pythonBinPathWin} ${config:idf.espIdfPathWin}\\tools\\idf.py build",
+                "options": {
+                    "env": {
+                        "PATH": "${env:PATH};${config:idf.customExtraPaths}"
+                    }
+                }
+            },
+            "options": {
+                "env": {
+                    "PATH": "${env:PATH}:${config:idf.customExtraPaths}"
+                }
+            },
+            "problemMatcher": [
+                {
+                    "owner": "cpp",
+                    "fileLocation": [
+                        "relative",
+                        "${workspaceFolder}"
+                    ],
+                    "pattern": {
+                        "regexp": "^\\.\\.(.*):(\\d+):(\\d+):\\s+(warning|error):\\s+(.*)$",
+                        "file": 1,
+                        "line": 2,
+                        "column": 3,
+                        "severity": 4,
+                        "message": 5
+                    }
+                },
+                {
+                    "owner": "cpp",
+                    "fileLocation": "absolute",
+                    "pattern": {
+                        "regexp": "^[^\\.](.*):(\\d+):(\\d+):\\s+(warning|error):\\s+(.*)$",
+                        "file": 1,
+                        "line": 2,
+                        "column": 3,
+                        "severity": 4,
+                        "message": 5
+                    }
+                }
+            ],
+            "group": {
+                "kind": "build",
+                "isDefault": true
+            }
+        },
+        {
+            "label": "Set ESP-IDF Target",
+            "type": "shell",
+            "command": "${command:espIdf.setTarget}",
+            "problemMatcher": {
+                "owner": "cpp",
+                "fileLocation": "absolute",
+                "pattern": {
+                    "regexp": "^(.*):(//d+):(//d+)://s+(warning|error)://s+(.*)$",
+                    "file": 1,
+                    "line": 2,
+                    "column": 3,
+                    "severity": 4,
+                    "message": 5
+                }
+            }
+        },
+        {
+            "label": "Clean - Clean the project",
+            "type": "shell",
+            "command": "${config:idf.pythonBinPath} ${config:idf.espIdfPath}/tools/idf.py fullclean",
+            "windows": {
+                "command": "${config:idf.pythonBinPathWin} ${config:idf.espIdfPathWin}\\tools\\idf.py fullclean",
+                "options": {
+                    "env": {
+                        "PATH": "${env:PATH};${config:idf.customExtraPaths}"
+                    }
+                }
+            },
+            "options": {
+                "env": {
+                    "PATH": "${env:PATH}:${config:idf.customExtraPaths}"
+                }
+            },
+            "problemMatcher": [
+                {
+                    "owner": "cpp",
+                    "fileLocation": [
+                        "relative",
+                        "${workspaceFolder}"
+                    ],
+                    "pattern": {
+                        "regexp": "^\\.\\.(.*):(\\d+):(\\d+):\\s+(warning|error):\\s+(.*)$",
+                        "file": 1,
+                        "line": 2,
+                        "column": 3,
+                        "severity": 4,
+                        "message": 5
+                    }
+                },
+                {
+                    "owner": "cpp",
+                    "fileLocation": "absolute",
+                    "pattern": {
+                        "regexp": "^[^\\.](.*):(\\d+):(\\d+):\\s+(warning|error):\\s+(.*)$",
+                        "file": 1,
+                        "line": 2,
+                        "column": 3,
+                        "severity": 4,
+                        "message": 5
+                    }
+                }
+            ]
+        },
+        {
+            "label": "Flash - Flash the device",
+            "type": "shell",
+            "command": "${config:idf.pythonBinPath} ${config:idf.espIdfPath}/tools/idf.py -p ${config:idf.port} -b ${config:idf.flashBaudRate} flash",
+            "windows": {
+                "command": "${config:idf.pythonBinPathWin} ${config:idf.espIdfPathWin}\\tools\\idf.py flash -p ${config:idf.portWin} -b ${config:idf.flashBaudRate}",
+                "options": {
+                    "env": {
+                        "PATH": "${env:PATH};${config:idf.customExtraPaths}"
+                    }
+                }
+            },
+            "options": {
+                "env": {
+                    "PATH": "${env:PATH}:${config:idf.customExtraPaths}"
+                }
+            },
+            "problemMatcher": [
+                {
+                    "owner": "cpp",
+                    "fileLocation": [
+                        "relative",
+                        "${workspaceFolder}"
+                    ],
+                    "pattern": {
+                        "regexp": "^\\.\\.(.*):(\\d+):(\\d+):\\s+(warning|error):\\s+(.*)$",
+                        "file": 1,
+                        "line": 2,
+                        "column": 3,
+                        "severity": 4,
+                        "message": 5
+                    }
+                },
+                {
+                    "owner": "cpp",
+                    "fileLocation": "absolute",
+                    "pattern": {
+                        "regexp": "^[^\\.](.*):(\\d+):(\\d+):\\s+(warning|error):\\s+(.*)$",
+                        "file": 1,
+                        "line": 2,
+                        "column": 3,
+                        "severity": 4,
+                        "message": 5
+                    }
+                }
+            ]
+        },
+        {
+            "label": "Monitor: Start the monitor",
+            "type": "shell",
+            "command": "${config:idf.pythonBinPath} ${config:idf.espIdfPath}/tools/idf.py -p ${config:idf.port} monitor",
+            "windows": {
+                "command": "${config:idf.pythonBinPathWin} ${config:idf.espIdfPathWin}\\tools\\idf.py -p ${config:idf.portWin} monitor",
+                "options": {
+                    "env": {
+                        "PATH": "${env:PATH};${config:idf.customExtraPaths}"
+                    }
+                }
+            },
+            "options": {
+                "env": {
+                    "PATH": "${env:PATH}:${config:idf.customExtraPaths}"
+                }
+            },
+            "problemMatcher": [
+                {
+                    "owner": "cpp",
+                    "fileLocation": [
+                        "relative",
+                        "${workspaceFolder}"
+                    ],
+                    "pattern": {
+                        "regexp": "^\\.\\.(.*):(\\d+):(\\d+):\\s+(warning|error):\\s+(.*)$",
+                        "file": 1,
+                        "line": 2,
+                        "column": 3,
+                        "severity": 4,
+                        "message": 5
+                    }
+                },
+                {
+                    "owner": "cpp",
+                    "fileLocation": "absolute",
+                    "pattern": {
+                        "regexp": "^[^\\.](.*):(\\d+):(\\d+):\\s+(warning|error):\\s+(.*)$",
+                        "file": 1,
+                        "line": 2,
+                        "column": 3,
+                        "severity": 4,
+                        "message": 5
+                    }
+                }
+            ],
+            "dependsOn": "Flash - Flash the device"
+        },
+        {
+            "label": "OpenOCD: Start openOCD",
+            "type": "shell",
+            "presentation": {
+                "echo": true,
+                "reveal": "never",
+                "focus": false,
+                "panel": "new"
+            },
+            "command": "openocd -s ${command:espIdf.getOpenOcdScriptValue} ${command:espIdf.getOpenOcdConfigs}",
+            "windows": {
+                "command": "openocd.exe -s ${command:espIdf.getOpenOcdScriptValue} ${command:espIdf.getOpenOcdConfigs}",
+                "options": {
+                    "env": {
+                        "PATH": "${env:PATH};${config:idf.customExtraPaths}"
+                    }
+                }
+            },
+            "options": {
+                "env": {
+                    "PATH": "${env:PATH}:${config:idf.customExtraPaths}"
+                }
+            },
+            "problemMatcher": {
+                "owner": "cpp",
+                "fileLocation": "absolute",
+                "pattern": {
+                    "regexp": "^(.*):(\\d+):(\\d+):\\s+(warning|error):\\s+(.*)$",
+                    "file": 1,
+                    "line": 2,
+                    "column": 3,
+                    "severity": 4,
+                    "message": 5
+                }
+            }
+        },
+        {
+            "label": "adapter",
+            "type": "shell",
+            "command": "${config:idf.pythonBinPath}",
+            "isBackground": true,
+            "options": {
+                "env": {
+                    "PATH": "${env:PATH}:${config:idf.customExtraPaths}",
+                    "PYTHONPATH": "${command:espIdf.getExtensionPath}/esp_debug_adapter/debug_adapter"
+                }
+            },
+            "problemMatcher": {
+                "background": {
+                    "beginsPattern": "\bDEBUG_ADAPTER_STARTED\b",
+                    "endsPattern": "DEBUG_ADAPTER_READY2CONNECT",
+                    "activeOnStart": true
+                },
+                "pattern": {
+                    "regexp": "(\\d+)-(\\d+)-(\\d+)\\s(\\d+):(\\d+):(\\d+),(\\d+)\\s-(.+)\\s(ERROR)",
+                    "file": 8,
+                    "line": 2,
+                    "column": 3,
+                    "severity": 4,
+                    "message": 9
+                }
+            },
+            "args": [
+                "${command:espIdf.getExtensionPath}/esp_debug_adapter/debug_adapter_main.py",
+                "-e",
+                "${workspaceFolder}/build/${command:espIdf.getProjectName}.elf",
+                "-s",
+                "${command:espIdf.getOpenOcdScriptValue}",
+                "-ip",
+                "localhost",
+                "-dn",
+                "${config:idf.adapterTargetName}",
+                "-om",
+                "connect_to_instance"
+            ],
+            "windows": {
+                "command": "${config:idf.pythonBinPathWin}",
+                "options": {
+                    "env": {
+                        "PATH": "${env:PATH};${config:idf.customExtraPaths}",
+                        "PYTHONPATH": "${command:espIdf.getExtensionPath}/esp_debug_adapter/debug_adapter"
+                    }
+                }
+            }
+        }
+    ]
+}
\ No newline at end of file

bsp/ESP32_C3/0001-add-fixed-of-rtthread.patch

+From 8c8c4bd282ed5bf359ef1c0eaeace4c4fbe8ff52 Mon Sep 17 00:00:00 2001
+From: supperthomas <78900636@qq.com>
+Date: Mon, 18 Apr 2022 22:59:02 +0800
+Subject: [PATCH] add fixed of rtthread
+
+---
+ .../esp_system/ld/esp32c3/sections.ld.in      |  19 ++
+ components/freertos/port/port_common.c        |  11 +-
+ components/freertos/port/port_systick.c       |  56 ++---
+ components/riscv/vectors.S                    | 236 +++++++++++++++---
+ 4 files changed, 254 insertions(+), 68 deletions(-)
+
+diff --git a/components/esp_system/ld/esp32c3/sections.ld.in b/components/esp_system/ld/esp32c3/sections.ld.in
+index 0ebeda06c1..10506d38a3 100644
+--- a/components/esp_system/ld/esp32c3/sections.ld.in
++++ b/components/esp_system/ld/esp32c3/sections.ld.in
+@@ -183,6 +183,25 @@ SECTIONS
+     _noinit_end = ABSOLUTE(.);
+   } > dram0_0_seg
+ 
++  .stack_dummy (COPY):
++  {
++      . = ALIGN(8);
++       __STACKSIZE__ = 40960; 
++      __stack_start__ = .;
++      *(.stack*)
++      . += __STACKSIZE__;
++      __stack_cpu0 = .;
++      __stack_end__ = .;
++  } > dram0_0_seg
++
++  .stack_dummy (COPY):
++  {
++      . = ALIGN(8);
++       __HEAPSIZE__ = 40960; 
++      __heap_start__ = .;
++      . += __STACKSIZE__;
++      __heap_end__ = .;
++  } > dram0_0_seg
+   /* Shared RAM */
+   .dram0.bss (NOLOAD) :
+   {
+diff --git a/components/freertos/port/port_common.c b/components/freertos/port/port_common.c
+index ffca3d5429..dd3cc46f16 100644
+--- a/components/freertos/port/port_common.c
++++ b/components/freertos/port/port_common.c
+@@ -74,11 +74,12 @@ void esp_startup_start_app_common(void)
+     esp_gdbstub_init();
+ #endif // CONFIG_ESP_SYSTEM_GDBSTUB_RUNTIME
+ 
+-    portBASE_TYPE res = xTaskCreatePinnedToCore(&main_task, "main",
+-                                                ESP_TASK_MAIN_STACK, NULL,
+-                                                ESP_TASK_MAIN_PRIO, NULL, ESP_TASK_MAIN_CORE);
+-    assert(res == pdTRUE);
+-    (void)res;
++    // portBASE_TYPE res = xTaskCreatePinnedToCore(&main_task, "main",
++    //                                             ESP_TASK_MAIN_STACK, NULL,
++    //                                             ESP_TASK_MAIN_PRIO, NULL, ESP_TASK_MAIN_CORE);
++    ///assert(res == pdTRUE);
++    app_main();
++    //(void)res;
+ }
+ 
+ static void main_task(void* args)
+diff --git a/components/freertos/port/port_systick.c b/components/freertos/port/port_systick.c
+index 0c14a155a1..cf525f9383 100644
+--- a/components/freertos/port/port_systick.c
++++ b/components/freertos/port/port_systick.c
+@@ -116,34 +116,34 @@ void vPortSetupTimer(void)
+  */
+ IRAM_ATTR void SysTickIsrHandler(void *arg)
+ {
+-    uint32_t cpuid = xPortGetCoreID();
+-    systimer_hal_context_t *systimer_hal = (systimer_hal_context_t *)arg;
+-#ifdef CONFIG_PM_TRACE
+-    ESP_PM_TRACE_ENTER(TICK, cpuid);
+-#endif
+-
+-    uint32_t alarm_id = SYSTIMER_LL_ALARM_OS_TICK_CORE0 + cpuid;
+-    do {
+-        systimer_ll_clear_alarm_int(systimer_hal->dev, alarm_id);
+-
+-        uint32_t diff = systimer_hal_get_counter_value(systimer_hal, SYSTIMER_LL_COUNTER_OS_TICK) / systimer_ll_get_alarm_period(systimer_hal->dev, alarm_id) - s_handled_systicks[cpuid];
+-        if (diff > 0) {
+-            if (s_handled_systicks[cpuid] == 0) {
+-                s_handled_systicks[cpuid] = diff;
+-                diff = 1;
+-            } else {
+-                s_handled_systicks[cpuid] += diff;
+-            }
+-
+-            do {
+-                xPortSysTickHandler();
+-            } while (--diff);
+-        }
+-    } while (systimer_ll_is_alarm_int_fired(systimer_hal->dev, alarm_id));
+-
+-#ifdef CONFIG_PM_TRACE
+-    ESP_PM_TRACE_EXIT(TICK, cpuid);
+-#endif
++//     uint32_t cpuid = xPortGetCoreID();
++//     systimer_hal_context_t *systimer_hal = (systimer_hal_context_t *)arg;
++// #ifdef CONFIG_PM_TRACE
++//     ESP_PM_TRACE_ENTER(TICK, cpuid);
++// #endif
++
++//     uint32_t alarm_id = SYSTIMER_LL_ALARM_OS_TICK_CORE0 + cpuid;
++//     do {
++//         systimer_ll_clear_alarm_int(systimer_hal->dev, alarm_id);
++
++//         uint32_t diff = systimer_hal_get_counter_value(systimer_hal, SYSTIMER_LL_COUNTER_OS_TICK) / systimer_ll_get_alarm_period(systimer_hal->dev, alarm_id) - s_handled_systicks[cpuid];
++//         if (diff > 0) {
++//             if (s_handled_systicks[cpuid] == 0) {
++//                 s_handled_systicks[cpuid] = diff;
++//                 diff = 1;
++//             } else {
++//                 s_handled_systicks[cpuid] += diff;
++//             }
++
++//             do {
++//                 xPortSysTickHandler();
++//             } while (--diff);
++//         }
++//     } while (systimer_ll_is_alarm_int_fired(systimer_hal->dev, alarm_id));
++
++// #ifdef CONFIG_PM_TRACE
++//     ESP_PM_TRACE_EXIT(TICK, cpuid);
++// #endif
+ }
+ 
+ #endif // CONFIG_FREERTOS_SYSTICK_USES_CCOUNT
+diff --git a/components/riscv/vectors.S b/components/riscv/vectors.S
+index 1006d5bea5..91bb4aa39e 100644
+--- a/components/riscv/vectors.S
++++ b/components/riscv/vectors.S
+@@ -17,6 +17,9 @@
+ #include "soc/soc_caps.h"
+ #include "sdkconfig.h"
+ 
++#define STORE                   sw
++#define LOAD                    lw
++#define REGBYTES                4
+ 
+ 	.equ SAVE_REGS, 32
+ 	.equ CONTEXT_SIZE, (SAVE_REGS * 4)
+@@ -218,25 +221,25 @@ _call_panic_handler:
+ 	 */
+ 	.global _interrupt_handler
+ 	.type _interrupt_handler, @function
+-_interrupt_handler:
++_interrupt_handler1:
+ 	/* entry */
+-	save_regs
+-	save_mepc
++	save_regs   /* 保存寄存器 */
++	save_mepc   /* 保存MEPC */
+ 
+ 	/* Before doing anythig preserve the stack pointer */
+ 	/* It will be saved in current TCB, if needed */
+-	mv a0, sp
++	mv a0, sp            /* 保存SP  a0 = sp */
+ 	call rtos_int_enter
+ 
+ 	/* Before dispatch c handler, restore interrupt to enable nested intr */
+-	csrr s1, mcause
+-	csrr s2, mstatus
++	csrr s1, mcause    /* 保存mcause s1 = mcause */
++	csrr s2, mstatus  /* 保存mstatus  s2 = mstatus */
+ 
+-	/* Save the interrupt threshold level */
+-	la t0, INTERRUPT_CORE0_CPU_INT_THRESH_REG
+-	lw s3, 0(t0)
++	/* Save the interrupt threshold level 保存中断嵌套层数? */
++	la t0, INTERRUPT_CORE0_CPU_INT_THRESH_REG  /* 保存mstatus  t0 = &INTERRUPT_CORE0_CPU_INT_THRESH_REG */
++	lw s3, 0(t0)    /*   s3 = mstatus */
+ 
+-	/* Increase interrupt threshold level */
++	/* Increase interrupt threshold level 增加中断嵌套层数*/
+ 	li t2, 0x7fffffff
+ 	and t1, s1, t2		/* t1 = mcause & mask */
+ 	slli t1, t1, 2 		/* t1 = mcause * 4 */
+@@ -247,56 +250,219 @@ _interrupt_handler:
+ 	sw t2, 0(t0)		/* INTERRUPT_CORE0_CPU_INT_THRESH_REG = t2 */
+ 	fence
+ 
+-	li t0, 0x8
+-	csrrs t0, mstatus, t0
+-
+-	#ifdef CONFIG_PM_TRACE
+-	li      a0, 0       /* = ESP_PM_TRACE_IDLE */
+-	#if SOC_CPU_CORES_NUM == 1
+-	li      a1, 0       /* No need to check core ID on single core hardware */
+-	#else
+-	csrr    a1, mhartid
+-	#endif
+-	la      t0, esp_pm_trace_exit
+-	jalr    t0          /* absolute jump, avoid the 1 MiB range constraint */
+-	#endif
++	li t0, 0x8   /* t0 = 8 */
++	csrrs t0, mstatus, t0    /*设置状态MIE寄存器，开总中断*/
+ 
+-	#ifdef CONFIG_PM_ENABLE
+-	la      t0, esp_pm_impl_isr_hook
+-	jalr    t0          /* absolute jump, avoid the 1 MiB range constraint */
+-	#endif
+ 
+ 	/* call the C dispatcher */
+ 	mv      a0, sp      /* argument 1, stack pointer */
+ 	mv      a1, s1      /* argument 2, interrupt number (mcause) */
+-	/* mask off the interrupt flag of mcause */
++	/* mask off the interrupt flag of mcause   屏幕异常中断*/
+ 	li	    t0, 0x7fffffff
+ 	and     a1, a1, t0
+ 	jal     _global_interrupt_handler
+ 
+-	/* After dispatch c handler, disable interrupt to make freertos make context switch */
++	/* After dispatch c handler, disable interrupt to make freertos make context switch 
++	在调用c函数之后，disable 中断让freertos能够做内容切换
++	*/
+ 
+ 	li t0, 0x8
+-	csrrc t0, mstatus, t0
++	csrrc t0, mstatus, t0  /*清状态MIE寄存器 关总中断*/
+ 
+-	/* restore the interrupt threshold level */
++
++	/* restore the interrupt threshold level  中断嵌套 */
+ 	la t0, INTERRUPT_CORE0_CPU_INT_THRESH_REG
+ 	sw s3, 0(t0)
+ 	fence
+ 
+ 	/* Yield to the next task is needed: */
+-	mv a0, sp
++	mv a0, sp     /* a0 = sp*/
+ 	call rtos_int_exit
+ 
+ 	/* The next (or current) stack pointer is returned in a0 */
+-	mv sp, a0
++	mv sp, a0    /* sp = a0*/
+ 
+ 	/* restore the rest of the registers */
+-	csrw mcause, s1
+-	csrw mstatus, s2
++	csrw mcause, s1  /* mcause = s1 */
++	csrw mstatus, s2   /* mstatus = s2 */
+ 	restore_mepc
+ 	restore_regs
+ 
+ 	/* exit, this will also re-enable the interrupts */
+ 	mret
++	.size  _interrupt_handler1, .-_interrupt_handler1
++
++
++
++_interrupt_handler:
++    /* 此时CPU的sp = from_thread->sp */
++    /* 注意： 在这里，并没有将mepc的值赋值为from_thread栈中的epc，但后面会赋值 */
++    addi sp, sp, -32 * REGBYTES             /* sp = sp - 32 * 4 栈指针向下偏移32个寄存器长度，用来将CPU的寄存器保存到from_thread的栈中*/
++    STORE x1,   1 * REGBYTES(sp)            /* 将CPU的x1寄存器，即ra寄存器，保存到from_thread->栈中 */
++
++    li    t0,   0x80                        /* t0 = 0x80 */
++    STORE t0,   2 * REGBYTES(sp)            /* mstatus = t0, 即关闭全局中断 */
++
++    /* 将 CPU 的其他寄存器的值，保存到from_thread的任务栈中 */
++    STORE x4,   4 * REGBYTES(sp)
++    STORE x5,   5 * REGBYTES(sp)
++    STORE x6,   6 * REGBYTES(sp)
++    STORE x7,   7 * REGBYTES(sp)
++    STORE x8,   8 * REGBYTES(sp)
++    STORE x9,   9 * REGBYTES(sp)
++    STORE x10, 10 * REGBYTES(sp)
++    STORE x11, 11 * REGBYTES(sp)
++    STORE x12, 12 * REGBYTES(sp)
++    STORE x13, 13 * REGBYTES(sp)
++    STORE x14, 14 * REGBYTES(sp)
++    STORE x15, 15 * REGBYTES(sp)
++    STORE x16, 16 * REGBYTES(sp)
++    STORE x17, 17 * REGBYTES(sp)
++    STORE x18, 18 * REGBYTES(sp)
++    STORE x19, 19 * REGBYTES(sp)
++    STORE x20, 20 * REGBYTES(sp)
++    STORE x21, 21 * REGBYTES(sp)
++    STORE x22, 22 * REGBYTES(sp)
++    STORE x23, 23 * REGBYTES(sp)
++    STORE x24, 24 * REGBYTES(sp)
++    STORE x25, 25 * REGBYTES(sp)
++    STORE x26, 26 * REGBYTES(sp)
++    STORE x27, 27 * REGBYTES(sp)
++    STORE x28, 28 * REGBYTES(sp)
++    STORE x29, 29 * REGBYTES(sp)
++    STORE x30, 30 * REGBYTES(sp)
++    STORE x31, 31 * REGBYTES(sp)
++
++    /* 备份 CPU 的 sp (这时，CPU的sp其实就是from thread的sp指针) 寄存器的值到 s0 寄存器中，下面会使用s0，恢复 CPU 的寄存器 */
++    move  s0, sp    /* s0 = sp */
++
++    /* 在中断函数中，中断函数中调用的C函数，需要使用 sp， 这里，在中断函数中，使用的 sp 为，系统的栈资源 */
++    /* switch to interrupt stack */
++    la    sp, __stack_end__   /* sp = _sp */
++
++    /* interrupt handle */
++    /* 注意： 在调用C函数之前,比如sp的值为0x30001000, 在执行完C函数后，sp的值还是会变成 0x30001000 */
++    call  rt_interrupt_enter    /* 执行所有的中断函数前，调用该函数 */
++
++    csrr s1, mcause
++	csrr s2, mstatus
++
++    /* Save the interrupt threshold level */
++	la t0, INTERRUPT_CORE0_CPU_INT_THRESH_REG
++	lw s3, 0(t0)
++
++    li t2, 0x7fffffff
++	and t1, s1, t2		/* t1 = mcause & mask */
++	slli t1, t1, 2 		/* t1 = mcause * 4 */
++	la t2, INTC_INT_PRIO_REG(0)
++	add t1, t2, t1		/* t1 = INTC_INT_PRIO_REG + 4 * mcause */
++	lw t2, 0(t1)		/* t2 = INTC_INT_PRIO_REG[mcause] */
++	addi t2, t2, 1		/* t2 = t2 +1 */
++	sw t2, 0(t0)		/* INTERRUPT_CORE0_CPU_INT_THRESH_REG = t2 */
++	fence
++
++    li t0, 0x8
++	csrrs t0, mstatus, t0
++
++    /* call the C dispatcher */
++	mv      a0, sp      /* argument 1, stack pointer */
++	mv      a1, s1      /* argument 2, interrupt number (mcause) */
++	/* mask off the interrupt flag of mcause */
++	li	    t0, 0x7fffffff
++	and     a1, a1, t0
++	jal     _global_interrupt_handler
++
++    li t0, 0x8
++	csrrc t0, mstatus, t0
++
++	/* restore the interrupt threshold level */
++	la t0, INTERRUPT_CORE0_CPU_INT_THRESH_REG
++	sw s3, 0(t0)
++	fence
++
++    call  rt_interrupt_leave    /* 执行所有的中断函数后，调用该函数 */
++
++    /* 上面，将保存执行中断服务函数之前的CPU的sp寄存器到了s0所指向的位置处，当执行完中断服务函数，需要将之前的CPU寄存器，恢复一下,此时sp又变成了from thread的sp了 */
++    move  sp, s0    /* sp = s0 */
++
++    /* 下面两句话，相当于将 rt_thread_switch_interrupt_flag 值，赋值给了s2  */
++    /* 将 rt_thread_switch_interrupt_flag 的地址值，赋值给 s0 寄存器*/
++    la    s0, rt_thread_switch_interrupt_flag       /* s0 = &rt_thread_switch_interrupt_flag */
++    /* 将 s0 所指向的地址处的内容，取出来，赋值给 s2 寄存器，其实就是将  rt_thread_switch_interrupt_flag 的值，赋值给了 s2 寄存器*/
++    lw    s2, 0(s0)                 /* s2 = *s0 = rt_thread_switch_interrupt_flag */
++
++    /* 如果 s2的值，即 rt_thread_switch_interrupt_flag 值，如果不为0，则需要继续执行下一条指令，如果为0，则需要跳转到 spurious_interrupt 标号处 执行 */
++    /* 如果 s2的值等于0，rt_thread_switch_interrupt_flag等于0， 则不需要在中断处理函数中，进行上下文切换，反之则需要 */
++    /* 如果不需要上下文切换， */
++
++    /* 在这里，跳转到 spurious_interrupt的话，是不会进行上下文切换的，因为，此时CPU的sp指针还是from线程的*/
++    beqz  s2, spurious_interrupt    /* if (s2 == 0) goto spurious_interrupt; else 执行下一条语句*/
++
++    /* 需要上下文切换： 主要目的是将CPU的sp指针，赋值为to_thread的sp */
++    
++    /* 将 s0 所执向的地址的内容设置为0， 也就是，将变量 rt_thread_switch_interrupt_flag 赋值为了 0 */
++    /* s0存放的值是 rt_thread_switch_interrupt_flag 变量的地址*/
++    sw    zero, 0(s0)       /* *s0 = 0; 也就是 rt_thread_switch_interrupt_flag = 0 */
++    /* 将 mepc 的值，赋值给 a0 寄存器，mepc 的值是，跳转到中断函数执行之前的 PC 指针 */
++    /* 这时的mpec其实，还是from线程，在跳转到中断执行前的一个PC地址 */
++    csrr  a0, mepc  /* a0 = mepc */
++
++    /* 将 mpec 的值写回到freom thread任务栈中的 epc 中,待后续，恢复from线程时，使用 */
++    STORE a0, 0 * REGBYTES(sp)  /* from_thread->sp->epc = a0 ，中断入口处*/
++
++    /* 将from_thread的sp指针，赋值为CPU的sp指针 */
++    la    s0, rt_interrupt_from_thread  /* s0 = &rt_interrupt_from_thread 注意： rt_interrupt_from_thread = &(from_thread->sp) */
++    LOAD  s1, 0(s0)                     /* s1 = rt_interrupt_from_thread，也就是s1 = &(from_thread->sp) */
++    STORE sp, 0(s1)                     /* from_thread->sp = sp*/
++   
++    /* 接下来，需要开始恢复CPU的sp为to_thread的sp了 */
++    la    s0, rt_interrupt_to_thread    /* s0 = &rt_interrupt_to_thread 注意： rt_interrupt_to_thread = &(to_thred->sp)*/
++    LOAD  s1, 0(s0)                     /* s1 = rt_interrupt_to_thread, 也就是s1 = &(to_thred->sp) */
++    LOAD  sp, 0(s1)                     /* sp = (to_thred->sp)*/
++
++    /* 将CPU的 mepc设置为to_thred的mepc，待中断退出，执行mret指令后，将从该地址开始执行 */
++    LOAD  a0,  0 * REGBYTES(sp)         /* a0 = to_thread的mepc的值*/
++    csrw  mepc, a0                      /* mepc = a0 */
++
++
++spurious_interrupt:
++    LOAD  x1,   1 * REGBYTES(sp)
++
++    /* Remain in M-mode after mret */
++    li    t0, 0x00001800
++    csrs  mstatus, t0
++    LOAD  t0,   2 * REGBYTES(sp)
++    csrs  mstatus, t0
++
++    LOAD  x4,   4 * REGBYTES(sp)
++    LOAD  x5,   5 * REGBYTES(sp)
++    LOAD  x6,   6 * REGBYTES(sp)
++    LOAD  x7,   7 * REGBYTES(sp)
++    LOAD  x8,   8 * REGBYTES(sp)
++    LOAD  x9,   9 * REGBYTES(sp)
++    LOAD  x10, 10 * REGBYTES(sp)
++    LOAD  x11, 11 * REGBYTES(sp)
++    LOAD  x12, 12 * REGBYTES(sp)
++    LOAD  x13, 13 * REGBYTES(sp)
++    LOAD  x14, 14 * REGBYTES(sp)
++    LOAD  x15, 15 * REGBYTES(sp)
++    LOAD  x16, 16 * REGBYTES(sp)
++    LOAD  x17, 17 * REGBYTES(sp)
++    LOAD  x18, 18 * REGBYTES(sp)
++    LOAD  x19, 19 * REGBYTES(sp)
++    LOAD  x20, 20 * REGBYTES(sp)
++    LOAD  x21, 21 * REGBYTES(sp)
++    LOAD  x22, 22 * REGBYTES(sp)
++    LOAD  x23, 23 * REGBYTES(sp)
++    LOAD  x24, 24 * REGBYTES(sp)
++    LOAD  x25, 25 * REGBYTES(sp)
++    LOAD  x26, 26 * REGBYTES(sp)
++    LOAD  x27, 27 * REGBYTES(sp)
++    LOAD  x28, 28 * REGBYTES(sp)
++    LOAD  x29, 29 * REGBYTES(sp)
++    LOAD  x30, 30 * REGBYTES(sp)
++    LOAD  x31, 31 * REGBYTES(sp)
++
++    addi  sp, sp, 32 * REGBYTES
++    mret
+ 	.size  _interrupt_handler, .-_interrupt_handler
+-- 
+2.35.1.windows.2
+

bsp/ESP32_C3/CMakeLists.txt

+# The following lines of boilerplate have to be in your project's
+# CMakeLists in this exact order for cmake to work correctly
+cmake_minimum_required(VERSION 3.5)
+
+include($ENV{IDF_PATH}/tools/cmake/project.cmake)
+project(rtthread)

bsp/ESP32_C3/Makefile

+#
+# This is a project Makefile. It is assumed the directory this Makefile resides in is a
+# project subdirectory.
+#
+
+PROJECT_NAME := rtthread
+
+include $(IDF_PATH)/make/project.mk

bsp/ESP32_C3/README.md

+
+# ESP32-C3 BSP 说明
+
+## 简介
+
+本文档为 乐鑫ESP32-C3 开发板的[ESP32C3](http://luatos.com/t/esp32c3) BSP (板级支持包) 说明。
+
+主要内容如下：
+
+- 开发板资源介绍
+- BSP 快速上手
+
+通过阅读快速上手章节开发者可以快速地上手该 BSP，将 RT-Thread 运行在开发板上。
+
+## 开发板介绍
+
+目前测试了两款开发板，运行都正常，由于两款开发板LED小灯引脚不同，请根据自己开发板修改GPIO引脚，目前默认使用的开发板是LUATOS_ESP32C3。已测开发板外观如下图所示：
+
+- [LUATOS_ESP32C3](https://wiki.luatos.com/chips/esp32c3/board.html)
+
+![LUATOS_ESP32C3](images/luatos_esp32c3.png)
+
+- [HX-DK-商](https://docs.wireless-tech.cn/doc/7/)
+
+![hongxu](images/hx_shang.png)
+
+
+
+该LUATOS_ESP32C3开发板常用 **板载资源** 如下：
+
+- MCU：[esp32-c3](https://www.espressif.com/sites/default/files/documentation/esp32-c3_datasheet_en.pdf)，主频  160MHz， 407.22 CoreMark; 2.55  CoreMark/MHz
+- 芯片内置：384KB ROM,  400KB SRAM,
+- 常用外设
+  - 红色LED：2个，D4 (IO12), D5（IO13）
+  - 按键：2个，K1（BOOT） K2(RST)
+  - SPI FLASH: 2M 
+- 常用接口：USB UART等
+
+开发板更多详细信息请参考 [ESP32-C3开发板介绍](https://wiki.luatos.com/chips/esp32c3/board.html)。
+
+## 外设支持
+
+本 BSP 目前对外设的支持情况如下：
+
+| **片上外设**      | **支持情况** | **备注**                              |
+| :----------------- | :----------: | :------------------------------------- |
+| GPIO              |     待支持     |  |
+| UART              |     待支持     |                                 |
+
+## 使用说明
+
+### 快速上手
+
+说先要搭建IDE开发环境，乐鑫官方推荐使用IDF开发。
+
+IDF的搭建方法有很多种，尝试了很多种方法之后，总结了一个最快速的方法，并且可以使用vscode跨平台安装，非常简单方便，具体方法见链接[ESP-IDF 一键式搭建环境基于VSCODE](https://blog.csdn.net/lt6210925/article/details/123699249)。 安装的时候IDF版本请选择IDF 4.4版本。如果你对官方IDF命令行的方式熟悉的话，你也可以使用命令行的方式，这边已经测试过，是可以使用的。
+
+### IDF patch加载
+
+由于IDF使用的是FREERTOS需要修改一些文件，将`0001-add-fixed-of-rtthread.patch` 这个文件拷贝到安装的时候的IDF的代码目录，执行命令 `git apply 0001-add-fixed-of-rtthread.patch` 打上patch
+
+#### 编译下载
+
+编译选择最下面的按钮：
+
+![build](images/build.png)
+
+这边通常采用串口下载，需要根据你自己开发板选择对应的串口（如果有JTAG的，也可以用JTAG下载和调试）
+
+![burn](images/burn.png)
+
+#### 运行结果
+
+下载程序成功之后，系统会运行，红色的 D4以 1S 周期闪烁。
+刚接触ESP32, 目前仅实现LED小灯闪烁，可以print打印，后续计划将pin设备和console对接上去，也欢迎大家一起来贡献，感兴趣的可以通过公众号`Thomas的小火车`来联系
+
+## 注意事项
+
+- 目前RTTHREAD支持起来了，后续会需要继续完善一些其他功能，刚开始使用ESP32，欢迎小伙伴一起来讨论和贡献。
+
+## 联系人信息
+
+维护人:
+
+-  [supperthomas](https://github.com/supperthomas) 邮箱：<78900636@qq.com>
+
+## 特别感谢
+
+- 感谢[chenyingchun0312](https://github.com/chenyingchun0312) 提供了RISCV的强力支持

bsp/ESP32_C3/main/CMakeLists.txt

+idf_component_register(SRCS "main.c"
+                    "../../../libcpu/risc-v/common/cpuport.c"
+                    "../../../libcpu/risc-v/common/context_gcc.S"
+                    "../../../src/components.c"
+                    "../../../src/scheduler.c"
+                    "../../../src/device.c"
+                    "../../../src/clock.c"
+                    "../../../src/irq.c"
+                    "../../../src/thread.c"
+                    "../../../src/mempool.c"
+                    "../../../src/ipc.c"
+                    "../../../src/mem.c"
+                    "../../../src/object.c"
+                    "../../../src/idle.c"
+                    "../../../src/timer.c"
+                    "../../../src/kservice.c"
+                    INCLUDE_DIRS 
+                    "../../../include" 
+                    "../../../libcpu/risc-v/common" 
+                    "../")
+ADD_DEFINITIONS(
+	-D__RTTHREAD__
+)
\ No newline at end of file

bsp/ESP32_C3/main/main.c

+/*
+ * Copyright (c) 2021-2021, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ * 2022-04-24     supperthomas first version
+ */
+#include <stdio.h>
+#include "driver/gpio.h"
+
+
+#include "esp_private/panic_internal.h"
+#include "hal/uart_hal.h"
+#include "driver/timer.h"
+#include "soc/periph_defs.h"
+#include "hal/systimer_hal.h"
+#include "hal/systimer_ll.h"
+#include "esp_intr_alloc.h"
+
+#include "rtthread.h"
+#include "rthw.h"
+
+
+void main_thread_entry(void *parameter)
+{
+#define BLINK_GPIO 12
+    gpio_reset_pin(BLINK_GPIO);
+    gpio_set_direction(BLINK_GPIO, GPIO_MODE_OUTPUT);
+    while (1)
+    {
+        gpio_set_level(BLINK_GPIO, 1);
+        rt_thread_mdelay(1000);
+        gpio_set_level(BLINK_GPIO, 0);
+        rt_thread_mdelay(1000);
+    }
+}
+void rt_application_init(void)
+{
+    rt_thread_t tid;
+
+#define RT_MAIN_THREAD_STACK_SIZE 2048
+#define RT_MAIN_THREAD_PRIORITY 10
+
+    tid = rt_thread_create("main", main_thread_entry, RT_NULL,
+                           RT_MAIN_THREAD_STACK_SIZE, RT_MAIN_THREAD_PRIORITY, 20);
+    RT_ASSERT(tid != RT_NULL);
+
+    rt_thread_startup(tid);
+}
+
+//component
+static uint32_t uwTick = 0;
+static systimer_hal_context_t systimer_hal;
+IRAM_ATTR void rt_SysTickIsrHandler(void *arg)
+{
+    systimer_ll_clear_alarm_int(systimer_hal.dev, 1);
+    rt_interrupt_enter();
+
+    rt_tick_increase();
+    uwTick++;
+    /* leave interrupt */
+    rt_interrupt_leave();
+    systimer_ll_is_alarm_int_fired(systimer_hal.dev, 1);
+}
+void rt_hw_systick_init(void)
+{
+    uint8_t system_timer_counter=1;
+
+    //rt_hw_interrupt_enable(0);
+    esp_intr_alloc(ETS_SYSTIMER_TARGET1_EDGE_INTR_SOURCE, ESP_INTR_FLAG_IRAM | ESP_INTR_FLAG_LEVEL1, rt_SysTickIsrHandler, &systimer_hal, NULL);
+    systimer_hal_init(&systimer_hal);
+    systimer_ll_set_counter_value(systimer_hal.dev, system_timer_counter, 0);
+    systimer_ll_apply_counter_value(systimer_hal.dev, system_timer_counter);
+    uint32_t alarm_id = 1 ;
+    systimer_hal_connect_alarm_counter(&systimer_hal, alarm_id, system_timer_counter);
+    systimer_hal_set_alarm_period(&systimer_hal, alarm_id, 1000000UL / 1000);
+    systimer_hal_select_alarm_mode(&systimer_hal, alarm_id, SYSTIMER_ALARM_MODE_PERIOD);
+    systimer_hal_counter_can_stall_by_cpu(&systimer_hal, 1, 0, true);
+    systimer_hal_enable_alarm_int(&systimer_hal, alarm_id);
+
+    systimer_hal_enable_counter(&systimer_hal, SYSTIMER_LL_COUNTER_OS_TICK);
+}
+void rt_hw_board_init(void)
+{
+    rt_hw_systick_init();
+
+    extern int __heap_start__;
+    extern int __heap_end__;
+    printf("%s:%d__heap_start__:%p,__heap_end__:%p\n",__func__,__LINE__,&__heap_start__,&__heap_end__);
+    rt_system_heap_init((void *)&__heap_start__, (void *)&__heap_end__);
+
+}
+
+static void rtthread_startup(void)
+{
+    rt_hw_interrupt_disable();
+    /* init board */
+    rt_hw_board_init();
+    /* show RT-Thread version */
+    rt_show_version();
+
+    /* timer system initialization */
+    rt_system_timer_init();
+
+    /* scheduler system initialization */
+    rt_system_scheduler_init();
+
+    /* create init_thread */
+    rt_application_init();
+
+    /* timer thread initialization */
+    rt_system_timer_thread_init();
+
+    /* idle thread initialization */
+    rt_thread_idle_init();
+
+    /* start scheduler */
+    rt_system_scheduler_start();
+    /* init scheduler system */
+
+    /* never reach here */
+    return ;
+}
+
+void app_main(void)
+{
+    /* startup RT-Thread RTOS */
+    rtthread_startup();
+    return;
+
+}

bsp/ESP32_C3/rtconfig.h

+#ifndef RT_CONFIG_H__
+#define RT_CONFIG_H__
+
+/* Automatically generated file; DO NOT EDIT. */
+/* RT-Thread Configuration */
+
+/* RT-Thread Kernel */
+
+#define RT_NAME_MAX 8
+#define RT_ALIGN_SIZE 4
+#define RT_THREAD_PRIORITY_32
+#define RT_THREAD_PRIORITY_MAX 32
+#define RT_TICK_PER_SECOND 1000
+#define IDLE_THREAD_STACK_SIZE 256
+
+/* kservice optimization */
+
+
+/* Inter-Thread communication */
+
+#define RT_USING_SEMAPHORE
+
+/* Memory Management */
+
+#define RT_USING_MEMPOOL
+#define RT_USING_SMALL_MEM
+#define RT_USING_SMALL_MEM_AS_HEAP
+#define RT_USING_HEAP
+
+/* Kernel Device Object */
+
+#define RT_VER_NUM 0x40004
+
+
+/* RT-Thread Components */
+
+/* C++ features */
+
+
+/* Command shell */
+
+
+/* Device virtual file system */
+
+
+/* Device Drivers */
+
+
+/* Using USB */
+
+
+/* POSIX layer and C standard library */
+
+
+/* Network */
+
+/* Socket abstraction layer */
+
+
+/* Network interface device */
+
+
+/* light weight TCP/IP stack */
+
+
+/* AT commands */
+
+
+/* VBUS(Virtual Software BUS) */
+
+
+/* Utilities */
+
+
+/* RT-Thread Utestcases */
+
+
+/* RT-Thread online packages */
+
+/* IoT - internet of things */
+
+
+/* Wi-Fi */
+
+/* Marvell WiFi */
+
+
+/* Wiced WiFi */
+
+
+/* IoT Cloud */
+
+
+/* security packages */
+
+
+/* language packages */
+
+/* JSON: JavaScript Object Notation, a lightweight data-interchange format */
+
+
+/* XML: Extensible Markup Language */
+
+
+/* multimedia packages */
+
+/* LVGL: powerful and easy-to-use embedded GUI library */
+
+
+/* u8g2: a monochrome graphic library */
+
+
+/* PainterEngine: A cross-platform graphics application framework written in C language */
+
+
+/* tools packages */
+
+
+/* system packages */
+
+/* enhanced kernel services */
+
+
+/* POSIX extension functions */
+
+
+/* acceleration: Assembly language or algorithmic acceleration packages */
+
+
+/* CMSIS: ARM Cortex-M Microcontroller Software Interface Standard */
+
+
+/* Micrium: Micrium software products porting for RT-Thread */
+
+
+/* peripheral libraries and drivers */
+
+
+/* AI packages */
+
+
+/* miscellaneous packages */
+
+/* project laboratory */
+
+/* samples: kernel and components samples */
+
+
+/* entertainment: terminal games and other interesting software packages */
+
+#endif