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Add cmake/riscv-none-elf-rv32imc.cmake targeting the xPack
riscv-none-elf-gcc toolchain with rv32imc_zicsr/ilp32 ABI for
bare-metal CORE-V MCU builds.
Update cmake/riscv32-unknown-elf-rv32imc.cmake to correctly target
rv32gc/ilp32d (matching riscv-collab riscv32-elf ABI) for QEMU
regression tests.
Update cmake/riscv64-gcc-rv32imc.cmake compat alias to include
the new riscv-none-elf-rv32imc.cmake.
Update CORE-V MCU example_build: build.sh exports xPack PATH,
install_deps.sh downloads xPack 15.2.0-1, README.md reflects new
toolchain name/path.
Co-authored-by: Copilot <[email protected]>
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Renamed cmake/riscv64-gcc-rv32imc.cmake to the accurate name
cmake/riscv32-unknown-elf-rv32imc.cmake and switch the compiler
from riscv64-unknown-elf-gcc to riscv32-unknown-elf-gcc.
The riscv-collab riscv64-elf toolchain has no rv32 multilib and
will fail to link soft-float and integer helpers (__clzsi2, __muldf3,
etc.) when building for -march=rv32imc_zicsr -mabi=ilp32. The
dedicated riscv32-unknown-elf-gcc (riscv-collab riscv32-elf release,
installed to /opt/riscv by scripts/install_riscv.sh) ships the correct
native rv32/ilp32 libgcc — analogous to arm-none-eabi-gcc for Cortex-M.
The old filename is kept as a two-line compatibility alias that includes
the new file, so any out-of-tree users who hardcode the old path still work.
Also update:
- core_v_mcu/build.sh: reference new cmake filename
- core_v_mcu/README.md: update prerequisites table and toolchain docs
Co-authored-by: Copilot <[email protected]>
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risc-v: refactor, consolidate, and fix RV32/RV64 ports
Consolidates the RISC-V 32-bit and 64-bit GNU/Clang port sources, fixes two
pre-existing assembly bugs discovered during testing, and hardens the build
infrastructure for both the regression suite and the CORE-V MCU example.
--- Port consolidation (RV32 GNU + Clang) ---
- Delete ports/risc-v32/clang/src/ (8 .S files had no Clang-specific
directives; diverged from GNU only due to missing bug fixes). The Clang
port CMakeLists.txt now compiles from ../gnu/src/.
- Change .global -> .weak for _tx_initialize_low_level in gnu/src/ to allow
BSP-level override without a linker conflict (adopted from Clang port).
- Create ports/risc-v32/common/tx_port_riscv32_common.h with all definitions
shared between GNU and Clang ports. Reduce both tx_port.h files to thin
wrappers.
- Add a prominent comment in risc-v64/gnu/inc/tx_port.h explaining why
LONG/ULONG are intentionally 32-bit on RV64 (ThreadX ABI requirement,
mirrors win64/MSVC LLP64).
--- Shared CMake helper ---
- Add cmake/threadx_riscv_port.cmake with threadx_add_riscv_port(). All
three port CMakeLists.txt files are reduced to ~8 lines each. Include path
is relative to CMAKE_CURRENT_LIST_DIR so the helper works whether ports
are built standalone or as a subdirectory of the test framework.
--- Shared example-build drivers ---
- Create canonical driver files under ports/risc-v_common/:
inc/csr.h (uintptr_t-based; portable RV32 + RV64)
example_build/plic/ (plic.c, plic.h)
example_build/uart/ (uart_qemu_ns16550.c/h; static inline putc_nolock)
example_build/trap/ (trap_qemu.c; XLEN-portable mcause constants)
- Replace per-example copies with symlinks in all qemu_virt and cva6_ariane
example directories.
- Fix OS_IS_INTERRUPT typo (was OS_IS_INTERUPT) in shared trap_qemu.c.
- Gate print_hex() behind TX_RISCV_TRAP_DEBUG.
--- Bug fixes in RV32 assembly ---
tx_thread_schedule.S:
- Solicited-return FP path: reload t0 from the mepc stack slot before
csrw mepc, t0. After the FP restore block, t0 held the fcsr value (0 for
new threads), which caused mepc = 0 and an immediate instruction-address
fault on the first context switch.
- Same path: reload t0 from the mstatus stack slot before csrw mstatus, t0
to avoid writing the stale fcsr value into mstatus.
tx_thread_system_return.S:
- FP callee-saved registers were saved unconditionally before the mstatus.FS
check, causing an illegal instruction trap (mcause=0x2) when a thread with
FS=Off (lazy FPU, thread has never used FP) voluntarily yielded.
- Apply the same FS guard pattern used in tx_thread_context_save.S: read
mstatus first, isolate FS[1:0], and skip fsw/fsd if FS == Off.
Both bugs were pre-existing on origin/dev and are unrelated to the
consolidation changes.
--- RV64 64-bit pointer compatibility ---
- Add TX_TIMER_INTERNAL_EXTENSION, TX_THREAD_CREATE_TIMEOUT_SETUP, and
TX_THREAD_TIMEOUT_POINTER_SETUP to risc-v64/gnu/inc/tx_port.h to store the
thread timeout pointer in a VOID
* extension field rather than truncating it
into a 32-bit ULONG. Mirrors the win64 port pattern.
- Define TX_TIMER_EXTENSION_PTR_DEFINED as a portable sentinel.
- Update threadx_thread_basic_execution_test.c guard from #if defined(_WIN64)
to #if defined(_WIN64) || defined(TX_TIMER_EXTENSION_PTR_DEFINED).
- Disable -Wconversion for the RV64 test build: ULONG = unsigned int (32-bit)
is intentional for ThreadX ABI but triggers spurious warnings when sizeof()
(8 bytes on RV64) appears in arithmetic with ULONG in common/src/.
--- Regression suite cmake fixes ---
test/tx/cmake/riscv/regression/CMakeLists.txt:
- Build testcontrol_weak_defaults.c as a separate OBJECT library and include
it in every test executable via $<TARGET_OBJECTS:>. GNU ld does not extract
objects from a static archive to satisfy weak symbols, so bundling it in
test_utility was insufficient for the standalone
threadx_initialize_kernel_setup_test.
test/tx/cmake/regression/CMakeLists.txt,
test/smp/cmake/regression/CMakeLists.txt:
- Same fix applied to the Linux and SMP regression builds. The symbols
abort_all_threads_suspended_on_mutex, suspend_lowest_priority, and
abort_and_resume_byte_allocating_thread were introduced by the win64 merge
and left the standalone test unlinkable.
--- CORE-V MCU toolchain and build fixes ---
cmake/riscv64-gcc-rv32imc.cmake:
- Resolve riscv64-unknown-elf-gcc via PATH so the riscv-collab toolchain in
/opt/riscv/bin is preferred when it appears first.
ports/risc-v32/gnu/example_build/core_v_mcu/bsp/clz.c (new):
- The riscv-collab toolchain is built without rv32 multilib, so its libgcc
does not define __clzsi2 (the helper emitted for __builtin_clz() in fll.c).
Add a weak __clzsi2 fallback so the build is self-contained with any
riscv64-unknown-elf toolchain. The weak attribute yields to a
libgcc-provided strong symbol when the Ubuntu multilib package is used.
core_v_mcu/CMakeLists.txt:
- Add bsp/clz.c to sources.
- Reference CMAKE_TOOLCHAIN_FILE via message(STATUS) to suppress the false-
positive "Manually-specified variables were not used by the project" CMake
warning and to show the active toolchain at configure time.
--- Housekeeping ---
- Rename azrtos_test_* -> threadx_test_* (eliminate Azure RTOS branding).
- Add RV64 QEMU CI test script:
ports/risc-v64/gnu/example_build/qemu_virt/test/
threadx_test_tx_gnu_riscv64_qemu.py
- Normalize entry.s -> entry.S in all 4 example directories.
- .gitignore: exclude build_m7/ and .codex local artifacts.
- CI: comment out the riscv regression workflow job and remove it from the
deploy job's needs list (preserved in-place for easy re-enablement).
--- Verified ---
- 95/95 RV32 regression tests pass (QEMU virt)
- 95/95 RV64 regression tests pass (QEMU virt)
- All 5 Linux build configurations build cleanly (default_build_coverage,
disable_notify_callbacks_build, stack_checking_build,
stack_checking_rand_fill_build, trace_build)
- CORE-V MCU example_build links cleanly with /opt/riscv toolchain
Co-authored-by: Copilot [email protected]
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Windows x64 port and regression suite
This PR adds the Windows x64 (Win64) simulation port for both the standalone
and SMP variants of ThreadX, along with the full CMake build and test
infrastructure needed to run the regression suite on Windows.
New ports
Win64 standalone (ports/win64/vs_2022): self-contained Windows simulation
port using Win32 threading primitives as virtual cores. Includes CMake
integration, build/test scripts, and MSVC project files.
Win64 SMP (ports/win64_smp/vs_2022): multi-core Windows simulation port.
Supports up to 4 virtual cores backed by Windows host threads.
Scheduler and timer improvements
The initial port used coarse polling and synchronous SuspendThread/ResumeThread
pairs throughout the scheduler hot path. Several rounds of optimization reduced
the SMP regression suite runtime from ~150 s to ~78 s (-48%), with no
regressions:
- Replaced scheduler polling with an event-driven wake path; switched the
simulated timer to one-shot rearming to eliminate catch-up ticks.
- Skip SuspendThread when _tx_thread_preempt_disable != 0 (new suspension
type 3) -- the primary optimization, yielding up to 7.9x speedup on
preemption-heavy tests.
- Skip SuspendThread when a thread is spinning on the Win32 critical section
(suspension type 4), and fix a stale-TLS bug in
_tx_win32_critical_section_obtain that could stamp mutex_access on the
wrong virtual core.
- Added a 2 ms scheduler event timeout (matching the Linux SMP port) to
prevent stalls on any missed SetEvent.
- Enabled high-resolution waitable timers (SetWaitableTimerEx) for accurate
100 Hz tick cadence.
- Increased TX_WIN32_CONTENTION_PAUSE_COUNT from 64 to 256 to reduce
SwitchToThread overhead under heavy CS contention.
Build and test infrastructure
- Hardened the Windows build wrapper (scripts/build_tx.ps1): invoke Ninja
directly for Ninja build trees, fix timeout detection, add a default build
timeout, and limit fallback replay to real timeout cases.
- Added -Clean support to Windows test scripts to remove stale CTest state
before each run.
- Skip Visual Studio DevShell re-entry when the active MSVC environment
already matches the requested architecture.
- Fixed scripts/build_tx.sh (Linux) regression source generation: replaced
brittle exact-string insertion with line-based matching so the interrupt
dispatcher hook is inserted reliably for both simulator ports.
Test suite updates
- Introduced test/tx/regression/threadx_test_port.h with portable macros
(TX_TEST_POINTER_WORD, TX_TEST_STORE_POINTER) for storing pointers in test
arrays on 64-bit targets where ULONG remains 32-bit.
- Adjusted pool-capacity and pointer-storage patterns in regression tests to
use ALIGN_TYPE-sized slots, making the suite correct on 64-bit hosts.
- Restored stricter event flag, sleep, and timer expectations now that
port-level fixes make prior Windows accommodations unnecessary.
- Tightened SMP watchdog and clean-build timeout defaults.
Version metadata
Updated Win32, Win64, and Win64 SMP port version strings to 6.5.1.202602.
Co-authored-by: Copilot <[email protected]>
Co-authored-by: Codex (gpt 5.5) <[email protected]>
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arch/risc-v32 (#513)
This PR adds three functional improvements to the RISC-V 32-bit GNU port.
Lazy FPU stacking (tx_thread_context_save.S, tx_thread_context_restore.S, tx_thread_schedule.S): FP register save/restore is now skipped whenmstatus.FS is Off, reducing context switch overhead for threads that do not use floating point.
GP relaxation (cmake/riscv32_gnu.cmake, entry.s, link.lds): Enables the -mrelax compiler flag and defines __global_pointer$ in the linker script.The entry stub initializes gp at startup. gp is not saved or restored during context switches.
WFI in idle loop (tx_thread_schedule.S): The scheduler issues wfi when no thread is ready, replacing busy-waiting with a low-power sleep.
A Python/QEMU/GDB functional test runner is added under ports/risc-v32/gnu/example_build/qemu_virt/test/. It validates context switching, FPUcontext preservation, timer interrupts, and preemption. To run:
cd ports/risc-v32/gnu/example_build/qemu_virt
make check-functional-riscv32
Tested on QEMU virt machine (rv32gc).
Co-authored-by: Wei-Chen Lai [email protected]
Co-authored-by: Frédéric Desbiens [email protected]
Co-authored-by: Copilot [email protected]
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Adds a complete ThreadX port for the OpenHW CORE-V MCU SoC, targeting the Digilent Nexys A7 FPGA board with an Ashling Opella-LD debug probe.
New files
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cmake/riscv64-gcc-rv32imc.cmake
CMake toolchain file for riscv64-unknown-elf-gcc targeting rv32imc_zicsr/ilp32.
ports/risc-v32/gnu/example_build/core_v_mcu/ -- Full BSP + demo application:
Assembly
crt0.S C runtime startup (BSS clear, GP/SP init, call main)
vectors.S 32-entry vectored interrupt table at 0x1c000800
tx_initialize_low_level.S mtvec setup (vectored mode), stack/free-mem pointers
BSP drivers (bsp/)
system_core_v_mcu.c Top-level init and ISR dispatcher (isr_table[32])
irq.c PULP APB interrupt controller (enable/disable/mask)
timer_irq.c PULP FC Timer -- 100 Hz tick from 10 MHz SOC clock
fll.c Frequency Locked Loop -- 5 MHz to 50 MHz (FPGA)
uart_driver.c UDMA UART channel 0 -- polled TX, non-blocking RX (8-bit transfer width)
gpio.c PULP apb_gpiov2 driver: set/clear/toggle/direction by pin index;
pad-mux via per-pad indexed registers at APB_SOC_CTRL + 0x400 + pad*4;
full pinmux API (gpio_setpinmux, gpio_getpinmux, gpio_pin_set_dir,
gpio_pin_read_status)
i2c_master.c Polled UDMA I2C master
adt7420.c ADT7420 temperature sensor driver
string.c Freestanding memset/memcpy shim (no newlib)
Headers (include/)
Peripheral register maps, MMIO inlines, BSP API declarations, tx_user.h
Application
demo_threadx.c Two threads: LED[0] blink at 1 Hz (IO pad 11, GPIO pin 4, MUX=2)
+ UART heartbeat with startup banner
("Eclipse ThreadX for OpenHW CORE-V MCU vX.Y.Z.BBBBB")
link.ld Linker script: .vectors@0x1c000800, .text@0x1c000880
CMakeLists.txt Build definition (references THREADX_ROOT)
build.sh One-shot CMake+Ninja build script
Tooling
install_deps.sh Automates toolchain/OpenOCD dependency setup
deploy.sh One-step GDB flashing via Ashling Opella-LD;
gdb-multiarch fallback when riscv64-unknown-elf-gdb is absent;
supports --wsl flag required by usbipd-win v5.x
openocd-nexys-Ashling-Opella-LD.cfg OpenOCD config for Opella-LD over JTAG
Tests (tests/)
test_irq.c / test_timer.c Host-compiled unit tests (2/2 pass)
mock/mmio_mock.* Software MMIO register map for host testing
Documentation
README.md Hardware overview, build, flash/debug, BSP API reference
Architecture notes
------------------
- CV32E40P uses the PULP/PULPissimo interrupt controller (not CLINT); IRQ lines
are masked via APB registers, not the mie CSR.
- mtvec must be 256-byte aligned; vectors placed at 0x1c000800 (vectored mode).
- Timer IRQ = line 10; dispatch via isr_table[mcause & 0x1f].
- Build: -march=rv32imc_zicsr -mabi=ilp32, -ffreestanding, -nodefaultlibs.
- Verified: ELF 11 KB text, sections at correct addresses, unit tests pass.
Third-party attributions
------------------------
BSP files derived from core-v-freertos (Apache-2.0):
(c) 2019-2020 ETH Zurich and University of Bologna
(c) 2020 GreenWaves Technologies
(c) 2011-2014 Wind River Systems, Inc.
(c) 2017 SiFive Inc. (crt0.S, BSD-2-Clause portions)
All original copyright notices retained; see individual file headers.
SPDX: Apache-2.0 AND MIT (crt0.S: (Apache-2.0 OR BSD-2-Clause) AND MIT).
Co-authored-by: Copilot <[email protected]>
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* Add LX8 support for > 32 interrupts
Also fix inconsistent SWPRI define in interrupt handler
* ThreadX: Fix context switch logic
- Disable interrupts prior to allocating a large exception frame;
only reenable them after deallocating the extra memory.
- Any user tasks with stacks based on TX_MINIMUM_STACK do not
have sufficient space for both a context switch frame and an ISR
frame; ill-timed interrupts were causing stack overruns.
* ThreadX: Interrupt fixes for TX_ENABLE_EXECUTION_CHANGE_NOTIFY
- Must reload register trashed by notify hook function call
- Must ensure PS.WOE is set before using call8
- Remove unused XT_USE_INT_WRAPPER define and associated changes,
which had a bug in XEA2 usage
- Fix another case where enabling the thread notify hooks for
call0 ABI corrupted a register
* ThreadX: Support for __DYNAMIC_REENT__
- ThreadX change to handle dynamic reent for both newlib and xclib
- Adapt ThreadX xclib interface code to handle dynamic reent pointers
* ThreadX: Xtensa execution profiling support
- Update upstream execution profiling for Xtensa port
* ThreadX: Update xtensa port readme
* ThreadX: Add Xtensa example to EPK
- tx_execution_profile.h now defines an Xtensa example
in addition to the existing Cortex example
* ThreadX: Add xtensa.cmake
* ThreadX: Update XSHAL_CLIB ifdefs in __getreent()
- Prevent a fall-through with no return value when neither
xclib nor newlib are used.
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- Introduce THREADX_SMP option in root CMakeLists.txt.
- Implement conditional source and port directory selection for SMP builds.
- Add CMake support for common_smp and Cortex-A9 SMP port.
- Fix linker flags in Cortex-A9 SMP sample build script.
- Remove duplicate invalidateCaches_IS declarations in v7.h headers.
Assisted-by: Gemini (Experimental)
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This update adapts the ThreadX low-level kernel routines
for RV32, including:
- startup and initialization logic
- context save/restore implementations
- interrupt control and scheduler entry
- thread stack build and system return paths
- timer interrupt handling
- made it complient as per new risc-v64/gnu
& threadx style
- added reademe for risc-v32/gnu port
These changes provide full low-level support needed to run
ThreadX on RISC-V32 targets.
Signed-off-by: Akif Ejaz <[email protected]>
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