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freertos: Add new macro to check for yielding

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When a FreeRTOS function unblocks a task, that function will check whether
the unblocked task requires a yield to be called. This is currently done by
having each function individually check if the unblocked task has a higher
priority than the both cores, and yielding the appropriate core.

This commit adds the macros list below to abstract away the yielding checking
procedure. This will allow the code to match upstream more closely.

- prvCheckForYield()
- prvCheckForYieldUsingPriority()
This commit is contained in:
Darian Leung 2022-07-29 19:31:24 +08:00
parent cacd27f93e
commit 0fd305da2d
1 changed files with 94 additions and 0 deletions
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94
components/freertos/FreeRTOS-Kernel/tasks.c
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@ -249,6 +249,15 @@ extern void esp_vApplicationIdleHook(void);
tracePOST_MOVED_TASK_TO_READY_STATE( pxTCB )
/*-----------------------------------------------------------*/
#if ( configNUM_CORES > 1 )
#define prvCheckForYield( pxTCB, xCurCoreID, xYieldEqualPriority ) ( prvCheckForYieldUsingPrioritySMP( ( pxTCB )->uxPriority, ( pxTCB )->xCoreID, xCurCoreID, xYieldEqualPriority ) == pdTRUE )
#define prvCheckForYieldUsingPriority( uxTaskPriority, xTaskCoreID, xCurCoreID, xYieldEqualPriority ) ( prvCheckForYieldUsingPrioritySMP( uxTaskPriority, xTaskCoreID, xCurCoreID, xYieldEqualPriority ) == pdTRUE )
#else
#define prvCheckForYield( pxTargetTCB, xCurCoreID, xYieldEqualPriority ) ( ( ( pxTargetTCB )->uxPriority + ( ( xYieldEqualPriority == pdTRUE ) ? 1 : 0 ) ) > pxCurrentTCB[ 0 ]->uxPriority )
#define prvCheckForYieldUsingPriority( uxTaskPriority, xTaskCoreID, xCurCoreID, xYieldEqualPriority ) ( ( uxTaskPriority + ( ( xYieldEqualPriority == pdTRUE ) ? 1 : 0 ) ) >= pxCurrentTCB[ 0 ]->uxPriority )
#endif /* configNUM_CORES > 1 */
/*-----------------------------------------------------------*/
#define tskCAN_RUN_HERE( cpuid ) ( cpuid==xPortGetCoreID() || cpuid==tskNO_AFFINITY )
/*
@ -625,6 +634,49 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB,
TaskFunction_t pxTaskCode,
BaseType_t xCoreID ) PRIVILEGED_FUNCTION;
#if ( configNUM_CORES > 1 )
/*
* Check whether a yield (on either core) is required after unblocking (or
* changing the priority of) a particular task.
*
* - This function is the SMP replacement for checking if an unblocked task has
* a higher (or equal) priority than the current task.
* - It should be called before calling taskYIELD_IF_USING_PREEMPTION() or
* before setting xYieldRequired
* - If it is the other core that requires a yield, this function will
* internally trigger the other core to yield
*
* Note: In some special instances, a yield is triggered if the unblocked task
* has an equal priority (such as in xTaskResumeAll). Thus the
* xYieldEqualPriority parameter specifies whether to yield if the current
* task has equal priority.
*
* Scheduling Algorithm:
* This function will bias towards yielding the current core.
* - If the unblocked task has a higher (or equal) priority than then current
* core, the current core is yielded regardless of the current priority of the
* other core.
* - A core (current or other) will only yield if their schedulers are not
* suspended.
*
* Todo: This can be optimized (IDF-5772)
*
* Entry:
* - This function must be called in a critical section
* - A task must just have been unblocked, or its priority raised
* Exit:
* - Returns pdTRUE if the current core requires yielding
* - The other core will be triggered to yield if required
*/
static BaseType_t prvCheckForYieldUsingPrioritySMP( UBaseType_t uxTaskPriority,
BaseType_t xTaskCoreID,
BaseType_t xCurCoreID,
BaseType_t xYieldEqualPriority ) PRIVILEGED_FUNCTION;
#endif /* configNUM_CORES > 1 */
/*
* freertos_tasks_c_additions_init() should only be called if the user definable
* macro FREERTOS_TASKS_C_ADDITIONS_INIT() is defined, as that is the only macro
@ -1326,6 +1378,48 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB,
}
/*-----------------------------------------------------------*/
#if ( configNUM_CORES > 1 )
static BaseType_t prvCheckForYieldUsingPrioritySMP( UBaseType_t uxTaskPriority,
BaseType_t xTaskCoreID,
BaseType_t xCurCoreID,
BaseType_t xYieldEqualPriority )
{
if( xYieldEqualPriority == pdTRUE )
{
/* Increment the task priority to achieve the same affect as if( uxTaskPriority >= pxCurrentTCB->uxPriority ) */
uxTaskPriority++;
}
/* Indicate whether the current core needs to yield */
BaseType_t xYieldRequiredCurrentCore;
/* If the target task can run on the current core, and has a higher priority than the current core, then yield the current core */
if( ( ( xTaskCoreID == xCurCoreID ) || ( xTaskCoreID == tskNO_AFFINITY ) ) && ( uxTaskPriority > pxCurrentTCB[ xCurCoreID ]->uxPriority ) )
{
/* Return true for the caller to yield the current core */
xYieldRequiredCurrentCore = pdTRUE;
}
/* If the target task can run on the other core, and has a higher priority then the other core, and the other core has not suspended scheduling, the yield the other core */
else if( ( ( xTaskCoreID == !xCurCoreID ) || ( xTaskCoreID == tskNO_AFFINITY ) )
&& ( uxTaskPriority > pxCurrentTCB[ !xCurCoreID ]->uxPriority )
&& ( uxSchedulerSuspended[ !xCurCoreID ] == ( UBaseType_t ) pdFALSE ) )
{
/* Signal the other core to yield */
vPortYieldOtherCore( !xCurCoreID );
xYieldRequiredCurrentCore = pdFALSE;
}
else
{
xYieldRequiredCurrentCore = pdFALSE;
}
return xYieldRequiredCurrentCore;
}
#endif /* configNUM_CORES > 1 */
/*-----------------------------------------------------------*/
#if ( INCLUDE_vTaskDelete == 1 )
void vTaskDelete( TaskHandle_t xTaskToDelete )