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https://github.com/espressif/esp-idf.git
synced 2024-10-05 20:47:46 -04:00
Merge branch 'feature/freertos_restore_single_core_task_selection_algorithm' into 'master'
FreeRTOS(IDF): Restore vanilla task selection algorithm if building for single core with optimized selection is disabled See merge request espressif/esp-idf!21001
This commit is contained in:
Darian
commit
1e953e31fc
@ -98,6 +98,14 @@
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#error configMAX_PRIORITIES must be defined to be greater than or equal to 1.
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#endif
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#ifndef configNUM_CORES
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#error Missing definition: configNUM_CORES must be defined in FreeRTOSConfig.h
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#endif
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#if ( ( configNUM_CORES != 1 ) && ( configNUM_CORES != 2 ) )
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#error configNUM_CORES must be defined to either 1 or 2.
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#endif
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#ifndef configUSE_PREEMPTION
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#error Missing definition: configUSE_PREEMPTION must be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details.
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#endif
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@ -972,6 +980,10 @@
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#error configUSE_MUTEXES must be set to 1 to use recursive mutexes
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#endif
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#if ( ( configNUM_CORES > 1 ) && ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 1 ) )
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#error configUSE_PORT_OPTIMISED_TASK_SELECTION is not supported if configNUM_CORES > 1
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#endif
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#ifndef configINITIAL_TICK_COUNT
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#define configINITIAL_TICK_COUNT 0
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#endif
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@ -145,9 +145,9 @@
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/*-----------------------------------------------------------*/
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#ifdef ESP_PLATFORM
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#if ( configNUM_CORES > 1 )
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#define taskSELECT_HIGHEST_PRIORITY_TASK() taskSelectHighestPriorityTaskSMP()
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#else //ESP_PLATFORM
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#else /* configNUM_CORES > 1 */
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#define taskSELECT_HIGHEST_PRIORITY_TASK() \
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{ \
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UBaseType_t uxTopPriority = uxTopReadyPriority; \
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@ -160,11 +160,11 @@
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} \
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\
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/* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of \
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* the same priority get an equal share of the processor time. */ \
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listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB[ xPortGetCoreID() ], &( pxReadyTasksLists[ uxTopPriority ] ) ); \
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uxTopReadyPriority = uxTopPriority; \
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* the same priority get an equal share of the processor time. */ \
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listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB[ 0 ], &( pxReadyTasksLists[ uxTopPriority ] ) ); \
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uxTopReadyPriority = uxTopPriority; \
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} /* taskSELECT_HIGHEST_PRIORITY_TASK */
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#endif //ESP_PLATFORM
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#endif /* configNUM_CORES > 1 */
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/*-----------------------------------------------------------*/
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@ -185,14 +185,14 @@
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/*-----------------------------------------------------------*/
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#define taskSELECT_HIGHEST_PRIORITY_TASK() \
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{ \
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UBaseType_t uxTopPriority; \
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\
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/* Find the highest priority list that contains ready tasks. */ \
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portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority ); \
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configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 ); \
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listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB[ xPortGetCoreID() ], &( pxReadyTasksLists[ uxTopPriority ] ) ); \
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#define taskSELECT_HIGHEST_PRIORITY_TASK() \
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{ \
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UBaseType_t uxTopPriority; \
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\
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/* Find the highest priority list that contains ready tasks. */ \
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portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority ); \
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configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 ); \
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listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB[ 0 ], &( pxReadyTasksLists[ uxTopPriority ] ) ); \
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} /* taskSELECT_HIGHEST_PRIORITY_TASK() */
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/*-----------------------------------------------------------*/
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@ -3509,95 +3509,93 @@ BaseType_t xTaskIncrementTick( void )
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#endif /* configUSE_APPLICATION_TASK_TAG */
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/*-----------------------------------------------------------*/
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#ifdef ESP_PLATFORM
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#if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
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static void taskSelectHighestPriorityTaskSMP( void )
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#if ( configNUM_CORES > 1 )
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static void taskSelectHighestPriorityTaskSMP( void )
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{
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/* This function is called from a critical section. So some optimizations are made */
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BaseType_t uxCurPriority;
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BaseType_t xTaskScheduled = pdFALSE;
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BaseType_t xNewTopPrioritySet = pdFALSE;
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BaseType_t xCoreID = xPortGetCoreID(); /* Optimization: Read once */
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/* Search for tasks, starting form the highest ready priority. If nothing is
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* found, we eventually default to the IDLE tasks at priority 0 */
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for( uxCurPriority = uxTopReadyPriority; uxCurPriority >= 0 && xTaskScheduled == pdFALSE; uxCurPriority-- )
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{
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/* This function is called from a critical section. So some optimizations are made */
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BaseType_t uxCurPriority;
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BaseType_t xTaskScheduled = pdFALSE;
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BaseType_t xNewTopPrioritySet = pdFALSE;
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BaseType_t xCoreID = xPortGetCoreID(); /* Optimization: Read once */
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/* Search for tasks, starting form the highest ready priority. If nothing is
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* found, we eventually default to the IDLE tasks at priority 0 */
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for( uxCurPriority = uxTopReadyPriority; uxCurPriority >= 0 && xTaskScheduled == pdFALSE; uxCurPriority-- )
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/* Check if current priority has one or more ready tasks. Skip if none */
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if( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxCurPriority ] ) ) )
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{
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/* Check if current priority has one or more ready tasks. Skip if none */
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if( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxCurPriority ] ) ) )
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{
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continue;
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}
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/* Save a copy of highest priority that has a ready state task */
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if( xNewTopPrioritySet == pdFALSE )
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{
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xNewTopPrioritySet = pdTRUE;
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uxTopReadyPriority = uxCurPriority;
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}
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/* We now search this priority's ready task list for a runnable task.
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* We always start searching from the head of the list, so we reset
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* pxIndex to point to the tail so that we start walking the list from
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* the first item */
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pxReadyTasksLists[ uxCurPriority ].pxIndex = ( ListItem_t * ) &( pxReadyTasksLists[ uxCurPriority ].xListEnd );
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/* Get the first item on the list */
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TCB_t * pxTCBCur;
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TCB_t * pxTCBFirst;
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listGET_OWNER_OF_NEXT_ENTRY( pxTCBCur, &( pxReadyTasksLists[ uxCurPriority ] ) );
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pxTCBFirst = pxTCBCur;
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do
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{
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/* Check if the current task is currently being executed. However, if
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* it's being executed by the current core, we can still schedule it.
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* Todo: Each task can store a xTaskRunState, instead of needing to
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* check each core */
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UBaseType_t ux;
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for( ux = 0; ux < ( UBaseType_t ) configNUM_CORES; ux++ )
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{
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if( ux == xCoreID )
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{
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continue;
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}
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else if( pxCurrentTCB[ ux ] == pxTCBCur )
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{
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/* Current task is already being executed. Get the next task */
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goto get_next_task;
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}
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}
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/* Check if the current task has a compatible affinity */
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if( ( pxTCBCur->xCoreID != xCoreID ) && ( pxTCBCur->xCoreID != tskNO_AFFINITY ) )
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{
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goto get_next_task;
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}
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/* The current task is runnable. Schedule it */
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pxCurrentTCB[ xCoreID ] = pxTCBCur;
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xTaskScheduled = pdTRUE;
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/* Move the current tasks list item to the back of the list in order
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* to implement best effort round robin. To do this, we need to reset
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* the pxIndex to point to the tail again. */
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pxReadyTasksLists[ uxCurPriority ].pxIndex = ( ListItem_t * ) &( pxReadyTasksLists[ uxCurPriority ].xListEnd );
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uxListRemove( &( pxTCBCur->xStateListItem ) );
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vListInsertEnd( &( pxReadyTasksLists[ uxCurPriority ] ), &( pxTCBCur->xStateListItem ) );
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break;
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get_next_task:
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/* The current task cannot be scheduled. Get the next task in the list */
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listGET_OWNER_OF_NEXT_ENTRY( pxTCBCur, &( pxReadyTasksLists[ uxCurPriority ] ) );
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} while( pxTCBCur != pxTCBFirst ); /* Check to see if we've walked the entire list */
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continue;
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}
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assert( xTaskScheduled == pdTRUE ); /* At this point, a task MUST have been scheduled */
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/* Save a copy of highest priority that has a ready state task */
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if( xNewTopPrioritySet == pdFALSE )
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{
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xNewTopPrioritySet = pdTRUE;
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uxTopReadyPriority = uxCurPriority;
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}
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/* We now search this priority's ready task list for a runnable task.
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* We always start searching from the head of the list, so we reset
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* pxIndex to point to the tail so that we start walking the list from
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* the first item */
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pxReadyTasksLists[ uxCurPriority ].pxIndex = ( ListItem_t * ) &( pxReadyTasksLists[ uxCurPriority ].xListEnd );
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/* Get the first item on the list */
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TCB_t * pxTCBCur;
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TCB_t * pxTCBFirst;
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listGET_OWNER_OF_NEXT_ENTRY( pxTCBCur, &( pxReadyTasksLists[ uxCurPriority ] ) );
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pxTCBFirst = pxTCBCur;
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do
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{
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/* Check if the current task is currently being executed. However, if
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* it's being executed by the current core, we can still schedule it.
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* Todo: Each task can store a xTaskRunState, instead of needing to
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* check each core */
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UBaseType_t ux;
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for( ux = 0; ux < ( UBaseType_t ) configNUM_CORES; ux++ )
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{
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if( ux == xCoreID )
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{
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continue;
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}
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else if( pxCurrentTCB[ ux ] == pxTCBCur )
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{
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/* Current task is already being executed. Get the next task */
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goto get_next_task;
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}
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}
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/* Check if the current task has a compatible affinity */
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if( ( pxTCBCur->xCoreID != xCoreID ) && ( pxTCBCur->xCoreID != tskNO_AFFINITY ) )
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{
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goto get_next_task;
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}
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/* The current task is runnable. Schedule it */
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pxCurrentTCB[ xCoreID ] = pxTCBCur;
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xTaskScheduled = pdTRUE;
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/* Move the current tasks list item to the back of the list in order
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* to implement best effort round robin. To do this, we need to reset
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* the pxIndex to point to the tail again. */
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pxReadyTasksLists[ uxCurPriority ].pxIndex = ( ListItem_t * ) &( pxReadyTasksLists[ uxCurPriority ].xListEnd );
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uxListRemove( &( pxTCBCur->xStateListItem ) );
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vListInsertEnd( &( pxReadyTasksLists[ uxCurPriority ] ), &( pxTCBCur->xStateListItem ) );
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break;
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get_next_task:
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/* The current task cannot be scheduled. Get the next task in the list */
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listGET_OWNER_OF_NEXT_ENTRY( pxTCBCur, &( pxReadyTasksLists[ uxCurPriority ] ) );
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} while( pxTCBCur != pxTCBFirst ); /* Check to see if we've walked the entire list */
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}
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#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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#endif //ESP_PLATFORM
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assert( xTaskScheduled == pdTRUE ); /* At this point, a task MUST have been scheduled */
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}
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#endif /* configNUM_CORES > 1 */
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void vTaskSwitchContext( void )
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{
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