Merge branch 'feature/freertos_task_private_create_psram' into 'master'

feat(freertos): Added private task creation functions allocating stack in PSRAM

See merge request espressif/esp-idf!25404

components/freertos/esp_additions/freertos_tasks_c_additions.h

@@ -6,6 +6,7 @@
 
 #include "sdkconfig.h"
 #include "esp_assert.h"
+#include "esp_heap_caps.h"
 #include "freertos/idf_additions.h"
 #if CONFIG_FREERTOS_ENABLE_TASK_SNAPSHOT
     #include "esp_private/freertos_debug.h"
@@ -1158,3 +1159,102 @@ void * pvTaskGetCurrentTCBForCore( BaseType_t xCoreID )
 
 #endif /* CONFIG_FREERTOS_DEBUG_OCDAWARE */
 /*----------------------------------------------------------*/
+
+/* ----------------------------------------------------- PSRAM ---------------------------------------------------- */
+
+#if CONFIG_SPIRAM
+
+    #if CONFIG_FREERTOS_SMP
+        BaseType_t prvTaskCreateDynamicAffinitySetWithCaps( TaskFunction_t pxTaskCode,
+                                                            const char * const pcName,
+                                                            const configSTACK_DEPTH_TYPE usStackDepth,
+                                                            void * const pvParameters,
+                                                            UBaseType_t uxPriority,
+                                                            UBaseType_t uxCoreAffinityMask,
+                                                            UBaseType_t uxStackMemoryCaps,
+                                                            TaskHandle_t * const pxCreatedTask )
+    #else
+        BaseType_t prvTaskCreateDynamicPinnedToCoreWithCaps( TaskFunction_t pxTaskCode,
+                                                             const char * const pcName,
+                                                             const configSTACK_DEPTH_TYPE usStackDepth,
+                                                             void * const pvParameters,
+                                                             UBaseType_t uxPriority,
+                                                             const BaseType_t xCoreID,
+                                                             UBaseType_t uxStackMemoryCaps,
+                                                             TaskHandle_t * const pxCreatedTask )
+    #endif /* if CONFIG_FREERTOS_SMP */
+    {
+        TCB_t * pxNewTCB;
+        BaseType_t xReturn;
+
+        StackType_t * pxStack;
+
+        configASSERT( uxStackMemoryCaps & ( MALLOC_CAP_8BIT ) );
+        configASSERT( ( uxStackMemoryCaps & MALLOC_CAP_SPIRAM ) ||
+                      ( uxStackMemoryCaps & MALLOC_CAP_INTERNAL ) );
+
+        /* Allocate space for the stack used by the task being created. */
+        pxStack = heap_caps_malloc( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ), uxStackMemoryCaps );
+
+        if( pxStack != NULL )
+        {
+            /* Allocate space for the TCB. */
+            pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );
+
+            if( pxNewTCB != NULL )
+            {
+                #if CONFIG_FREERTOS_USE_KERNEL_10_5_1
+                {
+                    memset( ( void * ) pxNewTCB, 0x00, sizeof( TCB_t ) );
+                }
+                #endif /* CONFIG_FREERTOS_USE_KERNEL_10_5_1 */
+
+                /* Store the stack location in the TCB. */
+                pxNewTCB->pxStack = pxStack;
+            }
+            else
+            {
+                /* The stack cannot be used as the TCB has not been created. Free it. */
+                heap_caps_free( pxStack );
+            }
+        }
+        else
+        {
+            pxNewTCB = NULL;
+        }
+
+        if( pxNewTCB != NULL )
+        {
+            #if ( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 )
+            {
+                /* Tasks can be created statically or dynamically, so note this
+                 * task was created dynamically in case it is later deleted. */
+                pxNewTCB->ucStaticallyAllocated = tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB;
+            }
+            #endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE */
+
+            #if CONFIG_FREERTOS_SMP
+                prvInitialiseNewTask( pxTaskCode, pcName, ( uint32_t ) usStackDepth, pvParameters, uxPriority, pxCreatedTask, pxNewTCB, NULL );
+            #if ( ( configNUM_CORES > 1 ) && ( configUSE_CORE_AFFINITY == 1 ) )
+                {
+                    /* Set the task's affinity before scheduling it */
+                    pxNewTCB->uxCoreAffinityMask = uxCoreAffinityMask;
+                }
+                #endif
+            #else
+                prvInitialiseNewTask( pxTaskCode, pcName, ( uint32_t ) usStackDepth, pvParameters, uxPriority, pxCreatedTask, pxNewTCB, NULL, xCoreID );
+            #endif
+
+            prvAddNewTaskToReadyList( pxNewTCB );
+            xReturn = pdPASS;
+        }
+        else
+        {
+            xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
+        }
+
+        return xReturn;
+    }
+
+#endif // SPIRAM
+/*----------------------------------------------------------*/

components/freertos/esp_additions/include/esp_private/freertos_idf_additions_priv.h

@@ -57,15 +57,15 @@
 
     #define prvENTER_CRITICAL_OR_SUSPEND_ALL( x )    ( { vTaskSuspendAll(); ( void ) ( x ); } )
     #define prvEXIT_CRITICAL_OR_RESUME_ALL( x )      xTaskResumeAll()
-    #define prvENTER_CRITICAL_OR_MASK_ISR( pxLock, uxInterruptStatus )  \
-    {                                                                   \
-        ( uxInterruptStatus ) = portSET_INTERRUPT_MASK_FROM_ISR();      \
-        ( void ) ( pxLock );                                            \
+    #define prvENTER_CRITICAL_OR_MASK_ISR( pxLock, uxInterruptStatus ) \
+    {                                                                  \
+        ( uxInterruptStatus ) = portSET_INTERRUPT_MASK_FROM_ISR();     \
+        ( void ) ( pxLock );                                           \
     }
-    #define prvEXIT_CRITICAL_OR_UNMASK_ISR( pxLock, uxInterruptStatus )  \
-    {                                                                    \
-        portCLEAR_INTERRUPT_MASK_FROM_ISR( ( uxInterruptStatus ) );      \
-        ( void ) ( pxLock );                                             \
+    #define prvEXIT_CRITICAL_OR_UNMASK_ISR( pxLock, uxInterruptStatus ) \
+    {                                                                   \
+        portCLEAR_INTERRUPT_MASK_FROM_ISR( ( uxInterruptStatus ) );     \
+        ( void ) ( pxLock );                                            \
     }
 
 #endif /* ( !CONFIG_FREERTOS_SMP && ( configNUM_CORES == 1 ) ) */
@@ -210,6 +210,88 @@
 
 #endif /* INCLUDE_vTaskPrioritySet == 1 */
 
+#if CONFIG_SPIRAM
+
+/**
+ * Create a new task with stack having the desired heap capabilities and add it to the
+ * list of tasks that are ready to run.
+ *
+ * @note: This is an internal function and meant for usage by pthread only.
+ * @note: Tasks with stacks not having the default heap capabilities for FreeRTOS may
+ *        not be able to run while flash cache is disabled.
+ *        This is the case if, e.g., any task on the chip is reading or writing
+ *        flash memory.
+ *
+ * @note: The difference between this function and xTaskCreatePinnedToCoreWithCaps()
+ *        is the following:
+ *        * A FreeRTOS task created by this function is deleted by normal FreeRTOS deletion functions,
+ *          i.e., vTaskDelete().
+ *        * A FreeRTOS task created by this function can delete itself.
+ *
+ * This function behaves like xTaskCreateAffinitySet(), except that it allocates
+ * the stack from the heap with the desired heap capabilities.
+ *
+ * @param pxTaskCode Pointer to the task entry function.  Tasks
+ * must be implemented to never return (i.e. continuous loop).
+ *
+ * @param pcName A descriptive name for the task.  This is mainly used to
+ * facilitate debugging.  Max length defined by configMAX_TASK_NAME_LEN - default
+ * is 16.
+ *
+ * @param usStackDepth The size of the task stack specified as the number of bytes.
+ *
+ * @param pvParameters Pointer that will be used as the parameter for the task
+ * being created.
+ *
+ * @param uxPriority The priority at which the task should run.  Systems that
+ * include MPU support can optionally create tasks in a privileged (system)
+ * mode by setting bit portPRIVILEGE_BIT of the priority parameter.  For
+ * example, to create a privileged task at priority 2 the uxPriority parameter
+ * should be set to ( 2 | portPRIVILEGE_BIT ).
+ *
+ * @param xCoreID (only IDF SMP FreeRTOS)
+ * The core to which the task is pinned to, or tskNO_AFFINITY if
+ * the task can run on any core.
+ *
+ * @param uxCoreAffinityMask (only Amazon SMP FreeRTOS)
+ * A bitwise value that indicates the cores on which the task can run.
+ * Cores are numbered from 0 to configNUM_CORES - 1.
+ * For example, to ensure that a task can run on core 0 and core 1, set
+ * uxCoreAffinityMask to 0x03. Note that only one of the cores will be used when
+ * using the IDF SMP version of FreeRTOS instead of Amazon FreeRTOS SMP.
+ *
+ * @param uxStackMemoryCaps The heap caps bitfield describing the memory capabilities to
+ * be used for stack memory. Currently, the capabilities have to include MALLOC_CAP_8BIT
+ * and one of the following: MALLOC_CAP_SPIRAM, MALLOC_CAP_INTERNAL.
+ *
+ * @param pxCreatedTask Used to pass back a handle by which the created task
+ * can be referenced.
+ *
+ * @return pdPASS if the task was successfully created and added to a ready
+ * list, otherwise an error code defined in the file projdefs.h
+ */
+    #if CONFIG_FREERTOS_SMP
+        BaseType_t prvTaskCreateDynamicAffinitySetWithCaps( TaskFunction_t pxTaskCode,
+                                                            const char * const pcName,
+                                                            const configSTACK_DEPTH_TYPE usStackDepth,
+                                                            void * const pvParameters,
+                                                            UBaseType_t uxPriority,
+                                                            UBaseType_t uxCoreAffinityMask,
+                                                            UBaseType_t uxStackMemoryCaps,
+                                                            TaskHandle_t * const pxCreatedTask );
+    #else
+        BaseType_t prvTaskCreateDynamicPinnedToCoreWithCaps( TaskFunction_t pxTaskCode,
+                                                             const char * const pcName,
+                                                             const configSTACK_DEPTH_TYPE usStackDepth,
+                                                             void * const pvParameters,
+                                                             UBaseType_t uxPriority,
+                                                             const BaseType_t xCoreID,
+                                                             UBaseType_t uxStackMemoryCaps,
+                                                             TaskHandle_t * const pxCreatedTask );
+    #endif // CONFIG_FREERTOS_SMP
+
+#endif // CONFIG_SPIRAM
+
 /* *INDENT-OFF* */
 #ifdef __cplusplus
     }

components/freertos/test_apps/freertos/kernel/tasks/test_freertos_psram.c

@@ -0,0 +1,147 @@
+/*
+ * SPDX-FileCopyrightText: 2023 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include <stdio.h>
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "freertos/idf_additions.h"
+#include "esp_private/freertos_idf_additions_priv.h"
+#include "unity.h"
+#include "esp_heap_caps.h"
+#include "unity_test_runner.h"
+#include "memory_checks.h"
+
+#define UNITY_FREERTOS_PRIORITY 5
+
+#if CONFIG_SPIRAM
+
+static void task_delete_itself(void *arg)
+{
+    printf("starting task\n");
+    ulTaskNotifyTake(pdTRUE, portMAX_DELAY);
+    xTaskNotifyGive((TaskHandle_t)arg);
+    vTaskDelete(NULL);
+}
+
+static void task_should_never_run(void *arg)
+{
+    printf("ERROR: this task should not run, aborting\n");
+    abort();
+}
+
+static BaseType_t create_task(TaskFunction_t function,
+        size_t stack_size,
+        void *task_arg,
+        int core_num,
+        UBaseType_t heap_caps,
+        TaskHandle_t *task_handle)
+{
+#if CONFIG_FREERTOS_SMP
+    UBaseType_t core_affinity_mask = (core_num == -1) ? tskNO_AFFINITY : 1 << core_num;
+    return prvTaskCreateDynamicAffinitySetWithCaps(function,
+                "self_delete",
+                stack_size,
+                task_arg,
+                UNITY_FREERTOS_PRIORITY + 1,
+                core_affinity_mask,
+                heap_caps,
+                task_handle);
+#else
+    const BaseType_t task_core_num = (core_num == -1) ? tskNO_AFFINITY : core_num;
+    return prvTaskCreateDynamicPinnedToCoreWithCaps(function,
+                "self_delete",
+                stack_size,
+                task_arg,
+                UNITY_FREERTOS_PRIORITY + 1,
+                task_core_num,
+                heap_caps,
+                task_handle);
+#endif
+}
+
+TEST_CASE("Out of memory failure", "[freertos][psram]")
+{
+    TaskHandle_t task_handle = NULL;
+    const size_t STACK_SIZE = 0x80000000; // far larger than the virtual address space on ESP32
+    UBaseType_t HEAP_CAPS = (MALLOC_CAP_SPIRAM | MALLOC_CAP_8BIT);
+
+    BaseType_t result = create_task(task_should_never_run,
+                STACK_SIZE,
+                (void *)xTaskGetCurrentTaskHandle(),
+                -1,
+                HEAP_CAPS,
+                &task_handle);
+    TEST_ASSERT_EQUAL(errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY, result);
+    (void)task_handle;
+}
+
+TEST_CASE("Task with stack memory in PSRAM", "[freertos][psram]")
+{
+    TaskHandle_t task_handle = NULL;
+    const size_t STACK_SIZE = 0x80000; // value is too large for any internal RAM on current chips
+    UBaseType_t HEAP_CAPS = (MALLOC_CAP_SPIRAM | MALLOC_CAP_8BIT);
+
+    BaseType_t result = create_task(task_delete_itself,
+                STACK_SIZE,
+                (void *)xTaskGetCurrentTaskHandle(),
+                -1,
+                HEAP_CAPS,
+                &task_handle);
+    TEST_ASSERT_EQUAL(pdPASS, result);
+
+    // synchronize with the task to make sure we don't return too early, thus giving it enough time
+    // to delete itself and giving the idle task time to clean up memory (see delay in tearDown()).
+    xTaskNotifyGive(task_handle);
+    ulTaskNotifyTake(pdTRUE, portMAX_DELAY);
+}
+
+#if !CONFIG_FREERTOS_UNICORE
+typedef struct {
+    size_t recorded_core_num;
+    TaskHandle_t parent_handle;
+} report_corenum_info_t;
+
+static void task_report_corenum(void *arg)
+{
+    report_corenum_info_t *info = (report_corenum_info_t*) arg;
+    info->recorded_core_num = xTaskGetAffinity(NULL);
+    xTaskNotifyGive(info->parent_handle);
+    vTaskSuspend(NULL);
+}
+
+/**
+ * This test (roughly) verifies that xTaskCreateWithCapsAffinitySet() pins a task to the correct core.
+ */
+TEST_CASE("Task on specific core works", "[freertos][psram]")
+{
+    const size_t STACK_SIZE = 0x1000;
+    report_corenum_info_t corenum_info;
+    TaskHandle_t task_handle;
+
+    for (int corenum = 0; corenum < CONFIG_SOC_CPU_CORES_NUM; corenum++) {
+        corenum_info.recorded_core_num = 0xFFFFFFFF;
+        corenum_info.parent_handle = xTaskGetCurrentTaskHandle();
+        UBaseType_t HEAP_CAPS = (MALLOC_CAP_SPIRAM | MALLOC_CAP_8BIT);
+        BaseType_t result = create_task(task_report_corenum,
+                STACK_SIZE,
+                (void *) &(corenum_info),
+                corenum,
+                HEAP_CAPS,
+                &task_handle);
+
+        TEST_ASSERT_EQUAL(pdPASS, result);
+
+        // Wait for the created task to finish its job
+        ulTaskNotifyTake(pdTRUE, portMAX_DELAY);
+
+        TEST_ASSERT_EQUAL((size_t) corenum, corenum_info.recorded_core_num);
+
+        vTaskDelete(task_handle);
+    }
+}
+#endif // !CONFIG_FREERTOS_UNICORE
+
+#endif // SPIRAM