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freertos: Synchronize prvAddNewTaskToReadyList() to v10.4.3

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This commit synchronizes prvAddNewTaskToReadyList() with upstream v10.4.3.
Multi-core modifications are then reapplied to the function.
This commit is contained in:
Darian Leung 2022-08-01 17:29:03 +08:00
parent 0d5f3081ac
commit 27c0120c18
1 changed files with 68 additions and 91 deletions
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159
components/freertos/FreeRTOS-Kernel/tasks.c
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@ -251,6 +251,16 @@ extern void esp_vApplicationIdleHook(void);
#define tskCAN_RUN_HERE( cpuid ) ( cpuid==xPortGetCoreID() || cpuid==tskNO_AFFINITY )
/*
* Check if a particular task (using its xCoreID) can run on a designated core.
* On single core, this macro always evaluates to true.
*/
#if ( configNUM_CORES > 1 )
#define taskCAN_RUN_ON_CORE( xCore, xCoreID ) ( ( ( ( xCoreID ) == xCore ) || ( ( xCoreID ) == tskNO_AFFINITY ) ) ? pdTRUE : pdFALSE )
#else
#define taskCAN_RUN_ON_CORE( xCore, xCoreID ) ( pdTRUE )
#endif /* configNUM_CORES > 1 */
/*
* Several functions take a TaskHandle_t parameter that can optionally be NULL,
* where NULL is used to indicate that the handle of the currently executing
@ -623,10 +633,7 @@ static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
* Called after a new task has been created and initialised to place the task
* under the control of the scheduler.
*/
static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB,
TaskFunction_t pxTaskCode,
BaseType_t xCoreID ) PRIVILEGED_FUNCTION;
static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB ) PRIVILEGED_FUNCTION;
#if ( configNUM_CORES > 1 )
@ -758,7 +765,7 @@ void taskYIELD_OTHER_CORE( BaseType_t xCoreID, UBaseType_t uxPriority )
#endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE */
prvInitialiseNewTask( pvTaskCode, pcName, ulStackDepth, pvParameters, uxPriority, &xReturn, pxNewTCB, NULL, xCoreID );
prvAddNewTaskToReadyList( pxNewTCB, pvTaskCode, xCoreID );
prvAddNewTaskToReadyList( pxNewTCB );
}
else
{
@ -809,7 +816,7 @@ void taskYIELD_OTHER_CORE( BaseType_t xCoreID, UBaseType_t uxPriority )
pxTaskDefinition->xRegions,
tskNO_AFFINITY );
prvAddNewTaskToReadyList( pxNewTCB, pxTaskDefinition->pvTaskCode, tskNO_AFFINITY);
prvAddNewTaskToReadyList( pxNewTCB );
xReturn = pdPASS;
}
@ -859,7 +866,7 @@ void taskYIELD_OTHER_CORE( BaseType_t xCoreID, UBaseType_t uxPriority )
pxTaskDefinition->xRegions,
tskNO_AFFINITY );
prvAddNewTaskToReadyList( pxNewTCB, pxTaskDefinition->pvTaskCode, tskNO_AFFINITY);
prvAddNewTaskToReadyList( pxNewTCB );
xReturn = pdPASS;
}
}
@ -950,7 +957,7 @@ void taskYIELD_OTHER_CORE( BaseType_t xCoreID, UBaseType_t uxPriority )
#endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE */
prvInitialiseNewTask( pvTaskCode, pcName, ( uint32_t ) usStackDepth, pvParameters, uxPriority, pvCreatedTask, pxNewTCB, NULL, xCoreID );
prvAddNewTaskToReadyList( pxNewTCB, pvTaskCode, xCoreID);
prvAddNewTaskToReadyList( pxNewTCB );
xReturn = pdPASS;
}
else
@ -1233,76 +1240,42 @@ static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
}
/*-----------------------------------------------------------*/
static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB,
TaskFunction_t pxTaskCode,
BaseType_t xCoreID )
static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB )
{
TCB_t *tcb0, *tcb1;
#if (configNUM_CORES < 2)
xCoreID = 0;
#endif
/* Ensure interrupts don't access the task lists while the lists are being
* updated. */
taskENTER_CRITICAL( &xKernelLock );
{
uxCurrentNumberOfTasks++;
if ( xCoreID == tskNO_AFFINITY )
if( uxCurrentNumberOfTasks == ( UBaseType_t ) 1 )
{
if ( configNUM_CORES == 1 )
{
xCoreID = 0;
}
else
{
// if the task has no affinity, put it on either core if nothing is currently scheduled there. Failing that,
// put it on the core where it will preempt the lowest priority running task. If neither of these are true,
// queue it on the currently running core.
tcb0 = pxCurrentTCB[0];
tcb1 = pxCurrentTCB[1];
if ( tcb0 == NULL )
{
xCoreID = 0;
}
else if ( tcb1 == NULL )
{
xCoreID = 1;
}
else if ( tcb0->uxPriority < pxNewTCB->uxPriority && tcb0->uxPriority < tcb1->uxPriority )
{
xCoreID = 0;
}
else if ( tcb1->uxPriority < pxNewTCB->uxPriority )
{
xCoreID = 1;
}
else
{
xCoreID = xPortGetCoreID(); // Both CPU have higher priority tasks running on them, so this won't run yet
}
}
/* This is the first task to be created so do the preliminary
* initialisation required. We will not recover if this call
* fails, but we will report the failure. */
prvInitialiseTaskLists();
}
else
{
mtCOVERAGE_TEST_MARKER();
}
if( pxCurrentTCB[xCoreID] == NULL )
if( ( pxCurrentTCB[ 0 ] == NULL ) && ( taskCAN_RUN_ON_CORE( 0, pxNewTCB->xCoreID ) == pdTRUE ) )
{
/* There are no other tasks, or all the other tasks are in
* the suspended state - make this the current task. */
pxCurrentTCB[xCoreID] = pxNewTCB;
if( uxCurrentNumberOfTasks == ( UBaseType_t ) 1 )
{
/* This is the first task to be created so do the preliminary
* initialisation required. We will not recover if this call
* fails, but we will report the failure. */
prvInitialiseTaskLists();
}
else
{
mtCOVERAGE_TEST_MARKER();
}
/* On core 0, there are no other tasks, or all the other tasks
* are in the suspended state - make this the current task. */
pxCurrentTCB[ 0 ] = pxNewTCB;
}
#if ( configNUM_CORES > 1 )
else if( ( pxCurrentTCB[ 1 ] == NULL ) && ( taskCAN_RUN_ON_CORE( 1, pxNewTCB->xCoreID ) == pdTRUE ) )
{
/* On core 1, there are no other tasks, or all the other tasks
* are in the suspended state - make this the current task. */
pxCurrentTCB[ 1 ] = pxNewTCB;
}
#endif /* configNUM_CORES > 1 */
else
{
/* If the scheduler is not already running, make this task the
@ -1310,10 +1283,22 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB,
* so far. */
if( xSchedulerRunning == pdFALSE )
{
if( pxCurrentTCB[xCoreID] == NULL || pxCurrentTCB[xCoreID]->uxPriority <= pxNewTCB->uxPriority )
if( ( pxCurrentTCB[ 0 ] != NULL )
&& ( taskCAN_RUN_ON_CORE( 0, pxNewTCB->xCoreID ) == pdTRUE )
&& ( pxCurrentTCB[ 0 ]->uxPriority <= pxNewTCB->uxPriority ) )
{
pxCurrentTCB[xCoreID] = pxNewTCB;
pxCurrentTCB[ 0 ] = pxNewTCB;
}
#if ( configNUM_CORES > 1 )
else if( ( pxCurrentTCB[ 1 ] != NULL )
&& ( taskCAN_RUN_ON_CORE( 1, pxNewTCB->xCoreID ) == pdTRUE )
&& ( pxCurrentTCB[ 1 ]->uxPriority <= pxNewTCB->uxPriority ) )
{
pxCurrentTCB[ 1 ] = pxNewTCB;
}
#endif /* configNUM_CORES > 1 */
else
{
mtCOVERAGE_TEST_MARKER();
@ -1338,32 +1323,27 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB,
prvAddTaskToReadyList( pxNewTCB );
portSETUP_TCB( pxNewTCB );
}
taskEXIT_CRITICAL( &xKernelLock );
if( xSchedulerRunning != pdFALSE )
{
/* If the created task is of a higher priority than the current task
* then it should run now. */
taskENTER_CRITICAL( &xKernelLock );
/* If the created task is of a higher priority than the current task
* then it should run now. */
if( pxCurrentTCB[ xPortGetCoreID() ] == NULL || prvCheckForYield( pxNewTCB, xPortGetCoreID(), pdTRUE ) )
if( xSchedulerRunning != pdFALSE )
{
taskYIELD_IF_USING_PREEMPTION();
/* If the created task is of a higher priority than the current task
* then it should run now. */
if( prvCheckForYield( pxNewTCB, xPortGetCoreID(), pdTRUE ) )
{
taskYIELD_IF_USING_PREEMPTION();
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
else
{
mtCOVERAGE_TEST_MARKER();
}
taskEXIT_CRITICAL( &xKernelLock );
}
else
{
mtCOVERAGE_TEST_MARKER();
}
taskEXIT_CRITICAL( &xKernelLock );
}
/*-----------------------------------------------------------*/
@ -4411,13 +4391,10 @@ static void prvInitialiseTaskLists( void )
vListInitialise( &xDelayedTaskList1 );
vListInitialise( &xDelayedTaskList2 );
#if ( configNUM_CORES > 1 )
for(BaseType_t i = 0; i < configNUM_CORES; i++) {
vListInitialise( &xPendingReadyList[ i ] );
for( BaseType_t x = 0; x < configNUM_CORES; x++ )
{
vListInitialise( &xPendingReadyList[ x ] );
}
#else
vListInitialise( &xPendingReadyList[xPortGetCoreID()] );
#endif
#if ( INCLUDE_vTaskDelete == 1 )
{