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Merge branch 'feature/freertos_10.4.3_sync_critical_sections_vs_suspension' into 'master'

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FreeRTOS(IDF): Resolve critical section (multi-core) vs scheduler suspension (single-core)

Closes IDF-3755

See merge request espressif/esp-idf!21002
This commit is contained in:
Darian 2022-11-21 18:38:43 +08:00
commit 74ed2aa2ee
8 changed files with 431 additions and 425 deletions
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108
components/freertos/FreeRTOS-Kernel/event_groups.c
View File

@ -80,9 +80,7 @@ typedef struct EventGroupDef_t
uint8_t ucStaticallyAllocated; /*< Set to pdTRUE if the event group is statically allocated to ensure no attempt is made to free the memory. */
#endif
#ifdef ESP_PLATFORM
portMUX_TYPE xEventGroupLock; /* Spinlock required for SMP critical sections */
#endif // ESP_PLATFORM
portMUX_TYPE xEventGroupLock; /* Spinlock required for SMP critical sections */
} EventGroup_t;
/*-----------------------------------------------------------*/
@ -225,11 +223,7 @@ EventBits_t xEventGroupSync( EventGroupHandle_t xEventGroup,
}
#endif
#ifdef ESP_PLATFORM /* IDF-3755 */
taskENTER_CRITICAL( &( pxEventBits->xEventGroupLock ) );
#else
vTaskSuspendAll();
#endif // ESP_PLATFORM
prvENTER_CRITICAL_OR_SUSPEND_ALL( &( pxEventBits->xEventGroupLock ) );
{
uxOriginalBitValue = pxEventBits->uxEventBits;
@ -272,12 +266,7 @@ EventBits_t xEventGroupSync( EventGroupHandle_t xEventGroup,
}
}
}
#ifdef ESP_PLATFORM /* IDF-3755 */
taskEXIT_CRITICAL( &( pxEventBits->xEventGroupLock ) );
xAlreadyYielded = pdFALSE;
#else
xAlreadyYielded = xTaskResumeAll();
#endif // ESP_PLATFORM
xAlreadyYielded = prvEXIT_CRITICAL_OR_RESUME_ALL( &( pxEventBits->xEventGroupLock ) );
if( xTicksToWait != ( TickType_t ) 0 )
{
@ -361,11 +350,7 @@ EventBits_t xEventGroupWaitBits( EventGroupHandle_t xEventGroup,
}
#endif
#ifdef ESP_PLATFORM /* IDF-3755 */
taskENTER_CRITICAL( &( pxEventBits->xEventGroupLock ) );
#else
vTaskSuspendAll();
#endif // ESP_PLATFORM
prvENTER_CRITICAL_OR_SUSPEND_ALL( &( pxEventBits->xEventGroupLock ) );
{
const EventBits_t uxCurrentEventBits = pxEventBits->uxEventBits;
@ -433,12 +418,7 @@ EventBits_t xEventGroupWaitBits( EventGroupHandle_t xEventGroup,
traceEVENT_GROUP_WAIT_BITS_BLOCK( xEventGroup, uxBitsToWaitFor );
}
}
#ifdef ESP_PLATFORM /* IDF-3755 */
taskEXIT_CRITICAL( &( pxEventBits->xEventGroupLock ) );
xAlreadyYielded = pdFALSE;
#else
xAlreadyYielded = xTaskResumeAll();
#endif // ESP_PLATFORM
xAlreadyYielded = prvEXIT_CRITICAL_OR_RESUME_ALL( &( pxEventBits->xEventGroupLock ) );
if( xTicksToWait != ( TickType_t ) 0 )
{
@ -581,15 +561,14 @@ EventBits_t xEventGroupSetBits( EventGroupHandle_t xEventGroup,
pxList = &( pxEventBits->xTasksWaitingForBits );
pxListEnd = listGET_END_MARKER( pxList ); /*lint !e826 !e740 !e9087 The mini list structure is used as the list end to save RAM. This is checked and valid. */
#ifdef ESP_PLATFORM /* IDF-3755 */
taskENTER_CRITICAL( &( pxEventBits->xEventGroupLock ) );
prvENTER_CRITICAL_OR_SUSPEND_ALL( &( pxEventBits->xEventGroupLock ) );
#if ( configNUM_CORES > 1 )
/* We are about to traverse a task list which is a kernel data structure.
* Thus we need to call vTaskTakeKernelLock() to take the kernel lock. */
vTaskTakeKernelLock();
#else
vTaskSuspendAll();
#endif // ESP_PLATFORM
#endif /* configNUM_CORES > 1 */
{
traceEVENT_GROUP_SET_BITS( xEventGroup, uxBitsToSet );
@ -661,13 +640,11 @@ EventBits_t xEventGroupSetBits( EventGroupHandle_t xEventGroup,
* bit was set in the control word. */
pxEventBits->uxEventBits &= ~uxBitsToClear;
}
#ifdef ESP_PLATFORM /* IDF-3755 */
/* Release the previously taken kernel lock, then release the event group spinlock. */
#if ( configNUM_CORES > 1 )
/* Release the previously taken kernel lock. */
vTaskReleaseKernelLock();
taskEXIT_CRITICAL( &( pxEventBits->xEventGroupLock ) );
#else
( void ) xTaskResumeAll();
#endif // ESP_PLATFORM
#endif /* configNUM_CORES > 1 */
( void ) prvEXIT_CRITICAL_OR_RESUME_ALL( &( pxEventBits->xEventGroupLock ) );
return pxEventBits->uxEventBits;
}
@ -678,18 +655,16 @@ void vEventGroupDelete( EventGroupHandle_t xEventGroup )
EventGroup_t * pxEventBits = xEventGroup;
const List_t * pxTasksWaitingForBits = &( pxEventBits->xTasksWaitingForBits );
prvENTER_CRITICAL_OR_SUSPEND_ALL( &( pxEventBits->xEventGroupLock ) );
#if ( configNUM_CORES > 1 )
/* We are about to traverse a task list which is a kernel data structure.
* Thus we need to call vTaskTakeKernelLock() to take the kernel lock. */
vTaskTakeKernelLock();
#endif /* configNUM_CORES > 1 */
{
traceEVENT_GROUP_DELETE( xEventGroup );
/* IDF-3755 */
taskENTER_CRITICAL( &( pxEventBits->xEventGroupLock ) );
#ifdef ESP_PLATFORM
/* We are about to traverse a task list which is a kernel data structure.
* Thus we need to call vTaskTakeKernelLock() to take the kernel lock. */
vTaskTakeKernelLock();
#endif
while( listCURRENT_LIST_LENGTH( pxTasksWaitingForBits ) > ( UBaseType_t ) 0 )
{
/* Unblock the task, returning 0 as the event list is being deleted
@ -697,34 +672,33 @@ void vEventGroupDelete( EventGroupHandle_t xEventGroup )
configASSERT( pxTasksWaitingForBits->xListEnd.pxNext != ( const ListItem_t * ) &( pxTasksWaitingForBits->xListEnd ) );
vTaskRemoveFromUnorderedEventList( pxTasksWaitingForBits->xListEnd.pxNext, eventUNBLOCKED_DUE_TO_BIT_SET );
}
}
#if ( configNUM_CORES > 1 )
/* Release the previously taken kernel lock. */
vTaskReleaseKernelLock();
#endif /* configNUM_CORES > 1 */
prvEXIT_CRITICAL_OR_RESUME_ALL( &( pxEventBits->xEventGroupLock ) );
#ifdef ESP_PLATFORM
/* Release the previously taken kernel lock. */
vTaskReleaseKernelLock();
#endif
taskEXIT_CRITICAL( &( pxEventBits->xEventGroupLock ) );
#if ( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 0 ) )
#if ( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 0 ) )
{
/* The event group can only have been allocated dynamically - free
* it again. */
vPortFree( pxEventBits );
}
#elif ( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
{
/* The event group could have been allocated statically or
* dynamically, so check before attempting to free the memory. */
if( pxEventBits->ucStaticallyAllocated == ( uint8_t ) pdFALSE )
{
/* The event group can only have been allocated dynamically - free
* it again. */
vPortFree( pxEventBits );
}
#elif ( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
else
{
/* The event group could have been allocated statically or
* dynamically, so check before attempting to free the memory. */
if( pxEventBits->ucStaticallyAllocated == ( uint8_t ) pdFALSE )
{
vPortFree( pxEventBits );
}
else
{
mtCOVERAGE_TEST_MARKER();
}
mtCOVERAGE_TEST_MARKER();
}
#endif /* configSUPPORT_DYNAMIC_ALLOCATION */
}
}
#endif /* configSUPPORT_DYNAMIC_ALLOCATION */
}
/*-----------------------------------------------------------*/

33
components/freertos/FreeRTOS-Kernel/include/freertos/task.h
View File

@ -3407,6 +3407,32 @@ BaseType_t xTaskCatchUpTicks( TickType_t xTicksToCatchUp ) PRIVILEGED_FUNCTION;
*----------------------------------------------------------*/
/** @cond !DOC_EXCLUDE_HEADER_SECTION */
/*
* Various convenience macros for critical sections and scheduler suspension
* called by other FreeRTOS sources and not meant to be called by the
* application. The behavior of each macro depends on whether FreeRTOS is
* currently configured for SMP or single core.
*/
#if ( configNUM_CORES > 1 )
#define prvENTER_CRITICAL_OR_SUSPEND_ALL( x ) taskENTER_CRITICAL( ( x ) )
#define prvEXIT_CRITICAL_OR_RESUME_ALL( x ) ( { taskEXIT_CRITICAL( ( x ) ); pdFALSE; } )
#define prvENTER_CRITICAL_OR_MASK_ISR( pxLock, uxInterruptStatus ) \
taskENTER_CRITICAL_ISR( ( pxLock ) ); \
( void ) ( uxInterruptStatus );
#define prvEXIT_CRITICAL_OR_UNMASK_ISR( pxLock, uxInterruptStatus ) \
taskEXIT_CRITICAL_ISR( ( pxLock ) ); \
( void ) ( uxInterruptStatus );
#else /* configNUM_CORES > 1 */
#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 ) \
( uxSavedInterruptStatus ) = portSET_INTERRUPT_MASK_FROM_ISR(); \
( void ) ( pxLock );
#define prvEXIT_CRITICAL_OR_UNMASK_ISR( pxLock, uxInterruptStatus ) \
portCLEAR_INTERRUPT_MASK_FROM_ISR( ( uxSavedInterruptStatus ) ); \
( void ) ( pxLock );
#endif /* configNUM_CORES > 1 */
/*
* Return the handle of the task running on a certain CPU. Because of
* the nature of SMP processing, there is no guarantee that this
@ -3519,6 +3545,8 @@ void vTaskPlaceOnEventListRestricted( List_t * const pxEventList,
TickType_t xTicksToWait,
const BaseType_t xWaitIndefinitely ) PRIVILEGED_FUNCTION;
#if ( configNUM_CORES > 1 )
/*
* THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE. IT IS AN
* INTERFACE WHICH IS FOR THE EXCLUSIVE USE OF THE SCHEDULER.
@ -3533,8 +3561,9 @@ void vTaskPlaceOnEventListRestricted( List_t * const pxEventList,
* of delegating the entire responsibility to one of vTask...EventList()
* functions).
*/
void vTaskTakeKernelLock( void );
void vTaskReleaseKernelLock( void );
void vTaskTakeKernelLock( void );
void vTaskReleaseKernelLock( void );
#endif /* configNUM_CORES > 1 */
/*
* THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE. IT IS AN

16
components/freertos/FreeRTOS-Kernel/portable/port_systick.c
View File

@ -180,14 +180,24 @@ BaseType_t xPortSysTickHandler(void)
// Call FreeRTOS Increment tick function
BaseType_t xSwitchRequired;
#if CONFIG_FREERTOS_UNICORE
xSwitchRequired = xTaskIncrementTick();
#else
#if ( configNUM_CORES > 1 )
/*
For SMP, xTaskIncrementTick() will internally enter a critical section. But only core 0 calls xTaskIncrementTick()
while core 1 should call xTaskIncrementTickOtherCores().
*/
if (xPortGetCoreID() == 0) {
xSwitchRequired = xTaskIncrementTick();
} else {
xSwitchRequired = xTaskIncrementTickOtherCores();
}
#else // configNUM_CORES > 1
/*
Vanilla (single core) FreeRTOS expects that xTaskIncrementTick() cannot be interrupted (i.e., no nested interrupts).
Thus we have to disable interrupts before calling it.
*/
UBaseType_t uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
xSwitchRequired = xTaskIncrementTick();
portCLEAR_INTERRUPT_MASK_FROM_ISR(uxSavedInterruptStatus);
#endif
// Check if yield is required

7
components/freertos/FreeRTOS-Kernel/portable/xtensa/include/freertos/portmacro.h
View File

@ -447,6 +447,13 @@ FORCE_INLINE_ATTR BaseType_t xPortGetCoreID(void);
#define portASSERT_IF_IN_ISR() vPortAssertIfInISR()
/**
* @brief Used by FreeRTOS functions to call the correct version of critical section API
*/
#if ( configNUM_CORES > 1 )
#define portCHECK_IF_IN_ISR() xPortInIsrContext()
#endif
// ------------------ Critical Sections --------------------
/**

84
components/freertos/FreeRTOS-Kernel/queue.c
View File

@ -1095,12 +1095,7 @@ BaseType_t xQueueGenericSendFromISR( QueueHandle_t xQueue,
* read, instead return a flag to say whether a context switch is required or
* not (i.e. has a task with a higher priority than us been woken by this
* post). */
#if ( configNUM_CORES > 1 )
taskENTER_CRITICAL_ISR( &( pxQueue->xQueueLock ) );
( void ) uxSavedInterruptStatus;
#else
uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
#endif
prvENTER_CRITICAL_OR_MASK_ISR( &( pxQueue->xQueueLock ), uxSavedInterruptStatus );
{
if( ( pxQueue->uxMessagesWaiting < pxQueue->uxLength ) || ( xCopyPosition == queueOVERWRITE ) )
{
@ -1236,11 +1231,7 @@ BaseType_t xQueueGenericSendFromISR( QueueHandle_t xQueue,
xReturn = errQUEUE_FULL;
}
}
#if ( configNUM_CORES > 1 )
taskEXIT_CRITICAL_ISR( &( pxQueue->xQueueLock ) );
#else
portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
#endif
prvEXIT_CRITICAL_OR_UNMASK_ISR( &( pxQueue->xQueueLock ), uxSavedInterruptStatus );
return xReturn;
}
@ -1286,12 +1277,7 @@ BaseType_t xQueueGiveFromISR( QueueHandle_t xQueue,
* link: https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
#if ( configNUM_CORES > 1 )
taskENTER_CRITICAL_ISR( &( pxQueue->xQueueLock ) );
( void ) uxSavedInterruptStatus;
#else
uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
#endif
prvENTER_CRITICAL_OR_MASK_ISR( &( pxQueue->xQueueLock ), uxSavedInterruptStatus );
{
const UBaseType_t uxMessagesWaiting = pxQueue->uxMessagesWaiting;
@ -1422,11 +1408,7 @@ BaseType_t xQueueGiveFromISR( QueueHandle_t xQueue,
xReturn = errQUEUE_FULL;
}
}
#if ( configNUM_CORES > 1 )
taskEXIT_CRITICAL_ISR( &( pxQueue->xQueueLock ) );
#else
portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
#endif
prvEXIT_CRITICAL_OR_UNMASK_ISR( &( pxQueue->xQueueLock ), uxSavedInterruptStatus );
return xReturn;
}
@ -2094,12 +2076,7 @@ BaseType_t xQueueReceiveFromISR( QueueHandle_t xQueue,
* link: https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
#if ( configNUM_CORES > 1 )
taskENTER_CRITICAL_ISR( &( pxQueue->xQueueLock ) );
( void ) uxSavedInterruptStatus;
#else
uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
#endif
prvENTER_CRITICAL_OR_MASK_ISR( &( pxQueue->xQueueLock ), uxSavedInterruptStatus );
{
const UBaseType_t uxMessagesWaiting = pxQueue->uxMessagesWaiting;
@ -2170,12 +2147,7 @@ BaseType_t xQueueReceiveFromISR( QueueHandle_t xQueue,
traceQUEUE_RECEIVE_FROM_ISR_FAILED( pxQueue );
}
}
#if ( configNUM_CORES > 1 )
taskEXIT_CRITICAL_ISR( &( pxQueue->xQueueLock ) );
#else
portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
#endif
prvEXIT_CRITICAL_OR_UNMASK_ISR( &( pxQueue->xQueueLock ), uxSavedInterruptStatus );
return xReturn;
}
@ -2209,12 +2181,7 @@ BaseType_t xQueuePeekFromISR( QueueHandle_t xQueue,
* link: https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
#if ( configNUM_CORES > 1 )
taskENTER_CRITICAL_ISR( &( pxQueue->xQueueLock ) );
( void ) uxSavedInterruptStatus;
#else
uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
#endif
prvENTER_CRITICAL_OR_MASK_ISR( &( pxQueue->xQueueLock ), uxSavedInterruptStatus );
{
/* Cannot block in an ISR, so check there is data available. */
if( pxQueue->uxMessagesWaiting > ( UBaseType_t ) 0 )
@ -2235,12 +2202,7 @@ BaseType_t xQueuePeekFromISR( QueueHandle_t xQueue,
traceQUEUE_PEEK_FROM_ISR_FAILED( pxQueue );
}
}
#if ( configNUM_CORES > 1 )
taskEXIT_CRITICAL_ISR( &( pxQueue->xQueueLock ) );
#else
portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
#endif
prvEXIT_CRITICAL_OR_UNMASK_ISR( &( pxQueue->xQueueLock ), uxSavedInterruptStatus );
return xReturn;
}
@ -3269,8 +3231,21 @@ BaseType_t xQueueIsQueueFullFromISR( const QueueHandle_t xQueue )
configASSERT( pxQueueSetContainer );
configASSERT( pxQueueSetContainer->uxMessagesWaiting < pxQueueSetContainer->uxLength );
/* We need to also acquire the queue set's spinlock as well. */
taskENTER_CRITICAL( &( pxQueueSetContainer->xQueueLock ) );
#if ( configNUM_CORES > 1 )
/* In SMP, queue sets have their own spinlock. Thus we need to also
* acquire the queue set's spinlock before accessing it. This
* function can also be called from an ISR context, so we need to
* check whether we are in an ISR. */
if( portCHECK_IF_IN_ISR() == pdFALSE )
{
taskENTER_CRITICAL( &( pxQueueSetContainer->xQueueLock ) );
}
else
{
taskENTER_CRITICAL_ISR( &( pxQueueSetContainer->xQueueLock ) );
}
#endif /* configNUM_CORES > 1 */
if( pxQueueSetContainer->uxMessagesWaiting < pxQueueSetContainer->uxLength )
{
@ -3321,8 +3296,17 @@ BaseType_t xQueueIsQueueFullFromISR( const QueueHandle_t xQueue )
mtCOVERAGE_TEST_MARKER();
}
/* Release the previously acquired queue set's spinlock. */
taskEXIT_CRITICAL( &( pxQueueSetContainer->xQueueLock ) );
#if ( configNUM_CORES > 1 )
/* Release the previously acquired queue set's spinlock. */
if( portCHECK_IF_IN_ISR() == pdFALSE )
{
taskEXIT_CRITICAL( &( pxQueueSetContainer->xQueueLock ) );
}
else
{
taskEXIT_CRITICAL_ISR( &( pxQueueSetContainer->xQueueLock ) );
}
#endif /* configNUM_CORES > 1 */
return xReturn;
}

80
components/freertos/FreeRTOS-Kernel/stream_buffer.c
View File

@ -60,35 +60,19 @@
* or #defined the notification macros away, then provide default implementations
* that uses task notifications. */
/*lint -save -e9026 Function like macros allowed and needed here so they can be overridden. */
#ifndef sbRECEIVE_COMPLETED
#ifdef ESP_PLATFORM /* IDF-3775 */
#define sbRECEIVE_COMPLETED( pxStreamBuffer ) \
taskENTER_CRITICAL( &( pxStreamBuffer->xStreamBufferLock ) ); \
{ \
if( ( pxStreamBuffer )->xTaskWaitingToSend != NULL ) \
{ \
( void ) xTaskNotify( ( pxStreamBuffer )->xTaskWaitingToSend, \
( uint32_t ) 0, \
eNoAction ); \
( pxStreamBuffer )->xTaskWaitingToSend = NULL; \
} \
} \
taskEXIT_CRITICAL( &( pxStreamBuffer->xStreamBufferLock ) );
#else /* ifdef ESP_PLATFORM */
#define sbRECEIVE_COMPLETED( pxStreamBuffer ) \
vTaskSuspendAll(); \
{ \
if( ( pxStreamBuffer )->xTaskWaitingToSend != NULL ) \
{ \
( void ) xTaskNotify( ( pxStreamBuffer )->xTaskWaitingToSend, \
( uint32_t ) 0, \
eNoAction ); \
( pxStreamBuffer )->xTaskWaitingToSend = NULL; \
} \
} \
( void ) xTaskResumeAll();
#endif // ESP_PLATFORM
#define sbRECEIVE_COMPLETED( pxStreamBuffer ) \
prvENTER_CRITICAL_OR_SUSPEND_ALL( &( pxStreamBuffer->xStreamBufferLock ) ); \
{ \
if( ( pxStreamBuffer )->xTaskWaitingToSend != NULL ) \
{ \
( void ) xTaskNotify( ( pxStreamBuffer )->xTaskWaitingToSend, \
( uint32_t ) 0, \
eNoAction ); \
( pxStreamBuffer )->xTaskWaitingToSend = NULL; \
} \
} \
( void ) prvEXIT_CRITICAL_OR_RESUME_ALL( &( pxStreamBuffer->xStreamBufferLock ) );
#endif /* sbRECEIVE_COMPLETED */
#ifndef sbRECEIVE_COMPLETED_FROM_ISR
@ -116,33 +100,18 @@
* or #defined the notification macro away, them provide a default implementation
* that uses task notifications. */
#ifndef sbSEND_COMPLETED
#ifdef ESP_PLATFORM /* IDF-3755 */
#define sbSEND_COMPLETED( pxStreamBuffer ) \
taskENTER_CRITICAL( &( pxStreamBuffer->xStreamBufferLock ) ); \
{ \
if( ( pxStreamBuffer )->xTaskWaitingToReceive != NULL ) \
{ \
( void ) xTaskNotify( ( pxStreamBuffer )->xTaskWaitingToReceive, \
( uint32_t ) 0, \
eNoAction ); \
( pxStreamBuffer )->xTaskWaitingToReceive = NULL; \
} \
} \
taskEXIT_CRITICAL( &( pxStreamBuffer->xStreamBufferLock ) );
#else /* ifdef ESP_PLATFORM */
#define sbSEND_COMPLETED( pxStreamBuffer ) \
vTaskSuspendAll(); \
{ \
if( ( pxStreamBuffer )->xTaskWaitingToReceive != NULL ) \
{ \
( void ) xTaskNotify( ( pxStreamBuffer )->xTaskWaitingToReceive, \
( uint32_t ) 0, \
eNoAction ); \
( pxStreamBuffer )->xTaskWaitingToReceive = NULL; \
} \
} \
( void ) xTaskResumeAll();
#endif // ESP_PLATFORM
#define sbSEND_COMPLETED( pxStreamBuffer ) \
prvENTER_CRITICAL_OR_SUSPEND_ALL( &( pxStreamBuffer->xStreamBufferLock ) ); \
{ \
if( ( pxStreamBuffer )->xTaskWaitingToReceive != NULL ) \
{ \
( void ) xTaskNotify( ( pxStreamBuffer )->xTaskWaitingToReceive, \
( uint32_t ) 0, \
eNoAction ); \
( pxStreamBuffer )->xTaskWaitingToReceive = NULL; \
} \
} \
( void ) prvEXIT_CRITICAL_OR_RESUME_ALL( &( pxStreamBuffer->xStreamBufferLock ) );
#endif /* sbSEND_COMPLETED */
#ifndef sbSEND_COMPLETE_FROM_ISR
@ -309,7 +278,6 @@ static void prvInitialiseNewStreamBuffer( StreamBuffer_t * const pxStreamBuffer,
pucAllocatedMemory = NULL;
}
if( pucAllocatedMemory != NULL )
{
prvInitialiseNewStreamBuffer( ( StreamBuffer_t * ) pucAllocatedMemory, /* Structure at the start of the allocated memory. */ /*lint !e9087 Safe cast as allocated memory is aligned. */ /*lint !e826 Area is not too small and alignment is guaranteed provided malloc() behaves as expected and returns aligned buffer. */

493
components/freertos/FreeRTOS-Kernel/tasks.c
View File

@ -403,12 +403,9 @@ PRIVILEGED_DATA static List_t * volatile pxDelayedTaskList; /*< Poi
PRIVILEGED_DATA static List_t * volatile pxOverflowDelayedTaskList; /*< Points to the delayed task list currently being used to hold tasks that have overflowed the current tick count. */
PRIVILEGED_DATA static List_t xPendingReadyList[ configNUM_CORES ]; /*< Tasks that have been readied while the scheduler was suspended. They will be moved to the ready list when the scheduler is resumed. */
#ifdef ESP_PLATFORM
/* Spinlock required for SMP critical sections. This lock protects all of the
* kernel's data structures such as various tasks lists, flags, and tick counts. */
PRIVILEGED_DATA static portMUX_TYPE xKernelLock = portMUX_INITIALIZER_UNLOCKED;
#endif // ESP_PLATFORM
PRIVILEGED_DATA static portMUX_TYPE xKernelLock = portMUX_INITIALIZER_UNLOCKED;
#if ( INCLUDE_vTaskDelete == 1 )
@ -1537,11 +1534,7 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB )
configASSERT( ( xTimeIncrement > 0U ) );
configASSERT( xTaskGetSchedulerState() != taskSCHEDULER_SUSPENDED );
#ifdef ESP_PLATFORM /* IDF-3755 */
taskENTER_CRITICAL( &xKernelLock );
#else
vTaskSuspendAll();
#endif // ESP_PLATFORM
prvENTER_CRITICAL_OR_SUSPEND_ALL( &xKernelLock );
{
/* Minor optimisation. The tick count cannot change in this
* block. */
@ -1597,12 +1590,7 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB )
mtCOVERAGE_TEST_MARKER();
}
}
#ifdef ESP_PLATFORM /* IDF-3755 */
taskEXIT_CRITICAL( &xKernelLock );
xAlreadyYielded = pdFALSE;
#else
xAlreadyYielded = xTaskResumeAll();
#endif // ESP_PLATFORM
xAlreadyYielded = prvEXIT_CRITICAL_OR_RESUME_ALL( &xKernelLock );
/* Force a reschedule if xTaskResumeAll has not already done so, we may
* have put ourselves to sleep. */
@ -1631,11 +1619,7 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB )
if( xTicksToDelay > ( TickType_t ) 0U )
{
configASSERT( xTaskGetSchedulerState() != taskSCHEDULER_SUSPENDED );
#ifdef ESP_PLATFORM /* IDF-3755 */
taskENTER_CRITICAL( &xKernelLock );
#else
vTaskSuspendAll();
#endif // ESP_PLATFORM
prvENTER_CRITICAL_OR_SUSPEND_ALL( &xKernelLock );
{
traceTASK_DELAY();
@ -1648,12 +1632,7 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB )
* executing task. */
prvAddCurrentTaskToDelayedList( xTicksToDelay, pdFALSE );
}
#ifdef ESP_PLATFORM /* IDF-3755 */
taskEXIT_CRITICAL( &xKernelLock );
xAlreadyYielded = pdFALSE;
#else
xAlreadyYielded = xTaskResumeAll();
#endif // ESP_PLATFORM
xAlreadyYielded = prvEXIT_CRITICAL_OR_RESUME_ALL( &xKernelLock );
}
else
{
@ -2836,11 +2815,7 @@ char * pcTaskGetName( TaskHandle_t xTaskToQuery ) /*lint !e971 Unqualified char
/* Task names will be truncated to configMAX_TASK_NAME_LEN - 1 bytes. */
configASSERT( strlen( pcNameToQuery ) < configMAX_TASK_NAME_LEN );
#ifdef ESP_PLATFORM /* IDF-3755 */
taskENTER_CRITICAL( &xKernelLock );
#else
vTaskSuspendAll();
#endif // ESP_PLATFORM
prvENTER_CRITICAL_OR_SUSPEND_ALL( &xKernelLock );
{
/* Search the ready lists. */
do
@ -2886,11 +2861,7 @@ char * pcTaskGetName( TaskHandle_t xTaskToQuery ) /*lint !e971 Unqualified char
}
#endif
}
#ifdef ESP_PLATFORM /* IDF-3755 */
taskEXIT_CRITICAL( &xKernelLock );
#else
( void ) xTaskResumeAll();
#endif // ESP_PLATFORM
( void ) prvEXIT_CRITICAL_OR_RESUME_ALL( &xKernelLock );
return pxTCB;
}
@ -2906,11 +2877,7 @@ char * pcTaskGetName( TaskHandle_t xTaskToQuery ) /*lint !e971 Unqualified char
{
UBaseType_t uxTask = 0, uxQueue = configMAX_PRIORITIES;
#ifdef ESP_PLATFORM /* IDF-3755 */
taskENTER_CRITICAL( &xKernelLock );
#else
vTaskSuspendAll();
#endif // ESP_PLATFORM
prvENTER_CRITICAL_OR_SUSPEND_ALL( &xKernelLock );
{
/* Is there a space in the array for each task in the system? */
if( uxArraySize >= uxCurrentNumberOfTasks )
@ -2969,11 +2936,7 @@ char * pcTaskGetName( TaskHandle_t xTaskToQuery ) /*lint !e971 Unqualified char
mtCOVERAGE_TEST_MARKER();
}
}
#ifdef ESP_PLATFORM /* IDF-3755 */
taskEXIT_CRITICAL( &xKernelLock );
#else
( void ) xTaskResumeAll();
#endif // ESP_PLATFORM
( void ) prvEXIT_CRITICAL_OR_RESUME_ALL( &xKernelLock );
return uxTask;
}
@ -3008,10 +2971,12 @@ char * pcTaskGetName( TaskHandle_t xTaskToQuery ) /*lint !e971 Unqualified char
void vTaskStepTick( const TickType_t xTicksToJump )
{
#ifdef ESP_PLATFORM
/* For SMP, we require a critical section to access xTickCount */
#if ( configNUM_CORES > 1 )
/* Although this is called with the scheduler suspended. For SMP, we
* still need to take the kernel lock to access xTickCount. */
taskENTER_CRITICAL( &xKernelLock );
#endif
#endif /* configNUM_CORES > 1 */
/* Correct the tick count value after a period during which the tick
* was suppressed. Note this does *not* call the tick hook function for
@ -3019,9 +2984,11 @@ char * pcTaskGetName( TaskHandle_t xTaskToQuery ) /*lint !e971 Unqualified char
configASSERT( ( xTickCount + xTicksToJump ) <= xNextTaskUnblockTime );
xTickCount += xTicksToJump;
traceINCREASE_TICK_COUNT( xTicksToJump );
#ifdef ESP_PLATFORM
#if ( configNUM_CORES > 1 )
/* Release the previously taken kernel lock. */
taskEXIT_CRITICAL( &xKernelLock );
#endif
#endif /* configNUM_CORES > 1 */
}
#endif /* configUSE_TICKLESS_IDLE */
@ -3042,16 +3009,17 @@ BaseType_t xTaskCatchUpTicks( TickType_t xTicksToCatchUp )
/* Use xPendedTicks to mimic xTicksToCatchUp number of ticks occurring when
* the scheduler is suspended so the ticks are executed in xTaskResumeAll(). */
vTaskSuspendAll();
#ifdef ESP_PLATFORM
#if ( configNUM_CORES > 1 )
/* For SMP, we still require a critical section to access xPendedTicks even
* if the scheduler is disabled. */
/* Although the scheduler is suspended. For SMP, we still need to take
* the kernel lock to access xPendedTicks. */
taskENTER_CRITICAL( &xKernelLock );
xPendedTicks += xTicksToCatchUp;
#endif /* configNUM_CORES > 1 */
xPendedTicks += xTicksToCatchUp;
#if ( configNUM_CORES > 1 )
/* Release the previously taken kernel lock. */
taskEXIT_CRITICAL( &xKernelLock );
#else // ESP_PLATFORM
xPendedTicks += xTicksToCatchUp;
#endif // ESP_PLATFORM
#endif /* configNUM_CORES > 1 */
xYieldOccurred = xTaskResumeAll();
return xYieldOccurred;
@ -3067,11 +3035,7 @@ BaseType_t xTaskCatchUpTicks( TickType_t xTicksToCatchUp )
configASSERT( pxTCB );
#ifdef ESP_PLATFORM /* IDF-3755 */
taskENTER_CRITICAL( &xKernelLock );
#else
vTaskSuspendAll();
#endif // ESP_PLATFORM
prvENTER_CRITICAL_OR_SUSPEND_ALL( &xKernelLock );
{
/* A task can only be prematurely removed from the Blocked state if
* it is actually in the Blocked state. */
@ -3134,11 +3098,7 @@ BaseType_t xTaskCatchUpTicks( TickType_t xTicksToCatchUp )
xReturn = pdFAIL;
}
}
#ifdef ESP_PLATFORM /* IDF-3755 */
taskEXIT_CRITICAL( &xKernelLock );
#else
( void ) xTaskResumeAll();
#endif // ESP_PLATFORM
( void ) prvEXIT_CRITICAL_OR_RESUME_ALL( &xKernelLock );
return xReturn;
}
@ -3148,14 +3108,11 @@ BaseType_t xTaskCatchUpTicks( TickType_t xTicksToCatchUp )
BaseType_t xTaskIncrementTick( void )
{
#ifdef ESP_PLATFORM
#if ( configNUM_CORES > 1 )
{
/* Only Core 0 should ever call this function. */
configASSERT( xPortGetCoreID() == 0 );
}
#endif /* ( configNUM_CORES > 1 ) */
#endif // ESP_PLATFORM
#if ( configNUM_CORES > 1 )
/* Only Core 0 should ever call this function. */
configASSERT( xPortGetCoreID() == 0 );
#endif /* ( configNUM_CORES > 1 ) */
TCB_t * pxTCB;
TickType_t xItemValue;
BaseType_t xSwitchRequired = pdFALSE;
@ -3165,15 +3122,13 @@ BaseType_t xTaskIncrementTick( void )
* tasks to be unblocked. */
traceTASK_INCREMENT_TICK( xTickCount );
#ifdef ESP_PLATFORM
#if ( configNUM_CORES > 1 )
/* We need a critical section here as we are about to access kernel data
* structures:
* - Other cores could be accessing them simultaneously
* - Unlike other ports, we call xTaskIncrementTick() without disabling nested
* interrupts, which in turn is disabled by the critical section. */
/* For SMP, we need to take the kernel lock here as we are about to
* access kernel data structures (unlike single core which calls this
* function with interrupts disabled). */
taskENTER_CRITICAL_ISR( &xKernelLock );
#endif // ESP_PLATFORM
#endif /* ( configNUM_CORES > 1 ) */
if( uxSchedulerSuspended[ 0 ] == ( UBaseType_t ) pdFALSE )
{
@ -3261,16 +3216,12 @@ BaseType_t xTaskIncrementTick( void )
/* Preemption is on, but a context switch should
* only be performed if the unblocked task has a
* priority that is equal to or higher than the
* currently executing task. */
#if defined( ESP_PLATFORM ) && ( configNUM_CORES > 1 )
/* Since this function is only run on core 0, we
* only need to switch contexts if the unblocked task
* can run on core 0. */
if( ( ( pxTCB->xCoreID == 0 ) || ( pxTCB->xCoreID == tskNO_AFFINITY ) ) && ( pxTCB->uxPriority >= pxCurrentTCB[ 0 ]->uxPriority ) )
#else
if( pxTCB->uxPriority >= pxCurrentTCB[ 0 ]->uxPriority )
#endif
* currently executing task.
*
* For SMP, since this function is only run on core
* 0, only need to switch contexts if the unblocked
* task can run on core 0. */
if( ( taskCAN_RUN_ON_CORE( 0, pxTCB->xCoreID ) == pdTRUE ) && ( pxTCB->uxPriority >= pxCurrentTCB[ 0 ]->uxPriority ) )
{
xSwitchRequired = pdTRUE;
}
@ -3300,23 +3251,22 @@ BaseType_t xTaskIncrementTick( void )
}
#endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) */
#ifdef ESP_PLATFORM
#if ( configUSE_TICK_HOOK == 1 )
TickType_t xPendedCounts = xPendedTicks; /* Non-volatile copy. */
#endif /* configUSE_TICK_HOOK */
/* Exit the critical section as we have finished accessing the kernel data structures. */
#if ( configUSE_TICK_HOOK == 1 )
TickType_t xPendedTicksTemp = xPendedTicks; /* Non-volatile copy. */
#endif /* configUSE_TICK_HOOK */
#if ( configNUM_CORES > 1 )
/* Release the previously taken kernel lock as we have finished
* accessing the kernel data structures. */
taskEXIT_CRITICAL_ISR( &xKernelLock );
#endif // ESP_PLATFORM
#endif /* ( configNUM_CORES > 1 ) */
#if ( configUSE_TICK_HOOK == 1 )
{
/* Guard against the tick hook being called when the pended tick
* count is being unwound (when the scheduler is being unlocked). */
#ifdef ESP_PLATFORM
if( xPendedCounts == ( TickType_t ) 0 )
#else
if( xPendedTicks == ( TickType_t ) 0 )
#endif
if( xPendedTicksTemp == ( TickType_t ) 0 )
{
vApplicationTickHook();
}
@ -3343,10 +3293,12 @@ BaseType_t xTaskIncrementTick( void )
else
{
++xPendedTicks;
#ifdef ESP_PLATFORM
/* Exit the critical section as we have finished accessing the kernel data structures. */
#if ( configNUM_CORES > 1 )
/* Release the previously taken kernel lock as we have finished
* accessing the kernel data structures. */
taskEXIT_CRITICAL_ISR( &xKernelLock );
#endif // ESP_PLATFORM
#endif /* ( configNUM_CORES > 1 ) */
/* The tick hook gets called at regular intervals, even if the
* scheduler is locked. */
@ -3378,12 +3330,8 @@ BaseType_t xTaskIncrementTick( void )
if( uxSchedulerSuspended[ xCoreID ] == ( UBaseType_t ) pdFALSE )
{
/* We need a critical section here as we are about to access kernel data
* structures:
* - Other cores could be accessing them simultaneously
* - Unlike other ports, we call xTaskIncrementTick() without disabling
* nested interrupts, which in turn is disabled by the critical
* section. */
/* We need take the kernel lock here as we are about to access
* kernel data structures. */
taskENTER_CRITICAL_ISR( &xKernelLock );
/* A task being unblocked cannot cause an immediate context switch
@ -3419,7 +3367,8 @@ BaseType_t xTaskIncrementTick( void )
}
#endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) */
/* Exit the critical section as we have finished accessing the kernel data structures. */
/* Release the previously taken kernel lock as we have finished
* accessing the kernel data structures. */
taskEXIT_CRITICAL_ISR( &xKernelLock );
#if ( configUSE_PREEMPTION == 1 )
@ -3508,26 +3457,18 @@ BaseType_t xTaskIncrementTick( void )
{
TCB_t * pxTCB;
TaskHookFunction_t xReturn;
UBaseType_t uxSavedInterruptStatus;
/* If xTask is NULL then set the calling task's hook. */
pxTCB = prvGetTCBFromHandle( xTask );
/* Save the hook function in the TCB. A critical section is required as
* the value can be accessed from an interrupt. */
#if ( configNUM_CORES > 1 )
taskENTER_CRITICAL_ISR( &xKernelLock );
#else
UBaseType_t uxSavedInterruptStatus;
uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
#endif
prvENTER_CRITICAL_OR_MASK_ISR( &xKernelLock, uxSavedInterruptStatus );
{
xReturn = pxTCB->pxTaskTag;
}
#if ( configNUM_CORES > 1 )
taskEXIT_CRITICAL_ISR( &xKernelLock );
#else
portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
#endif
prvEXIT_CRITICAL_OR_UNMASK_ISR( &xKernelLock, uxSavedInterruptStatus );
return xReturn;
}
@ -3660,14 +3601,14 @@ get_next_task:
void vTaskSwitchContext( void )
{
#ifdef ESP_PLATFORM
#if ( configNUM_CORES > 1 )
/* vTaskSwitchContext is called either from:
* - ISR dispatcher when return from an ISR (interrupts will already be disabled)
* - vTaskSuspend() which is not in a critical section
* Therefore, we enter a critical section ISR version to ensure safety */
/* For SMP, we need to take the kernel lock here as we are about to
* access kernel data structures (unlike single core which calls this
* function with either interrupts disabled or when the scheduler hasn't
* started yet). */
taskENTER_CRITICAL_ISR( &xKernelLock );
#endif // ESP_PLATFORM
#endif /* ( configNUM_CORES > 1 ) */
if( uxSchedulerSuspended[ xPortGetCoreID() ] != ( UBaseType_t ) pdFALSE )
{
@ -3756,10 +3697,12 @@ void vTaskSwitchContext( void )
#endif // ESP_PLATFORM
}
#ifdef ESP_PLATFORM
/* Exit the critical section previously entered */
#if ( configNUM_CORES > 1 )
/* Release the previously taken kernel lock as we have finished
* accessing the kernel data structures. */
taskEXIT_CRITICAL_ISR( &xKernelLock );
#endif // ESP_PLATFORM
#endif /* ( configNUM_CORES > 1 ) */
}
/*-----------------------------------------------------------*/
@ -3768,8 +3711,12 @@ void vTaskPlaceOnEventList( List_t * const pxEventList,
{
configASSERT( pxEventList );
/* Take the kernel lock as we are about to access the task lists. */
taskENTER_CRITICAL( &xKernelLock );
#if ( configNUM_CORES > 1 )
/* In SMP, we need to take the kernel lock as we are about to access the
* task lists. */
taskENTER_CRITICAL( &xKernelLock );
#endif /* configNUM_CORES > 1 */
/* THIS FUNCTION MUST BE CALLED WITH EITHER INTERRUPTS DISABLED OR THE
* SCHEDULER SUSPENDED AND THE QUEUE BEING ACCESSED LOCKED. */
@ -3782,7 +3729,10 @@ void vTaskPlaceOnEventList( List_t * const pxEventList,
prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
taskEXIT_CRITICAL( &xKernelLock );
#if ( configNUM_CORES > 1 )
/* Release the previously taken kernel lock. */
taskEXIT_CRITICAL( &xKernelLock );
#endif /* configNUM_CORES > 1 */
}
/*-----------------------------------------------------------*/
@ -3792,14 +3742,18 @@ void vTaskPlaceOnUnorderedEventList( List_t * pxEventList,
{
configASSERT( pxEventList );
/* Take the kernel lock as we are about to access the task lists. */
taskENTER_CRITICAL( &xKernelLock );
#if ( configNUM_CORES > 1 )
/* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
* the event groups implementation. */
/* In SMP, the event groups haven't suspended the scheduler at this
* point. We need to take the kernel lock instead as we are about to
* access the task lists. */
taskENTER_CRITICAL( &xKernelLock );
#else /* configNUM_CORES > 1 */
/* Note. We currently don't always suspend the scheduler. Todo: IDF-3755
* configASSERT( uxSchedulerSuspended[ xPortGetCoreID() ] != 0 ); */
/* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
* the event groups implementation. */
configASSERT( uxSchedulerSuspended[ 0 ] != 0 );
#endif /* configNUM_CORES > 1 */
/* Store the item value in the event list item. It is safe to access the
* event list item here as interrupts won't access the event list item of a
@ -3815,7 +3769,10 @@ void vTaskPlaceOnUnorderedEventList( List_t * pxEventList,
prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
taskEXIT_CRITICAL( &xKernelLock );
#if ( configNUM_CORES > 1 )
/* Release the previously taken kernel lock. */
taskEXIT_CRITICAL( &xKernelLock );
#endif /* configNUM_CORES > 1 */
}
/*-----------------------------------------------------------*/
@ -3827,8 +3784,12 @@ void vTaskPlaceOnUnorderedEventList( List_t * pxEventList,
{
configASSERT( pxEventList );
/* Take the kernel lock as we are about to access the task lists. */
taskENTER_CRITICAL( &xKernelLock );
#if ( configNUM_CORES > 1 )
/* In SMP, we need to take the kernel lock as we are about to access
* the task lists. */
taskENTER_CRITICAL( &xKernelLock );
#endif /* configNUM_CORES > 1 */
/* This function should not be called by application code hence the
* 'Restricted' in its name. It is not part of the public API. It is
@ -3853,7 +3814,10 @@ void vTaskPlaceOnUnorderedEventList( List_t * pxEventList,
traceTASK_DELAY_UNTIL( ( xTickCount + xTicksToWait ) );
prvAddCurrentTaskToDelayedList( xTicksToWait, xWaitIndefinitely );
taskEXIT_CRITICAL( &xKernelLock );
#if ( configNUM_CORES > 1 )
/* Release the previously taken kernel lock. */
taskEXIT_CRITICAL( &xKernelLock );
#endif /* configNUM_CORES > 1 */
}
#endif /* configUSE_TIMERS */
@ -3865,12 +3829,24 @@ BaseType_t xTaskRemoveFromEventList( const List_t * const pxEventList )
BaseType_t xReturn;
/* THIS FUNCTION MUST BE CALLED FROM A CRITICAL SECTION. It can also be
* called from a critical section within an ISR.
*
* However, we still need to take the kernel lock as we are about to access
* kernel data structures. Note that we use the ISR version of the macro as
* this function could be called from an ISR critical section. */
taskENTER_CRITICAL_ISR( &xKernelLock );
* called from a critical section within an ISR. */
#if ( configNUM_CORES > 1 )
/* In SMP, we need to take the kernel lock (even if the caller is
* already in a critical section by taking a different lock) as we are
* about to access the task lists, which are protected by the kernel
* lock. This function can also be called from an ISR context, so we
* need to check whether we are in an ISR.*/
if( portCHECK_IF_IN_ISR() == pdFALSE )
{
taskENTER_CRITICAL( &xKernelLock );
}
else
{
taskENTER_CRITICAL_ISR( &xKernelLock );
}
#endif /* configNUM_CORES > 1 */
{
/* Before taking the kernel lock, another task/ISR could have already
* emptied the pxEventList. So we insert a check here to see if
@ -3965,13 +3941,23 @@ BaseType_t xTaskRemoveFromEventList( const List_t * const pxEventList )
xReturn = pdFALSE;
}
}
taskEXIT_CRITICAL_ISR( &xKernelLock );
#if ( configNUM_CORES > 1 )
/* Release the previously taken kernel lock. */
if( portCHECK_IF_IN_ISR() == pdFALSE )
{
taskEXIT_CRITICAL( &xKernelLock );
}
else
{
taskEXIT_CRITICAL_ISR( &xKernelLock );
}
#endif /* configNUM_CORES > 1 */
return xReturn;
}
/*-----------------------------------------------------------*/
#ifdef ESP_PLATFORM
#if ( configNUM_CORES > 1 )
void vTaskTakeKernelLock( void )
{
/* We call the tasks.c critical section macro to take xKernelLock */
@ -3983,7 +3969,7 @@ BaseType_t xTaskRemoveFromEventList( const List_t * const pxEventList )
/* We call the tasks.c critical section macro to release xKernelLock */
taskEXIT_CRITICAL( &xKernelLock );
}
#endif // ESP_PLATFORM
#endif /* configNUM_CORES > 1 */
void vTaskRemoveFromUnorderedEventList( ListItem_t * pxEventListItem,
const TickType_t xItemValue )
@ -3991,14 +3977,17 @@ void vTaskRemoveFromUnorderedEventList( ListItem_t * pxEventListItem,
TCB_t * pxUnblockedTCB;
BaseType_t xCurCoreID = xPortGetCoreID();
/* THIS FUNCTION MUST BE CALLED WITH THE KERNEL LOCK ALREADY TAKEN.
* It is used by the event flags implementation, thus those functions
* should call vTaskTakeKernelLock() before calling this function. */
#if ( configNUM_CORES > 1 )
/*
* Todo: IDF-5785
* configASSERT( uxSchedulerSuspended[ xCurCoreID ] != pdFALSE );
*/
/* THIS FUNCTION MUST BE CALLED WITH THE KERNEL LOCK ALREADY TAKEN.
* It is used by the event flags implementation, thus those functions
* should call vTaskTakeKernelLock() before calling this function. */
#else /* configNUM_CORES > 1 */
/* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
* the event flags implementation. */
configASSERT( uxSchedulerSuspended != pdFALSE );
#endif /* configNUM_CORES > 1 */
/* Store the new item value in the event list. */
listSET_LIST_ITEM_VALUE( pxEventListItem, xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
@ -4066,18 +4055,19 @@ void vTaskInternalSetTimeOutState( TimeOut_t * const pxTimeOut )
* On a single core configuration, this problem doesn't appear as this function is meant to be called from
* a critical section, disabling the (tick) interrupts.
*/
#if ( ( ESP_PLATFORM == 1 ) && ( configNUM_CORES > 1 ) )
#if ( configNUM_CORES > 1 )
configASSERT( pxTimeOut );
taskENTER_CRITICAL( &xKernelLock );
#endif // ( ( ESP_PLATFORM == 1 ) && ( configNUM_CORES > 1 ) )
#endif /* configNUM_CORES > 1 */
/* For internal use only as it does not use a critical section. */
pxTimeOut->xOverflowCount = xNumOfOverflows;
pxTimeOut->xTimeOnEntering = xTickCount;
#if ( ( ESP_PLATFORM == 1 ) && ( configNUM_CORES > 1 ) )
#if ( configNUM_CORES > 1 )
/* Release the previously taken kernel lock. */
taskEXIT_CRITICAL( &xKernelLock );
#endif // ( ( ESP_PLATFORM == 1 ) && ( configNUM_CORES > 1 ) )
#endif /* configNUM_CORES > 1 */
}
/*-----------------------------------------------------------*/
@ -4288,11 +4278,7 @@ static portTASK_FUNCTION( prvIdleTask, pvParameters )
if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
{
#ifdef ESP_PLATFORM /* IDF-3755 */
taskENTER_CRITICAL( &xKernelLock );
#else
vTaskSuspendAll();
#endif // ESP_PLATFORM
prvENTER_CRITICAL_OR_SUSPEND_ALL( &xKernelLock );
{
/* Now the scheduler is suspended, the expected idle
* time can be sampled again, and this time its value can
@ -4316,11 +4302,7 @@ static portTASK_FUNCTION( prvIdleTask, pvParameters )
mtCOVERAGE_TEST_MARKER();
}
}
#ifdef ESP_PLATFORM /* IDF-3755 */
taskEXIT_CRITICAL( &xKernelLock );
#else
( void ) xTaskResumeAll();
#endif // ESP_PLATFORM
( void ) prvEXIT_CRITICAL_OR_RESUME_ALL( &xKernelLock );
}
else
{
@ -4389,11 +4371,22 @@ static portTASK_FUNCTION( prvIdleTask, pvParameters )
if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )
{
taskENTER_CRITICAL( &xKernelLock );
#if ( configNUM_CORES > 1 )
/* For SMP, we need to take the kernel lock here as we
* another core could also update this task's TLSP at the
* same time. */
taskENTER_CRITICAL( &xKernelLock );
#endif /* ( configNUM_CORES > 1 ) */
pxTCB = prvGetTCBFromHandle( xTaskToSet );
pxTCB->pvThreadLocalStoragePointers[ xIndex ] = pvValue;
pxTCB->pvThreadLocalStoragePointersDelCallback[ xIndex ] = xDelCallback;
taskEXIT_CRITICAL( &xKernelLock );
#if ( configNUM_CORES > 1 )
/* Release the previously taken kernel lock. */
taskEXIT_CRITICAL( &xKernelLock );
#endif /* configNUM_CORES > 1 */
}
}
@ -4414,10 +4407,22 @@ static portTASK_FUNCTION( prvIdleTask, pvParameters )
if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )
{
taskENTER_CRITICAL( &xKernelLock );
#if ( configNUM_CORES > 1 )
/* For SMP, we need to take the kernel lock here as we
* another core could also update this task's TLSP at the
* same time. */
taskENTER_CRITICAL( &xKernelLock );
#endif /* ( configNUM_CORES > 1 ) */
pxTCB = prvGetTCBFromHandle( xTaskToSet );
configASSERT( pxTCB != NULL );
pxTCB->pvThreadLocalStoragePointers[ xIndex ] = pvValue;
taskEXIT_CRITICAL( &xKernelLock );
#if ( configNUM_CORES > 1 )
/* Release the previously taken kernel lock. */
taskEXIT_CRITICAL( &xKernelLock );
#endif /* configNUM_CORES > 1 */
}
}
#endif /* configTHREAD_LOCAL_STORAGE_DELETE_CALLBACKS == 1 */
@ -4634,22 +4639,14 @@ static void prvCheckTasksWaitingTermination( void )
* it should be reported as being in the Blocked state. */
if( eState == eSuspended )
{
#ifdef ESP_PLATFORM /* IDF-3755 */
taskENTER_CRITICAL( &xKernelLock );
#else
vTaskSuspendAll();
#endif // ESP_PLATFORM
prvENTER_CRITICAL_OR_SUSPEND_ALL( &xKernelLock );
{
if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
{
pxTaskStatus->eCurrentState = eBlocked;
}
}
#ifdef ESP_PLATFORM /* IDF-3755 */
taskEXIT_CRITICAL( &xKernelLock );
#else
( void ) xTaskResumeAll();
#endif // ESP_PLATFORM
( void ) prvEXIT_CRITICAL_OR_RESUME_ALL( &xKernelLock );
}
}
#endif /* INCLUDE_vTaskSuspend */
@ -5006,7 +5003,12 @@ static void prvResetNextTaskUnblockTime( void )
TCB_t * const pxMutexHolderTCB = pxMutexHolder;
BaseType_t xReturn = pdFALSE;
taskENTER_CRITICAL( &xKernelLock );
#if ( configNUM_CORES > 1 )
/* For SMP, we need to take the kernel lock here as we are about to
* access kernel data structures. */
taskENTER_CRITICAL( &xKernelLock );
#endif /* ( configNUM_CORES > 1 ) */
/* If the mutex was given back by an interrupt while the queue was
* locked then the mutex holder might now be NULL. _RB_ Is this still
@ -5085,7 +5087,10 @@ static void prvResetNextTaskUnblockTime( void )
mtCOVERAGE_TEST_MARKER();
}
taskEXIT_CRITICAL( &xKernelLock );
#if ( configNUM_CORES > 1 )
/* Release the previously taken kernel lock. */
taskEXIT_CRITICAL_ISR( &xKernelLock );
#endif /* ( configNUM_CORES > 1 ) */
return xReturn;
}
@ -5100,7 +5105,12 @@ static void prvResetNextTaskUnblockTime( void )
TCB_t * const pxTCB = pxMutexHolder;
BaseType_t xReturn = pdFALSE;
taskENTER_CRITICAL( &xKernelLock );
#if ( configNUM_CORES > 1 )
/* For SMP, we need to take the kernel lock here as we are about to
* access kernel data structures. */
taskENTER_CRITICAL( &xKernelLock );
#endif /* ( configNUM_CORES > 1 ) */
if( pxMutexHolder != NULL )
{
@ -5169,7 +5179,10 @@ static void prvResetNextTaskUnblockTime( void )
mtCOVERAGE_TEST_MARKER();
}
taskEXIT_CRITICAL( &xKernelLock );
#if ( configNUM_CORES > 1 )
/* Release the previously taken kernel lock. */
taskEXIT_CRITICAL_ISR( &xKernelLock );
#endif /* ( configNUM_CORES > 1 ) */
return xReturn;
}
@ -5186,7 +5199,12 @@ static void prvResetNextTaskUnblockTime( void )
UBaseType_t uxPriorityUsedOnEntry, uxPriorityToUse;
const UBaseType_t uxOnlyOneMutexHeld = ( UBaseType_t ) 1;
taskENTER_CRITICAL( &xKernelLock );
#if ( configNUM_CORES > 1 )
/* For SMP, we need to take the kernel lock here as we are about to
* access kernel data structures. */
taskENTER_CRITICAL( &xKernelLock );
#endif /* ( configNUM_CORES > 1 ) */
if( pxMutexHolder != NULL )
{
@ -5281,7 +5299,10 @@ static void prvResetNextTaskUnblockTime( void )
mtCOVERAGE_TEST_MARKER();
}
taskEXIT_CRITICAL( &xKernelLock );
#if ( configNUM_CORES > 1 )
/* Release the previously taken kernel lock. */
taskEXIT_CRITICAL( &xKernelLock );
#endif /* ( configNUM_CORES > 1 ) */
}
#endif /* configUSE_MUTEXES */
@ -5615,18 +5636,27 @@ static void prvResetNextTaskUnblockTime( void )
TickType_t uxTaskResetEventItemValue( void )
{
TickType_t uxReturn;
TCB_t * pxCurTCB;
BaseType_t xCoreID;
taskENTER_CRITICAL( &xKernelLock );
pxCurTCB = pxCurrentTCB[ xPortGetCoreID() ];
#if ( configNUM_CORES > 1 )
uxReturn = listGET_LIST_ITEM_VALUE( &( pxCurTCB->xEventListItem ) );
/* For SMP, we need to take the kernel lock here to ensure nothing else
* modifies the task's event item value simultaneously. */
taskENTER_CRITICAL( &xKernelLock );
#endif /* ( configNUM_CORES > 1 ) */
xCoreID = xPortGetCoreID();
uxReturn = listGET_LIST_ITEM_VALUE( &( pxCurrentTCB[ xCoreID ]->xEventListItem ) );
/* Reset the event list item to its normal value - so it can be used with
* queues and semaphores. */
listSET_LIST_ITEM_VALUE( &( pxCurTCB->xEventListItem ), ( ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) pxCurTCB->uxPriority ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
listSET_LIST_ITEM_VALUE( &( pxCurrentTCB[ xCoreID ]->xEventListItem ), ( ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) pxCurrentTCB[ xCoreID ]->uxPriority ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
taskEXIT_CRITICAL( &xKernelLock );
#if ( configNUM_CORES > 1 )
/* Release the previously taken kernel lock. */
taskEXIT_CRITICAL_ISR( &xKernelLock );
#endif /* ( configNUM_CORES > 1 ) */
return uxReturn;
}
@ -5636,21 +5666,31 @@ TickType_t uxTaskResetEventItemValue( void )
TaskHandle_t pvTaskIncrementMutexHeldCount( void )
{
TCB_t * curTCB;
TCB_t * pxCurTCB;
BaseType_t xCoreID;
#if ( configNUM_CORES > 1 )
/* For SMP, we need to take the kernel lock here as we are about to
* access kernel data structures. */
taskENTER_CRITICAL( &xKernelLock );
#endif /* ( configNUM_CORES > 1 ) */
xCoreID = xPortGetCoreID();
/* If xSemaphoreCreateMutex() is called before any tasks have been created
* then pxCurrentTCB will be NULL. */
taskENTER_CRITICAL( &xKernelLock );
if( pxCurrentTCB[ xPortGetCoreID() ] != NULL )
if( pxCurrentTCB[ xCoreID ] != NULL )
{
( pxCurrentTCB[ xPortGetCoreID() ]->uxMutexesHeld )++;
( pxCurrentTCB[ xCoreID ]->uxMutexesHeld )++;
}
curTCB = pxCurrentTCB[ xPortGetCoreID() ];
taskEXIT_CRITICAL( &xKernelLock );
pxCurTCB = pxCurrentTCB[ xCoreID ];
#if ( configNUM_CORES > 1 )
/* Release the previously taken kernel lock. */
taskEXIT_CRITICAL( &xKernelLock );
#endif /* ( configNUM_CORES > 1 ) */
return curTCB;
return pxCurTCB;
}
#endif /* configUSE_MUTEXES */
@ -5971,6 +6011,7 @@ TickType_t uxTaskResetEventItemValue( void )
TCB_t * pxTCB;
uint8_t ucOriginalNotifyState;
BaseType_t xReturn = pdPASS;
UBaseType_t uxSavedInterruptStatus;
configASSERT( xTaskToNotify );
configASSERT( uxIndexToNotify < configTASK_NOTIFICATION_ARRAY_ENTRIES );
@ -5995,7 +6036,7 @@ TickType_t uxTaskResetEventItemValue( void )
pxTCB = xTaskToNotify;
taskENTER_CRITICAL_ISR( &xKernelLock );
prvENTER_CRITICAL_OR_MASK_ISR( &xKernelLock, uxSavedInterruptStatus );
{
if( pulPreviousNotificationValue != NULL )
{
@ -6089,7 +6130,7 @@ TickType_t uxTaskResetEventItemValue( void )
}
}
}
taskEXIT_CRITICAL_ISR( &xKernelLock );
prvEXIT_CRITICAL_OR_UNMASK_ISR( &xKernelLock, uxSavedInterruptStatus );
return xReturn;
}
@ -6105,7 +6146,7 @@ TickType_t uxTaskResetEventItemValue( void )
{
TCB_t * pxTCB;
uint8_t ucOriginalNotifyState;
UBaseType_t uxSavedInterruptStatus;
configASSERT( xTaskToNotify );
configASSERT( uxIndexToNotify < configTASK_NOTIFICATION_ARRAY_ENTRIES );
@ -6130,7 +6171,7 @@ TickType_t uxTaskResetEventItemValue( void )
pxTCB = xTaskToNotify;
taskENTER_CRITICAL_ISR( &xKernelLock );
prvENTER_CRITICAL_OR_MASK_ISR( &xKernelLock, uxSavedInterruptStatus );
{
ucOriginalNotifyState = pxTCB->ucNotifyState[ uxIndexToNotify ];
pxTCB->ucNotifyState[ uxIndexToNotify ] = taskNOTIFICATION_RECEIVED;
@ -6180,7 +6221,7 @@ TickType_t uxTaskResetEventItemValue( void )
}
}
}
taskEXIT_CRITICAL_ISR( &xKernelLock );
prvEXIT_CRITICAL_OR_UNMASK_ISR( &xKernelLock, uxSavedInterruptStatus );
}
#endif /* configUSE_TASK_NOTIFICATIONS */
@ -6252,11 +6293,23 @@ TickType_t uxTaskResetEventItemValue( void )
uint32_t ulTaskGetIdleRunTimeCounter( void )
{
taskENTER_CRITICAL( &xKernelLock );
tskTCB * pxTCB = ( tskTCB * ) xIdleTaskHandle[ xPortGetCoreID() ];
taskEXIT_CRITICAL( &xKernelLock );
uint32_t ulRunTimeCounter;
return pxTCB->ulRunTimeCounter;
#if ( configNUM_CORES > 1 )
/* For SMP, we need to take the kernel lock here as we are about to
* access kernel data structures. */
taskENTER_CRITICAL( &xKernelLock );
#endif /* ( configNUM_CORES > 1 ) */
ulRunTimeCounter = xIdleTaskHandle[ xPortGetCoreID() ]->ulRunTimeCounter;
#if ( configNUM_CORES > 1 )
/* Release the previously taken kernel lock. */
taskEXIT_CRITICAL( &xKernelLock );
#endif /* ( configNUM_CORES > 1 ) */
return ulRunTimeCounter;
}
#endif /* if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( INCLUDE_xTaskGetIdleTaskHandle == 1 ) ) */

35
components/freertos/FreeRTOS-Kernel/timers.c
View File

@ -606,11 +606,7 @@
TickType_t xTimeNow;
BaseType_t xTimerListsWereSwitched;
#ifdef ESP_PLATFORM
taskENTER_CRITICAL( &xTimerLock );
#else
vTaskSuspendAll();
#endif // ESP_PLATFORM
prvENTER_CRITICAL_OR_SUSPEND_ALL( &xTimerLock );
{
/* Obtain the time now to make an assessment as to whether the timer
* has expired or not. If obtaining the time causes the lists to switch
@ -624,11 +620,7 @@
/* The tick count has not overflowed, has the timer expired? */
if( ( xListWasEmpty == pdFALSE ) && ( xNextExpireTime <= xTimeNow ) )
{
#ifdef ESP_PLATFORM
taskEXIT_CRITICAL( &xTimerLock );
#else
( void ) xTaskResumeAll();
#endif // ESP_PLATFORM
( void ) prvEXIT_CRITICAL_OR_RESUME_ALL( &xTimerLock );
prvProcessExpiredTimer( xNextExpireTime, xTimeNow );
}
else
@ -648,11 +640,7 @@
vQueueWaitForMessageRestricted( xTimerQueue, ( xNextExpireTime - xTimeNow ), xListWasEmpty );
#ifdef ESP_PLATFORM /* IDF-3755 */
taskEXIT_CRITICAL( &xTimerLock );
#else
if( xTaskResumeAll() == pdFALSE )
#endif // ESP_PLATFORM
if( prvEXIT_CRITICAL_OR_RESUME_ALL( &xTimerLock ) == pdFALSE )
{
/* Yield to wait for either a command to arrive, or the
* block time to expire. If a command arrived between the
@ -660,22 +648,15 @@
* will not cause the task to block. */
portYIELD_WITHIN_API();
}
#ifndef ESP_PLATFORM /* IDF-3755 */
else
{
mtCOVERAGE_TEST_MARKER();
}
#endif // ESP_PLATFORM
else
{
mtCOVERAGE_TEST_MARKER();
}
}
}
else
{
#ifdef ESP_PLATFORM /* IDF-3755 */
taskEXIT_CRITICAL( &xTimerLock );
#else
( void ) xTaskResumeAll();
#endif // ESP_PLATFORM
( void ) prvEXIT_CRITICAL_OR_RESUME_ALL( &xTimerLock );
}
}
}