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Merge branch 'feature/freertos_smp_task_creation_with_affinity' into 'master'

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FreeRTOS: Add task creation functions with affinity

Closes IDF-4745

See merge request espressif/esp-idf!17429
This commit is contained in:
Darian 2022-03-21 15:59:51 +08:00
commit 790aed683b
3 changed files with 147 additions and 57 deletions
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38
components/freertos/FreeRTOS-Kernel-SMP/include/freertos/task.h
View File

@ -380,6 +380,16 @@ typedef enum
TaskHandle_t * const pxCreatedTask ) PRIVILEGED_FUNCTION;
#endif
#if ( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configNUM_CORES > 1 ) && ( configUSE_CORE_AFFINITY == 1 ) )
BaseType_t xTaskCreateAffinitySet( TaskFunction_t pxTaskCode,
const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
const configSTACK_DEPTH_TYPE usStackDepth,
void * const pvParameters,
UBaseType_t uxPriority,
UBaseType_t uxCoreAffinityMask,
TaskHandle_t * const pxCreatedTask ) PRIVILEGED_FUNCTION;
#endif
/**
* task. h
* <pre>
@ -498,6 +508,17 @@ typedef enum
StaticTask_t * const pxTaskBuffer ) PRIVILEGED_FUNCTION;
#endif /* configSUPPORT_STATIC_ALLOCATION */
#if ( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configNUM_CORES > 1 ) && ( configUSE_CORE_AFFINITY == 1 ) )
TaskHandle_t xTaskCreateStaticAffinitySet( TaskFunction_t pxTaskCode,
const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
const uint32_t ulStackDepth,
void * const pvParameters,
UBaseType_t uxPriority,
StackType_t * const puxStackBuffer,
StaticTask_t * const pxTaskBuffer,
UBaseType_t uxCoreAffinityMask ) PRIVILEGED_FUNCTION;
#endif
/**
* task. h
* <pre>
@ -576,6 +597,12 @@ typedef enum
TaskHandle_t * pxCreatedTask ) PRIVILEGED_FUNCTION;
#endif
#if ( ( portUSING_MPU_WRAPPERS == 1 ) && ( configNUM_CORES > 1 ) && ( configUSE_CORE_AFFINITY == 1 ) )
BaseType_t xTaskCreateRestrictedAffinitySet( const TaskParameters_t * const pxTaskDefinition,
UBaseType_t uxCoreAffinityMask,
TaskHandle_t * pxCreatedTask ) PRIVILEGED_FUNCTION;
#endif
/**
* task. h
* <pre>
@ -666,6 +693,12 @@ typedef enum
TaskHandle_t * pxCreatedTask ) PRIVILEGED_FUNCTION;
#endif
#if ( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configNUM_CORES > 1 ) && ( configUSE_CORE_AFFINITY == 1 ) )
BaseType_t xTaskCreateRestrictedStaticAffinitySet( const TaskParameters_t * const pxTaskDefinition,
UBaseType_t uxCoreAffinityMask,
TaskHandle_t * pxCreatedTask ) PRIVILEGED_FUNCTION;
#endif
/**
* task. h
* <pre>
@ -3245,12 +3278,13 @@ void vTaskYieldWithinAPI( void );
* ------------------------------------------------------------------------------------------------------------------ */
#ifdef ESP_PLATFORM
BaseType_t xTaskCreatePinnedToCore( TaskFunction_t pvTaskCode,
BaseType_t xTaskCreatePinnedToCore( TaskFunction_t pxTaskCode,
const char * const pcName,
const uint32_t usStackDepth,
void * const pvParameters,
UBaseType_t uxPriority,
TaskHandle_t * const pvCreatedTask,
TaskHandle_t * const pxCreatedTask,
const BaseType_t xCoreID);
#if ( configSUPPORT_STATIC_ALLOCATION == 1 )

10
components/freertos/FreeRTOS-Kernel-SMP/porting_notes.md
View File

@ -9,7 +9,7 @@ The following terms will be used in this document to avoid confusion between the
# Organization
This directory contains a copy of SMP FreeRTOS based off of upstream commit [483237711](https://github.com/FreeRTOS/FreeRTOS-Kernel/commit/4832377117b4198db43009f2b548497d9cdbf8da)
This directory contains a copy of SMP FreeRTOS based off of upstream commit [a97741a](https://github.com/FreeRTOS/FreeRTOS-Kernel/commit/a97741a08d36ac08d913b8bc86abf128df627e85)
- IDF FreeRTOS remains in `components/freertos/FreeRTOS-Kernel`
- SMP FreeRTOS is entirely contained in `components/freertos/FreeRTOS-Kernel-SMP`
@ -143,12 +143,8 @@ IDF FreeRTOS added several APIs. These are copied over to SMP FreeRTOS to mainta
### `xTaskCreatePinnedToCore()`/`xTaskCreateStaticPinnedToCore()`
- Used to create a task with a preset affinity on creation
- When a task can only run on a particular core, this function saves the need of adding logic to:
- Disabling preemption on all cores
- Setting the created task's affinity
- Reenabling preemption on all cores.
- Check if this (or something similar) can be upstreamed
- `xTaskCreate...AffinitySet()` have been upstreamed
- `xTaskCreate...PinnedToCore()` now just map to the `xTaskCreate...AffinitySet()` equivalent functions.
### `vTaskSetThreadLocalStoragePointerAndDelCallback()`

156
components/freertos/FreeRTOS-Kernel-SMP/tasks.c
View File

@ -1071,6 +1071,20 @@ static void prvYieldForTask( TCB_t * pxTCB,
UBaseType_t uxPriority,
StackType_t * const puxStackBuffer,
StaticTask_t * const pxTaskBuffer )
#if ( ( configNUM_CORES > 1 ) && ( configUSE_CORE_AFFINITY == 1 ) )
{
return xTaskCreateStaticAffinitySet(pxTaskCode, pcName, ulStackDepth, pvParameters, uxPriority, puxStackBuffer, pxTaskBuffer, tskNO_AFFINITY);
}
TaskHandle_t xTaskCreateStaticAffinitySet( TaskFunction_t pxTaskCode,
const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
const uint32_t ulStackDepth,
void * const pvParameters,
UBaseType_t uxPriority,
StackType_t * const puxStackBuffer,
StaticTask_t * const pxTaskBuffer,
UBaseType_t uxCoreAffinityMask )
#endif /* ( configNUM_CORES > 1 ) && ( configUSE_CORE_AFFINITY == 1 ) */
{
TCB_t * pxNewTCB;
TaskHandle_t xReturn;
@ -1105,6 +1119,14 @@ static void prvYieldForTask( TCB_t * pxTCB,
#endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE */
prvInitialiseNewTask( pxTaskCode, pcName, ulStackDepth, pvParameters, uxPriority, &xReturn, pxNewTCB, NULL );
#if ( ( configNUM_CORES > 1 ) && ( configUSE_CORE_AFFINITY == 1 ) )
{
/* Set the task's affinity before scheduling it */
pxNewTCB->uxCoreAffinityMask = uxCoreAffinityMask;
}
#endif
prvAddNewTaskToReadyList( pxNewTCB );
}
else
@ -1122,6 +1144,15 @@ static void prvYieldForTask( TCB_t * pxTCB,
BaseType_t xTaskCreateRestrictedStatic( const TaskParameters_t * const pxTaskDefinition,
TaskHandle_t * pxCreatedTask )
#if ( ( configNUM_CORES > 1 ) && ( configUSE_CORE_AFFINITY == 1 ) )
{
return xTaskCreateRestrictedStaticAffinitySet( pxTaskDefinition, tskNO_AFFINITY, pxCreatedTask );
}
BaseType_t xTaskCreateRestrictedStaticAffinitySet( const TaskParameters_t * const pxTaskDefinition,
UBaseType_t uxCoreAffinityMask,
TaskHandle_t * pxCreatedTask )
#endif /* ( configNUM_CORES > 1 ) && ( configUSE_CORE_AFFINITY == 1 ) */
{
TCB_t * pxNewTCB;
BaseType_t xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
@ -1155,6 +1186,13 @@ static void prvYieldForTask( TCB_t * pxTCB,
pxCreatedTask, pxNewTCB,
pxTaskDefinition->xRegions );
#if ( ( configNUM_CORES > 1 ) && ( configUSE_CORE_AFFINITY == 1 ) )
{
/* Set the task's affinity before scheduling it */
pxNewTCB->uxCoreAffinityMask = uxCoreAffinityMask;
}
#endif
prvAddNewTaskToReadyList( pxNewTCB );
xReturn = pdPASS;
}
@ -1169,6 +1207,15 @@ static void prvYieldForTask( TCB_t * pxTCB,
BaseType_t xTaskCreateRestricted( const TaskParameters_t * const pxTaskDefinition,
TaskHandle_t * pxCreatedTask )
#if ( ( configNUM_CORES > 1 ) && ( configUSE_CORE_AFFINITY == 1 ) )
{
return xTaskCreateRestrictedAffinitySet( pxTaskDefinition, tskNO_AFFINITY, pxCreatedTask );
}
BaseType_t xTaskCreateRestrictedAffinitySet( const TaskParameters_t * const pxTaskDefinition,
UBaseType_t uxCoreAffinityMask,
TaskHandle_t * pxCreatedTask )
#endif /* ( configNUM_CORES > 1 ) && ( configUSE_CORE_AFFINITY == 1 ) */
{
TCB_t * pxNewTCB;
BaseType_t xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
@ -1204,6 +1251,13 @@ static void prvYieldForTask( TCB_t * pxTCB,
pxCreatedTask, pxNewTCB,
pxTaskDefinition->xRegions );
#if ( ( configNUM_CORES > 1 ) && ( configUSE_CORE_AFFINITY == 1 ) )
{
/* Set the task's affinity before scheduling it */
pxNewTCB->uxCoreAffinityMask = uxCoreAffinityMask;
}
#endif
prvAddNewTaskToReadyList( pxNewTCB );
xReturn = pdPASS;
}
@ -1223,6 +1277,19 @@ static void prvYieldForTask( TCB_t * pxTCB,
void * const pvParameters,
UBaseType_t uxPriority,
TaskHandle_t * const pxCreatedTask )
#if ( ( configNUM_CORES > 1 ) && ( configUSE_CORE_AFFINITY == 1 ) )
{
return xTaskCreateAffinitySet(pxTaskCode, pcName, usStackDepth, pvParameters, uxPriority, tskNO_AFFINITY, pxCreatedTask);
}
BaseType_t xTaskCreateAffinitySet( TaskFunction_t pxTaskCode,
const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
const configSTACK_DEPTH_TYPE usStackDepth,
void * const pvParameters,
UBaseType_t uxPriority,
UBaseType_t uxCoreAffinityMask,
TaskHandle_t * const pxCreatedTask )
#endif /* ( configNUM_CORES > 1 ) && ( configUSE_CORE_AFFINITY == 1 ) */
{
TCB_t * pxNewTCB;
BaseType_t xReturn;
@ -1294,6 +1361,14 @@ static void prvYieldForTask( TCB_t * pxTCB,
#endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE */
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
prvAddNewTaskToReadyList( pxNewTCB );
xReturn = pdPASS;
}
@ -6400,41 +6475,31 @@ static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait,
#ifdef ESP_PLATFORM
BaseType_t xTaskCreatePinnedToCore( TaskFunction_t pvTaskCode,
BaseType_t xTaskCreatePinnedToCore( TaskFunction_t pxTaskCode,
const char * const pcName,
const uint32_t usStackDepth,
void * const pvParameters,
UBaseType_t uxPriority,
TaskHandle_t * const pvCreatedTask,
TaskHandle_t * const pxCreatedTask,
const BaseType_t xCoreID)
{
BaseType_t ret;
#if ( configUSE_CORE_AFFINITY == 1 && configNUM_CORES > 1 )
/*
If we are using multiple cores and core affinity, we need to create the task then set the core affinity of that
task. We do this with interrupts disabled to prevent the task from being scehduled immediately after
xTaskCreate().
*/
portDISABLE_INTERRUPTS();
TaskHandle_t xTaskHandleTemp;
ret = xTaskCreate(pvTaskCode, pcName, usStackDepth, pvParameters, uxPriority, &xTaskHandleTemp);
if (ret == pdPASS) {
UBaseType_t uxCoreAffinityMask;
if (xCoreID == tskNO_AFFINITY) {
uxCoreAffinityMask = tskNO_AFFINITY;
} else {
uxCoreAffinityMask = (1 << xCoreID);
#if ( ( configUSE_CORE_AFFINITY == 1 ) && ( configNUM_CORES > 1 ) )
{
// Convert xCoreID into an affinity mask
UBaseType_t uxCoreAffinityMask;
if (xCoreID == tskNO_AFFINITY) {
uxCoreAffinityMask = tskNO_AFFINITY;
} else {
uxCoreAffinityMask = (1 << xCoreID);
}
ret = xTaskCreateAffinitySet(pxTaskCode, pcName, usStackDepth, pvParameters, uxPriority, uxCoreAffinityMask, pxCreatedTask);
}
vTaskCoreAffinitySet(xTaskHandleTemp, uxCoreAffinityMask);
if (pvCreatedTask != NULL) {
*pvCreatedTask = xTaskHandleTemp;
#else /* ( ( configUSE_CORE_AFFINITY == 1 ) && ( configNUM_CORES > 1 ) ) */
{
ret = xTaskCreate(pxTaskCode, pcName, usStackDepth, pvParameters, uxPriority, pxCreatedTask);
}
}
portENABLE_INTERRUPTS();
#else /* if ( configUSE_CORE_AFFINITY == 1 && configNUM_CORES > 1 ) */
//No need to set the affinity. Just create the task
ret = xTaskCreate(pvTaskCode, pcName, usStackDepth, pvParameters, uxPriority, pvCreatedTask);
#endif /* if ( configUSE_CORE_AFFINITY == 1 && configNUM_CORES > 1 ) */
#endif /* ( ( configUSE_CORE_AFFINITY == 1 ) && ( configNUM_CORES > 1 ) ) */
return ret;
}
@ -6448,29 +6513,24 @@ TaskHandle_t xTaskCreateStaticPinnedToCore( TaskFunction_t pxTaskCode,
StaticTask_t * const pxTaskBuffer,
const BaseType_t xCoreID)
{
TaskHandle_t xTaskHandleTemp;
#if ( configUSE_CORE_AFFINITY == 1 && configNUM_CORES > 1 )
/*
If we are using multiple cores and core affinity, we need to create the task then set the core affinity of that
task. We do this with interrupts disabled to prevent the task from being scehduled immediately after
xTaskCreate().
*/
portDISABLE_INTERRUPTS();
xTaskHandleTemp = xTaskCreateStatic(pxTaskCode, pcName, ulStackDepth, pvParameters, uxPriority, puxStackBuffer, pxTaskBuffer);
if (xTaskHandleTemp != NULL) {
UBaseType_t uxCoreAffinityMask;
if (xCoreID == tskNO_AFFINITY) {
uxCoreAffinityMask = tskNO_AFFINITY;
} else {
uxCoreAffinityMask = (1 << xCoreID);
BaseType_t ret;
#if ( ( configUSE_CORE_AFFINITY == 1 ) && ( configNUM_CORES > 1 ) )
{
// Convert xCoreID into an affinity mask
UBaseType_t uxCoreAffinityMask;
if (xCoreID == tskNO_AFFINITY) {
uxCoreAffinityMask = tskNO_AFFINITY;
} else {
uxCoreAffinityMask = (1 << xCoreID);
}
ret = xTaskCreateStaticAffinitySet(pxTaskCode, pcName, ulStackDepth, pvParameters, uxPriority, puxStackBuffer, pxTaskBuffer, uxCoreAffinityMask);
}
vTaskCoreAffinitySet(xTaskHandleTemp, uxCoreAffinityMask);
}
portENABLE_INTERRUPTS();
#else /* if ( configUSE_CORE_AFFINITY == 1 && configNUM_CORES > 1 ) */
xTaskHandleTemp = xTaskCreateStatic(pxTaskCode, pcName, ulStackDepth, pvParameters, uxPriority, puxStackBuffer, pxTaskBuffer);
#endif /* if ( configUSE_CORE_AFFINITY == 1 && configNUM_CORES > 1 ) */
return xTaskHandleTemp;
#else /* ( ( configUSE_CORE_AFFINITY == 1 ) && ( configNUM_CORES > 1 ) ) */
{
ret = xTaskCreateStatic(pxTaskCode, pcName, ulStackDepth, pvParameters, uxPriority, puxStackBuffer, pxTaskBuffer);
}
#endif /* ( ( configUSE_CORE_AFFINITY == 1 ) && ( configNUM_CORES > 1 ) ) */
return ret;
}
#endif /* configSUPPORT_STATIC_ALLOCATION */