mirror of
https://github.com/espressif/esp-idf.git
synced 2024-10-05 20:47:46 -04:00
freertos: Add changes to FreeRTOS SMP sources
This commit adds the necessary changes to the FreeRTOS SMP source and and header files so that it can be compatible with ESP-IDF.
This commit is contained in:
Darian Leung
parent
37c270b337
commit
9da5d7c40a
@ -1229,6 +1229,11 @@ typedef struct xSTATIC_TCB
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#endif
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#if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 )
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void * pvDummy15[ configNUM_THREAD_LOCAL_STORAGE_POINTERS ];
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#ifdef ESP_PLATFORM
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#if ( configTHREAD_LOCAL_STORAGE_DELETE_CALLBACKS )
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void *pvDummaTLSDelCb[ configNUM_THREAD_LOCAL_STORAGE_POINTERS ];
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#endif
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#endif //ESP_PLATFORM
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#endif
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#if ( configGENERATE_RUN_TIME_STATS == 1 )
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uint32_t ulDummy16;
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@ -65,7 +65,7 @@ typedef struct corCoRoutineControlBlock
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* crCOROUTINE_CODE pxCoRoutineCode,
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* UBaseType_t uxPriority,
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* UBaseType_t uxIndex
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* );
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* );
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* </pre>
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*
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* Create a new co-routine and add it to the list of co-routines that are
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@ -117,4 +117,16 @@ typedef void (* TaskFunction_t)( void * );
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#define pdBIG_ENDIAN pdFREERTOS_BIG_ENDIAN
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/* ------------------------------------------------ IDF Compatibility --------------------------------------------------
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*
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* ------------------------------------------------------------------------------------------------------------------ */
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#ifdef ESP_PLATFORM
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#ifndef pdTICKS_TO_MS
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#define pdTICKS_TO_MS( xTicks ) ( ( TickType_t ) ( ( uint64_t ) ( xTicks ) * 1000 / configTICK_RATE_HZ ) )
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#endif
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#endif // ESP_PLATFORM
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#endif /* PROJDEFS_H */
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@ -3147,7 +3147,7 @@ TaskHandle_t xTaskGetCurrentTaskHandle( void ) PRIVILEGED_FUNCTION;
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/*
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* Return the handle of the task running on specified core.
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*/
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TaskHandle_t xTaskGetCurrentTaskHandleCPU( UBaseType_t xCoreID ) PRIVILEGED_FUNCTION;
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TaskHandle_t xTaskGetCurrentTaskHandleCPU( BaseType_t xCoreID ) PRIVILEGED_FUNCTION;
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/*
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* Shortcut used by the queue implementation to prevent unnecessary call to
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@ -3240,6 +3240,92 @@ void vTaskInternalSetTimeOutState( TimeOut_t * const pxTimeOut ) PRIVILEGED_FUNC
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*/
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void vTaskYieldWithinAPI( void );
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/* ------------------------------------------------ IDF Compatibility --------------------------------------------------
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*
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* ------------------------------------------------------------------------------------------------------------------ */
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#ifdef ESP_PLATFORM
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BaseType_t xTaskCreatePinnedToCore( TaskFunction_t pvTaskCode,
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const char * const pcName,
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const uint32_t usStackDepth,
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void * const pvParameters,
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UBaseType_t uxPriority,
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TaskHandle_t * const pvCreatedTask,
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const BaseType_t xCoreID);
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#if ( configSUPPORT_STATIC_ALLOCATION == 1 )
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TaskHandle_t xTaskCreateStaticPinnedToCore( TaskFunction_t pxTaskCode,
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const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
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const uint32_t ulStackDepth,
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void * const pvParameters,
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UBaseType_t uxPriority,
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StackType_t * const puxStackBuffer,
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StaticTask_t * const pxTaskBuffer,
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const BaseType_t xCoreID ) PRIVILEGED_FUNCTION;
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#endif /* configSUPPORT_STATIC_ALLOCATION */
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#if ( configTHREAD_LOCAL_STORAGE_DELETE_CALLBACKS )
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/**
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* Prototype of local storage pointer deletion callback.
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*/
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typedef void (*TlsDeleteCallbackFunction_t)( int, void * );
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/**
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* Set local storage pointer and deletion callback.
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*
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* Each task contains an array of pointers that is dimensioned by the
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* configNUM_THREAD_LOCAL_STORAGE_POINTERS setting in FreeRTOSConfig.h.
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* The kernel does not use the pointers itself, so the application writer
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* can use the pointers for any purpose they wish.
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*
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* Local storage pointers set for a task can reference dynamically
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* allocated resources. This function is similar to
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* vTaskSetThreadLocalStoragePointer, but provides a way to release
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* these resources when the task gets deleted. For each pointer,
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* a callback function can be set. This function will be called
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* when task is deleted, with the local storage pointer index
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* and value as arguments.
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*
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* @param xTaskToSet Task to set thread local storage pointer for
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* @param xIndex The index of the pointer to set, from 0 to
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* configNUM_THREAD_LOCAL_STORAGE_POINTERS - 1.
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* @param pvValue Pointer value to set.
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* @param pvDelCallback Function to call to dispose of the local
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* storage pointer when the task is deleted.
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*/
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void vTaskSetThreadLocalStoragePointerAndDelCallback( TaskHandle_t xTaskToSet, BaseType_t xIndex, void *pvValue, TlsDeleteCallbackFunction_t pvDelCallback);
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#endif
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/*
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* Return the handle of the task running on a certain CPU. Because of
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* the nature of SMP processing, there is no guarantee that this
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* value will still be valid on return and should only be used for
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* debugging purposes.
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*/
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TaskHandle_t xTaskGetCurrentTaskHandleForCPU( BaseType_t cpuid );
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/**
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* Get the handle of idle task for the given CPU.
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*
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* xTaskGetIdleTaskHandleForCPU() is only available if
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* INCLUDE_xTaskGetIdleTaskHandle is set to 1 in FreeRTOSConfig.h.
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*
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* @param cpuid The CPU to get the handle for
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*
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* @return Idle task handle of a given cpu. It is not valid to call
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* xTaskGetIdleTaskHandleForCPU() before the scheduler has been started.
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*/
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TaskHandle_t xTaskGetIdleTaskHandleForCPU( BaseType_t cpuid );
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/*
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* Get the current core affinity of a task
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*/
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BaseType_t xTaskGetAffinity( TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
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#endif //ESP_PLATFORM
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/* *INDENT-OFF* */
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#ifdef __cplusplus
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}
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@ -1347,10 +1347,10 @@ BaseType_t xTimerGenericCommandFromISR( TimerHandle_t xTimer,
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/**
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* task.h
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* <pre>void vApplicationGetTimerTaskMemory( StaticTask_t ** ppxTimerTaskTCBBuffer, StackType_t ** ppxTimerTaskStackBuffer, uint32_t *pulTimerTaskStackSize ) </pre>
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*
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* This function is used to provide a statically allocated block of memory to FreeRTOS to hold the Timer Task TCB. This function is required when
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*
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* This function is used to provide a statically allocated block of memory to FreeRTOS to hold the Timer Task TCB. This function is required when
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* configSUPPORT_STATIC_ALLOCATION is set. For more information see this URI: https://www.FreeRTOS.org/a00110.html#configSUPPORT_STATIC_ALLOCATION
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*
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*
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* @param ppxTimerTaskTCBBuffer A handle to a statically allocated TCB buffer
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* @param ppxTimerTaskStackBuffer A handle to a statically allocated Stack buffer for thie idle task
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* @param pulTimerTaskStackSize A pointer to the number of elements that will fit in the allocated stack buffer
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@ -39,6 +39,12 @@
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#include "timers.h"
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#include "stack_macros.h"
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#ifdef ESP_PLATFORM
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#include "esp_newlib.h" /* required for esp_reent_init() in tasks.c */
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#undef _REENT_INIT_PTR
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#define _REENT_INIT_PTR esp_reent_init
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#endif
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/* Lint e9021, e961 and e750 are suppressed as a MISRA exception justified
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* because the MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined
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* for the header files above, but not in this file, in order to generate the
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@ -280,6 +286,11 @@ typedef struct tskTaskControlBlock /* The old naming convention is used to
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#if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 )
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void * pvThreadLocalStoragePointers[ configNUM_THREAD_LOCAL_STORAGE_POINTERS ];
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#ifdef ESP_PLATFORM
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#if ( configTHREAD_LOCAL_STORAGE_DELETE_CALLBACKS )
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TlsDeleteCallbackFunction_t pvThreadLocalStoragePointersDelCallback[ configNUM_THREAD_LOCAL_STORAGE_POINTERS ];
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#endif
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#endif //ESP_PLATFORM
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#endif
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#if ( configGENERATE_RUN_TIME_STATS == 1 )
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@ -823,7 +834,7 @@ static void prvYieldForTask( TCB_t * pxTCB,
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BaseType_t xTaskScheduled = pdFALSE;
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BaseType_t xDecrementTopPriority = pdTRUE;
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#if ( configUSE_CORE_AFFINITY == 1 )
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#if ( ( configNUM_CORES > 1 ) && ( configUSE_CORE_AFFINITY == 1 ) )
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TCB_t * pxPreviousTCB = NULL;
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#endif
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#if ( ( configRUN_MULTIPLE_PRIORITIES == 0 ) && ( configNUM_CORES > 1 ) )
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@ -899,7 +910,7 @@ static void prvYieldForTask( TCB_t * pxTCB,
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{
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/* If the task is not being executed by any core swap it in */
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pxCurrentTCBs[ xCoreID ]->xTaskRunState = taskTASK_NOT_RUNNING;
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#if ( configUSE_CORE_AFFINITY == 1 )
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#if ( ( configNUM_CORES > 1 ) && ( configUSE_CORE_AFFINITY == 1 ) )
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pxPreviousTCB = pxCurrentTCBs[ xCoreID ];
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#endif
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pxTCB->xTaskRunState = ( TaskRunning_t ) xCoreID;
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@ -1458,6 +1469,11 @@ static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
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#if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
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{
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memset( ( void * ) &( pxNewTCB->pvThreadLocalStoragePointers[ 0 ] ), 0x00, sizeof( pxNewTCB->pvThreadLocalStoragePointers ) );
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#ifdef ESP_PLATFORM
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#if ( configTHREAD_LOCAL_STORAGE_DELETE_CALLBACKS )
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memset ( (void * ) &( pxNewTCB->pvThreadLocalStoragePointersDelCallback[0] ), 0x00, sizeof( pxNewTCB->pvThreadLocalStoragePointersDelCallback ) );
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#endif
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#endif //ESP_PLATFORM
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}
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#endif
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@ -2744,6 +2760,13 @@ static BaseType_t prvCreateIdleTasks( void )
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#endif
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}
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#endif /* configSUPPORT_STATIC_ALLOCATION */
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#ifdef ESP_PLATFORM
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#if ( configUSE_CORE_AFFINITY == 1 && configNUM_CORES > 1 )
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//Don't forget to pin the created IDLE tasks
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vTaskCoreAffinitySet(xIdleTaskHandle[ xCoreID ], (1 << xCoreID) );
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#endif
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#endif
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}
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return xReturn;
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@ -2785,7 +2808,9 @@ void vTaskStartScheduler( void )
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* structure specific to the task that will run first.
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* See the third party link http://www.nadler.com/embedded/newlibAndFreeRTOS.html
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* for additional information. */
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#ifndef ESP_PLATFORM
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_impure_ptr = &( pxCurrentTCB->xNewLib_reent );
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#endif
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}
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#endif /* configUSE_NEWLIB_REENTRANT */
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@ -3876,7 +3901,9 @@ void vTaskSwitchContext( BaseType_t xCoreID )
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* structure specific to this task.
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* See the third party link http://www.nadler.com/embedded/newlibAndFreeRTOS.html
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* for additional information. */
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#ifndef ESP_PLATFORM
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_impure_ptr = &( pxCurrentTCB->xNewLib_reent );
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#endif
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}
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#endif /* configUSE_NEWLIB_REENTRANT */
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}
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@ -4833,6 +4860,18 @@ static void prvCheckTasksWaitingTermination( void )
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static void prvDeleteTCB( TCB_t * pxTCB )
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{
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#ifdef ESP_PLATFORM
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#if ( configTHREAD_LOCAL_STORAGE_DELETE_CALLBACKS )
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for( int x = 0; x < configNUM_THREAD_LOCAL_STORAGE_POINTERS; x++ )
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{
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if (pxTCB->pvThreadLocalStoragePointersDelCallback[ x ] != NULL) //If del cb is set
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{
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pxTCB->pvThreadLocalStoragePointersDelCallback[ x ](x, pxTCB->pvThreadLocalStoragePointers[ x ]); //Call del cb
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}
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}
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#endif
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#endif //ESP_PLATFORM
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/* This call is required specifically for the TriCore port. It must be
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* above the vPortFree() calls. The call is also used by ports/demos that
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* want to allocate and clean RAM statically. */
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@ -4922,7 +4961,7 @@ static void prvResetNextTaskUnblockTime( void )
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return xReturn;
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}
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TaskHandle_t xTaskGetCurrentTaskHandleCPU( UBaseType_t xCoreID )
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TaskHandle_t xTaskGetCurrentTaskHandleCPU( BaseType_t xCoreID )
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{
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TaskHandle_t xReturn = NULL;
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@ -6354,3 +6393,149 @@ static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait,
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#endif
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#endif /* if ( configINCLUDE_FREERTOS_TASK_C_ADDITIONS_H == 1 ) */
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/* ------------------------------------------------ IDF Compatibility --------------------------------------------------
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*
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* ------------------------------------------------------------------------------------------------------------------ */
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#ifdef ESP_PLATFORM
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BaseType_t xTaskCreatePinnedToCore( TaskFunction_t pvTaskCode,
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const char * const pcName,
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const uint32_t usStackDepth,
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void * const pvParameters,
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UBaseType_t uxPriority,
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TaskHandle_t * const pvCreatedTask,
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const BaseType_t xCoreID)
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{
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BaseType_t ret;
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#if ( configUSE_CORE_AFFINITY == 1 && configNUM_CORES > 1 )
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/*
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If we are using multiple cores and core affinity, we need to create the task then set the core affinity of that
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task. We do this with interrupts disabled to prevent the task from being scehduled immediately after
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xTaskCreate().
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*/
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portDISABLE_INTERRUPTS();
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TaskHandle_t xTaskHandleTemp;
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ret = xTaskCreate(pvTaskCode, pcName, usStackDepth, pvParameters, uxPriority, &xTaskHandleTemp);
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if (ret == pdPASS) {
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UBaseType_t uxCoreAffinityMask;
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if (xCoreID == tskNO_AFFINITY) {
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uxCoreAffinityMask = tskNO_AFFINITY;
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} else {
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uxCoreAffinityMask = (1 << xCoreID);
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}
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vTaskCoreAffinitySet(xTaskHandleTemp, uxCoreAffinityMask);
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if (pvCreatedTask != NULL) {
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*pvCreatedTask = xTaskHandleTemp;
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}
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}
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portENABLE_INTERRUPTS();
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#else /* if ( configUSE_CORE_AFFINITY == 1 && configNUM_CORES > 1 ) */
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//No need to set the affinity. Just create the task
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ret = xTaskCreate(pvTaskCode, pcName, usStackDepth, pvParameters, uxPriority, pvCreatedTask);
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#endif /* if ( configUSE_CORE_AFFINITY == 1 && configNUM_CORES > 1 ) */
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return ret;
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}
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#if ( configSUPPORT_STATIC_ALLOCATION == 1 )
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TaskHandle_t xTaskCreateStaticPinnedToCore( TaskFunction_t pxTaskCode,
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const char * const pcName,
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const uint32_t ulStackDepth,
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void * const pvParameters,
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UBaseType_t uxPriority,
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StackType_t * const puxStackBuffer,
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StaticTask_t * const pxTaskBuffer,
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const BaseType_t xCoreID)
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{
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TaskHandle_t xTaskHandleTemp;
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#if ( configUSE_CORE_AFFINITY == 1 && configNUM_CORES > 1 )
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/*
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If we are using multiple cores and core affinity, we need to create the task then set the core affinity of that
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task. We do this with interrupts disabled to prevent the task from being scehduled immediately after
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xTaskCreate().
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*/
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portDISABLE_INTERRUPTS();
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xTaskHandleTemp = xTaskCreateStatic(pxTaskCode, pcName, ulStackDepth, pvParameters, uxPriority, puxStackBuffer, pxTaskBuffer);
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if (xTaskHandleTemp != NULL) {
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UBaseType_t uxCoreAffinityMask;
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if (xCoreID == tskNO_AFFINITY) {
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uxCoreAffinityMask = tskNO_AFFINITY;
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} else {
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uxCoreAffinityMask = (1 << xCoreID);
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}
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vTaskCoreAffinitySet(xTaskHandleTemp, uxCoreAffinityMask);
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}
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portENABLE_INTERRUPTS();
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#else /* if ( configUSE_CORE_AFFINITY == 1 && configNUM_CORES > 1 ) */
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xTaskHandleTemp = xTaskCreateStatic(pxTaskCode, pcName, ulStackDepth, pvParameters, uxPriority, puxStackBuffer, pxTaskBuffer);
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#endif /* if ( configUSE_CORE_AFFINITY == 1 && configNUM_CORES > 1 ) */
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return xTaskHandleTemp;
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}
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#endif /* configSUPPORT_STATIC_ALLOCATION */
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#if ( configTHREAD_LOCAL_STORAGE_DELETE_CALLBACKS )
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void vTaskSetThreadLocalStoragePointerAndDelCallback( TaskHandle_t xTaskToSet, BaseType_t xIndex, void *pvValue , TlsDeleteCallbackFunction_t xDelCallback)
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{
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//Set the local storage pointer first
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vTaskSetThreadLocalStoragePointer(xTaskToSet, xIndex, pvValue);
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//Set the deletion callback
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TCB_t * pxTCB;
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pxTCB = prvGetTCBFromHandle( xTaskToSet );
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pxTCB->pvThreadLocalStoragePointersDelCallback[ xIndex ] = xDelCallback;
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}
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#endif
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TaskHandle_t xTaskGetCurrentTaskHandleForCPU( BaseType_t cpuid )
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{
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TaskHandle_t xTaskHandleTemp;
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assert(cpuid >= 0 && cpuid < configNUM_CORES);
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taskENTER_CRITICAL();
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xTaskHandleTemp = (TaskHandle_t) pxCurrentTCBs[cpuid];
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taskEXIT_CRITICAL();
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return xTaskHandleTemp;
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}
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TaskHandle_t xTaskGetIdleTaskHandleForCPU( BaseType_t cpuid )
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{
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assert(cpuid >= 0 && cpuid < configNUM_CORES);
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return (TaskHandle_t) xIdleTaskHandle[cpuid];
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}
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BaseType_t xTaskGetAffinity( TaskHandle_t xTask )
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{
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taskENTER_CRITICAL();
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UBaseType_t uxCoreAffinityMask;
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#if ( configUSE_CORE_AFFINITY == 1 && configNUM_CORES > 1 )
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TCB_t *pxTCB = prvGetTCBFromHandle( xTask );
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uxCoreAffinityMask = pxTCB->uxCoreAffinityMask;
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#else
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uxCoreAffinityMask = tskNO_AFFINITY;
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#endif
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taskEXIT_CRITICAL();
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BaseType_t ret;
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if (uxCoreAffinityMask == tskNO_AFFINITY) {
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ret = tskNO_AFFINITY;
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} else {
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int index_plus_one = __builtin_ffs(uxCoreAffinityMask);
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assert(index_plus_one >= 1);
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ret = index_plus_one - 1;
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}
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return ret;
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}
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||||
|
||||
#if ( configUSE_NEWLIB_REENTRANT == 1 )
|
||||
//Return global reent struct if FreeRTOS isn't running,
|
||||
struct _reent* __getreent(void) {
|
||||
//No lock needed because if this changes, we won't be running anymore.
|
||||
TCB_t *currTask=xTaskGetCurrentTaskHandle();
|
||||
if (currTask==NULL) {
|
||||
//No task running. Return global struct.
|
||||
return _GLOBAL_REENT;
|
||||
} else {
|
||||
//We have a task; return its reentrant struct.
|
||||
return &currTask->xNewLib_reent;
|
||||
}
|
||||
}
|
||||
#endif
|
||||
#endif //ESP_PLATFORM
|
||||
|
||||
Loading…
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Reference in New Issue
Block a user