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Merge branch 'refactor/freertos_move_idf_specific_functions' into 'master'

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refactor(freertos/idf): Move IDF FreeRTOS API additions to header files

Closes IDF-7201, IDF-3873, and IDF-7907

See merge request espressif/esp-idf!25615
This commit is contained in:
Darian 2023-09-06 01:13:13 +08:00
commit c60cbcee5c
23 changed files with 842 additions and 976 deletions
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6
components/freertos/CMakeLists.txt
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@ -99,13 +99,9 @@ endif()
# Add ESP-additions source files # Add ESP-additions source files
list(APPEND srcs list(APPEND srcs
"esp_additions/freertos_compatibility.c"
"esp_additions/idf_additions.c") "esp_additions/idf_additions.c")
if(kernel_impl STREQUAL "FreeRTOS-Kernel")
list(APPEND srcs
"esp_additions/freertos_compatibility.c")
endif()
if(arch STREQUAL "linux") if(arch STREQUAL "linux")
# Check if we need to address the FreeRTOS EINTR coexistence with linux system calls if we're building without # Check if we need to address the FreeRTOS EINTR coexistence with linux system calls if we're building without
# lwIP, we need to use linux system select which will receive EINTR event on every FreeRTOS interrupt, we # lwIP, we need to use linux system select which will receive EINTR event on every FreeRTOS interrupt, we

30
components/freertos/FreeRTOS-Kernel-SMP/include/freertos/FreeRTOS.h
View File

@ -1393,11 +1393,29 @@ typedef StaticStreamBuffer_t StaticMessageBuffer_t;
#endif #endif
/* *INDENT-ON* */ /* *INDENT-ON* */
/* IDF API additions have been moved to idf_additions.h when building for /*-----------------------------------------------------------
* Amazon SMP FreeRTOS. However, the rest of ESP-IDF has not been updated to * IDF Compatibility
* include this header explicitly when calling this additional API. Thus, we *----------------------------------------------------------*/
* include this here as a workaround until the rest of ESP-IDF can be updated
* to include idf_additions.h explicitly. */ #ifdef ESP_PLATFORM
#include "freertos/idf_additions.h"
/*
* Include ESP-IDF API additions implicitly for compatibility reasons.
*
* ESP-IDF API additions were previously added directly to FreeRTOS headers
* (e.g., task.h, queue.h). These APIs have now been moved to
* idf_additions.h.
*
* To ensure there are no breaking changes, we include idf_additions.h
* implicitly here so that those API additions are still accessible. Given
* that FreeRTOS.h must be included first before calling any FreeRTOS API,
* any existing source code can continue using these relocated APIs without
* any additional header inclusions via this implicit inclusion.
*
* Todo: Deprecate this implicit inclusion by ESP-IDF v6.0 (IDF-8126)
*/
#include "freertos/idf_additions.h"
#endif /* ESP_PLATFORM */
#endif /* INC_FREERTOS_H */ #endif /* INC_FREERTOS_H */

19
components/freertos/FreeRTOS-Kernel-SMP/include/freertos/task.h
View File

@ -3306,25 +3306,6 @@ void vTaskInternalSetTimeOutState( TimeOut_t * const pxTimeOut ) PRIVILEGED_FUNC
*/ */
void vTaskYieldWithinAPI( void ); void vTaskYieldWithinAPI( void );
/* ------------------------------------------------ IDF Compatibility --------------------------------------------------
*
* ------------------------------------------------------------------------------------------------------------------ */
#ifdef ESP_PLATFORM
#if ( configNUM_CORES > 1 )
/*
Workaround for non-thread safe multi-core OS startup (see IDF-4524)
This function must be called with interrupts disabled on all cores other than
core 0 during startup.
*/
void vTaskStartSchedulerOtherCores( void );
#endif // configNUM_CORES > 1
#include "freertos/idf_additions.h"
#endif //ESP_PLATFORM
/* *INDENT-OFF* */ /* *INDENT-OFF* */
#ifdef __cplusplus #ifdef __cplusplus
} }

3
components/freertos/FreeRTOS-Kernel-SMP/portable/xtensa/port.c
View File

@ -18,6 +18,7 @@
#include "xtensa/config/core.h" #include "xtensa/config/core.h"
#include "xtensa/config/core-isa.h" #include "xtensa/config/core-isa.h"
#include "xtensa/xtruntime.h" #include "xtensa/xtruntime.h"
#include "esp_private/freertos_idf_additions_priv.h"
#include "esp_private/esp_int_wdt.h" #include "esp_private/esp_int_wdt.h"
#include "esp_private/systimer.h" #include "esp_private/systimer.h"
#include "esp_private/periph_ctrl.h" #include "esp_private/periph_ctrl.h"
@ -328,7 +329,7 @@ BaseType_t xPortStartScheduler( void )
#if configNUM_CORES > 1 #if configNUM_CORES > 1
// Workaround for non-thread safe multi-core OS startup (see IDF-4524) // Workaround for non-thread safe multi-core OS startup (see IDF-4524)
if (xPortGetCoreID() != 0) { if (xPortGetCoreID() != 0) {
vTaskStartSchedulerOtherCores(); prvStartSchedulerOtherCores();
} }
#endif // configNUM_CORES > 1 #endif // configNUM_CORES > 1

11
components/freertos/FreeRTOS-Kernel-SMP/tasks.c
View File

@ -6506,14 +6506,3 @@ static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait,
#endif #endif
#endif /* if ( configINCLUDE_FREERTOS_TASK_C_ADDITIONS_H == 1 ) */ #endif /* if ( configINCLUDE_FREERTOS_TASK_C_ADDITIONS_H == 1 ) */
#if ( ( ESP_PLATFORM == 1 ) && ( configNUM_CORES > 1 ) )
/*
Workaround for non-thread safe multi-core OS startup (see IDF-4524)
*/
void vTaskStartSchedulerOtherCores( void )
{
/* This function is always called with interrupts disabled*/
xSchedulerRunning = pdTRUE;
}
#endif // ( ESP_PLATFORM == 1 ) && ( configNUM_CORES > 1

16
components/freertos/FreeRTOS-Kernel/event_groups.c
View File

@ -3,7 +3,7 @@
* *
* SPDX-License-Identifier: MIT * SPDX-License-Identifier: MIT
* *
* SPDX-FileContributor: 2016-2022 Espressif Systems (Shanghai) CO LTD * SPDX-FileContributor: 2016-2023 Espressif Systems (Shanghai) CO LTD
*/ */
/* /*
@ -45,6 +45,8 @@
#include "task.h" #include "task.h"
#include "timers.h" #include "timers.h"
#include "event_groups.h" #include "event_groups.h"
/* Include private IDF API additions for critical thread safety macros */
#include "esp_private/freertos_idf_additions_priv.h"
/* Lint e961, e750 and e9021 are suppressed as a MISRA exception justified /* Lint e961, e750 and e9021 are suppressed as a MISRA exception justified
* because the MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined * because the MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined
@ -566,8 +568,8 @@ EventBits_t xEventGroupSetBits( EventGroupHandle_t xEventGroup,
#if ( configNUM_CORES > 1 ) #if ( configNUM_CORES > 1 )
/* We are about to traverse a task list which is a kernel data structure. /* 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. */ * Thus we need to call prvTakeKernelLock() to take the kernel lock. */
vTaskTakeKernelLock(); prvTakeKernelLock();
#endif /* configNUM_CORES > 1 */ #endif /* configNUM_CORES > 1 */
{ {
traceEVENT_GROUP_SET_BITS( xEventGroup, uxBitsToSet ); traceEVENT_GROUP_SET_BITS( xEventGroup, uxBitsToSet );
@ -642,7 +644,7 @@ EventBits_t xEventGroupSetBits( EventGroupHandle_t xEventGroup,
} }
#if ( configNUM_CORES > 1 ) #if ( configNUM_CORES > 1 )
/* Release the previously taken kernel lock. */ /* Release the previously taken kernel lock. */
vTaskReleaseKernelLock(); prvReleaseKernelLock();
#endif /* configNUM_CORES > 1 */ #endif /* configNUM_CORES > 1 */
( void ) prvEXIT_CRITICAL_OR_RESUME_ALL( &( pxEventBits->xEventGroupLock ) ); ( void ) prvEXIT_CRITICAL_OR_RESUME_ALL( &( pxEventBits->xEventGroupLock ) );
@ -659,8 +661,8 @@ void vEventGroupDelete( EventGroupHandle_t xEventGroup )
#if ( configNUM_CORES > 1 ) #if ( configNUM_CORES > 1 )
/* We are about to traverse a task list which is a kernel data structure. /* 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. */ * Thus we need to call prvTakeKernelLock() to take the kernel lock. */
vTaskTakeKernelLock(); prvTakeKernelLock();
#endif /* configNUM_CORES > 1 */ #endif /* configNUM_CORES > 1 */
{ {
traceEVENT_GROUP_DELETE( xEventGroup ); traceEVENT_GROUP_DELETE( xEventGroup );
@ -675,7 +677,7 @@ void vEventGroupDelete( EventGroupHandle_t xEventGroup )
} }
#if ( configNUM_CORES > 1 ) #if ( configNUM_CORES > 1 )
/* Release the previously taken kernel lock. */ /* Release the previously taken kernel lock. */
vTaskReleaseKernelLock(); prvReleaseKernelLock();
#endif /* configNUM_CORES > 1 */ #endif /* configNUM_CORES > 1 */
prvEXIT_CRITICAL_OR_RESUME_ALL( &( pxEventBits->xEventGroupLock ) ); prvEXIT_CRITICAL_OR_RESUME_ALL( &( pxEventBits->xEventGroupLock ) );

27
components/freertos/FreeRTOS-Kernel/include/freertos/FreeRTOS.h
View File

@ -3,7 +3,7 @@
* *
* SPDX-License-Identifier: MIT * SPDX-License-Identifier: MIT
* *
* SPDX-FileContributor: 2016-2022 Espressif Systems (Shanghai) CO LTD * SPDX-FileContributor: 2016-2023 Espressif Systems (Shanghai) CO LTD
*/ */
/* /*
@ -1404,4 +1404,29 @@ typedef StaticStreamBuffer_t StaticMessageBuffer_t;
#endif #endif
/* *INDENT-ON* */ /* *INDENT-ON* */
/*-----------------------------------------------------------
* IDF Compatibility
*----------------------------------------------------------*/
#ifdef ESP_PLATFORM
/*
* Include ESP-IDF API additions implicitly for compatibility reasons.
*
* ESP-IDF API additions were previously added directly to FreeRTOS headers
* (e.g., task.h, queue.h). These APIs have now been moved to
* idf_additions.h.
*
* To ensure there are no breaking changes, we include idf_additions.h
* implicitly here so that those API additions are still accessible. Given
* that FreeRTOS.h must be included first before calling any FreeRTOS API,
* any existing source code can continue using these relocated APIs without
* any additional header inclusions via this implicit inclusion.
*
* Todo: Deprecate this implicit inclusion by ESP-IDF v6.0 (IDF-8126)
*/
#include "freertos/idf_additions.h"
#endif /* ESP_PLATFORM */
#endif /* INC_FREERTOS_H */ #endif /* INC_FREERTOS_H */

397
components/freertos/FreeRTOS-Kernel/include/freertos/task.h
View File

@ -3,7 +3,7 @@
* *
* SPDX-License-Identifier: MIT * SPDX-License-Identifier: MIT
* *
* SPDX-FileContributor: 2016-2022 Espressif Systems (Shanghai) CO LTD * SPDX-FileContributor: 2016-2023 Espressif Systems (Shanghai) CO LTD
*/ */
/* /*
@ -285,204 +285,6 @@ typedef enum
* TASK CREATION API * TASK CREATION API
*----------------------------------------------------------*/ *----------------------------------------------------------*/
/**
* Create a new task with a specified affinity and add it to the list of tasks
* that are ready to run.
*
* This function is similar to xTaskCreate, but allows setting task affinity
* in SMP system.
*
* @param pxTaskCode Pointer to the task entry function. Tasks
* must be implemented to never return (i.e. continuous loop), or should be
* terminated using vTaskDelete function.
*
* @param pcName A descriptive name for the task. This is mainly used to
* facilitate debugging. Max length defined by configMAX_TASK_NAME_LEN - default
* is 16.
*
* @param usStackDepth The size of the task stack specified as the number of
* bytes. Note that this differs from vanilla FreeRTOS.
*
* @param pvParameters Pointer that will be used as the parameter for the task
* being created.
*
* @param uxPriority The priority at which the task should run. Systems that
* include MPU support can optionally create tasks in a privileged (system)
* mode by setting bit portPRIVILEGE_BIT of the priority parameter. For
* example, to create a privileged task at priority 2 the uxPriority parameter
* should be set to ( 2 | portPRIVILEGE_BIT ).
*
* @param[out] pvCreatedTask Used to pass back a handle by which the created task
* can be referenced.
*
* @param xCoreID If the value is tskNO_AFFINITY, the created task is not
* pinned to any CPU, and the scheduler can run it on any core available.
* Values 0 or 1 indicate the index number of the CPU which the task should
* be pinned to. Specifying values larger than (configNUM_CORES - 1) will
* cause the function to fail.
*
* @return pdPASS if the task was successfully created and added to a ready
* list, otherwise an error code defined in the file projdefs.h
*
* @note If program uses thread local variables (ones specified with "__thread" keyword)
* then storage for them will be allocated on the task's stack.
*
* Example usage:
* @code{c}
* // Task to be created.
* void vTaskCode( void * pvParameters )
* {
* for( ;; )
* {
* // Task code goes here.
* }
* }
*
* // Function that creates a task.
* void vOtherFunction( void )
* {
* static uint8_t ucParameterToPass;
* TaskHandle_t xHandle = NULL;
*
* // Create the task pinned to core 0, storing the handle. Note that the passed parameter ucParameterToPass
* // must exist for the lifetime of the task, so in this case is declared static. If it was just an
* // an automatic stack variable it might no longer exist, or at least have been corrupted, by the time
* // the new task attempts to access it.
* xTaskCreatePinnedToCore( vTaskCode, "NAME", STACK_SIZE, &ucParameterToPass, tskIDLE_PRIORITY, &xHandle, 0 );
* configASSERT( xHandle );
*
* // Use the handle to delete the task.
* if( xHandle != NULL )
* {
* vTaskDelete( xHandle );
* }
* }
* @endcode
* @cond !DOC_SINGLE_GROUP
* \defgroup xTaskCreatePinnedToCore xTaskCreatePinnedToCore
* @endcond
* \ingroup Tasks
*/
#if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
BaseType_t xTaskCreatePinnedToCore( TaskFunction_t pxTaskCode,
const char * const pcName,
const configSTACK_DEPTH_TYPE usStackDepth,
void * const pvParameters,
UBaseType_t uxPriority,
TaskHandle_t * const pvCreatedTask,
const BaseType_t xCoreID );
#endif
/**
* Create a new task with a specified affinity and add it to the list of tasks
* that are ready to run.
*
* This function is similar to xTaskCreateStatic, but allows specifying
* task affinity in an SMP system.
*
* @param pxTaskCode Pointer to the task entry function. Tasks
* must be implemented to never return (i.e. continuous loop), or should be
* terminated using vTaskDelete function.
*
* @param pcName A descriptive name for the task. This is mainly used to
* facilitate debugging. The maximum length of the string is defined by
* configMAX_TASK_NAME_LEN in FreeRTOSConfig.h.
*
* @param ulStackDepth The size of the task stack specified as the number of
* bytes. Note that this differs from vanilla FreeRTOS.
*
* @param pvParameters Pointer that will be used as the parameter for the task
* being created.
*
* @param uxPriority The priority at which the task will run.
*
* @param pxStackBuffer Must point to a StackType_t array that has at least
* ulStackDepth indexes - the array will then be used as the task's stack,
* removing the need for the stack to be allocated dynamically.
*
* @param pxTaskBuffer Must point to a variable of type StaticTask_t, which will
* then be used to hold the task's data structures, removing the need for the
* memory to be allocated dynamically.
*
* @param xCoreID If the value is tskNO_AFFINITY, the created task is not
* pinned to any CPU, and the scheduler can run it on any core available.
* Values 0 or 1 indicate the index number of the CPU which the task should
* be pinned to. Specifying values larger than (configNUM_CORES - 1) will
* cause the function to fail.
*
* @return If neither pxStackBuffer or pxTaskBuffer are NULL, then the task will
* be created and pdPASS is returned. If either pxStackBuffer or pxTaskBuffer
* are NULL then the task will not be created and
* errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY is returned.
*
* Example usage:
* @code{c}
*
* // Dimensions the buffer that the task being created will use as its stack.
* // NOTE: This is the number of words the stack will hold, not the number of
* // bytes. For example, if each stack item is 32-bits, and this is set to 100,
* // then 400 bytes (100 * 32-bits) will be allocated.
* #define STACK_SIZE 200
*
* // Structure that will hold the TCB of the task being created.
* StaticTask_t xTaskBuffer;
*
* // Buffer that the task being created will use as its stack. Note this is
* // an array of StackType_t variables. The size of StackType_t is dependent on
* // the RTOS port.
* StackType_t xStack[ STACK_SIZE ];
*
* // Function that implements the task being created.
* void vTaskCode( void * pvParameters )
* {
* // The parameter value is expected to be 1 as 1 is passed in the
* // pvParameters value in the call to xTaskCreateStaticPinnedToCore().
* configASSERT( ( uint32_t ) pvParameters == 1UL );
*
* for( ;; )
* {
* // Task code goes here.
* }
* }
*
* // Function that creates a task.
* void vOtherFunction( void )
* {
* TaskHandle_t xHandle = NULL;
*
* // Create the task pinned to core 0 without using any dynamic memory allocation.
* xHandle = xTaskCreateStaticPinnedToCore(
* vTaskCode, // Function that implements the task.
* "NAME", // Text name for the task.
* STACK_SIZE, // Stack size in bytes, not words.
* ( void * ) 1, // Parameter passed into the task.
* tskIDLE_PRIORITY,// Priority at which the task is created.
* xStack, // Array to use as the task's stack.
* &xTaskBuffer, // Variable to hold the task's data structure.
* 0 ); // Specify the task's core affinity
*
* // puxStackBuffer and pxTaskBuffer were not NULL, so the task will have
* // been created, and xHandle will be the task's handle. Use the handle
* // to suspend the task.
* vTaskSuspend( xHandle );
* }
* @endcode
* @cond !DOC_SINGLE_GROUP
* \defgroup xTaskCreateStaticPinnedToCore xTaskCreateStaticPinnedToCore
* @endcond
* \ingroup Tasks
*/
#if ( configSUPPORT_STATIC_ALLOCATION == 1 )
TaskHandle_t xTaskCreateStaticPinnedToCore( TaskFunction_t pxTaskCode,
const char * const pcName,
const uint32_t ulStackDepth,
void * const pvParameters,
UBaseType_t uxPriority,
StackType_t * const pxStackBuffer,
StaticTask_t * const pxTaskBuffer,
const BaseType_t xCoreID );
#endif /* configSUPPORT_STATIC_ALLOCATION */
/** /**
* @cond !DOC_EXCLUDE_HEADER_SECTION * @cond !DOC_EXCLUDE_HEADER_SECTION
* task. h * task. h
@ -526,8 +328,8 @@ typedef enum
* facilitate debugging. Max length defined by configMAX_TASK_NAME_LEN - default * facilitate debugging. Max length defined by configMAX_TASK_NAME_LEN - default
* is 16. * is 16.
* *
* @param usStackDepth The size of the task stack specified as the number of * @param usStackDepth The size of the task stack specified as the NUMBER OF
* bytes. Note that this differs from vanilla FreeRTOS. * BYTES. Note that this differs from vanilla FreeRTOS.
* *
* @param pvParameters Pointer that will be used as the parameter for the task * @param pvParameters Pointer that will be used as the parameter for the task
* being created. * being created.
@ -584,6 +386,7 @@ typedef enum
* \ingroup Tasks * \ingroup Tasks
*/ */
#if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) #if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
static inline __attribute__( ( always_inline ) ) static inline __attribute__( ( always_inline ) )
BaseType_t xTaskCreate( TaskFunction_t pxTaskCode, BaseType_t xTaskCreate( TaskFunction_t pxTaskCode,
const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
@ -592,8 +395,31 @@ typedef enum
UBaseType_t uxPriority, UBaseType_t uxPriority,
TaskHandle_t * const pxCreatedTask ) PRIVILEGED_FUNCTION TaskHandle_t * const pxCreatedTask ) PRIVILEGED_FUNCTION
{ {
return xTaskCreatePinnedToCore( pxTaskCode, pcName, usStackDepth, pvParameters, uxPriority, pxCreatedTask, tskNO_AFFINITY ); /*
* The idf_additions.h has not been included here yet due to inclusion
* order. Thus we manually declare the function here.
*/
extern BaseType_t xTaskCreatePinnedToCore( TaskFunction_t pxTaskCode,
const char * const pcName,
const configSTACK_DEPTH_TYPE usStackDepth,
void * const pvParameters,
UBaseType_t uxPriority,
TaskHandle_t * const pvCreatedTask,
const BaseType_t xCoreID );
/*
* Call the "PinnedToCore" version with tskNO_AFFINITY to create
* an unpinned task.
*/
return xTaskCreatePinnedToCore( pxTaskCode,
pcName,
usStackDepth,
pvParameters,
uxPriority,
pxCreatedTask,
tskNO_AFFINITY );
} }
#endif /* if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) */ #endif /* if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) */
/** /**
@ -630,8 +456,8 @@ typedef enum
* facilitate debugging. The maximum length of the string is defined by * facilitate debugging. The maximum length of the string is defined by
* configMAX_TASK_NAME_LEN in FreeRTOSConfig.h. * configMAX_TASK_NAME_LEN in FreeRTOSConfig.h.
* *
* @param ulStackDepth The size of the task stack specified as the number of * @param ulStackDepth The size of the task stack specified as the NUMBER OF
* bytes. Note that this differs from vanilla FreeRTOS. * BYTES. Note that this differs from vanilla FreeRTOS.
* *
* @param pvParameters Pointer that will be used as the parameter for the task * @param pvParameters Pointer that will be used as the parameter for the task
* being created. * being created.
@ -706,8 +532,8 @@ typedef enum
* @endcode * @endcode
* \ingroup Tasks * \ingroup Tasks
*/ */
#if ( configSUPPORT_STATIC_ALLOCATION == 1 ) #if ( configSUPPORT_STATIC_ALLOCATION == 1 )
static inline __attribute__( ( always_inline ) ) static inline __attribute__( ( always_inline ) )
TaskHandle_t xTaskCreateStatic( TaskFunction_t pxTaskCode, TaskHandle_t xTaskCreateStatic( TaskFunction_t pxTaskCode,
const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
@ -717,8 +543,32 @@ typedef enum
StackType_t * const puxStackBuffer, StackType_t * const puxStackBuffer,
StaticTask_t * const pxTaskBuffer ) PRIVILEGED_FUNCTION StaticTask_t * const pxTaskBuffer ) PRIVILEGED_FUNCTION
{ {
return xTaskCreateStaticPinnedToCore( pxTaskCode, pcName, ulStackDepth, pvParameters, uxPriority, puxStackBuffer, pxTaskBuffer, tskNO_AFFINITY ); /*
* The idf_additions.h has not been included here yet due to inclusion
* order. Thus we manually declare the function here.
*/
extern TaskHandle_t xTaskCreateStaticPinnedToCore( TaskFunction_t pxTaskCode,
const char * const pcName,
const uint32_t ulStackDepth,
void * const pvParameters,
UBaseType_t uxPriority,
StackType_t * const pxStackBuffer,
StaticTask_t * const pxTaskBuffer,
const BaseType_t xCoreID );
/*
* Call the "PinnedToCore" version with tskNO_AFFINITY to create
* an unpinned task.
*/
return xTaskCreateStaticPinnedToCore( pxTaskCode,
pcName,
ulStackDepth,
pvParameters,
uxPriority,
puxStackBuffer,
pxTaskBuffer,
tskNO_AFFINITY );
} }
#endif /* configSUPPORT_STATIC_ALLOCATION */ #endif /* configSUPPORT_STATIC_ALLOCATION */
/** /**
@ -1950,21 +1800,6 @@ UBaseType_t uxTaskGetStackHighWaterMark( TaskHandle_t xTask ) PRIVILEGED_FUNCTIO
*/ */
configSTACK_DEPTH_TYPE uxTaskGetStackHighWaterMark2( TaskHandle_t xTask ) PRIVILEGED_FUNCTION; configSTACK_DEPTH_TYPE uxTaskGetStackHighWaterMark2( TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
/**
* Returns the start of the stack associated with xTask.
*
* INCLUDE_pxTaskGetStackStart must be set to 1 in FreeRTOSConfig.h for
* this function to be available.
*
* Returns the lowest stack memory address, regardless of whether the stack grows up or down.
*
* @param xTask Handle of the task associated with the stack returned.
* Set xTask to NULL to return the stack of the calling task.
*
* @return A pointer to the start of the stack.
*/
uint8_t * pxTaskGetStackStart( TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
/* When using trace macros it is sometimes necessary to include task.h before /* When using trace macros it is sometimes necessary to include task.h before
* FreeRTOS.h. When this is done TaskHookFunction_t will not yet have been defined, * FreeRTOS.h. When this is done TaskHookFunction_t will not yet have been defined,
* so the following two prototypes will cause a compilation error. This can be * so the following two prototypes will cause a compilation error. This can be
@ -2039,7 +1874,6 @@ uint8_t * pxTaskGetStackStart( TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
BaseType_t xIndex, BaseType_t xIndex,
void * pvValue ) PRIVILEGED_FUNCTION; void * pvValue ) PRIVILEGED_FUNCTION;
/** /**
* Get local storage pointer specific to the given task. * Get local storage pointer specific to the given task.
* *
@ -2056,39 +1890,6 @@ uint8_t * pxTaskGetStackStart( TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
void * pvTaskGetThreadLocalStoragePointer( TaskHandle_t xTaskToQuery, void * pvTaskGetThreadLocalStoragePointer( TaskHandle_t xTaskToQuery,
BaseType_t xIndex ) PRIVILEGED_FUNCTION; BaseType_t xIndex ) PRIVILEGED_FUNCTION;
#if ( configTHREAD_LOCAL_STORAGE_DELETE_CALLBACKS == 1 )
/**
* Prototype of local storage pointer deletion callback.
*/
typedef void (*TlsDeleteCallbackFunction_t)( int, void * );
/**
* Set local storage pointer and deletion callback.
*
* Each task contains an array of pointers that is dimensioned by the
* configNUM_THREAD_LOCAL_STORAGE_POINTERS setting in FreeRTOSConfig.h.
* The kernel does not use the pointers itself, so the application writer
* can use the pointers for any purpose they wish.
*
* Local storage pointers set for a task can reference dynamically
* allocated resources. This function is similar to
* vTaskSetThreadLocalStoragePointer, but provides a way to release
* these resources when the task gets deleted. For each pointer,
* a callback function can be set. This function will be called
* when task is deleted, with the local storage pointer index
* and value as arguments.
*
* @param xTaskToSet Task to set thread local storage pointer for
* @param xIndex The index of the pointer to set, from 0 to
* configNUM_THREAD_LOCAL_STORAGE_POINTERS - 1.
* @param pvValue Pointer value to set.
* @param pvDelCallback Function to call to dispose of the local
* storage pointer when the task is deleted.
*/
void vTaskSetThreadLocalStoragePointerAndDelCallback( TaskHandle_t xTaskToSet, BaseType_t xIndex, void *pvValue, TlsDeleteCallbackFunction_t pvDelCallback);
#endif
#endif /* if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 ) */ #endif /* if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 ) */
#if ( configCHECK_FOR_STACK_OVERFLOW > 0 ) #if ( configCHECK_FOR_STACK_OVERFLOW > 0 )
@ -3439,58 +3240,6 @@ BaseType_t xTaskCatchUpTicks( TickType_t xTicksToCatchUp ) PRIVILEGED_FUNCTION;
*----------------------------------------------------------*/ *----------------------------------------------------------*/
/** @cond !DOC_EXCLUDE_HEADER_SECTION */ /** @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 ) \
( uxInterruptStatus ) = portSET_INTERRUPT_MASK_FROM_ISR(); \
( void ) ( pxLock );
#define prvEXIT_CRITICAL_OR_UNMASK_ISR( pxLock, uxInterruptStatus ) \
portCLEAR_INTERRUPT_MASK_FROM_ISR( ( uxInterruptStatus ) ); \
( 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
* value will still be valid on return and should only be used for
* debugging purposes.
*/
TaskHandle_t xTaskGetCurrentTaskHandleForCPU( BaseType_t cpuid );
/**
* Get the handle of idle task for the given CPU.
*
* xTaskGetIdleTaskHandleForCPU() is only available if
* INCLUDE_xTaskGetIdleTaskHandle is set to 1 in FreeRTOSConfig.h.
*
* @param cpuid The CPU to get the handle for
*
* @return Idle task handle of a given cpu. It is not valid to call
* xTaskGetIdleTaskHandleForCPU() before the scheduler has been started.
*/
TaskHandle_t xTaskGetIdleTaskHandleForCPU( UBaseType_t cpuid );
/*
* Get the current core affinity of a task
*/
BaseType_t xTaskGetAffinity( TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
/* /*
* THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE. IT IS ONLY * THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE. IT IS ONLY
* INTENDED FOR USE WHEN IMPLEMENTING A PORT OF THE SCHEDULER AND IS * INTENDED FOR USE WHEN IMPLEMENTING A PORT OF THE SCHEDULER AND IS
@ -3511,20 +3260,6 @@ BaseType_t xTaskGetAffinity( TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
*/ */
BaseType_t xTaskIncrementTick( void ) PRIVILEGED_FUNCTION; BaseType_t xTaskIncrementTick( void ) PRIVILEGED_FUNCTION;
#if ( configNUM_CORES > 1 )
/*
* THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE. IT IS ONLY
* INTENDED FOR USE WHEN IMPLEMENTING A PORT OF THE SCHEDULER AND IS
* AN INTERFACE WHICH IS FOR THE EXCLUSIVE USE OF THE SCHEDULER.
*
* Called from all other cores except core 0 when their tick interrupt
* occurs. This function will check if the current core requires time slicing,
* and also call the application tick hook.
*/
BaseType_t xTaskIncrementTickOtherCores( void ) PRIVILEGED_FUNCTION;
#endif /* configNUM_CORES > 1 */
/* /*
* THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE. IT IS AN * THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE. IT IS AN
* INTERFACE WHICH IS FOR THE EXCLUSIVE USE OF THE SCHEDULER. * INTERFACE WHICH IS FOR THE EXCLUSIVE USE OF THE SCHEDULER.
@ -3577,26 +3312,6 @@ void vTaskPlaceOnEventListRestricted( List_t * const pxEventList,
TickType_t xTicksToWait, TickType_t xTicksToWait,
const BaseType_t xWaitIndefinitely ) PRIVILEGED_FUNCTION; 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.
*
* This function is a wrapper to take the "xKernelLock" spinlock of tasks.c.
* This lock is taken whenver any of the kernel's data structures are
* accessed/modified, such as when adding/removing tasks to/from the delayed
* task list or various event lists.
*
* This functions is meant to be called by xEventGroupSetBits() and
* vEventGroupDelete() as both those functions will access event lists (instead
* of delegating the entire responsibility to one of vTask...EventList()
* functions).
*/
void vTaskTakeKernelLock( void );
void vTaskReleaseKernelLock( void );
#endif /* configNUM_CORES > 1 */
/* /*
* THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE. IT IS AN * THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE. IT IS AN
* INTERFACE WHICH IS FOR THE EXCLUSIVE USE OF THE SCHEDULER. * INTERFACE WHICH IS FOR THE EXCLUSIVE USE OF THE SCHEDULER.

2
components/freertos/FreeRTOS-Kernel/queue.c
View File

@ -43,6 +43,8 @@
#include "FreeRTOS.h" #include "FreeRTOS.h"
#include "task.h" #include "task.h"
#include "queue.h" #include "queue.h"
/* Include private IDF API additions for critical thread safety macros */
#include "esp_private/freertos_idf_additions_priv.h"
#if ( configUSE_CO_ROUTINES == 1 ) #if ( configUSE_CO_ROUTINES == 1 )
#include "croutine.h" #include "croutine.h"

2
components/freertos/FreeRTOS-Kernel/stream_buffer.c
View File

@ -45,6 +45,8 @@
#include "FreeRTOS.h" #include "FreeRTOS.h"
#include "task.h" #include "task.h"
#include "stream_buffer.h" #include "stream_buffer.h"
/* Include private IDF API additions for critical thread safety macros */
#include "esp_private/freertos_idf_additions_priv.h"
#if ( configUSE_TASK_NOTIFICATIONS != 1 ) #if ( configUSE_TASK_NOTIFICATIONS != 1 )
#error configUSE_TASK_NOTIFICATIONS must be set to 1 to build stream_buffer.c #error configUSE_TASK_NOTIFICATIONS must be set to 1 to build stream_buffer.c

419
components/freertos/FreeRTOS-Kernel/tasks.c
View File

@ -46,6 +46,8 @@
#include "task.h" #include "task.h"
#include "timers.h" #include "timers.h"
#include "stack_macros.h" #include "stack_macros.h"
/* Include private IDF API additions for critical thread safety macros */
#include "esp_private/freertos_idf_additions_priv.h"
#ifdef ESP_PLATFORM #ifdef ESP_PLATFORM
#undef _REENT_INIT_PTR #undef _REENT_INIT_PTR
@ -502,28 +504,6 @@ PRIVILEGED_DATA static volatile BaseType_t xSwitchingContext[ configNUM_CORES ]
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Callback function prototypes. --------------------------*/
#if ( configCHECK_FOR_STACK_OVERFLOW > 0 )
extern void vApplicationStackOverflowHook( TaskHandle_t xTask,
char * pcTaskName );
#endif
#if ( configUSE_TICK_HOOK > 0 )
extern void vApplicationTickHook( void ); /*lint !e526 Symbol not defined as it is an application callback. */
#endif
#if ( configSUPPORT_STATIC_ALLOCATION == 1 )
extern void vApplicationGetIdleTaskMemory( StaticTask_t ** ppxIdleTaskTCBBuffer,
StackType_t ** ppxIdleTaskStackBuffer,
uint32_t * pulIdleTaskStackSize ); /*lint !e526 Symbol not defined as it is an application callback. */
#endif
/* File private functions. --------------------------------*/ /* File private functions. --------------------------------*/
/** /**
@ -728,64 +708,6 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB ) PRIVILEGED_FUNCTION;
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
#if ( configSUPPORT_STATIC_ALLOCATION == 1 )
TaskHandle_t xTaskCreateStaticPinnedToCore( TaskFunction_t pxTaskCode,
const char * const pcName,
const uint32_t ulStackDepth,
void * const pvParameters,
UBaseType_t uxPriority,
StackType_t * const puxStackBuffer,
StaticTask_t * const pxTaskBuffer,
const BaseType_t xCoreID )
{
TCB_t * pxNewTCB;
TaskHandle_t xReturn;
configASSERT( portVALID_STACK_MEM( puxStackBuffer ) );
configASSERT( portVALID_TCB_MEM( pxTaskBuffer ) );
configASSERT( ( ( xCoreID >= 0 ) && ( xCoreID < configNUM_CORES ) ) || ( xCoreID == tskNO_AFFINITY ) );
#if ( configASSERT_DEFINED == 1 )
{
/* Sanity check that the size of the structure used to declare a
* variable of type StaticTask_t equals the size of the real task
* structure. */
volatile size_t xSize = sizeof( StaticTask_t );
configASSERT( xSize == sizeof( TCB_t ) );
( void ) xSize; /* Prevent lint warning when configASSERT() is not used. */
}
#endif /* configASSERT_DEFINED */
if( ( pxTaskBuffer != NULL ) && ( puxStackBuffer != NULL ) )
{
/* The memory used for the task's TCB and stack are passed into this
* function - use them. */
pxNewTCB = ( TCB_t * ) pxTaskBuffer; /*lint !e740 !e9087 Unusual cast is ok as the structures are designed to have the same alignment, and the size is checked by an assert. */
pxNewTCB->pxStack = ( StackType_t * ) puxStackBuffer;
#if ( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 !e9029 Macro has been consolidated for readability reasons. */
{
/* Tasks can be created statically or dynamically, so note this
* task was created statically in case the task is later deleted. */
pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_AND_TCB;
}
#endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE */
prvInitialiseNewTask( pxTaskCode, pcName, ulStackDepth, pvParameters, uxPriority, &xReturn, pxNewTCB, NULL, xCoreID );
prvAddNewTaskToReadyList( pxNewTCB );
}
else
{
xReturn = NULL;
}
return xReturn;
}
#endif /* SUPPORT_STATIC_ALLOCATION */
/*-----------------------------------------------------------*/
#if ( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) ) #if ( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
BaseType_t xTaskCreateRestrictedStatic( const TaskParameters_t * const pxTaskDefinition, BaseType_t xTaskCreateRestrictedStatic( const TaskParameters_t * const pxTaskDefinition,
@ -885,100 +807,6 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB ) PRIVILEGED_FUNCTION;
#endif /* portUSING_MPU_WRAPPERS */ #endif /* portUSING_MPU_WRAPPERS */
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
#if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
BaseType_t xTaskCreatePinnedToCore( 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,
TaskHandle_t * const pxCreatedTask,
const BaseType_t xCoreID )
{
TCB_t * pxNewTCB;
BaseType_t xReturn;
/* If the stack grows down then allocate the stack then the TCB so the stack
* does not grow into the TCB. Likewise if the stack grows up then allocate
* the TCB then the stack. */
#if ( portSTACK_GROWTH > 0 )
{
/* Allocate space for the TCB. Where the memory comes from depends on
* the implementation of the port malloc function and whether or not static
* allocation is being used. */
pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );
if( pxNewTCB != NULL )
{
/* Allocate space for the stack used by the task being created.
* The base of the stack memory stored in the TCB so the task can
* be deleted later if required. */
pxNewTCB->pxStack = ( StackType_t * ) pvPortMalloc( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
if( pxNewTCB->pxStack == NULL )
{
/* Could not allocate the stack. Delete the allocated TCB. */
vPortFree( pxNewTCB );
pxNewTCB = NULL;
}
}
}
#else /* portSTACK_GROWTH */
{
StackType_t * pxStack;
/* Allocate space for the stack used by the task being created. */
pxStack = pvPortMalloc( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ) ); /*lint !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack and this allocation is the stack. */
if( pxStack != NULL )
{
/* Allocate space for the TCB. */
pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) ); /*lint !e9087 !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack, and the first member of TCB_t is always a pointer to the task's stack. */
if( pxNewTCB != NULL )
{
/* Store the stack location in the TCB. */
pxNewTCB->pxStack = pxStack;
}
else
{
/* The stack cannot be used as the TCB was not created. Free
* it again. */
vPortFree( pxStack );
}
}
else
{
pxNewTCB = NULL;
}
}
#endif /* portSTACK_GROWTH */
if( pxNewTCB != NULL )
{
#if ( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e9029 !e731 Macro has been consolidated for readability reasons. */
{
/* Tasks can be created statically or dynamically, so note this
* task was created dynamically in case it is later deleted. */
pxNewTCB->ucStaticallyAllocated = tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB;
}
#endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE */
prvInitialiseNewTask( pxTaskCode, pcName, ( uint32_t ) usStackDepth, pvParameters, uxPriority, pxCreatedTask, pxNewTCB, NULL, xCoreID );
prvAddNewTaskToReadyList( pxNewTCB );
xReturn = pdPASS;
}
else
{
xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
}
return xReturn;
}
#endif /* configSUPPORT_DYNAMIC_ALLOCATION */
/*-----------------------------------------------------------*/
static void prvInitialiseNewTask( TaskFunction_t pxTaskCode, static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
const uint32_t ulStackDepth, const uint32_t ulStackDepth,
@ -1528,15 +1356,6 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
#if ( INCLUDE_xTaskDelayUntil == 1 ) #if ( INCLUDE_xTaskDelayUntil == 1 )
#ifdef ESP_PLATFORM
/* backward binary compatibility - remove later */
#undef vTaskDelayUntil
void vTaskDelayUntil( TickType_t * const pxPreviousWakeTime,
const TickType_t xTimeIncrement )
{
xTaskDelayUntil( pxPreviousWakeTime, xTimeIncrement );
}
#endif // ESP_PLATFORM
BaseType_t xTaskDelayUntil( TickType_t * const pxPreviousWakeTime, BaseType_t xTaskDelayUntil( TickType_t * const pxPreviousWakeTime,
const TickType_t xTimeIncrement ) const TickType_t xTimeIncrement )
@ -3014,12 +2833,6 @@ char * pcTaskGetName( TaskHandle_t xTaskToQuery ) /*lint !e971 Unqualified char
return xIdleTaskHandle[ xPortGetCoreID() ]; return xIdleTaskHandle[ xPortGetCoreID() ];
} }
TaskHandle_t xTaskGetIdleTaskHandleForCPU( UBaseType_t cpuid )
{
configASSERT( cpuid < configNUM_CORES );
configASSERT( ( xIdleTaskHandle[ cpuid ] != NULL ) );
return xIdleTaskHandle[ cpuid ];
}
#endif /* INCLUDE_xTaskGetIdleTaskHandle */ #endif /* INCLUDE_xTaskGetIdleTaskHandle */
/*----------------------------------------------------------*/ /*----------------------------------------------------------*/
@ -3367,90 +3180,6 @@ BaseType_t xTaskIncrementTick( void )
return xSwitchRequired; return xSwitchRequired;
} }
#if ( configNUM_CORES > 1 )
BaseType_t xTaskIncrementTickOtherCores( void )
{
/* Minor optimization. This function can never switch cores mid
* execution */
BaseType_t xCoreID = xPortGetCoreID();
BaseType_t xSwitchRequired = pdFALSE;
/* This function should never be called by Core 0. */
configASSERT( xCoreID != 0 );
/* Called by the portable layer each time a tick interrupt occurs.
* Increments the tick then checks to see if the new tick value will cause any
* tasks to be unblocked. */
traceTASK_INCREMENT_TICK( xTickCount );
if( uxSchedulerSuspended[ xCoreID ] == ( UBaseType_t ) 0U )
{
/* 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
* if preemption is turned off. */
#if ( configUSE_PREEMPTION == 1 )
{
/* Check if core 0 calling xTaskIncrementTick() has
* unblocked a task that can be run. */
if( uxTopReadyPriority > pxCurrentTCB[ xCoreID ]->uxPriority )
{
xSwitchRequired = pdTRUE;
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
#endif /* if ( configUSE_PREEMPTION == 1 ) */
/* Tasks of equal priority to the currently running task will share
* processing time (time slice) if preemption is on, and the application
* writer has not explicitly turned time slicing off. */
#if ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) )
{
if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ pxCurrentTCB[ xCoreID ]->uxPriority ] ) ) > ( UBaseType_t ) 1 )
{
xSwitchRequired = pdTRUE;
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
#endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) */
/* Release the previously taken kernel lock as we have finished
* accessing the kernel data structures. */
taskEXIT_CRITICAL_ISR( &xKernelLock );
#if ( configUSE_PREEMPTION == 1 )
{
if( xYieldPending[ xCoreID ] != pdFALSE )
{
xSwitchRequired = pdTRUE;
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
#endif /* configUSE_PREEMPTION */
}
#if ( configUSE_TICK_HOOK == 1 )
{
vApplicationTickHook();
}
#endif
return xSwitchRequired;
}
#endif /* ( configNUM_CORES > 1 ) */
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
#if ( configUSE_APPLICATION_TASK_TAG == 1 ) #if ( configUSE_APPLICATION_TASK_TAG == 1 )
@ -4008,20 +3737,6 @@ BaseType_t xTaskRemoveFromEventList( const List_t * const pxEventList )
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
#if ( configNUM_CORES > 1 )
void vTaskTakeKernelLock( void )
{
/* We call the tasks.c critical section macro to take xKernelLock */
taskENTER_CRITICAL( &xKernelLock );
}
void vTaskReleaseKernelLock( void )
{
/* We call the tasks.c critical section macro to release xKernelLock */
taskEXIT_CRITICAL( &xKernelLock );
}
#endif /* configNUM_CORES > 1 */
void vTaskRemoveFromUnorderedEventList( ListItem_t * pxEventListItem, void vTaskRemoveFromUnorderedEventList( ListItem_t * pxEventListItem,
const TickType_t xItemValue ) const TickType_t xItemValue )
{ {
@ -4032,7 +3747,7 @@ void vTaskRemoveFromUnorderedEventList( ListItem_t * pxEventListItem,
/* THIS FUNCTION MUST BE CALLED WITH THE KERNEL LOCK ALREADY TAKEN. /* THIS FUNCTION MUST BE CALLED WITH THE KERNEL LOCK ALREADY TAKEN.
* It is used by the event flags implementation, thus those functions * It is used by the event flags implementation, thus those functions
* should call vTaskTakeKernelLock() before calling this function. */ * should call prvTakeKernelLock() before calling this function. */
#else /* configNUM_CORES > 1 */ #else /* configNUM_CORES > 1 */
/* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
@ -4442,21 +4157,20 @@ static portTASK_FUNCTION( prvIdleTask, pvParameters )
#if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 ) #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
#if ( configTHREAD_LOCAL_STORAGE_DELETE_CALLBACKS == 1 ) void vTaskSetThreadLocalStoragePointer( TaskHandle_t xTaskToSet,
void vTaskSetThreadLocalStoragePointerAndDelCallback( TaskHandle_t xTaskToSet,
BaseType_t xIndex, BaseType_t xIndex,
void * pvValue, void * pvValue )
TlsDeleteCallbackFunction_t xDelCallback ) {
#if ( configTHREAD_LOCAL_STORAGE_DELETE_CALLBACKS == 1 )
{
/* TLSP Deletion Callbacks are enabled. Call the TLSPDC funciton
* instead with a NULL callback. */
vTaskSetThreadLocalStoragePointerAndDelCallback( xTaskToSet, xIndex, pvValue, NULL );
}
#else /* configTHREAD_LOCAL_STORAGE_DELETE_CALLBACKS == 1 */
{ {
TCB_t * pxTCB; TCB_t * pxTCB;
/* If TLSP deletion callbacks are enabled, then
* configNUM_THREAD_LOCAL_STORAGE_POINTERS is doubled in size so
* that the latter half of the pvThreadLocalStoragePointers stores
* the deletion callbacks. */
if( xIndex < ( configNUM_THREAD_LOCAL_STORAGE_POINTERS / 2 ) )
{
#if ( configNUM_CORES > 1 ) #if ( configNUM_CORES > 1 )
/* For SMP, we need to take the kernel lock here as we /* For SMP, we need to take the kernel lock here as we
@ -4465,56 +4179,20 @@ static portTASK_FUNCTION( prvIdleTask, pvParameters )
taskENTER_CRITICAL( &xKernelLock ); taskENTER_CRITICAL( &xKernelLock );
#endif /* ( configNUM_CORES > 1 ) */ #endif /* ( configNUM_CORES > 1 ) */
pxTCB = prvGetTCBFromHandle( xTaskToSet );
/* Store the TLSP by indexing the first half of the array */
pxTCB->pvThreadLocalStoragePointers[ xIndex ] = pvValue;
/* Store the TLSP deletion callback by indexing the second half
* of the array. */
pxTCB->pvThreadLocalStoragePointers[ ( xIndex + ( configNUM_THREAD_LOCAL_STORAGE_POINTERS / 2 ) ) ] = ( void * ) xDelCallback;
#if ( configNUM_CORES > 1 )
/* Release the previously taken kernel lock. */
taskEXIT_CRITICAL( &xKernelLock );
#endif /* configNUM_CORES > 1 */
}
}
void vTaskSetThreadLocalStoragePointer( TaskHandle_t xTaskToSet,
BaseType_t xIndex,
void * pvValue )
{
vTaskSetThreadLocalStoragePointerAndDelCallback( xTaskToSet, xIndex, pvValue, ( TlsDeleteCallbackFunction_t ) NULL );
}
#else /* if ( configTHREAD_LOCAL_STORAGE_DELETE_CALLBACKS == 1 ) */
void vTaskSetThreadLocalStoragePointer( TaskHandle_t xTaskToSet,
BaseType_t xIndex,
void * pvValue )
{
TCB_t * pxTCB;
if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS ) if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )
{ {
#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 = prvGetTCBFromHandle( xTaskToSet );
configASSERT( pxTCB != NULL ); configASSERT( pxTCB != NULL );
pxTCB->pvThreadLocalStoragePointers[ xIndex ] = pvValue; pxTCB->pvThreadLocalStoragePointers[ xIndex ] = pvValue;
}
#if ( configNUM_CORES > 1 ) #if ( configNUM_CORES > 1 )
/* Release the previously taken kernel lock. */ /* Release the previously taken kernel lock. */
taskEXIT_CRITICAL( &xKernelLock ); taskEXIT_CRITICAL( &xKernelLock );
#endif /* configNUM_CORES > 1 */ #endif /* configNUM_CORES > 1 */
} }
}
#endif /* configTHREAD_LOCAL_STORAGE_DELETE_CALLBACKS == 1 */ #endif /* configTHREAD_LOCAL_STORAGE_DELETE_CALLBACKS == 1 */
}
#endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */ #endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
@ -4773,16 +4451,6 @@ static void prvCheckTasksWaitingTermination( void )
#endif /* configUSE_TRACE_FACILITY */ #endif /* configUSE_TRACE_FACILITY */
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
BaseType_t xTaskGetAffinity( TaskHandle_t xTask )
{
TCB_t * pxTCB;
pxTCB = prvGetTCBFromHandle( xTask );
return pxTCB->xCoreID;
}
/*-----------------------------------------------------------*/
#if ( configUSE_TRACE_FACILITY == 1 ) #if ( configUSE_TRACE_FACILITY == 1 )
static UBaseType_t prvListTasksWithinSingleList( TaskStatus_t * pxTaskStatusArray, static UBaseType_t prvListTasksWithinSingleList( TaskStatus_t * pxTaskStatusArray,
@ -4905,20 +4573,6 @@ BaseType_t xTaskGetAffinity( TaskHandle_t xTask )
#endif /* INCLUDE_uxTaskGetStackHighWaterMark */ #endif /* INCLUDE_uxTaskGetStackHighWaterMark */
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
#if ( INCLUDE_pxTaskGetStackStart == 1 )
uint8_t * pxTaskGetStackStart( TaskHandle_t xTask )
{
TCB_t * pxTCB;
uint8_t * uxReturn;
pxTCB = prvGetTCBFromHandle( xTask );
uxReturn = ( uint8_t * ) pxTCB->pxStack;
return uxReturn;
}
#endif /* INCLUDE_pxTaskGetStackStart */
#if ( INCLUDE_vTaskDelete == 1 ) #if ( INCLUDE_vTaskDelete == 1 )
@ -5006,7 +4660,7 @@ static void prvResetNextTaskUnblockTime( void )
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
#if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) || ( configNUM_CORES > 1 ) ) #if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )
TaskHandle_t xTaskGetCurrentTaskHandle( void ) TaskHandle_t xTaskGetCurrentTaskHandle( void )
{ {
@ -5020,19 +4674,6 @@ static void prvResetNextTaskUnblockTime( void )
return xReturn; return xReturn;
} }
TaskHandle_t xTaskGetCurrentTaskHandleForCPU( BaseType_t cpuid )
{
TaskHandle_t xReturn = NULL;
/*Xtensa-specific: the pxCurrentPCB pointer is atomic so we shouldn't need a lock. */
if( cpuid < configNUM_CORES )
{
xReturn = pxCurrentTCB[ cpuid ];
}
return xReturn;
}
#endif /* ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) */ #endif /* ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) */
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
@ -5772,16 +5413,6 @@ TickType_t uxTaskResetEventItemValue( void )
#if ( configUSE_TASK_NOTIFICATIONS == 1 ) #if ( configUSE_TASK_NOTIFICATIONS == 1 )
#ifdef ESP_PLATFORM /* IDF-3851 */
/* included here for backward binary compatibility */
#undef ulTaskNotifyTake
uint32_t ulTaskNotifyTake( BaseType_t xClearCountOnExit,
TickType_t xTicksToWait )
{
return ulTaskGenericNotifyTake( tskDEFAULT_INDEX_TO_NOTIFY, xClearCountOnExit, xTicksToWait );
}
#endif // ESP-PLATFORM
uint32_t ulTaskGenericNotifyTake( UBaseType_t uxIndexToWait, uint32_t ulTaskGenericNotifyTake( UBaseType_t uxIndexToWait,
BaseType_t xClearCountOnExit, BaseType_t xClearCountOnExit,
TickType_t xTicksToWait ) TickType_t xTicksToWait )
@ -5854,18 +5485,6 @@ TickType_t uxTaskResetEventItemValue( void )
#if ( configUSE_TASK_NOTIFICATIONS == 1 ) #if ( configUSE_TASK_NOTIFICATIONS == 1 )
#ifdef ESP_PLATFORM /* IDF-3851 */
/* included for backward compatibility */
#undef xTaskNotifyWait
BaseType_t xTaskNotifyWait( uint32_t ulBitsToClearOnEntry,
uint32_t ulBitsToClearOnExit,
uint32_t * pulNotificationValue,
TickType_t xTicksToWait )
{
return xTaskGenericNotifyWait( tskDEFAULT_INDEX_TO_NOTIFY, ulBitsToClearOnEntry, ulBitsToClearOnExit, pulNotificationValue, xTicksToWait );
}
#endif // ESP-PLATFORM
BaseType_t xTaskGenericNotifyWait( UBaseType_t uxIndexToWait, BaseType_t xTaskGenericNotifyWait( UBaseType_t uxIndexToWait,
uint32_t ulBitsToClearOnEntry, uint32_t ulBitsToClearOnEntry,
uint32_t ulBitsToClearOnExit, uint32_t ulBitsToClearOnExit,
@ -6533,9 +6152,3 @@ static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait,
#endif #endif
#endif /* if ( configINCLUDE_FREERTOS_TASK_C_ADDITIONS_H == 1 ) */ #endif /* if ( configINCLUDE_FREERTOS_TASK_C_ADDITIONS_H == 1 ) */
/* If timers.c is not referenced anywhere, don't create the timer task to save RAM */
BaseType_t __attribute__( ( weak ) ) xTimerCreateTimerTask( void )
{
return pdPASS;
}

2
components/freertos/FreeRTOS-Kernel/timers.c
View File

@ -44,6 +44,8 @@
#include "task.h" #include "task.h"
#include "queue.h" #include "queue.h"
#include "timers.h" #include "timers.h"
/* Include private IDF API additions for critical thread safety macros */
#include "esp_private/freertos_idf_additions_priv.h"
#if ( INCLUDE_xTimerPendFunctionCall == 1 ) && ( configUSE_TIMERS == 0 ) #if ( INCLUDE_xTimerPendFunctionCall == 1 ) && ( configUSE_TIMERS == 0 )
#error configUSE_TIMERS must be set to 1 to make the xTimerPendFunctionCall() function available. #error configUSE_TIMERS must be set to 1 to make the xTimerPendFunctionCall() function available.

2
components/freertos/config/include/freertos/FreeRTOSConfig.h
View File

@ -198,8 +198,6 @@
#define INCLUDE_xTaskResumeFromISR 1 #define INCLUDE_xTaskResumeFromISR 1
#define INCLUDE_xTimerPendFunctionCall 1 #define INCLUDE_xTimerPendFunctionCall 1
#define INCLUDE_xTaskGetSchedulerState 1 #define INCLUDE_xTaskGetSchedulerState 1
/* Unlisted */
#define INCLUDE_pxTaskGetStackStart 1
/* -------------------- Trace Macros ----------------------- */ /* -------------------- Trace Macros ----------------------- */

42
components/freertos/esp_additions/freertos_compatibility.c
View File

@ -35,3 +35,45 @@ BaseType_t xQueueGenericReceive( QueueHandle_t xQueue,
return xQueueReceive( xQueue, pvBuffer, xTicksToWait ); return xQueueReceive( xQueue, pvBuffer, xTicksToWait );
} }
/*
* vTaskDelayUntil() was deprecated into a macro and replaced by xTaskDelayUntil().
* This is added for pre-compiled libraries that depend on ulTaskNotifyTake()
* being a function.
*
* Todo: Remove this in v6.0 (IDF-3851)
*/
#undef vTaskDelayUntil
void vTaskDelayUntil( TickType_t * const pxPreviousWakeTime,
const TickType_t xTimeIncrement )
{
xTaskDelayUntil( pxPreviousWakeTime, xTimeIncrement );
}
/*
* ulTaskNotifyTake() was turned into a macro. This is added for pre-compiled
* libraries that depend on ulTaskNotifyTake() being a function.
*
* Todo: Remove this in v6.0 (IDF-3851)
*/
#undef ulTaskNotifyTake
uint32_t ulTaskNotifyTake( BaseType_t xClearCountOnExit,
TickType_t xTicksToWait )
{
return ulTaskGenericNotifyTake( tskDEFAULT_INDEX_TO_NOTIFY, xClearCountOnExit, xTicksToWait );
}
/*
* xTaskNotifyWait() was turned into a macro. This is added for pre-compiled
* libraries that depend on xTaskNotifyWait() being a function.
*
* Todo: Remove this in v6.0 (IDF-3851)
*/
#undef xTaskNotifyWait
BaseType_t xTaskNotifyWait( uint32_t ulBitsToClearOnEntry,
uint32_t ulBitsToClearOnExit,
uint32_t * pulNotificationValue,
TickType_t xTicksToWait )
{
return xTaskGenericNotifyWait( tskDEFAULT_INDEX_TO_NOTIFY, ulBitsToClearOnEntry, ulBitsToClearOnExit, pulNotificationValue, xTicksToWait );
}

495
components/freertos/esp_additions/freertos_tasks_c_additions.h
View File

@ -4,9 +4,8 @@
* SPDX-License-Identifier: Apache-2.0 * SPDX-License-Identifier: Apache-2.0
*/ */
#pragma once
#include "sdkconfig.h" #include "sdkconfig.h"
#include "esp_assert.h"
#include "freertos/idf_additions.h" #include "freertos/idf_additions.h"
#if CONFIG_FREERTOS_ENABLE_TASK_SNAPSHOT #if CONFIG_FREERTOS_ENABLE_TASK_SNAPSHOT
#include "freertos/task_snapshot.h" #include "freertos/task_snapshot.h"
@ -23,7 +22,7 @@
/* ------------------------------------------------- Static Asserts ------------------------------------------------- */ /* ------------------------------------------------- Static Asserts ------------------------------------------------- */
/** /*
* Both StaticTask_t and TCB_t structures are provided by FreeRTOS sources. * Both StaticTask_t and TCB_t structures are provided by FreeRTOS sources.
* This is just an additional check of the consistency of these structures. * This is just an additional check of the consistency of these structures.
*/ */
@ -33,9 +32,139 @@ _Static_assert( offsetof( StaticTask_t, pxDummy8 ) == offsetof( TCB_t, pxEndOfSt
_Static_assert( tskNO_AFFINITY == CONFIG_FREERTOS_NO_AFFINITY, "CONFIG_FREERTOS_NO_AFFINITY must be the same as tskNO_AFFINITY" ); _Static_assert( tskNO_AFFINITY == CONFIG_FREERTOS_NO_AFFINITY, "CONFIG_FREERTOS_NO_AFFINITY must be the same as tskNO_AFFINITY" );
#endif /* CONFIG_FREERTOS_SMP */ #endif /* CONFIG_FREERTOS_SMP */
/* ------------------------------------------------- Kernel Control ------------------------------------------------- */
#if ( !CONFIG_FREERTOS_SMP && ( configNUM_CORES > 1 ) )
/*
* Wrapper function to take "xKerneLock"
*/
void prvTakeKernelLock( void )
{
/* We call the tasks.c critical section macro to take xKernelLock */
taskENTER_CRITICAL( &xKernelLock );
}
#endif /* ( !CONFIG_FREERTOS_SMP && ( configNUM_CORES > 1 ) ) */
/*----------------------------------------------------------*/
#if ( !CONFIG_FREERTOS_SMP && ( configNUM_CORES > 1 ) )
/*
* Wrapper function to release "xKerneLock"
*/
void prvReleaseKernelLock( void )
{
/* We call the tasks.c critical section macro to release xKernelLock */
taskEXIT_CRITICAL( &xKernelLock );
}
#endif /* ( !CONFIG_FREERTOS_SMP && ( configNUM_CORES > 1 ) ) */
/*----------------------------------------------------------*/
#if ( CONFIG_FREERTOS_SMP && ( configNUM_CORES > 1 ) )
/*
* Workaround for non-thread safe multi-core OS startup (see IDF-4524)
*/
void prvStartSchedulerOtherCores( void )
{
/* This function is always called with interrupts disabled*/
xSchedulerRunning = pdTRUE;
}
#endif /* ( CONFIG_FREERTOS_SMP && ( configNUM_CORES > 1 ) ) */
/*----------------------------------------------------------*/
#if ( !CONFIG_FREERTOS_SMP && ( configNUM_CORES > 1 ) )
BaseType_t xTaskIncrementTickOtherCores( void )
{
/* Minor optimization. This function can never switch cores mid
* execution */
BaseType_t xCoreID = xPortGetCoreID();
BaseType_t xSwitchRequired = pdFALSE;
/* This function should never be called by Core 0. */
configASSERT( xCoreID != 0 );
/* Called by the portable layer each time a tick interrupt occurs.
* Increments the tick then checks to see if the new tick value will
* cause any tasks to be unblocked. */
traceTASK_INCREMENT_TICK( xTickCount );
if( uxSchedulerSuspended[ xCoreID ] == ( UBaseType_t ) 0U )
{
/* 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
* if preemption is turned off. */
#if ( configUSE_PREEMPTION == 1 )
{
/* Check if core 0 calling xTaskIncrementTick() has
* unblocked a task that can be run. */
if( uxTopReadyPriority > pxCurrentTCB[ xCoreID ]->uxPriority )
{
xSwitchRequired = pdTRUE;
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
#endif /* if ( configUSE_PREEMPTION == 1 ) */
/* Tasks of equal priority to the currently running task will share
* processing time (time slice) if preemption is on, and the application
* writer has not explicitly turned time slicing off. */
#if ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) )
{
if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ pxCurrentTCB[ xCoreID ]->uxPriority ] ) ) > ( UBaseType_t ) 1 )
{
xSwitchRequired = pdTRUE;
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
#endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) */
/* Release the previously taken kernel lock as we have finished
* accessing the kernel data structures. */
taskEXIT_CRITICAL_ISR( &xKernelLock );
#if ( configUSE_PREEMPTION == 1 )
{
if( xYieldPending[ xCoreID ] != pdFALSE )
{
xSwitchRequired = pdTRUE;
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
#endif /* configUSE_PREEMPTION */
}
#if ( configUSE_TICK_HOOK == 1 )
{
vApplicationTickHook();
}
#endif
return xSwitchRequired;
}
#endif /* ( !CONFIG_FREERTOS_SMP && ( configNUM_CORES > 1 ) ) */
/*----------------------------------------------------------*/
/* -------------------------------------------------- Task Creation ------------------------------------------------- */ /* -------------------------------------------------- Task Creation ------------------------------------------------- */
#if CONFIG_FREERTOS_SMP #if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
BaseType_t xTaskCreatePinnedToCore( TaskFunction_t pxTaskCode, BaseType_t xTaskCreatePinnedToCore( TaskFunction_t pxTaskCode,
const char * const pcName, const char * const pcName,
@ -45,13 +174,21 @@ _Static_assert( offsetof( StaticTask_t, pxDummy8 ) == offsetof( TCB_t, pxEndOfSt
TaskHandle_t * const pxCreatedTask, TaskHandle_t * const pxCreatedTask,
const BaseType_t xCoreID ) const BaseType_t xCoreID )
{ {
BaseType_t ret; BaseType_t xReturn;
#if ( ( configUSE_CORE_AFFINITY == 1 ) && ( configNUM_CORES > 1 ) ) #if CONFIG_FREERTOS_SMP
{
/* If using Amazon SMP FreeRTOS. This function is just a wrapper around
* xTaskCreate() or xTaskCreateAffinitySet(). */
#if ( ( configNUM_CORES > 1 ) && ( configUSE_CORE_AFFINITY == 1 ) )
{ {
/* Convert xCoreID into an affinity mask */ /* Convert xCoreID into an affinity mask */
UBaseType_t uxCoreAffinityMask; UBaseType_t uxCoreAffinityMask;
/* Bit shifting << xCoreID is only valid if we have less than
* 32 cores. */
ESP_STATIC_ASSERT( configNUM_CORES < 32 );
if( xCoreID == tskNO_AFFINITY ) if( xCoreID == tskNO_AFFINITY )
{ {
uxCoreAffinityMask = tskNO_AFFINITY; uxCoreAffinityMask = tskNO_AFFINITY;
@ -61,20 +198,102 @@ _Static_assert( offsetof( StaticTask_t, pxDummy8 ) == offsetof( TCB_t, pxEndOfSt
uxCoreAffinityMask = ( 1 << xCoreID ); uxCoreAffinityMask = ( 1 << xCoreID );
} }
ret = xTaskCreateAffinitySet( pxTaskCode, pcName, usStackDepth, pvParameters, uxPriority, uxCoreAffinityMask, pxCreatedTask ); xReturn = xTaskCreateAffinitySet( pxTaskCode, pcName, usStackDepth, pvParameters, uxPriority, uxCoreAffinityMask, pxCreatedTask );
} }
#else /* ( ( configUSE_CORE_AFFINITY == 1 ) && ( configNUM_CORES > 1 ) ) */ #else /* ( ( configNUM_CORES > 1 ) && ( configUSE_CORE_AFFINITY == 1 ) ) */
{ {
ret = xTaskCreate( pxTaskCode, pcName, usStackDepth, pvParameters, uxPriority, pxCreatedTask ); xReturn = xTaskCreate( pxTaskCode, pcName, usStackDepth, pvParameters, uxPriority, pxCreatedTask );
} }
#endif /* ( ( configUSE_CORE_AFFINITY == 1 ) && ( configNUM_CORES > 1 ) ) */ #endif /* ( ( configNUM_CORES > 1 ) && ( configUSE_CORE_AFFINITY == 1 ) ) */
return ret; }
#else /* CONFIG_FREERTOS_SMP */
{
TCB_t * pxNewTCB;
/* If the stack grows down then allocate the stack then the TCB so the
* stack does not grow into the TCB. Likewise if the stack grows up
* then allocate the TCB then the stack. */
#if ( portSTACK_GROWTH > 0 )
{
/* Allocate space for the TCB. Where the memory comes from depends on
* the implementation of the port malloc function and whether or not static
* allocation is being used. */
pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );
if( pxNewTCB != NULL )
{
/* Allocate space for the stack used by the task being created.
* The base of the stack memory stored in the TCB so the task can
* be deleted later if required. */
pxNewTCB->pxStack = ( StackType_t * ) pvPortMalloc( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
if( pxNewTCB->pxStack == NULL )
{
/* Could not allocate the stack. Delete the allocated TCB. */
vPortFree( pxNewTCB );
pxNewTCB = NULL;
}
}
}
#else /* portSTACK_GROWTH */
{
StackType_t * pxStack;
/* Allocate space for the stack used by the task being created. */
pxStack = pvPortMalloc( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ) ); /*lint !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack and this allocation is the stack. */
if( pxStack != NULL )
{
/* Allocate space for the TCB. */
pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) ); /*lint !e9087 !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack, and the first member of TCB_t is always a pointer to the task's stack. */
if( pxNewTCB != NULL )
{
/* Store the stack location in the TCB. */
pxNewTCB->pxStack = pxStack;
}
else
{
/* The stack cannot be used as the TCB was not created. Free
* it again. */
vPortFree( pxStack );
}
}
else
{
pxNewTCB = NULL;
}
}
#endif /* portSTACK_GROWTH */
if( pxNewTCB != NULL )
{
#if ( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e9029 !e731 Macro has been consolidated for readability reasons. */
{
/* Tasks can be created statically or dynamically, so note this
* task was created dynamically in case it is later deleted. */
pxNewTCB->ucStaticallyAllocated = tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB;
}
#endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE */
prvInitialiseNewTask( pxTaskCode, pcName, ( uint32_t ) usStackDepth, pvParameters, uxPriority, pxCreatedTask, pxNewTCB, NULL, xCoreID );
prvAddNewTaskToReadyList( pxNewTCB );
xReturn = pdPASS;
}
else
{
xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
}
}
#endif /* CONFIG_FREERTOS_SMP */
return xReturn;
} }
#endif /* CONFIG_FREERTOS_SMP */ #endif /* ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) */
/*----------------------------------------------------------*/ /*----------------------------------------------------------*/
#if ( CONFIG_FREERTOS_SMP && ( configSUPPORT_STATIC_ALLOCATION == 1 ) ) #if ( configSUPPORT_STATIC_ALLOCATION == 1 )
TaskHandle_t xTaskCreateStaticPinnedToCore( TaskFunction_t pxTaskCode, TaskHandle_t xTaskCreateStaticPinnedToCore( TaskFunction_t pxTaskCode,
const char * const pcName, const char * const pcName,
@ -85,9 +304,13 @@ _Static_assert( offsetof( StaticTask_t, pxDummy8 ) == offsetof( TCB_t, pxEndOfSt
StaticTask_t * const pxTaskBuffer, StaticTask_t * const pxTaskBuffer,
const BaseType_t xCoreID ) const BaseType_t xCoreID )
{ {
TaskHandle_t ret; TaskHandle_t xReturn;
#if ( ( configUSE_CORE_AFFINITY == 1 ) && ( configNUM_CORES > 1 ) ) #if CONFIG_FREERTOS_SMP
{
/* If using Amazon SMP FreeRTOS. This function is just a wrapper around
* xTaskCreateStatic() or xTaskCreateStaticAffinitySet(). */
#if ( ( configNUM_CORES > 1 ) && ( configUSE_CORE_AFFINITY == 1 ) )
{ {
/* Convert xCoreID into an affinity mask */ /* Convert xCoreID into an affinity mask */
UBaseType_t uxCoreAffinityMask; UBaseType_t uxCoreAffinityMask;
@ -101,79 +324,182 @@ _Static_assert( offsetof( StaticTask_t, pxDummy8 ) == offsetof( TCB_t, pxEndOfSt
uxCoreAffinityMask = ( 1 << xCoreID ); uxCoreAffinityMask = ( 1 << xCoreID );
} }
ret = xTaskCreateStaticAffinitySet( pxTaskCode, pcName, ulStackDepth, pvParameters, uxPriority, puxStackBuffer, pxTaskBuffer, uxCoreAffinityMask ); xReturn = xTaskCreateStaticAffinitySet( pxTaskCode, pcName, ulStackDepth, pvParameters, uxPriority, puxStackBuffer, pxTaskBuffer, uxCoreAffinityMask );
} }
#else /* ( ( configUSE_CORE_AFFINITY == 1 ) && ( configNUM_CORES > 1 ) ) */ #else /* ( ( configNUM_CORES > 1 ) && ( configUSE_CORE_AFFINITY == 1 ) ) */
{ {
ret = xTaskCreateStatic( pxTaskCode, pcName, ulStackDepth, pvParameters, uxPriority, puxStackBuffer, pxTaskBuffer ); xReturn = xTaskCreateStatic( pxTaskCode, pcName, ulStackDepth, pvParameters, uxPriority, puxStackBuffer, pxTaskBuffer );
} }
#endif /* ( ( configUSE_CORE_AFFINITY == 1 ) && ( configNUM_CORES > 1 ) ) */ #endif /* ( ( configNUM_CORES > 1 ) && ( configUSE_CORE_AFFINITY == 1 ) ) */
return ret; }
#else /* CONFIG_FREERTOS_SMP */
{
TCB_t * pxNewTCB;
configASSERT( portVALID_STACK_MEM( puxStackBuffer ) );
configASSERT( portVALID_TCB_MEM( pxTaskBuffer ) );
configASSERT( ( ( xCoreID >= 0 ) && ( xCoreID < configNUM_CORES ) ) || ( xCoreID == tskNO_AFFINITY ) );
#if ( configASSERT_DEFINED == 1 )
{
/* Sanity check that the size of the structure used to declare a
* variable of type StaticTask_t equals the size of the real task
* structure. */
volatile size_t xSize = sizeof( StaticTask_t );
configASSERT( xSize == sizeof( TCB_t ) );
( void ) xSize; /* Prevent lint warning when configASSERT() is not used. */
}
#endif /* configASSERT_DEFINED */
if( ( pxTaskBuffer != NULL ) && ( puxStackBuffer != NULL ) )
{
/* The memory used for the task's TCB and stack are passed into this
* function - use them. */
pxNewTCB = ( TCB_t * ) pxTaskBuffer; /*lint !e740 !e9087 Unusual cast is ok as the structures are designed to have the same alignment, and the size is checked by an assert. */
pxNewTCB->pxStack = ( StackType_t * ) puxStackBuffer;
#if ( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 !e9029 Macro has been consolidated for readability reasons. */
{
/* Tasks can be created statically or dynamically, so note this
* task was created statically in case the task is later deleted. */
pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_AND_TCB;
}
#endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE */
prvInitialiseNewTask( pxTaskCode, pcName, ulStackDepth, pvParameters, uxPriority, &xReturn, pxNewTCB, NULL, xCoreID );
prvAddNewTaskToReadyList( pxNewTCB );
}
else
{
xReturn = NULL;
}
}
#endif /* CONFIG_FREERTOS_SMP */
return xReturn;
} }
#endif /* CONFIG_FREERTOS_SMP && ( configSUPPORT_STATIC_ALLOCATION == 1 ) */ #endif /* ( configSUPPORT_STATIC_ALLOCATION == 1 ) */
/*----------------------------------------------------------*/
#if ( configUSE_TIMERS == 1 )
/*
* In ESP-IDF, configUSE_TIMERS is always defined as 1 (i.e., not user configurable).
* However, tasks.c: vTaskStartScheduler() will always call xTimerCreateTimerTask()
* if ( configUSE_TIMERS == 1 ), thus causing the linker to link timers.c and
* wasting some memory (due to the timer task being created)/
*
* If we provide a weak version of xTimerCreateTimerTask(), this version will be
* compiled if the application does not call any other FreeRTOS timer functions.
* Thus we can save some text/RAM as timers.c will not be linked and the timer
* task never created.
*/
BaseType_t __attribute__( ( weak ) ) xTimerCreateTimerTask( void )
{
return pdPASS;
}
#endif /* configUSE_TIMERS */
/*----------------------------------------------------------*/ /*----------------------------------------------------------*/
/* ------------------------------------------------- Task Utilities ------------------------------------------------- */ /* ------------------------------------------------- Task Utilities ------------------------------------------------- */
#if CONFIG_FREERTOS_SMP #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
TaskHandle_t xTaskGetCurrentTaskHandleForCPU( BaseType_t xCoreID )
{
TaskHandle_t xTaskHandleTemp;
assert( xCoreID >= 0 && xCoreID < configNUM_CORES );
taskENTER_CRITICAL();
xTaskHandleTemp = ( TaskHandle_t ) pxCurrentTCBs[ xCoreID ];
taskEXIT_CRITICAL();
return xTaskHandleTemp;
}
#endif /* CONFIG_FREERTOS_SMP */
/*----------------------------------------------------------*/
#if CONFIG_FREERTOS_SMP
TaskHandle_t xTaskGetIdleTaskHandleForCPU( BaseType_t xCoreID ) TaskHandle_t xTaskGetIdleTaskHandleForCPU( BaseType_t xCoreID )
{ {
assert( xCoreID >= 0 && xCoreID < configNUM_CORES ); configASSERT( xCoreID >= 0 && xCoreID < configNUM_CORES );
configASSERT( ( xIdleTaskHandle[ xCoreID ] != NULL ) );
return ( TaskHandle_t ) xIdleTaskHandle[ xCoreID ]; return ( TaskHandle_t ) xIdleTaskHandle[ xCoreID ];
} }
#endif /* CONFIG_FREERTOS_SMP */ #endif /* INCLUDE_xTaskGetIdleTaskHandle */
/*----------------------------------------------------------*/ /*----------------------------------------------------------*/
#if CONFIG_FREERTOS_SMP #if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )
BaseType_t xTaskGetAffinity( TaskHandle_t xTask ) TaskHandle_t xTaskGetCurrentTaskHandleForCPU( BaseType_t xCoreID )
{ {
taskENTER_CRITICAL(); TaskHandle_t xReturn;
#if CONFIG_FREERTOS_SMP
{
xReturn = xTaskGetCurrentTaskHandleCPU( xCoreID );
}
#else /* CONFIG_FREERTOS_SMP */
{
if( xCoreID < configNUM_CORES )
{
xReturn = pxCurrentTCB[ xCoreID ];
}
else
{
xReturn = NULL;
}
}
#endif /* CONFIG_FREERTOS_SMP */
return xReturn;
}
#endif /* ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) */
/*----------------------------------------------------------*/
BaseType_t xTaskGetAffinity( TaskHandle_t xTask )
{
BaseType_t xReturn;
#if ( configNUM_CORES > 1 )
{
#if CONFIG_FREERTOS_SMP
UBaseType_t uxCoreAffinityMask; UBaseType_t uxCoreAffinityMask;
#if ( configUSE_CORE_AFFINITY == 1 && configNUM_CORES > 1 )
TCB_t * pxTCB = prvGetTCBFromHandle( xTask ); /* Get the core affinity mask and covert it to an ID */
uxCoreAffinityMask = pxTCB->uxCoreAffinityMask; uxCoreAffinityMask = vTaskCoreAffinityGet( xTask );
#else
uxCoreAffinityMask = tskNO_AFFINITY;
#endif
taskEXIT_CRITICAL();
BaseType_t ret;
/* If the task is not pinned to a particular core, treat it as tskNO_AFFINITY */ /* If the task is not pinned to a particular core, treat it as tskNO_AFFINITY */
if( uxCoreAffinityMask & ( uxCoreAffinityMask - 1 ) ) /* If more than one bit set */ if( uxCoreAffinityMask & ( uxCoreAffinityMask - 1 ) ) /* If more than one bit set */
{ {
ret = tskNO_AFFINITY; xReturn = tskNO_AFFINITY;
} }
else else
{ {
int index_plus_one = __builtin_ffs( uxCoreAffinityMask ); int iIndexPlusOne = __builtin_ffs( uxCoreAffinityMask );
assert( index_plus_one >= 1 ); assert( iIndexPlusOne >= 1 );
ret = index_plus_one - 1; xReturn = iIndexPlusOne - 1;
} }
#else /* CONFIG_FREERTOS_SMP */
TCB_t * pxTCB;
return ret; pxTCB = prvGetTCBFromHandle( xTask );
/* Simply read the xCoreID member of the TCB */
taskENTER_CRITICAL( &xKernelLock );
xReturn = pxTCB->xCoreID;
taskEXIT_CRITICAL_ISR( &xKernelLock );
#endif /* CONFIG_FREERTOS_SMP */
} }
#else /* configNUM_CORES > 1 */
{
/* Single-core. Just return a core ID of 0 */
xReturn = 0;
}
#endif /* configNUM_CORES > 1 */
#endif /* CONFIG_FREERTOS_SMP */ return xReturn;
}
/*----------------------------------------------------------*/
uint8_t * pxTaskGetStackStart( TaskHandle_t xTask )
{
TCB_t * pxTCB;
uint8_t * uxReturn;
pxTCB = prvGetTCBFromHandle( xTask );
uxReturn = ( uint8_t * ) pxTCB->pxStack;
return uxReturn;
}
/*----------------------------------------------------------*/ /*----------------------------------------------------------*/
#if ( INCLUDE_vTaskPrioritySet == 1 ) #if ( INCLUDE_vTaskPrioritySet == 1 )
@ -390,26 +716,61 @@ _Static_assert( offsetof( StaticTask_t, pxDummy8 ) == offsetof( TCB_t, pxEndOfSt
/* --------------------------------------------- TLSP Deletion Callbacks -------------------------------------------- */ /* --------------------------------------------- TLSP Deletion Callbacks -------------------------------------------- */
#if ( CONFIG_FREERTOS_SMP && CONFIG_FREERTOS_TLSP_DELETION_CALLBACKS ) #if CONFIG_FREERTOS_TLSP_DELETION_CALLBACKS
void vTaskSetThreadLocalStoragePointerAndDelCallback( TaskHandle_t xTaskToSet, void vTaskSetThreadLocalStoragePointerAndDelCallback( TaskHandle_t xTaskToSet,
BaseType_t xIndex, BaseType_t xIndex,
void * pvValue, void * pvValue,
TlsDeleteCallbackFunction_t pvDelCallback ) TlsDeleteCallbackFunction_t pvDelCallback )
{ {
/* Verify that the offsets of pvThreadLocalStoragePointers and pvDummy15 match. */ /* If TLSP deletion callbacks are enabled, then configNUM_THREAD_LOCAL_STORAGE_POINTERS
/* pvDummy15 is part of the StaticTask_t struct and is used to access the TLSPs */ * is doubled in size so that the latter half of the pvThreadLocalStoragePointers
/* while deletion. */ * stores the deletion callbacks. */
_Static_assert( offsetof( StaticTask_t, pvDummy15 ) == offsetof( TCB_t, pvThreadLocalStoragePointers ), "Offset of pvDummy15 must match the offset of pvThreadLocalStoragePointers" ); if( xIndex < ( configNUM_THREAD_LOCAL_STORAGE_POINTERS / 2 ) )
{
TCB_t * pxTCB;
/*Set the local storage pointer first */ #if ( configNUM_CORES > 1 )
vTaskSetThreadLocalStoragePointer( xTaskToSet, xIndex, pvValue ); {
/* For SMP, we need a critical section as another core could also
* update this task's TLSP at the same time. */
#if CONFIG_FREERTOS_SMP
{
taskENTER_CRITICAL();
}
#else /* CONFIG_FREERTOS_SMP */
{
taskENTER_CRITICAL( &xKernelLock );
}
#endif /* CONFIG_FREERTOS_SMP */
}
#endif /* configNUM_CORES > 1 */
/*Set the deletion callback at an offset of configNUM_THREAD_LOCAL_STORAGE_POINTERS/2 */ pxTCB = prvGetTCBFromHandle( xTaskToSet );
vTaskSetThreadLocalStoragePointer( xTaskToSet, ( xIndex + ( configNUM_THREAD_LOCAL_STORAGE_POINTERS / 2 ) ), pvDelCallback ); /* Store the TLSP by indexing the first half of the array */
pxTCB->pvThreadLocalStoragePointers[ xIndex ] = pvValue;
/* Store the TLSP deletion callback by indexing the second half
* of the array. */
pxTCB->pvThreadLocalStoragePointers[ ( xIndex + ( configNUM_THREAD_LOCAL_STORAGE_POINTERS / 2 ) ) ] = ( void * ) pvDelCallback;
#if ( configNUM_CORES > 1 )
{
#if CONFIG_FREERTOS_SMP
{
taskEXIT_CRITICAL();
}
#else /* CONFIG_FREERTOS_SMP */
{
taskEXIT_CRITICAL( &xKernelLock );
}
#endif /* CONFIG_FREERTOS_SMP */
}
#endif /* configNUM_CORES > 1 */
}
} }
#endif /* CONFIG_FREERTOS_SMP && CONFIG_FREERTOS_TLSP_DELETION_CALLBACKS */ #endif /* CONFIG_FREERTOS_TLSP_DELETION_CALLBACKS */
/*----------------------------------------------------------*/ /*----------------------------------------------------------*/
/* ----------------------------------------------------- Newlib ----------------------------------------------------- */ /* ----------------------------------------------------- Newlib ----------------------------------------------------- */

105
components/freertos/esp_additions/include/esp_private/freertos_idf_additions_priv.h
View File

@ -20,6 +20,111 @@
#endif #endif
/* *INDENT-ON* */ /* *INDENT-ON* */
/*------------------------------------------------------------------------------
* KERNEL CONTROL (PRIVATE)
*----------------------------------------------------------------------------*/
/*
* The following macros are convenience macros used to account for different
* thread safety behavior between Vanilla FreeRTOS (i.e., single-core) and ESP-IDF
* FreeRTOS (i.e., multi-core SMP).
*
* For thread saftey...
*
* - Vanilla FreeRTOS will use the following for thread safety (depending on situation)
* - `vTaskSuspendAll()`/`xTaskResumeAll()` for non-deterministic operations
* - Critical sections or disabling interrupts for deterministic operations
* - ESP-IDF FreeRTOS will always use critical sections (determinism is not supported)
*
* [refactor-todo]: Define these locally in each kernel source file (IDF-8161)
*/
#if ( !CONFIG_FREERTOS_SMP && ( 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 ); \
}
#elif ( !CONFIG_FREERTOS_SMP && ( 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 ) \
{ \
( uxInterruptStatus ) = portSET_INTERRUPT_MASK_FROM_ISR(); \
( void ) ( pxLock ); \
}
#define prvEXIT_CRITICAL_OR_UNMASK_ISR( pxLock, uxInterruptStatus ) \
{ \
portCLEAR_INTERRUPT_MASK_FROM_ISR( ( uxInterruptStatus ) ); \
( void ) ( pxLock ); \
}
#endif /* ( !CONFIG_FREERTOS_SMP && ( configNUM_CORES == 1 ) ) */
/*
* In ESP-IDF FreeRTOS (i.e., multi-core SMP) uses spinlocks to protect different
* groups of data. This function is a wrapper to take the "xKernelLock" spinlock
* of tasks.c.
*
* This lock is taken whenever any of the kernel's data structures are
* accessed/modified, such as when adding/removing tasks to/from the delayed
* task list or various event lists.
*
* In more cases, kernel data structures are not accessed by functions outside
* tasks.c. Thus, all accesses of the kernel data structures inside tasks.c will
* handle the taking/releasing of the "xKerneLock".
*
* This functions is meant to be called by xEventGroupSetBits() and
* vEventGroupDelete() as both those functions will directly access event lists
* (which are kernel data structures). Thus, a wrapper function must be provided
* to take/release the "xKernelLock" from outside tasks.c.
*
* [refactor-todo]: Extern this locally in event groups (IDF-8161)
*/
#if ( !CONFIG_FREERTOS_SMP && ( configNUM_CORES > 1 ) )
void prvTakeKernelLock( void );
void prvReleaseKernelLock( void );
#endif /* ( !CONFIG_FREERTOS_SMP && ( configNUM_CORES > 1 ) ) */
#if ( CONFIG_FREERTOS_SMP && ( configNUM_CORES > 1 ) )
/**
* @brief Workaround for non-thread safe multi-core OS startup (see IDF-4524)
*
* This function must be called with interrupts disabled on all cores other than
* core 0 during startup.
*/
void prvStartSchedulerOtherCores( void );
#endif /* ( CONFIG_FREERTOS_SMP && ( configNUM_CORES > 1 ) ) */
/*
* In ESP-IDF FreeRTOS (i.e., multi-core SMP), core 0 manages the the FreeRTOS
* tick count. Thus only core 0 calls xTaskIncrementTick().
*
* However, all other cores also receive a periodic tick interrupt. Thus all
* other cores should call this function instead.
*
* This function will check if the current core requires time slicing, and also
* call the application tick hook. However, the tick count will remain unchanged.
*/
#if ( !CONFIG_FREERTOS_SMP && ( configNUM_CORES > 1 ) )
BaseType_t xTaskIncrementTickOtherCores( void );
#endif /* ( !CONFIG_FREERTOS_SMP && ( configNUM_CORES > 1 ) ) */
/*------------------------------------------------------------------------------ /*------------------------------------------------------------------------------
* TASK UTILITIES (PRIVATE) * TASK UTILITIES (PRIVATE)
*----------------------------------------------------------------------------*/ *----------------------------------------------------------------------------*/

126
components/freertos/esp_additions/include/freertos/idf_additions.h
View File

@ -31,26 +31,23 @@
#endif #endif
/* *INDENT-ON* */ /* *INDENT-ON* */
/* -------------------------------------------------- Task Creation --------------------------------------------------- /* -------------------------------------------------- Task Creation ------------------------------------------------- */
* Task Creation APIs added by ESP-IDF
*
* Todo: Move IDF FreeRTOS SMP related additions to this header as well (see IDF-7201)
* Todo: Add these SMP related additions to docs once they are combined with IDF FreeRTOS.
* ------------------------------------------------------------------------------------------------------------------ */
#if ( CONFIG_FREERTOS_SMP && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) #if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
/** /**
* @brief Create a new task that is pinned to a particular core * @brief Create a new task that is pinned to a particular core
* *
* Helper function to create a task that is pinned to a particular core, or has * This function is similar to xTaskCreate(), but allows the creation of a pinned
* no affinity. In other words, the created task will have an affinity mask of: * task. The task's pinned core is specified by the xCoreID argument. If xCoreID
* - (1 << xCoreID) if it is pinned to a particular core * is set to tskNO_AFFINITY, then the task is unpinned and can run on any core.
* - Set to tskNO_AFFINITY if it has no affinity *
* @note If ( configNUM_CORES == 1 ), xCoreID is ignored.
* *
* @param pxTaskCode Pointer to the task entry function. * @param pxTaskCode Pointer to the task entry function.
* @param pcName A descriptive name for the task. * @param pcName A descriptive name for the task.
* @param usStackDepth The size of the task stack. * @param ulStackDepth The size of the task stack specified as the NUMBER OF
* BYTES. Note that this differs from vanilla FreeRTOS.
* @param pvParameters Pointer that will be used as the parameter for the task * @param pvParameters Pointer that will be used as the parameter for the task
* being created. * being created.
* @param uxPriority The priority at which the task should run. * @param uxPriority The priority at which the task should run.
@ -63,24 +60,30 @@
*/ */
BaseType_t xTaskCreatePinnedToCore( TaskFunction_t pxTaskCode, BaseType_t xTaskCreatePinnedToCore( TaskFunction_t pxTaskCode,
const char * const pcName, const char * const pcName,
const uint32_t usStackDepth, const uint32_t ulStackDepth,
void * const pvParameters, void * const pvParameters,
UBaseType_t uxPriority, UBaseType_t uxPriority,
TaskHandle_t * const pxCreatedTask, TaskHandle_t * const pxCreatedTask,
const BaseType_t xCoreID ); const BaseType_t xCoreID );
#endif /* ( CONFIG_FREERTOS_SMP && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) */ #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
#if ( CONFIG_FREERTOS_SMP && ( configSUPPORT_STATIC_ALLOCATION == 1 ) ) #if ( configSUPPORT_STATIC_ALLOCATION == 1 )
/** /**
* @brief Create a new static task that is pinned to a particular core * @brief Create a new static task that is pinned to a particular core
* *
* This funciton is the static equivalent of xTaskCreatePinnedToCore(). * This function is similar to xTaskCreateStatic(), but allows the creation of a
* pinned task. The task's pinned core is specified by the xCoreID argument. If
* xCoreID is set to tskNO_AFFINITY, then the task is unpinned and can run on any
* core.
*
* @note If ( configNUM_CORES == 1 ), xCoreID is ignored.
* *
* @param pxTaskCode Pointer to the task entry function. * @param pxTaskCode Pointer to the task entry function.
* @param pcName A descriptive name for the task. * @param pcName A descriptive name for the task.
* @param ulStackDepth The size of the task stack. * @param ulStackDepth The size of the task stack specified as the NUMBER OF
* BYTES. Note that this differs from vanilla FreeRTOS.
* @param pvParameters Pointer that will be used as the parameter for the task * @param pvParameters Pointer that will be used as the parameter for the task
* being created. * being created.
* @param uxPriority The priority at which the task should run. * @param uxPriority The priority at which the task should run.
@ -101,47 +104,37 @@
StaticTask_t * const pxTaskBuffer, StaticTask_t * const pxTaskBuffer,
const BaseType_t xCoreID ); const BaseType_t xCoreID );
#endif /* ( CONFIG_FREERTOS_SMP && ( configSUPPORT_STATIC_ALLOCATION == 1 ) ) */ #endif /* configSUPPORT_STATIC_ALLOCATION */
/* ------------------------------------------------- Task Utilities ---------------------------------------------------- /* ------------------------------------------------- Task Utilities ------------------------------------------------- */
* Todo: Move IDF FreeRTOS SMP related additions to this header as well (see IDF-7201)
* ------------------------------------------------------------------------------------------------------------------ */
#if CONFIG_FREERTOS_SMP
/** /**
* @brief Get the handle of the task running on a certain core * @brief Get the handle of idle task for the given core.
*
* [refactor-todo] See if this needs to be deprecated (IDF-8145)
*
* @note If CONFIG_FREERTOS_SMP is enabled, please call xTaskGetIdleTaskHandle()
* instead.
* @param xCoreID The core to query
* @return Handle of the idle task for the queried core
*/
TaskHandle_t xTaskGetIdleTaskHandleForCPU( BaseType_t xCoreID );
/**
* @brief Get the handle of the task currently running on a certain core
* *
* Because of the nature of SMP processing, there is no guarantee that this * Because of the nature of SMP processing, there is no guarantee that this
* value will still be valid on return and should only be used for debugging * value will still be valid on return and should only be used for debugging
* purposes. * purposes.
* *
* [refactor-todo] Mark this function as deprecated, call * [refactor-todo] See if this needs to be deprecated (IDF-8145)
* xTaskGetCurrentTaskHandleCPU() instead
* *
* @note If CONFIG_FREERTOS_SMP is enabled, please call xTaskGetCurrentTaskHandleCPU()
* instead.
* @param xCoreID The core to query * @param xCoreID The core to query
* @return Handle of the current task running on the queried core * @return Handle of the current task running on the queried core
*/ */
TaskHandle_t xTaskGetCurrentTaskHandleForCPU( BaseType_t xCoreID ); TaskHandle_t xTaskGetCurrentTaskHandleForCPU( BaseType_t xCoreID );
#endif /* CONFIG_FREERTOS_SMP */
#if CONFIG_FREERTOS_SMP
/**
* @brief Get the handle of idle task for the given CPU.
*
* [refactor-todo] Mark this function as deprecated, call
* xTaskGetIdleTaskHandle() instead
*
* @param xCoreID The core to query
* @return Handle of the idle task for the queried core
*/
TaskHandle_t xTaskGetIdleTaskHandleForCPU( BaseType_t xCoreID );
#endif /* CONFIG_FREERTOS_SMP */
#if CONFIG_FREERTOS_SMP
/** /**
* @brief Get the current core affinity of a particular task * @brief Get the current core affinity of a particular task
@ -150,35 +143,44 @@
* pinned to a particular core, the core ID is returned. If the task is not * pinned to a particular core, the core ID is returned. If the task is not
* pinned to a particular core, tskNO_AFFINITY is returned. * pinned to a particular core, tskNO_AFFINITY is returned.
* *
* [refactor-todo] Mark this function as deprecated, call vTaskCoreAffinityGet() * If CONFIG_FREERTOS_UNICORE is enabled, this function simply returns 0.
* instead
* *
* [refactor-todo] See if this needs to be deprecated (IDF-8145)(IDF-8164)
*
* @note If CONFIG_FREERTOS_SMP is enabled, please call vTaskCoreAffinityGet()
* instead.
* @param xTask The task to query * @param xTask The task to query
* @return The tasks coreID or tskNO_AFFINITY * @return The tasks coreID or tskNO_AFFINITY
*/ */
BaseType_t xTaskGetAffinity( TaskHandle_t xTask ); BaseType_t xTaskGetAffinity( TaskHandle_t xTask );
#endif /* CONFIG_FREERTOS_SMP */ /**
* Returns the start of the stack associated with xTask.
/* --------------------------------------------- TLSP Deletion Callbacks -----------------------------------------------
* TLSP Deletion Callback API Additions
* *
* Todo: Move IDF FreeRTOS TLSP Deletion Callback related additions to this header as well (see IDF-7201) * Returns the lowest stack memory address, regardless of whether the stack
* Todo: Add these SMP related additions to docs once they are combined with IDF FreeRTOS. * grows up or down.
* ------------------------------------------------------------------------------------------------------------------ */ *
* [refactor-todo] Change return type to StackType_t (IDF-8158)
*
* @param xTask Handle of the task associated with the stack returned.
* Set xTask to NULL to return the stack of the calling task.
*
* @return A pointer to the start of the stack.
*/
uint8_t * pxTaskGetStackStart( TaskHandle_t xTask );
#if ( CONFIG_FREERTOS_SMP && CONFIG_FREERTOS_TLSP_DELETION_CALLBACKS ) /* --------------------------------------------- TLSP Deletion Callbacks -------------------------------------------- */
#if CONFIG_FREERTOS_TLSP_DELETION_CALLBACKS
/** /**
* Prototype of local storage pointer deletion callback. * Prototype of local storage pointer deletion callback.
*/ */
typedef void (* TlsDeleteCallbackFunction_t)( int, typedef void (* TlsDeleteCallbackFunction_t)( int,
void * ); void * );
#endif /* CONFIG_FREERTOS_TLSP_DELETION_CALLBACKS */
#endif /* ( CONFIG_FREERTOS_SMP && CONFIG_FREERTOS_TLSP_DELETION_CALLBACKS ) */ #if CONFIG_FREERTOS_TLSP_DELETION_CALLBACKS
#if ( CONFIG_FREERTOS_SMP && CONFIG_FREERTOS_TLSP_DELETION_CALLBACKS )
/** /**
* Set local storage pointer and deletion callback. * Set local storage pointer and deletion callback.
@ -207,7 +209,7 @@
void * pvValue, void * pvValue,
TlsDeleteCallbackFunction_t pvDelCallback ); TlsDeleteCallbackFunction_t pvDelCallback );
#endif /* ( CONFIG_FREERTOS_SMP && CONFIG_FREERTOS_TLSP_DELETION_CALLBACKS ) */ #endif /* CONFIG_FREERTOS_TLSP_DELETION_CALLBACKS */
/* -------------------------------------------- Creation With Memory Caps ---------------------------------------------- /* -------------------------------------------- Creation With Memory Caps ----------------------------------------------
* Helper functions to create various FreeRTOS objects (e.g., queues, semaphores) with specific memory capabilities * Helper functions to create various FreeRTOS objects (e.g., queues, semaphores) with specific memory capabilities

14
components/freertos/linker.lf
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@ -109,12 +109,9 @@ entries:
# - "xTaskGetSchedulerState" # - "xTaskGetSchedulerState"
# - "xTaskGetTickCount" # - "xTaskGetTickCount"
# -------------------------------------------------------------------------------------------------------------- # --------------------------------------------------------------------------------------------------------------
tasks:xTaskCreateStaticPinnedToCore (default)
tasks:xTaskCreatePinnedToCore (default)
tasks:prvInitialiseNewTask (default) tasks:prvInitialiseNewTask (default)
tasks:prvAddNewTaskToReadyList (default) tasks:prvAddNewTaskToReadyList (default)
tasks:vTaskDelete (default) tasks:vTaskDelete (default)
tasks:vTaskDelayUntil (default)
tasks:xTaskDelayUntil (default) tasks:xTaskDelayUntil (default)
tasks:vTaskDelay (default) tasks:vTaskDelay (default)
tasks:eTaskGetState (default) tasks:eTaskGetState (default)
@ -133,7 +130,6 @@ entries:
tasks:prvSearchForNameWithinSingleList (default) tasks:prvSearchForNameWithinSingleList (default)
tasks:xTaskGetHandle (default) tasks:xTaskGetHandle (default)
tasks:xTaskGetIdleTaskHandle (default) tasks:xTaskGetIdleTaskHandle (default)
tasks:xTaskGetIdleTaskHandleForCPU (default)
tasks:xTaskAbortDelay (default) tasks:xTaskAbortDelay (default)
# IDF-6410 Application tags not supported yet # IDF-6410 Application tags not supported yet
#tasks:vTaskSetApplicationTaskTag (default) #tasks:vTaskSetApplicationTaskTag (default)
@ -142,30 +138,22 @@ entries:
tasks:vTaskPlaceOnEventList (default) tasks:vTaskPlaceOnEventList (default)
tasks:vTaskPlaceOnUnorderedEventList (default) tasks:vTaskPlaceOnUnorderedEventList (default)
tasks:vTaskPlaceOnEventListRestricted (default) tasks:vTaskPlaceOnEventListRestricted (default)
if FREERTOS_UNICORE = n:
tasks:vTaskTakeKernelLock (default)
tasks:vTaskReleaseKernelLock (default)
tasks:vTaskRemoveFromUnorderedEventList (default) tasks:vTaskRemoveFromUnorderedEventList (default)
tasks:vTaskSetTimeOutState (default) tasks:vTaskSetTimeOutState (default)
tasks:vTaskInternalSetTimeOutState (default) tasks:vTaskInternalSetTimeOutState (default)
tasks:xTaskCheckForTimeOut (default) tasks:xTaskCheckForTimeOut (default)
tasks:vTaskMissedYield (default) tasks:vTaskMissedYield (default)
tasks:prvIdleTask (default) tasks:prvIdleTask (default)
if FREERTOS_TLSP_DELETION_CALLBACKS = y:
tasks:vTaskSetThreadLocalStoragePointerAndDelCallback (default)
if FREERTOS_THREAD_LOCAL_STORAGE_POINTERS != 0: if FREERTOS_THREAD_LOCAL_STORAGE_POINTERS != 0:
tasks:vTaskSetThreadLocalStoragePointer (default) tasks:vTaskSetThreadLocalStoragePointer (default)
tasks:pvTaskGetThreadLocalStoragePointer (default) tasks:pvTaskGetThreadLocalStoragePointer (default)
tasks:prvInitialiseTaskLists (default) tasks:prvInitialiseTaskLists (default)
tasks:prvCheckTasksWaitingTermination (default) tasks:prvCheckTasksWaitingTermination (default)
tasks:xTaskGetAffinity (default)
tasks:prvTaskCheckFreeStackSpace (default) tasks:prvTaskCheckFreeStackSpace (default)
tasks:uxTaskGetStackHighWaterMark2 (default) tasks:uxTaskGetStackHighWaterMark2 (default)
tasks:uxTaskGetStackHighWaterMark (default) tasks:uxTaskGetStackHighWaterMark (default)
tasks:pxTaskGetStackStart (default)
tasks:prvDeleteTCB (default) tasks:prvDeleteTCB (default)
tasks:xTaskGetCurrentTaskHandle (default) tasks:xTaskGetCurrentTaskHandle (default)
tasks:xTaskGetCurrentTaskHandleForCPU (default)
tasks:xTaskPriorityInherit (default) tasks:xTaskPriorityInherit (default)
tasks:xTaskPriorityDisinherit (default) tasks:xTaskPriorityDisinherit (default)
tasks:vTaskPriorityDisinheritAfterTimeout (default) tasks:vTaskPriorityDisinheritAfterTimeout (default)
@ -176,9 +164,7 @@ entries:
tasks:vTaskGetRunTimeStats (default) tasks:vTaskGetRunTimeStats (default)
tasks:uxTaskResetEventItemValue (default) tasks:uxTaskResetEventItemValue (default)
tasks:pvTaskIncrementMutexHeldCount (default) tasks:pvTaskIncrementMutexHeldCount (default)
tasks:ulTaskNotifyTake (default)
tasks:ulTaskGenericNotifyTake (default) tasks:ulTaskGenericNotifyTake (default)
tasks:xTaskNotifyWait (default)
tasks:xTaskGenericNotifyWait (default) tasks:xTaskGenericNotifyWait (default)
tasks:xTaskGenericNotify (default) tasks:xTaskGenericNotify (default)
tasks:xTaskGenericNotifyStateClear (default) tasks:xTaskGenericNotifyStateClear (default)

13
components/freertos/linker_common.lf
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@ -17,14 +17,19 @@ entries:
# to always keep it in IRAM # to always keep it in IRAM
# ------------------------------------------------------------------------------------------------------------------ # ------------------------------------------------------------------------------------------------------------------
if FREERTOS_PLACE_FUNCTIONS_INTO_FLASH = y: if FREERTOS_PLACE_FUNCTIONS_INTO_FLASH = y:
# Kernel Control
if FREERTOS_SMP = n && FREERTOS_UNICORE = n:
tasks:prvTakeKernelLock (default)
tasks:prvReleaseKernelLock (default)
# Task Creation # Task Creation
if FREERTOS_SMP = y:
tasks:xTaskCreatePinnedToCore (default) tasks:xTaskCreatePinnedToCore (default)
tasks:xTaskCreateStaticPinnedToCore (default) tasks:xTaskCreateStaticPinnedToCore (default)
# Task Utilities # Task Utilities
tasks:xTaskGetCurrentTaskHandleForCPU (default) tasks:xTaskGetCurrentTaskHandleForCPU (default)
tasks:xTaskGetIdleTaskHandleForCPU (default) tasks:xTaskGetIdleTaskHandleForCPU (default)
tasks:xTaskGetCurrentTaskHandleForCPU (default)
tasks:xTaskGetAffinity (default) tasks:xTaskGetAffinity (default)
tasks:pxTaskGetStackStart (default)
tasks:prvTaskPriorityRaise (default) tasks:prvTaskPriorityRaise (default)
tasks:prvTaskPriorityRestore (default) tasks:prvTaskPriorityRestore (default)
# TLSP Deletion Callbacks # TLSP Deletion Callbacks
@ -36,6 +41,12 @@ entries:
tasks:pxTaskGetNext (default) tasks:pxTaskGetNext (default)
tasks:uxTaskGetSnapshotAll (default) tasks:uxTaskGetSnapshotAll (default)
# ------------------------------------------------------------------------------------------------------------------
# freertos_compatibility.c
# Placement Rules: Functions always in flash as they are never called from an ISR
# ------------------------------------------------------------------------------------------------------------------
freertos_compatibility (default)
# ------------------------------------------------------------------------------------------------------------------ # ------------------------------------------------------------------------------------------------------------------
# idf_additions.c # idf_additions.c
# Placement Rules: Functions always in flash as they are never called from an ISR # Placement Rules: Functions always in flash as they are never called from an ISR

4
components/freertos/port_systick.c
View File

@ -9,6 +9,10 @@
#include <stdlib.h> #include <stdlib.h>
#include "FreeRTOS.h" #include "FreeRTOS.h"
#include "task.h" #include "task.h"
#if ( !CONFIG_FREERTOS_SMP && ( configNUM_CORES > 1 ) )
/* Required for xTaskIncrementTickOtherCores() */
#include "esp_private/freertos_idf_additions_priv.h"
#endif /* ( !CONFIG_FREERTOS_SMP && ( configNUM_CORES > 1 ) ) */
#if CONFIG_FREERTOS_SYSTICK_USES_CCOUNT #if CONFIG_FREERTOS_SYSTICK_USES_CCOUNT
#if CONFIG_FREERTOS_CORETIMER_0 #if CONFIG_FREERTOS_CORETIMER_0

4
components/freertos/test_apps/freertos/port/test_fpu_in_isr.c
View File

@ -115,11 +115,13 @@ static void unpinned_task(void *arg)
vTaskSuspendAll(); vTaskSuspendAll();
#endif #endif
// Check that the task is unpinned // Check that the task is unpinned
#if !CONFIG_FREERTOS_UNICORE
#if CONFIG_FREERTOS_SMP #if CONFIG_FREERTOS_SMP
TEST_ASSERT_EQUAL(tskNO_AFFINITY, vTaskCoreAffinityGet(NULL)); TEST_ASSERT_EQUAL(tskNO_AFFINITY, vTaskCoreAffinityGet(NULL));
#else #else
TEST_ASSERT_EQUAL(tskNO_AFFINITY, xTaskGetAffinity(NULL)); TEST_ASSERT_EQUAL(tskNO_AFFINITY, xTaskGetAffinity(NULL));
#endif #endif
#endif // !CONFIG_FREERTOS_UNICORE
// Allocate an ISR to use the FPU // Allocate an ISR to use the FPU
intr_handle_t isr_handle; intr_handle_t isr_handle;
@ -130,11 +132,13 @@ static void unpinned_task(void *arg)
esp_intr_free(isr_handle); esp_intr_free(isr_handle);
// Task should remain unpinned after the ISR uses the FPU // Task should remain unpinned after the ISR uses the FPU
#if !CONFIG_FREERTOS_UNICORE
#if CONFIG_FREERTOS_SMP #if CONFIG_FREERTOS_SMP
TEST_ASSERT_EQUAL(tskNO_AFFINITY, vTaskCoreAffinityGet(NULL)); TEST_ASSERT_EQUAL(tskNO_AFFINITY, vTaskCoreAffinityGet(NULL));
#else #else
TEST_ASSERT_EQUAL(tskNO_AFFINITY, xTaskGetAffinity(NULL)); TEST_ASSERT_EQUAL(tskNO_AFFINITY, xTaskGetAffinity(NULL));
#endif #endif
#endif // !CONFIG_FREERTOS_UNICORE
// Reenable scheduling/preemption // Reenable scheduling/preemption
#if CONFIG_FREERTOS_SMP #if CONFIG_FREERTOS_SMP
vTaskPreemptionEnable(NULL); vTaskPreemptionEnable(NULL);

4
components/freertos/test_apps/freertos/port/test_fpu_in_task.c
View File

@ -137,11 +137,13 @@ static void unpinned_task(void *arg)
#endif #endif
BaseType_t cur_core_num = xPortGetCoreID(); BaseType_t cur_core_num = xPortGetCoreID();
// Check that the task is unpinned // Check that the task is unpinned
#if !CONFIG_FREERTOS_UNICORE
#if CONFIG_FREERTOS_SMP #if CONFIG_FREERTOS_SMP
TEST_ASSERT_EQUAL(tskNO_AFFINITY, vTaskCoreAffinityGet(NULL)); TEST_ASSERT_EQUAL(tskNO_AFFINITY, vTaskCoreAffinityGet(NULL));
#else #else
TEST_ASSERT_EQUAL(tskNO_AFFINITY, xTaskGetAffinity(NULL)); TEST_ASSERT_EQUAL(tskNO_AFFINITY, xTaskGetAffinity(NULL));
#endif #endif
#endif // !CONFIG_FREERTOS_UNICORE
/* /*
Use the FPU Use the FPU
@ -156,11 +158,13 @@ static void unpinned_task(void *arg)
// We allow a 0.1% delta on the final result in case of any loss of precision from floating point calculations // We allow a 0.1% delta on the final result in case of any loss of precision from floating point calculations
TEST_ASSERT_FLOAT_WITHIN(0.00256f, 2.56f, test_float); TEST_ASSERT_FLOAT_WITHIN(0.00256f, 2.56f, test_float);
#if !CONFIG_FREERTOS_UNICORE
#if CONFIG_FREERTOS_SMP #if CONFIG_FREERTOS_SMP
TEST_ASSERT_EQUAL(1 << cur_core_num, vTaskCoreAffinityGet(NULL)); TEST_ASSERT_EQUAL(1 << cur_core_num, vTaskCoreAffinityGet(NULL));
#else #else
TEST_ASSERT_EQUAL(cur_core_num, xTaskGetAffinity(NULL)); TEST_ASSERT_EQUAL(cur_core_num, xTaskGetAffinity(NULL));
#endif #endif
#endif // !CONFIG_FREERTOS_UNICORE
// Reenable scheduling/preemption // Reenable scheduling/preemption
#if CONFIG_FREERTOS_SMP #if CONFIG_FREERTOS_SMP
vTaskPreemptionEnable(NULL); vTaskPreemptionEnable(NULL);

3
tools/mocks/freertos/CMakeLists.txt
View File

@ -12,6 +12,8 @@ set(include_dirs
"${original_freertos_dir}/config/include/freertos" # For "FreeRTOSConfig.h" "${original_freertos_dir}/config/include/freertos" # For "FreeRTOSConfig.h"
"${original_freertos_dir}/config/linux/include" # For "freertos/FreeRTOSConfig_arch.h" "${original_freertos_dir}/config/linux/include" # For "freertos/FreeRTOSConfig_arch.h"
"${original_freertos_dir}/esp_additions/include" "${original_freertos_dir}/esp_additions/include"
# Required because CMock tries to include "idf_additions.h" instead of "freertos/idf_additions.h"
"${original_freertos_dir}/esp_additions/include/freertos"
"${kernel_dir}/portable/linux/include" # For "freertos/portmacro.h" "${kernel_dir}/portable/linux/include" # For "freertos/portmacro.h"
"${kernel_dir}/include/freertos" # this is due to the way includes are generated in CMock (without freertos prefix) "${kernel_dir}/include/freertos" # this is due to the way includes are generated in CMock (without freertos prefix)
) )
@ -19,6 +21,7 @@ set(include_dirs
idf_component_mock(INCLUDE_DIRS ${include_dirs} idf_component_mock(INCLUDE_DIRS ${include_dirs}
REQUIRES esp_common REQUIRES esp_common
MOCK_HEADER_FILES MOCK_HEADER_FILES
${original_freertos_dir}/esp_additions/include/freertos/idf_additions.h
${original_freertos_dir}/FreeRTOS-Kernel/include/freertos/task.h ${original_freertos_dir}/FreeRTOS-Kernel/include/freertos/task.h
${original_freertos_dir}/FreeRTOS-Kernel/include/freertos/event_groups.h ${original_freertos_dir}/FreeRTOS-Kernel/include/freertos/event_groups.h
${original_freertos_dir}/FreeRTOS-Kernel/include/freertos/queue.h) ${original_freertos_dir}/FreeRTOS-Kernel/include/freertos/queue.h)