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Merge branch 'change/freertos_remove_xcoreid_for_single_core_v5.2' into 'release/v5.2'

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change(freertos/idf): Remove xCoreID from TCB in single-core builds (v5.2)

See merge request espressif/esp-idf!27617
This commit is contained in:
Jiang Jiang Jian 2023-12-05 12:01:09 +08:00
commit df43d670a1
12 changed files with 171 additions and 93 deletions
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5
components/freertos/FreeRTOS-Kernel/include/freertos/FreeRTOS.h
View File

@ -1289,8 +1289,9 @@ typedef struct xSTATIC_TCB
UBaseType_t uxDummy5;
void * pxDummy6;
uint8_t ucDummy7[ configMAX_TASK_NAME_LEN ];
/* Todo: Remove xCoreID for single core builds (IDF-7894) */
BaseType_t xDummyCoreID;
#if ( configNUMBER_OF_CORES > 1 )
BaseType_t xDummyCoreID;
#endif /* configNUMBER_OF_CORES > 1 */
#if ( ( portSTACK_GROWTH > 0 ) || ( configRECORD_STACK_HIGH_ADDRESS == 1 ) )
void * pxDummy8;
#endif

6
components/freertos/FreeRTOS-Kernel/include/freertos/task.h
View File

@ -176,7 +176,9 @@ typedef struct xTASK_STATUS
StackType_t * pxEndOfStack; /**< Points to the end address of the task's stack area. */
#endif
configSTACK_DEPTH_TYPE usStackHighWaterMark; /**< The minimum amount of stack space that has remained for the task since the task was created. The closer this value is to zero the closer the task has come to overflowing its stack. */
BaseType_t xCoreID; /**< Core this task is pinned to (0, 1, or tskNO_AFFINITY). If configNUMBER_OF_CORES == 1, this will always be 0. */
#if ( configTASKLIST_INCLUDE_COREID == 1 )
BaseType_t xCoreID; /**< Core this task is pinned to (0, 1, or tskNO_AFFINITY). If configNUMBER_OF_CORES == 1, this will always be 0. */
#endif
} TaskStatus_t;
/** Possible return values for eTaskConfirmSleepModeStatus(). */
@ -211,7 +213,7 @@ typedef enum
*
* \ingroup Tasks
*/
#define taskVALID_CORE_ID( xCoreID ) ( ( ( ( ( BaseType_t ) xCoreID ) >= 0 && ( ( BaseType_t ) xCoreID ) < configNUMBER_OF_CORES ) || ( ( ( BaseType_t ) xCoreID ) == tskNO_AFFINITY ) ) ? pdTRUE : pdFALSE )
#define taskVALID_CORE_ID( xCoreID ) ( ( ( ( BaseType_t ) xCoreID ) >= 0 && ( ( BaseType_t ) xCoreID ) < configNUMBER_OF_CORES ) ? pdTRUE : pdFALSE )
/**
*

17
components/freertos/FreeRTOS-Kernel/portable/riscv/include/freertos/portmacro.h
View File

@ -38,10 +38,19 @@
/* Macros used instead ofsetoff() for better performance of interrupt handler */
#define PORT_OFFSET_PX_STACK 0x30
#define PORT_OFFSET_PX_END_OF_STACK (PORT_OFFSET_PX_STACK + \
/* void * pxDummy6 */ 4 + \
/* uint8_t ucDummy7[ configMAX_TASK_NAME_LEN ] */ CONFIG_FREERTOS_MAX_TASK_NAME_LEN + \
/* BaseType_t xDummyCoreID */ 4)
#if CONFIG_FREERTOS_UNICORE
#define CORE_ID_SIZE 0
#else
#define CORE_ID_SIZE 4
#endif
#define PORT_OFFSET_PX_END_OF_STACK ( \
PORT_OFFSET_PX_STACK \
+ 4 /* void * pxDummy6 */ \
+ CONFIG_FREERTOS_MAX_TASK_NAME_LEN /* uint8_t ucDummy7[ configMAX_TASK_NAME_LEN ] */ \
+ CORE_ID_SIZE /* BaseType_t xDummyCoreID */ \
)
#ifndef __ASSEMBLER__

9
components/freertos/FreeRTOS-Kernel/portable/riscv/port.c
View File

@ -301,7 +301,11 @@ static void vPortCleanUpCoprocArea(void *pvTCB)
* If yes, reset the owner. */
if (sa->sa_enable != 0) {
/* Get the core the task is pinned on */
const BaseType_t coreID = task->xDummyCoreID;
#if ( configNUM_CORES > 1 )
const BaseType_t coreID = task->xDummyCoreID;
#else /* configNUM_CORES > 1 */
const BaseType_t coreID = 0;
#endif /* configNUM_CORES > 1 */
for (int i = 0; i < SOC_CPU_COPROC_NUM; i++) {
StaticTask_t** owner = &port_uxCoprocOwner[coreID][i];
@ -767,11 +771,12 @@ void vPortTCBPreDeleteHook( void *pxTCB )
* are saved lazily, as soon as a task starts using one, it must always be scheduled on the core
* it is currently executing on.
*/
#if ( configNUM_CORES > 1 )
void vPortTaskPinToCore(StaticTask_t* task, int coreid)
{
task->xDummyCoreID = coreid;
}
#endif /* configNUM_CORES > 1 */
/**
* @brief Get coprocessor save area out of the given task. If the coprocessor area is not created,

2
components/freertos/FreeRTOS-Kernel/portable/riscv/portasm.S
View File

@ -185,10 +185,12 @@ rtos_save_fpu_coproc:
csrr a1, fcsr
sw a1, RV_FPU_FCSR(a0)
rtos_save_fpu_coproc_nosave:
#if ( configNUM_CORES > 1 )
/* Pin current task to current core */
mv a0, s1
csrr a1, mhartid
call vPortTaskPinToCore
#endif /* configNUM_CORES > 1 */
/* Check if we have to restore a previous FPU context from the current TCB */
mv a0, s1
call pxPortGetCoprocArea

8
components/freertos/FreeRTOS-Kernel/portable/xtensa/port.c
View File

@ -618,8 +618,12 @@ static void vPortCleanUpCoprocArea(void *pvTCB)
uxCoprocArea = ( UBaseType_t ) ( ( ( StaticTask_t * ) pvTCB )->pxDummy8 ); /* Get TCB_t.pxEndOfStack */
uxCoprocArea = STACKPTR_ALIGN_DOWN(16, uxCoprocArea - XT_CP_SIZE);
/* Get xTargetCoreID from the TCB.xCoreID */
xTargetCoreID = ( ( StaticTask_t * ) pvTCB )->xDummyCoreID;
#if ( configNUMBER_OF_CORES > 1 )
/* Get xTargetCoreID from the TCB.xCoreID */
xTargetCoreID = ( ( StaticTask_t * ) pvTCB )->xDummyCoreID;
#else /* configNUMBER_OF_CORES > 1 */
xTargetCoreID = 0;
#endif /* configNUMBER_OF_CORES > 1 */
/* If task has live floating point registers somewhere, release them */
void _xt_coproc_release(volatile void *coproc_sa_base, BaseType_t xTargetCoreID);

151
components/freertos/FreeRTOS-Kernel/tasks.c
View File

@ -130,27 +130,29 @@
/* Macros to check if an unblocked task causes a yield on the current core.
* - pxTCB is the TCB of the task to check
* - xCurCoreID is the current core's ID
* - xYieldEqualPriority indicates whether a yield should occur if the unblocked
* task's priority is equal to the priority of the task currently running on the
* current core.
* - uxTaskPriority is the task's priority
* - xTaskCoreID is the task's core affinity */
* - xYieldEqualPriority if the task having equal priority as the currently
* executing task should cause a yield.
*
* In single-core, this macro simply checks the unblocked task has a high enough
* priority to preempt the current task, and returns pdTRUE if so.
*
* In SMP, this macro checks if the unblocked task can preempt either core:
* - If a yield is required on the current core, this macro return pdTRUE
* - if a yield is required on the other core, this macro will internally
* trigger it.
*/
#if ( configNUMBER_OF_CORES > 1 )
#define taskIS_YIELD_REQUIRED( pxTCB, xCurCoreID, xYieldEqualPriority ) prvIsYieldUsingPrioritySMP( ( pxTCB )->uxPriority, ( pxTCB )->xCoreID, xCurCoreID, xYieldEqualPriority )
#define taskIS_YIELD_REQUIRED_USING_PRIORITY( uxTaskPriority, xTaskCoreID, xCurCoreID, xYieldEqualPriority ) prvIsYieldUsingPrioritySMP( uxTaskPriority, xTaskCoreID, xCurCoreID, xYieldEqualPriority )
#define taskIS_YIELD_REQUIRED( pxTCB, xYieldEqualPriority ) prvIsYieldRequiredSMP( ( pxTCB ), ( pxTCB )->uxPriority, xYieldEqualPriority )
#define taskIS_YIELD_REQUIRED_USING_PRIORITY( pxTCB, uxTaskPriority, xYieldEqualPriority ) prvIsYieldRequiredSMP( ( pxTCB ), uxTaskPriority, xYieldEqualPriority )
#else
#define taskIS_YIELD_REQUIRED( pxTCB, xCurCoreID, xYieldEqualPriority ) \
#define taskIS_YIELD_REQUIRED( pxTCB, xYieldEqualPriority ) \
( { \
/* xCurCoreID is unused */ \
( void ) xCurCoreID; \
( ( ( pxTCB )->uxPriority + ( ( xYieldEqualPriority == pdTRUE ) ? 1 : 0 ) ) > pxCurrentTCBs[ 0 ]->uxPriority ) ? pdTRUE : pdFALSE; \
} )
#define taskIS_YIELD_REQUIRED_USING_PRIORITY( uxTaskPriority, xTaskCoreID, xCurCoreID, xYieldEqualPriority ) \
#define taskIS_YIELD_REQUIRED_USING_PRIORITY( pxTCB, uxTaskPriority, xYieldEqualPriority ) \
( { \
/* xTaskCoreID and xCurCoreID are unused */ \
( void ) xTaskCoreID; \
( void ) xCurCoreID; \
( void ) pxTCB; \
( ( uxTaskPriority + ( ( xYieldEqualPriority == pdTRUE ) ? 1 : 0 ) ) >= pxCurrentTCBs[ 0 ]->uxPriority ) ? pdTRUE : pdFALSE; \
} )
#endif /* configNUMBER_OF_CORES > 1 */
@ -158,18 +160,19 @@
/* Macros to check if a task has a compatible affinity with a particular core.
* - xCore is the target core
* - xCoreID is the affinity of the task to check
* - pxTCB is the task to check
*
* This macro will always return true on single core as the concept of core
* affinity doesn't exist. */
#if ( configNUMBER_OF_CORES > 1 )
#define taskIS_AFFINITY_COMPATIBLE( xCore, xCoreID ) ( ( ( ( xCoreID ) == xCore ) || ( ( xCoreID ) == tskNO_AFFINITY ) ) ? pdTRUE : pdFALSE )
#define taskIS_AFFINITY_COMPATIBLE( xCore, pxTCB ) ( ( ( ( pxTCB )->xCoreID == xCore ) || ( ( pxTCB )->xCoreID == tskNO_AFFINITY ) ) ? pdTRUE : pdFALSE )
#else
#define taskIS_AFFINITY_COMPATIBLE( xCore, xCoreID ) \
( { \
/* xCoreID is unused */ \
( void ) xCoreID; \
pdTRUE; \
#define taskIS_AFFINITY_COMPATIBLE( xCore, pxTCB ) \
( { \
/* xCore and pxTCB are unused */ \
( void ) xCore; \
( void ) pxTCB; \
pdTRUE; \
} )
#endif /* configNUMBER_OF_CORES > 1 */
/*-----------------------------------------------------------*/
@ -387,8 +390,9 @@ typedef struct tskTaskControlBlock /* The old naming convention is used to
StackType_t * pxStack; /*< Points to the start of the stack. */
char pcTaskName[ configMAX_TASK_NAME_LEN ]; /*< Descriptive name given to the task when created. Facilitates debugging only. */ /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
/* Todo: Remove xCoreID for single core builds (IDF-7894) */
BaseType_t xCoreID; /*< The core that this task is pinned to */
#if ( configNUMBER_OF_CORES > 1 )
BaseType_t xCoreID; /*< The core that this task is pinned to */
#endif /* configNUMBER_OF_CORES > 1 */
#if ( ( portSTACK_GROWTH > 0 ) || ( configRECORD_STACK_HIGH_ADDRESS == 1 ) )
StackType_t * pxEndOfStack; /*< Points to the highest valid address for the stack. */
@ -568,10 +572,9 @@ static BaseType_t prvCreateIdleTasks( void );
*/
#if ( configNUMBER_OF_CORES > 1 )
static BaseType_t prvIsYieldUsingPrioritySMP( UBaseType_t uxTaskPriority,
BaseType_t xTaskCoreID,
BaseType_t xCurCoreID,
BaseType_t xYieldEqualPriority ) PRIVILEGED_FUNCTION;
static BaseType_t prvIsYieldRequiredSMP( TCB_t * pxTCB,
UBaseType_t uxTaskPriority,
BaseType_t xYieldEqualPriority ) PRIVILEGED_FUNCTION;
#endif /* configNUMBER_OF_CORES > 1 */
@ -765,13 +768,15 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB ) PRIVILEGED_FUNCTION;
#if ( configNUMBER_OF_CORES > 1 )
static BaseType_t prvIsYieldUsingPrioritySMP( UBaseType_t uxTaskPriority,
BaseType_t xTaskCoreID,
BaseType_t xCurCoreID,
BaseType_t xYieldEqualPriority )
static BaseType_t prvIsYieldRequiredSMP( TCB_t * pxTCB,
UBaseType_t uxTaskPriority,
BaseType_t xYieldEqualPriority )
{
configASSERT( uxTaskPriority < configMAX_PRIORITIES );
/* Save core ID as we can no longer be preempted. */
const BaseType_t xCurCoreID = portGET_CORE_ID();
if( xYieldEqualPriority == pdTRUE )
{
/* Increment the task priority to achieve the same affect as
@ -786,7 +791,7 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB ) PRIVILEGED_FUNCTION;
* priority than the current core, and the core has not suspended
* scheduling, then yield the current core.
* Todo: Make fair scheduling a configurable option (IDF-5772). */
if( ( taskIS_AFFINITY_COMPATIBLE( xCurCoreID, xTaskCoreID ) == pdTRUE ) &&
if( ( taskIS_AFFINITY_COMPATIBLE( xCurCoreID, pxTCB ) == pdTRUE ) &&
( uxTaskPriority > pxCurrentTCBs[ xCurCoreID ]->uxPriority ) &&
( uxSchedulerSuspended[ xCurCoreID ] == ( UBaseType_t ) 0U ) )
{
@ -797,7 +802,7 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB ) PRIVILEGED_FUNCTION;
/* If the target task can run on the other core, and has a higher
* priority then the other core, and the other core has not suspended
* scheduling, then yield the other core */
else if( ( taskIS_AFFINITY_COMPATIBLE( !xCurCoreID, xTaskCoreID ) == pdTRUE ) &&
else if( ( taskIS_AFFINITY_COMPATIBLE( !xCurCoreID, pxTCB ) == pdTRUE ) &&
( uxTaskPriority > pxCurrentTCBs[ !xCurCoreID ]->uxPriority ) &&
( uxSchedulerSuspended[ !xCurCoreID ] == ( UBaseType_t ) 0U ) )
{
@ -967,14 +972,6 @@ static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
StackType_t * pxTopOfStack;
UBaseType_t x;
#if ( configNUMBER_OF_CORES > 1 )
/* Check that xCoreID is valid */
configASSERT( taskVALID_CORE_ID( xCoreID ) == pdTRUE );
#else
/* Hard code xCoreID to 0 */
xCoreID = 0;
#endif
#if ( portUSING_MPU_WRAPPERS == 1 )
/* Should the task be created in privileged mode? */
BaseType_t xRunPrivileged;
@ -1073,7 +1070,16 @@ static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
}
pxNewTCB->uxPriority = uxPriority;
pxNewTCB->xCoreID = xCoreID; /* Todo: Remove xCoreID for single core builds (IDF-7894) */
#if ( configNUMBER_OF_CORES > 1 )
{
pxNewTCB->xCoreID = xCoreID;
}
#else /* configNUMBER_OF_CORES > 1 */
{
/* Avoid compiler warning about unreferenced parameter. */
( void ) xCoreID;
}
#endif /* configNUMBER_OF_CORES > 1 */
#if ( configUSE_MUTEXES == 1 )
{
pxNewTCB->uxBasePriority = uxPriority;
@ -1194,7 +1200,7 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB )
mtCOVERAGE_TEST_MARKER();
}
if( ( pxCurrentTCBs[ 0 ] == NULL ) && ( taskIS_AFFINITY_COMPATIBLE( 0, pxNewTCB->xCoreID ) == pdTRUE ) )
if( ( pxCurrentTCBs[ 0 ] == NULL ) && ( taskIS_AFFINITY_COMPATIBLE( 0, pxNewTCB ) == pdTRUE ) )
{
/* On core 0, there are no other tasks, or all the other tasks
* are in the suspended state - make this the current task. */
@ -1202,7 +1208,7 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB )
}
#if ( configNUMBER_OF_CORES > 1 )
else if( ( pxCurrentTCBs[ 1 ] == NULL ) && ( taskIS_AFFINITY_COMPATIBLE( 1, pxNewTCB->xCoreID ) == pdTRUE ) )
else if( ( pxCurrentTCBs[ 1 ] == NULL ) && ( taskIS_AFFINITY_COMPATIBLE( 1, pxNewTCB ) == pdTRUE ) )
{
/* On core 1, there are no other tasks, or all the other tasks
* are in the suspended state - make this the current task. */
@ -1217,7 +1223,7 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB )
if( xSchedulerRunning == pdFALSE )
{
if( ( pxCurrentTCBs[ 0 ] != NULL ) &&
( taskIS_AFFINITY_COMPATIBLE( 0, pxNewTCB->xCoreID ) == pdTRUE ) &&
( taskIS_AFFINITY_COMPATIBLE( 0, pxNewTCB ) == pdTRUE ) &&
( pxCurrentTCBs[ 0 ]->uxPriority <= pxNewTCB->uxPriority ) )
{
pxCurrentTCBs[ 0 ] = pxNewTCB;
@ -1225,7 +1231,7 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB )
#if ( configNUMBER_OF_CORES > 1 )
else if( ( pxCurrentTCBs[ 1 ] != NULL ) &&
( taskIS_AFFINITY_COMPATIBLE( 1, pxNewTCB->xCoreID ) == pdTRUE ) &&
( taskIS_AFFINITY_COMPATIBLE( 1, pxNewTCB ) == pdTRUE ) &&
( pxCurrentTCBs[ 1 ]->uxPriority <= pxNewTCB->uxPriority ) )
{
pxCurrentTCBs[ 1 ] = pxNewTCB;
@ -1260,7 +1266,7 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB )
{
/* If the created task is of a higher priority than the current task
* then it should run now. */
if( taskIS_YIELD_REQUIRED( pxNewTCB, portGET_CORE_ID(), pdTRUE ) == pdTRUE )
if( taskIS_YIELD_REQUIRED( pxNewTCB, pdTRUE ) == pdTRUE )
{
taskYIELD_IF_USING_PREEMPTION();
}
@ -1777,7 +1783,7 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB )
/* The priority of a task other than the currently
* running task is being raised. Is the priority being
* raised above that of the running task? */
if( taskIS_YIELD_REQUIRED_USING_PRIORITY( uxNewPriority, pxTCB->xCoreID, portGET_CORE_ID(), pdTRUE ) == pdTRUE )
if( taskIS_YIELD_REQUIRED_USING_PRIORITY( pxTCB, uxNewPriority, pdTRUE ) == pdTRUE )
{
xYieldRequired = pdTRUE;
}
@ -2106,7 +2112,7 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB )
prvAddTaskToReadyList( pxTCB );
/* A higher priority task may have just been resumed. */
if( taskIS_YIELD_REQUIRED( pxTCB, portGET_CORE_ID(), pdTRUE ) == pdTRUE )
if( taskIS_YIELD_REQUIRED( pxTCB, pdTRUE ) == pdTRUE )
{
/* This yield may not cause the task just resumed to run,
* but will leave the lists in the correct state for the
@ -2177,7 +2183,7 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB )
{
/* Ready lists can be accessed so move the task from the
* suspended list to the ready list directly. */
if( taskIS_YIELD_REQUIRED( pxTCB, xCurCoreID, pdTRUE ) == pdTRUE )
if( taskIS_YIELD_REQUIRED( pxTCB, pdTRUE ) == pdTRUE )
{
xYieldRequired = pdTRUE;
@ -2575,7 +2581,7 @@ BaseType_t xTaskResumeAll( void )
/* If the moved task has a priority higher than or equal to
* the current task then a yield must be performed. */
if( taskIS_YIELD_REQUIRED( pxTCB, xCurCoreID, pdTRUE ) == pdTRUE )
if( taskIS_YIELD_REQUIRED( pxTCB, pdTRUE ) == pdTRUE )
{
xYieldPending[ xCurCoreID ] = pdTRUE;
}
@ -3137,7 +3143,7 @@ BaseType_t xTaskCatchUpTicks( TickType_t xTicksToCatchUp )
/* Preemption is on, but a context switch should only be
* performed if the unblocked task has a priority that is
* higher than the currently executing task. */
if( taskIS_YIELD_REQUIRED( pxTCB, xCurCoreID, pdFALSE ) == pdTRUE )
if( taskIS_YIELD_REQUIRED( pxTCB, pdFALSE ) == pdTRUE )
{
/* Pend the yield to be performed when the scheduler
* is unsuspended. */
@ -3279,7 +3285,7 @@ BaseType_t xTaskIncrementTick( void )
* 0, we only need to context switch if the unblocked
* task can run on core 0 and has a higher priority
* than the current task. */
if( ( taskIS_AFFINITY_COMPATIBLE( 0, pxTCB->xCoreID ) == pdTRUE ) && ( pxTCB->uxPriority > pxCurrentTCBs[ 0 ]->uxPriority ) )
if( ( taskIS_AFFINITY_COMPATIBLE( 0, pxTCB ) == pdTRUE ) && ( pxTCB->uxPriority > pxCurrentTCBs[ 0 ]->uxPriority ) )
{
xSwitchRequired = pdTRUE;
}
@ -3542,7 +3548,7 @@ BaseType_t xTaskIncrementTick( void )
}
/* Check if the current task has a compatible affinity */
if( taskIS_AFFINITY_COMPATIBLE( xCurCoreID, pxTCBCur->xCoreID ) == pdFALSE )
if( taskIS_AFFINITY_COMPATIBLE( xCurCoreID, pxTCBCur ) == pdFALSE )
{
goto get_next_task;
}
@ -3858,7 +3864,7 @@ void vTaskPlaceOnUnorderedEventList( List_t * pxEventList,
listINSERT_END( &( xPendingReadyList[ uxPendCore ] ), &( pxUnblockedTCB->xEventListItem ) );
}
if( taskIS_YIELD_REQUIRED( pxUnblockedTCB, xCurCoreID, pdFALSE ) == pdTRUE )
if( taskIS_YIELD_REQUIRED( pxUnblockedTCB, pdFALSE ) == pdTRUE )
{
/* The unblocked task requires a the current core to yield */
xReturn = pdTRUE;
@ -4043,7 +4049,7 @@ void vTaskRemoveFromUnorderedEventList( ListItem_t * pxEventListItem,
listREMOVE_ITEM( &( pxUnblockedTCB->xStateListItem ) );
prvAddTaskToReadyList( pxUnblockedTCB );
if( taskIS_YIELD_REQUIRED( pxUnblockedTCB, xCurCoreID, pdFALSE ) == pdTRUE )
if( taskIS_YIELD_REQUIRED( pxUnblockedTCB, pdFALSE ) == pdTRUE )
{
/* The unblocked task has a priority above that of the calling task, so
* a context switch is required. This function is called with the
@ -4569,8 +4575,19 @@ static void prvCheckTasksWaitingTermination( void )
pxTaskStatus->pxEndOfStack = pxTCB->pxEndOfStack;
#endif
pxTaskStatus->xTaskNumber = pxTCB->uxTCBNumber;
/* Todo: Remove xCoreID for single core builds (IDF-7894) */
pxTaskStatus->xCoreID = pxTCB->xCoreID;
#if ( configTASKLIST_INCLUDE_COREID == 1 )
{
#if ( configNUMBER_OF_CORES > 1 )
{
pxTaskStatus->xCoreID = pxTCB->xCoreID;
}
#else /* configNUMBER_OF_CORES > 1 */
{
pxTaskStatus->xCoreID = 0;
}
#endif /* configNUMBER_OF_CORES > 1 */
}
#endif /* configTASKLIST_INCLUDE_COREID == 1 */
#if ( configUSE_MUTEXES == 1 )
{
@ -5421,8 +5438,16 @@ static void prvResetNextTaskUnblockTime( void )
pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );
/* Write the rest of the string. */
sprintf( pcWriteBuffer, "\t%c\t%u\t%d\t%u\t%u\r\n", cStatus, ( unsigned int ) pxTaskStatusArray[ x ].uxCurrentPriority, pxTaskStatusArray[ x ].xCoreID, ( unsigned int ) pxTaskStatusArray[ x ].usStackHighWaterMark, ( unsigned int ) pxTaskStatusArray[ x ].xTaskNumber ); /*lint !e586 sprintf() allowed as this is compiled with many compilers and this is a utility function only - not part of the core kernel implementation. */
pcWriteBuffer += strlen( pcWriteBuffer ); /*lint !e9016 Pointer arithmetic ok on char pointers especially as in this case where it best denotes the intent of the code. */
#if ( configTASKLIST_INCLUDE_COREID == 1 )
{
sprintf( pcWriteBuffer, "\t%c\t%u\t%d\t%u\t%u\r\n", cStatus, ( unsigned int ) pxTaskStatusArray[ x ].uxCurrentPriority, ( unsigned int ) pxTaskStatusArray[ x ].xCoreID, ( unsigned int ) pxTaskStatusArray[ x ].usStackHighWaterMark, ( unsigned int ) pxTaskStatusArray[ x ].xTaskNumber ); /*lint !e586 sprintf() allowed as this is compiled with many compilers and this is a utility function only - not part of the core kernel implementation. */
}
#else /* configTASKLIST_INCLUDE_COREID == 1 */
{
sprintf( pcWriteBuffer, "\t%c\t%u\t%u\t%u\r\n", cStatus, ( unsigned int ) pxTaskStatusArray[ x ].uxCurrentPriority, ( unsigned int ) pxTaskStatusArray[ x ].usStackHighWaterMark, ( unsigned int ) pxTaskStatusArray[ x ].xTaskNumber ); /*lint !e586 sprintf() allowed as this is compiled with many compilers and this is a utility function only - not part of the core kernel implementation. */
}
#endif /* configTASKLIST_INCLUDE_COREID == 1 */
pcWriteBuffer += strlen( pcWriteBuffer ); /*lint !e9016 Pointer arithmetic ok on char pointers especially as in this case where it best denotes the intent of the code. */
}
/* Free the array again. NOTE! If configSUPPORT_DYNAMIC_ALLOCATION
@ -5883,7 +5908,7 @@ TickType_t uxTaskResetEventItemValue( void )
}
#endif
if( taskIS_YIELD_REQUIRED( pxTCB, portGET_CORE_ID(), pdFALSE ) == pdTRUE )
if( taskIS_YIELD_REQUIRED( pxTCB, pdFALSE ) == pdTRUE )
{
/* The notified task has a priority above the currently
* executing task so a yield is required. */
@ -6021,7 +6046,7 @@ TickType_t uxTaskResetEventItemValue( void )
listINSERT_END( &( xPendingReadyList[ xCurCoreID ] ), &( pxTCB->xEventListItem ) );
}
if( taskIS_YIELD_REQUIRED( pxTCB, xCurCoreID, pdFALSE ) == pdTRUE )
if( taskIS_YIELD_REQUIRED( pxTCB, pdFALSE ) == pdTRUE )
{
/* The notified task has a priority above the currently
* executing task so a yield is required. */
@ -6115,7 +6140,7 @@ TickType_t uxTaskResetEventItemValue( void )
listINSERT_END( &( xPendingReadyList[ xCurCoreID ] ), &( pxTCB->xEventListItem ) );
}
if( taskIS_YIELD_REQUIRED( pxTCB, xCurCoreID, pdFALSE ) == pdTRUE )
if( taskIS_YIELD_REQUIRED( pxTCB, pdFALSE ) == pdTRUE )
{
/* The notified task has a priority above the currently
* executing task so a yield is required. */

28
components/freertos/esp_additions/freertos_tasks_c_additions.h
View File

@ -175,6 +175,8 @@ _Static_assert( tskNO_AFFINITY == ( BaseType_t ) CONFIG_FREERTOS_NO_AFFINITY, "C
{
BaseType_t xReturn;
configASSERT( taskVALID_CORE_ID( xCoreID ) == pdTRUE || xCoreID == tskNO_AFFINITY );
#if CONFIG_FREERTOS_SMP
{
/* If using Amazon SMP FreeRTOS. This function is just a wrapper around
@ -309,6 +311,10 @@ _Static_assert( tskNO_AFFINITY == ( BaseType_t ) CONFIG_FREERTOS_NO_AFFINITY, "C
{
TaskHandle_t xReturn;
configASSERT( portVALID_STACK_MEM( puxStackBuffer ) );
configASSERT( portVALID_TCB_MEM( pxTaskBuffer ) );
configASSERT( taskVALID_CORE_ID( xCoreID ) == pdTRUE || xCoreID == tskNO_AFFINITY );
#if CONFIG_FREERTOS_SMP
{
/* If using Amazon SMP FreeRTOS. This function is just a wrapper around
@ -318,6 +324,10 @@ _Static_assert( tskNO_AFFINITY == ( BaseType_t ) CONFIG_FREERTOS_NO_AFFINITY, "C
/* Convert xCoreID into an affinity mask */
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 )
{
uxCoreAffinityMask = tskNO_AFFINITY;
@ -339,10 +349,6 @@ _Static_assert( tskNO_AFFINITY == ( BaseType_t ) CONFIG_FREERTOS_NO_AFFINITY, "C
{
TCB_t * pxNewTCB;
configASSERT( portVALID_STACK_MEM( puxStackBuffer ) );
configASSERT( portVALID_TCB_MEM( pxTaskBuffer ) );
configASSERT( taskVALID_CORE_ID( xCoreID ) == pdTRUE );
#if ( configASSERT_DEFINED == 1 )
{
/* Sanity check that the size of the structure used to declare a
@ -458,7 +464,7 @@ BaseType_t xTaskGetCoreID( TaskHandle_t xTask )
{
/* If xTaskGetIdleTaskHandle() is called before the scheduler has been
* started, then xIdleTaskHandle will be NULL. */
configASSERT( ( xCoreID < configNUMBER_OF_CORES ) && ( xCoreID != tskNO_AFFINITY ) );
configASSERT( taskVALID_CORE_ID( xCoreID ) == pdTRUE );
configASSERT( ( xIdleTaskHandle[ xCoreID ] != NULL ) );
return xIdleTaskHandle[ xCoreID ];
}
@ -472,14 +478,14 @@ BaseType_t xTaskGetCoreID( TaskHandle_t xTask )
{
TaskHandle_t xReturn;
configASSERT( taskVALID_CORE_ID( xCoreID ) == pdTRUE );
#if ( CONFIG_FREERTOS_SMP )
{
xReturn = xTaskGetCurrentTaskHandleCPU( ( UBaseType_t ) xCoreID );
}
#else /* CONFIG_FREERTOS_SMP */
{
configASSERT( taskVALID_CORE_ID( xCoreID ) == pdTRUE );
/* A critical section is not required as this function does not
* guarantee that the TCB will still be valid when this function
* returns. */
@ -1109,7 +1115,8 @@ void * pvTaskGetCurrentTCBForCore( BaseType_t xCoreID )
{
void * pvRet;
configASSERT( ( xCoreID >= 0 ) && ( xCoreID < configNUM_CORES ) );
configASSERT( taskVALID_CORE_ID( xCoreID ) == pdTRUE );
#if CONFIG_FREERTOS_SMP
/* SMP FreeRTOS defines pxCurrentTCB as a macro function call */
pvRet = ( void * ) pxCurrentTCB;
@ -1187,6 +1194,11 @@ void * pvTaskGetCurrentTCBForCore( BaseType_t xCoreID )
configASSERT( uxStackMemoryCaps & ( MALLOC_CAP_8BIT ) );
configASSERT( ( uxStackMemoryCaps & MALLOC_CAP_SPIRAM ) ||
( uxStackMemoryCaps & MALLOC_CAP_INTERNAL ) );
#if ( !CONFIG_FREERTOS_SMP )
{
configASSERT( taskVALID_CORE_ID( xCoreID ) == pdTRUE || xCoreID == tskNO_AFFINITY );
}
#endif /* !CONFIG_FREERTOS_SMP */
/* Allocate space for the stack used by the task being created. */
pxStack = heap_caps_malloc( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ), uxStackMemoryCaps );

4
components/freertos/esp_additions/include/esp_private/freertos_idf_additions_priv.h
View File

@ -314,8 +314,8 @@
* should be set to ( 2 | portPRIVILEGE_BIT ).
*
* @param xCoreID (only IDF SMP FreeRTOS)
* The core to which the task is pinned to, or tskNO_AFFINITY if
* the task can run on any core.
* The core to which the task is pinned to, or tskNO_AFFINITY if the task has no
* core affinity.
*
* @param uxCoreAffinityMask (only Amazon SMP FreeRTOS)
* A bitwise value that indicates the cores on which the task can run.

10
components/freertos/esp_additions/include/freertos/idf_additions.h
View File

@ -43,7 +43,8 @@
* 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.
* @note If ( configNUMBER_OF_CORES == 1 ), setting xCoreID to tskNO_AFFINITY will be
* be treated as 0.
*
* @param pxTaskCode Pointer to the task entry function.
* @param pcName A descriptive name for the task.
@ -55,7 +56,7 @@
* @param pxCreatedTask Used to pass back a handle by which the created task can
* be referenced.
* @param xCoreID The core to which the task is pinned to, or tskNO_AFFINITY if
* the task has no core affinity
* the task has no core affinity.
* @return pdPASS if the task was successfully created and added to a ready
* list, otherwise an error code defined in the file projdefs.h
*/
@ -79,7 +80,8 @@
* 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.
* @note If ( configNUMBER_OF_CORES == 1 ), setting xCoreID to tskNO_AFFINITY will be
* be treated as 0.
*
* @param pxTaskCode Pointer to the task entry function.
* @param pcName A descriptive name for the task.
@ -93,7 +95,7 @@
* @param pxTaskBuffer Must point to a variable of type StaticTask_t, which will
* then be used to hold the task's data structures,
* @param xCoreID The core to which the task is pinned to, or tskNO_AFFINITY if
* the task has no core affinity
* the task has no core affinity.
* @return The task handle if the task was created, NULL otherwise.
*/
TaskHandle_t xTaskCreateStaticPinnedToCore( TaskFunction_t pxTaskCode,

12
components/freertos/test_apps/freertos/kernel/stream_buffer/test_stream_buffers.c
View File

@ -61,8 +61,16 @@ TEST_CASE("Stream Buffer: Send-receive tasks", "[freertos]")
test_args.done_sem = xSemaphoreCreateCounting(2, 0);
TEST_ASSERT_NOT_NULL(test_args.stream_buffer);
TEST_ASSERT_NOT_NULL(test_args.done_sem);
TEST_ASSERT_EQUAL(pdTRUE, xTaskCreatePinnedToCore(sender_task, "sender", 4096, &test_args, UNITY_FREERTOS_PRIORITY + 2, NULL, 0));
TEST_ASSERT_EQUAL(pdTRUE, xTaskCreatePinnedToCore(receiver_task, "receiver", 4096, &test_args, UNITY_FREERTOS_PRIORITY + 1, NULL, 1));
BaseType_t sender_core_id;
BaseType_t receiver_core_id;
sender_core_id = 0;
#if CONFIG_FREERTOS_UNICORE
receiver_core_id = 0;
#else
receiver_core_id = 1;
#endif
TEST_ASSERT_EQUAL(pdTRUE, xTaskCreatePinnedToCore(sender_task, "sender", 4096, &test_args, UNITY_FREERTOS_PRIORITY + 2, NULL, sender_core_id));
TEST_ASSERT_EQUAL(pdTRUE, xTaskCreatePinnedToCore(receiver_task, "receiver", 4096, &test_args, UNITY_FREERTOS_PRIORITY + 1, NULL, receiver_core_id));
// Wait for both tasks to complete
for (int i = 0; i < 2; i++) {

12
tools/test_apps/linux_compatible/linux_freertos/components/kernel_tests/stream_buffer/test_stream_buffers.c
View File

@ -60,8 +60,16 @@ TEST_CASE("Stream Buffer: Send-receive tasks", "[freertos]")
test_args.done_sem = xSemaphoreCreateCounting(2, 0);
TEST_ASSERT_NOT_NULL(test_args.stream_buffer);
TEST_ASSERT_NOT_NULL(test_args.done_sem);
TEST_ASSERT_EQUAL(pdTRUE, xTaskCreatePinnedToCore(sender_task, "sender", 4096, &test_args, CONFIG_UNITY_FREERTOS_PRIORITY + 2, NULL, 0));
TEST_ASSERT_EQUAL(pdTRUE, xTaskCreatePinnedToCore(receiver_task, "receiver", 4096, &test_args, CONFIG_UNITY_FREERTOS_PRIORITY + 1, NULL, 1));
BaseType_t sender_core_id;
BaseType_t receiver_core_id;
sender_core_id = 0;
#if CONFIG_FREERTOS_UNICORE
receiver_core_id = 0;
#else
receiver_core_id = 1;
#endif
TEST_ASSERT_EQUAL(pdTRUE, xTaskCreatePinnedToCore(sender_task, "sender", 4096, &test_args, CONFIG_UNITY_FREERTOS_PRIORITY + 2, NULL, sender_core_id));
TEST_ASSERT_EQUAL(pdTRUE, xTaskCreatePinnedToCore(receiver_task, "receiver", 4096, &test_args, CONFIG_UNITY_FREERTOS_PRIORITY + 1, NULL, receiver_core_id));
// Wait for both tasks to complete
for (int i = 0; i < 2; i++) {