diff --git a/components/freertos/FreeRTOS-Kernel/include/freertos/FreeRTOS.h b/components/freertos/FreeRTOS-Kernel/include/freertos/FreeRTOS.h index dd8a67905a..157ddaf528 100644 --- a/components/freertos/FreeRTOS-Kernel/include/freertos/FreeRTOS.h +++ b/components/freertos/FreeRTOS-Kernel/include/freertos/FreeRTOS.h @@ -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 diff --git a/components/freertos/FreeRTOS-Kernel/include/freertos/task.h b/components/freertos/FreeRTOS-Kernel/include/freertos/task.h index 804390db99..976894ee6b 100644 --- a/components/freertos/FreeRTOS-Kernel/include/freertos/task.h +++ b/components/freertos/FreeRTOS-Kernel/include/freertos/task.h @@ -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 ) /** * diff --git a/components/freertos/FreeRTOS-Kernel/portable/riscv/include/freertos/portmacro.h b/components/freertos/FreeRTOS-Kernel/portable/riscv/include/freertos/portmacro.h index 3691fa12fa..429829ac99 100644 --- a/components/freertos/FreeRTOS-Kernel/portable/riscv/include/freertos/portmacro.h +++ b/components/freertos/FreeRTOS-Kernel/portable/riscv/include/freertos/portmacro.h @@ -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__ diff --git a/components/freertos/FreeRTOS-Kernel/portable/riscv/port.c b/components/freertos/FreeRTOS-Kernel/portable/riscv/port.c index 5f7f52400a..5e30219b19 100644 --- a/components/freertos/FreeRTOS-Kernel/portable/riscv/port.c +++ b/components/freertos/FreeRTOS-Kernel/portable/riscv/port.c @@ -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, diff --git a/components/freertos/FreeRTOS-Kernel/portable/riscv/portasm.S b/components/freertos/FreeRTOS-Kernel/portable/riscv/portasm.S index d80c330f46..f63c880372 100644 --- a/components/freertos/FreeRTOS-Kernel/portable/riscv/portasm.S +++ b/components/freertos/FreeRTOS-Kernel/portable/riscv/portasm.S @@ -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 diff --git a/components/freertos/FreeRTOS-Kernel/portable/xtensa/port.c b/components/freertos/FreeRTOS-Kernel/portable/xtensa/port.c index 6e98187250..3c99cf8cfc 100644 --- a/components/freertos/FreeRTOS-Kernel/portable/xtensa/port.c +++ b/components/freertos/FreeRTOS-Kernel/portable/xtensa/port.c @@ -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); diff --git a/components/freertos/FreeRTOS-Kernel/tasks.c b/components/freertos/FreeRTOS-Kernel/tasks.c index d0cbbcf799..e550825582 100644 --- a/components/freertos/FreeRTOS-Kernel/tasks.c +++ b/components/freertos/FreeRTOS-Kernel/tasks.c @@ -390,8 +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. */ @@ -971,14 +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; @@ -1077,7 +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; @@ -4573,8 +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 ) { @@ -5425,8 +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 diff --git a/components/freertos/esp_additions/freertos_tasks_c_additions.h b/components/freertos/esp_additions/freertos_tasks_c_additions.h index c3b9ca6bfd..9c5340dfb7 100644 --- a/components/freertos/esp_additions/freertos_tasks_c_additions.h +++ b/components/freertos/esp_additions/freertos_tasks_c_additions.h @@ -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 ); diff --git a/components/freertos/esp_additions/include/esp_private/freertos_idf_additions_priv.h b/components/freertos/esp_additions/include/esp_private/freertos_idf_additions_priv.h index 2d520f8d3f..316c332976 100644 --- a/components/freertos/esp_additions/include/esp_private/freertos_idf_additions_priv.h +++ b/components/freertos/esp_additions/include/esp_private/freertos_idf_additions_priv.h @@ -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. diff --git a/components/freertos/esp_additions/include/freertos/idf_additions.h b/components/freertos/esp_additions/include/freertos/idf_additions.h index f230fc02bd..9582dc7b42 100644 --- a/components/freertos/esp_additions/include/freertos/idf_additions.h +++ b/components/freertos/esp_additions/include/freertos/idf_additions.h @@ -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,