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freertos: Move IDF API additions to seperate files

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This commit moves the IDF API additions from task.h/task.c to seperate header/source files.

- Declarations moved to "idf_additions.h"
- Definitions moved to "freertos_task_c_additions.h"

The API descriptions have also been updated.
This commit is contained in:
Darian Leung 2022-04-25 17:10:59 +08:00
parent 9bd31a3239
commit efdedaf726
4 changed files with 213 additions and 142 deletions
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46
components/freertos/FreeRTOS-Kernel-SMP/include/freertos/task.h
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@ -3279,25 +3279,6 @@ void vTaskYieldWithinAPI( void );
#ifdef ESP_PLATFORM
BaseType_t xTaskCreatePinnedToCore( TaskFunction_t pxTaskCode,
const char * const pcName,
const uint32_t usStackDepth,
void * const pvParameters,
UBaseType_t uxPriority,
TaskHandle_t * const pxCreatedTask,
const BaseType_t xCoreID);
#if ( configSUPPORT_STATIC_ALLOCATION == 1 )
TaskHandle_t xTaskCreateStaticPinnedToCore( TaskFunction_t pxTaskCode,
const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
const uint32_t ulStackDepth,
void * const pvParameters,
UBaseType_t uxPriority,
StackType_t * const puxStackBuffer,
StaticTask_t * const pxTaskBuffer,
const BaseType_t xCoreID ) PRIVILEGED_FUNCTION;
#endif /* configSUPPORT_STATIC_ALLOCATION */
#if ( configTHREAD_LOCAL_STORAGE_DELETE_CALLBACKS )
/**
@ -3331,32 +3312,7 @@ TaskHandle_t xTaskCreateStaticPinnedToCore( TaskFunction_t pxTaskCode,
void vTaskSetThreadLocalStoragePointerAndDelCallback( TaskHandle_t xTaskToSet, BaseType_t xIndex, void *pvValue, TlsDeleteCallbackFunction_t pvDelCallback);
#endif
/*
* 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( BaseType_t cpuid );
/*
* Get the current core affinity of a task
*/
BaseType_t xTaskGetAffinity( TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
#include "idf_additions.h"
#endif //ESP_PLATFORM

97
components/freertos/FreeRTOS-Kernel-SMP/tasks.c
View File

@ -6468,65 +6468,6 @@ static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait,
#ifdef ESP_PLATFORM
BaseType_t xTaskCreatePinnedToCore( TaskFunction_t pxTaskCode,
const char * const pcName,
const uint32_t usStackDepth,
void * const pvParameters,
UBaseType_t uxPriority,
TaskHandle_t * const pxCreatedTask,
const BaseType_t xCoreID)
{
BaseType_t ret;
#if ( ( configUSE_CORE_AFFINITY == 1 ) && ( configNUM_CORES > 1 ) )
{
// Convert xCoreID into an affinity mask
UBaseType_t uxCoreAffinityMask;
if (xCoreID == tskNO_AFFINITY) {
uxCoreAffinityMask = tskNO_AFFINITY;
} else {
uxCoreAffinityMask = (1 << xCoreID);
}
ret = xTaskCreateAffinitySet(pxTaskCode, pcName, usStackDepth, pvParameters, uxPriority, uxCoreAffinityMask, pxCreatedTask);
}
#else /* ( ( configUSE_CORE_AFFINITY == 1 ) && ( configNUM_CORES > 1 ) ) */
{
ret = xTaskCreate(pxTaskCode, pcName, usStackDepth, pvParameters, uxPriority, pxCreatedTask);
}
#endif /* ( ( configUSE_CORE_AFFINITY == 1 ) && ( configNUM_CORES > 1 ) ) */
return ret;
}
#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)
{
TaskHandle_t ret;
#if ( ( configUSE_CORE_AFFINITY == 1 ) && ( configNUM_CORES > 1 ) )
{
// Convert xCoreID into an affinity mask
UBaseType_t uxCoreAffinityMask;
if (xCoreID == tskNO_AFFINITY) {
uxCoreAffinityMask = tskNO_AFFINITY;
} else {
uxCoreAffinityMask = (1 << xCoreID);
}
ret = xTaskCreateStaticAffinitySet(pxTaskCode, pcName, ulStackDepth, pvParameters, uxPriority, puxStackBuffer, pxTaskBuffer, uxCoreAffinityMask);
}
#else /* ( ( configUSE_CORE_AFFINITY == 1 ) && ( configNUM_CORES > 1 ) ) */
{
ret = xTaskCreateStatic(pxTaskCode, pcName, ulStackDepth, pvParameters, uxPriority, puxStackBuffer, pxTaskBuffer);
}
#endif /* ( ( configUSE_CORE_AFFINITY == 1 ) && ( configNUM_CORES > 1 ) ) */
return ret;
}
#endif /* configSUPPORT_STATIC_ALLOCATION */
#if ( configTHREAD_LOCAL_STORAGE_DELETE_CALLBACKS )
void vTaskSetThreadLocalStoragePointerAndDelCallback( TaskHandle_t xTaskToSet, BaseType_t xIndex, void *pvValue , TlsDeleteCallbackFunction_t xDelCallback)
{
@ -6539,44 +6480,6 @@ TaskHandle_t xTaskCreateStaticPinnedToCore( TaskFunction_t pxTaskCode,
}
#endif
TaskHandle_t xTaskGetCurrentTaskHandleForCPU( BaseType_t cpuid )
{
TaskHandle_t xTaskHandleTemp;
assert(cpuid >= 0 && cpuid < configNUM_CORES);
taskENTER_CRITICAL();
xTaskHandleTemp = (TaskHandle_t) pxCurrentTCBs[cpuid];
taskEXIT_CRITICAL();
return xTaskHandleTemp;
}
TaskHandle_t xTaskGetIdleTaskHandleForCPU( BaseType_t cpuid )
{
assert(cpuid >= 0 && cpuid < configNUM_CORES);
return (TaskHandle_t) xIdleTaskHandle[cpuid];
}
BaseType_t xTaskGetAffinity( TaskHandle_t xTask )
{
taskENTER_CRITICAL();
UBaseType_t uxCoreAffinityMask;
#if ( configUSE_CORE_AFFINITY == 1 && configNUM_CORES > 1 )
TCB_t *pxTCB = prvGetTCBFromHandle( xTask );
uxCoreAffinityMask = pxTCB->uxCoreAffinityMask;
#else
uxCoreAffinityMask = tskNO_AFFINITY;
#endif
taskEXIT_CRITICAL();
BaseType_t ret;
if (uxCoreAffinityMask == tskNO_AFFINITY) {
ret = tskNO_AFFINITY;
} else {
int index_plus_one = __builtin_ffs(uxCoreAffinityMask);
assert(index_plus_one >= 1);
ret = index_plus_one - 1;
}
return ret;
}
#if ( configUSE_NEWLIB_REENTRANT == 1 )
//Return global reent struct if FreeRTOS isn't running,
struct _reent* __getreent(void) {

106
components/freertos/esp_additions/include/freertos/idf_additions.h Normal file
View File

@ -0,0 +1,106 @@
/*
* SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0
*/
#include "sdkconfig.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#if CONFIG_FREERTOS_SMP || __DOXYGEN__
/* ------------------------------------------------ Helper Functions ---------------------------------------------------
*
* ------------------------------------------------------------------------------------------------------------------ */
/**
* @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 no affinity. In other wrods, the created
* task will have an affinity mask of:
* - (1 << xCoreID) if it is pinned to a particular core
* - Set to tskNO_AFFINITY if it has no affinity
*
* @param pxTaskCode Pointer to the task entry function.
* @param pcName A descriptive name for the task.
* @param usStackDepth The size of the task stack.
* @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.
* @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
* @return pdPASS if the task was successfully created and added to a ready list, otherwise an error code defined in the
* file projdefs.h
*/
BaseType_t xTaskCreatePinnedToCore( TaskFunction_t pxTaskCode,
const char * const pcName,
const uint32_t usStackDepth,
void * const pvParameters,
UBaseType_t uxPriority,
TaskHandle_t * const pxCreatedTask,
const BaseType_t xCoreID);
/**
* @brief Create a new static task that is pinned to a particular core
*
* This funciton is the static equivalent of xTaskCreatePinnedToCore().
*
* @param pxTaskCode Pointer to the task entry function.
* @param pcName A descriptive name for the task.
* @param ulStackDepth The size of the task stack.
* @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.
* @param puxStackBuffer Must point to a StackType_t array that has at least ulStackDepth indexes
* @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
* @return The task handle if the task was created, NULL otherwise.
*/
#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 );
#endif /* configSUPPORT_STATIC_ALLOCATION */
/**
* @brief Get the handle of the task running on a certain core
*
* 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.
*
* [refactor-todo] Mark this function as deprecated, call xTaskGetCurrentTaskHandleCPU() instead
*
* @param xCoreID The core to query
* @return Handle of the current task running on the queried core
*/
TaskHandle_t xTaskGetCurrentTaskHandleForCPU( BaseType_t xCoreID );
/**
* @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 );
/**
* @brief Get the current core affintiy of a particular task
*
* Helper function to get the core affinity of a particular task. If the task is pinned to a particular core, the core
* ID is returned. If the task is not pinned to a particular core, tskNO_AFFINITY is returned.
*
* [refactor-todo] Mark this function as deprecated, call vTaskCoreAffinityGet() instead
*
* @param xTask The task to query
* @return The tasks coreID or tskNO_AFFINITY
*/
BaseType_t xTaskGetAffinity( TaskHandle_t xTask );
#endif // CONFIG_FREERTOS_SMP || __DOXYGEN__

106
components/freertos/esp_additions/private_include/freertos_tasks_c_additions.h
View File

@ -237,3 +237,109 @@ const DRAM_ATTR uint8_t FreeRTOS_openocd_params[ESP_FREERTOS_DEBUG_TABLE_END] =
};
#endif // configENABLE_FREERTOS_DEBUG_OCDAWARE == 1
/* -------------------------------------------- FreeRTOS IDF API Additions ---------------------------------------------
* FreeRTOS related API that were added by IDF
* ------------------------------------------------------------------------------------------------------------------ */
#if CONFIG_FREERTOS_SMP
BaseType_t xTaskCreatePinnedToCore( TaskFunction_t pxTaskCode,
const char * const pcName,
const uint32_t usStackDepth,
void * const pvParameters,
UBaseType_t uxPriority,
TaskHandle_t * const pxCreatedTask,
const BaseType_t xCoreID)
{
BaseType_t ret;
#if ( ( configUSE_CORE_AFFINITY == 1 ) && ( configNUM_CORES > 1 ) )
{
// Convert xCoreID into an affinity mask
UBaseType_t uxCoreAffinityMask;
if (xCoreID == tskNO_AFFINITY) {
uxCoreAffinityMask = tskNO_AFFINITY;
} else {
uxCoreAffinityMask = (1 << xCoreID);
}
ret = xTaskCreateAffinitySet(pxTaskCode, pcName, usStackDepth, pvParameters, uxPriority, uxCoreAffinityMask, pxCreatedTask);
}
#else /* ( ( configUSE_CORE_AFFINITY == 1 ) && ( configNUM_CORES > 1 ) ) */
{
ret = xTaskCreate(pxTaskCode, pcName, usStackDepth, pvParameters, uxPriority, pxCreatedTask);
}
#endif /* ( ( configUSE_CORE_AFFINITY == 1 ) && ( configNUM_CORES > 1 ) ) */
return ret;
}
#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)
{
TaskHandle_t ret;
#if ( ( configUSE_CORE_AFFINITY == 1 ) && ( configNUM_CORES > 1 ) )
{
// Convert xCoreID into an affinity mask
UBaseType_t uxCoreAffinityMask;
if (xCoreID == tskNO_AFFINITY) {
uxCoreAffinityMask = tskNO_AFFINITY;
} else {
uxCoreAffinityMask = (1 << xCoreID);
}
ret = xTaskCreateStaticAffinitySet(pxTaskCode, pcName, ulStackDepth, pvParameters, uxPriority, puxStackBuffer, pxTaskBuffer, uxCoreAffinityMask);
}
#else /* ( ( configUSE_CORE_AFFINITY == 1 ) && ( configNUM_CORES > 1 ) ) */
{
ret = xTaskCreateStatic(pxTaskCode, pcName, ulStackDepth, pvParameters, uxPriority, puxStackBuffer, pxTaskBuffer);
}
#endif /* ( ( configUSE_CORE_AFFINITY == 1 ) && ( configNUM_CORES > 1 ) ) */
return ret;
}
#endif /* configSUPPORT_STATIC_ALLOCATION */
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;
}
TaskHandle_t xTaskGetIdleTaskHandleForCPU( BaseType_t xCoreID )
{
assert(xCoreID >= 0 && xCoreID < configNUM_CORES);
return (TaskHandle_t) xIdleTaskHandle[xCoreID];
}
BaseType_t xTaskGetAffinity( TaskHandle_t xTask )
{
taskENTER_CRITICAL();
UBaseType_t uxCoreAffinityMask;
#if ( configUSE_CORE_AFFINITY == 1 && configNUM_CORES > 1 )
TCB_t *pxTCB = prvGetTCBFromHandle( xTask );
uxCoreAffinityMask = pxTCB->uxCoreAffinityMask;
#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 (uxCoreAffinityMask & (uxCoreAffinityMask - 1)) { // If more than one bit set
ret = tskNO_AFFINITY;
} else {
int index_plus_one = __builtin_ffs(uxCoreAffinityMask);
assert(index_plus_one >= 1);
ret = index_plus_one - 1;
}
return ret;
}
#endif // CONFIG_FREERTOS_SMP