Commit Graph

169 Commits

Author SHA1 Message Date
Sudeep Mohanty
4e51c6b049 feat(freertos): Added changes for multi-core RISC-V port for FreeRTOS
This commit updates the FreeRTOS port layer for multi-core RISC-V targets.
2023-08-22 15:35:15 +08:00
Darian Leung
1620d97299 change(freertos): Optimized xTaskRemoveFromEventList()
This commit optimizes xTaskRemoveFromEventList() by removing the
listLIST_IS_EMPTY() check from single core builds. The scenario of the event
list being empty when the function is called can only occur on multi-core
builds.
2023-08-09 16:43:52 +08:00
Darian Leung
5947314431 fix(freertos): Fix vTaskRemoveFromUnorderedEventList()
This commit fixes and optimizes vTaskRemoveFromUnorderedEventList() in the
following ways:

- Fixed bug in single core builds where the unblocked task would be placed on
xPendingReadyList.
    - If an ISR occurs while accessing xPendingReadyList, and the ISR also
      accesses the xPendingReadyList, xPendingReadyList would be corrupted.
    - In single core builds, this function is only called from event groups with
      the scheduler suspended. Thus the function should have exclusive access to
      pxReadyTasksLists instead of xPendingReadyList.
    - The function's single core logic has now been updated to match upstream
      behavior, by always placing the unblocked task on pxReadyTasksLists.

- Optimized the function for single core builds by removing the
taskCAN_BE_SCHEDULED() check.
    - In single core builds, given that the function is always called with the
      scheduler suspended
    - Thus, the taskCAN_BE_SCHEDULED (and the subsequent routine to place the
      unblocked task on the xPendingReadyList) is not necessary for single core
      builds.
    - The function now matches upstream behavior in single core builds.

Closes https://github.com/espressif/esp-idf/issues/11883
2023-08-09 16:43:52 +08:00
Darian Leung
fdcab76128 fix(freertos): taskCAN_BE_SCHEDULED macro parenthesis
This commit adds missing parenthesis around the taskCAN_BE_SCHEDULED macro so
that it can properly used with a negation operator.
2023-08-09 15:54:14 +08:00
Darian Leung
6fc935e584 refactor(freertos): Refactor usage of portBASE_TYPE to BaseType_t
portBASE_TYPE is an internal macro defined by the porting layer. This commit
changes all references to BaseType_t which is the official type exposed by
FreeRTOS.
2023-07-31 17:10:34 +02:00
Darian Leung
1e51387222 refactor(freertos): Refactor usage of portSTACK_TYPE to StackType_t
portSTACK_TYPE is an internal macro defined by the porting layer. This commit
changes all references to StackType_t which is the official type exposed by
FreeRTOS.
2023-07-31 16:59:41 +02:00
Armando
fd096c012d change(vector.S): port hw stack guard change to p4 2023-07-25 05:59:10 +00:00
Armando
5986e63c47 change(riscv): added fence after CLIC_INT_THRESH_REG is set 2023-07-25 05:59:10 +00:00
Armando
48ee1ba36e feat(freertos): base support on p4 2023-07-25 05:59:10 +00:00
Alexey Lapshin
4df3ff619e feat(esp_system): implement hw stack guard for riscv chips
- add hardware stack guard based on assist-debug module
- enable hardware stack guard by default
- disable hardware stack guard for freertos ci.release test
- refactor rtos_int_enter/rtos_int_exit to change SP register inside them
- fix panic_reason.h header for RISC-V
- update docs to include information about the new feature
2023-07-01 16:27:40 +00:00
Zim Kalinowski
54576b7528 Merge branch 'bugfix/freertos_fix_unordered_event_list' into 'master'
freertos: Updated vTaskRemoveFromUnorderedEventList() to consider scheduler state before adding task to ready list

Closes IDF-5785

See merge request espressif/esp-idf!23482
2023-05-10 01:48:47 +08:00
Sudeep Mohanty
abe5311a22 freertos: Updated vTaskRemoveFromUnorderedEventList() to consider scheduler state before adding task to ready list
vTaskRemoveFromUnorderedEventList() runs under the assumption that the
scheduler is suspended during the call. However, for IDF FreeRTOS, this
is not true. When dual-core system is active, this API call is made in
a critical section but without suspending the scheduler. This commit
updates the vTaskRemoveFromUnorderedEventList() function to now consider
the scheduler state on either cores before adding a task to the ready list.
2023-05-09 10:47:24 +02:00
Sudeep Mohanty
1acd2b5ce7 freertos-idf: Fixed incorrect scheduler suspension check in xTaskRemoveFromEventList()
This commit fixes a bug in xTaskRemoveFromEvenetList() where in the
check for scheduler suspension did not account for nested suspensions.
Additionally, this commit updates all checks for scheduler
suspension to follow a uniform way.
2023-05-09 10:28:02 +02:00
Darian Leung
cf595293af freertos: Move port_systick to common directory
This commit moves port_systick to a directory that ia accessible to both
IDF FreeRTOS and Amazon SMP FreeRTOS.
2023-04-28 23:03:00 +08:00
Jakob Hasse
550ecbe37a feat(freertos): added POSIX/Linux simulator port to FreeRTOS SMP
* Added a POSIX/Linux simulator that is compatible with the Amazon
  FreeRTOS SMP API. Note that the simulator itself is still
  single core, like the IDF FreeRTOS POSIX/Linux simulator.
2023-04-25 13:58:57 +08:00
Darian Leung
b2c074bb70 xtensa: Move Xtensa RTOS porting layer files to xtensa component
When porting an RTOS to the Xtensa architecture, there are a few files that
are common to all Xtensa RTOS ports. These files form the Xtensa RTOS porting
layer (e.g., "xtensa_vectors.S", "xtensa_context.S"). An Xtensa RTOS port is
expected to provide an RTOS specific "xtensa_rtos.h" header to interface with
the Xtensa RTOS porting layer.

Previously, the Xtensa RTOS porting layer files were placed in the FreeRTOS
component. This commit does the following:

1. Moves the Xtensa RTOS porting layer files from the `freertos` component to
the `xtensa` component. The following files were moved:

    - xtensa_asm_utils.h
    - xtensa_context.S
    - xtensa_loadstore_handler.S
    - xtensa_vectors.S

2. Refactored xtensa component include paths to separate Xtensa RTOS porting
layer headers.

- Xtensa HAL headers included via `#include <xtensa/...h>`
- Xtensa RTOS porting layer headers included via `#include <...h>`

Note: The xtensa files in the Amazon SMP FreeRTOS port are not moved/deleted in
this commit to ensure the moved files retain a clean diff history.
2023-04-18 15:28:05 +08:00
Darian Leung
478e041ce5 freertos: Add GetStaticBuffer functions
This commit adds the various ...GetStaticBuffer() functions from upstream
FreeRTOS. See https://github.com/FreeRTOS/FreeRTOS-Kernel/pull/641 for more
details.
2023-04-12 11:45:06 +08:00
Darian Leung
6895e92fd2 freertos: Combine Amazon SMP FreeRTOS and IDF FreeRTOS config files
This commit merges the "FreeRTOSConfig_smp.h" file into the "FreeRTOSConfig.h".
The configurations for all FreeRTOS implementations are now stored in a single
file.
2023-03-22 16:32:29 +08:00
Darian Leung
05bda6595d freertos: Move FreeRTOSConfig_arch.h
This commit moves the FreeRTOSConfig_arc.h to the "esp_additions" directory
so that they can also be used for SMP FreeRTOS builds.
2023-03-22 16:32:29 +08:00
Sudeep Mohanty
9b81e2b189 freertos: Schedule tasks unblocked by an ISR on a core with scheduler running if core affinity matches
FromISR APIs would put an unblocked task on the pending ready list if
the scheduler is suspended on the current core, irrespective of the
task's core affinity and the state of the scheduler on the other core.
This commit updates this behavior by allowing tasks to get scheduled on
a core which has the scheduler running as long as the task's core
affinity allows it.
2023-03-15 07:43:33 +00:00
Darian
a8948eb130 Merge branch 'refactor/xtensa_default_vectors' into 'master'
Xtensa: Move default vectors back into xtensa_vectors.S

Closes IDF-7022

See merge request espressif/esp-idf!20512
2023-03-11 01:00:48 +08:00
Darian Leung
29ec3fbacf xtensa: Move default vectors back into xtensa_vectors.S
The default implementation of some xtensa vectors were previously moved to
"xtensa_vector_defaults.S" as weak functions so that they could be overriden.

This commit moves these default vectors back into "xtensa_vectors.S" in
preparation for further refactoring of the xtensa component.
2023-03-10 13:59:01 +08:00
Darian
77ca79a5e9 Merge branch 'refactor/freertos_check_scheduler_suspend_asserts' into 'master'
FreeRTOS(IDF): Refactor configASSERTs for scheduler suspension

Closes IDF-5889

See merge request espressif/esp-idf!22576
2023-03-09 20:19:57 +08:00
Darian Leung
353b25410a freertos: Refactor configASSERTs for scheduler suspension
This commit adds a common macro for the differing configASSERT() calls that
check if the scheduler is suspended outside a critical section. This macro
allows vanilla behavior to be restored for single core builds. Also added
comments explaining why xTaskGetSchedulerState() is called instead when
building for SMP.
2023-03-07 18:12:15 +08:00
Darian Leung
e21ab0332b freertos(IDF): Refactor port heap functions
Vanilla FreeRTOS expects applications to use one of the heap implementations
provided by FreeRTOS (i.e., heap_x.c), where functions such as pvPortMalloc()
and vPortFree() are defined in the heap implementation.

However, ESP-IDF already provides its own heap implementation
(i.e., esp_heap_caps.h). Thus, the pvPortMallc()/vPortFree() functions were
previously overriden by macro to call esp_heap functions directly.

This commit refactors the FreeRTOS port's heap as such:

- Added a heap_idf.c that implements all of the heap related functions required
  by FreeRTOS source
- All dynamic memory allocated by FreeRTOS is from internal memory. Thus, the
  FreeRTOS heap is the internal memory subset of the ESP-IDF heap.
- Removed some old macros to reduce diff from upstream source code.
2023-03-06 16:00:29 +08:00
Alexey Lapshin
d1214aef8c freertos: riscv: fix vPortTaskWrapper for clang 2023-02-20 13:09:42 +08:00
Jakob Hasse
9991862a10 fix(linux): fix build errors and warnings, remove ignore file 2023-01-18 09:24:28 +08:00
morris
f7c3d791a2 Merge branch 'feature/systimer_support_esp32h2' into 'master'
systimer: assign counter and alarm in esp_hw_support

Closes IDF-6484, IDF-5323, and IDF-6230

See merge request espressif/esp-idf!21984
2023-01-12 11:01:17 +08:00
morris
6c1d98d556 systimer: assign counter and alarm in esp_hw_support 2023-01-10 17:05:49 +08:00
Jakob Hasse
83afda922b style(freertos/linux): improved docs and coding style 2022-12-29 12:05:15 +08:00
Darian Leung
92bbf85350 freertos: Fix clang-tidy warning on pxPortInitialiseStack() 2022-12-23 15:29:17 +08:00
Darian Leung
45badf864f freertos(IDF): Allow cross-core freeing of task memory when deleting tasks
Previously, IDF FreeRTOS would restrict the clean up of task memory (done by
vTaskDelete() or the Idle task) to only tasks pinned to the current core or
unpinned tasks. This was due to the need to clear the task's coprocessor
ownership on the other core (i.e., "_xt_coproc_owner_sa"). But this restriction
can be lifted by simply protecting access of "_xt_coproc_owner_sa" with a
spinlock.

This commit implements a "_xt_coproc_owner_sa_lock" to protect the access of
"_xt_coproc_owner_sa", thus vTaskDelete() and prvDeleteTCB() can now delete
tasks pinned to the other core so long as that task is not currently running.

Note: This fix was copied from the Xtensa port of Amazon SMP FreeRTOS
2022-12-23 15:29:17 +08:00
Darian Leung
c318c89453 freertos(IDF): Remove dependency on portUSING_MPU_WRAPPERS
This commit removes the dependency on portUSING_MPU_WRAPPERS on the Xtensa port
of IDF FreeRTOS. This dependency was added due to a hack implemented in the
upstream port that required the usage of the "xMPUSettings" member of the TCB.
The "xMPUSettings" would be used as a pointer to the task's coprocessor save
area on the stack, even though FreeRTOS MPU support was not available.

The hack has now been removed, and the CPSA pointer is now calculated using
a combination of constant offsets values and the pxEndOfStack member of the
TCB.

Note: This impelemtation was copied from the Xtensa port of Amazon SMP FreeRTOS.
2022-12-23 15:29:17 +08:00
Darian Leung
486cc33fb3 freertos: Refactor port common functions
This commit refactors port_common.c so that it only contains implementation of
FreeRTOS port functions that are common to all FreeRTOS ports (i.e., on all
architectures and on all FreeRTOS implementations).
2022-12-08 01:57:30 +08:00
Darian Leung
09690906e7 freertos: Refactor OS startup functions
This commit refactors the OS startup functions as follows:

- Moved the OS/app startup functions listed below to "app_startup.c". Their
    implementations are now common to all ports (RISC-V and Xtensa) of all
    FreeRTOS implementations (IDF and Amazon SMP).
    - esp_startup_start_app()
    - esp_startup_start_app_other_cores()
- Removed esp_startup_start_app_common() as app startup functions are now
    already common to all ports.
- Added extra logs to "main_task" to help with user debugging

Note: Increased startup delay on "unity_task". The "unity_run_menu()" is non
blocking, thus if the main task or other startup tasks have not been freed
by the time "unity_run_menu()" is run, those tasks will be freed the next time
"unity_task" blocks. This could cause some tests to have a memory leak, thus
the "unity_task" startup delay has increased.
2022-12-08 01:57:30 +08:00
Marius Vikhammer
ea249dc3a6 freertos: add missing header include for esp_chip_info.h to port.c
Closes https://github.com/espressif/esp-idf/issues/10310
2022-12-06 11:31:15 +08:00
Darian
1e953e31fc Merge branch 'feature/freertos_restore_single_core_task_selection_algorithm' into 'master'
FreeRTOS(IDF): Restore vanilla task selection algorithm if building for single core with optimized selection is disabled

See merge request espressif/esp-idf!21001
2022-11-29 14:04:44 +08:00
Darian
297670300d Merge branch 'contrib/github_pr_10199' into 'master'
Removed the 'configASSERT( xInheritanceOccurred == pdFALSE )' assertion from xQueueSemaphoreTake (GitHub PR)

Closes IDFGH-8766

See merge request espressif/esp-idf!21272
2022-11-28 19:37:41 +08:00
Darian Leung
dff138f883 freertos(IDF): Restore vanilla task selection algorithm for single core
This commit restores the vanilla behavior for taskSELECT_HIGHEST_PRIORITY_TASK
when configNUM_CORES == 1 && configUSE_PORT_OPTIMISED_TASK_SELECTION == 0. This
results in the SMP selection algorithm (taskSelectHighestPriorityTaskSMP) to
only be run when configNUM_CORES > 1.
2022-11-28 13:55:03 +08:00
Darian Leung
2537dd8eca freertos(IDF): Add preprocessor check for configNUM_CORES configuration
This commit adds preprocessing time checks to ensure that

- configNUM_CORES is defined to 1 or 2
- Incompatible configurations are not set depending on configNUM_CORES
2022-11-28 13:55:03 +08:00
Alexey Gerenkov
47c2c13de5 build: Adds support for universal Clang toolchain 2022-11-23 13:25:16 +03:00
Darian
74ed2aa2ee Merge branch 'feature/freertos_10.4.3_sync_critical_sections_vs_suspension' into 'master'
FreeRTOS(IDF): Resolve critical section (multi-core) vs scheduler suspension (single-core)

Closes IDF-3755

See merge request espressif/esp-idf!21002
2022-11-21 18:38:43 +08:00
Omar Chebib
6fe563163c RISC-V: fix PC not saved when using backtrace 2022-11-18 15:07:38 +08:00
Omar Chebib
d580f6b076 RISC-V: Create a wrapper around FreeRTOS Tasks to detect the ones returning 2022-11-18 15:07:32 +08:00
timoxd7
355abfdff6
Queue Send fix
Fixes rare deadlock on heavy loaded multicore-systems.
2022-11-17 20:20:29 +01:00
Jakob Hasse
c381fee319 Merge branch 'feature/esp_system_linux' into 'master'
esp_system partially buildable on Linux

Closes IDF-5983

See merge request espressif/esp-idf!21055
2022-11-16 22:38:48 +08:00
Jakob Hasse
5b3a645813 feat(esp_system): Partially buildable on Linux now 2022-11-16 09:03:09 +01:00
Darian Leung
8b98e4e3b8 freertos(IDF): Restore vanilla call behavior on xTaskIncrementTick() and vTaskSwitchContext()
Due to SMP, critical sections have been added to xTaskIncrementTick() and
vTaskSwitchContext() (to take the xKernelLock). However, this is technically
not necessary when building for single-core as FreeRTOS expect these funcitons
to be called with interrupts already disabled.

This commit makes the critical secitons in those functions depend on
"configNUM_CORES > 1", and ensures that interrupts are disabled when calling
those functions. This effectively restores the vanilla behavior for these
functions when building for single-core.
2022-11-16 15:50:21 +08:00
Darian Leung
087e4318a6 freertos(IDF): Use common macros for SMP specific critical sections
In IDF FreeRTOS, when building for SMP, there are numerous functions
which require different critical sections when compared to single-core. This
commit encapsulates those difference into a common set of macros whose
behavior depends on "configNUM_CORES > 1". As such...

- Vanilla behavior has been restored for some functions when building for
  single core (i.e., used to call taskENTER_CRITICAL, now disables interrupts
  mactching vanilla behavior).
- Reduces number of "#ifdef (configNUM_CORES > 1)" in functions
- Any SMP only critical sections are now wrapped by
  "#ifdef (configNUM_CORES > 1)" and properly documented via comments.
2022-11-16 15:50:21 +08:00
Sudeep Mohanty
ac99c0ad6b Merge branch 'feature/freertos_remove_untested_fn_feature' into 'master'
freertos: Removed CONFIG_FREERTOS_ASSERT_ON_UNTESTED_FUNCTION kconfig option

Closes IDF-5298

See merge request espressif/esp-idf!21000
2022-11-16 10:28:42 +08:00