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.
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.
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.
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.
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.
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.
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
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.
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).
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.
FreeRTOS(IDF): Restore vanilla task selection algorithm if building for single core with optimized selection is disabled
See merge request espressif/esp-idf!21001
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.
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
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.
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.
This commit updates how configTHREAD_LOCAL_STORAGE_DELETE_CALLBACKS is defined
by default it to 0 if not defined elsewhere. Dependent code now check for
"configTHREAD_LOCAL_STORAGE_DELETE_CALLBACKS == 1" instead.
This commit synchronize the cosmetic differences of IDF FreeRTOS to upstream
Vanilla v10.4.3. Comsetic differences include:
- Out of date doxygen API descriptions
- Misnamed parameters
- Missing examples
- Fixed/added missing @cond/@code directives
- Extra/missing comments/lines
- Code formatting (uncrustify)
Other changes:
- Some ESP_PLATFORM directives were also removed
- xTaskIncrementTickOtherCores() now depends on "configNUM_CORES > 1"
- Updated some multi-core dummy variable names in FreeRTOS.h
This commit removes the updates the usage of queue locks in IDF FreeRTOS
Queue locks are present in Vanilla FreeRTOS to ensure that queue functions
behave deterministicly in critical sections (i.e., no walking linked lists
while interrupts are disabled). However, currently in IDF FreeRTOS...
- When configNUM_CORES > 1, IDF FreeRTOS drops the determinism requirement.
Thus, queue functions could be simplified if queue locks were not used at all
(and have a queue function do everything inside the same critical section).
- When configNUM_CORES == 1, the current queue implementation in IDF FreeRTOS
does not meet the determinism requirements, as critical sections are used
(instead of scheduler suspension) when locking/unlocking the queues.
There, this commit updates multiple queue functions so that
- When configNUM_CORES > 1
- Queue locks are no longer used. All actions are done within the same
critical section.
- Affected queue functions now need 40% less CPU clock cycles when blocking
- When configNUM_CORES = 1
- Queue locks are still used.
- Vanilla behavior of suspending the scheduler is restored when locking
the queue. Thus queue fucntions are now deterministic and have the same
behavior as Vanilla FreeRTOS.
- Affected queue functions now takes 36% more CPU clock cycles when
blocking (due to the scheduler suspension/resumption).
The following changes have been made in this commit:
1. configMINIMAL_STACK_SIZE is now defined as CONFIG_FREERTOS_IDLE_TASK_STACKSIZE.
2. Removed configIDLE_TASK_STACK_SIZE config as it was redundant.
3. Updates the order of allocating the TCB and stack memory to avoid the
stack memory overriding the TCB memory when the stack grows downwards.
4. CONFIG_FREERTOS_IDLE_TASK_STACKSIZE is now incorporated into the
FreeRTOSConfig_smp.h to configure the IDLE0 stack size.
This commit adds a copy of upstream vanilla FreeRTOS uncrustify.cfg files from
the following upstream commit:
89e4823a49
Note: "pp_indent_brace" is commented out as that was enabled after v10.4.3
Also also added a note in the ESP-IDF style guide aobut formatting FreeRTOS
source code using Uncrustify.
This commit refactors the way stream buffers initialize their spinlock.
- "prvInitialiseNewStreamBuffer()" now initializes the stream buffer fields
manually (instead of using memset()) to avoid resetting the spin lock
- Stream buffer creation functions now manually initialize the spinlock after
the other fields are initialized using "prvInitialiseNewStreamBuffer()"
Also added comments to event group spinlock initializtion.
The llvm asm pasrser doesn't support some gnu asm extensions,
like using "&" with macro arguments. So, replace such code with
code which could be compiled by llvm.
This commit fixes a bug where if an unpinned task is interrupted by a level 1
ISR that users the FPU, the FPU usage will cause the interrupted task to
become pinned to the current core.
Note: This bug was already fixed in SMP FreeRTOS in commit
d69361779e. This commit simply backports the
fix to IDF FreeRTOS.
