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https://github.com/espressif/esp-idf.git
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0db5d725ef
The vTaskPlaceOnEventListRestricted() did not use the correct macro when exiting a kernel cirtical section. This does not affect the HW targets but on the Linux port, this caused an issue as the critical nesting count became negative, leading to deadlocks. This commit fixes the bug and updates the linux port to prevent the nesting count from going negative.
579 lines
16 KiB
C
579 lines
16 KiB
C
/*
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* FreeRTOS Kernel V10.5.1 (ESP-IDF SMP modified)
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* Copyright (C) 2020 Cambridge Consultants Ltd.
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*
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* SPDX-FileCopyrightText: 2020 Cambridge Consultants Ltd
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*
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* SPDX-License-Identifier: MIT
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*
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* SPDX-FileContributor: 2023-2024 Espressif Systems (Shanghai) CO LTD
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy of
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* this software and associated documentation files (the "Software"), to deal in
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* the Software without restriction, including without limitation the rights to
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* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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* the Software, and to permit persons to whom the Software is furnished to do so,
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* subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in all
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* copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*
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* https://www.FreeRTOS.org
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* https://github.com/FreeRTOS
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*
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*/
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/*-----------------------------------------------------------
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* Implementation of functions defined in portable.h for the Posix port.
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*
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* Each task has a pthread which eases use of standard debuggers
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* (allowing backtraces of tasks etc). Threads for tasks that are not
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* running are blocked in sigwait().
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*
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* Task switch is done by resuming the thread for the next task by
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* signaling the condition variable and then waiting on a condition variable
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* with the current thread.
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*
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* The timer interrupt uses SIGALRM and care is taken to ensure that
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* the signal handler runs only on the thread for the current task.
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*
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* Use of part of the standard C library requires care as some
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* functions can take pthread mutexes internally which can result in
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* deadlocks as the FreeRTOS kernel can switch tasks while they're
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* holding a pthread mutex.
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*
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* stdio (printf() and friends) should be called from a single task
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* only or serialized with a FreeRTOS primitive such as a binary
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* semaphore or mutex.
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*----------------------------------------------------------*/
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#include <errno.h>
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#include <pthread.h>
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#include <signal.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <sys/time.h>
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#include <sys/times.h>
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#include <time.h>
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/* Scheduler includes. */
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#include "FreeRTOS.h"
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#include "task.h"
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#include "timers.h"
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#include "utils/wait_for_event.h"
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/*-----------------------------------------------------------*/
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#define SIG_RESUME SIGUSR1
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typedef struct THREAD
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{
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pthread_t pthread;
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TaskFunction_t pxCode;
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void *pvParams;
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BaseType_t xDying;
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struct event *ev;
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} Thread_t;
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/*
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* The additional per-thread data is stored at the beginning of the
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* task's stack.
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*/
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static inline Thread_t *prvGetThreadFromTask(TaskHandle_t xTask)
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{
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StackType_t *pxTopOfStack = *(StackType_t **)xTask;
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return (Thread_t *)(pxTopOfStack + 1);
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}
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/*-----------------------------------------------------------*/
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static pthread_once_t hSigSetupThread = PTHREAD_ONCE_INIT;
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static sigset_t xAllSignals;
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static sigset_t xSchedulerOriginalSignalMask;
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static pthread_t hMainThread = ( pthread_t )NULL;
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static volatile BaseType_t uxCriticalNesting;
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/*-----------------------------------------------------------*/
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static BaseType_t xSchedulerEnd = pdFALSE;
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/*-----------------------------------------------------------*/
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static void prvSetupSignalsAndSchedulerPolicy( void );
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static void prvSetupTimerInterrupt( void );
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static void *prvWaitForStart( void * pvParams );
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static void prvSwitchThread( Thread_t * xThreadToResume,
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Thread_t *xThreadToSuspend );
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static void prvSuspendSelf( Thread_t * thread);
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static void prvResumeThread( Thread_t * xThreadId );
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static void vPortSystemTickHandler( int sig );
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static void vPortStartFirstTask( void );
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/*-----------------------------------------------------------*/
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static void prvFatalError( const char *pcCall, int iErrno )
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{
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fprintf( stderr, "%s: %s\n", pcCall, strerror( iErrno ) );
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abort();
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}
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/*
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* See header file for description.
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*/
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StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack,
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StackType_t *pxEndOfStack,
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TaskFunction_t pxCode,
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void *pvParameters )
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{
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Thread_t *thread;
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pthread_attr_t xThreadAttributes;
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size_t ulStackSize;
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int iRet;
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(void)pthread_once( &hSigSetupThread, prvSetupSignalsAndSchedulerPolicy );
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/*
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* Store the additional thread data at the start of the stack.
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*/
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thread = (Thread_t *)(pxTopOfStack + 1) - 1;
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pxTopOfStack = (StackType_t *)thread - 1;
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ulStackSize = (pxTopOfStack + 1 - pxEndOfStack) * sizeof(*pxTopOfStack);
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thread->pxCode = pxCode;
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thread->pvParams = pvParameters;
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thread->xDying = pdFALSE;
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pthread_attr_init( &xThreadAttributes );
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pthread_attr_setstack( &xThreadAttributes, pxEndOfStack, ulStackSize );
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thread->ev = event_create();
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vPortEnterCritical();
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iRet = pthread_create( &thread->pthread, &xThreadAttributes,
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prvWaitForStart, thread );
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if ( iRet )
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{
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prvFatalError( "pthread_create", iRet );
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}
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vPortExitCritical();
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return pxTopOfStack;
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}
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/*-----------------------------------------------------------*/
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void vPortStartFirstTask( void )
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{
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Thread_t *pxFirstThread = prvGetThreadFromTask( xTaskGetCurrentTaskHandle() );
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/* Start the first task. */
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prvResumeThread( pxFirstThread );
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}
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/*-----------------------------------------------------------*/
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/*
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* See header file for description.
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*/
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BaseType_t xPortStartScheduler( void )
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{
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int iSignal;
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sigset_t xSignals;
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hMainThread = pthread_self();
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/* Start the timer that generates the tick ISR(SIGALRM).
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Interrupts are disabled here already. */
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prvSetupTimerInterrupt();
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/* Start the first task. */
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vPortStartFirstTask();
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/* Wait until signaled by vPortEndScheduler(). */
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sigemptyset( &xSignals );
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sigaddset( &xSignals, SIG_RESUME );
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while ( !xSchedulerEnd )
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{
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sigwait( &xSignals, &iSignal );
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}
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/* Cancel the Idle task and free its resources */
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#if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
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vPortCancelThread( xTaskGetIdleTaskHandle() );
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#endif
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#if ( configUSE_TIMERS == 1 )
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/* Cancel the Timer task and free its resources */
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vPortCancelThread( xTimerGetTimerDaemonTaskHandle() );
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#endif /* configUSE_TIMERS */
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/* Restore original signal mask. */
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(void)pthread_sigmask( SIG_SETMASK, &xSchedulerOriginalSignalMask, NULL );
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return 0;
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}
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/*-----------------------------------------------------------*/
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void vPortEndScheduler( void )
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{
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struct itimerval itimer;
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struct sigaction sigtick;
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Thread_t *xCurrentThread;
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/* Stop the timer and ignore any pending SIGALRMs that would end
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* up running on the main thread when it is resumed. */
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itimer.it_value.tv_sec = 0;
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itimer.it_value.tv_usec = 0;
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itimer.it_interval.tv_sec = 0;
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itimer.it_interval.tv_usec = 0;
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(void)setitimer( ITIMER_REAL, &itimer, NULL );
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sigtick.sa_flags = 0;
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sigtick.sa_handler = SIG_IGN;
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sigemptyset( &sigtick.sa_mask );
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sigaction( SIGALRM, &sigtick, NULL );
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/* Signal the scheduler to exit its loop. */
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xSchedulerEnd = pdTRUE;
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(void)pthread_kill( hMainThread, SIG_RESUME );
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xCurrentThread = prvGetThreadFromTask( xTaskGetCurrentTaskHandle() );
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prvSuspendSelf(xCurrentThread);
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}
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/*-----------------------------------------------------------*/
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void vPortEnterCritical( void )
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{
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if ( uxCriticalNesting == 0 )
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{
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vPortDisableInterrupts();
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}
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uxCriticalNesting++;
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}
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/*-----------------------------------------------------------*/
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void vPortExitCritical( void )
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{
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if ( uxCriticalNesting > 0 )
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{
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uxCriticalNesting--;
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}
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/* Critical section nesting count must always be >= 0. */
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configASSERT( uxCriticalNesting >= 0 );
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/* If we have reached 0 then re-enable the interrupts. */
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if( uxCriticalNesting == 0 )
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{
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vPortEnableInterrupts();
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}
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}
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/*-----------------------------------------------------------*/
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void vPortYieldFromISR( void )
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{
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Thread_t *xThreadToSuspend;
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Thread_t *xThreadToResume;
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xThreadToSuspend = prvGetThreadFromTask( xTaskGetCurrentTaskHandle() );
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vTaskSwitchContext();
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xThreadToResume = prvGetThreadFromTask( xTaskGetCurrentTaskHandle() );
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prvSwitchThread( xThreadToResume, xThreadToSuspend );
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}
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/*-----------------------------------------------------------*/
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void vPortYield( void )
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{
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vPortEnterCritical();
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vPortYieldFromISR();
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vPortExitCritical();
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}
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/*-----------------------------------------------------------*/
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void vPortDisableInterrupts( void )
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{
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pthread_sigmask( SIG_BLOCK, &xAllSignals, NULL );
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}
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/*-----------------------------------------------------------*/
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void vPortEnableInterrupts( void )
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{
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pthread_sigmask( SIG_UNBLOCK, &xAllSignals, NULL );
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}
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/*-----------------------------------------------------------*/
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BaseType_t xPortSetInterruptMask( void )
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{
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/* Interrupts are always disabled inside ISRs (signals
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handlers). */
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return pdTRUE;
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}
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/*-----------------------------------------------------------*/
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void vPortClearInterruptMask( BaseType_t xMask )
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{
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}
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/*-----------------------------------------------------------*/
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static uint64_t prvGetTimeNs(void)
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{
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struct timespec t;
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clock_gettime(CLOCK_MONOTONIC, &t);
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return t.tv_sec * 1000000000ull + t.tv_nsec;
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}
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static uint64_t prvStartTimeNs;
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/* commented as part of the code below in vPortSystemTickHandler,
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* to adjust timing according to full demo requirements */
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/* static uint64_t prvTickCount; */
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/*
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* Setup the systick timer to generate the tick interrupts at the required
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* frequency.
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*/
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void prvSetupTimerInterrupt( void )
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{
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struct itimerval itimer;
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int iRet;
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/* Initialise the structure with the current timer information. */
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iRet = getitimer( ITIMER_REAL, &itimer );
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if ( iRet )
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{
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prvFatalError( "getitimer", errno );
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}
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/* Set the interval between timer events. */
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itimer.it_interval.tv_sec = 0;
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itimer.it_interval.tv_usec = portTICK_RATE_MICROSECONDS;
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/* Set the current count-down. */
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itimer.it_value.tv_sec = 0;
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itimer.it_value.tv_usec = portTICK_RATE_MICROSECONDS;
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/* Set-up the timer interrupt. */
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iRet = setitimer( ITIMER_REAL, &itimer, NULL );
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if ( iRet )
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{
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prvFatalError( "setitimer", errno );
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}
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prvStartTimeNs = prvGetTimeNs();
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}
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/*-----------------------------------------------------------*/
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static void vPortSystemTickHandler( int sig )
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{
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Thread_t *pxThreadToSuspend;
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Thread_t *pxThreadToResume;
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/* uint64_t xExpectedTicks; */
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uxCriticalNesting++; /* Signals are blocked in this signal handler. */
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#if ( configUSE_PREEMPTION == 1 )
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pxThreadToSuspend = prvGetThreadFromTask( xTaskGetCurrentTaskHandle() );
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#endif
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/* Tick Increment, accounting for any lost signals or drift in
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* the timer. */
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/*
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* Comment code to adjust timing according to full demo requirements
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* xExpectedTicks = (prvGetTimeNs() - prvStartTimeNs)
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* / (portTICK_RATE_MICROSECONDS * 1000);
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* do { */
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xTaskIncrementTick();
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/* prvTickCount++;
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* } while (prvTickCount < xExpectedTicks);
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*/
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#if ( configUSE_PREEMPTION == 1 )
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/* Select Next Task. */
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vTaskSwitchContext();
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pxThreadToResume = prvGetThreadFromTask( xTaskGetCurrentTaskHandle() );
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prvSwitchThread(pxThreadToResume, pxThreadToSuspend);
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#endif
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uxCriticalNesting--;
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}
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/*-----------------------------------------------------------*/
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void vPortThreadDying( void *pxTaskToDelete, volatile BaseType_t *pxPendYield )
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{
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Thread_t *pxThread = prvGetThreadFromTask( pxTaskToDelete );
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pxThread->xDying = pdTRUE;
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}
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void vPortCancelThread( void *pxTaskToDelete )
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{
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Thread_t *pxThreadToCancel = prvGetThreadFromTask( pxTaskToDelete );
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/*
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* The thread has already been suspended so it can be safely cancelled.
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*/
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pthread_cancel( pxThreadToCancel->pthread );
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pthread_join( pxThreadToCancel->pthread, NULL );
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event_delete( pxThreadToCancel->ev );
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}
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/*-----------------------------------------------------------*/
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static void *prvWaitForStart( void * pvParams )
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{
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Thread_t *pxThread = pvParams;
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prvSuspendSelf(pxThread);
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/* Resumed for the first time, unblocks all signals. */
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uxCriticalNesting = 0;
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vPortEnableInterrupts();
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/* Call the task's entry point. */
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pxThread->pxCode( pxThread->pvParams );
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/* A function that implements a task must not exit or attempt to return to
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* its caller as there is nothing to return to. If a task wants to exit it
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* should instead call vTaskDelete( NULL ). Artificially force an assert()
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* to be triggered if configASSERT() is defined, so application writers can
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* catch the error. */
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configASSERT( pdFALSE );
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return NULL;
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}
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/*-----------------------------------------------------------*/
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static void prvSwitchThread( Thread_t *pxThreadToResume,
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Thread_t *pxThreadToSuspend )
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{
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BaseType_t uxSavedCriticalNesting;
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if ( pxThreadToSuspend != pxThreadToResume )
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{
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/*
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* Switch tasks.
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*
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* The critical section nesting is per-task, so save it on the
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* stack of the current (suspending thread), restoring it when
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* we switch back to this task.
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*/
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uxSavedCriticalNesting = uxCriticalNesting;
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prvResumeThread( pxThreadToResume );
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if ( pxThreadToSuspend->xDying )
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{
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pthread_exit( NULL );
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}
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prvSuspendSelf( pxThreadToSuspend );
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uxCriticalNesting = uxSavedCriticalNesting;
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}
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}
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/*-----------------------------------------------------------*/
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static void prvSuspendSelf( Thread_t *thread )
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{
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/*
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* Suspend this thread by waiting for a pthread_cond_signal event.
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*
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* A suspended thread must not handle signals (interrupts) so
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* all signals must be blocked by calling this from:
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*
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* - Inside a critical section (vPortEnterCritical() /
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* vPortExitCritical()).
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*
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* - From a signal handler that has all signals masked.
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*
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* - A thread with all signals blocked with pthread_sigmask().
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*/
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event_wait(thread->ev);
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}
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/*-----------------------------------------------------------*/
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static void prvResumeThread( Thread_t *xThreadId )
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{
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if ( pthread_self() != xThreadId->pthread )
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{
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event_signal(xThreadId->ev);
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}
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}
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/*-----------------------------------------------------------*/
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static void prvSetupSignalsAndSchedulerPolicy( void )
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{
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struct sigaction sigresume, sigtick;
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int iRet;
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hMainThread = pthread_self();
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/* Initialise common signal masks. */
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sigfillset( &xAllSignals );
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/* Don't block SIGINT so this can be used to break into GDB while
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* in a critical section. */
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sigdelset( &xAllSignals, SIGINT );
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/*
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* Block all signals in this thread so all new threads
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* inherits this mask.
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*
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* When a thread is resumed for the first time, all signals
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* will be unblocked.
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*/
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(void)pthread_sigmask( SIG_SETMASK, &xAllSignals,
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&xSchedulerOriginalSignalMask );
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/* SIG_RESUME is only used with sigwait() so doesn't need a
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handler. */
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sigresume.sa_flags = 0;
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sigresume.sa_handler = SIG_IGN;
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sigfillset( &sigresume.sa_mask );
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|
|
sigtick.sa_flags = 0;
|
|
sigtick.sa_handler = vPortSystemTickHandler;
|
|
sigfillset( &sigtick.sa_mask );
|
|
|
|
iRet = sigaction( SIG_RESUME, &sigresume, NULL );
|
|
if ( iRet )
|
|
{
|
|
prvFatalError( "sigaction", errno );
|
|
}
|
|
|
|
iRet = sigaction( SIGALRM, &sigtick, NULL );
|
|
if ( iRet )
|
|
{
|
|
prvFatalError( "sigaction", errno );
|
|
}
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
unsigned long ulPortGetRunTime( void )
|
|
{
|
|
struct tms xTimes;
|
|
|
|
times( &xTimes );
|
|
|
|
return ( unsigned long ) xTimes.tms_utime;
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
void vPortSetStackWatchpoint( void *pxStackStart )
|
|
{
|
|
(void) pxStackStart;
|
|
}
|
|
/*-----------------------------------------------------------*/
|