mirror of
https://github.com/espressif/esp-idf.git
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446 lines
17 KiB
C
446 lines
17 KiB
C
/*
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* SPDX-FileCopyrightText: 2023-2024 Espressif Systems (Shanghai) CO LTD
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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/*
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* This file contains the implementation for some the functions in
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* idf_additions.h
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*/
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#include "sdkconfig.h"
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#include <stdint.h>
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "freertos/queue.h"
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#include "freertos/semphr.h"
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#include "freertos/stream_buffer.h"
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#include "freertos/message_buffer.h"
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#include "freertos/idf_additions.h"
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#include "esp_heap_caps.h"
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#include "esp_log.h"
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#include "freertos/portmacro.h"
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/* -------------------------------------------- Creation With Memory Caps ------------------------------------------- */
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/* ---------------------------------- Tasks --------------------------------- */
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#if ( configSUPPORT_STATIC_ALLOCATION == 1 )
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BaseType_t xTaskCreatePinnedToCoreWithCaps( TaskFunction_t pvTaskCode,
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const char * const pcName,
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const configSTACK_DEPTH_TYPE usStackDepth,
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void * const pvParameters,
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UBaseType_t uxPriority,
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TaskHandle_t * const pvCreatedTask,
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const BaseType_t xCoreID,
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UBaseType_t uxMemoryCaps )
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{
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TaskHandle_t xHandle;
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StaticTask_t * pxTaskBuffer;
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StackType_t * pxStack;
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/* Allocate memory for the task's TCB. We use pvPortMalloc() here as the
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* TCB must be in internal memory. */
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pxTaskBuffer = pvPortMalloc( sizeof( StaticTask_t ) );
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/* Allocate memory for the task's stack using the provided memory caps
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* */
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pxStack = heap_caps_malloc( usStackDepth, ( uint32_t ) uxMemoryCaps );
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if( ( pxTaskBuffer == NULL ) || ( pxStack == NULL ) )
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{
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goto err;
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}
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/* Create the task using static creation API*/
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xHandle = xTaskCreateStaticPinnedToCore( pvTaskCode, pcName, usStackDepth, pvParameters, uxPriority, pxStack, pxTaskBuffer, xCoreID );
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if( xHandle == NULL )
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{
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/* Failed to create task */
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goto err;
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}
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else if( pvCreatedTask != NULL )
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{
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/* Task created successfully. Return the task handle */
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*pvCreatedTask = xHandle;
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}
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return pdPASS;
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err:
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heap_caps_free( pxStack );
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vPortFree( pxTaskBuffer );
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return pdFAIL;
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}
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#endif /* if ( configSUPPORT_STATIC_ALLOCATION == 1 ) */
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/*----------------------------------------------------------*/
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#if ( configSUPPORT_STATIC_ALLOCATION == 1 )
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static void prvTaskDeleteWithCapsTask( void * pvParameters )
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{
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TaskHandle_t xTaskToDelete = ( TaskHandle_t ) pvParameters;
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/* The task to be deleted must not be running */
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configASSERT( eRunning != eTaskGetState( xTaskToDelete ) );
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/* Delete the WithCaps task */
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vTaskDeleteWithCaps( xTaskToDelete );
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/* Delete the temporary clean up task */
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vTaskDelete( NULL );
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}
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void vTaskDeleteWithCaps( TaskHandle_t xTaskToDelete )
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{
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/* THIS FUNCTION SHOULD NOT BE CALLED FROM AN INTERRUPT CONTEXT. */
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/*TODO: Update it to use portASSERT_IF_IN_ISR() instead. (IDF-10540) */
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vPortAssertIfInISR();
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TaskHandle_t xCurrentTaskHandle = xTaskGetCurrentTaskHandle();
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configASSERT( xCurrentTaskHandle != NULL );
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if( ( xTaskToDelete == NULL ) || ( xTaskToDelete == xCurrentTaskHandle ) )
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{
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/* The WithCaps task is deleting itself. While, the task can put itself on the
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* xTasksWaitingTermination list via the vTaskDelete() call, the idle
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* task will not free the task TCB and stack memories we created statically
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* during xTaskCreateWithCaps() or xTaskCreatePinnedToCoreWithCaps(). This
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* task will never be rescheduled once it is on the xTasksWaitingTermination
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* list and will not be able to clear the memories. Therefore, it will leak memory.
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*
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* To avoid this, we create a new "temporary clean up" task to delete the current task.
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* This task is created at the priority of the task to be deleted with the same core
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* affitinty. Its limited purpose is to delete the self-deleting task created WithCaps.
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*
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* This approach has the following problems -
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* 1. Once a WithCaps task deletes itself via vTaskDeleteWithCaps(), it may end up in the
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* suspended tasks lists for a short time before being deleted. This can give an incorrect
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* picture about the system state.
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*
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* 2. This approach is wasteful and can be error prone. The temporary clean up task will need
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* system resources to get scheduled and cleanup the WithCaps task. It can be a problem if the system
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* has several self-deleting WithCaps tasks.
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*
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* TODO: A better approach could be either -
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*
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* 1. Delegate memory management to the application/user. This way the kernel needn't bother about freeing
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* the memory (like other static memory task creation APIs like xTaskCreateStatic()) (IDF-10521)
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*
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* 2. Have a post deletion hook/callback from the IDLE task to notify higher layers when it is safe to
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* perform activities such as clearing up the TCB and stack memories. (IDF-10522) */
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if( xTaskCreatePinnedToCore( ( TaskFunction_t ) prvTaskDeleteWithCapsTask, "prvTaskDeleteWithCapsTask", configMINIMAL_STACK_SIZE, xCurrentTaskHandle, uxTaskPriorityGet( xTaskToDelete ), NULL, xPortGetCoreID() ) != pdFAIL )
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{
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/* Although the current task should get preemted immediately when prvTaskDeleteWithCapsTask is created,
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* for safety, we suspend the current task and wait for prvTaskDeleteWithCapsTask to delete it. */
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vTaskSuspend( xTaskToDelete );
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/* Should never reach here */
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ESP_LOGE( "freertos_additions", "%s: Failed to suspend the task to be deleted", __func__ );
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abort();
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}
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else
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{
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/* Failed to create the task to delete the current task. */
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ESP_LOGE( "freertos_additions", "%s: Failed to create the task to delete the current task", __func__ );
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abort();
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}
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}
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#if ( configNUM_CORES > 1 )
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else if( eRunning == eTaskGetState( xTaskToDelete ) )
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{
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/* The WithCaps task is running on another core.
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* We suspend the task first and then delete it. */
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vTaskSuspend( xTaskToDelete );
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/* Wait for the task to be suspended */
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while( eRunning == eTaskGetState( xTaskToDelete ) )
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{
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portYIELD_WITHIN_API();
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}
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// Return value unused if asserts are disabled
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BaseType_t __attribute__((unused)) xResult;
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StaticTask_t * pxTaskBuffer;
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StackType_t * puxStackBuffer;
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xResult = xTaskGetStaticBuffers( xTaskToDelete, &puxStackBuffer, &pxTaskBuffer );
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configASSERT( xResult == pdTRUE );
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configASSERT( puxStackBuffer != NULL );
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configASSERT( pxTaskBuffer != NULL );
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/* Delete the task */
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vTaskDelete( xTaskToDelete );
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/* Free the memory buffers */
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heap_caps_free( puxStackBuffer );
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vPortFree( pxTaskBuffer );
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}
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#endif /* if ( configNUM_CORES > 1 ) */
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else
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{
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/* The WithCaps task is not running and is being deleted
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* from another task's context. */
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configASSERT( eRunning != eTaskGetState( xTaskToDelete ) );
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// Return value unused if asserts are disabled
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BaseType_t __attribute__((unused)) xResult;
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StaticTask_t * pxTaskBuffer;
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StackType_t * puxStackBuffer;
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xResult = xTaskGetStaticBuffers( xTaskToDelete, &puxStackBuffer, &pxTaskBuffer );
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configASSERT( xResult == pdTRUE );
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configASSERT( puxStackBuffer != NULL );
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configASSERT( pxTaskBuffer != NULL );
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/* We can delete the task and free the memory buffers. */
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vTaskDelete( xTaskToDelete );
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/* Free the memory buffers */
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heap_caps_free( puxStackBuffer );
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vPortFree( pxTaskBuffer );
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} /* if( ( xTaskToDelete == NULL ) || ( xTaskToDelete == xCurrentTaskHandle ) ) */
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}
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#endif /* if ( configSUPPORT_STATIC_ALLOCATION == 1 ) */
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/*----------------------------------------------------------*/
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/* ---------------------------------- Queue --------------------------------- */
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#if ( configSUPPORT_STATIC_ALLOCATION == 1 )
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QueueHandle_t xQueueCreateWithCaps( UBaseType_t uxQueueLength,
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UBaseType_t uxItemSize,
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UBaseType_t uxMemoryCaps )
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{
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QueueHandle_t xQueue;
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StaticQueue_t * pxQueueBuffer;
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uint8_t * pucQueueStorageBuffer;
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/* Allocate memory for the queue using the provided memory caps */
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pxQueueBuffer = heap_caps_malloc( sizeof( StaticQueue_t ), ( uint32_t ) uxMemoryCaps );
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if( uxItemSize == 0 )
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{
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pucQueueStorageBuffer = NULL;
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}
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else
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{
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pucQueueStorageBuffer = heap_caps_malloc( uxQueueLength * uxItemSize, ( uint32_t ) uxMemoryCaps );
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}
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if( ( pxQueueBuffer == NULL ) || ( ( uxItemSize > 0 ) && ( pucQueueStorageBuffer == NULL ) ) )
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{
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goto err;
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}
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/* Create the queue using static creation API */
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xQueue = xQueueCreateStatic( uxQueueLength, uxItemSize, pucQueueStorageBuffer, pxQueueBuffer );
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if( xQueue == NULL )
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{
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goto err;
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}
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return xQueue;
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err:
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heap_caps_free( pucQueueStorageBuffer );
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heap_caps_free( pxQueueBuffer );
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return NULL;
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}
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#endif /* if ( configSUPPORT_STATIC_ALLOCATION == 1 ) */
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/*----------------------------------------------------------*/
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#if ( configSUPPORT_STATIC_ALLOCATION == 1 )
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void vQueueDeleteWithCaps( QueueHandle_t xQueue )
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{
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// Return value unused if asserts are disabled
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BaseType_t __attribute__((unused)) xResult;
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StaticQueue_t * pxQueueBuffer;
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uint8_t * pucQueueStorageBuffer;
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/* Retrieve the buffers used to create the queue before deleting it */
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xResult = xQueueGetStaticBuffers( xQueue, &pucQueueStorageBuffer, &pxQueueBuffer );
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configASSERT( xResult == pdTRUE );
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/* Delete the queue */
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vQueueDelete( xQueue );
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/* Free the memory buffers */
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heap_caps_free( pxQueueBuffer );
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heap_caps_free( pucQueueStorageBuffer );
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}
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#endif /* if ( configSUPPORT_STATIC_ALLOCATION == 1 ) */
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/*----------------------------------------------------------*/
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/* -------------------------------- Semaphore ------------------------------- */
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#if ( configSUPPORT_STATIC_ALLOCATION == 1 )
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SemaphoreHandle_t xSemaphoreCreateGenericWithCaps( UBaseType_t uxMaxCount,
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UBaseType_t uxInitialCount,
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const uint8_t ucQueueType,
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UBaseType_t uxMemoryCaps )
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{
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SemaphoreHandle_t xSemaphore;
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StaticSemaphore_t * pxSemaphoreBuffer;
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/* Allocate memory for the semaphore using the provided memory caps */
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pxSemaphoreBuffer = heap_caps_malloc( sizeof( StaticSemaphore_t ), ( uint32_t ) uxMemoryCaps );
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if( pxSemaphoreBuffer == NULL )
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{
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return NULL;
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}
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/* Create the semaphore using static creation API */
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if( ucQueueType == queueQUEUE_TYPE_MUTEX )
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{
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xSemaphore = xSemaphoreCreateMutexStatic( pxSemaphoreBuffer );
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}
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else if( ucQueueType == queueQUEUE_TYPE_COUNTING_SEMAPHORE )
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{
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xSemaphore = xSemaphoreCreateCountingStatic( uxMaxCount, uxInitialCount, pxSemaphoreBuffer );
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}
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else if( ucQueueType == queueQUEUE_TYPE_BINARY_SEMAPHORE )
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{
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xSemaphore = xSemaphoreCreateBinaryStatic( pxSemaphoreBuffer );
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}
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else /* ucQueueType == queueQUEUE_TYPE_RECURSIVE_MUTEX */
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{
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xSemaphore = xSemaphoreCreateRecursiveMutexStatic( pxSemaphoreBuffer );
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}
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if( xSemaphore == NULL )
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{
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heap_caps_free( pxSemaphoreBuffer );
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}
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return xSemaphore;
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}
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#endif /* if ( configSUPPORT_STATIC_ALLOCATION == 1 ) */
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/*----------------------------------------------------------*/
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#if ( configSUPPORT_STATIC_ALLOCATION == 1 )
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void vSemaphoreDeleteWithCaps( SemaphoreHandle_t xSemaphore )
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{
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// Return value unused if asserts are disabled
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BaseType_t __attribute__((unused)) xResult;
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StaticSemaphore_t * pxSemaphoreBuffer;
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/* Retrieve the buffer used to create the semaphore before deleting it
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* */
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xResult = xSemaphoreGetStaticBuffer( xSemaphore, &pxSemaphoreBuffer );
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configASSERT( xResult == pdTRUE );
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/* Delete the semaphore */
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vSemaphoreDelete( xSemaphore );
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/* Free the memory buffer */
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heap_caps_free( pxSemaphoreBuffer );
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}
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#endif /* if ( configSUPPORT_STATIC_ALLOCATION == 1 ) */
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/*----------------------------------------------------------*/
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/* ------------------------- Stream & Message Buffers ----------------------- */
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#if ( configSUPPORT_STATIC_ALLOCATION == 1 )
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StreamBufferHandle_t xStreamBufferGenericCreateWithCaps( size_t xBufferSizeBytes,
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size_t xTriggerLevelBytes,
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BaseType_t xIsMessageBuffer,
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UBaseType_t uxMemoryCaps )
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{
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StreamBufferHandle_t xStreamBuffer;
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StaticStreamBuffer_t * pxStaticStreamBuffer;
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uint8_t * pucStreamBufferStorageArea;
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/* Allocate memory for the stream or message buffer using the provided
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* memory caps */
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pxStaticStreamBuffer = heap_caps_malloc( sizeof( StaticStreamBuffer_t ), ( uint32_t ) uxMemoryCaps );
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pucStreamBufferStorageArea = heap_caps_malloc( xBufferSizeBytes, ( uint32_t ) uxMemoryCaps );
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if( ( pxStaticStreamBuffer == NULL ) || ( pucStreamBufferStorageArea == NULL ) )
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{
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goto err;
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}
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/* Create the stream or message buffer using static creation API */
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if( xIsMessageBuffer == pdTRUE )
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{
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xStreamBuffer = ( StreamBufferHandle_t ) xMessageBufferCreateStatic( xBufferSizeBytes, pucStreamBufferStorageArea, pxStaticStreamBuffer );
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}
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else
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{
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xStreamBuffer = xStreamBufferCreateStatic( xBufferSizeBytes, xTriggerLevelBytes, pucStreamBufferStorageArea, pxStaticStreamBuffer );
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}
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if( xStreamBuffer == NULL )
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{
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goto err;
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}
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return xStreamBuffer;
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err:
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heap_caps_free( pucStreamBufferStorageArea );
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heap_caps_free( pxStaticStreamBuffer );
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return NULL;
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}
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#endif /* if ( configSUPPORT_STATIC_ALLOCATION == 1 ) */
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/*----------------------------------------------------------*/
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#if ( configSUPPORT_STATIC_ALLOCATION == 1 )
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void vStreamBufferGenericDeleteWithCaps( StreamBufferHandle_t xStreamBuffer,
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BaseType_t xIsMessageBuffer )
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{
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// Return value unused if asserts are disabled
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BaseType_t __attribute__((unused)) xResult;
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StaticStreamBuffer_t * pxStaticStreamBuffer;
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uint8_t * pucStreamBufferStorageArea;
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/* Retrieve the buffers used to create the stream or message buffer
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* before deleting it */
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if( xIsMessageBuffer == pdTRUE )
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{
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xResult = xMessageBufferGetStaticBuffers( xStreamBuffer, &pucStreamBufferStorageArea, &pxStaticStreamBuffer );
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}
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else
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{
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xResult = xStreamBufferGetStaticBuffers( xStreamBuffer, &pucStreamBufferStorageArea, &pxStaticStreamBuffer );
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}
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configASSERT( xResult == pdTRUE );
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/* Delete the stream or message buffer */
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if( xIsMessageBuffer == pdTRUE )
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{
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vMessageBufferDelete( xStreamBuffer );
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}
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else
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{
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vSemaphoreDelete( xStreamBuffer );
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}
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/* Free the memory buffers */
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heap_caps_free( pxStaticStreamBuffer );
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heap_caps_free( pucStreamBufferStorageArea );
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}
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#endif /* if ( configSUPPORT_STATIC_ALLOCATION == 1 ) */
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/*----------------------------------------------------------*/
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