mirror of
https://github.com/espressif/esp-idf.git
synced 2025-08-08 04:02:27 +00:00
Backport the static allocation feature from FreeRTOS V9.0.0
This feature allows to use static buffers (or from a pool of memory which is not controlled by FreeRTOS). In order to reduce the impact of the changes, the static feature has only been added to the queus (and in consequence to the semaphores and the mutexes) and the tasks. The Timer task is always dynamically allocated and also the idle task(s), which in the case of the ESP-IDF is ok, since we always need to have dynamic allocation enabled.
This commit is contained in:
daniel
@@ -166,15 +166,19 @@ typedef struct QueueDefinition
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volatile BaseType_t xRxLock; /*< Stores the number of items received from the queue (removed from the queue) while the queue was locked. Set to queueUNLOCKED when the queue is not locked. */
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volatile BaseType_t xTxLock; /*< Stores the number of items transmitted to the queue (added to the queue) while the queue was locked. Set to queueUNLOCKED when the queue is not locked. */
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#if ( configUSE_TRACE_FACILITY == 1 )
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UBaseType_t uxQueueNumber;
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uint8_t ucQueueType;
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#if( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
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uint8_t ucStaticallyAllocated; /*< Set to pdTRUE if the memory used by the queue was statically allocated to ensure no attempt is made to free the memory. */
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#endif
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#if ( configUSE_QUEUE_SETS == 1 )
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struct QueueDefinition *pxQueueSetContainer;
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#endif
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#if ( configUSE_TRACE_FACILITY == 1 )
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UBaseType_t uxQueueNumber;
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uint8_t ucQueueType;
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#endif
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portMUX_TYPE mux;
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} xQUEUE;
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@@ -255,6 +259,21 @@ static void prvCopyDataFromQueue( Queue_t * const pxQueue, void * const pvBuffer
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static BaseType_t prvNotifyQueueSetContainer( const Queue_t * const pxQueue, const BaseType_t xCopyPosition ) PRIVILEGED_FUNCTION;
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#endif
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/*
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* Called after a Queue_t structure has been allocated either statically or
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* dynamically to fill in the structure's members.
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*/
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static void prvInitialiseNewQueue( const UBaseType_t uxQueueLength, const UBaseType_t uxItemSize, uint8_t *pucQueueStorage, const uint8_t ucQueueType, Queue_t *pxNewQueue ) PRIVILEGED_FUNCTION;
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/*
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* Mutexes are a special type of queue. When a mutex is created, first the
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* queue is created, then prvInitialiseMutex() is called to configure the queue
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* as a mutex.
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*/
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#if( configUSE_MUTEXES == 1 )
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static void prvInitialiseMutex( Queue_t *pxNewQueue ) PRIVILEGED_FUNCTION;
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#endif
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/*-----------------------------------------------------------*/
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/*
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@@ -333,134 +352,165 @@ Queue_t * const pxQueue = ( Queue_t * ) xQueue;
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}
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/*-----------------------------------------------------------*/
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QueueHandle_t xQueueGenericCreate( const UBaseType_t uxQueueLength, const UBaseType_t uxItemSize, const uint8_t ucQueueType )
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{
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Queue_t *pxNewQueue;
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size_t xQueueSizeInBytes;
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QueueHandle_t xReturn = NULL;
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int8_t *pcAllocatedBuffer;
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#if( configSUPPORT_STATIC_ALLOCATION == 1 )
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QueueHandle_t xQueueGenericCreateStatic( const UBaseType_t uxQueueLength, const UBaseType_t uxItemSize, uint8_t *pucQueueStorage, StaticQueue_t *pxStaticQueue, const uint8_t ucQueueType )
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{
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Queue_t *pxNewQueue;
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configASSERT( uxQueueLength > ( UBaseType_t ) 0 );
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/* The StaticQueue_t structure and the queue storage area must be
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supplied. */
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configASSERT( pxStaticQueue != NULL );
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/* A queue storage area should be provided if the item size is not 0, and
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should not be provided if the item size is 0. */
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configASSERT( !( ( pucQueueStorage != NULL ) && ( uxItemSize == 0 ) ) );
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configASSERT( !( ( pucQueueStorage == NULL ) && ( uxItemSize != 0 ) ) );
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#if( configASSERT_DEFINED == 1 )
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{
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/* Sanity check that the size of the structure used to declare a
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variable of type StaticQueue_t or StaticSemaphore_t equals the size of
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the real queue and semaphore structures. */
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volatile size_t xSize = sizeof( StaticQueue_t );
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configASSERT( xSize == sizeof( Queue_t ) );
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}
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#endif /* configASSERT_DEFINED */
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/* The address of a statically allocated queue was passed in, use it.
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The address of a statically allocated storage area was also passed in
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but is already set. */
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pxNewQueue = ( Queue_t * ) pxStaticQueue; /*lint !e740 Unusual cast is ok as the structures are designed to have the same alignment, and the size is checked by an assert. */
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if( pxNewQueue != NULL )
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{
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#if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
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{
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/* Queues can be allocated wither statically or dynamically, so
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note this queue was allocated statically in case the queue is
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later deleted. */
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pxNewQueue->ucStaticallyAllocated = pdTRUE;
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}
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#endif /* configSUPPORT_DYNAMIC_ALLOCATION */
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prvInitialiseNewQueue( uxQueueLength, uxItemSize, pucQueueStorage, ucQueueType, pxNewQueue );
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}
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return pxNewQueue;
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}
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#endif /* configSUPPORT_STATIC_ALLOCATION */
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/*-----------------------------------------------------------*/
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#if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
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QueueHandle_t xQueueGenericCreate( const UBaseType_t uxQueueLength, const UBaseType_t uxItemSize, const uint8_t ucQueueType )
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{
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Queue_t *pxNewQueue;
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size_t xQueueSizeInBytes;
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uint8_t *pucQueueStorage;
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configASSERT( uxQueueLength > ( UBaseType_t ) 0 );
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if( uxItemSize == ( UBaseType_t ) 0 )
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{
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/* There is not going to be a queue storage area. */
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xQueueSizeInBytes = ( size_t ) 0;
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}
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else
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{
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/* Allocate enough space to hold the maximum number of items that
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can be in the queue at any time. */
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xQueueSizeInBytes = ( size_t ) ( uxQueueLength * uxItemSize ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
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}
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pxNewQueue = ( Queue_t * ) pvPortMalloc( sizeof( Queue_t ) + xQueueSizeInBytes );
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if( pxNewQueue != NULL )
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{
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/* Jump past the queue structure to find the location of the queue
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storage area. */
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pucQueueStorage = ( ( uint8_t * ) pxNewQueue ) + sizeof( Queue_t );
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#if( configSUPPORT_STATIC_ALLOCATION == 1 )
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{
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/* Queues can be created either statically or dynamically, so
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note this task was created dynamically in case it is later
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deleted. */
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pxNewQueue->ucStaticallyAllocated = pdFALSE;
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}
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#endif /* configSUPPORT_STATIC_ALLOCATION */
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prvInitialiseNewQueue( uxQueueLength, uxItemSize, pucQueueStorage, ucQueueType, pxNewQueue );
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}
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return pxNewQueue;
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}
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#endif /* configSUPPORT_STATIC_ALLOCATION */
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/*-----------------------------------------------------------*/
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static void prvInitialiseNewQueue( const UBaseType_t uxQueueLength, const UBaseType_t uxItemSize, uint8_t *pucQueueStorage, const uint8_t ucQueueType, Queue_t *pxNewQueue )
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{
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/* Remove compiler warnings about unused parameters should
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configUSE_TRACE_FACILITY not be set to 1. */
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( void ) ucQueueType;
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configASSERT( uxQueueLength > ( UBaseType_t ) 0 );
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if( uxItemSize == ( UBaseType_t ) 0 )
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{
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/* There is not going to be a queue storage area. */
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xQueueSizeInBytes = ( size_t ) 0;
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/* No RAM was allocated for the queue storage area, but PC head cannot
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be set to NULL because NULL is used as a key to say the queue is used as
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a mutex. Therefore just set pcHead to point to the queue as a benign
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value that is known to be within the memory map. */
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pxNewQueue->pcHead = ( int8_t * ) pxNewQueue;
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}
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else
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{
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/* The queue is one byte longer than asked for to make wrap checking
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easier/faster. */
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xQueueSizeInBytes = ( size_t ) ( uxQueueLength * uxItemSize ) + ( size_t ) 1; /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
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/* Set the head to the start of the queue storage area. */
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pxNewQueue->pcHead = ( int8_t * ) pucQueueStorage;
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}
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/* Allocate the new queue structure and storage area. */
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pcAllocatedBuffer = ( int8_t * ) pvPortMalloc( sizeof( Queue_t ) + xQueueSizeInBytes );
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/* Initialise the queue members as described where the queue type is
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defined. */
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pxNewQueue->uxLength = uxQueueLength;
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pxNewQueue->uxItemSize = uxItemSize;
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( void ) xQueueGenericReset( pxNewQueue, pdTRUE );
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if( pcAllocatedBuffer != NULL )
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#if ( configUSE_TRACE_FACILITY == 1 )
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{
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pxNewQueue = ( Queue_t * ) pcAllocatedBuffer; /*lint !e826 MISRA The buffer cannot be to small because it was dimensioned by sizeof( Queue_t ) + xQueueSizeInBytes. */
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if( uxItemSize == ( UBaseType_t ) 0 )
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{
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/* No RAM was allocated for the queue storage area, but PC head
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cannot be set to NULL because NULL is used as a key to say the queue
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is used as a mutex. Therefore just set pcHead to point to the queue
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as a benign value that is known to be within the memory map. */
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pxNewQueue->pcHead = ( int8_t * ) pxNewQueue;
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}
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else
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{
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/* Jump past the queue structure to find the location of the queue
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storage area - adding the padding bytes to get a better alignment. */
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pxNewQueue->pcHead = pcAllocatedBuffer + sizeof( Queue_t );
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}
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/* Initialise the queue members as described above where the queue type
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is defined. */
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pxNewQueue->uxLength = uxQueueLength;
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pxNewQueue->uxItemSize = uxItemSize;
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( void ) xQueueGenericReset( pxNewQueue, pdTRUE );
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#if ( configUSE_TRACE_FACILITY == 1 )
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{
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pxNewQueue->ucQueueType = ucQueueType;
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}
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#endif /* configUSE_TRACE_FACILITY */
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#if( configUSE_QUEUE_SETS == 1 )
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{
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pxNewQueue->pxQueueSetContainer = NULL;
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}
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#endif /* configUSE_QUEUE_SETS */
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traceQUEUE_CREATE( pxNewQueue );
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xReturn = pxNewQueue;
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pxNewQueue->ucQueueType = ucQueueType;
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}
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else
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#endif /* configUSE_TRACE_FACILITY */
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#if( configUSE_QUEUE_SETS == 1 )
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{
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mtCOVERAGE_TEST_MARKER();
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pxNewQueue->pxQueueSetContainer = NULL;
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}
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#endif /* configUSE_QUEUE_SETS */
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configASSERT( xReturn );
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return xReturn;
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traceQUEUE_CREATE( pxNewQueue );
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}
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/*-----------------------------------------------------------*/
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#if ( configUSE_MUTEXES == 1 )
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#if( configUSE_MUTEXES == 1 )
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QueueHandle_t xQueueCreateMutex( const uint8_t ucQueueType )
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static void prvInitialiseMutex( Queue_t *pxNewQueue )
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{
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Queue_t *pxNewQueue;
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/* Prevent compiler warnings about unused parameters if
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configUSE_TRACE_FACILITY does not equal 1. */
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( void ) ucQueueType;
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/* Allocate the new queue structure. */
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pxNewQueue = ( Queue_t * ) pvPortMalloc( sizeof( Queue_t ) );
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if( pxNewQueue != NULL )
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{
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/* Information required for priority inheritance. */
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/* The queue create function will set all the queue structure members
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correctly for a generic queue, but this function is creating a
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mutex. Overwrite those members that need to be set differently -
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in particular the information required for priority inheritance. */
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pxNewQueue->pxMutexHolder = NULL;
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pxNewQueue->uxQueueType = queueQUEUE_IS_MUTEX;
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/* Queues used as a mutex no data is actually copied into or out
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of the queue. */
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pxNewQueue->pcWriteTo = NULL;
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pxNewQueue->u.pcReadFrom = NULL;
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/* In case this is a recursive mutex. */
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pxNewQueue->u.uxRecursiveCallCount = 0;
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/* Each mutex has a length of 1 (like a binary semaphore) and
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an item size of 0 as nothing is actually copied into or out
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of the mutex. */
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pxNewQueue->uxMessagesWaiting = ( UBaseType_t ) 0U;
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pxNewQueue->uxLength = ( UBaseType_t ) 1U;
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pxNewQueue->uxItemSize = ( UBaseType_t ) 0U;
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pxNewQueue->xRxLock = queueUNLOCKED;
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pxNewQueue->xTxLock = queueUNLOCKED;
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#if ( configUSE_TRACE_FACILITY == 1 )
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{
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pxNewQueue->ucQueueType = ucQueueType;
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}
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#endif
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#if ( configUSE_QUEUE_SETS == 1 )
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{
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pxNewQueue->pxQueueSetContainer = NULL;
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}
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#endif
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/* Ensure the event queues start with the correct state. */
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vListInitialise( &( pxNewQueue->xTasksWaitingToSend ) );
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vListInitialise( &( pxNewQueue->xTasksWaitingToReceive ) );
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vPortCPUInitializeMutex(&pxNewQueue->mux);
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vPortCPUInitializeMutex(&pxNewQueue->mux);
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traceCREATE_MUTEX( pxNewQueue );
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@@ -471,8 +521,41 @@ int8_t *pcAllocatedBuffer;
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{
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traceCREATE_MUTEX_FAILED();
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}
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}
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#endif /* configUSE_MUTEXES */
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/*-----------------------------------------------------------*/
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#if( ( configUSE_MUTEXES == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
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QueueHandle_t xQueueCreateMutex( const uint8_t ucQueueType )
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{
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Queue_t *pxNewQueue;
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const UBaseType_t uxMutexLength = ( UBaseType_t ) 1, uxMutexSize = ( UBaseType_t ) 0;
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pxNewQueue = ( Queue_t * ) xQueueGenericCreate( uxMutexLength, uxMutexSize, ucQueueType );
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prvInitialiseMutex( pxNewQueue );
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return pxNewQueue;
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}
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#endif /* configUSE_MUTEXES */
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/*-----------------------------------------------------------*/
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#if( ( configUSE_MUTEXES == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
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QueueHandle_t xQueueCreateMutexStatic( const uint8_t ucQueueType, StaticQueue_t *pxStaticQueue )
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{
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Queue_t *pxNewQueue;
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const UBaseType_t uxMutexLength = ( UBaseType_t ) 1, uxMutexSize = ( UBaseType_t ) 0;
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/* Prevent compiler warnings about unused parameters if
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configUSE_TRACE_FACILITY does not equal 1. */
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( void ) ucQueueType;
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pxNewQueue = ( Queue_t * ) xQueueGenericCreateStatic( uxMutexLength, uxMutexSize, NULL, pxStaticQueue, ucQueueType );
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prvInitialiseMutex( pxNewQueue );
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configASSERT( pxNewQueue );
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return pxNewQueue;
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}
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@@ -607,7 +690,35 @@ int8_t *pcAllocatedBuffer;
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#endif /* configUSE_RECURSIVE_MUTEXES */
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/*-----------------------------------------------------------*/
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#if ( configUSE_COUNTING_SEMAPHORES == 1 )
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#if( ( configUSE_COUNTING_SEMAPHORES == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
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QueueHandle_t xQueueCreateCountingSemaphoreStatic( const UBaseType_t uxMaxCount, const UBaseType_t uxInitialCount, StaticQueue_t *pxStaticQueue )
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{
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QueueHandle_t xHandle;
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configASSERT( uxMaxCount != 0 );
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configASSERT( uxInitialCount <= uxMaxCount );
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xHandle = xQueueGenericCreateStatic( uxMaxCount, queueSEMAPHORE_QUEUE_ITEM_LENGTH, NULL, pxStaticQueue, queueQUEUE_TYPE_COUNTING_SEMAPHORE );
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if( xHandle != NULL )
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{
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( ( Queue_t * ) xHandle )->uxMessagesWaiting = uxInitialCount;
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traceCREATE_COUNTING_SEMAPHORE();
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}
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else
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{
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traceCREATE_COUNTING_SEMAPHORE_FAILED();
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}
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return xHandle;
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}
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#endif /* ( ( configUSE_COUNTING_SEMAPHORES == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) */
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/*-----------------------------------------------------------*/
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#if( ( configUSE_COUNTING_SEMAPHORES == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
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QueueHandle_t xQueueCreateCountingSemaphore( const UBaseType_t uxMaxCount, const UBaseType_t uxInitialCount )
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{
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@@ -633,7 +744,7 @@ int8_t *pcAllocatedBuffer;
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return xHandle;
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}
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#endif /* configUSE_COUNTING_SEMAPHORES */
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#endif /* ( ( configUSE_COUNTING_SEMAPHORES == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) */
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/*-----------------------------------------------------------*/
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BaseType_t xQueueGenericSend( QueueHandle_t xQueue, const void * const pvItemToQueue, TickType_t xTicksToWait, const BaseType_t xCopyPosition )
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@@ -1777,7 +1888,33 @@ Queue_t * const pxQueue = ( Queue_t * ) xQueue;
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vQueueUnregisterQueue( pxQueue );
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}
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#endif
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vPortFree( pxQueue );
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#if( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 0 ) )
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{
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/* The queue can only have been allocated dynamically - free it
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again. */
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vPortFree( pxQueue );
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}
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#elif( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
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{
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/* The queue could have been allocated statically or dynamically, so
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check before attempting to free the memory. */
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if( pxQueue->ucStaticallyAllocated == ( uint8_t ) pdFALSE )
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||||
{
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vPortFree( pxQueue );
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}
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else
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||||
{
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||||
mtCOVERAGE_TEST_MARKER();
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}
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||||
}
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||||
#else
|
||||
{
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||||
/* The queue must have been statically allocated, so is not going to be
|
||||
deleted. Avoid compiler warnings about the unused parameter. */
|
||||
( void ) pxQueue;
|
||||
}
|
||||
#endif /* configSUPPORT_DYNAMIC_ALLOCATION */
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||||
}
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/*-----------------------------------------------------------*/
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|
||||
@@ -2477,7 +2614,7 @@ Queue_t * const pxQueue = ( Queue_t * ) xQueue;
|
||||
#endif /* configUSE_TIMERS */
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
#if ( configUSE_QUEUE_SETS == 1 )
|
||||
#if( ( configUSE_QUEUE_SETS == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
|
||||
|
||||
QueueSetHandle_t xQueueCreateSet( const UBaseType_t uxEventQueueLength )
|
||||
{
|
||||
|
||||
Reference in New Issue
Block a user