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Merge branch 'bugfix/freertos_xTaskIncrementTick' into 'master'

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freertos: Fix xTaskIncrementTick() and xTaskResumeAll()

Closes IDF-4698 and IDF-4705

See merge request espressif/esp-idf!17204
This commit is contained in:
Darian
2022-07-21 08:14:30 +08:00
parent 15039f367d 38d974aca0
commit 0570c5db1a
6 changed files with 800 additions and 399 deletions
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16
components/freertos/FreeRTOS-Kernel/include/freertos/task.h
View File

@@ -3314,9 +3314,25 @@ BaseType_t xTaskGetAffinity( TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
* or
* + Time slicing is in use and there is a task of equal priority to the
* currently running task.
*
* Note: For SMP, this function must only be called by core 0. Other cores should
* call xTaskIncrementTickOtherCores() instead.
*/
BaseType_t xTaskIncrementTick( void ) PRIVILEGED_FUNCTION;
#ifdef ESP_PLATFORM
/*
* THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE. IT IS ONLY
* INTENDED FOR USE WHEN IMPLEMENTING A PORT OF THE SCHEDULER AND IS
* AN INTERFACE WHICH IS FOR THE EXCLUSIVE USE OF THE SCHEDULER.
*
* Called from all other cores except core 0 when their tick interrupt
* occurs. This function will check if the current core requires time slicing,
* and also call the application tick hook.
*/
BaseType_t xTaskIncrementTickOtherCores( void ) PRIVILEGED_FUNCTION;
#endif // ESP_PLATFORM
/*
* THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE. IT IS AN
* INTERFACE WHICH IS FOR THE EXCLUSIVE USE OF THE SCHEDULER.

24
components/freertos/FreeRTOS-Kernel/portable/port_systick.c
View File

@@ -151,6 +151,8 @@ IRAM_ATTR void SysTickIsrHandler(void *arg)
#endif // CONFIG_FREERTOS_SYSTICK_USES_CCOUNT
extern void esp_vApplicationTickHook(void);
/**
* @brief Handler of SysTick
*
@@ -165,11 +167,27 @@ BaseType_t xPortSysTickHandler(void)
portbenchmarkIntLatency();
#endif //configBENCHMARK
traceISR_ENTER(SYSTICK_INTR_ID);
BaseType_t ret = xTaskIncrementTick();
if(ret != pdFALSE) {
// Call IDF Tick Hook
esp_vApplicationTickHook();
// Call FreeRTOS Increment tick function
BaseType_t xSwitchRequired;
#if CONFIG_FREERTOS_UNICORE
xSwitchRequired = xTaskIncrementTick();
#else
if (xPortGetCoreID() == 0) {
xSwitchRequired = xTaskIncrementTick();
} else {
xSwitchRequired = xTaskIncrementTickOtherCores();
}
#endif
// Check if yield is required
if (xSwitchRequired != pdFALSE) {
portYIELD_FROM_ISR();
} else {
traceISR_EXIT();
}
return ret;
return xSwitchRequired;
}

345
components/freertos/FreeRTOS-Kernel/tasks.c
View File

@@ -58,7 +58,6 @@
#define taskEXIT_CRITICAL_ISR( ) portEXIT_CRITICAL_ISR( taskCRITICAL_MUX )
#undef _REENT_INIT_PTR
#define _REENT_INIT_PTR esp_reent_init
extern void esp_vApplicationTickHook(void);
extern void esp_vApplicationIdleHook(void);
#endif //ESP_PLATFORM
@@ -2424,10 +2423,28 @@ void vTaskSuspendAll( void )
* BaseType_t. Please read Richard Barry's reply in the following link to a
* post in the FreeRTOS support forum before reporting this as a bug! -
* https://goo.gl/wu4acr */
#ifdef ESP_PLATFORM
/* For SMP, although each core has their own uxSchedulerSuspended, we still
* need to disable interrupts or enter a critical section when accessing. */
unsigned state;
state = portSET_INTERRUPT_MASK_FROM_ISR();
#endif
/* portSOFRWARE_BARRIER() is only implemented for emulated/simulated ports that
* do not otherwise exhibit real time behaviour. */
portSOFTWARE_BARRIER();
/* The scheduler is suspended if uxSchedulerSuspended is non-zero. An increment
* is used to allow calls to vTaskSuspendAll() to nest. */
++uxSchedulerSuspended[ xPortGetCoreID() ];
portCLEAR_INTERRUPT_MASK_FROM_ISR(state);
/* Enforces ordering for ports and optimised compilers that may otherwise place
* the above increment elsewhere. */
portMEMORY_BARRIER();
#ifdef ESP_PLATFORM
portCLEAR_INTERRUPT_MASK_FROM_ISR( state );
#endif
}
/*----------------------------------------------------------*/
@@ -2495,13 +2512,12 @@ void vTaskSuspendAll( void )
BaseType_t xTaskResumeAll( void )
{
TCB_t *pxTCB = NULL;
TCB_t * pxTCB = NULL;
BaseType_t xAlreadyYielded = pdFALSE;
TickType_t xTicksToNextUnblockTime;
/* If scheduler state is `taskSCHEDULER_RUNNING` then this function does not match a
* previous call to taskENTER_CRITICAL(). */
configASSERT( xTaskGetSchedulerState() != taskSCHEDULER_RUNNING );
/* If uxSchedulerSuspended is zero then this function does not match a
* previous call to vTaskSuspendAll(). */
configASSERT( uxSchedulerSuspended[ xPortGetCoreID() ] );
/* It is possible that an ISR caused a task to be removed from an event
* list while the scheduler was suspended. If this was the case then the
@@ -2510,26 +2526,32 @@ BaseType_t xTaskResumeAll( void )
* tasks from this list into their appropriate ready list. */
taskENTER_CRITICAL();
{
--uxSchedulerSuspended[xPortGetCoreID()];
#ifdef ESP_PLATFORM
/* Minor optimization. Core ID can't change while inside a critical section */
BaseType_t xCoreID = xPortGetCoreID();
#else
BaseType_t xCoreID = 0;
#endif
--uxSchedulerSuspended[ xCoreID ];
if( uxSchedulerSuspended[xPortGetCoreID()] == ( UBaseType_t ) pdFALSE )
if( uxSchedulerSuspended[ xCoreID ] == ( UBaseType_t ) pdFALSE )
{
if( uxCurrentNumberOfTasks > ( UBaseType_t ) 0U )
{
/* Move any readied tasks from the pending list into the
* appropriate ready list. */
while( listLIST_IS_EMPTY( &xPendingReadyList[xPortGetCoreID()] ) == pdFALSE )
while( listLIST_IS_EMPTY( &xPendingReadyList[ xCoreID ] ) == pdFALSE )
{
pxTCB = listGET_OWNER_OF_HEAD_ENTRY( ( &xPendingReadyList[xPortGetCoreID()] ) ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
pxTCB = listGET_OWNER_OF_HEAD_ENTRY( ( &xPendingReadyList[ xCoreID ] ) ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
( void ) uxListRemove( &( pxTCB->xEventListItem ) );
( void ) uxListRemove( &( pxTCB->xStateListItem ) );
prvAddTaskToReadyList( pxTCB );
/* If the moved task has a priority higher than the current
* task then a yield must be performed. */
if( tskCAN_RUN_HERE(pxTCB->xCoreID) && pxTCB->uxPriority >= pxCurrentTCB[ xPortGetCoreID() ]->uxPriority )
if( pxTCB->uxPriority >= pxCurrentTCB[ xCoreID ]->uxPriority )
{
xYieldPending[xPortGetCoreID()] = pdTRUE;
xYieldPending[ xCoreID ] = pdTRUE;
}
else
{
@@ -2552,54 +2574,39 @@ BaseType_t xTaskResumeAll( void )
* they should be processed now. This ensures the tick count does
* not slip, and that any delayed tasks are resumed at the correct
* time. */
while( xPendedTicks > ( TickType_t ) 0 )
#ifdef ESP_PLATFORM
/* Core 0 is solely responsible for managing tick count, thus it
* must be the only core to unwind the pended ticks */
if ( xCoreID == 0 )
#endif
{
/* Calculate how far into the future the next task will
* leave the Blocked state because its timeout expired. If
* there are no tasks due to leave the blocked state between
* the time now and the time at which the tick count overflows
* then xNextTaskUnblockTime will the tick overflow time.
* This means xNextTaskUnblockTime can never be less than
* xTickCount, and the following can therefore not
* underflow. */
configASSERT( xNextTaskUnblockTime >= xTickCount );
xTicksToNextUnblockTime = xNextTaskUnblockTime - xTickCount;
TickType_t xPendedCounts = xPendedTicks; /* Non-volatile copy. */
/* Don't want to move the tick count more than the number
of ticks that are pending, so cap if necessary. */
if( xTicksToNextUnblockTime > xPendedTicks )
if( xPendedCounts > ( TickType_t ) 0U )
{
xTicksToNextUnblockTime = xPendedTicks;
}
do
{
if( xTaskIncrementTick() != pdFALSE )
{
xYieldPending[ xCoreID ] = pdTRUE;
}
else
{
mtCOVERAGE_TEST_MARKER();
}
if( xTicksToNextUnblockTime == 0 )
{
/* xTicksToNextUnblockTime could be zero if the tick
* count is about to overflow and xTicksToNetUnblockTime
* holds the time at which the tick count will overflow
* (rather than the time at which the next task will
* unblock). Set to 1 otherwise xPendedTicks won't be
* decremented below. */
xTicksToNextUnblockTime = ( TickType_t ) 1;
}
else if( xTicksToNextUnblockTime > ( TickType_t ) 1)
{
/* Move the tick count one short of the next unblock
* time, then call xTaskIncrementTick() to move the tick
* count up to the next unblock time to unblock the task,
* if any. This will also swap the blocked task and
* overflow blocked task lists if necessary. */
xTickCount += ( xTicksToNextUnblockTime - ( TickType_t ) 1 );
}
xYieldPending[xPortGetCoreID()] |= xTaskIncrementTick();
--xPendedCounts;
} while( xPendedCounts > ( TickType_t ) 0U );
/* Adjust for the number of ticks just added to
xTickCount and go around the loop again if
xTicksToCatchUp is still greater than 0. */
xPendedTicks -= xTicksToNextUnblockTime;
xPendedTicks = 0;
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
if( xYieldPending[xPortGetCoreID()] != pdFALSE )
if( xYieldPending[ xCoreID ] != pdFALSE )
{
#if ( configUSE_PREEMPTION != 0 )
{
@@ -2937,14 +2944,19 @@ char * pcTaskGetName( TaskHandle_t xTaskToQuery ) /*lint !e971 Unqualified char
void vTaskStepTick( const TickType_t xTicksToJump )
{
#ifdef ESP_PLATFORM
/* For SMP, we require a critical section to access xTickCount */
taskENTER_CRITICAL();
#endif
/* Correct the tick count value after a period during which the tick
* was suppressed. Note this does *not* call the tick hook function for
* each stepped tick. */
taskENTER_CRITICAL();
configASSERT( ( xTickCount + xTicksToJump ) <= xNextTaskUnblockTime );
xTickCount += xTicksToJump;
traceINCREASE_TICK_COUNT( xTicksToJump );
#ifdef ESP_PLATFORM
taskEXIT_CRITICAL();
#endif
}
#endif /* configUSE_TICKLESS_IDLE */
@@ -2952,32 +2964,31 @@ char * pcTaskGetName( TaskHandle_t xTaskToQuery ) /*lint !e971 Unqualified char
BaseType_t xTaskCatchUpTicks( TickType_t xTicksToCatchUp )
{
#ifdef ESP_PLATFORM
BaseType_t xYieldRequired = pdFALSE;
#else
BaseType_t xYieldOccurred;
#endif // ESP_PLATFORM
/* Must not be called with the scheduler suspended as the implementation
* relies on xPendedTicks being wound down to 0 in xTaskResumeAll(). */
#ifdef ESP_PLATFORM
configASSERT( xTaskGetSchedulerState() != taskSCHEDULER_SUSPENDED );
/* Use xPendedTicks to mimic xTicksToCatchUp number of ticks occuring when
* the scheduler is suspended so the ticks are executed in xTaskResumeAll(). */
#ifdef ESP_PLATFORM // IDF-3755
taskENTER_CRITICAL();
#else
vTaskSuspendAll();
configASSERT( uxSchedulerSuspended == 0 );
#endif // ESP_PLATFORM
/* Use xPendedTicks to mimic xTicksToCatchUp number of ticks occurring when
* the scheduler is suspended so the ticks are executed in xTaskResumeAll(). */
vTaskSuspendAll();
#ifdef ESP_PLATFORM
/* For SMP, we still require a critical section to access xPendedTicks even
* if the scheduler is disabled. */
taskENTER_CRITICAL();
xPendedTicks += xTicksToCatchUp;
#ifdef ESP_PLATFORM // IDF-3755
taskEXIT_CRITICAL();
return xYieldRequired;
#else
#else // ESP_PLATFORM
xPendedTicks += xTicksToCatchUp;
#endif // ESP_PLATFORM
xYieldOccurred = xTaskResumeAll();
return xYieldOccurred;
#endif // ESP_PLATFORM
}
/*----------------------------------------------------------*/
@@ -3075,33 +3086,34 @@ BaseType_t xTaskCatchUpTicks( TickType_t xTicksToCatchUp )
BaseType_t xTaskIncrementTick( void )
{
#ifdef ESP_PLATFORM
#if ( configNUM_CORES > 1 )
{
/* Only Core 0 should ever call this function. */
configASSERT( xPortGetCoreID() == 0 );
}
#endif /* ( configNUM_CORES > 1 ) */
#endif // ESP_PLATFORM
TCB_t * pxTCB;
TickType_t xItemValue;
BaseType_t xSwitchRequired = pdFALSE;
/* Only allow core 0 increase the tick count in the case of xPortSysTickHandler processing. */
/* And allow core 0 and core 1 to unwind uxPendedTicks during xTaskResumeAll. */
if (xPortInIsrContext())
{
#if ( configUSE_TICK_HOOK == 1 )
vApplicationTickHook();
#endif /* configUSE_TICK_HOOK */
esp_vApplicationTickHook();
if (xPortGetCoreID() != 0 )
{
return pdTRUE;
}
}
/* Called by the portable layer each time a tick interrupt occurs.
* Increments the tick then checks to see if the new tick value will cause any
* tasks to be unblocked. */
traceTASK_INCREMENT_TICK( xTickCount );
if( uxSchedulerSuspended[xPortGetCoreID()] == ( UBaseType_t ) pdFALSE )
#ifdef ESP_PLATFORM
/* We need a critical section here as we are about to access kernel data
* structures:
* - Other cores could be accessing them simultaneously
* - Unlike other ports, we call xTaskIncrementTick() without disabling nested
* interrupts, which in turn is disabled by the critical section. */
taskENTER_CRITICAL_ISR();
#endif // ESP_PLATFORM
if( uxSchedulerSuspended[ 0 ] == ( UBaseType_t ) pdFALSE )
{
taskENTER_CRITICAL_ISR();
/* Minor optimisation. The tick count cannot change in this
* block. */
const TickType_t xConstTickCount = xTickCount + ( TickType_t ) 1;
@@ -3154,7 +3166,7 @@ BaseType_t xTaskIncrementTick( void )
* state - so record the item value in
* xNextTaskUnblockTime. */
xNextTaskUnblockTime = xItemValue;
break; /*lint !e9011 Code structure here is deemed easier to understand with multiple breaks. */
break; /*lint !e9011 Code structure here is deedmed easier to understand with multiple breaks. */
}
else
{
@@ -3187,7 +3199,14 @@ BaseType_t xTaskIncrementTick( void )
* only be performed if the unblocked task has a
* priority that is equal to or higher than the
* currently executing task. */
if( pxTCB->uxPriority >= pxCurrentTCB[xPortGetCoreID()]->uxPriority )
#if defined(ESP_PLATFORM) && ( configNUM_CORES > 1 )
/* Since this function is only run on core 0, we
* only need to switch contexts if the unblocked task
* can run on core 0. */
if( ( pxTCB->xCoreID == 0 || pxTCB->xCoreID == tskNO_AFFINITY ) && (pxTCB->uxPriority >= pxCurrentTCB[ 0 ]->uxPriority) )
#else
if( pxTCB->uxPriority >= pxCurrentTCB[ 0 ]->uxPriority )
#endif
{
xSwitchRequired = pdTRUE;
}
@@ -3206,7 +3225,7 @@ BaseType_t xTaskIncrementTick( void )
* writer has not explicitly turned time slicing off. */
#if ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) )
{
if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ pxCurrentTCB[xPortGetCoreID()]->uxPriority ] ) ) > ( UBaseType_t ) 1 )
if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ pxCurrentTCB[ 0 ]->uxPriority ] ) ) > ( UBaseType_t ) 1 )
{
xSwitchRequired = pdTRUE;
}
@@ -3216,28 +3235,152 @@ BaseType_t xTaskIncrementTick( void )
}
}
#endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) */
#ifdef ESP_PLATFORM
#if ( configUSE_TICK_HOOK == 1 )
TickType_t xPendedCounts = xPendedTicks; /* Non-volatile copy. */
#endif /* configUSE_TICK_HOOK */
/* Exit the critical section as we have finished accessing the kernel data structures. */
taskEXIT_CRITICAL_ISR();
#endif // ESP_PLATFORM
#if ( configUSE_TICK_HOOK == 1 )
{
/* Guard against the tick hook being called when the pended tick
* count is being unwound (when the scheduler is being unlocked). */
#ifdef ESP_PLATFORM
if( xPendedCounts == ( TickType_t ) 0 )
#else
if( xPendedTicks == ( TickType_t ) 0 )
#endif
{
vApplicationTickHook();
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
#endif /* configUSE_TICK_HOOK */
#if ( configUSE_PREEMPTION == 1 )
{
if( xYieldPending[ 0 ] != pdFALSE )
{
xSwitchRequired = pdTRUE;
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
#endif /* configUSE_PREEMPTION */
}
else
{
++xPendedTicks;
}
#ifdef ESP_PLATFORM
/* Exit the critical section as we have finished accessing the kernel data structures. */
taskEXIT_CRITICAL_ISR();
#endif // ESP_PLATFORM
#if ( configUSE_PREEMPTION == 1 )
{
if( xYieldPending[xPortGetCoreID()] != pdFALSE )
{
xSwitchRequired = pdTRUE;
}
else
{
mtCOVERAGE_TEST_MARKER();
}
/* The tick hook gets called at regular intervals, even if the
* scheduler is locked. */
#if ( configUSE_TICK_HOOK == 1 )
{
vApplicationTickHook();
}
#endif
}
#endif /* configUSE_PREEMPTION */
return xSwitchRequired;
}
#ifdef ESP_PLATFORM
#if ( configNUM_CORES > 1 )
BaseType_t xTaskIncrementTickOtherCores( void )
{
/* Minor optimization. This function can never switch cores mid
* execution */
BaseType_t xCoreID = xPortGetCoreID();
BaseType_t xSwitchRequired = pdFALSE;
/* This function should never be called by Core 0. */
configASSERT( xCoreID != 0 );
/* Called by the portable layer each time a tick interrupt occurs.
* Increments the tick then checks to see if the new tick value will cause any
* tasks to be unblocked. */
traceTASK_INCREMENT_TICK( xTickCount );
if( uxSchedulerSuspended[ xCoreID ] == ( UBaseType_t ) pdFALSE )
{
/* We need a critical section here as we are about to access kernel data
* structures:
* - Other cores could be accessing them simultaneously
* - Unlike other ports, we call xTaskIncrementTick() without disabling
* nested interrupts, which in turn is disabled by the critical
* section. */
taskENTER_CRITICAL_ISR();
/* A task being unblocked cannot cause an immediate context switch
* if preemption is turned off. */
#if ( configUSE_PREEMPTION == 1 )
{
/* Check if core 0 calling xTaskIncrementTick() has
* unblocked a task that can be run. */
if( uxTopReadyPriority > pxCurrentTCB[xCoreID]->uxPriority )
{
xSwitchRequired = pdTRUE;
} else {
mtCOVERAGE_TEST_MARKER();
}
}
#endif
/* Tasks of equal priority to the currently running task will share
* processing time (time slice) if preemption is on, and the application
* writer has not explicitly turned time slicing off. */
#if ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) )
{
if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ pxCurrentTCB[ xCoreID ]->uxPriority ] ) ) > ( UBaseType_t ) 1 )
{
xSwitchRequired = pdTRUE;
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
#endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) */
/* Exit the critical section as we have finished accessing the kernel data structures. */
taskEXIT_CRITICAL_ISR();
#if ( configUSE_PREEMPTION == 1 )
{
if( xYieldPending[ xCoreID ] != pdFALSE )
{
xSwitchRequired = pdTRUE;
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
#endif /* configUSE_PREEMPTION */
}
#if ( configUSE_TICK_HOOK == 1 )
{
vApplicationTickHook();
}
#endif
return xSwitchRequired;
}
#endif /* ( configNUM_CORES > 1 ) */
#endif // ESP_PLATFORM
/*-----------------------------------------------------------*/
#if ( configUSE_APPLICATION_TASK_TAG == 1 )