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Add checks for tasks woken up on other CPUs where needed, make xYieldPending and xPendingReadyList per-processor, add configurable ISR stack size to Kconfig, in general fix the entire wake-up-task-on-other-cpu-by-interrupt implementation

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This commit is contained in:
Jeroen Domburg
2016-10-27 16:07:47 +08:00
parent c6477ff10d
commit 3371083c16
5 changed files with 117 additions and 81 deletions
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70
components/freertos/tasks.c
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@@ -236,7 +236,7 @@ PRIVILEGED_DATA static List_t xDelayedTaskList1; /*< Delayed tasks. */
PRIVILEGED_DATA static List_t xDelayedTaskList2; /*< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */
PRIVILEGED_DATA static List_t * volatile pxDelayedTaskList; /*< Points to the delayed task list currently being used. */
PRIVILEGED_DATA static List_t * volatile pxOverflowDelayedTaskList; /*< Points to the delayed task list currently being used to hold tasks that have overflowed the current tick count. */
PRIVILEGED_DATA static List_t xPendingReadyList; /*< Tasks that have been readied while the scheduler was suspended. They will be moved to the ready list when the scheduler is resumed. */
PRIVILEGED_DATA static List_t xPendingReadyList[ portNUM_PROCESSORS ]; /*< Tasks that have been readied while the scheduler was suspended. They will be moved to the ready list when the scheduler is resumed. */
#if ( INCLUDE_vTaskDelete == 1 )
@@ -591,7 +591,7 @@ static void prvResetNextTaskUnblockTime( void );
* is possible that it is inaccurate because the other CPU just did a task switch, but in that case
* at most a superfluous interrupt is generated.
*/
static void taskYIELD_OTHER_CORE( BaseType_t xCoreID, UBaseType_t uxPriority )
void taskYIELD_OTHER_CORE( BaseType_t xCoreID, UBaseType_t uxPriority )
{
BaseType_t i;
if (xCoreID != tskNO_AFFINITY) {
@@ -781,17 +781,15 @@ BaseType_t i;
{
/* Scheduler is running. If the created task is of a higher priority than an executing task
then it should run now.
ToDo: This only works for the current core. If a task is scheduled on an other processor,
the other processor will keep running the task it's working on, and only switch to the newer
task on a timer interrupt. */
//No mux here, uxPriority is mostly atomic and there's not really any harm if this check misfires.
if( xCoreID != xPortGetCoreID() ) {
taskYIELD_OTHER_CORE(xCoreID, uxPriority);
}
else if( pxCurrentTCB[ xPortGetCoreID() ]->uxPriority < uxPriority )
No mux here, uxPriority is mostly atomic and there's not really any harm if this check misfires.
*/
if( tskCAN_RUN_HERE( xCoreID ) && pxCurrentTCB[ xPortGetCoreID() ]->uxPriority < uxPriority )
{
taskYIELD_IF_USING_PREEMPTION();
}
else if( xCoreID != xPortGetCoreID() ) {
taskYIELD_OTHER_CORE(xCoreID, uxPriority);
}
else
{
mtCOVERAGE_TEST_MARKER();
@@ -1452,7 +1450,7 @@ BaseType_t i;
if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE )
{
/* Has the task already been resumed from within an ISR? */
if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) == pdFALSE )
if( listIS_CONTAINED_WITHIN( &xPendingReadyList[ xPortGetCoreID() ], &( pxTCB->xEventListItem ) ) == pdFALSE )
{
/* Is it in the suspended list because it is in the Suspended
state, or because is is blocked with no timeout? */
@@ -1544,7 +1542,6 @@ BaseType_t i;
#if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
/* ToDo: Make this multicore-compatible. */
BaseType_t xTaskResumeFromISR( TaskHandle_t xTaskToResume )
{
BaseType_t xYieldRequired = pdFALSE;
@@ -1567,14 +1564,14 @@ BaseType_t i;
( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
prvAddTaskToReadyList( pxTCB );
if ( pxTCB->xCoreID == xPortGetCoreID() )
{
taskYIELD_OTHER_CORE( pxTCB->xCoreID, pxTCB->uxPriority);
}
else if( pxTCB->uxPriority >= pxCurrentTCB[ xPortGetCoreID() ]->uxPriority )
if( tskCAN_RUN_HERE( pxTCB->xCoreID ) && pxTCB->uxPriority >= pxCurrentTCB[ xPortGetCoreID() ]->uxPriority )
{
xYieldRequired = pdTRUE;
}
else if ( pxTCB->xCoreID != xPortGetCoreID() )
{
taskYIELD_OTHER_CORE( pxTCB->xCoreID, pxTCB->uxPriority);
}
else
{
mtCOVERAGE_TEST_MARKER();
@@ -1585,7 +1582,7 @@ BaseType_t i;
/* The delayed or ready lists cannot be accessed so the task
is held in the pending ready list until the scheduler is
unsuspended. */
vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
vListInsertEnd( &( xPendingReadyList[ xPortGetCoreID() ] ), &( pxTCB->xEventListItem ) );
}
}
else
@@ -1770,9 +1767,9 @@ BaseType_t xAlreadyYielded = pdFALSE;
{
/* Move any readied tasks from the pending list into the
appropriate ready list. */
while( listLIST_IS_EMPTY( &xPendingReadyList ) == pdFALSE )
while( listLIST_IS_EMPTY( &xPendingReadyList[ xPortGetCoreID() ] ) == pdFALSE )
{
pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xPendingReadyList ) );
pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xPendingReadyList[ xPortGetCoreID() ] ) );
( void ) uxListRemove( &( pxTCB->xEventListItem ) );
( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
prvAddTaskToReadyList( pxTCB );
@@ -1785,10 +1782,6 @@ BaseType_t xAlreadyYielded = pdFALSE;
xYieldPending[xPortGetCoreID()] = pdTRUE;
break;
}
else if ( pxTCB->xCoreID != xPortGetCoreID() )
{
taskYIELD_OTHER_CORE( pxTCB->xCoreID, pxTCB->uxPriority );
}
else
{
mtCOVERAGE_TEST_MARKER();
@@ -2658,15 +2651,20 @@ BaseType_t xReturn;
/* The delayed and ready lists cannot be accessed, so hold this task
pending until the scheduler is resumed. */
taskENTER_CRITICAL(&xTaskQueueMutex);
vListInsertEnd( &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
vListInsertEnd( &( xPendingReadyList[ xPortGetCoreID() ] ), &( pxUnblockedTCB->xEventListItem ) );
taskEXIT_CRITICAL(&xTaskQueueMutex);
}
if ( tskCAN_RUN_HERE(pxUnblockedTCB->xCoreID) && pxUnblockedTCB->uxPriority >= pxCurrentTCB[ xPortGetCoreID() ]->uxPriority )
{
/* We can schedule the awoken task on this CPU. */
xYieldPending[xPortGetCoreID()] = pdTRUE;
/* Return true if the task removed from the event list has a higher
priority than the calling task. This allows the calling task to know if
it should force a context switch now. */
xReturn = pdTRUE;
/* Mark that a yield is pending in case the user is not using the
"xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */
xYieldPending[ xPortGetCoreID() ] = pdTRUE;
}
else if ( pxUnblockedTCB->xCoreID != xPortGetCoreID() )
{
@@ -2724,9 +2722,15 @@ BaseType_t xReturn;
if ( tskCAN_RUN_HERE(pxUnblockedTCB->xCoreID) && pxUnblockedTCB->uxPriority >= pxCurrentTCB[ xPortGetCoreID() ]->uxPriority )
{
/* We can schedule the awoken task on this CPU. */
xYieldPending[xPortGetCoreID()] = pdTRUE;
/* Return true if the task removed from the event list has
a higher priority than the calling task. This allows
the calling task to know if it should force a context
switch now. */
xReturn = pdTRUE;
/* Mark that a yield is pending in case the user is not using the
"xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */
xYieldPending[ xPortGetCoreID() ] = pdTRUE;
}
else if ( pxUnblockedTCB->xCoreID != xPortGetCoreID() )
{
@@ -2967,7 +2971,7 @@ static portTASK_FUNCTION( prvIdleTask, pvParameters )
eSleepModeStatus eReturn = eStandardSleep;
taskENTER_CRITICAL(&xTaskQueueMutex);
if( listCURRENT_LIST_LENGTH( &xPendingReadyList ) != 0 )
if( listCURRENT_LIST_LENGTH( &xPendingReadyList[ xPortGetCoreID() ] ) != 0 )
{
/* A task was made ready while the scheduler was suspended. */
eReturn = eAbortSleep;
@@ -3210,7 +3214,7 @@ UBaseType_t uxPriority;
vListInitialise( &xDelayedTaskList1 );
vListInitialise( &xDelayedTaskList2 );
vListInitialise( &xPendingReadyList );
vListInitialise( &xPendingReadyList[ xPortGetCoreID() ] );
#if ( INCLUDE_vTaskDelete == 1 )
{
@@ -4576,7 +4580,7 @@ TickType_t uxReturn;
{
/* The delayed and ready lists cannot be accessed, so hold
this task pending until the scheduler is resumed. */
vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
vListInsertEnd( &( xPendingReadyList[ xPortGetCoreID() ] ), &( pxTCB->xEventListItem ) );
}
if( tskCAN_RUN_HERE(pxTCB->xCoreID) && pxTCB->uxPriority > pxCurrentTCB[ xPortGetCoreID() ]->uxPriority )
@@ -4644,7 +4648,7 @@ TickType_t uxReturn;
{
/* The delayed and ready lists cannot be accessed, so hold
this task pending until the scheduler is resumed. */
vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
vListInsertEnd( &( xPendingReadyList[ xPortGetCoreID() ] ), &( pxTCB->xEventListItem ) );
}
if( tskCAN_RUN_HERE(pxTCB->xCoreID) && pxTCB->uxPriority > pxCurrentTCB[ xPortGetCoreID() ]->uxPriority )