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freertos: Add task function wrapper

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This commit adds an option to enclose all FreeRTOS task functions within a
wrapper function. In the case that a task function returns, the wrapper function
will log an error and abort the application immediately.

Closes #2269
Closes #2300
This commit is contained in:
Darian Leung
2018-08-06 11:55:34 +10:00
parent 9844779553
commit 3ba63a520c
3 changed files with 52 additions and 6 deletions
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39
components/freertos/port.c
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@@ -108,6 +108,7 @@
#include "esp_crosscore_int.h"
#include "esp_intr_alloc.h"
#include "esp_log.h"
/* Defined in portasm.h */
extern void _frxt_tick_timer_init(void);
@@ -133,6 +134,18 @@ unsigned port_interruptNesting[portNUM_PROCESSORS] = {0}; // Interrupt nesting
// User exception dispatcher when exiting
void _xt_user_exit(void);
#if CONFIG_FREERTOS_TASK_FUNCTION_WRAPPER
// Wrapper to allow task functions to return (increases stack overhead by 16 bytes)
static void vPortTaskWrapper(TaskFunction_t pxCode, void *pvParameters)
{
pxCode(pvParameters);
//FreeRTOS tasks should not return. Log the task name and abort.
char * pcTaskName = pcTaskGetTaskName(NULL);
ESP_LOGE("FreeRTOS", "FreeRTOS Task \"%s\" should not return, Aborting now!", pcTaskName);
abort();
}
#endif
/*
* Stack initialization
*/
@@ -173,19 +186,33 @@ StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t px
frame = (XtExcFrame *) sp;
/* Explicitly initialize certain saved registers */
frame->pc = (UBaseType_t) pxCode; /* task entrypoint */
frame->a0 = 0; /* to terminate GDB backtrace */
frame->a1 = (UBaseType_t) sp + XT_STK_FRMSZ; /* physical top of stack frame */
frame->exit = (UBaseType_t) _xt_user_exit; /* user exception exit dispatcher */
#if CONFIG_FREERTOS_TASK_FUNCTION_WRAPPER
frame->pc = (UBaseType_t) vPortTaskWrapper; /* task wrapper */
#else
frame->pc = (UBaseType_t) pxCode; /* task entrypoint */
#endif
frame->a0 = 0; /* to terminate GDB backtrace */
frame->a1 = (UBaseType_t) sp + XT_STK_FRMSZ; /* physical top of stack frame */
frame->exit = (UBaseType_t) _xt_user_exit; /* user exception exit dispatcher */
/* Set initial PS to int level 0, EXCM disabled ('rfe' will enable), user mode. */
/* Also set entry point argument parameter. */
#ifdef __XTENSA_CALL0_ABI__
frame->a2 = (UBaseType_t) pvParameters;
#if CONFIG_FREERTOS_TASK_FUNCTION_WRAPPER
frame->a2 = (UBaseType_t) pxCode;
frame->a3 = (UBaseType_t) pvParameters;
#else
frame->a2 = (UBaseType_t) pvParameters;
#endif
frame->ps = PS_UM | PS_EXCM;
#else
/* + for windowed ABI also set WOE and CALLINC (pretend task was 'call4'd). */
frame->a6 = (UBaseType_t) pvParameters;
#if CONFIG_FREERTOS_TASK_FUNCTION_WRAPPER
frame->a6 = (UBaseType_t) pxCode;
frame->a7 = (UBaseType_t) pvParameters;
#else
frame->a6 = (UBaseType_t) pvParameters;
#endif
frame->ps = PS_UM | PS_EXCM | PS_WOE | PS_CALLINC(1);
#endif