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freertos(IDF): Allow cross-core freeing of task memory when deleting tasks

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Previously, IDF FreeRTOS would restrict the clean up of task memory (done by
vTaskDelete() or the Idle task) to only tasks pinned to the current core or
unpinned tasks. This was due to the need to clear the task's coprocessor
ownership on the other core (i.e., "_xt_coproc_owner_sa"). But this restriction
can be lifted by simply protecting access of "_xt_coproc_owner_sa" with a
spinlock.

This commit implements a "_xt_coproc_owner_sa_lock" to protect the access of
"_xt_coproc_owner_sa", thus vTaskDelete() and prvDeleteTCB() can now delete
tasks pinned to the other core so long as that task is not currently running.

Note: This fix was copied from the Xtensa port of Amazon SMP FreeRTOS
This commit is contained in:
Darian Leung
2022-12-14 21:07:48 +08:00
parent c318c89453
commit 45badf864f
5 changed files with 176 additions and 85 deletions
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106
components/freertos/FreeRTOS-Kernel/tasks.c
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@@ -1415,18 +1415,8 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB )
* not return. */
uxTaskNumber++;
/*
* We cannot immediately a task that is
* - Currently running on either core
* - If the task is not currently running but is pinned to the other (due to FPU cleanup)
* Todo: Allow deletion of tasks pinned to other core (IDF-5803)
*/
#if ( configNUM_CORES > 1 )
xFreeNow = ( taskIS_CURRENTLY_RUNNING( pxTCB ) || ( pxTCB->xCoreID == !xCurCoreID ) ) ? pdFALSE : pdTRUE;
#else
xFreeNow = ( taskIS_CURRENTLY_RUNNING( pxTCB ) ) ? pdFALSE : pdTRUE;
#endif /* configNUM_CORES > 1 */
/* We cannot free the task immediately if it is currently running (on either core) */
xFreeNow = ( taskIS_CURRENTLY_RUNNING( pxTCB ) ) ? pdFALSE : pdTRUE;
if( xFreeNow == pdFALSE )
{
/* A task is deleting itself. This cannot complete within the
@@ -1455,7 +1445,7 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB )
#if ( configNUM_CORES > 1 )
if( taskIS_CURRENTLY_RUNNING_ON_CORE( pxTCB, !xCurCoreID ) )
{
/* SMP case of deleting a task running on a different core. Same issue
/* SMP case of deleting a task currently running on a different core. Same issue
* as a task deleting itself, but we need to send a yield to this task now
* before we release xKernelLock.
*
@@ -4505,71 +4495,73 @@ static void prvInitialiseTaskLists( void )
}
/*-----------------------------------------------------------*/
static void prvCheckTasksWaitingTermination( void )
{
/** THIS FUNCTION IS CALLED FROM THE RTOS IDLE TASK **/
#if ( INCLUDE_vTaskDelete == 1 )
{
BaseType_t xListIsEmpty;
BaseType_t core = xPortGetCoreID();
TCB_t * pxTCB;
/* uxDeletedTasksWaitingCleanUp is used to prevent taskENTER_CRITICAL( &xKernelLock )
/* uxDeletedTasksWaitingCleanUp is used to prevent taskENTER_CRITICAL()
* being called too often in the idle task. */
while( uxDeletedTasksWaitingCleanUp > ( UBaseType_t ) 0U )
{
TCB_t * pxTCB = NULL;
taskENTER_CRITICAL( &xKernelLock );
{
xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );
if( xListIsEmpty == pdFALSE )
#if ( configNUM_CORES > 1 )
pxTCB = NULL;
taskENTER_CRITICAL( &xKernelLock );
{
/* We only want to kill tasks that ran on this core because e.g. _xt_coproc_release needs to
* be called on the core the process is pinned on, if any */
ListItem_t * target = listGET_HEAD_ENTRY( &xTasksWaitingTermination );
for( ; target != listGET_END_MARKER( &xTasksWaitingTermination ); target = listGET_NEXT( target ) ) /*Walk the list */
/* List may have already been cleared by the other core. Check again */
if ( listLIST_IS_EMPTY( &xTasksWaitingTermination ) == pdFALSE )
{
TCB_t * tgt_tcb = ( TCB_t * ) listGET_LIST_ITEM_OWNER( target );
int affinity = tgt_tcb->xCoreID;
/*Self deleting tasks are added to Termination List before they switch context. Ensure they aren't still currently running */
if( ( pxCurrentTCB[ core ] == tgt_tcb ) || ( ( configNUM_CORES > 1 ) && ( pxCurrentTCB[ !core ] == tgt_tcb ) ) )
/* We can't delete a task if it is still running on
* the other core. Keep walking the list until we
* find a task we can free, or until we walk the
* entire list. */
ListItem_t *xEntry;
for ( xEntry = listGET_HEAD_ENTRY( &xTasksWaitingTermination ); xEntry != listGET_END_MARKER( &xTasksWaitingTermination ); xEntry = listGET_NEXT( xEntry ) )
{
continue; /*Can't free memory of task that is still running */
if ( !taskIS_CURRENTLY_RUNNING( ( ( TCB_t * ) listGET_LIST_ITEM_OWNER( xEntry ) ) ) )
{
pxTCB = ( TCB_t * ) listGET_LIST_ITEM_OWNER( xEntry );
( void ) uxListRemove( &( pxTCB->xStateListItem ) );
--uxCurrentNumberOfTasks;
--uxDeletedTasksWaitingCleanUp;
break;
}
}
if( ( affinity == core ) || ( affinity == tskNO_AFFINITY ) ) /*Find first item not pinned to other core */
{
pxTCB = tgt_tcb;
break;
}
}
if( pxTCB != NULL )
{
( void ) uxListRemove( target ); /*Remove list item from list */
--uxCurrentNumberOfTasks;
--uxDeletedTasksWaitingCleanUp;
}
}
}
taskEXIT_CRITICAL( &xKernelLock ); /*Need to call deletion callbacks outside critical section */
taskEXIT_CRITICAL( &xKernelLock );
if ( pxTCB != NULL )
{
#if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 ) && ( configTHREAD_LOCAL_STORAGE_DELETE_CALLBACKS == 1 )
prvDeleteTLS( pxTCB );
#endif
prvDeleteTCB( pxTCB );
}
else
{
/* No task found to delete, break out of loop */
break;
}
#else
taskENTER_CRITICAL( &xKernelLock );
{
pxTCB = listGET_OWNER_OF_HEAD_ENTRY( ( &xTasksWaitingTermination ) ); /*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->xStateListItem ) );
--uxCurrentNumberOfTasks;
--uxDeletedTasksWaitingCleanUp;
}
taskEXIT_CRITICAL( &xKernelLock );
if( pxTCB != NULL ) /*Call deletion callbacks and free TCB memory */
{
#if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 ) && ( configTHREAD_LOCAL_STORAGE_DELETE_CALLBACKS == 1 )
prvDeleteTLS( pxTCB );
#endif
prvDeleteTCB( pxTCB );
}
else
{
mtCOVERAGE_TEST_MARKER();
break; /*No TCB found that could be freed by this core, break out of loop */
}
#endif /* configNUM_CORES > 1 */
}
}
#endif /* INCLUDE_vTaskDelete */