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feat(freertos/smp): Update ports to support Amazon FreeRTOS v11.0.1

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- vTaskPreemptionDisable()/vTaskPreemptionEnable() are no longer available in
single-core builds.
- xTaskIncrementTick() calls must now be wrapped by critical section
- Minimal Idle Task renamed to Passive Idle Task
- Port critical section APIs updated
This commit is contained in:
Darian Leung
2024-02-02 23:37:36 +08:00
parent 888678d102
commit 83c686c744
20 changed files with 148 additions and 135 deletions
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18
components/freertos/FreeRTOS-Kernel-SMP/portable/linux/include/freertos/portmacro.h
View File

@@ -6,7 +6,7 @@
*
* SPDX-License-Identifier: MIT
*
* SPDX-FileContributor: 2023 Espressif Systems (Shanghai) CO LTD
* SPDX-FileContributor: 2023-2024 Espressif Systems (Shanghai) CO LTD
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
@@ -110,15 +110,16 @@ BaseType_t xPortCheckIfInISR(void);
// ------------------ Critical Sections --------------------
#if ( configNUMBER_OF_CORES > 1 )
/*
These are always called with interrupts already disabled. We simply need to get/release the spinlocks
*/
extern portMUX_TYPE port_xTaskLock;
extern portMUX_TYPE port_xISRLock;
void vPortTakeLock( portMUX_TYPE *lock );
void vPortReleaseLock( portMUX_TYPE *lock );
#endif /* configNUMBER_OF_CORES > 1 */
// ---------------------- Yielding -------------------------
@@ -151,18 +152,9 @@ void vPortCleanUpTCB ( void *pxTCB );
#define portDISABLE_INTERRUPTS() xPortSetInterruptMask()
#define portENABLE_INTERRUPTS() vPortClearInterruptMask(0)
#define portRESTORE_INTERRUPTS(x) vPortClearInterruptMask(x)
// ------------------ Critical Sections --------------------
#define portGET_TASK_LOCK() vPortTakeLock(&port_xTaskLock)
#define portRELEASE_TASK_LOCK() vPortReleaseLock(&port_xTaskLock)
#define portGET_ISR_LOCK() vPortTakeLock(&port_xISRLock)
#define portRELEASE_ISR_LOCK() vPortReleaseLock(&port_xISRLock)
//Critical sections used by FreeRTOS SMP
extern void vTaskEnterCritical( void );
extern void vTaskExitCritical( void );
#define portENTER_CRITICAL_SMP() vTaskEnterCritical();
#define portEXIT_CRITICAL_SMP() vTaskExitCritical();
@@ -286,8 +278,8 @@ void vPortExitCriticalIDF(void);
// ---------------------- Yielding -------------------------
// Added for backward compatibility with IDF
#define portYIELD_WITHIN_API() vTaskYieldWithinAPI()
extern void vPortYield( void );
#define portYIELD() vPortYield()
// ----------------------- System --------------------------

4
components/freertos/FreeRTOS-Kernel-SMP/portable/linux/port.c
View File

@@ -298,7 +298,7 @@ void vPortYieldFromISR( void )
xThreadToSuspend = prvGetThreadFromTask( xTaskGetCurrentTaskHandle() );
vTaskSwitchContext(xPortGetCoreID());
vTaskSwitchContext();
xThreadToResume = prvGetThreadFromTask( xTaskGetCurrentTaskHandle() );
@@ -419,7 +419,7 @@ static void vPortSystemTickHandler( int sig )
#if ( configUSE_PREEMPTION == 1 )
if (xSwitchRequired == pdTRUE) {
/* Select Next Task. */
vTaskSwitchContext(xPortGetCoreID());
vTaskSwitchContext();
pxThreadToResume = prvGetThreadFromTask( xTaskGetCurrentTaskHandle() );

35
components/freertos/FreeRTOS-Kernel-SMP/portable/riscv/include/freertos/portmacro.h
View File

@@ -1,5 +1,5 @@
/*
* SPDX-FileCopyrightText: 2023 Espressif Systems (Shanghai) CO LTD
* SPDX-FileCopyrightText: 2023-2024 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0
*/
@@ -10,15 +10,28 @@
/* Macros used instead ofsetoff() for better performance of interrupt handler */
#if CONFIG_FREERTOS_USE_LIST_DATA_INTEGRITY_CHECK_BYTES
/*
pxTopOfStack (4) +
xStateListItem (28) +
xEventListItem (28) +
uxPriority (4)
*/
#define PORT_OFFSET_PX_STACK 0x40
#else
/*
pxTopOfStack (4) +
xStateListItem (20) +
xEventListItem (20) +
uxPriority (4)
*/
#define PORT_OFFSET_PX_STACK 0x30
#endif /* #if CONFIG_FREERTOS_USE_LIST_DATA_INTEGRITY_CHECK_BYTES */
#define PORT_OFFSET_PX_END_OF_STACK (PORT_OFFSET_PX_STACK + \
/* void * pxDummy6 */ 4 + \
/* BaseType_t xDummy23[ 2 ] */ 8 + \
/* uint8_t ucDummy7[ configMAX_TASK_NAME_LEN ] */ CONFIG_FREERTOS_MAX_TASK_NAME_LEN + \
/* BaseType_t xDummy24 */ 4)
#define PORT_OFFSET_PX_END_OF_STACK ( \
PORT_OFFSET_PX_STACK \
+ 4 /* StackType_t * pxStack */ \
+ CONFIG_FREERTOS_MAX_TASK_NAME_LEN /* pcTaskName[ configMAX_TASK_NAME_LEN ] */ \
)
#ifndef __ASSEMBLER__
@@ -102,15 +115,16 @@ BaseType_t xPortCheckIfInISR(void);
// ------------------ Critical Sections --------------------
#if ( configNUMBER_OF_CORES > 1 )
/*
These are always called with interrupts already disabled. We simply need to get/release the spinlocks
*/
extern portMUX_TYPE port_xTaskLock;
extern portMUX_TYPE port_xISRLock;
void vPortTakeLock( portMUX_TYPE *lock );
void vPortReleaseLock( portMUX_TYPE *lock );
#endif /* configNUMBER_OF_CORES > 1 */
// ---------------------- Yielding -------------------------
@@ -175,11 +189,12 @@ void vPortTCBPreDeleteHook( void *pxTCB );
// ------------------ Critical Sections --------------------
#if ( configNUMBER_OF_CORES > 1 )
#define portGET_TASK_LOCK() vPortTakeLock(&port_xTaskLock)
#define portRELEASE_TASK_LOCK() vPortReleaseLock(&port_xTaskLock)
#define portGET_ISR_LOCK() vPortTakeLock(&port_xISRLock)
#define portRELEASE_ISR_LOCK() vPortReleaseLock(&port_xISRLock)
#endif /* configNUMBER_OF_CORES > 1 */
//Critical sections used by FreeRTOS SMP
extern void vTaskEnterCritical( void );
@@ -314,8 +329,8 @@ static inline bool IRAM_ATTR xPortCanYield(void)
return (threshold <= 1);
}
// Added for backward compatibility with IDF
#define portYIELD_WITHIN_API() vTaskYieldWithinAPI()
// Defined even for configNUMBER_OF_CORES > 1 for IDF compatibility
#define portYIELD_WITHIN_API() esp_crosscore_int_send_yield(xPortGetCoreID())
// ----------------------- System --------------------------

22
components/freertos/FreeRTOS-Kernel-SMP/portable/riscv/port.c
View File

@@ -170,6 +170,7 @@ BaseType_t xPortCheckIfInISR(void)
// ------------------ Critical Sections --------------------
#if ( configNUMBER_OF_CORES > 1 )
void IRAM_ATTR vPortTakeLock( portMUX_TYPE *lock )
{
spinlock_acquire( lock, portMUX_NO_TIMEOUT);
@@ -179,6 +180,7 @@ void IRAM_ATTR vPortReleaseLock( portMUX_TYPE *lock )
{
spinlock_release( lock );
}
#endif /* configNUMBER_OF_CORES > 1 */
// ---------------------- Yielding -------------------------
@@ -486,21 +488,21 @@ void vApplicationTickHook( void )
#endif
extern void esp_vApplicationIdleHook(void);
#if CONFIG_FREERTOS_USE_MINIMAL_IDLE_HOOK
#if CONFIG_FREERTOS_USE_PASSIVE_IDLE_HOOK
/*
By default, the port uses vApplicationMinimalIdleHook() to run IDF style idle
hooks. However, users may also want to provide their own vApplicationMinimalIdleHook().
In this case, we use to -Wl,--wrap option to wrap the user provided vApplicationMinimalIdleHook()
By default, the port uses vApplicationPassiveIdleHook() to run IDF style idle
hooks. However, users may also want to provide their own vApplicationPassiveIdleHook().
In this case, we use to -Wl,--wrap option to wrap the user provided vApplicationPassiveIdleHook()
*/
extern void __real_vApplicationMinimalIdleHook( void );
void __wrap_vApplicationMinimalIdleHook( void )
extern void __real_vApplicationPassiveIdleHook( void );
void __wrap_vApplicationPassiveIdleHook( void )
{
esp_vApplicationIdleHook(); //Run IDF style hooks
__real_vApplicationMinimalIdleHook(); //Call the user provided vApplicationMinimalIdleHook()
__real_vApplicationPassiveIdleHook(); //Call the user provided vApplicationPassiveIdleHook()
}
#else // CONFIG_FREERTOS_USE_MINIMAL_IDLE_HOOK
void vApplicationMinimalIdleHook( void )
#else // CONFIG_FREERTOS_USE_PASSIVE_IDLE_HOOK
void vApplicationPassiveIdleHook( void )
{
esp_vApplicationIdleHook(); //Run IDF style hooks
}
#endif // CONFIG_FREERTOS_USE_MINIMAL_IDLE_HOOK
#endif // CONFIG_FREERTOS_USE_PASSIVE_IDLE_HOOK

4
components/freertos/FreeRTOS-Kernel-SMP/portable/riscv/portasm.S
View File

@@ -7,6 +7,10 @@
#include "portmacro.h"
#if CONFIG_ESP_SYSTEM_HW_STACK_GUARD
#include "esp_private/hw_stack_guard.h"
#endif
#if CONFIG_FREERTOS_UNICORE
#define pxCurrentTCBs pxCurrentTCB
#endif
.global uxInterruptNesting

47
components/freertos/FreeRTOS-Kernel-SMP/portable/xtensa/include/freertos/portmacro.h
View File

@@ -1,5 +1,5 @@
/*
* SPDX-FileCopyrightText: 2023 Espressif Systems (Shanghai) CO LTD
* SPDX-FileCopyrightText: 2023-2024 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0
*/
@@ -100,15 +100,16 @@ BaseType_t xPortCheckIfInISR(void);
UBaseType_t uxPortEnterCriticalFromISR( void );
void vPortExitCriticalFromISR( UBaseType_t level );
#if ( configNUMBER_OF_CORES > 1 )
/*
These are always called with interrupts already disabled. We simply need to get/release the spinlocks
*/
extern portMUX_TYPE port_xTaskLock;
extern portMUX_TYPE port_xISRLock;
void vPortTakeLock( portMUX_TYPE *lock );
void vPortReleaseLock( portMUX_TYPE *lock );
#endif /* configNUMBER_OF_CORES > 1 */
// ---------------------- Yielding -------------------------
@@ -151,35 +152,42 @@ void vPortTCBPreDeleteHook( void *pxTCB );
// --------------------- Interrupts ------------------------
#define portDISABLE_INTERRUPTS() ({ \
#define portSET_INTERRUPT_MASK() ({ \
unsigned int prev_level = XTOS_SET_INTLEVEL(XCHAL_EXCM_LEVEL); \
portbenchmarkINTERRUPT_DISABLE(); \
prev_level = ((prev_level >> XCHAL_PS_INTLEVEL_SHIFT) & XCHAL_PS_INTLEVEL_MASK); \
prev_level; \
})
#define portENABLE_INTERRUPTS() ({ \
portbenchmarkINTERRUPT_RESTORE(0); \
XTOS_SET_INTLEVEL(0); \
})
#define portSET_INTERRUPT_MASK_FROM_ISR() portSET_INTERRUPT_MASK()
#define portDISABLE_INTERRUPTS() portSET_INTERRUPT_MASK()
/*
Note: XTOS_RESTORE_INTLEVEL() will overwrite entire PS register on XEA2. So we need ot make the value INTLEVEL field ourselves
Note: XTOS_RESTORE_INTLEVEL() will overwrite entire PS register on XEA2. So we need to set the value of the INTLEVEL field ourselves
*/
#define portRESTORE_INTERRUPTS(x) ({ \
#define portCLEAR_INTERRUPT_MASK(x) ({ \
unsigned int ps_reg; \
RSR(PS, ps_reg); \
ps_reg = (ps_reg & ~XCHAL_PS_INTLEVEL_MASK); \
ps_reg |= ((x << XCHAL_PS_INTLEVEL_SHIFT) & XCHAL_PS_INTLEVEL_MASK); \
XTOS_RESTORE_INTLEVEL(ps_reg); \
})
#define portCLEAR_INTERRUPT_MASK_FROM_ISR(x) portCLEAR_INTERRUPT_MASK(x)
#define portENABLE_INTERRUPTS() ({ \
portbenchmarkINTERRUPT_RESTORE(0); \
XTOS_SET_INTLEVEL(0); \
})
/* Compatibility */
#define portRESTORE_INTERRUPTS(x) portCLEAR_INTERRUPT_MASK(x)
// ------------------ Critical Sections --------------------
#if ( configNUMBER_OF_CORES > 1 )
#define portGET_TASK_LOCK() vPortTakeLock(&port_xTaskLock)
#define portRELEASE_TASK_LOCK() vPortReleaseLock(&port_xTaskLock)
#define portGET_ISR_LOCK() vPortTakeLock(&port_xISRLock)
#define portRELEASE_ISR_LOCK() vPortReleaseLock(&port_xISRLock)
#endif /* configNUMBER_OF_CORES > 1 */
//Critical sections used by FreeRTOS SMP
extern void vTaskEnterCritical( void );
@@ -195,17 +203,10 @@ extern void vTaskExitCritical( void );
#define portEXIT_CRITICAL(...) CHOOSE_MACRO_VA_ARG(portEXIT_CRITICAL_IDF, portEXIT_CRITICAL_SMP, ##__VA_ARGS__)(__VA_ARGS__)
#endif
#define portSET_INTERRUPT_MASK_FROM_ISR() ({ \
unsigned int cur_level; \
RSR(PS, cur_level); \
cur_level = (cur_level & XCHAL_PS_INTLEVEL_MASK) >> XCHAL_PS_INTLEVEL_SHIFT; \
vTaskEnterCritical(); \
cur_level; \
})
#define portCLEAR_INTERRUPT_MASK_FROM_ISR(x) ({ \
vTaskExitCritical(); \
portRESTORE_INTERRUPTS(x); \
})
extern UBaseType_t vTaskEnterCriticalFromISR( void );
extern void vTaskExitCriticalFromISR( UBaseType_t uxSavedInterruptStatus );
#define portENTER_CRITICAL_FROM_ISR() vTaskEnterCriticalFromISR()
#define portEXIT_CRITICAL_FROM_ISR(x) vTaskExitCriticalFromISR(x)
// ---------------------- Yielding -------------------------
@@ -356,8 +357,8 @@ static inline bool IRAM_ATTR xPortCanYield(void)
return ((ps_reg & PS_INTLEVEL_MASK) == 0);
}
// Added for backward compatibility with IDF
#define portYIELD_WITHIN_API() vTaskYieldWithinAPI()
// Defined even for configNUMBER_OF_CORES > 1 for IDF compatibility
#define portYIELD_WITHIN_API() esp_crosscore_int_send_yield(xPortGetCoreID())
// ----------------------- System --------------------------

30
components/freertos/FreeRTOS-Kernel-SMP/portable/xtensa/port.c
View File

@@ -1,5 +1,5 @@
/*
* SPDX-FileCopyrightText: 2022-2023 Espressif Systems (Shanghai) CO LTD
* SPDX-FileCopyrightText: 2022-2024 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0
*/
@@ -63,7 +63,7 @@ const DRAM_ATTR uint32_t offset_pxEndOfStack = offsetof(StaticTask_t, pxDummy8);
const DRAM_ATTR uint32_t offset_cpsa = XT_CP_SIZE; /* Offset to start of the CPSA area on the stack. See uxInitialiseStackCPSA(). */
#if configNUM_CORES > 1
/* Offset to TCB_t.uxCoreAffinityMask member. Used to pin unpinned tasks that use the FPU. */
const DRAM_ATTR uint32_t offset_uxCoreAffinityMask = offsetof(StaticTask_t, uxDummy25);
const DRAM_ATTR uint32_t offset_uxCoreAffinityMask = offsetof(StaticTask_t, uxDummy26);
#if configUSE_CORE_AFFINITY != 1
#error "configUSE_CORE_AFFINITY must be 1 on multicore targets with coprocessor support"
#endif
@@ -72,9 +72,11 @@ const DRAM_ATTR uint32_t offset_uxCoreAffinityMask = offsetof(StaticTask_t, uxDu
volatile unsigned port_xSchedulerRunning[portNUM_PROCESSORS] = {0}; // Indicates whether scheduler is running on a per-core basis
unsigned int port_interruptNesting[portNUM_PROCESSORS] = {0}; // Interrupt nesting level. Increased/decreased in portasm.c, _frxt_int_enter/_frxt_int_exit
#if ( configNUMBER_OF_CORES > 1 )
//FreeRTOS SMP Locks
portMUX_TYPE port_xTaskLock = portMUX_INITIALIZER_UNLOCKED;
portMUX_TYPE port_xISRLock = portMUX_INITIALIZER_UNLOCKED;
#endif /* configNUMBER_OF_CORES > 1 */
/* ------------------------------------------------ IDF Compatibility --------------------------------------------------
* - These need to be defined for IDF to compile
@@ -204,6 +206,7 @@ BaseType_t xPortCheckIfInISR(void)
// ------------------ Critical Sections --------------------
#if ( configNUMBER_OF_CORES > 1 )
void vPortTakeLock( portMUX_TYPE *lock )
{
spinlock_acquire( lock, portMUX_NO_TIMEOUT);
@@ -213,6 +216,7 @@ void vPortReleaseLock( portMUX_TYPE *lock )
{
spinlock_release( lock );
}
#endif /* configNUMBER_OF_CORES > 1 */
// ---------------------- Yielding -------------------------
@@ -262,7 +266,7 @@ static void vPortCleanUpCoprocArea( void *pxTCB )
uxCoprocArea = STACKPTR_ALIGN_DOWN(16, uxCoprocArea - XT_CP_SIZE);
/* Extract core ID from the affinity mask */
xTargetCoreID = ( ( StaticTask_t * ) pxTCB )->uxDummy25 ;
xTargetCoreID = ( ( StaticTask_t * ) pxTCB )->uxDummy26;
xTargetCoreID = ( BaseType_t ) __builtin_ffs( ( int ) xTargetCoreID );
assert( xTargetCoreID >= 1 ); // __builtin_ffs always returns first set index + 1
xTargetCoreID -= 1;
@@ -667,21 +671,21 @@ void __attribute__((weak)) vApplicationStackOverflowHook( TaskHandle_t xTask, c
#endif
extern void esp_vApplicationIdleHook(void);
#if CONFIG_FREERTOS_USE_MINIMAL_IDLE_HOOK
#if CONFIG_FREERTOS_USE_PASSIVE_IDLE_HOOK
/*
By default, the port uses vApplicationMinimalIdleHook() to run IDF style idle
hooks. However, users may also want to provide their own vApplicationMinimalIdleHook().
In this case, we use to -Wl,--wrap option to wrap the user provided vApplicationMinimalIdleHook()
By default, the port uses vApplicationPassiveIdleHook() to run IDF style idle
hooks. However, users may also want to provide their own vApplicationPassiveIdleHook().
In this case, we use to -Wl,--wrap option to wrap the user provided vApplicationPassiveIdleHook()
*/
extern void __real_vApplicationMinimalIdleHook( void );
void __wrap_vApplicationMinimalIdleHook( void )
extern void __real_vApplicationPassiveIdleHook( void );
void __wrap_vApplicationPassiveIdleHook( void )
{
esp_vApplicationIdleHook(); //Run IDF style hooks
__real_vApplicationMinimalIdleHook(); //Call the user provided vApplicationMinimalIdleHook()
__real_vApplicationPassiveIdleHook(); //Call the user provided vApplicationPassiveIdleHook()
}
#else // CONFIG_FREERTOS_USE_MINIMAL_IDLE_HOOK
void vApplicationMinimalIdleHook( void )
#else // CONFIG_FREERTOS_USE_PASSIVE_IDLE_HOOK
void vApplicationPassiveIdleHook( void )
{
esp_vApplicationIdleHook(); //Run IDF style hooks
}
#endif // CONFIG_FREERTOS_USE_MINIMAL_IDLE_HOOK
#endif // CONFIG_FREERTOS_USE_PASSIVE_IDLE_HOOK

4
components/freertos/FreeRTOS-Kernel-SMP/portable/xtensa/portasm.S
View File

@@ -33,6 +33,10 @@
#define TOPOFSTACK_OFFS 0x00 /* StackType_t *pxTopOfStack */
#if CONFIG_FREERTOS_UNICORE
#define pxCurrentTCBs pxCurrentTCB
#endif
.extern pxCurrentTCBs
#if XCHAL_CP_NUM > 0
/* Offsets used to get a task's coprocessor save area (CPSA) from its TCB */