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freertos: Schedule tasks immediately when they are created on opposite core

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This commit is contained in:
Angus Gratton
2017-02-28 15:13:30 +11:00
parent 20212ee823
commit 8de26e434c
2 changed files with 66 additions and 51 deletions
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96
components/freertos/tasks.c
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@@ -1046,25 +1046,59 @@ UBaseType_t x;
}
/*-----------------------------------------------------------*/
static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB, TaskFunction_t pxTaskCode, const BaseType_t xCoreID )
static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB, TaskFunction_t pxTaskCode, BaseType_t xCoreID )
{
TCB_t *curTCB;
BaseType_t i;
TCB_t *curTCB, *tcb0, *tcb1;
/* Ensure interrupts don't access the task lists while the lists are being
updated. */
taskENTER_CRITICAL(&xTaskQueueMutex);
{
uxCurrentNumberOfTasks++;
//If the task has no affinity and nothing is scheduled on this core, just throw it this core.
//If it has affinity, throw it on the core that needs it if nothing is already scheduled there.
BaseType_t xMyCore = xCoreID;
if ( xMyCore == tskNO_AFFINITY) xMyCore = xPortGetCoreID();
if( pxCurrentTCB[ xMyCore ] == NULL )
// Determine which core this task starts on
if ( xCoreID == tskNO_AFFINITY )
{
if ( portNUM_PROCESSORS == 1 )
{
xCoreID = 0;
}
else
{
// if the task has no affinity, put it on either core if nothing is currently scheduled there. Failing that,
// put it on the core where it will preempt the lowest priority running task. If neither of these are true,
// queue it on the currently running core.
tcb0 = pxCurrentTCB[0];
tcb1 = pxCurrentTCB[1];
if ( tcb0 == NULL )
{
xCoreID = 0;
}
else if ( tcb1 == NULL )
{
xCoreID = 1;
}
else if ( tcb0->uxPriority < pxNewTCB->uxPriority && tcb0->uxPriority < tcb1->uxPriority )
{
xCoreID = 0;
}
else if ( tcb1->uxPriority < pxNewTCB->uxPriority )
{
xCoreID = 1;
}
else
{
xCoreID = xPortGetCoreID(); // Both CPU have higher priority tasks running on them, so this won't run yet
}
}
}
// If nothing is running on this core, put the new task there now
if( pxCurrentTCB[ xCoreID ] == NULL )
{
/* There are no other tasks, or all the other tasks are in
the suspended state - make this the current task. */
pxCurrentTCB[ xMyCore ] = pxNewTCB;
pxCurrentTCB[ xCoreID ] = pxNewTCB;
if( uxCurrentNumberOfTasks == ( UBaseType_t ) 1 )
{
@@ -1090,19 +1124,11 @@ static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB, TaskFunction_t pxTaskCode
so far. */
if( xSchedulerRunning == pdFALSE )
{
/* Scheduler isn't running yet. We need to determine on which CPU to run this task. */
for ( i=0; i<portNUM_PROCESSORS; i++ )
/* Scheduler isn't running yet. We need to determine on which CPU to run this task.
Schedule now if either nothing is scheduled yet or we can replace a task of lower prio. */
if ( pxCurrentTCB[xCoreID] == NULL || pxCurrentTCB[xCoreID]->uxPriority <= pxNewTCB->uxPriority )
{
/* Can we schedule this task on core i? */
if (xCoreID == tskNO_AFFINITY || xCoreID == i)
{
/* Schedule if nothing is scheduled yet, or overwrite a task of lower prio. */
if ( pxCurrentTCB[i] == NULL || pxCurrentTCB[i]->uxPriority <= pxNewTCB->uxPriority )
{
pxCurrentTCB[i] = pxNewTCB;
break;
}
}
pxCurrentTCB[xCoreID] = pxNewTCB;
}
}
else
@@ -1130,37 +1156,27 @@ static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB, TaskFunction_t pxTaskCode
if( xSchedulerRunning != pdFALSE )
{
taskENTER_CRITICAL(&xTaskQueueMutex);
curTCB = pxCurrentTCB[ xPortGetCoreID() ];
taskENTER_CRITICAL(&xTaskQueueMutex);
curTCB = pxCurrentTCB[ xCoreID ];
/* 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( curTCB->uxPriority < pxNewTCB->uxPriority )
then it should run now.
*/
if( curTCB == NULL || curTCB->uxPriority < pxNewTCB->uxPriority )
{
/* Scheduler is running. If the created task is of a higher priority than an executing task
then it should run now.
No mux here, uxPriority is mostly atomic and there's not really any harm if this check misfires.
*/
if( tskCAN_RUN_HERE( xCoreID ) && curTCB->uxPriority < pxNewTCB->uxPriority )
if( xCoreID == xPortGetCoreID() )
{
taskYIELD_IF_USING_PREEMPTION_MUX(&xTaskQueueMutex);
}
else if( xCoreID != xPortGetCoreID() ) {
else {
taskYIELD_OTHER_CORE(xCoreID, pxNewTCB->uxPriority);
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
else
{
mtCOVERAGE_TEST_MARKER();
}
taskEXIT_CRITICAL(&xTaskQueueMutex);
taskEXIT_CRITICAL(&xTaskQueueMutex);
}
else
{