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freertos: Schedule tasks unblocked by an ISR on a core with scheduler running if core affinity matches

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FromISR APIs would put an unblocked task on the pending ready list if
the scheduler is suspended on the current core, irrespective of the
task's core affinity and the state of the scheduler on the other core.
This commit updates this behavior by allowing tasks to get scheduled on
a core which has the scheduler running as long as the task's core
affinity allows it.
This commit is contained in:
Sudeep Mohanty
2023-03-06 13:47:09 +01:00
committed by BOT
parent d3d5b77363
commit 9b81e2b189
3 changed files with 186 additions and 20 deletions
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42
components/freertos/FreeRTOS-Kernel/tasks.c
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@@ -269,6 +269,24 @@
#define taskIS_CURRENTLY_RUNNING_ON_CORE( pxTCB, xCoreID ) taskIS_CURRENTLY_RUNNING( ( pxTCB ) )
#endif /* configNUM_CORES > 1 */
/*
* Check if a task can be scheduled on a core.
* On a dual-core system:
* - If a task is pinned, check the scheduler suspension state on the task's pinned core. The task can be scheduled
* if the scheduler is not suspended on the pinned core.
* - If a task is unpinned, check the scheduler suspension state on both cores. The task can be scheduled if the
* scheduler is not suspended on either of the cores.
* On a single-core system:
* - Check the scheduler suspension state on core 0. The task can be scheduled if the scheduler is not suspended.
*/
#if ( configNUM_CORES > 1 )
#define taskCAN_BE_SCHEDULED( pxTCB ) \
( ( pxTCB->xCoreID != tskNO_AFFINITY ) ) ? ( uxSchedulerSuspended[ pxTCB->xCoreID ] == ( UBaseType_t ) pdFALSE ) : \
( ( uxSchedulerSuspended[ 0 ] == ( UBaseType_t ) pdFALSE ) || ( uxSchedulerSuspended[ 1 ] == ( UBaseType_t ) pdFALSE ) )
#else
#define taskCAN_BE_SCHEDULED( pxTCB ) ( ( uxSchedulerSuspended[ 0 ] == ( UBaseType_t ) pdFALSE ) )
#endif /* configNUM_CORES > 1 */
/*
* Several functions take a TaskHandle_t parameter that can optionally be NULL,
* where NULL is used to indicate that the handle of the currently executing
@@ -685,7 +703,7 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB ) PRIVILEGED_FUNCTION;
*
* Scheduling Algorithm:
* This function will bias towards yielding the current core.
* - If the unblocked task has a higher (or equal) priority than then current
* - If the unblocked task has a higher (or equal) priority than the current
* core, the current core is yielded regardless of the current priority of the
* other core.
* - A core (current or other) will only yield if their schedulers are not
@@ -1363,13 +1381,15 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB )
/* Indicate whether the current core needs to yield */
BaseType_t xYieldRequiredCurrentCore;
/* If the target task can run on the current core, and has a higher priority than the current core, then yield the current core */
if( ( ( xTaskCoreID == xCurCoreID ) || ( xTaskCoreID == tskNO_AFFINITY ) ) && ( uxTaskPriority > pxCurrentTCB[ xCurCoreID ]->uxPriority ) )
/* If the target task can run on the current core, and has a higher priority than the current core, and the core has not suspended scheduling, then yield the current core */
if( ( ( xTaskCoreID == xCurCoreID ) || ( xTaskCoreID == tskNO_AFFINITY ) ) &&
( uxTaskPriority > pxCurrentTCB[ xCurCoreID ]->uxPriority ) &&
( uxSchedulerSuspended[ xCurCoreID ] == ( UBaseType_t ) pdFALSE ) )
{
/* Return true for the caller to yield the current core */
xYieldRequiredCurrentCore = pdTRUE;
}
/* If the target task can run on the other core, and has a higher priority then the other core, and the other core has not suspended scheduling, the yield the other core */
/* If the target task can run on the other core, and has a higher priority then the other core, and the other core has not suspended scheduling, then yield the other core */
else if( ( ( xTaskCoreID == !xCurCoreID ) || ( xTaskCoreID == tskNO_AFFINITY ) ) &&
( uxTaskPriority > pxCurrentTCB[ !xCurCoreID ]->uxPriority ) &&
( uxSchedulerSuspended[ !xCurCoreID ] == ( UBaseType_t ) pdFALSE ) )
@@ -2261,8 +2281,7 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB )
traceTASK_RESUME_FROM_ISR( pxTCB );
/* Check the ready lists can be accessed. */
/* Known issue IDF-5856. We also need to check if the other core is suspended */
if( uxSchedulerSuspended[ xPortGetCoreID() ] == ( UBaseType_t ) pdFALSE )
if( taskCAN_BE_SCHEDULED( pxTCB ) )
{
/* Ready lists can be accessed so move the task from the
* suspended list to the ready list directly. */
@@ -3878,12 +3897,7 @@ BaseType_t xTaskRemoveFromEventList( const List_t * const pxEventList )
* has NOT suspended its scheduler. This occurs when:
* - The task is pinned, and the pinned core's scheduler is running
* - The task is unpinned, and at least one of the core's scheduler is running */
#if ( configNUM_CORES > 1 )
if( ( ( uxSchedulerSuspended[ 0 ] == ( UBaseType_t ) pdFALSE ) && ( taskCAN_RUN_ON_CORE( 0, pxUnblockedTCB->xCoreID ) == pdTRUE ) ) ||
( ( uxSchedulerSuspended[ 1 ] == ( UBaseType_t ) pdFALSE ) && ( taskCAN_RUN_ON_CORE( 1, pxUnblockedTCB->xCoreID ) == pdTRUE ) ) )
#else
if( uxSchedulerSuspended[ 0 ] == ( UBaseType_t ) pdFALSE )
#endif /* configNUM_CORES > 1 */
if( taskCAN_BE_SCHEDULED( pxUnblockedTCB ) )
{
( void ) uxListRemove( &( pxUnblockedTCB->xStateListItem ) );
prvAddTaskToReadyList( pxUnblockedTCB );
@@ -6109,7 +6123,7 @@ TickType_t uxTaskResetEventItemValue( void )
/* The task should not have been on an event list. */
configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
if( uxSchedulerSuspended[ xPortGetCoreID() ] == ( UBaseType_t ) pdFALSE )
if( taskCAN_BE_SCHEDULED( pxTCB ) )
{
( void ) uxListRemove( &( pxTCB->xStateListItem ) );
prvAddTaskToReadyList( pxTCB );
@@ -6200,7 +6214,7 @@ TickType_t uxTaskResetEventItemValue( void )
/* The task should not have been on an event list. */
configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
if( uxSchedulerSuspended[ xPortGetCoreID() ] == ( UBaseType_t ) pdFALSE )
if( taskCAN_BE_SCHEDULED( pxTCB ) )
{
( void ) uxListRemove( &( pxTCB->xStateListItem ) );
prvAddTaskToReadyList( pxTCB );