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esp-idf/components/freertos/tasks.c

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Initial public version
2016-08-17 23:08:22 +08:00
/*
FreeRTOS V8.2.0 - Copyright (C) 2015 Real Time Engineers Ltd.
All rights reserved
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
This file is part of the FreeRTOS distribution.
FreeRTOS is free software; you can redistribute it and/or modify it under
the terms of the GNU General Public License (version 2) as published by the
Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
***************************************************************************
>>! NOTE: The modification to the GPL is included to allow you to !<<
>>! distribute a combined work that includes FreeRTOS without being !<<
>>! obliged to provide the source code for proprietary components !<<
>>! outside of the FreeRTOS kernel. !<<
***************************************************************************
FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
FOR A PARTICULAR PURPOSE. Full license text is available on the following
link: http://www.freertos.org/a00114.html
***************************************************************************
* *
* FreeRTOS provides completely free yet professionally developed, *
* robust, strictly quality controlled, supported, and cross *
* platform software that is more than just the market leader, it *
* is the industry's de facto standard. *
* *
* Help yourself get started quickly while simultaneously helping *
* to support the FreeRTOS project by purchasing a FreeRTOS *
* tutorial book, reference manual, or both: *
* http://www.FreeRTOS.org/Documentation *
* *
***************************************************************************
http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
the FAQ page "My application does not run, what could be wrong?". Have you
defined configASSERT()?
http://www.FreeRTOS.org/support - In return for receiving this top quality
embedded software for free we request you assist our global community by
participating in the support forum.
http://www.FreeRTOS.org/training - Investing in training allows your team to
be as productive as possible as early as possible. Now you can receive
FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
Ltd, and the world's leading authority on the world's leading RTOS.
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool, a DOS
compatible FAT file system, and our tiny thread aware UDP/IP stack.
http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
licenses offer ticketed support, indemnification and commercial middleware.
http://www.SafeRTOS.com - High Integrity Systems also provide a safety
engineered and independently SIL3 certified version for use in safety and
mission critical applications that require provable dependability.
1 tab == 4 spaces!
*/
/* Standard includes. */
#include <stdlib.h>
#include <string.h>
build and link hello-world for esp32s2beta
2019-06-06 10:57:29 +08:00
#include "sdkconfig.h"
Initial public version
2016-08-17 23:08:22 +08:00
/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
all the API functions to use the MPU wrappers. That should only be done when
task.h is included from an application file. */
#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
vfs: code review fixes - fix typo in readme - remove unneeded extern declaration - fix header guard macro - tabs->spaces in syscalls.c (+1 squashed commit) - fix minor typos
2016-10-25 22:16:08 +08:00
#include "esp_newlib.h"
components/esp_common: added esp_macros.h that aims to hold useful macros esp_common/esp_compiler: renamed esp_macros file to a more specific one esp_common/esp_compiler: removed CONTAINER_OF macro, it was a duplicate components/freertos: placed likely macros around port and critical sections component/freertos: placed likely macros on lists module components/freertos: placed unlikely macros inside of assertion points, they likely wont fail components/freertos: added likely macros on queue modules FreeRTOS queues are one of most hot code path, because to queues itself tend to be used a lot by the applications, besides that, queues are the basic primitive to form both mutexes and semaphores, The focus here is to place likely macros inside lowest level send and receive routines, since they're common from all kobjects: semaphores, queues, mutexes and FR internals (like timer queue) components/lwip: placed likely/unlikey on net-interfaces code components/fatfs: added unlikely macros on disk drivers code components/spiffs: added unlikely macros on low level fs driver components/freertos: added likely/unlikely macros on timers and ticker freertos/event_group: placed likely/unlikely macros on hot event group code paths components/sdmmc: placed likely / unlikely macros on lower level path of sdmmc components/bt: placed unlikely macros around bt HCI functions calling components/lwip: added likely/unlikely macros on OS port code section components/freertos: fix code style on tick handler
2019-10-15 18:01:05 -03:00
#include "esp_compiler.h"
Initial public version
2016-08-17 23:08:22 +08:00
/* FreeRTOS includes. */
#include "FreeRTOS.h"
#include "task.h"
#include "timers.h"
#include "StackMacros.h"
#include "portmacro.h"
global: move the soc component out of the common list This MR removes the common dependency from every IDF components to the SOC component. Currently, in the ``idf_functions.cmake`` script, we include the header path of SOC component by default for all components. But for better code organization (or maybe also benifits to the compiling speed), we may remove the dependency to SOC components for most components except the driver and kernel related components. In CMAKE, we have two kinds of header visibilities (set by include path visibility): (Assume component A --(depends on)--> B, B is the current component) 1. public (``COMPONENT_ADD_INCLUDEDIRS``): means this path is visible to other depending components (A) (visible to A and B) 2. private (``COMPONENT_PRIV_INCLUDEDIRS``): means this path is only visible to source files inside the component (visible to B only) and we have two kinds of depending ways: (Assume component A --(depends on)--> B --(depends on)--> C, B is the current component) 1. public (```COMPONENT_REQUIRES```): means B can access to public include path of C. All other components rely on you (A) will also be available for the public headers. (visible to A, B) 2. private (``COMPONENT_PRIV_REQUIRES``): means B can access to public include path of C, but don't propagate this relation to other components (A). (visible to B) 1. remove the common requirement in ``idf_functions.cmake``, this makes the SOC components invisible to all other components by default. 2. if a component (for example, DRIVER) really needs the dependency to SOC, add a private dependency to SOC for it. 3. some other components that don't really depends on the SOC may still meet some errors saying "can't find header soc/...", this is because it's depended component (DRIVER) incorrectly include the header of SOC in its public headers. Moving all this kind of #include into source files, or private headers 4. Fix the include requirements for some file which miss sufficient #include directives. (Previously they include some headers by the long long long header include link) This is a breaking change. Previous code may depends on the long include chain. You may need to include the following headers for some files after this commit: - soc/soc.h - soc/soc_memory_layout.h - driver/gpio.h - esp_sleep.h The major broken include chain includes: 1. esp_system.h no longer includes esp_sleep.h. The latter includes driver/gpio.h and driver/touch_pad.h. 2. ets_sys.h no longer includes soc/soc.h 3. freertos/portmacro.h no longer includes soc/soc_memory_layout.h some peripheral headers no longer includes their hw related headers, e.g. rom/gpio.h no longer includes soc/gpio_pins.h and soc/gpio_reg.h BREAKING CHANGE
2019-04-03 13:17:38 +08:00
#include "portmacro_priv.h"
fix socket compile error
2016-08-17 21:05:29 +08:00
#include "semphr.h"
Initial public version
2016-08-17 23:08:22 +08:00
/* Lint e961 and e750 are suppressed as a MISRA exception justified because the
MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined for the
header files above, but not in this file, in order to generate the correct
privileged Vs unprivileged linkage and placement. */
#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750. */
/* Set configUSE_STATS_FORMATTING_FUNCTIONS to 2 to include the stats formatting
functions but without including stdio.h here. */
#if ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 )
/* At the bottom of this file are two optional functions that can be used
to generate human readable text from the raw data generated by the
uxTaskGetSystemState() function. Note the formatting functions are provided
for convenience only, and are NOT considered part of the kernel. */
#include <stdio.h>
#endif /* configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) */
/* Sanity check the configuration. */
#if configUSE_TICKLESS_IDLE != 0
#if INCLUDE_vTaskSuspend != 1
#error INCLUDE_vTaskSuspend must be set to 1 if configUSE_TICKLESS_IDLE is not set to 0
#endif /* INCLUDE_vTaskSuspend */
#endif /* configUSE_TICKLESS_IDLE */
/*
freertos: Bump idle stack size to 1KB, min stack to 768 bytes, make configurable Reverts regression mentioned at https://github.com/espressif/esp-idf/commit/3fe0022efafb4c11dd6e3dc24b92ff9976e59a77#commitcomment-23013504
2017-07-11 12:02:09 +08:00
* Defines the size, in bytes, of the stack allocated to the idle task.
Initial public version
2016-08-17 23:08:22 +08:00
*/
freertos: Bump idle stack size to 1KB, min stack to 768 bytes, make configurable Reverts regression mentioned at https://github.com/espressif/esp-idf/commit/3fe0022efafb4c11dd6e3dc24b92ff9976e59a77#commitcomment-23013504
2017-07-11 12:02:09 +08:00
#define tskIDLE_STACK_SIZE configIDLE_TASK_STACK_SIZE
Initial public version
2016-08-17 23:08:22 +08:00
#if( configUSE_PREEMPTION == 0 )
/* If the cooperative scheduler is being used then a yield should not be
performed just because a higher priority task has been woken. */
#define taskYIELD_IF_USING_PREEMPTION()
#else
#define taskYIELD_IF_USING_PREEMPTION() portYIELD_WITHIN_API()
#endif
Backport the static allocation feature from FreeRTOS V9.0.0 This feature allows to use static buffers (or from a pool of memory which is not controlled by FreeRTOS). In order to reduce the impact of the changes, the static feature has only been added to the queus (and in consequence to the semaphores and the mutexes) and the tasks. The Timer task is always dynamically allocated and also the idle task(s), which in the case of the ESP-IDF is ok, since we always need to have dynamic allocation enabled.
2016-09-22 12:20:56 +08:00
Add UNTESTED_FUNCTION() call to untested functions, make Kconfig option to enable that to map to assert()
2016-09-27 11:36:30 +08:00
Initial public version
2016-08-17 23:08:22 +08:00
/* Value that can be assigned to the eNotifyState member of the TCB. */
typedef enum
{
eNotWaitingNotification = 0,
eWaitingNotification,
eNotified
} eNotifyValue;
Backport the static allocation feature from FreeRTOS V9.0.0 This feature allows to use static buffers (or from a pool of memory which is not controlled by FreeRTOS). In order to reduce the impact of the changes, the static feature has only been added to the queus (and in consequence to the semaphores and the mutexes) and the tasks. The Timer task is always dynamically allocated and also the idle task(s), which in the case of the ESP-IDF is ok, since we always need to have dynamic allocation enabled.
2016-09-22 12:20:56 +08:00
/* Sometimes the FreeRTOSConfig.h settings only allow a task to be created using
dynamically allocated RAM, in which case when any task is deleted it is known
that both the task's stack and TCB need to be freed. Sometimes the
FreeRTOSConfig.h settings only allow a task to be created using statically
allocated RAM, in which case when any task is deleted it is known that neither
the task's stack or TCB should be freed. Sometimes the FreeRTOSConfig.h
settings allow a task to be created using either statically or dynamically
allocated RAM, in which case a member of the TCB is used to record whether the
stack and/or TCB were allocated statically or dynamically, so when a task is
deleted the RAM that was allocated dynamically is freed again and no attempt is
made to free the RAM that was allocated statically.
tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE is only true if it is possible for a
task to be created using either statically or dynamically allocated RAM. Note
that if portUSING_MPU_WRAPPERS is 1 then a protected task can be created with
a statically allocated stack and a dynamically allocated TCB. */
#define tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE ( ( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) || ( portUSING_MPU_WRAPPERS == 1 ) )
#define tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB ( ( uint8_t ) 0 )
#define tskSTATICALLY_ALLOCATED_STACK_ONLY ( ( uint8_t ) 1 )
#define tskSTATICALLY_ALLOCATED_STACK_AND_TCB ( ( uint8_t ) 2 )
Initial public version
2016-08-17 23:08:22 +08:00
/*
* Task control block. A task control block (TCB) is allocated for each task,
* and stores task state information, including a pointer to the task's context
* (the task's run time environment, including register values)
*/
typedef struct tskTaskControlBlock
{
volatile StackType_t *pxTopOfStack; /*< Points to the location of the last item placed on the tasks stack. THIS MUST BE THE FIRST MEMBER OF THE TCB STRUCT. */
#if ( portUSING_MPU_WRAPPERS == 1 )
xMPU_SETTINGS xMPUSettings; /*< The MPU settings are defined as part of the port layer. THIS MUST BE THE SECOND MEMBER OF THE TCB STRUCT. */
#endif
ListItem_t xGenericListItem; /*< The list that the state list item of a task is reference from denotes the state of that task (Ready, Blocked, Suspended ). */
ListItem_t xEventListItem; /*< Used to reference a task from an event list. */
UBaseType_t uxPriority; /*< The priority of the task. 0 is the lowest priority. */
StackType_t *pxStack; /*< Points to the start of the stack. */
char pcTaskName[ configMAX_TASK_NAME_LEN ];/*< Descriptive name given to the task when created. Facilitates debugging only. */ /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
BaseType_t xCoreID; /*< Core this task is pinned to */
Define xcoreid offset, add warning in tcb struct wrt the need to also change that define when struct changes
2016-09-29 11:07:18 +08:00
/* If this moves around (other than pcTaskName size changes), please change the define in xtensa_vectors.S as well. */
esp32: Add core dump saving to flash feature Complimentary changes: 1) Partition table definitions files with core dump partition 2) Special sub-type for core dump partition 3) Special version of spi_flash_xxx 4) espcoredump.py is script to get core dump from flash and print useful info 5) FreeRTOS API was extended to get tasks snapshots
2016-12-22 02:56:23 +03:00
#if ( portSTACK_GROWTH > 0 || configENABLE_TASK_SNAPSHOT == 1 )
Initial public version
2016-08-17 23:08:22 +08:00
StackType_t *pxEndOfStack; /*< Points to the end of the stack on architectures where the stack grows up from low memory. */
#endif
#if ( portCRITICAL_NESTING_IN_TCB == 1 )
UBaseType_t uxCriticalNesting; /*< Holds the critical section nesting depth for ports that do not maintain their own count in the port layer. */
Make vTaskEnterCritical callable from ISR
2016-09-05 11:46:08 +08:00
uint32_t uxOldInterruptState; /*< Interrupt state before the outer taskEnterCritical was called */
Initial public version
2016-08-17 23:08:22 +08:00
#endif
#if ( configUSE_TRACE_FACILITY == 1 )
UBaseType_t uxTCBNumber; /*< Stores a number that increments each time a TCB is created. It allows debuggers to determine when a task has been deleted and then recreated. */
UBaseType_t uxTaskNumber; /*< Stores a number specifically for use by third party trace code. */
#endif
#if ( configUSE_MUTEXES == 1 )
UBaseType_t uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
UBaseType_t uxMutexesHeld;
#endif
#if ( configUSE_APPLICATION_TASK_TAG == 1 )
TaskHookFunction_t pxTaskTag;
#endif
#if( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 )
void *pvThreadLocalStoragePointers[ configNUM_THREAD_LOCAL_STORAGE_POINTERS ];
'Merge branch 'thread_local_storage_delete_callbacks' into 'master' The thread-local-storage feature in FreeRTOS attaches an application-usable array of pointers to a thread control block. These pointers usually point to a structure the thread allocates. When a thread gets (voluntarily or involuntarily) destroyed, this memory can leak. This merge adds a matching second array of user-settable pointers to destructor routines. As soon as the task gets cleaned up (which happens in the idle thread), the destructors get called and the memory can be freed. See merge request !19
2016-08-24 13:29:06 +08:00
#if ( configTHREAD_LOCAL_STORAGE_DELETE_CALLBACKS )
TlsDeleteCallbackFunction_t pvThreadLocalStoragePointersDelCallback[ configNUM_THREAD_LOCAL_STORAGE_POINTERS ];
#endif
Initial public version
2016-08-17 23:08:22 +08:00
#endif
#if ( configGENERATE_RUN_TIME_STATS == 1 )
uint32_t ulRunTimeCounter; /*< Stores the amount of time the task has spent in the Running state. */
#endif
#if ( configUSE_NEWLIB_REENTRANT == 1 )
/* Allocate a Newlib reent structure that is specific to this task.
Note Newlib support has been included by popular demand, but is not
used by the FreeRTOS maintainers themselves. FreeRTOS is not
responsible for resulting newlib operation. User must be familiar with
newlib and must provide system-wide implementations of the necessary
stubs. Be warned that (at the time of writing) the current newlib design
implements a system-wide malloc() that must be provided with locks. */
struct _reent xNewLib_reent;
#endif
#if ( configUSE_TASK_NOTIFICATIONS == 1 )
volatile uint32_t ulNotifiedValue;
volatile eNotifyValue eNotifyState;
#endif
Backport the static allocation feature from FreeRTOS V9.0.0 This feature allows to use static buffers (or from a pool of memory which is not controlled by FreeRTOS). In order to reduce the impact of the changes, the static feature has only been added to the queus (and in consequence to the semaphores and the mutexes) and the tasks. The Timer task is always dynamically allocated and also the idle task(s), which in the case of the ESP-IDF is ok, since we always need to have dynamic allocation enabled.
2016-09-22 12:20:56 +08:00
/* See the comments above the definition of
tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE. */
#if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 )
uint8_t ucStaticallyAllocated; /*< Set to pdTRUE if the task is a statically allocated to ensure no attempt is made to free the memory. */
#endif
Initial public version
2016-08-17 23:08:22 +08:00
} tskTCB;
/* The old tskTCB name is maintained above then typedefed to the new TCB_t name
below to enable the use of older kernel aware debuggers. */
typedef tskTCB TCB_t;
FreeRTOS: Use C11 _Static_assert to verify static "dummy" structs at compile time Includes a tweak to make Static_task_t equal size to TCB_t when using MPU_WRAPPERS . Matches tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE macro in tasks.c. This isn't actually a bug (if static task allocation is off, there is no use for Static_task_t), but it allows us to make consistent compile-time checks that Static_task_t == TCB_t.
2016-11-23 09:42:35 +11:00
#if __GNUC_PREREQ(4, 6)
_Static_assert(sizeof(StaticTask_t) == sizeof(TCB_t), "StaticTask_t != TCB_t");
#endif
Initial public version
2016-08-17 23:08:22 +08:00
/*
* Some kernel aware debuggers require the data the debugger needs access to to
* be global, rather than file scope.
*/
#ifdef portREMOVE_STATIC_QUALIFIER
#define static
#endif
/*lint -e956 A manual analysis and inspection has been used to determine which
static variables must be declared volatile. */
PRIVILEGED_DATA TCB_t * volatile pxCurrentTCB[ portNUM_PROCESSORS ] = { NULL };
/* Lists for ready and blocked tasks. --------------------*/
PRIVILEGED_DATA static List_t pxReadyTasksLists[ configMAX_PRIORITIES ];/*< Prioritised ready tasks. */
PRIVILEGED_DATA static List_t xDelayedTaskList1; /*< Delayed tasks. */
PRIVILEGED_DATA static List_t xDelayedTaskList2; /*< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */
PRIVILEGED_DATA static List_t * volatile pxDelayedTaskList; /*< Points to the delayed task list currently being used. */
PRIVILEGED_DATA static List_t * volatile pxOverflowDelayedTaskList; /*< Points to the delayed task list currently being used to hold tasks that have overflowed the current tick count. */
Add checks for tasks woken up on other CPUs where needed, make xYieldPending and xPendingReadyList per-processor, add configurable ISR stack size to Kconfig, in general fix the entire wake-up-task-on-other-cpu-by-interrupt implementation
2016-10-27 16:07:47 +08:00
PRIVILEGED_DATA static List_t xPendingReadyList[ portNUM_PROCESSORS ]; /*< Tasks that have been readied while the scheduler was suspended. They will be moved to the ready list when the scheduler is resumed. */
Initial public version
2016-08-17 23:08:22 +08:00
#if ( INCLUDE_vTaskDelete == 1 )
PRIVILEGED_DATA static List_t xTasksWaitingTermination; /*< Tasks that have been deleted - but their memory not yet freed. Protected by xTaskQueueMutex.*/
PRIVILEGED_DATA static volatile UBaseType_t uxTasksDeleted = ( UBaseType_t ) 0U;
#endif
#if ( INCLUDE_vTaskSuspend == 1 )
PRIVILEGED_DATA static List_t xSuspendedTaskList; /*< Tasks that are currently suspended. */
#endif
#if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
esp32: SEGGER SystemView Tracing Support Implements support for system level traces compatible with SEGGER SystemView tool on top of ESP32 application tracing module. That kind of traces can help to analyse program's behaviour. SystemView can show timeline of tasks/ISRs execution, context switches, statistics related to the CPUs' load distribution etc. Also this commit adds useful feature to ESP32 application tracing module: - Trace data buffering is implemented to handle temporary peaks of events load
2017-03-22 06:07:37 +03:00
PRIVILEGED_DATA static TaskHandle_t xIdleTaskHandle[portNUM_PROCESSORS] = {NULL}; /*< Holds the handle of the idle task. The idle task is created automatically when the scheduler is started. */
Initial public version
2016-08-17 23:08:22 +08:00
#endif
/* Other file private variables. --------------------------------*/
PRIVILEGED_DATA static volatile UBaseType_t uxCurrentNumberOfTasks = ( UBaseType_t ) 0U;
PRIVILEGED_DATA static volatile TickType_t xTickCount = ( TickType_t ) 0U;
PRIVILEGED_DATA static volatile UBaseType_t uxTopReadyPriority = tskIDLE_PRIORITY;
PRIVILEGED_DATA static volatile BaseType_t xSchedulerRunning = pdFALSE;
PRIVILEGED_DATA static volatile UBaseType_t uxPendedTicks = ( UBaseType_t ) 0U;
Most code written. Interrupts still do not fire yet.
2016-10-26 21:09:55 +08:00
PRIVILEGED_DATA static volatile BaseType_t xYieldPending[portNUM_PROCESSORS] = {pdFALSE};
Initial public version
2016-08-17 23:08:22 +08:00
PRIVILEGED_DATA static volatile BaseType_t xNumOfOverflows = ( BaseType_t ) 0;
PRIVILEGED_DATA static UBaseType_t uxTaskNumber = ( UBaseType_t ) 0U;
PRIVILEGED_DATA static volatile TickType_t xNextTaskUnblockTime = portMAX_DELAY;
/* Context switches are held pending while the scheduler is suspended. Also,
interrupts must not manipulate the xGenericListItem of a TCB, or any of the
lists the xGenericListItem can be referenced from, if the scheduler is suspended.
If an interrupt needs to unblock a task while the scheduler is suspended then it
moves the task's event list item into the xPendingReadyList, ready for the
kernel to move the task from the pending ready list into the real ready list
when the scheduler is unsuspended. The pending ready list itself can only be
accessed from a critical section. */
PRIVILEGED_DATA static volatile UBaseType_t uxSchedulerSuspended[ portNUM_PROCESSORS ] = { ( UBaseType_t ) pdFALSE };
freertos: use xTaskQueueMutex to protect tick count Having two different spinlocks is problematic due to possibly different order in which the locks will be taken. Changing the order would require significant restructuring of kernel code which is undesirable. An additional place where taking xTickCountMutex was needed was in vApplicationSleep function. Not taking xTickCountMutex resulted in other CPU sometimes possibly advancing tick count while light sleep entry/exit was happening. Taking xTickCountMutex in addition to xTaskQueueMutex has shown a problem that in different code paths, these two spinlocks could be taken in different order, leading to (unlikely, but possible) deadlocks.
2018-10-12 14:18:49 +08:00
/* We use just one spinlock for all the critical sections. */
Add static initializers for muxes, add mutex init to vPortCPUAcquireMutex
2016-08-22 17:36:32 +08:00
PRIVILEGED_DATA static portMUX_TYPE xTaskQueueMutex = portMUX_INITIALIZER_UNLOCKED;
Initial public version
2016-08-17 23:08:22 +08:00
#if ( configGENERATE_RUN_TIME_STATS == 1 )
FreeRTOS/make Queue Registry and Run Time Stats configurable This commit makes the configQUEUE_REGISTRY_SIZE and configGENERATE_RUN_TIME_STATS configurable in menuconfig. - configQUEUE_REGISTRY_SIZE can now be set in menuconfig. - The functions vQueueAddToRegistry() and vQueueUnregisterQueue() were made SMP compatbile - pcQueueGetName() was backported from FreeRTOS v9.0.0 - Added test case for Queue Registry functions - configGENERATE_RUN_TIME_STATS can now be enabled in menuconfig. CCOUNT or esp_timer can be selected as the FreeRTOS run time clock in menuconfig as well, although CCOUNT will overflow quickly. - Run time stats collection (in vTaskSwitchContext) and generation (in uxTaskGetSystemState) have been made SMP compatible. Therefore vTaskGetRunTimeStats() now displays the run time usage of each task as a percentage of total runtime of both CPUs Squash
2017-10-30 16:03:56 +08:00
PRIVILEGED_DATA static uint32_t ulTaskSwitchedInTime[portNUM_PROCESSORS] = {0U}; /*< Holds the value of a timer/counter the last time a task was switched in on a particular core. */
Initial public version
2016-08-17 23:08:22 +08:00
PRIVILEGED_DATA static uint32_t ulTotalRunTime = 0UL; /*< Holds the total amount of execution time as defined by the run time counter clock. */
#endif
esp32: SEGGER SystemView Tracing Support Implements support for system level traces compatible with SEGGER SystemView tool on top of ESP32 application tracing module. That kind of traces can help to analyse program's behaviour. SystemView can show timeline of tasks/ISRs execution, context switches, statistics related to the CPUs' load distribution etc. Also this commit adds useful feature to ESP32 application tracing module: - Trace data buffering is implemented to handle temporary peaks of events load
2017-03-22 06:07:37 +03:00
// per-CPU flags indicating that we are doing context switch, it is used by apptrace and sysview modules
// in order to avoid calls of vPortYield from traceTASK_SWITCHED_IN/OUT when waiting
// for locks to be free or for host to read full trace buffer
PRIVILEGED_DATA static volatile BaseType_t xSwitchingContext[ portNUM_PROCESSORS ] = { pdFALSE };
Initial public version
2016-08-17 23:08:22 +08:00
/*lint +e956 */
/* Debugging and trace facilities private variables and macros. ------------*/
/*
* The value used to fill the stack of a task when the task is created. This
* is used purely for checking the high water mark for tasks.
*/
#define tskSTACK_FILL_BYTE ( 0xa5U )
/*
* Macros used by vListTask to indicate which state a task is in.
*/
#define tskBLOCKED_CHAR ( 'B' )
#define tskREADY_CHAR ( 'R' )
#define tskDELETED_CHAR ( 'D' )
#define tskSUSPENDED_CHAR ( 'S' )
/*-----------------------------------------------------------*/
#if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
/* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 0 then task selection is
performed in a generic way that is not optimised to any particular
microcontroller architecture. */
/* uxTopReadyPriority holds the priority of the highest priority ready
state task. */
#define taskRECORD_READY_PRIORITY( uxPriority ) \
{ \
if( ( uxPriority ) > uxTopReadyPriority ) \
{ \
uxTopReadyPriority = ( uxPriority ); \
} \
} /* taskRECORD_READY_PRIORITY */
/*-----------------------------------------------------------*/
#define taskSELECT_HIGHEST_PRIORITY_TASK() \
{ \
/* Find the highest priority queue that contains ready tasks. */ \
while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) ) \
{ \
configASSERT( uxTopReadyPriority ); \
--uxTopReadyPriority; \
} \
\
/* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of \
the same priority get an equal share of the processor time. */ \
add more protection for per-core data
2016-12-26 19:04:41 +08:00
listGET_OWNER_OF_NEXT_ENTRY( xTaskGetCurrentTaskHandle(), &( pxReadyTasksLists[ uxTopReadyPriority ] ) ); \
Initial public version
2016-08-17 23:08:22 +08:00
} /* taskSELECT_HIGHEST_PRIORITY_TASK */
/*-----------------------------------------------------------*/
/* Define away taskRESET_READY_PRIORITY() and portRESET_READY_PRIORITY() as
they are only required when a port optimised method of task selection is
being used. */
#define taskRESET_READY_PRIORITY( uxPriority )
#define portRESET_READY_PRIORITY( uxPriority, uxTopReadyPriority )
#else /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
/* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 1 then task selection is
performed in a way that is tailored to the particular microcontroller
architecture being used. */
/* A port optimised version is provided. Call the port defined macros. */
#define taskRECORD_READY_PRIORITY( uxPriority ) portRECORD_READY_PRIORITY( uxPriority, uxTopReadyPriority )
/*-----------------------------------------------------------*/
#define taskSELECT_HIGHEST_PRIORITY_TASK() \
{ \
UBaseType_t uxTopPriority; \
\
/* Find the highest priority queue that contains ready tasks. */ \
portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority ); \
configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 ); \
add more protection for per-core data
2016-12-26 19:04:41 +08:00
listGET_OWNER_OF_NEXT_ENTRY( xTaskGetCurrentTaskHandle(), &( pxReadyTasksLists[ uxTopPriority ] ) ); \
Initial public version
2016-08-17 23:08:22 +08:00
} /* taskSELECT_HIGHEST_PRIORITY_TASK() */
/*-----------------------------------------------------------*/
/* A port optimised version is provided, call it only if the TCB being reset
is being referenced from a ready list. If it is referenced from a delayed
or suspended list then it won't be in a ready list. */
#define taskRESET_READY_PRIORITY( uxPriority ) \
{ \
if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ ( uxPriority ) ] ) ) == ( UBaseType_t ) 0 ) \
{ \
portRESET_READY_PRIORITY( ( uxPriority ), ( uxTopReadyPriority ) ); \
} \
}
#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
/*-----------------------------------------------------------*/
/* pxDelayedTaskList and pxOverflowDelayedTaskList are switched when the tick
count overflows. */
#define taskSWITCH_DELAYED_LISTS() \
{ \
List_t *pxTemp; \
\
/* The delayed tasks list should be empty when the lists are switched. */ \
configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) ); \
\
pxTemp = pxDelayedTaskList; \
pxDelayedTaskList = pxOverflowDelayedTaskList; \
pxOverflowDelayedTaskList = pxTemp; \
xNumOfOverflows++; \
prvResetNextTaskUnblockTime(); \
}
/*-----------------------------------------------------------*/
/*
* Place the task represented by pxTCB into the appropriate ready list for
* the task. It is inserted at the end of the list.
*/
#define prvAddTaskToReadyList( pxTCB ) \
esp32: SEGGER SystemView Tracing Support Implements support for system level traces compatible with SEGGER SystemView tool on top of ESP32 application tracing module. That kind of traces can help to analyse program's behaviour. SystemView can show timeline of tasks/ISRs execution, context switches, statistics related to the CPUs' load distribution etc. Also this commit adds useful feature to ESP32 application tracing module: - Trace data buffering is implemented to handle temporary peaks of events load
2017-03-22 06:07:37 +03:00
traceMOVED_TASK_TO_READY_STATE( pxTCB ); \
Initial public version
2016-08-17 23:08:22 +08:00
taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority ); \
vListInsertEnd( &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xGenericListItem ) )
esp32: SEGGER SystemView Tracing Support Implements support for system level traces compatible with SEGGER SystemView tool on top of ESP32 application tracing module. That kind of traces can help to analyse program's behaviour. SystemView can show timeline of tasks/ISRs execution, context switches, statistics related to the CPUs' load distribution etc. Also this commit adds useful feature to ESP32 application tracing module: - Trace data buffering is implemented to handle temporary peaks of events load
2017-03-22 06:07:37 +03:00
/*
* Place the task represented by pxTCB which has been in a ready list before
* into the appropriate ready list for the task.
* It is inserted at the end of the list.
*/
#define prvReaddTaskToReadyList( pxTCB ) \
traceREADDED_TASK_TO_READY_STATE( pxTCB ); \
taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority ); \
vListInsertEnd( &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xGenericListItem ) )
Initial public version
2016-08-17 23:08:22 +08:00
/*-----------------------------------------------------------*/
Most code written. Interrupts still do not fire yet.
2016-10-26 21:09:55 +08:00
#define tskCAN_RUN_HERE( cpuid ) ( cpuid==xPortGetCoreID() || cpuid==tskNO_AFFINITY )
Initial public version
2016-08-17 23:08:22 +08:00
/*
* Several functions take an TaskHandle_t parameter that can optionally be NULL,
* where NULL is used to indicate that the handle of the currently executing
* task should be used in place of the parameter. This macro simply checks to
* see if the parameter is NULL and returns a pointer to the appropriate TCB.
*/
/* ToDo: See if this still works for multicore. */
add more protection for per-core data
2016-12-26 19:04:41 +08:00
#define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? ( TCB_t * ) xTaskGetCurrentTaskHandle() : ( TCB_t * ) ( pxHandle ) )
Initial public version
2016-08-17 23:08:22 +08:00
/* The item value of the event list item is normally used to hold the priority
of the task to which it belongs (coded to allow it to be held in reverse
priority order). However, it is occasionally borrowed for other purposes. It
is important its value is not updated due to a task priority change while it is
being used for another purpose. The following bit definition is used to inform
the scheduler that the value should not be changed - in which case it is the
responsibility of whichever module is using the value to ensure it gets set back
to its original value when it is released. */
#if configUSE_16_BIT_TICKS == 1
#define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x8000U
#else
#define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x80000000UL
#endif
/* Callback function prototypes. --------------------------*/
#if configCHECK_FOR_STACK_OVERFLOW > 0
extern void vApplicationStackOverflowHook( TaskHandle_t xTask, char *pcTaskName );
#endif
#if configUSE_TICK_HOOK > 0
extern void vApplicationTickHook( void );
#endif
Add symbol needed for OpenOCD to detect FreeRTOS, add feature to break execution when the scheduler is initially started.
2016-08-24 12:23:58 +08:00
#if portFIRST_TASK_HOOK
extern void vPortFirstTaskHook(TaskFunction_t taskfn);
#endif
Initial public version
2016-08-17 23:08:22 +08:00
/* File private functions. --------------------------------*/
/**
* Utility task that simply returns pdTRUE if the task referenced by xTask is
* currently in the Suspended state, or pdFALSE if the task referenced by xTask
* is in any other state.
freertos: Enable vTaskSuspend()/vTaskResume() API Adds relevant unit tests. TW11878
2017-04-26 12:45:24 +10:00
*
* Caller must hold xTaskQueueMutex before calling this function.
Initial public version
2016-08-17 23:08:22 +08:00
*/
#if ( INCLUDE_vTaskSuspend == 1 )
static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
#endif /* INCLUDE_vTaskSuspend */
/*
* Utility to ready all the lists used by the scheduler. This is called
* automatically upon the creation of the first task.
*/
static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
/*
* The idle task, which as all tasks is implemented as a never ending loop.
* The idle task is automatically created and added to the ready lists upon
* creation of the first user task.
*
* The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
* language extensions. The equivalent prototype for this function is:
*
* void prvIdleTask( void *pvParameters );
*
*/
static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
/*
* Utility to free all memory allocated by the scheduler to hold a TCB,
* including the stack pointed to by the TCB.
*
* This does not free memory allocated by the task itself (i.e. memory
* allocated by calls to pvPortMalloc from within the tasks application code).
*/
#if ( INCLUDE_vTaskDelete == 1 )
static void prvDeleteTCB( TCB_t *pxTCB ) PRIVILEGED_FUNCTION;
#endif
freertos/fix SMP bug with Idle task clean up This commit backports vTaskDelete() behavior from FreeRTOS v9.0.0 which allows for the immediate freeing of task memory if the task being deleted is not currently running and not pinned to the other core. This commit also fixes a bug in prvCheckTasksWaitingTermination which prevented the Idle Task from cleaning up all tasks awaiting deletion. Each iteration of the Idle Task should traverse the xTasksWaitingTermination list and clean up all tasks not pinned to the other core. The previous implementation would cause prvCheckTasksWaitingTermination to return when encountering a task pinned to the other core whilst traversing the xTasksWaitingTermination list. The test case for vTaskDelete() has been updated to test for the bugfix and backported deletion behavior.
2017-11-23 22:35:54 +08:00
//Function to call the Thread Local Storage Pointer Deletion Callbacks. Will be
//called during task deletion before prvDeleteTCB is called.
#if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 ) && ( configTHREAD_LOCAL_STORAGE_DELETE_CALLBACKS )
static void prvDeleteTLS( TCB_t *pxTCB );
#endif
Initial public version
2016-08-17 23:08:22 +08:00
/*
* Used only by the idle task. This checks to see if anything has been placed
* in the list of tasks waiting to be deleted. If so the task is cleaned up
* and its TCB deleted.
*/
static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
/*
* The currently executing task is entering the Blocked state. Add the task to
* either the current or the overflow delayed task list.
*/
static void prvAddCurrentTaskToDelayedList( const portBASE_TYPE xCoreID, const TickType_t xTimeToWake ) PRIVILEGED_FUNCTION;
/*
* Fills an TaskStatus_t structure with information on each task that is
* referenced from the pxList list (which may be a ready list, a delayed list,
* a suspended list, etc.).
*
* THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
* NORMAL APPLICATION CODE.
*/
#if ( configUSE_TRACE_FACILITY == 1 )
static UBaseType_t prvListTaskWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState ) PRIVILEGED_FUNCTION;
#endif
/*
* When a task is created, the stack of the task is filled with a known value.
* This function determines the 'high water mark' of the task stack by
* determining how much of the stack remains at the original preset value.
*/
#if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
Make internal stack size variables in FreeRTOS 32-bit instead of 16-bit
2017-04-19 10:47:19 +08:00
static uint32_t prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte ) PRIVILEGED_FUNCTION;
Initial public version
2016-08-17 23:08:22 +08:00
#endif
/*
* Return the amount of time, in ticks, that will pass before the kernel will
* next move a task from the Blocked state to the Running state.
*
* This conditional compilation should use inequality to 0, not equality to 1.
* This is to ensure portSUPPRESS_TICKS_AND_SLEEP() can be called when user
* defined low power mode implementations require configUSE_TICKLESS_IDLE to be
* set to a value other than 1.
*/
#if ( configUSE_TICKLESS_IDLE != 0 )
static TickType_t prvGetExpectedIdleTime( void ) PRIVILEGED_FUNCTION;
#endif
/*
* Set xNextTaskUnblockTime to the time at which the next Blocked state task
* will exit the Blocked state.
*/
static void prvResetNextTaskUnblockTime( void );
#if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
/*
* Helper function used to pad task names with spaces when printing out
* human readable tables of task information.
*/
static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName );
#endif
Backport the static allocation feature from FreeRTOS V9.0.0 This feature allows to use static buffers (or from a pool of memory which is not controlled by FreeRTOS). In order to reduce the impact of the changes, the static feature has only been added to the queus (and in consequence to the semaphores and the mutexes) and the tasks. The Timer task is always dynamically allocated and also the idle task(s), which in the case of the ESP-IDF is ok, since we always need to have dynamic allocation enabled.
2016-09-22 12:20:56 +08:00
/*
* Called after a Task_t structure has been allocated either statically or
* dynamically to fill in the structure's members.
*/
static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
const char * const pcName,
const uint32_t ulStackDepth,
void * const pvParameters,
UBaseType_t uxPriority,
TaskHandle_t * const pxCreatedTask,
TCB_t *pxNewTCB,
Add xCoreID arg to prvInitialiseNewTask code; initialize pvThreadLocalStoragePointersDelCallback array to NULL
2016-10-12 17:46:15 +08:00
const MemoryRegion_t * const xRegions, const BaseType_t xCoreID) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
Backport the static allocation feature from FreeRTOS V9.0.0 This feature allows to use static buffers (or from a pool of memory which is not controlled by FreeRTOS). In order to reduce the impact of the changes, the static feature has only been added to the queus (and in consequence to the semaphores and the mutexes) and the tasks. The Timer task is always dynamically allocated and also the idle task(s), which in the case of the ESP-IDF is ok, since we always need to have dynamic allocation enabled.
2016-09-22 12:20:56 +08:00
/*
* Called after a new task has been created and initialised to place the task
* under the control of the scheduler.
*/
static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB, TaskFunction_t pxTaskCode, const BaseType_t xCoreID ) PRIVILEGED_FUNCTION;
Initial public version
2016-08-17 23:08:22 +08:00
/*-----------------------------------------------------------*/
Most code written. Interrupts still do not fire yet.
2016-10-26 21:09:55 +08:00
/*
* This routine tries to send an interrupt to another core if needed to make it execute a task
esp32: SEGGER SystemView Tracing Support Implements support for system level traces compatible with SEGGER SystemView tool on top of ESP32 application tracing module. That kind of traces can help to analyse program's behaviour. SystemView can show timeline of tasks/ISRs execution, context switches, statistics related to the CPUs' load distribution etc. Also this commit adds useful feature to ESP32 application tracing module: - Trace data buffering is implemented to handle temporary peaks of events load
2017-03-22 06:07:37 +03:00
* of higher priority. We try to figure out if needed first by inspecting the pxTCB of the
Most code written. Interrupts still do not fire yet.
2016-10-26 21:09:55 +08:00
* other CPU first. Specifically for Xtensa, we can do this because pxTCB is an atomic pointer. It
* is possible that it is inaccurate because the other CPU just did a task switch, but in that case
* at most a superfluous interrupt is generated.
*/
Add checks for tasks woken up on other CPUs where needed, make xYieldPending and xPendingReadyList per-processor, add configurable ISR stack size to Kconfig, in general fix the entire wake-up-task-on-other-cpu-by-interrupt implementation
2016-10-27 16:07:47 +08:00
void taskYIELD_OTHER_CORE( BaseType_t xCoreID, UBaseType_t uxPriority )
Most code written. Interrupts still do not fire yet.
2016-10-26 21:09:55 +08:00
{
Fix interrupting task on other CPU that has lower prio than current task on current CPU
2017-01-27 17:17:05 +08:00
TCB_t *curTCB = pxCurrentTCB[xCoreID];
Most code written. Interrupts still do not fire yet.
2016-10-26 21:09:55 +08:00
BaseType_t i;
add more protection for per-core data
2016-12-26 19:04:41 +08:00
Most code written. Interrupts still do not fire yet.
2016-10-26 21:09:55 +08:00
if (xCoreID != tskNO_AFFINITY) {
add more protection for per-core data
2016-12-26 19:04:41 +08:00
if ( curTCB->uxPriority < uxPriority ) {
Most code written. Interrupts still do not fire yet.
2016-10-26 21:09:55 +08:00
vPortYieldOtherCore( xCoreID );
}
}
else
{
/* The task has no affinity. See if we can find a CPU to put it on.*/
for (i=0; i<portNUM_PROCESSORS; i++) {
if (i != xPortGetCoreID() && pxCurrentTCB[ i ]->uxPriority < uxPriority)
{
vPortYieldOtherCore( i );
break;
}
}
}
}
Backport the static allocation feature from FreeRTOS V9.0.0 This feature allows to use static buffers (or from a pool of memory which is not controlled by FreeRTOS). In order to reduce the impact of the changes, the static feature has only been added to the queus (and in consequence to the semaphores and the mutexes) and the tasks. The Timer task is always dynamically allocated and also the idle task(s), which in the case of the ESP-IDF is ok, since we always need to have dynamic allocation enabled.
2016-09-22 12:20:56 +08:00
#if( configSUPPORT_STATIC_ALLOCATION == 1 )
TaskHandle_t xTaskCreateStaticPinnedToCore( TaskFunction_t pxTaskCode,
const char * const pcName,
const uint32_t ulStackDepth,
void * const pvParameters,
UBaseType_t uxPriority,
StackType_t * const puxStackBuffer,
StaticTask_t * const pxTaskBuffer,
const BaseType_t xCoreID )
{
TCB_t *pxNewTCB;
TaskHandle_t xReturn;
Initial public version
2016-08-17 23:08:22 +08:00
Add logic to make external RAM usable with malloc()
2017-09-22 16:02:39 +08:00
configASSERT( portVALID_TCB_MEM(pxTaskBuffer) );
configASSERT( portVALID_STACK_MEM(puxStackBuffer) );
freertos: fix setting xCoreID for new task
2016-10-11 00:05:15 -06:00
configASSERT( (xCoreID>=0 && xCoreID<portNUM_PROCESSORS) || (xCoreID==tskNO_AFFINITY) );
Initial public version
2016-08-17 23:08:22 +08:00
Backport the static allocation feature from FreeRTOS V9.0.0 This feature allows to use static buffers (or from a pool of memory which is not controlled by FreeRTOS). In order to reduce the impact of the changes, the static feature has only been added to the queus (and in consequence to the semaphores and the mutexes) and the tasks. The Timer task is always dynamically allocated and also the idle task(s), which in the case of the ESP-IDF is ok, since we always need to have dynamic allocation enabled.
2016-09-22 12:20:56 +08:00
if( ( pxTaskBuffer != NULL ) && ( puxStackBuffer != NULL ) )
{
/* The memory used for the task's TCB and stack are passed into this
function - use them. */
pxNewTCB = ( TCB_t * ) pxTaskBuffer; /*lint !e740 Unusual cast is ok as the structures are designed to have the same alignment, and the size is checked by an assert. */
pxNewTCB->pxStack = ( StackType_t * ) puxStackBuffer;
#if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 )
{
/* Tasks can be created statically or dynamically, so note this
task was created statically in case the task is later deleted. */
pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_AND_TCB;
}
#endif /* configSUPPORT_DYNAMIC_ALLOCATION */
Add xCoreID arg to prvInitialiseNewTask code; initialize pvThreadLocalStoragePointersDelCallback array to NULL
2016-10-12 17:46:15 +08:00
prvInitialiseNewTask( pxTaskCode, pcName, ulStackDepth, pvParameters, uxPriority, &xReturn, pxNewTCB, NULL, xCoreID );
Backport the static allocation feature from FreeRTOS V9.0.0 This feature allows to use static buffers (or from a pool of memory which is not controlled by FreeRTOS). In order to reduce the impact of the changes, the static feature has only been added to the queus (and in consequence to the semaphores and the mutexes) and the tasks. The Timer task is always dynamically allocated and also the idle task(s), which in the case of the ESP-IDF is ok, since we always need to have dynamic allocation enabled.
2016-09-22 12:20:56 +08:00
prvAddNewTaskToReadyList( pxNewTCB, pxTaskCode, xCoreID );
}
else
{
xReturn = NULL;
}
return xReturn;
}
#endif /* SUPPORT_STATIC_ALLOCATION */
/*-----------------------------------------------------------*/
#if( portUSING_MPU_WRAPPERS == 1 )
BaseType_t xTaskCreateRestricted( const TaskParameters_t * const pxTaskDefinition, TaskHandle_t *pxCreatedTask )
Initial public version
2016-08-17 23:08:22 +08:00
{
Backport the static allocation feature from FreeRTOS V9.0.0 This feature allows to use static buffers (or from a pool of memory which is not controlled by FreeRTOS). In order to reduce the impact of the changes, the static feature has only been added to the queus (and in consequence to the semaphores and the mutexes) and the tasks. The Timer task is always dynamically allocated and also the idle task(s), which in the case of the ESP-IDF is ok, since we always need to have dynamic allocation enabled.
2016-09-22 12:20:56 +08:00
TCB_t *pxNewTCB;
BaseType_t xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
configASSERT( pxTaskDefinition->puxStackBuffer );
if( pxTaskDefinition->puxStackBuffer != NULL )
{
/* Allocate space for the TCB. Where the memory comes from depends
on the implementation of the port malloc function and whether or
not static allocation is being used. */
Add logic to make external RAM usable with malloc()
2017-09-22 16:02:39 +08:00
pxNewTCB = ( TCB_t * ) pvPortMallocTcbMem( sizeof( TCB_t ) );
Backport the static allocation feature from FreeRTOS V9.0.0 This feature allows to use static buffers (or from a pool of memory which is not controlled by FreeRTOS). In order to reduce the impact of the changes, the static feature has only been added to the queus (and in consequence to the semaphores and the mutexes) and the tasks. The Timer task is always dynamically allocated and also the idle task(s), which in the case of the ESP-IDF is ok, since we always need to have dynamic allocation enabled.
2016-09-22 12:20:56 +08:00
if( pxNewTCB != NULL )
Initial public version
2016-08-17 23:08:22 +08:00
{
Backport the static allocation feature from FreeRTOS V9.0.0 This feature allows to use static buffers (or from a pool of memory which is not controlled by FreeRTOS). In order to reduce the impact of the changes, the static feature has only been added to the queus (and in consequence to the semaphores and the mutexes) and the tasks. The Timer task is always dynamically allocated and also the idle task(s), which in the case of the ESP-IDF is ok, since we always need to have dynamic allocation enabled.
2016-09-22 12:20:56 +08:00
/* Store the stack location in the TCB. */
pxNewTCB->pxStack = pxTaskDefinition->puxStackBuffer;
/* Tasks can be created statically or dynamically, so note
this task had a statically allocated stack in case it is
later deleted. The TCB was allocated dynamically. */
pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_ONLY;
prvInitialiseNewTask( pxTaskDefinition->pvTaskCode,
pxTaskDefinition->pcName,
Make internal stack size variables in FreeRTOS 32-bit instead of 16-bit
2017-04-19 10:47:19 +08:00
pxTaskDefinition->usStackDepth,
Backport the static allocation feature from FreeRTOS V9.0.0 This feature allows to use static buffers (or from a pool of memory which is not controlled by FreeRTOS). In order to reduce the impact of the changes, the static feature has only been added to the queus (and in consequence to the semaphores and the mutexes) and the tasks. The Timer task is always dynamically allocated and also the idle task(s), which in the case of the ESP-IDF is ok, since we always need to have dynamic allocation enabled.
2016-09-22 12:20:56 +08:00
pxTaskDefinition->pvParameters,
pxTaskDefinition->uxPriority,
pxCreatedTask, pxNewTCB,
Add xCoreID arg to prvInitialiseNewTask code; initialize pvThreadLocalStoragePointersDelCallback array to NULL
2016-10-12 17:46:15 +08:00
pxTaskDefinition->xRegions,
tskNO_AFFINITY );
Backport the static allocation feature from FreeRTOS V9.0.0 This feature allows to use static buffers (or from a pool of memory which is not controlled by FreeRTOS). In order to reduce the impact of the changes, the static feature has only been added to the queus (and in consequence to the semaphores and the mutexes) and the tasks. The Timer task is always dynamically allocated and also the idle task(s), which in the case of the ESP-IDF is ok, since we always need to have dynamic allocation enabled.
2016-09-22 12:20:56 +08:00
prvAddNewTaskToReadyList( pxNewTCB, pxTaskDefinition->pvTaskCode, tskNO_AFFINITY );
xReturn = pdPASS;
Initial public version
2016-08-17 23:08:22 +08:00
}
Backport the static allocation feature from FreeRTOS V9.0.0 This feature allows to use static buffers (or from a pool of memory which is not controlled by FreeRTOS). In order to reduce the impact of the changes, the static feature has only been added to the queus (and in consequence to the semaphores and the mutexes) and the tasks. The Timer task is always dynamically allocated and also the idle task(s), which in the case of the ESP-IDF is ok, since we always need to have dynamic allocation enabled.
2016-09-22 12:20:56 +08:00
}
return xReturn;
}
#endif /* portUSING_MPU_WRAPPERS */
/*-----------------------------------------------------------*/
#if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
BaseType_t xTaskCreatePinnedToCore( TaskFunction_t pxTaskCode,
const char * const pcName,
Make internal stack size variables in FreeRTOS 32-bit instead of 16-bit
2017-04-19 10:47:19 +08:00
const uint32_t usStackDepth,
Backport the static allocation feature from FreeRTOS V9.0.0 This feature allows to use static buffers (or from a pool of memory which is not controlled by FreeRTOS). In order to reduce the impact of the changes, the static feature has only been added to the queus (and in consequence to the semaphores and the mutexes) and the tasks. The Timer task is always dynamically allocated and also the idle task(s), which in the case of the ESP-IDF is ok, since we always need to have dynamic allocation enabled.
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void * const pvParameters,
UBaseType_t uxPriority,
TaskHandle_t * const pxCreatedTask,
const BaseType_t xCoreID )
{
TCB_t *pxNewTCB;
BaseType_t xReturn;
/* If the stack grows down then allocate the stack then the TCB so the stack
does not grow into the TCB. Likewise if the stack grows up then allocate
the TCB then the stack. */
#if( portSTACK_GROWTH > 0 )
{
/* Allocate space for the TCB. Where the memory comes from depends on
the implementation of the port malloc function and whether or not static
allocation is being used. */
Add logic to make external RAM usable with malloc()
2017-09-22 16:02:39 +08:00
pxNewTCB = ( TCB_t * ) pvPortMallocTcbMem( sizeof( TCB_t ) );
Backport the static allocation feature from FreeRTOS V9.0.0 This feature allows to use static buffers (or from a pool of memory which is not controlled by FreeRTOS). In order to reduce the impact of the changes, the static feature has only been added to the queus (and in consequence to the semaphores and the mutexes) and the tasks. The Timer task is always dynamically allocated and also the idle task(s), which in the case of the ESP-IDF is ok, since we always need to have dynamic allocation enabled.
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if( pxNewTCB != NULL )
Initial public version
2016-08-17 23:08:22 +08:00
{
Backport the static allocation feature from FreeRTOS V9.0.0 This feature allows to use static buffers (or from a pool of memory which is not controlled by FreeRTOS). In order to reduce the impact of the changes, the static feature has only been added to the queus (and in consequence to the semaphores and the mutexes) and the tasks. The Timer task is always dynamically allocated and also the idle task(s), which in the case of the ESP-IDF is ok, since we always need to have dynamic allocation enabled.
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/* Allocate space for the stack used by the task being created.
The base of the stack memory stored in the TCB so the task can
be deleted later if required. */
Add logic to make external RAM usable with malloc()
2017-09-22 16:02:39 +08:00
pxNewTCB->pxStack = ( StackType_t * ) pvPortMallocStackMem( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
Backport the static allocation feature from FreeRTOS V9.0.0 This feature allows to use static buffers (or from a pool of memory which is not controlled by FreeRTOS). In order to reduce the impact of the changes, the static feature has only been added to the queus (and in consequence to the semaphores and the mutexes) and the tasks. The Timer task is always dynamically allocated and also the idle task(s), which in the case of the ESP-IDF is ok, since we always need to have dynamic allocation enabled.
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if( pxNewTCB->pxStack == NULL )
{
/* Could not allocate the stack. Delete the allocated TCB. */
vPortFree( pxNewTCB );
pxNewTCB = NULL;
}
Initial public version
2016-08-17 23:08:22 +08:00
}
Backport the static allocation feature from FreeRTOS V9.0.0 This feature allows to use static buffers (or from a pool of memory which is not controlled by FreeRTOS). In order to reduce the impact of the changes, the static feature has only been added to the queus (and in consequence to the semaphores and the mutexes) and the tasks. The Timer task is always dynamically allocated and also the idle task(s), which in the case of the ESP-IDF is ok, since we always need to have dynamic allocation enabled.
2016-09-22 12:20:56 +08:00
}
#else /* portSTACK_GROWTH */
{
StackType_t *pxStack;
/* Allocate space for the stack used by the task being created. */
Add logic to make external RAM usable with malloc()
2017-09-22 16:02:39 +08:00
pxStack = ( StackType_t * ) pvPortMallocStackMem( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
Initial public version
2016-08-17 23:08:22 +08:00
Backport the static allocation feature from FreeRTOS V9.0.0 This feature allows to use static buffers (or from a pool of memory which is not controlled by FreeRTOS). In order to reduce the impact of the changes, the static feature has only been added to the queus (and in consequence to the semaphores and the mutexes) and the tasks. The Timer task is always dynamically allocated and also the idle task(s), which in the case of the ESP-IDF is ok, since we always need to have dynamic allocation enabled.
2016-09-22 12:20:56 +08:00
if( pxStack != NULL )
Initial public version
2016-08-17 23:08:22 +08:00
{
Backport the static allocation feature from FreeRTOS V9.0.0 This feature allows to use static buffers (or from a pool of memory which is not controlled by FreeRTOS). In order to reduce the impact of the changes, the static feature has only been added to the queus (and in consequence to the semaphores and the mutexes) and the tasks. The Timer task is always dynamically allocated and also the idle task(s), which in the case of the ESP-IDF is ok, since we always need to have dynamic allocation enabled.
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/* Allocate space for the TCB. */
Add logic to make external RAM usable with malloc()
2017-09-22 16:02:39 +08:00
pxNewTCB = ( TCB_t * ) pvPortMallocTcbMem( sizeof( TCB_t ) ); /*lint !e961 MISRA exception as the casts are only redundant for some paths. */
Backport the static allocation feature from FreeRTOS V9.0.0 This feature allows to use static buffers (or from a pool of memory which is not controlled by FreeRTOS). In order to reduce the impact of the changes, the static feature has only been added to the queus (and in consequence to the semaphores and the mutexes) and the tasks. The Timer task is always dynamically allocated and also the idle task(s), which in the case of the ESP-IDF is ok, since we always need to have dynamic allocation enabled.
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if( pxNewTCB != NULL )
{
/* Store the stack location in the TCB. */
pxNewTCB->pxStack = pxStack;
}
else
{
/* The stack cannot be used as the TCB was not created. Free
it again. */
vPortFree( pxStack );
}
Initial public version
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}
else
{
Backport the static allocation feature from FreeRTOS V9.0.0 This feature allows to use static buffers (or from a pool of memory which is not controlled by FreeRTOS). In order to reduce the impact of the changes, the static feature has only been added to the queus (and in consequence to the semaphores and the mutexes) and the tasks. The Timer task is always dynamically allocated and also the idle task(s), which in the case of the ESP-IDF is ok, since we always need to have dynamic allocation enabled.
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pxNewTCB = NULL;
Initial public version
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}
Backport the static allocation feature from FreeRTOS V9.0.0 This feature allows to use static buffers (or from a pool of memory which is not controlled by FreeRTOS). In order to reduce the impact of the changes, the static feature has only been added to the queus (and in consequence to the semaphores and the mutexes) and the tasks. The Timer task is always dynamically allocated and also the idle task(s), which in the case of the ESP-IDF is ok, since we always need to have dynamic allocation enabled.
2016-09-22 12:20:56 +08:00
}
#endif /* portSTACK_GROWTH */
Initial public version
2016-08-17 23:08:22 +08:00
Backport the static allocation feature from FreeRTOS V9.0.0 This feature allows to use static buffers (or from a pool of memory which is not controlled by FreeRTOS). In order to reduce the impact of the changes, the static feature has only been added to the queus (and in consequence to the semaphores and the mutexes) and the tasks. The Timer task is always dynamically allocated and also the idle task(s), which in the case of the ESP-IDF is ok, since we always need to have dynamic allocation enabled.
2016-09-22 12:20:56 +08:00
if( pxNewTCB != NULL )
Initial public version
2016-08-17 23:08:22 +08:00
{
Backport the static allocation feature from FreeRTOS V9.0.0 This feature allows to use static buffers (or from a pool of memory which is not controlled by FreeRTOS). In order to reduce the impact of the changes, the static feature has only been added to the queus (and in consequence to the semaphores and the mutexes) and the tasks. The Timer task is always dynamically allocated and also the idle task(s), which in the case of the ESP-IDF is ok, since we always need to have dynamic allocation enabled.
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#if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 )
{
/* Tasks can be created statically or dynamically, so note this
task was created dynamically in case it is later deleted. */
pxNewTCB->ucStaticallyAllocated = tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB;
}
#endif /* configSUPPORT_STATIC_ALLOCATION */
Initial public version
2016-08-17 23:08:22 +08:00
Make internal stack size variables in FreeRTOS 32-bit instead of 16-bit
2017-04-19 10:47:19 +08:00
prvInitialiseNewTask( pxTaskCode, pcName, usStackDepth, pvParameters, uxPriority, pxCreatedTask, pxNewTCB, NULL, xCoreID );
Backport the static allocation feature from FreeRTOS V9.0.0 This feature allows to use static buffers (or from a pool of memory which is not controlled by FreeRTOS). In order to reduce the impact of the changes, the static feature has only been added to the queus (and in consequence to the semaphores and the mutexes) and the tasks. The Timer task is always dynamically allocated and also the idle task(s), which in the case of the ESP-IDF is ok, since we always need to have dynamic allocation enabled.
2016-09-22 12:20:56 +08:00
prvAddNewTaskToReadyList( pxNewTCB, pxTaskCode, xCoreID );
xReturn = pdPASS;
Initial public version
2016-08-17 23:08:22 +08:00
}
Backport the static allocation feature from FreeRTOS V9.0.0 This feature allows to use static buffers (or from a pool of memory which is not controlled by FreeRTOS). In order to reduce the impact of the changes, the static feature has only been added to the queus (and in consequence to the semaphores and the mutexes) and the tasks. The Timer task is always dynamically allocated and also the idle task(s), which in the case of the ESP-IDF is ok, since we always need to have dynamic allocation enabled.
2016-09-22 12:20:56 +08:00
else
Initial public version
2016-08-17 23:08:22 +08:00
{
Backport the static allocation feature from FreeRTOS V9.0.0 This feature allows to use static buffers (or from a pool of memory which is not controlled by FreeRTOS). In order to reduce the impact of the changes, the static feature has only been added to the queus (and in consequence to the semaphores and the mutexes) and the tasks. The Timer task is always dynamically allocated and also the idle task(s), which in the case of the ESP-IDF is ok, since we always need to have dynamic allocation enabled.
2016-09-22 12:20:56 +08:00
xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
}
Initial public version
2016-08-17 23:08:22 +08:00
Backport the static allocation feature from FreeRTOS V9.0.0 This feature allows to use static buffers (or from a pool of memory which is not controlled by FreeRTOS). In order to reduce the impact of the changes, the static feature has only been added to the queus (and in consequence to the semaphores and the mutexes) and the tasks. The Timer task is always dynamically allocated and also the idle task(s), which in the case of the ESP-IDF is ok, since we always need to have dynamic allocation enabled.
2016-09-22 12:20:56 +08:00
return xReturn;
}
Initial public version
2016-08-17 23:08:22 +08:00
Backport the static allocation feature from FreeRTOS V9.0.0 This feature allows to use static buffers (or from a pool of memory which is not controlled by FreeRTOS). In order to reduce the impact of the changes, the static feature has only been added to the queus (and in consequence to the semaphores and the mutexes) and the tasks. The Timer task is always dynamically allocated and also the idle task(s), which in the case of the ESP-IDF is ok, since we always need to have dynamic allocation enabled.
2016-09-22 12:20:56 +08:00
#endif /* configSUPPORT_DYNAMIC_ALLOCATION */
/*-----------------------------------------------------------*/
Initial public version
2016-08-17 23:08:22 +08:00
Backport the static allocation feature from FreeRTOS V9.0.0 This feature allows to use static buffers (or from a pool of memory which is not controlled by FreeRTOS). In order to reduce the impact of the changes, the static feature has only been added to the queus (and in consequence to the semaphores and the mutexes) and the tasks. The Timer task is always dynamically allocated and also the idle task(s), which in the case of the ESP-IDF is ok, since we always need to have dynamic allocation enabled.
2016-09-22 12:20:56 +08:00
static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
const char * const pcName,
const uint32_t ulStackDepth,
void * const pvParameters,
UBaseType_t uxPriority,
TaskHandle_t * const pxCreatedTask,
TCB_t *pxNewTCB,
Add xCoreID arg to prvInitialiseNewTask code; initialize pvThreadLocalStoragePointersDelCallback array to NULL
2016-10-12 17:46:15 +08:00
const MemoryRegion_t * const xRegions, const BaseType_t xCoreID ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
Backport the static allocation feature from FreeRTOS V9.0.0 This feature allows to use static buffers (or from a pool of memory which is not controlled by FreeRTOS). In order to reduce the impact of the changes, the static feature has only been added to the queus (and in consequence to the semaphores and the mutexes) and the tasks. The Timer task is always dynamically allocated and also the idle task(s), which in the case of the ESP-IDF is ok, since we always need to have dynamic allocation enabled.
2016-09-22 12:20:56 +08:00
{
StackType_t *pxTopOfStack;
UBaseType_t x;
Initial public version
2016-08-17 23:08:22 +08:00
Backport the static allocation feature from FreeRTOS V9.0.0 This feature allows to use static buffers (or from a pool of memory which is not controlled by FreeRTOS). In order to reduce the impact of the changes, the static feature has only been added to the queus (and in consequence to the semaphores and the mutexes) and the tasks. The Timer task is always dynamically allocated and also the idle task(s), which in the case of the ESP-IDF is ok, since we always need to have dynamic allocation enabled.
2016-09-22 12:20:56 +08:00
#if( portUSING_MPU_WRAPPERS == 1 )
/* Should the task be created in privileged mode? */
BaseType_t xRunPrivileged;
if( ( uxPriority & portPRIVILEGE_BIT ) != 0U )
Initial public version
2016-08-17 23:08:22 +08:00
{
Backport the static allocation feature from FreeRTOS V9.0.0 This feature allows to use static buffers (or from a pool of memory which is not controlled by FreeRTOS). In order to reduce the impact of the changes, the static feature has only been added to the queus (and in consequence to the semaphores and the mutexes) and the tasks. The Timer task is always dynamically allocated and also the idle task(s), which in the case of the ESP-IDF is ok, since we always need to have dynamic allocation enabled.
2016-09-22 12:20:56 +08:00
xRunPrivileged = pdTRUE;
Initial public version
2016-08-17 23:08:22 +08:00
}
Backport the static allocation feature from FreeRTOS V9.0.0 This feature allows to use static buffers (or from a pool of memory which is not controlled by FreeRTOS). In order to reduce the impact of the changes, the static feature has only been added to the queus (and in consequence to the semaphores and the mutexes) and the tasks. The Timer task is always dynamically allocated and also the idle task(s), which in the case of the ESP-IDF is ok, since we always need to have dynamic allocation enabled.
2016-09-22 12:20:56 +08:00
else
Initial public version
2016-08-17 23:08:22 +08:00
{
Backport the static allocation feature from FreeRTOS V9.0.0 This feature allows to use static buffers (or from a pool of memory which is not controlled by FreeRTOS). In order to reduce the impact of the changes, the static feature has only been added to the queus (and in consequence to the semaphores and the mutexes) and the tasks. The Timer task is always dynamically allocated and also the idle task(s), which in the case of the ESP-IDF is ok, since we always need to have dynamic allocation enabled.
2016-09-22 12:20:56 +08:00
xRunPrivileged = pdFALSE;
Initial public version
2016-08-17 23:08:22 +08:00
}
Backport the static allocation feature from FreeRTOS V9.0.0 This feature allows to use static buffers (or from a pool of memory which is not controlled by FreeRTOS). In order to reduce the impact of the changes, the static feature has only been added to the queus (and in consequence to the semaphores and the mutexes) and the tasks. The Timer task is always dynamically allocated and also the idle task(s), which in the case of the ESP-IDF is ok, since we always need to have dynamic allocation enabled.
2016-09-22 12:20:56 +08:00
uxPriority &= ~portPRIVILEGE_BIT;
#endif /* portUSING_MPU_WRAPPERS == 1 */
/* Avoid dependency on memset() if it is not required. */
#if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
{
/* Fill the stack with a known value to assist debugging. */
( void ) memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) ulStackDepth * sizeof( StackType_t ) );
}
#endif /* ( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) ) */
/* Calculate the top of stack address. This depends on whether the stack
grows from high memory to low (as per the 80x86) or vice versa.
portSTACK_GROWTH is used to make the result positive or negative as required
by the port. */
#if( portSTACK_GROWTH < 0 )
{
pxTopOfStack = pxNewTCB->pxStack + ( ulStackDepth - ( uint32_t ) 1 );
pxTopOfStack = ( StackType_t * ) ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack ) & ( ~( ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) ) ); /*lint !e923 MISRA exception. Avoiding casts between pointers and integers is not practical. Size differences accounted for using portPOINTER_SIZE_TYPE type. */
Initial public version
2016-08-17 23:08:22 +08:00
Backport the static allocation feature from FreeRTOS V9.0.0 This feature allows to use static buffers (or from a pool of memory which is not controlled by FreeRTOS). In order to reduce the impact of the changes, the static feature has only been added to the queus (and in consequence to the semaphores and the mutexes) and the tasks. The Timer task is always dynamically allocated and also the idle task(s), which in the case of the ESP-IDF is ok, since we always need to have dynamic allocation enabled.
2016-09-22 12:20:56 +08:00
/* Check the alignment of the calculated top of stack is correct. */
configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
esp32: Add core dump saving to flash feature Complimentary changes: 1) Partition table definitions files with core dump partition 2) Special sub-type for core dump partition 3) Special version of spi_flash_xxx 4) espcoredump.py is script to get core dump from flash and print useful info 5) FreeRTOS API was extended to get tasks snapshots
2016-12-22 02:56:23 +03:00
#if ( configENABLE_TASK_SNAPSHOT == 1 )
{
/* need stack end for core dumps */
pxNewTCB->pxEndOfStack = pxTopOfStack;
}
#endif
Backport the static allocation feature from FreeRTOS V9.0.0 This feature allows to use static buffers (or from a pool of memory which is not controlled by FreeRTOS). In order to reduce the impact of the changes, the static feature has only been added to the queus (and in consequence to the semaphores and the mutexes) and the tasks. The Timer task is always dynamically allocated and also the idle task(s), which in the case of the ESP-IDF is ok, since we always need to have dynamic allocation enabled.
2016-09-22 12:20:56 +08:00
}
#else /* portSTACK_GROWTH */
{
pxTopOfStack = pxNewTCB->pxStack;
/* Check the alignment of the stack buffer is correct. */
configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxNewTCB->pxStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
/* The other extreme of the stack space is required if stack checking is
performed. */
pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( ulStackDepth - ( uint32_t ) 1 );
}
#endif /* portSTACK_GROWTH */
/* Store the task name in the TCB. */
for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )
{
pxNewTCB->pcTaskName[ x ] = pcName[ x ];
/* Don't copy all configMAX_TASK_NAME_LEN if the string is shorter than
configMAX_TASK_NAME_LEN characters just in case the memory after the
string is not accessible (extremely unlikely). */
if( pcName[ x ] == 0x00 )
Initial public version
2016-08-17 23:08:22 +08:00
{
Backport the static allocation feature from FreeRTOS V9.0.0 This feature allows to use static buffers (or from a pool of memory which is not controlled by FreeRTOS). In order to reduce the impact of the changes, the static feature has only been added to the queus (and in consequence to the semaphores and the mutexes) and the tasks. The Timer task is always dynamically allocated and also the idle task(s), which in the case of the ESP-IDF is ok, since we always need to have dynamic allocation enabled.
2016-09-22 12:20:56 +08:00
break;
Initial public version
2016-08-17 23:08:22 +08:00
}
else
{
mtCOVERAGE_TEST_MARKER();
}
Backport the static allocation feature from FreeRTOS V9.0.0 This feature allows to use static buffers (or from a pool of memory which is not controlled by FreeRTOS). In order to reduce the impact of the changes, the static feature has only been added to the queus (and in consequence to the semaphores and the mutexes) and the tasks. The Timer task is always dynamically allocated and also the idle task(s), which in the case of the ESP-IDF is ok, since we always need to have dynamic allocation enabled.
2016-09-22 12:20:56 +08:00
}
Initial public version
2016-08-17 23:08:22 +08:00
Backport the static allocation feature from FreeRTOS V9.0.0 This feature allows to use static buffers (or from a pool of memory which is not controlled by FreeRTOS). In order to reduce the impact of the changes, the static feature has only been added to the queus (and in consequence to the semaphores and the mutexes) and the tasks. The Timer task is always dynamically allocated and also the idle task(s), which in the case of the ESP-IDF is ok, since we always need to have dynamic allocation enabled.
2016-09-22 12:20:56 +08:00
/* Ensure the name string is terminated in the case that the string length
was greater or equal to configMAX_TASK_NAME_LEN. */
pxNewTCB->pcTaskName[ configMAX_TASK_NAME_LEN - 1 ] = '\0';
/* This is used as an array index so must ensure it's not too large. First
remove the privilege bit if one is present. */
if( uxPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
{
uxPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
}
else
{
mtCOVERAGE_TEST_MARKER();
}
pxNewTCB->uxPriority = uxPriority;
Add xCoreID arg to prvInitialiseNewTask code; initialize pvThreadLocalStoragePointersDelCallback array to NULL
2016-10-12 17:46:15 +08:00
pxNewTCB->xCoreID = xCoreID;
Backport the static allocation feature from FreeRTOS V9.0.0 This feature allows to use static buffers (or from a pool of memory which is not controlled by FreeRTOS). In order to reduce the impact of the changes, the static feature has only been added to the queus (and in consequence to the semaphores and the mutexes) and the tasks. The Timer task is always dynamically allocated and also the idle task(s), which in the case of the ESP-IDF is ok, since we always need to have dynamic allocation enabled.
2016-09-22 12:20:56 +08:00
#if ( configUSE_MUTEXES == 1 )
{
pxNewTCB->uxBasePriority = uxPriority;
pxNewTCB->uxMutexesHeld = 0;
}
#endif /* configUSE_MUTEXES */
vListInitialiseItem( &( pxNewTCB->xGenericListItem ) );
vListInitialiseItem( &( pxNewTCB->xEventListItem ) );
/* Set the pxNewTCB as a link back from the ListItem_t. This is so we can get
back to the containing TCB from a generic item in a list. */
listSET_LIST_ITEM_OWNER( &( pxNewTCB->xGenericListItem ), pxNewTCB );
/* Event lists are always in priority order. */
listSET_LIST_ITEM_VALUE( &( pxNewTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
listSET_LIST_ITEM_OWNER( &( pxNewTCB->xEventListItem ), pxNewTCB );
#if ( portCRITICAL_NESTING_IN_TCB == 1 )
{
pxNewTCB->uxCriticalNesting = ( UBaseType_t ) 0U;
}
#endif /* portCRITICAL_NESTING_IN_TCB */
#if ( configUSE_APPLICATION_TASK_TAG == 1 )
{
pxNewTCB->pxTaskTag = NULL;
}
#endif /* configUSE_APPLICATION_TASK_TAG */
#if ( configGENERATE_RUN_TIME_STATS == 1 )
{
pxNewTCB->ulRunTimeCounter = 0UL;
}
#endif /* configGENERATE_RUN_TIME_STATS */
#if ( portUSING_MPU_WRAPPERS == 1 )
{
vPortStoreTaskMPUSettings( &( pxNewTCB->xMPUSettings ), xRegions, pxNewTCB->pxStack, ulStackDepth );
}
#else
{
/* Avoid compiler warning about unreferenced parameter. */
( void ) xRegions;
}
#endif
#if( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
{
for( x = 0; x < ( UBaseType_t ) configNUM_THREAD_LOCAL_STORAGE_POINTERS; x++ )
Initial public version
2016-08-17 23:08:22 +08:00
{
Backport the static allocation feature from FreeRTOS V9.0.0 This feature allows to use static buffers (or from a pool of memory which is not controlled by FreeRTOS). In order to reduce the impact of the changes, the static feature has only been added to the queus (and in consequence to the semaphores and the mutexes) and the tasks. The Timer task is always dynamically allocated and also the idle task(s), which in the case of the ESP-IDF is ok, since we always need to have dynamic allocation enabled.
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pxNewTCB->pvThreadLocalStoragePointers[ x ] = NULL;
Add xCoreID arg to prvInitialiseNewTask code; initialize pvThreadLocalStoragePointersDelCallback array to NULL
2016-10-12 17:46:15 +08:00
#if ( configTHREAD_LOCAL_STORAGE_DELETE_CALLBACKS == 1)
pxNewTCB->pvThreadLocalStoragePointersDelCallback[ x ] = NULL;
#endif
Backport the static allocation feature from FreeRTOS V9.0.0 This feature allows to use static buffers (or from a pool of memory which is not controlled by FreeRTOS). In order to reduce the impact of the changes, the static feature has only been added to the queus (and in consequence to the semaphores and the mutexes) and the tasks. The Timer task is always dynamically allocated and also the idle task(s), which in the case of the ESP-IDF is ok, since we always need to have dynamic allocation enabled.
2016-09-22 12:20:56 +08:00
}
}
#endif
#if ( configUSE_TASK_NOTIFICATIONS == 1 )
{
pxNewTCB->ulNotifiedValue = 0;
pxNewTCB->eNotifyState = eNotWaitingNotification;
}
#endif
#if ( configUSE_NEWLIB_REENTRANT == 1 )
{
vfs: code review fixes - fix typo in readme - remove unneeded extern declaration - fix header guard macro - tabs->spaces in syscalls.c - spaces->tabs in tasks.c
2016-10-27 11:47:41 +08:00
/* Initialise this task's Newlib reent structure. */
esp_reent_init(&pxNewTCB->xNewLib_reent);
Backport the static allocation feature from FreeRTOS V9.0.0 This feature allows to use static buffers (or from a pool of memory which is not controlled by FreeRTOS). In order to reduce the impact of the changes, the static feature has only been added to the queus (and in consequence to the semaphores and the mutexes) and the tasks. The Timer task is always dynamically allocated and also the idle task(s), which in the case of the ESP-IDF is ok, since we always need to have dynamic allocation enabled.
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}
#endif
#if( INCLUDE_xTaskAbortDelay == 1 )
{
pxNewTCB->ucDelayAborted = pdFALSE;
}
#endif
/* Initialize the TCB stack to look as if the task was already running,
but had been interrupted by the scheduler. The return address is set
to the start of the task function. Once the stack has been initialised
the top of stack variable is updated. */
#if( portUSING_MPU_WRAPPERS == 1 )
{
pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
}
#else /* portUSING_MPU_WRAPPERS */
{
pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
}
#endif /* portUSING_MPU_WRAPPERS */
if( ( void * ) pxCreatedTask != NULL )
{
/* Pass the handle out in an anonymous way. The handle can be used to
change the created task's priority, delete the created task, etc.*/
*pxCreatedTask = ( TaskHandle_t ) pxNewTCB;
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
/*-----------------------------------------------------------*/
freertos: Schedule tasks immediately when they are created on opposite core
2017-02-28 15:13:30 +11:00
static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB, TaskFunction_t pxTaskCode, BaseType_t xCoreID )
Backport the static allocation feature from FreeRTOS V9.0.0 This feature allows to use static buffers (or from a pool of memory which is not controlled by FreeRTOS). In order to reduce the impact of the changes, the static feature has only been added to the queus (and in consequence to the semaphores and the mutexes) and the tasks. The Timer task is always dynamically allocated and also the idle task(s), which in the case of the ESP-IDF is ok, since we always need to have dynamic allocation enabled.
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{
freertos: Schedule tasks immediately when they are created on opposite core
2017-02-28 15:13:30 +11:00
TCB_t *curTCB, *tcb0, *tcb1;
Backport the static allocation feature from FreeRTOS V9.0.0 This feature allows to use static buffers (or from a pool of memory which is not controlled by FreeRTOS). In order to reduce the impact of the changes, the static feature has only been added to the queus (and in consequence to the semaphores and the mutexes) and the tasks. The Timer task is always dynamically allocated and also the idle task(s), which in the case of the ESP-IDF is ok, since we always need to have dynamic allocation enabled.
2016-09-22 12:20:56 +08:00
esp32: SEGGER SystemView Tracing Support Implements support for system level traces compatible with SEGGER SystemView tool on top of ESP32 application tracing module. That kind of traces can help to analyse program's behaviour. SystemView can show timeline of tasks/ISRs execution, context switches, statistics related to the CPUs' load distribution etc. Also this commit adds useful feature to ESP32 application tracing module: - Trace data buffering is implemented to handle temporary peaks of events load
2017-03-22 06:07:37 +03:00
/* Assure that xCoreID is valid or we'll have an out-of-bounds on pxCurrentTCB
You will assert here if e.g. you only have one CPU enabled in menuconfig and
Assert when a new task is started on a nonexisting CPU
2017-04-25 17:47:25 +08:00
are trying to start a task on core 1. */
configASSERT( xCoreID == tskNO_AFFINITY || xCoreID < portNUM_PROCESSORS);
Backport the static allocation feature from FreeRTOS V9.0.0 This feature allows to use static buffers (or from a pool of memory which is not controlled by FreeRTOS). In order to reduce the impact of the changes, the static feature has only been added to the queus (and in consequence to the semaphores and the mutexes) and the tasks. The Timer task is always dynamically allocated and also the idle task(s), which in the case of the ESP-IDF is ok, since we always need to have dynamic allocation enabled.
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/* Ensure interrupts don't access the task lists while the lists are being
updated. */
taskENTER_CRITICAL(&xTaskQueueMutex);
{
uxCurrentNumberOfTasks++;
freertos: Schedule tasks immediately when they are created on opposite core
2017-02-28 15:13:30 +11:00
// 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 )
Backport the static allocation feature from FreeRTOS V9.0.0 This feature allows to use static buffers (or from a pool of memory which is not controlled by FreeRTOS). In order to reduce the impact of the changes, the static feature has only been added to the queus (and in consequence to the semaphores and the mutexes) and the tasks. The Timer task is always dynamically allocated and also the idle task(s), which in the case of the ESP-IDF is ok, since we always need to have dynamic allocation enabled.
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{
/* There are no other tasks, or all the other tasks are in
the suspended state - make this the current task. */
freertos: Schedule tasks immediately when they are created on opposite core
2017-02-28 15:13:30 +11:00
pxCurrentTCB[ xCoreID ] = pxNewTCB;
Backport the static allocation feature from FreeRTOS V9.0.0 This feature allows to use static buffers (or from a pool of memory which is not controlled by FreeRTOS). In order to reduce the impact of the changes, the static feature has only been added to the queus (and in consequence to the semaphores and the mutexes) and the tasks. The Timer task is always dynamically allocated and also the idle task(s), which in the case of the ESP-IDF is ok, since we always need to have dynamic allocation enabled.
2016-09-22 12:20:56 +08:00
Initial public version
2016-08-17 23:08:22 +08:00
if( uxCurrentNumberOfTasks == ( UBaseType_t ) 1 )
{
freertos: fix calling first task hook
2016-10-28 13:41:07 +08:00
#if portFIRST_TASK_HOOK
if ( xPortGetCoreID() == 0 ) {
vPortFirstTaskHook(pxTaskCode);
}
#endif /* configFIRST_TASK_HOOK */
Initial public version
2016-08-17 23:08:22 +08:00
/* This is the first task to be created so do the preliminary
initialisation required. We will not recover if this call
fails, but we will report the failure. */
prvInitialiseTaskLists();
}
Backport the static allocation feature from FreeRTOS V9.0.0 This feature allows to use static buffers (or from a pool of memory which is not controlled by FreeRTOS). In order to reduce the impact of the changes, the static feature has only been added to the queus (and in consequence to the semaphores and the mutexes) and the tasks. The Timer task is always dynamically allocated and also the idle task(s), which in the case of the ESP-IDF is ok, since we always need to have dynamic allocation enabled.
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else
{
mtCOVERAGE_TEST_MARKER();
}
}
else
{
/* If the scheduler is not already running, make this task the
current task if it is the highest priority task to be created
so far. */
Initial public version
2016-08-17 23:08:22 +08:00
if( xSchedulerRunning == pdFALSE )
{
freertos: Schedule tasks immediately when they are created on opposite core
2017-02-28 15:13:30 +11:00
/* 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 )
Initial public version
2016-08-17 23:08:22 +08:00
{
freertos: Schedule tasks immediately when they are created on opposite core
2017-02-28 15:13:30 +11:00
pxCurrentTCB[xCoreID] = pxNewTCB;
Initial public version
2016-08-17 23:08:22 +08:00
}
}
else
{
mtCOVERAGE_TEST_MARKER();
}
Backport the static allocation feature from FreeRTOS V9.0.0 This feature allows to use static buffers (or from a pool of memory which is not controlled by FreeRTOS). In order to reduce the impact of the changes, the static feature has only been added to the queus (and in consequence to the semaphores and the mutexes) and the tasks. The Timer task is always dynamically allocated and also the idle task(s), which in the case of the ESP-IDF is ok, since we always need to have dynamic allocation enabled.
2016-09-22 12:20:56 +08:00
}
Initial public version
2016-08-17 23:08:22 +08:00
Backport the static allocation feature from FreeRTOS V9.0.0 This feature allows to use static buffers (or from a pool of memory which is not controlled by FreeRTOS). In order to reduce the impact of the changes, the static feature has only been added to the queus (and in consequence to the semaphores and the mutexes) and the tasks. The Timer task is always dynamically allocated and also the idle task(s), which in the case of the ESP-IDF is ok, since we always need to have dynamic allocation enabled.
2016-09-22 12:20:56 +08:00
uxTaskNumber++;
Initial public version
2016-08-17 23:08:22 +08:00
Backport the static allocation feature from FreeRTOS V9.0.0 This feature allows to use static buffers (or from a pool of memory which is not controlled by FreeRTOS). In order to reduce the impact of the changes, the static feature has only been added to the queus (and in consequence to the semaphores and the mutexes) and the tasks. The Timer task is always dynamically allocated and also the idle task(s), which in the case of the ESP-IDF is ok, since we always need to have dynamic allocation enabled.
2016-09-22 12:20:56 +08:00
#if ( configUSE_TRACE_FACILITY == 1 )
{
/* Add a counter into the TCB for tracing only. */
pxNewTCB->uxTCBNumber = uxTaskNumber;
}
#endif /* configUSE_TRACE_FACILITY */
traceTASK_CREATE( pxNewTCB );
Initial public version
2016-08-17 23:08:22 +08:00
Backport the static allocation feature from FreeRTOS V9.0.0 This feature allows to use static buffers (or from a pool of memory which is not controlled by FreeRTOS). In order to reduce the impact of the changes, the static feature has only been added to the queus (and in consequence to the semaphores and the mutexes) and the tasks. The Timer task is always dynamically allocated and also the idle task(s), which in the case of the ESP-IDF is ok, since we always need to have dynamic allocation enabled.
2016-09-22 12:20:56 +08:00
prvAddTaskToReadyList( pxNewTCB );
Initial public version
2016-08-17 23:08:22 +08:00
Backport the static allocation feature from FreeRTOS V9.0.0 This feature allows to use static buffers (or from a pool of memory which is not controlled by FreeRTOS). In order to reduce the impact of the changes, the static feature has only been added to the queus (and in consequence to the semaphores and the mutexes) and the tasks. The Timer task is always dynamically allocated and also the idle task(s), which in the case of the ESP-IDF is ok, since we always need to have dynamic allocation enabled.
2016-09-22 12:20:56 +08:00
portSETUP_TCB( pxNewTCB );
Initial public version
2016-08-17 23:08:22 +08:00
}
Fixed a small bug where a task could initially be scheduled on a wrong CPU, and a much bigger bug where a yield was performed with a held mux.
2017-02-22 17:04:51 +08:00
Backport the static allocation feature from FreeRTOS V9.0.0 This feature allows to use static buffers (or from a pool of memory which is not controlled by FreeRTOS). In order to reduce the impact of the changes, the static feature has only been added to the queus (and in consequence to the semaphores and the mutexes) and the tasks. The Timer task is always dynamically allocated and also the idle task(s), which in the case of the ESP-IDF is ok, since we always need to have dynamic allocation enabled.
2016-09-22 12:20:56 +08:00
taskEXIT_CRITICAL(&xTaskQueueMutex);
Initial public version
2016-08-17 23:08:22 +08:00
Backport the static allocation feature from FreeRTOS V9.0.0 This feature allows to use static buffers (or from a pool of memory which is not controlled by FreeRTOS). In order to reduce the impact of the changes, the static feature has only been added to the queus (and in consequence to the semaphores and the mutexes) and the tasks. The Timer task is always dynamically allocated and also the idle task(s), which in the case of the ESP-IDF is ok, since we always need to have dynamic allocation enabled.
2016-09-22 12:20:56 +08:00
if( xSchedulerRunning != pdFALSE )
Initial public version
2016-08-17 23:08:22 +08:00
{
freertos: Schedule tasks immediately when they are created on opposite core
2017-02-28 15:13:30 +11:00
taskENTER_CRITICAL(&xTaskQueueMutex);
curTCB = pxCurrentTCB[ xCoreID ];
Backport the static allocation feature from FreeRTOS V9.0.0 This feature allows to use static buffers (or from a pool of memory which is not controlled by FreeRTOS). In order to reduce the impact of the changes, the static feature has only been added to the queus (and in consequence to the semaphores and the mutexes) and the tasks. The Timer task is always dynamically allocated and also the idle task(s), which in the case of the ESP-IDF is ok, since we always need to have dynamic allocation enabled.
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/* Scheduler is running. If the created task is of a higher priority than an executing task
freertos: Schedule tasks immediately when they are created on opposite core
2017-02-28 15:13:30 +11:00
then it should run now.
*/
if( curTCB == NULL || curTCB->uxPriority < pxNewTCB->uxPriority )
Initial public version
2016-08-17 23:08:22 +08:00
{
freertos: Schedule tasks immediately when they are created on opposite core
2017-02-28 15:13:30 +11:00
if( xCoreID == xPortGetCoreID() )
Initial public version
2016-08-17 23:08:22 +08:00
{
freertos: Delay context switch from queue/task APIs until exiting critical section Closes #374: https://github.com/espressif/esp-idf/issues/374
2017-03-16 11:07:50 +08:00
taskYIELD_IF_USING_PREEMPTION();
Initial public version
2016-08-17 23:08:22 +08:00
}
freertos: Schedule tasks immediately when they are created on opposite core
2017-02-28 15:13:30 +11:00
else {
Merge latest master in
2016-10-27 16:18:55 +08:00
taskYIELD_OTHER_CORE(xCoreID, pxNewTCB->uxPriority);
Add checks for tasks woken up on other CPUs where needed, make xYieldPending and xPendingReadyList per-processor, add configurable ISR stack size to Kconfig, in general fix the entire wake-up-task-on-other-cpu-by-interrupt implementation
2016-10-27 16:07:47 +08:00
}
Initial public version
2016-08-17 23:08:22 +08:00
}
else
{
mtCOVERAGE_TEST_MARKER();
}
freertos: Schedule tasks immediately when they are created on opposite core
2017-02-28 15:13:30 +11:00
taskEXIT_CRITICAL(&xTaskQueueMutex);
Initial public version
2016-08-17 23:08:22 +08:00
}
Backport the static allocation feature from FreeRTOS V9.0.0 This feature allows to use static buffers (or from a pool of memory which is not controlled by FreeRTOS). In order to reduce the impact of the changes, the static feature has only been added to the queus (and in consequence to the semaphores and the mutexes) and the tasks. The Timer task is always dynamically allocated and also the idle task(s), which in the case of the ESP-IDF is ok, since we always need to have dynamic allocation enabled.
2016-09-22 12:20:56 +08:00
else
{
mtCOVERAGE_TEST_MARKER();
}
Initial public version
2016-08-17 23:08:22 +08:00
}
/*-----------------------------------------------------------*/
#if ( INCLUDE_vTaskDelete == 1 )
freertos/fix SMP bug with Idle task clean up This commit backports vTaskDelete() behavior from FreeRTOS v9.0.0 which allows for the immediate freeing of task memory if the task being deleted is not currently running and not pinned to the other core. This commit also fixes a bug in prvCheckTasksWaitingTermination which prevented the Idle Task from cleaning up all tasks awaiting deletion. Each iteration of the Idle Task should traverse the xTasksWaitingTermination list and clean up all tasks not pinned to the other core. The previous implementation would cause prvCheckTasksWaitingTermination to return when encountering a task pinned to the other core whilst traversing the xTasksWaitingTermination list. The test case for vTaskDelete() has been updated to test for the bugfix and backported deletion behavior.
2017-11-23 22:35:54 +08:00
Initial public version
2016-08-17 23:08:22 +08:00
void vTaskDelete( TaskHandle_t xTaskToDelete )
{
freertos/fix SMP bug with Idle task clean up This commit backports vTaskDelete() behavior from FreeRTOS v9.0.0 which allows for the immediate freeing of task memory if the task being deleted is not currently running and not pinned to the other core. This commit also fixes a bug in prvCheckTasksWaitingTermination which prevented the Idle Task from cleaning up all tasks awaiting deletion. Each iteration of the Idle Task should traverse the xTasksWaitingTermination list and clean up all tasks not pinned to the other core. The previous implementation would cause prvCheckTasksWaitingTermination to return when encountering a task pinned to the other core whilst traversing the xTasksWaitingTermination list. The test case for vTaskDelete() has been updated to test for the bugfix and backported deletion behavior.
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//The following vTaskDelete() is backported from FreeRTOS v9.0.0 and modified for SMP.
//v9.0.0 vTaskDelete() will immediately free task memory if the task being deleted is
//NOT currently running and not pinned to the other core. Otherwise, freeing of task memory
//will still be delegated to the Idle Task.
Initial public version
2016-08-17 23:08:22 +08:00
TCB_t *pxTCB;
freertos/fix SMP bug with Idle task clean up This commit backports vTaskDelete() behavior from FreeRTOS v9.0.0 which allows for the immediate freeing of task memory if the task being deleted is not currently running and not pinned to the other core. This commit also fixes a bug in prvCheckTasksWaitingTermination which prevented the Idle Task from cleaning up all tasks awaiting deletion. Each iteration of the Idle Task should traverse the xTasksWaitingTermination list and clean up all tasks not pinned to the other core. The previous implementation would cause prvCheckTasksWaitingTermination to return when encountering a task pinned to the other core whilst traversing the xTasksWaitingTermination list. The test case for vTaskDelete() has been updated to test for the bugfix and backported deletion behavior.
2017-11-23 22:35:54 +08:00
int core = xPortGetCoreID(); //Current core
UBaseType_t free_now; //Flag to indicate if task memory can be freed immediately
Initial public version
2016-08-17 23:08:22 +08:00
taskENTER_CRITICAL(&xTaskQueueMutex);
{
/* If null is passed in here then it is the calling task that is
being deleted. */
pxTCB = prvGetTCBFromHandle( xTaskToDelete );
freertos/fix SMP bug with Idle task clean up This commit backports vTaskDelete() behavior from FreeRTOS v9.0.0 which allows for the immediate freeing of task memory if the task being deleted is not currently running and not pinned to the other core. This commit also fixes a bug in prvCheckTasksWaitingTermination which prevented the Idle Task from cleaning up all tasks awaiting deletion. Each iteration of the Idle Task should traverse the xTasksWaitingTermination list and clean up all tasks not pinned to the other core. The previous implementation would cause prvCheckTasksWaitingTermination to return when encountering a task pinned to the other core whilst traversing the xTasksWaitingTermination list. The test case for vTaskDelete() has been updated to test for the bugfix and backported deletion behavior.
2017-11-23 22:35:54 +08:00
/* Remove task from the ready list. */
Initial public version
2016-08-17 23:08:22 +08:00
if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
{
taskRESET_READY_PRIORITY( pxTCB->uxPriority );
}
else
{
mtCOVERAGE_TEST_MARKER();
}
/* Is the task waiting on an event also? */
if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
{
( void ) uxListRemove( &( pxTCB->xEventListItem ) );
}
else
{
mtCOVERAGE_TEST_MARKER();
}
freertos/fix SMP bug with Idle task clean up This commit backports vTaskDelete() behavior from FreeRTOS v9.0.0 which allows for the immediate freeing of task memory if the task being deleted is not currently running and not pinned to the other core. This commit also fixes a bug in prvCheckTasksWaitingTermination which prevented the Idle Task from cleaning up all tasks awaiting deletion. Each iteration of the Idle Task should traverse the xTasksWaitingTermination list and clean up all tasks not pinned to the other core. The previous implementation would cause prvCheckTasksWaitingTermination to return when encountering a task pinned to the other core whilst traversing the xTasksWaitingTermination list. The test case for vTaskDelete() has been updated to test for the bugfix and backported deletion behavior.
2017-11-23 22:35:54 +08:00
/* Increment the uxTaskNumber also so kernel aware debuggers can
detect that the task lists need re-generating. This is done before
portPRE_TASK_DELETE_HOOK() as in the Windows port that macro will
not return. */
uxTaskNumber++;
Initial public version
2016-08-17 23:08:22 +08:00
freertos/fix SMP bug with Idle task clean up This commit backports vTaskDelete() behavior from FreeRTOS v9.0.0 which allows for the immediate freeing of task memory if the task being deleted is not currently running and not pinned to the other core. This commit also fixes a bug in prvCheckTasksWaitingTermination which prevented the Idle Task from cleaning up all tasks awaiting deletion. Each iteration of the Idle Task should traverse the xTasksWaitingTermination list and clean up all tasks not pinned to the other core. The previous implementation would cause prvCheckTasksWaitingTermination to return when encountering a task pinned to the other core whilst traversing the xTasksWaitingTermination list. The test case for vTaskDelete() has been updated to test for the bugfix and backported deletion behavior.
2017-11-23 22:35:54 +08:00
//If task to be deleted is currently running on either core or is pinned to the other core. Let Idle free memory
if( pxTCB == pxCurrentTCB[ core ] ||
(portNUM_PROCESSORS > 1 && pxTCB == pxCurrentTCB[ !core ]) ||
(portNUM_PROCESSORS > 1 && pxTCB->xCoreID == (!core)) )
{
/* Deleting a currently running task. This cannot complete
within the task itself, as a context switch to another task is
required. Place the task in the termination list. The idle task
will check the termination list and free up any memory allocated
by the scheduler for the TCB and stack of the deleted task. */
vListInsertEnd( &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) );
Initial public version
2016-08-17 23:08:22 +08:00
freertos/fix SMP bug with Idle task clean up This commit backports vTaskDelete() behavior from FreeRTOS v9.0.0 which allows for the immediate freeing of task memory if the task being deleted is not currently running and not pinned to the other core. This commit also fixes a bug in prvCheckTasksWaitingTermination which prevented the Idle Task from cleaning up all tasks awaiting deletion. Each iteration of the Idle Task should traverse the xTasksWaitingTermination list and clean up all tasks not pinned to the other core. The previous implementation would cause prvCheckTasksWaitingTermination to return when encountering a task pinned to the other core whilst traversing the xTasksWaitingTermination list. The test case for vTaskDelete() has been updated to test for the bugfix and backported deletion behavior.
2017-11-23 22:35:54 +08:00
/* Increment the ucTasksDeleted variable so the idle task knows
there is a task that has been deleted and that it should therefore
check the xTasksWaitingTermination list. */
++uxTasksDeleted;
/* The pre-delete hook is primarily for the Windows simulator,
in which Windows specific clean up operations are performed,
after which it is not possible to yield away from this task -
hence xYieldPending is used to latch that a context switch is
required. */
portPRE_TASK_DELETE_HOOK( pxTCB, &xYieldPending );
free_now = pdFALSE; //Let Idle Task free task memory
}
else //Task is not currently running and not pinned to the other core
{
--uxCurrentNumberOfTasks;
/* Reset the next expected unblock time in case it referred to
the task that has just been deleted. */
prvResetNextTaskUnblockTime();
free_now = pdTRUE; //Set flag to free task memory immediately
}
Initial public version
2016-08-17 23:08:22 +08:00
traceTASK_DELETE( pxTCB );
}
taskEXIT_CRITICAL(&xTaskQueueMutex);
freertos/fix SMP bug with Idle task clean up This commit backports vTaskDelete() behavior from FreeRTOS v9.0.0 which allows for the immediate freeing of task memory if the task being deleted is not currently running and not pinned to the other core. This commit also fixes a bug in prvCheckTasksWaitingTermination which prevented the Idle Task from cleaning up all tasks awaiting deletion. Each iteration of the Idle Task should traverse the xTasksWaitingTermination list and clean up all tasks not pinned to the other core. The previous implementation would cause prvCheckTasksWaitingTermination to return when encountering a task pinned to the other core whilst traversing the xTasksWaitingTermination list. The test case for vTaskDelete() has been updated to test for the bugfix and backported deletion behavior.
2017-11-23 22:35:54 +08:00
if(free_now == pdTRUE){ //Free task memory. Outside critical section due to deletion callbacks
#if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 ) && ( configTHREAD_LOCAL_STORAGE_DELETE_CALLBACKS )
prvDeleteTLS( pxTCB ); //Run deletion callbacks before deleting TCB
#endif
prvDeleteTCB( pxTCB ); //Must only be called after del cb
}
Initial public version
2016-08-17 23:08:22 +08:00
/* Force a reschedule if it is the currently running task that has just
been deleted. */
if( xSchedulerRunning != pdFALSE )
{
//No mux; no harm done if this misfires. The deleted task won't get scheduled anyway.
freertos/fix SMP bug with Idle task clean up This commit backports vTaskDelete() behavior from FreeRTOS v9.0.0 which allows for the immediate freeing of task memory if the task being deleted is not currently running and not pinned to the other core. This commit also fixes a bug in prvCheckTasksWaitingTermination which prevented the Idle Task from cleaning up all tasks awaiting deletion. Each iteration of the Idle Task should traverse the xTasksWaitingTermination list and clean up all tasks not pinned to the other core. The previous implementation would cause prvCheckTasksWaitingTermination to return when encountering a task pinned to the other core whilst traversing the xTasksWaitingTermination list. The test case for vTaskDelete() has been updated to test for the bugfix and backported deletion behavior.
2017-11-23 22:35:54 +08:00
if( pxTCB == pxCurrentTCB[ core ] ) //If task was currently running on this core
Initial public version
2016-08-17 23:08:22 +08:00
{
freertos: modify configASSERTs around scheduler state check Regression introduced in commit 79e74e5d5f948e585bec586db7f482a2f2df50dc It is possible that some FreeRTOS APIs are invoked prior to scheduler start condition (e.g. flash initialization in unicore mode). In that condition these asserts should not trigger (scheduler state being yet to be started), hence changes per this fix.
2019-11-12 22:36:30 +05:30
configASSERT( xTaskGetSchedulerState() != taskSCHEDULER_SUSPENDED )
Initial public version
2016-08-17 23:08:22 +08:00
/* The pre-delete hook is primarily for the Windows simulator,
in which Windows specific clean up operations are performed,
after which it is not possible to yield away from this task -
hence xYieldPending is used to latch that a context switch is
required. */
Most code written. Interrupts still do not fire yet.
2016-10-26 21:09:55 +08:00
portPRE_TASK_DELETE_HOOK( pxTCB, &xYieldPending[xPortGetCoreID()] );
Initial public version
2016-08-17 23:08:22 +08:00
portYIELD_WITHIN_API();
}
freertos/fix SMP bug with Idle task clean up This commit backports vTaskDelete() behavior from FreeRTOS v9.0.0 which allows for the immediate freeing of task memory if the task being deleted is not currently running and not pinned to the other core. This commit also fixes a bug in prvCheckTasksWaitingTermination which prevented the Idle Task from cleaning up all tasks awaiting deletion. Each iteration of the Idle Task should traverse the xTasksWaitingTermination list and clean up all tasks not pinned to the other core. The previous implementation would cause prvCheckTasksWaitingTermination to return when encountering a task pinned to the other core whilst traversing the xTasksWaitingTermination list. The test case for vTaskDelete() has been updated to test for the bugfix and backported deletion behavior.
2017-11-23 22:35:54 +08:00
else if ( portNUM_PROCESSORS > 1 && pxTCB == pxCurrentTCB[ !core] ) //If task was currently running on the other core
freertos: Preempt other CPU when deleting a task running on it Includes related fix to preemption unit tests (delete a queue after deleting the task blocked on it.)
2017-05-10 17:23:33 +10:00
{
/* if task is running on the other CPU, force a yield on that CPU to take it off */
freertos/fix SMP bug with Idle task clean up This commit backports vTaskDelete() behavior from FreeRTOS v9.0.0 which allows for the immediate freeing of task memory if the task being deleted is not currently running and not pinned to the other core. This commit also fixes a bug in prvCheckTasksWaitingTermination which prevented the Idle Task from cleaning up all tasks awaiting deletion. Each iteration of the Idle Task should traverse the xTasksWaitingTermination list and clean up all tasks not pinned to the other core. The previous implementation would cause prvCheckTasksWaitingTermination to return when encountering a task pinned to the other core whilst traversing the xTasksWaitingTermination list. The test case for vTaskDelete() has been updated to test for the bugfix and backported deletion behavior.
2017-11-23 22:35:54 +08:00
vPortYieldOtherCore( !core );
freertos: Preempt other CPU when deleting a task running on it Includes related fix to preemption unit tests (delete a queue after deleting the task blocked on it.)
2017-05-10 17:23:33 +10:00
}
Initial public version
2016-08-17 23:08:22 +08:00
else
{
freertos/fix SMP bug with Idle task clean up This commit backports vTaskDelete() behavior from FreeRTOS v9.0.0 which allows for the immediate freeing of task memory if the task being deleted is not currently running and not pinned to the other core. This commit also fixes a bug in prvCheckTasksWaitingTermination which prevented the Idle Task from cleaning up all tasks awaiting deletion. Each iteration of the Idle Task should traverse the xTasksWaitingTermination list and clean up all tasks not pinned to the other core. The previous implementation would cause prvCheckTasksWaitingTermination to return when encountering a task pinned to the other core whilst traversing the xTasksWaitingTermination list. The test case for vTaskDelete() has been updated to test for the bugfix and backported deletion behavior.
2017-11-23 22:35:54 +08:00
mtCOVERAGE_TEST_MARKER();
Initial public version
2016-08-17 23:08:22 +08:00
}
}
}
#endif /* INCLUDE_vTaskDelete */
/*-----------------------------------------------------------*/
#if ( INCLUDE_vTaskDelayUntil == 1 )
/* ToDo: Make this multicore-compatible. */
void vTaskDelayUntil( TickType_t * const pxPreviousWakeTime, const TickType_t xTimeIncrement )
{
TickType_t xTimeToWake;
BaseType_t xAlreadyYielded=pdFALSE, xShouldDelay = pdFALSE;
configASSERT( pxPreviousWakeTime );
configASSERT( ( xTimeIncrement > 0U ) );
freertos: modify configASSERTs around scheduler state check Regression introduced in commit 79e74e5d5f948e585bec586db7f482a2f2df50dc It is possible that some FreeRTOS APIs are invoked prior to scheduler start condition (e.g. flash initialization in unicore mode). In that condition these asserts should not trigger (scheduler state being yet to be started), hence changes per this fix.
2019-11-12 22:36:30 +05:30
configASSERT( xTaskGetSchedulerState() != taskSCHEDULER_SUSPENDED );
Initial public version
2016-08-17 23:08:22 +08:00
taskENTER_CRITICAL(&xTaskQueueMutex);
// vTaskSuspendAll();
{
/* Minor optimisation. The tick count cannot change in this
block. */
const TickType_t xConstTickCount = xTickCount;
/* Generate the tick time at which the task wants to wake. */
xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
if( xConstTickCount < *pxPreviousWakeTime )
{
/* The tick count has overflowed since this function was
lasted called. In this case the only time we should ever
actually delay is if the wake time has also overflowed,
and the wake time is greater than the tick time. When this
is the case it is as if neither time had overflowed. */
if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xConstTickCount ) )
{
xShouldDelay = pdTRUE;
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
else
{
/* The tick time has not overflowed. In this case we will
delay if either the wake time has overflowed, and/or the
tick time is less than the wake time. */
if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xConstTickCount ) )
{
xShouldDelay = pdTRUE;
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
/* Update the wake time ready for the next call. */
*pxPreviousWakeTime = xTimeToWake;
if( xShouldDelay != pdFALSE )
{
traceTASK_DELAY_UNTIL();
/* Remove the task from the ready list before adding it to the
blocked list as the same list item is used for both lists. */
if( uxListRemove( &( pxCurrentTCB[ xPortGetCoreID() ]->xGenericListItem ) ) == ( UBaseType_t ) 0 )
{
/* The current task must be in a ready list, so there is
no need to check, and the port reset macro can be called
directly. */
portRESET_READY_PRIORITY( pxCurrentTCB[ xPortGetCoreID() ]->uxPriority, uxTopReadyPriority );
}
else
{
mtCOVERAGE_TEST_MARKER();
}
prvAddCurrentTaskToDelayedList( xPortGetCoreID(), xTimeToWake );
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
// xAlreadyYielded = xTaskResumeAll();
taskEXIT_CRITICAL(&xTaskQueueMutex);
/* Force a reschedule if xTaskResumeAll has not already done so, we may
have put ourselves to sleep. */
if( xAlreadyYielded == pdFALSE )
{
portYIELD_WITHIN_API();
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
#endif /* INCLUDE_vTaskDelayUntil */
/*-----------------------------------------------------------*/
#if ( INCLUDE_vTaskDelay == 1 )
void vTaskDelay( const TickType_t xTicksToDelay )
{
TickType_t xTimeToWake;
BaseType_t xAlreadyYielded = pdFALSE;
/* A delay time of zero just forces a reschedule. */
if( xTicksToDelay > ( TickType_t ) 0U )
{
freertos: modify configASSERTs around scheduler state check Regression introduced in commit 79e74e5d5f948e585bec586db7f482a2f2df50dc It is possible that some FreeRTOS APIs are invoked prior to scheduler start condition (e.g. flash initialization in unicore mode). In that condition these asserts should not trigger (scheduler state being yet to be started), hence changes per this fix.
2019-11-12 22:36:30 +05:30
configASSERT( xTaskGetSchedulerState() != taskSCHEDULER_SUSPENDED );
Initial public version
2016-08-17 23:08:22 +08:00
taskENTER_CRITICAL(&xTaskQueueMutex);
// vTaskSuspendAll();
{
traceTASK_DELAY();
/* A task that is removed from the event list while the
scheduler is suspended will not get placed in the ready
list or removed from the blocked list until the scheduler
is resumed.
This task cannot be in an event list as it is the currently
executing task. */
/* Calculate the time to wake - this may overflow but this is
not a problem. */
xTimeToWake = xTickCount + xTicksToDelay;
/* We must remove ourselves from the ready list before adding
ourselves to the blocked list as the same list item is used for
both lists. */
if( uxListRemove( &( pxCurrentTCB[ xPortGetCoreID() ]->xGenericListItem ) ) == ( UBaseType_t ) 0 )
{
/* The current task must be in a ready list, so there is
no need to check, and the port reset macro can be called
directly. */
portRESET_READY_PRIORITY( pxCurrentTCB[ xPortGetCoreID() ]->uxPriority, uxTopReadyPriority );
}
else
{
mtCOVERAGE_TEST_MARKER();
}
prvAddCurrentTaskToDelayedList( xPortGetCoreID(), xTimeToWake );
}
// xAlreadyYielded = xTaskResumeAll();
taskEXIT_CRITICAL(&xTaskQueueMutex);
}
else
{
mtCOVERAGE_TEST_MARKER();
}
/* Force a reschedule if xTaskResumeAll has not already done so, we may
have put ourselves to sleep. */
if( xAlreadyYielded == pdFALSE )
{
portYIELD_WITHIN_API();
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
#endif /* INCLUDE_vTaskDelay */
/*-----------------------------------------------------------*/
#if ( INCLUDE_eTaskGetState == 1 )
eTaskState eTaskGetState( TaskHandle_t xTask )
{
eTaskState eReturn;
List_t *pxStateList;
const TCB_t * const pxTCB = ( TCB_t * ) xTask;
freertos: Test untested functions Test cases were added for the following functions - xTaskNotify(), xTaskNotifyGive(), xTaskNotifyFromISR(), vTaskNotifyGiveFromISR(), - xTaskNotifyWait(), ulTaskNotifyTake() - vTaskDelayUntil() The following function was made smp compatible and tested as well - eTaskGetState()
2017-09-22 18:45:57 +08:00
TCB_t * curTCBcurCore = xTaskGetCurrentTaskHandle();
TCB_t * curTCBothrCore = xTaskGetCurrentTaskHandleForCPU(!xPortGetCoreID()); //Returns NULL if Unicore
Initial public version
2016-08-17 23:08:22 +08:00
configASSERT( pxTCB );
freertos: Test untested functions Test cases were added for the following functions - xTaskNotify(), xTaskNotifyGive(), xTaskNotifyFromISR(), vTaskNotifyGiveFromISR(), - xTaskNotifyWait(), ulTaskNotifyTake() - vTaskDelayUntil() The following function was made smp compatible and tested as well - eTaskGetState()
2017-09-22 18:45:57 +08:00
if( pxTCB == curTCBcurCore || pxTCB == curTCBothrCore )
Initial public version
2016-08-17 23:08:22 +08:00
{
/* The task calling this function is querying its own state. */
eReturn = eRunning;
}
else
{
taskENTER_CRITICAL(&xTaskQueueMutex);
{
pxStateList = ( List_t * ) listLIST_ITEM_CONTAINER( &( pxTCB->xGenericListItem ) );
}
taskEXIT_CRITICAL(&xTaskQueueMutex);
if( ( pxStateList == pxDelayedTaskList ) || ( pxStateList == pxOverflowDelayedTaskList ) )
{
/* The task being queried is referenced from one of the Blocked
lists. */
eReturn = eBlocked;
}
#if ( INCLUDE_vTaskSuspend == 1 )
else if( pxStateList == &xSuspendedTaskList )
{
/* The task being queried is referenced from the suspended
list. Is it genuinely suspended or is it block
indefinitely? */
if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL )
{
eReturn = eSuspended;
}
else
{
eReturn = eBlocked;
}
}
#endif
#if ( INCLUDE_vTaskDelete == 1 )
else if( pxStateList == &xTasksWaitingTermination )
{
/* The task being queried is referenced from the deleted
tasks list. */
eReturn = eDeleted;
}
#endif
else /*lint !e525 Negative indentation is intended to make use of pre-processor clearer. */
{
/* If the task is not in any other state, it must be in the
Ready (including pending ready) state. */
eReturn = eReady;
}
}
return eReturn;
} /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
#endif /* INCLUDE_eTaskGetState */
/*-----------------------------------------------------------*/
#if ( INCLUDE_uxTaskPriorityGet == 1 )
UBaseType_t uxTaskPriorityGet( TaskHandle_t xTask )
{
TCB_t *pxTCB;
UBaseType_t uxReturn;
taskENTER_CRITICAL(&xTaskQueueMutex);
{
/* If null is passed in here then we are changing the
priority of the calling function. */
pxTCB = prvGetTCBFromHandle( xTask );
uxReturn = pxTCB->uxPriority;
}
taskEXIT_CRITICAL(&xTaskQueueMutex);
return uxReturn;
}
#endif /* INCLUDE_uxTaskPriorityGet */
/*-----------------------------------------------------------*/
#if ( INCLUDE_uxTaskPriorityGet == 1 )
UBaseType_t uxTaskPriorityGetFromISR( TaskHandle_t xTask )
{
TCB_t *pxTCB;
UBaseType_t uxReturn;
taskENTER_CRITICAL_ISR(&xTaskQueueMutex);
{
/* If null is passed in here then it is the priority of the calling
task that is being queried. */
pxTCB = prvGetTCBFromHandle( xTask );
uxReturn = pxTCB->uxPriority;
}
taskEXIT_CRITICAL_ISR(&xTaskQueueMutex);
return uxReturn;
}
#endif /* INCLUDE_uxTaskPriorityGet */
/*-----------------------------------------------------------*/
#if ( INCLUDE_vTaskPrioritySet == 1 )
void vTaskPrioritySet( TaskHandle_t xTask, UBaseType_t uxNewPriority )
{
TCB_t *pxTCB;
UBaseType_t uxCurrentBasePriority, uxPriorityUsedOnEntry;
BaseType_t xYieldRequired = pdFALSE;
configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) );
/* Ensure the new priority is valid. */
if( uxNewPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
{
uxNewPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
}
else
{
mtCOVERAGE_TEST_MARKER();
}
taskENTER_CRITICAL(&xTaskQueueMutex);
{
/* If null is passed in here then it is the priority of the calling
task that is being changed. */
pxTCB = prvGetTCBFromHandle( xTask );
traceTASK_PRIORITY_SET( pxTCB, uxNewPriority );
#if ( configUSE_MUTEXES == 1 )
{
uxCurrentBasePriority = pxTCB->uxBasePriority;
}
#else
{
uxCurrentBasePriority = pxTCB->uxPriority;
}
#endif
if( uxCurrentBasePriority != uxNewPriority )
{
/* The priority change may have readied a task of higher
priority than the calling task. */
if( uxNewPriority > uxCurrentBasePriority )
{
if( pxTCB != pxCurrentTCB[ xPortGetCoreID() ] )
{
/* The priority of a task other than the currently
running task is being raised. Is the priority being
raised above that of the running task? */
Most code written. Interrupts still do not fire yet.
2016-10-26 21:09:55 +08:00
if ( tskCAN_RUN_HERE(pxTCB->xCoreID) && uxNewPriority >= pxCurrentTCB[ xPortGetCoreID() ]->uxPriority )
Initial public version
2016-08-17 23:08:22 +08:00
{
xYieldRequired = pdTRUE;
}
esp32: SEGGER SystemView Tracing Support Implements support for system level traces compatible with SEGGER SystemView tool on top of ESP32 application tracing module. That kind of traces can help to analyse program's behaviour. SystemView can show timeline of tasks/ISRs execution, context switches, statistics related to the CPUs' load distribution etc. Also this commit adds useful feature to ESP32 application tracing module: - Trace data buffering is implemented to handle temporary peaks of events load
2017-03-22 06:07:37 +03:00
else if ( pxTCB->xCoreID != xPortGetCoreID() )
Most code written. Interrupts still do not fire yet.
2016-10-26 21:09:55 +08:00
{
taskYIELD_OTHER_CORE( pxTCB->xCoreID, uxNewPriority );
}
Initial public version
2016-08-17 23:08:22 +08:00
else
{
mtCOVERAGE_TEST_MARKER();
}
}
else
{
/* The priority of the running task is being raised,
but the running task must already be the highest
priority task able to run so no yield is required. */
}
}
else if( pxTCB == pxCurrentTCB[ xPortGetCoreID() ] )
{
/* Setting the priority of the running task down means
there may now be another task of higher priority that
is ready to execute. */
xYieldRequired = pdTRUE;
}
else
{
/* Setting the priority of any other task down does not
require a yield as the running task must be above the
new priority of the task being modified. */
}
/* Remember the ready list the task might be referenced from
before its uxPriority member is changed so the
taskRESET_READY_PRIORITY() macro can function correctly. */
uxPriorityUsedOnEntry = pxTCB->uxPriority;
#if ( configUSE_MUTEXES == 1 )
{
/* Only change the priority being used if the task is not
currently using an inherited priority. */
if( pxTCB->uxBasePriority == pxTCB->uxPriority )
{
pxTCB->uxPriority = uxNewPriority;
}
else
{
mtCOVERAGE_TEST_MARKER();
}
/* The base priority gets set whatever. */
pxTCB->uxBasePriority = uxNewPriority;
}
#else
{
pxTCB->uxPriority = uxNewPriority;
}
#endif
/* Only reset the event list item value if the value is not
being used for anything else. */
if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
{
listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) uxNewPriority ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
}
else
{
mtCOVERAGE_TEST_MARKER();
}
/* If the task is in the blocked or suspended list we need do
nothing more than change it's priority variable. However, if
the task is in a ready list it needs to be removed and placed
in the list appropriate to its new priority. */
if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE )
{
/* The task is currently in its ready list - remove before adding
it to it's new ready list. As we are in a critical section we
can do this even if the scheduler is suspended. */
if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
{
/* It is known that the task is in its ready list so
there is no need to check again and the port level
reset macro can be called directly. */
portRESET_READY_PRIORITY( uxPriorityUsedOnEntry, uxTopReadyPriority );
}
else
{
mtCOVERAGE_TEST_MARKER();
}
esp32: SEGGER SystemView Tracing Support Implements support for system level traces compatible with SEGGER SystemView tool on top of ESP32 application tracing module. That kind of traces can help to analyse program's behaviour. SystemView can show timeline of tasks/ISRs execution, context switches, statistics related to the CPUs' load distribution etc. Also this commit adds useful feature to ESP32 application tracing module: - Trace data buffering is implemented to handle temporary peaks of events load
2017-03-22 06:07:37 +03:00
prvReaddTaskToReadyList( pxTCB );
Initial public version
2016-08-17 23:08:22 +08:00
}
else
{
mtCOVERAGE_TEST_MARKER();
}
if( xYieldRequired == pdTRUE )
{
freertos: Delay context switch from queue/task APIs until exiting critical section Closes #374: https://github.com/espressif/esp-idf/issues/374
2017-03-16 11:07:50 +08:00
taskYIELD_IF_USING_PREEMPTION();
Initial public version
2016-08-17 23:08:22 +08:00
}
else
{
mtCOVERAGE_TEST_MARKER();
}
/* Remove compiler warning about unused variables when the port
optimised task selection is not being used. */
( void ) uxPriorityUsedOnEntry;
}
}
taskEXIT_CRITICAL(&xTaskQueueMutex);
}
#endif /* INCLUDE_vTaskPrioritySet */
/*-----------------------------------------------------------*/
#if ( INCLUDE_vTaskSuspend == 1 )
void vTaskSuspend( TaskHandle_t xTaskToSuspend )
{
TCB_t *pxTCB;
add more protection for per-core data
2016-12-26 19:04:41 +08:00
TCB_t *curTCB;
Initial public version
2016-08-17 23:08:22 +08:00
taskENTER_CRITICAL(&xTaskQueueMutex);
{
/* If null is passed in here then it is the running task that is
being suspended. */
pxTCB = prvGetTCBFromHandle( xTaskToSuspend );
traceTASK_SUSPEND( pxTCB );
/* Remove task from the ready/delayed list and place in the
suspended list. */
if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
{
taskRESET_READY_PRIORITY( pxTCB->uxPriority );
}
else
{
mtCOVERAGE_TEST_MARKER();
}
/* Is the task waiting on an event also? */
if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
{
( void ) uxListRemove( &( pxTCB->xEventListItem ) );
}
else
{
mtCOVERAGE_TEST_MARKER();
}
esp32: SEGGER SystemView Tracing Support Implements support for system level traces compatible with SEGGER SystemView tool on top of ESP32 application tracing module. That kind of traces can help to analyse program's behaviour. SystemView can show timeline of tasks/ISRs execution, context switches, statistics related to the CPUs' load distribution etc. Also this commit adds useful feature to ESP32 application tracing module: - Trace data buffering is implemented to handle temporary peaks of events load
2017-03-22 06:07:37 +03:00
traceMOVED_TASK_TO_SUSPENDED_LIST(pxTCB);
Initial public version
2016-08-17 23:08:22 +08:00
vListInsertEnd( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) );
add more protection for per-core data
2016-12-26 19:04:41 +08:00
curTCB = pxCurrentTCB[ xPortGetCoreID() ];
Initial public version
2016-08-17 23:08:22 +08:00
}
taskEXIT_CRITICAL(&xTaskQueueMutex);
add more protection for per-core data
2016-12-26 19:04:41 +08:00
if( pxTCB == curTCB )
Initial public version
2016-08-17 23:08:22 +08:00
{
if( xSchedulerRunning != pdFALSE )
{
/* The current task has just been suspended. */
freertos: modify configASSERTs around scheduler state check Regression introduced in commit 79e74e5d5f948e585bec586db7f482a2f2df50dc It is possible that some FreeRTOS APIs are invoked prior to scheduler start condition (e.g. flash initialization in unicore mode). In that condition these asserts should not trigger (scheduler state being yet to be started), hence changes per this fix.
2019-11-12 22:36:30 +05:30
configASSERT( xTaskGetSchedulerState() != taskSCHEDULER_SUSPENDED );
Initial public version
2016-08-17 23:08:22 +08:00
portYIELD_WITHIN_API();
}
else
{
/* The scheduler is not running, but the task that was pointed
to by pxCurrentTCB has just been suspended and pxCurrentTCB
must be adjusted to point to a different task. */
if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == uxCurrentNumberOfTasks )
{
/* No other tasks are ready, so set pxCurrentTCB back to
NULL so when the next task is created pxCurrentTCB will
be set to point to it no matter what its relative priority
is. */
taskENTER_CRITICAL(&xTaskQueueMutex);
pxCurrentTCB[ xPortGetCoreID() ] = NULL;
taskEXIT_CRITICAL(&xTaskQueueMutex);
}
else
{
vTaskSwitchContext();
}
}
}
else
{
if( xSchedulerRunning != pdFALSE )
{
/* A task other than the currently running task was suspended,
reset the next expected unblock time in case it referred to the
task that is now in the Suspended state. */
taskENTER_CRITICAL(&xTaskQueueMutex);
{
prvResetNextTaskUnblockTime();
}
taskEXIT_CRITICAL(&xTaskQueueMutex);
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
}
#endif /* INCLUDE_vTaskSuspend */
/*-----------------------------------------------------------*/
#if ( INCLUDE_vTaskSuspend == 1 )
static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask )
{
BaseType_t xReturn = pdFALSE;
const TCB_t * const pxTCB = ( TCB_t * ) xTask;
/* Accesses xPendingReadyList so must be called from a critical
freertos: Enable vTaskSuspend()/vTaskResume() API Adds relevant unit tests. TW11878
2017-04-26 12:45:24 +10:00
section (caller is required to hold xTaskQueueMutex). */
Initial public version
2016-08-17 23:08:22 +08:00
/* It does not make sense to check if the calling task is suspended. */
configASSERT( xTask );
/* Is the task being resumed actually in the suspended list? */
if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE )
{
/* Has the task already been resumed from within an ISR? */
Add checks for tasks woken up on other CPUs where needed, make xYieldPending and xPendingReadyList per-processor, add configurable ISR stack size to Kconfig, in general fix the entire wake-up-task-on-other-cpu-by-interrupt implementation
2016-10-27 16:07:47 +08:00
if( listIS_CONTAINED_WITHIN( &xPendingReadyList[ xPortGetCoreID() ], &( pxTCB->xEventListItem ) ) == pdFALSE )
Initial public version
2016-08-17 23:08:22 +08:00
{
/* Is it in the suspended list because it is in the Suspended
state, or because is is blocked with no timeout? */
if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) != pdFALSE )
{
xReturn = pdTRUE;
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
else
{
mtCOVERAGE_TEST_MARKER();
}
return xReturn;
} /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
#endif /* INCLUDE_vTaskSuspend */
/*-----------------------------------------------------------*/
#if ( INCLUDE_vTaskSuspend == 1 )
void vTaskResume( TaskHandle_t xTaskToResume )
{
TCB_t * const pxTCB = ( TCB_t * ) xTaskToResume;
/* It does not make sense to resume the calling task. */
configASSERT( xTaskToResume );
taskENTER_CRITICAL(&xTaskQueueMutex);
/* The parameter cannot be NULL as it is impossible to resume the
currently executing task. */
if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB[ xPortGetCoreID() ] ) )
{
{
if( prvTaskIsTaskSuspended( pxTCB ) == pdTRUE )
{
traceTASK_RESUME( pxTCB );
/* As we are in a critical section we can access the ready
lists even if the scheduler is suspended. */
( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
prvAddTaskToReadyList( pxTCB );
/* We may have just resumed a higher priority task. */
Most code written. Interrupts still do not fire yet.
2016-10-26 21:09:55 +08:00
if( tskCAN_RUN_HERE(pxTCB->xCoreID) && pxTCB->uxPriority >= pxCurrentTCB[ xPortGetCoreID() ]->uxPriority )
Initial public version
2016-08-17 23:08:22 +08:00
{
/* This yield may not cause the task just resumed to run,
but will leave the lists in the correct state for the
next yield. */
freertos: Delay context switch from queue/task APIs until exiting critical section Closes #374: https://github.com/espressif/esp-idf/issues/374
2017-03-16 11:07:50 +08:00
taskYIELD_IF_USING_PREEMPTION();
Initial public version
2016-08-17 23:08:22 +08:00
}
Most code written. Interrupts still do not fire yet.
2016-10-26 21:09:55 +08:00
else if( pxTCB->xCoreID != xPortGetCoreID() )
{
taskYIELD_OTHER_CORE( pxTCB->xCoreID, pxTCB->uxPriority );
}
Initial public version
2016-08-17 23:08:22 +08:00
else
{
mtCOVERAGE_TEST_MARKER();
}
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
}
else
{
mtCOVERAGE_TEST_MARKER();
}
taskEXIT_CRITICAL(&xTaskQueueMutex);
}
#endif /* INCLUDE_vTaskSuspend */
/*-----------------------------------------------------------*/
#if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
BaseType_t xTaskResumeFromISR( TaskHandle_t xTaskToResume )
{
BaseType_t xYieldRequired = pdFALSE;
TCB_t * const pxTCB = ( TCB_t * ) xTaskToResume;
configASSERT( xTaskToResume );
taskENTER_CRITICAL_ISR(&xTaskQueueMutex);
{
if( prvTaskIsTaskSuspended( pxTCB ) == pdTRUE )
{
traceTASK_RESUME_FROM_ISR( pxTCB );
/* Check the ready lists can be accessed. */
if( uxSchedulerSuspended[ xPortGetCoreID() ] == ( UBaseType_t ) pdFALSE )
{
/* Ready lists can be accessed so move the task from the
suspended list to the ready list directly. */
Most code written. Interrupts still do not fire yet.
2016-10-26 21:09:55 +08:00
( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
prvAddTaskToReadyList( pxTCB );
Add checks for tasks woken up on other CPUs where needed, make xYieldPending and xPendingReadyList per-processor, add configurable ISR stack size to Kconfig, in general fix the entire wake-up-task-on-other-cpu-by-interrupt implementation
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if( tskCAN_RUN_HERE( pxTCB->xCoreID ) && pxTCB->uxPriority >= pxCurrentTCB[ xPortGetCoreID() ]->uxPriority )
Initial public version
2016-08-17 23:08:22 +08:00
{
xYieldRequired = pdTRUE;
}
Add checks for tasks woken up on other CPUs where needed, make xYieldPending and xPendingReadyList per-processor, add configurable ISR stack size to Kconfig, in general fix the entire wake-up-task-on-other-cpu-by-interrupt implementation
2016-10-27 16:07:47 +08:00
else if ( pxTCB->xCoreID != xPortGetCoreID() )
Initial public version
2016-08-17 23:08:22 +08:00
{
Add checks for tasks woken up on other CPUs where needed, make xYieldPending and xPendingReadyList per-processor, add configurable ISR stack size to Kconfig, in general fix the entire wake-up-task-on-other-cpu-by-interrupt implementation
2016-10-27 16:07:47 +08:00
taskYIELD_OTHER_CORE( pxTCB->xCoreID, pxTCB->uxPriority);
Initial public version
2016-08-17 23:08:22 +08:00
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
else
{
/* The delayed or ready lists cannot be accessed so the task
is held in the pending ready list until the scheduler is
unsuspended. */
Add checks for tasks woken up on other CPUs where needed, make xYieldPending and xPendingReadyList per-processor, add configurable ISR stack size to Kconfig, in general fix the entire wake-up-task-on-other-cpu-by-interrupt implementation
2016-10-27 16:07:47 +08:00
vListInsertEnd( &( xPendingReadyList[ xPortGetCoreID() ] ), &( pxTCB->xEventListItem ) );
Initial public version
2016-08-17 23:08:22 +08:00
}
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
taskEXIT_CRITICAL_ISR(&xTaskQueueMutex);
return xYieldRequired;
}
#endif /* ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) */
/*-----------------------------------------------------------*/
void vTaskStartScheduler( void )
{
BaseType_t xReturn;
BaseType_t i;
/* Add the per-core idle tasks at the lowest priority. */
for ( i=0; i<portNUM_PROCESSORS; i++) {
freertos: Add core ID to idle task names This commit adds the core number to the name of each idle task.
2018-09-02 20:26:33 +08:00
//Generate idle task name
char cIdleName[configMAX_TASK_NAME_LEN];
snprintf(cIdleName, configMAX_TASK_NAME_LEN, "IDLE%d", i);
Initial public version
2016-08-17 23:08:22 +08:00
#if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
{
/* Create the idle task, storing its handle in xIdleTaskHandle so it can
be returned by the xTaskGetIdleTaskHandle() function. */
freertos: Add core ID to idle task names This commit adds the core number to the name of each idle task.
2018-09-02 20:26:33 +08:00
xReturn = xTaskCreatePinnedToCore( prvIdleTask, cIdleName, tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), &xIdleTaskHandle[i], i ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
Initial public version
2016-08-17 23:08:22 +08:00
}
#else
{
/* Create the idle task without storing its handle. */
freertos: Add core ID to idle task names This commit adds the core number to the name of each idle task.
2018-09-02 20:26:33 +08:00
xReturn = xTaskCreatePinnedToCore( prvIdleTask, cIdleName, tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), NULL, i); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
Initial public version
2016-08-17 23:08:22 +08:00
}
#endif /* INCLUDE_xTaskGetIdleTaskHandle */
}
#if ( configUSE_TIMERS == 1 )
{
if( xReturn == pdPASS )
{
xReturn = xTimerCreateTimerTask();
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
#endif /* configUSE_TIMERS */
if( xReturn == pdPASS )
{
/* Interrupts are turned off here, to ensure a tick does not occur
before or during the call to xPortStartScheduler(). The stacks of
the created tasks contain a status word with interrupts switched on
so interrupts will automatically get re-enabled when the first task
starts to run. */
portDISABLE_INTERRUPTS();
xTickCount = ( TickType_t ) 0U;
/* If configGENERATE_RUN_TIME_STATS is defined then the following
macro must be defined to configure the timer/counter used to generate
the run time counter time base. */
portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
xSchedulerRunning = pdTRUE;
/* Setting up the timer tick is hardware specific and thus in the
portable interface. */
if( xPortStartScheduler() != pdFALSE )
{
/* Should not reach here as if the scheduler is running the
function will not return. */
}
else
{
/* Should only reach here if a task calls xTaskEndScheduler(). */
}
}
else
{
/* This line will only be reached if the kernel could not be started,
because there was not enough FreeRTOS heap to create the idle task
or the timer task. */
configASSERT( xReturn );
}
}
/*-----------------------------------------------------------*/
void vTaskEndScheduler( void )
{
/* Stop the scheduler interrupts and call the portable scheduler end
routine so the original ISRs can be restored if necessary. The port
layer must ensure interrupts enable bit is left in the correct state. */
portDISABLE_INTERRUPTS();
xSchedulerRunning = pdFALSE;
vPortEndScheduler();
}
/*----------------------------------------------------------*/
#if ( configUSE_NEWLIB_REENTRANT == 1 )
esp32: SEGGER SystemView Tracing Support Implements support for system level traces compatible with SEGGER SystemView tool on top of ESP32 application tracing module. That kind of traces can help to analyse program's behaviour. SystemView can show timeline of tasks/ISRs execution, context switches, statistics related to the CPUs' load distribution etc. Also this commit adds useful feature to ESP32 application tracing module: - Trace data buffering is implemented to handle temporary peaks of events load
2017-03-22 06:07:37 +03:00
//Return global reent struct if FreeRTOS isn't running,
tools: Mass fixing of empty prototypes (for -Wstrict-prototypes)
2019-07-16 16:33:30 +07:00
struct _reent* __getreent(void) {
Initial public version
2016-08-17 23:08:22 +08:00
//No lock needed because if this changes, we won't be running anymore.
add more protection for per-core data
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TCB_t *currTask=xTaskGetCurrentTaskHandle();
Initial public version
2016-08-17 23:08:22 +08:00
if (currTask==NULL) {
//No task running. Return global struct.
return _GLOBAL_REENT;
} else {
//We have a task; return its reentrant struct.
return &currTask->xNewLib_reent;
}
}
#endif
void vTaskSuspendAll( void )
{
/* A critical section is not required as the variable is of type
BaseType_t. Please read Richard Barry's reply in the following link to a
post in the FreeRTOS support forum before reporting this as a bug! -
http://goo.gl/wu4acr */
add more protection for per-core data
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unsigned state;
freertos: rework code based on review
2016-12-27 12:11:07 +08:00
state = portENTER_CRITICAL_NESTED();
Initial public version
2016-08-17 23:08:22 +08:00
++uxSchedulerSuspended[ xPortGetCoreID() ];
freertos: rework code based on review
2016-12-27 12:11:07 +08:00
portEXIT_CRITICAL_NESTED(state);
Initial public version
2016-08-17 23:08:22 +08:00
}
/*----------------------------------------------------------*/
#if ( configUSE_TICKLESS_IDLE != 0 )
freertos: fix compilation warning in single core mode When tickless idle is enabled
2018-10-30 16:05:45 +08:00
#if ( portNUM_PROCESSORS > 1 )
Fix remaining -Wstrict-prototypes warnings
2019-07-30 11:53:48 +07:00
static BaseType_t xHaveReadyTasks( void )
freertos,esp32: automatic light sleep support
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{
for (int i = tskIDLE_PRIORITY + 1; i < configMAX_PRIORITIES; ++i)
{
if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ i ] ) ) > 0 )
{
return pdTRUE;
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
return pdFALSE;
}
freertos: fix compilation warning in single core mode When tickless idle is enabled
2018-10-30 16:05:45 +08:00
#endif // portNUM_PROCESSORS > 1
freertos,esp32: automatic light sleep support
2018-04-12 18:18:45 +08:00
Initial public version
2016-08-17 23:08:22 +08:00
static TickType_t prvGetExpectedIdleTime( void )
{
TickType_t xReturn;
taskENTER_CRITICAL(&xTaskQueueMutex);
if( pxCurrentTCB[ xPortGetCoreID() ]->uxPriority > tskIDLE_PRIORITY )
{
xReturn = 0;
}
freertos,esp32: automatic light sleep support
2018-04-12 18:18:45 +08:00
#if portNUM_PROCESSORS > 1
/* This function is called from Idle task; in single core case this
* means that no higher priority tasks are ready to run, and we can
* enter sleep. In SMP case, there might be ready tasks waiting for
* the other CPU, so need to check all ready lists.
*/
else if( xHaveReadyTasks() )
{
xReturn = 0;
}
#endif // portNUM_PROCESSORS > 1
else if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > portNUM_PROCESSORS )
Initial public version
2016-08-17 23:08:22 +08:00
{
/* There are other idle priority tasks in the ready state. If
time slicing is used then the very next tick interrupt must be
processed. */
xReturn = 0;
}
else
{
xReturn = xNextTaskUnblockTime - xTickCount;
}
taskEXIT_CRITICAL(&xTaskQueueMutex);
return xReturn;
}
#endif /* configUSE_TICKLESS_IDLE */
/*----------------------------------------------------------*/
BaseType_t xTaskResumeAll( void )
{
TCB_t *pxTCB;
BaseType_t xAlreadyYielded = pdFALSE;
freertos: modify configASSERTs around scheduler state check Regression introduced in commit 79e74e5d5f948e585bec586db7f482a2f2df50dc It is possible that some FreeRTOS APIs are invoked prior to scheduler start condition (e.g. flash initialization in unicore mode). In that condition these asserts should not trigger (scheduler state being yet to be started), hence changes per this fix.
2019-11-12 22:36:30 +05:30
/* If scheduler state is `taskSCHEDULER_RUNNING` then this function does not match a
Initial public version
2016-08-17 23:08:22 +08:00
previous call to vTaskSuspendAll(). */
freertos: modify configASSERTs around scheduler state check Regression introduced in commit 79e74e5d5f948e585bec586db7f482a2f2df50dc It is possible that some FreeRTOS APIs are invoked prior to scheduler start condition (e.g. flash initialization in unicore mode). In that condition these asserts should not trigger (scheduler state being yet to be started), hence changes per this fix.
2019-11-12 22:36:30 +05:30
configASSERT( xTaskGetSchedulerState() != taskSCHEDULER_RUNNING );
Initial public version
2016-08-17 23:08:22 +08:00
/* It is possible that an ISR caused a task to be removed from an event
list while the scheduler was suspended. If this was the case then the
removed task will have been added to the xPendingReadyList. Once the
scheduler has been resumed it is safe to move all the pending ready
tasks from this list into their appropriate ready list. */
taskENTER_CRITICAL(&xTaskQueueMutex);
{
--uxSchedulerSuspended[ xPortGetCoreID() ];
if( uxSchedulerSuspended[ xPortGetCoreID() ] == ( UBaseType_t ) pdFALSE )
{
if( uxCurrentNumberOfTasks > ( UBaseType_t ) 0U )
{
/* Move any readied tasks from the pending list into the
appropriate ready list. */
Add checks for tasks woken up on other CPUs where needed, make xYieldPending and xPendingReadyList per-processor, add configurable ISR stack size to Kconfig, in general fix the entire wake-up-task-on-other-cpu-by-interrupt implementation
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while( listLIST_IS_EMPTY( &xPendingReadyList[ xPortGetCoreID() ] ) == pdFALSE )
Initial public version
2016-08-17 23:08:22 +08:00
{
Add checks for tasks woken up on other CPUs where needed, make xYieldPending and xPendingReadyList per-processor, add configurable ISR stack size to Kconfig, in general fix the entire wake-up-task-on-other-cpu-by-interrupt implementation
2016-10-27 16:07:47 +08:00
pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xPendingReadyList[ xPortGetCoreID() ] ) );
Initial public version
2016-08-17 23:08:22 +08:00
( void ) uxListRemove( &( pxTCB->xEventListItem ) );
( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
prvAddTaskToReadyList( pxTCB );
/* If the moved task has a priority higher than the current
task then a yield must be performed. */
Most code written. Interrupts still do not fire yet.
2016-10-26 21:09:55 +08:00
if ( tskCAN_RUN_HERE(pxTCB->xCoreID) && pxTCB->uxPriority >= pxCurrentTCB[ xPortGetCoreID() ]->uxPriority )
Initial public version
2016-08-17 23:08:22 +08:00
{
Most code written. Interrupts still do not fire yet.
2016-10-26 21:09:55 +08:00
/* We can schedule the awoken task on this CPU. */
xYieldPending[xPortGetCoreID()] = pdTRUE;
Initial public version
2016-08-17 23:08:22 +08:00
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
/* If any ticks occurred while the scheduler was suspended then
they should be processed now. This ensures the tick count does
not slip, and that any delayed tasks are resumed at the correct
time. */
if( uxPendedTicks > ( UBaseType_t ) 0U )
{
while( uxPendedTicks > ( UBaseType_t ) 0U )
{
if( xTaskIncrementTick() != pdFALSE )
{
Most code written. Interrupts still do not fire yet.
2016-10-26 21:09:55 +08:00
xYieldPending[ xPortGetCoreID() ] = pdTRUE;
Initial public version
2016-08-17 23:08:22 +08:00
}
else
{
mtCOVERAGE_TEST_MARKER();
}
--uxPendedTicks;
}
}
else
{
mtCOVERAGE_TEST_MARKER();
}
Most code written. Interrupts still do not fire yet.
2016-10-26 21:09:55 +08:00
if( xYieldPending[ xPortGetCoreID() ] == pdTRUE )
Initial public version
2016-08-17 23:08:22 +08:00
{
#if( configUSE_PREEMPTION != 0 )
{
xAlreadyYielded = pdTRUE;
}
#endif
freertos: Delay context switch from queue/task APIs until exiting critical section Closes #374: https://github.com/espressif/esp-idf/issues/374
2017-03-16 11:07:50 +08:00
taskYIELD_IF_USING_PREEMPTION();
Initial public version
2016-08-17 23:08:22 +08:00
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
taskEXIT_CRITICAL(&xTaskQueueMutex);
return xAlreadyYielded;
}
/*-----------------------------------------------------------*/
TickType_t xTaskGetTickCount( void )
{
freertos: use xTaskQueueMutex to protect tick count Having two different spinlocks is problematic due to possibly different order in which the locks will be taken. Changing the order would require significant restructuring of kernel code which is undesirable. An additional place where taking xTickCountMutex was needed was in vApplicationSleep function. Not taking xTickCountMutex resulted in other CPU sometimes possibly advancing tick count while light sleep entry/exit was happening. Taking xTickCountMutex in addition to xTaskQueueMutex has shown a problem that in different code paths, these two spinlocks could be taken in different order, leading to (unlikely, but possible) deadlocks.
2018-10-12 14:18:49 +08:00
return xTickCount;
Initial public version
2016-08-17 23:08:22 +08:00
}
/*-----------------------------------------------------------*/
TickType_t xTaskGetTickCountFromISR( void )
{
freertos: use xTaskQueueMutex to protect tick count Having two different spinlocks is problematic due to possibly different order in which the locks will be taken. Changing the order would require significant restructuring of kernel code which is undesirable. An additional place where taking xTickCountMutex was needed was in vApplicationSleep function. Not taking xTickCountMutex resulted in other CPU sometimes possibly advancing tick count while light sleep entry/exit was happening. Taking xTickCountMutex in addition to xTaskQueueMutex has shown a problem that in different code paths, these two spinlocks could be taken in different order, leading to (unlikely, but possible) deadlocks.
2018-10-12 14:18:49 +08:00
return xTickCount;
Initial public version
2016-08-17 23:08:22 +08:00
}
/*-----------------------------------------------------------*/
UBaseType_t uxTaskGetNumberOfTasks( void )
{
/* A critical section is not required because the variables are of type
BaseType_t. */
return uxCurrentNumberOfTasks;
}
/*-----------------------------------------------------------*/
#if ( INCLUDE_pcTaskGetTaskName == 1 )
char *pcTaskGetTaskName( TaskHandle_t xTaskToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
{
TCB_t *pxTCB;
/* If null is passed in here then the name of the calling task is being queried. */
pxTCB = prvGetTCBFromHandle( xTaskToQuery );
configASSERT( pxTCB );
return &( pxTCB->pcTaskName[ 0 ] );
}
#endif /* INCLUDE_pcTaskGetTaskName */
/*-----------------------------------------------------------*/
#if ( configUSE_TRACE_FACILITY == 1 )
UBaseType_t uxTaskGetSystemState( TaskStatus_t * const pxTaskStatusArray, const UBaseType_t uxArraySize, uint32_t * const pulTotalRunTime )
{
UBaseType_t uxTask = 0, uxQueue = configMAX_PRIORITIES;
BugFix: uxTaskGetSystemState test case update Updated test case to include configASSERT cases (+1 squashed commits) Squashed commits: [871ec26f] Freertos:Bugfix uxTaskGetSystemState Bug (github #12142) with uxTaskGetSystemState where if called immediately after creating a bunch of tasks, those tasks would be added twice into the TaskStatusArray. Bug caused due to use old implementation using vTaskSuspendAll which did not stop newly created task on other core from accessing the read/waiting task lists whilst the list were being read by uxTaskGetSystemState. Fixed bug by replacing vTaskSuspendAll with taskENTER_CRITICAL and added test case for the bugfix
2017-06-16 11:49:48 +08:00
taskENTER_CRITICAL(&xTaskQueueMutex);
Initial public version
2016-08-17 23:08:22 +08:00
{
/* Is there a space in the array for each task in the system? */
if( uxArraySize >= uxCurrentNumberOfTasks )
{
/* Fill in an TaskStatus_t structure with information on each
task in the Ready state. */
do
{
uxQueue--;
uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &( pxReadyTasksLists[ uxQueue ] ), eReady );
} while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
/* Fill in an TaskStatus_t structure with information on each
task in the Blocked state. */
uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxDelayedTaskList, eBlocked );
uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxOverflowDelayedTaskList, eBlocked );
#if( INCLUDE_vTaskDelete == 1 )
{
/* Fill in an TaskStatus_t structure with information on
each task that has been deleted but not yet cleaned up. */
uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xTasksWaitingTermination, eDeleted );
}
#endif
#if ( INCLUDE_vTaskSuspend == 1 )
{
/* Fill in an TaskStatus_t structure with information on
each task in the Suspended state. */
uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xSuspendedTaskList, eSuspended );
}
#endif
#if ( configGENERATE_RUN_TIME_STATS == 1)
{
if( pulTotalRunTime != NULL )
{
#ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
portALT_GET_RUN_TIME_COUNTER_VALUE( ( *pulTotalRunTime ) );
#else
*pulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
#endif
}
}
#else
{
if( pulTotalRunTime != NULL )
{
*pulTotalRunTime = 0;
}
}
#endif
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
BugFix: uxTaskGetSystemState test case update Updated test case to include configASSERT cases (+1 squashed commits) Squashed commits: [871ec26f] Freertos:Bugfix uxTaskGetSystemState Bug (github #12142) with uxTaskGetSystemState where if called immediately after creating a bunch of tasks, those tasks would be added twice into the TaskStatusArray. Bug caused due to use old implementation using vTaskSuspendAll which did not stop newly created task on other core from accessing the read/waiting task lists whilst the list were being read by uxTaskGetSystemState. Fixed bug by replacing vTaskSuspendAll with taskENTER_CRITICAL and added test case for the bugfix
2017-06-16 11:49:48 +08:00
taskEXIT_CRITICAL(&xTaskQueueMutex);
Initial public version
2016-08-17 23:08:22 +08:00
return uxTask;
}
#endif /* configUSE_TRACE_FACILITY */
/*----------------------------------------------------------*/
#if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
TaskHandle_t xTaskGetIdleTaskHandle( void )
{
/* If xTaskGetIdleTaskHandle() is called before the scheduler has been
started, then xIdleTaskHandle will be NULL. */
esp32: SEGGER SystemView Tracing Support Implements support for system level traces compatible with SEGGER SystemView tool on top of ESP32 application tracing module. That kind of traces can help to analyse program's behaviour. SystemView can show timeline of tasks/ISRs execution, context switches, statistics related to the CPUs' load distribution etc. Also this commit adds useful feature to ESP32 application tracing module: - Trace data buffering is implemented to handle temporary peaks of events load
2017-03-22 06:07:37 +03:00
configASSERT( ( xIdleTaskHandle[ xPortGetCoreID() ] != NULL ) );
return xIdleTaskHandle[ xPortGetCoreID() ];
Initial public version
2016-08-17 23:08:22 +08:00
}
New Task Watchdog API (Revert of Revert) This commit reverts the revert on the new task watchdog API. It also fixes the following bug which caused the reversion. - sdkconfig TASK_WDT_TIMEOUT_S has been reverted from the unit of ms back to the unit of seconds. Fixes bug where projects using the new API without rebuilding sdkconfig would cause the old default value of 5 to be interpreted in ms. This commit also adds the following features to the task watchdog - Updated idle hook registration to be compatible with dual core hooks - Updated dual core hooks to support deregistration for cpu - Legacy mode has been removed and esp_task_wdt_feed() is now replaced by esp_task_wdt_reset(). esp_task_wdt_feed() is deprecated - Idle hooks to reset are now registered/deregistered when the idle tasks are added/deleted from the Task Watchdog instead of at Task Watchdog init/deinit - Updated example
2017-10-09 18:07:30 +08:00
TaskHandle_t xTaskGetIdleTaskHandleForCPU( UBaseType_t cpuid )
{
TaskHandle_t xReturn = NULL;
/* If xTaskGetIdleTaskHandleForCPU() is called before the scheduler has been
started, then xIdleTaskHandle will be NULL. */
if (cpuid < portNUM_PROCESSORS) {
configASSERT( ( xIdleTaskHandle[ cpuid ] != NULL ) );
xReturn = xIdleTaskHandle[ cpuid ];
}
return xReturn;
}
Initial public version
2016-08-17 23:08:22 +08:00
#endif /* INCLUDE_xTaskGetIdleTaskHandle */
/*----------------------------------------------------------*/
/* This conditional compilation should use inequality to 0, not equality to 1.
This is to ensure vTaskStepTick() is available when user defined low power mode
implementations require configUSE_TICKLESS_IDLE to be set to a value other than
1. */
#if ( configUSE_TICKLESS_IDLE != 0 )
void vTaskStepTick( const TickType_t xTicksToJump )
{
/* Correct the tick count value after a period during which the tick
was suppressed. Note this does *not* call the tick hook function for
each stepped tick. */
freertos: use xTaskQueueMutex to protect tick count Having two different spinlocks is problematic due to possibly different order in which the locks will be taken. Changing the order would require significant restructuring of kernel code which is undesirable. An additional place where taking xTickCountMutex was needed was in vApplicationSleep function. Not taking xTickCountMutex resulted in other CPU sometimes possibly advancing tick count while light sleep entry/exit was happening. Taking xTickCountMutex in addition to xTaskQueueMutex has shown a problem that in different code paths, these two spinlocks could be taken in different order, leading to (unlikely, but possible) deadlocks.
2018-10-12 14:18:49 +08:00
portENTER_CRITICAL( &xTaskQueueMutex );
Initial public version
2016-08-17 23:08:22 +08:00
configASSERT( ( xTickCount + xTicksToJump ) <= xNextTaskUnblockTime );
xTickCount += xTicksToJump;
freertos: use xTaskQueueMutex to protect tick count Having two different spinlocks is problematic due to possibly different order in which the locks will be taken. Changing the order would require significant restructuring of kernel code which is undesirable. An additional place where taking xTickCountMutex was needed was in vApplicationSleep function. Not taking xTickCountMutex resulted in other CPU sometimes possibly advancing tick count while light sleep entry/exit was happening. Taking xTickCountMutex in addition to xTaskQueueMutex has shown a problem that in different code paths, these two spinlocks could be taken in different order, leading to (unlikely, but possible) deadlocks.
2018-10-12 14:18:49 +08:00
portEXIT_CRITICAL( &xTaskQueueMutex );
Initial public version
2016-08-17 23:08:22 +08:00
traceINCREASE_TICK_COUNT( xTicksToJump );
}
#endif /* configUSE_TICKLESS_IDLE */
/*----------------------------------------------------------*/
BaseType_t xTaskIncrementTick( void )
{
TCB_t * pxTCB;
TickType_t xItemValue;
BaseType_t xSwitchRequired = pdFALSE;
/* Called by the portable layer each time a tick interrupt occurs.
Increments the tick then checks to see if the new tick value will cause any
tasks to be unblocked. */
freertos: Fix xTaskIncrementTick for unwind the Tick for CPU1 xTaskIncrementTick have to unwind uxPendedTicks on CPU1 and CPU0. Use case: If an erase operation was run on the CPU1 then it leads to starving other tasks which waiting time. Waited tasks just skipped. Closes: https://github.com/espressif/esp-idf/issues/1952 Closes: IDF-183
2019-04-25 13:03:01 +08:00
/* Only allow core 0 increase the tick count in the case of xPortSysTickHandler processing. */
/* And allow core 0 and core 1 to unwind uxPendedTicks during xTaskResumeAll. */
components/esp_common: added esp_macros.h that aims to hold useful macros esp_common/esp_compiler: renamed esp_macros file to a more specific one esp_common/esp_compiler: removed CONTAINER_OF macro, it was a duplicate components/freertos: placed likely macros around port and critical sections component/freertos: placed likely macros on lists module components/freertos: placed unlikely macros inside of assertion points, they likely wont fail components/freertos: added likely macros on queue modules FreeRTOS queues are one of most hot code path, because to queues itself tend to be used a lot by the applications, besides that, queues are the basic primitive to form both mutexes and semaphores, The focus here is to place likely macros inside lowest level send and receive routines, since they're common from all kobjects: semaphores, queues, mutexes and FR internals (like timer queue) components/lwip: placed likely/unlikey on net-interfaces code components/fatfs: added unlikely macros on disk drivers code components/spiffs: added unlikely macros on low level fs driver components/freertos: added likely/unlikely macros on timers and ticker freertos/event_group: placed likely/unlikely macros on hot event group code paths components/sdmmc: placed likely / unlikely macros on lower level path of sdmmc components/bt: placed unlikely macros around bt HCI functions calling components/lwip: added likely/unlikely macros on OS port code section components/freertos: fix code style on tick handler
2019-10-15 18:01:05 -03:00
if (likely(xPortInIsrContext()))
freertos: Fix xTaskIncrementTick for unwind the Tick for CPU1 xTaskIncrementTick have to unwind uxPendedTicks on CPU1 and CPU0. Use case: If an erase operation was run on the CPU1 then it leads to starving other tasks which waiting time. Waited tasks just skipped. Closes: https://github.com/espressif/esp-idf/issues/1952 Closes: IDF-183
2019-04-25 13:03:01 +08:00
{
freertos: call tick hooks on CPU1 even if CPU0 scheduler is suspended The block which dispatches ticks on CPU1 was a copy of the code block for the normal path (CPU0). It used to check uxPendedTicks, with the logic that uxPendedTicks can be 0 iff the scheduler is not suspended. On CPU1 however, uxPendedTicks is not related to the state of the scheduler (as uxPendedTicks is updated on CPU0). Due to this, if CPU0 scheduler was suspended, and uxPendedTicks happened to be nonzero, tick hooks on CPU1 didn’t run, even though CPU1 scheduler was working. This change removes the check for uxPendedTicks in CPU1 code path, so that the tick hooks on CPU1 always get called (as for the CPU0 code path).
2017-01-18 23:14:29 +08:00
#if ( configUSE_TICK_HOOK == 1 )
vApplicationTickHook();
#endif /* configUSE_TICK_HOOK */
freertos: cleanup tick/idle hook functionality If CONFIG_FREERTOS_LEGACY_HOOKS is kept enabled then defining idle/tick hooks will be applications responsibility as was the case earlier. Signed-off-by: Mahavir Jain <mahavir@espressif.com>
2018-08-31 15:18:09 +05:30
#if ( CONFIG_FREERTOS_LEGACY_HOOKS == 1 )
freertos: call tick hooks on CPU1 even if CPU0 scheduler is suspended The block which dispatches ticks on CPU1 was a copy of the code block for the normal path (CPU0). It used to check uxPendedTicks, with the logic that uxPendedTicks can be 0 iff the scheduler is not suspended. On CPU1 however, uxPendedTicks is not related to the state of the scheduler (as uxPendedTicks is updated on CPU0). Due to this, if CPU0 scheduler was suspended, and uxPendedTicks happened to be nonzero, tick hooks on CPU1 didn’t run, even though CPU1 scheduler was working. This change removes the check for uxPendedTicks in CPU1 code path, so that the tick hooks on CPU1 always get called (as for the CPU0 code path).
2017-01-18 23:14:29 +08:00
esp_vApplicationTickHook();
freertos: cleanup tick/idle hook functionality If CONFIG_FREERTOS_LEGACY_HOOKS is kept enabled then defining idle/tick hooks will be applications responsibility as was the case earlier. Signed-off-by: Mahavir Jain <mahavir@espressif.com>
2018-08-31 15:18:09 +05:30
#endif /* CONFIG_FREERTOS_LEGACY_HOOKS */
freertos: call tick hooks on CPU1 even if CPU0 scheduler is suspended The block which dispatches ticks on CPU1 was a copy of the code block for the normal path (CPU0). It used to check uxPendedTicks, with the logic that uxPendedTicks can be 0 iff the scheduler is not suspended. On CPU1 however, uxPendedTicks is not related to the state of the scheduler (as uxPendedTicks is updated on CPU0). Due to this, if CPU0 scheduler was suspended, and uxPendedTicks happened to be nonzero, tick hooks on CPU1 didn’t run, even though CPU1 scheduler was working. This change removes the check for uxPendedTicks in CPU1 code path, so that the tick hooks on CPU1 always get called (as for the CPU0 code path).
2017-01-18 23:14:29 +08:00
freertos: Fix xTaskIncrementTick for unwind the Tick for CPU1 xTaskIncrementTick have to unwind uxPendedTicks on CPU1 and CPU0. Use case: If an erase operation was run on the CPU1 then it leads to starving other tasks which waiting time. Waited tasks just skipped. Closes: https://github.com/espressif/esp-idf/issues/1952 Closes: IDF-183
2019-04-25 13:03:01 +08:00
if (xPortGetCoreID() == 1 )
{
return pdTRUE;
}
Initial public version
2016-08-17 23:08:22 +08:00
}
traceTASK_INCREMENT_TICK( xTickCount );
if( uxSchedulerSuspended[ xPortGetCoreID() ] == ( UBaseType_t ) pdFALSE )
{
freertos: use xTaskQueueMutex to protect tick count Having two different spinlocks is problematic due to possibly different order in which the locks will be taken. Changing the order would require significant restructuring of kernel code which is undesirable. An additional place where taking xTickCountMutex was needed was in vApplicationSleep function. Not taking xTickCountMutex resulted in other CPU sometimes possibly advancing tick count while light sleep entry/exit was happening. Taking xTickCountMutex in addition to xTaskQueueMutex has shown a problem that in different code paths, these two spinlocks could be taken in different order, leading to (unlikely, but possible) deadlocks.
2018-10-12 14:18:49 +08:00
taskENTER_CRITICAL_ISR( &xTaskQueueMutex );
Initial public version
2016-08-17 23:08:22 +08:00
/* Increment the RTOS tick, switching the delayed and overflowed
delayed lists if it wraps to 0. */
++xTickCount;
{
/* Minor optimisation. The tick count cannot change in this
block. */
const TickType_t xConstTickCount = xTickCount;
if( xConstTickCount == ( TickType_t ) 0U )
{
taskSWITCH_DELAYED_LISTS();
}
else
{
mtCOVERAGE_TEST_MARKER();
}
/* See if this tick has made a timeout expire. Tasks are stored in
the queue in the order of their wake time - meaning once one task
has been found whose block time has not expired there is no need to
look any further down the list. */
if( xConstTickCount >= xNextTaskUnblockTime )
{
for( ;; )
{
if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
{
/* The delayed list is empty. Set xNextTaskUnblockTime
to the maximum possible value so it is extremely
unlikely that the
if( xTickCount >= xNextTaskUnblockTime ) test will pass
next time through. */
xNextTaskUnblockTime = portMAX_DELAY;
break;
}
else
{
/* The delayed list is not empty, get the value of the
item at the head of the delayed list. This is the time
at which the task at the head of the delayed list must
be removed from the Blocked state. */
pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) );
if( xConstTickCount < xItemValue )
{
/* It is not time to unblock this item yet, but the
item value is the time at which the task at the head
of the blocked list must be removed from the Blocked
state - so record the item value in
xNextTaskUnblockTime. */
xNextTaskUnblockTime = xItemValue;
break;
}
else
{
mtCOVERAGE_TEST_MARKER();
}
/* It is time to remove the item from the Blocked state. */
( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
/* Is the task waiting on an event also? If so remove
it from the event list. */
if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
{
( void ) uxListRemove( &( pxTCB->xEventListItem ) );
}
else
{
mtCOVERAGE_TEST_MARKER();
}
/* Place the unblocked task into the appropriate ready
list. */
prvAddTaskToReadyList( pxTCB );
/* A task being unblocked cannot cause an immediate
context switch if preemption is turned off. */
#if ( configUSE_PREEMPTION == 1 )
{
/* Preemption is on, but a context switch should
only be performed if the unblocked task has a
priority that is equal to or higher than the
currently executing task. */
if( pxTCB->uxPriority >= pxCurrentTCB[ xPortGetCoreID() ]->uxPriority )
{
xSwitchRequired = pdTRUE;
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
#endif /* configUSE_PREEMPTION */
}
}
}
}
/* Tasks of equal priority to the currently running task will share
processing time (time slice) if preemption is on, and the application
writer has not explicitly turned time slicing off. */
#if ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) )
{
if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ pxCurrentTCB[ xPortGetCoreID() ]->uxPriority ] ) ) > ( UBaseType_t ) 1 )
{
xSwitchRequired = pdTRUE;
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
#endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) */
taskEXIT_CRITICAL_ISR(&xTaskQueueMutex);
}
else
{
++uxPendedTicks;
}
#if ( configUSE_PREEMPTION == 1 )
{
Most code written. Interrupts still do not fire yet.
2016-10-26 21:09:55 +08:00
if( xYieldPending [ xPortGetCoreID() ] != pdFALSE )
Initial public version
2016-08-17 23:08:22 +08:00
{
xSwitchRequired = pdTRUE;
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
#endif /* configUSE_PREEMPTION */
return xSwitchRequired;
}
/*-----------------------------------------------------------*/
#if ( configUSE_APPLICATION_TASK_TAG == 1 )
void vTaskSetApplicationTaskTag( TaskHandle_t xTask, TaskHookFunction_t pxHookFunction )
{
TCB_t *xTCB;
/* If xTask is NULL then it is the task hook of the calling task that is
getting set. */
if( xTask == NULL )
{
xTCB = ( TCB_t * ) pxCurrentTCB[ xPortGetCoreID() ];
}
else
{
xTCB = ( TCB_t * ) xTask;
}
/* Save the hook function in the TCB. A critical section is required as
the value can be accessed from an interrupt. */
taskENTER_CRITICAL(&xTaskQueueMutex);
xTCB->pxTaskTag = pxHookFunction;
taskEXIT_CRITICAL(&xTaskQueueMutex);
}
#endif /* configUSE_APPLICATION_TASK_TAG */
/*-----------------------------------------------------------*/
#if ( configUSE_APPLICATION_TASK_TAG == 1 )
TaskHookFunction_t xTaskGetApplicationTaskTag( TaskHandle_t xTask )
{
TCB_t *xTCB;
TaskHookFunction_t xReturn;
/* If xTask is NULL then we are setting our own task hook. */
if( xTask == NULL )
{
add more protection for per-core data
2016-12-26 19:04:41 +08:00
xTCB = ( TCB_t * ) xTaskGetCurrentTaskHandle();
Initial public version
2016-08-17 23:08:22 +08:00
}
else
{
xTCB = ( TCB_t * ) xTask;
}
/* Save the hook function in the TCB. A critical section is required as
the value can be accessed from an interrupt. */
taskENTER_CRITICAL(&xTaskQueueMutex);
{
xReturn = xTCB->pxTaskTag;
}
taskEXIT_CRITICAL(&xTaskQueueMutex);
return xReturn;
}
#endif /* configUSE_APPLICATION_TASK_TAG */
/*-----------------------------------------------------------*/
#if ( configUSE_APPLICATION_TASK_TAG == 1 )
BaseType_t xTaskCallApplicationTaskHook( TaskHandle_t xTask, void *pvParameter )
{
TCB_t *xTCB;
BaseType_t xReturn;
/* If xTask is NULL then we are calling our own task hook. */
if( xTask == NULL )
{
add more protection for per-core data
2016-12-26 19:04:41 +08:00
xTCB = ( TCB_t * ) xTaskGetCurrentTaskHandle();
Initial public version
2016-08-17 23:08:22 +08:00
}
else
{
xTCB = ( TCB_t * ) xTask;
}
if( xTCB->pxTaskTag != NULL )
{
xReturn = xTCB->pxTaskTag( pvParameter );
}
else
{
xReturn = pdFAIL;
}
return xReturn;
}
#endif /* configUSE_APPLICATION_TASK_TAG */
/*-----------------------------------------------------------*/
void vTaskSwitchContext( void )
{
Make portENTER_CRITICAL and portENTER_CRITICAL_ISR the same, plus some changes to fix an issue this causes
2017-06-05 15:54:50 +08:00
//Theoretically, this is only called from either the tick interrupt or the crosscore interrupt, so disabling
//interrupts shouldn't be necessary anymore. Still, for safety we'll leave it in for now.
Initial public version
2016-08-17 23:08:22 +08:00
int irqstate=portENTER_CRITICAL_NESTED();
Fixed a small bug where a task could initially be scheduled on a wrong CPU, and a much bigger bug where a yield was performed with a held mux.
2017-02-22 17:04:51 +08:00
tskTCB * pxTCB;
Initial public version
2016-08-17 23:08:22 +08:00
if( uxSchedulerSuspended[ xPortGetCoreID() ] != ( UBaseType_t ) pdFALSE )
{
/* The scheduler is currently suspended - do not allow a context
switch. */
Most code written. Interrupts still do not fire yet.
2016-10-26 21:09:55 +08:00
xYieldPending[ xPortGetCoreID() ] = pdTRUE;
Initial public version
2016-08-17 23:08:22 +08:00
}
else
{
Most code written. Interrupts still do not fire yet.
2016-10-26 21:09:55 +08:00
xYieldPending[ xPortGetCoreID() ] = pdFALSE;
esp32: SEGGER SystemView Tracing Support Implements support for system level traces compatible with SEGGER SystemView tool on top of ESP32 application tracing module. That kind of traces can help to analyse program's behaviour. SystemView can show timeline of tasks/ISRs execution, context switches, statistics related to the CPUs' load distribution etc. Also this commit adds useful feature to ESP32 application tracing module: - Trace data buffering is implemented to handle temporary peaks of events load
2017-03-22 06:07:37 +03:00
xSwitchingContext[ xPortGetCoreID() ] = pdTRUE;
Initial public version
2016-08-17 23:08:22 +08:00
traceTASK_SWITCHED_OUT();
#if ( configGENERATE_RUN_TIME_STATS == 1 )
{
#ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
#else
ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
#endif
/* Add the amount of time the task has been running to the
Make portENTER_CRITICAL and portENTER_CRITICAL_ISR the same, plus some changes to fix an issue this causes
2017-06-05 15:54:50 +08:00
accumulated time so far. The time the task started running was
Initial public version
2016-08-17 23:08:22 +08:00
stored in ulTaskSwitchedInTime. Note that there is no overflow
Make portENTER_CRITICAL and portENTER_CRITICAL_ISR the same, plus some changes to fix an issue this causes
2017-06-05 15:54:50 +08:00
protection here so count values are only valid until the timer
Initial public version
2016-08-17 23:08:22 +08:00
overflows. The guard against negative values is to protect
against suspect run time stat counter implementations - which
are provided by the application, not the kernel. */
taskENTER_CRITICAL_ISR(&xTaskQueueMutex);
FreeRTOS/make Queue Registry and Run Time Stats configurable This commit makes the configQUEUE_REGISTRY_SIZE and configGENERATE_RUN_TIME_STATS configurable in menuconfig. - configQUEUE_REGISTRY_SIZE can now be set in menuconfig. - The functions vQueueAddToRegistry() and vQueueUnregisterQueue() were made SMP compatbile - pcQueueGetName() was backported from FreeRTOS v9.0.0 - Added test case for Queue Registry functions - configGENERATE_RUN_TIME_STATS can now be enabled in menuconfig. CCOUNT or esp_timer can be selected as the FreeRTOS run time clock in menuconfig as well, although CCOUNT will overflow quickly. - Run time stats collection (in vTaskSwitchContext) and generation (in uxTaskGetSystemState) have been made SMP compatible. Therefore vTaskGetRunTimeStats() now displays the run time usage of each task as a percentage of total runtime of both CPUs Squash
2017-10-30 16:03:56 +08:00
if( ulTotalRunTime > ulTaskSwitchedInTime[ xPortGetCoreID() ] )
Initial public version
2016-08-17 23:08:22 +08:00
{
FreeRTOS/make Queue Registry and Run Time Stats configurable This commit makes the configQUEUE_REGISTRY_SIZE and configGENERATE_RUN_TIME_STATS configurable in menuconfig. - configQUEUE_REGISTRY_SIZE can now be set in menuconfig. - The functions vQueueAddToRegistry() and vQueueUnregisterQueue() were made SMP compatbile - pcQueueGetName() was backported from FreeRTOS v9.0.0 - Added test case for Queue Registry functions - configGENERATE_RUN_TIME_STATS can now be enabled in menuconfig. CCOUNT or esp_timer can be selected as the FreeRTOS run time clock in menuconfig as well, although CCOUNT will overflow quickly. - Run time stats collection (in vTaskSwitchContext) and generation (in uxTaskGetSystemState) have been made SMP compatible. Therefore vTaskGetRunTimeStats() now displays the run time usage of each task as a percentage of total runtime of both CPUs Squash
2017-10-30 16:03:56 +08:00
pxCurrentTCB[ xPortGetCoreID() ]->ulRunTimeCounter += ( ulTotalRunTime - ulTaskSwitchedInTime[ xPortGetCoreID() ] );
Initial public version
2016-08-17 23:08:22 +08:00
}
else
{
mtCOVERAGE_TEST_MARKER();
}
taskEXIT_CRITICAL_ISR(&xTaskQueueMutex);
FreeRTOS/make Queue Registry and Run Time Stats configurable This commit makes the configQUEUE_REGISTRY_SIZE and configGENERATE_RUN_TIME_STATS configurable in menuconfig. - configQUEUE_REGISTRY_SIZE can now be set in menuconfig. - The functions vQueueAddToRegistry() and vQueueUnregisterQueue() were made SMP compatbile - pcQueueGetName() was backported from FreeRTOS v9.0.0 - Added test case for Queue Registry functions - configGENERATE_RUN_TIME_STATS can now be enabled in menuconfig. CCOUNT or esp_timer can be selected as the FreeRTOS run time clock in menuconfig as well, although CCOUNT will overflow quickly. - Run time stats collection (in vTaskSwitchContext) and generation (in uxTaskGetSystemState) have been made SMP compatible. Therefore vTaskGetRunTimeStats() now displays the run time usage of each task as a percentage of total runtime of both CPUs Squash
2017-10-30 16:03:56 +08:00
ulTaskSwitchedInTime[ xPortGetCoreID() ] = ulTotalRunTime;
Initial public version
2016-08-17 23:08:22 +08:00
}
#endif /* configGENERATE_RUN_TIME_STATS */
/* Check for stack overflow, if configured. */
taskFIRST_CHECK_FOR_STACK_OVERFLOW();
taskSECOND_CHECK_FOR_STACK_OVERFLOW();
Make portENTER_CRITICAL and portENTER_CRITICAL_ISR the same, plus some changes to fix an issue this causes
2017-06-05 15:54:50 +08:00
/* Select a new task to run */
esp32: SEGGER SystemView Tracing Support Implements support for system level traces compatible with SEGGER SystemView tool on top of ESP32 application tracing module. That kind of traces can help to analyse program's behaviour. SystemView can show timeline of tasks/ISRs execution, context switches, statistics related to the CPUs' load distribution etc. Also this commit adds useful feature to ESP32 application tracing module: - Trace data buffering is implemented to handle temporary peaks of events load
2017-03-22 06:07:37 +03:00
Make portENTER_CRITICAL and portENTER_CRITICAL_ISR the same, plus some changes to fix an issue this causes
2017-06-05 15:54:50 +08:00
/*
We cannot do taskENTER_CRITICAL_ISR(&xTaskQueueMutex); here because it saves the interrupt context to the task tcb, and we're
swapping that out here. Instead, we're going to do the work here ourselves. Because interrupts are already disabled, we only
need to acquire the mutex.
*/
#ifdef CONFIG_FREERTOS_PORTMUX_DEBUG
vPortCPUAcquireMutex( &xTaskQueueMutex, __FUNCTION__, __LINE__ );
#else
vPortCPUAcquireMutex( &xTaskQueueMutex );
#endif
esp32: SEGGER SystemView Tracing Support Implements support for system level traces compatible with SEGGER SystemView tool on top of ESP32 application tracing module. That kind of traces can help to analyse program's behaviour. SystemView can show timeline of tasks/ISRs execution, context switches, statistics related to the CPUs' load distribution etc. Also this commit adds useful feature to ESP32 application tracing module: - Trace data buffering is implemented to handle temporary peaks of events load
2017-03-22 06:07:37 +03:00
Initial public version
2016-08-17 23:08:22 +08:00
unsigned portBASE_TYPE foundNonExecutingWaiter = pdFALSE, ableToSchedule = pdFALSE, resetListHead;
Build system: Raise warning level Default esp-idf builds now show -Wextra warnings (except for a few: signed/unsigned comparison, unused parameters, old-style C declarations.) CI building of examples runs with that level raised to -Werror, to catch those changes going into the main repo.
2016-11-16 15:42:38 +11:00
portBASE_TYPE uxDynamicTopReady = uxTopReadyPriority;
Initial public version
2016-08-17 23:08:22 +08:00
unsigned portBASE_TYPE holdTop=pdFALSE;
esp32: SEGGER SystemView Tracing Support Implements support for system level traces compatible with SEGGER SystemView tool on top of ESP32 application tracing module. That kind of traces can help to analyse program's behaviour. SystemView can show timeline of tasks/ISRs execution, context switches, statistics related to the CPUs' load distribution etc. Also this commit adds useful feature to ESP32 application tracing module: - Trace data buffering is implemented to handle temporary peaks of events load
2017-03-22 06:07:37 +03:00
Initial public version
2016-08-17 23:08:22 +08:00
/*
* ToDo: This scheduler doesn't correctly implement the round-robin scheduling as done in the single-core
* FreeRTOS stack when multiple tasks have the same priority and are all ready; it just keeps grabbing the
* first one. ToDo: fix this.
* (Is this still true? if any, there's the issue with one core skipping over the processes for the other
* core, potentially not giving the skipped-over processes any time.)
*/
esp32: SEGGER SystemView Tracing Support Implements support for system level traces compatible with SEGGER SystemView tool on top of ESP32 application tracing module. That kind of traces can help to analyse program's behaviour. SystemView can show timeline of tasks/ISRs execution, context switches, statistics related to the CPUs' load distribution etc. Also this commit adds useful feature to ESP32 application tracing module: - Trace data buffering is implemented to handle temporary peaks of events load
2017-03-22 06:07:37 +03:00
Initial public version
2016-08-17 23:08:22 +08:00
while ( ableToSchedule == pdFALSE && uxDynamicTopReady >= 0 )
{
resetListHead = pdFALSE;
// Nothing to do for empty lists
if (!listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxDynamicTopReady ] ) )) {
esp32: SEGGER SystemView Tracing Support Implements support for system level traces compatible with SEGGER SystemView tool on top of ESP32 application tracing module. That kind of traces can help to analyse program's behaviour. SystemView can show timeline of tasks/ISRs execution, context switches, statistics related to the CPUs' load distribution etc. Also this commit adds useful feature to ESP32 application tracing module: - Trace data buffering is implemented to handle temporary peaks of events load
2017-03-22 06:07:37 +03:00
Initial public version
2016-08-17 23:08:22 +08:00
ableToSchedule = pdFALSE;
tskTCB * pxRefTCB;
esp32: SEGGER SystemView Tracing Support Implements support for system level traces compatible with SEGGER SystemView tool on top of ESP32 application tracing module. That kind of traces can help to analyse program's behaviour. SystemView can show timeline of tasks/ISRs execution, context switches, statistics related to the CPUs' load distribution etc. Also this commit adds useful feature to ESP32 application tracing module: - Trace data buffering is implemented to handle temporary peaks of events load
2017-03-22 06:07:37 +03:00
Initial public version
2016-08-17 23:08:22 +08:00
/* Remember the current list item so that we
can detect if all items have been inspected.
Once this happens, we move on to a lower
priority list (assuming nothing is suitable
esp32: SEGGER SystemView Tracing Support Implements support for system level traces compatible with SEGGER SystemView tool on top of ESP32 application tracing module. That kind of traces can help to analyse program's behaviour. SystemView can show timeline of tasks/ISRs execution, context switches, statistics related to the CPUs' load distribution etc. Also this commit adds useful feature to ESP32 application tracing module: - Trace data buffering is implemented to handle temporary peaks of events load
2017-03-22 06:07:37 +03:00
for scheduling). Note: This can return NULL if
Initial public version
2016-08-17 23:08:22 +08:00
the list index is at the listItem */
pxRefTCB = pxReadyTasksLists[ uxDynamicTopReady ].pxIndex->pvOwner;
if ((void*)pxReadyTasksLists[ uxDynamicTopReady ].pxIndex==(void*)&pxReadyTasksLists[ uxDynamicTopReady ].xListEnd) {
//pxIndex points to the list end marker. Skip that and just get the next item.
listGET_OWNER_OF_NEXT_ENTRY( pxRefTCB, &( pxReadyTasksLists[ uxDynamicTopReady ] ) );
}
esp32: SEGGER SystemView Tracing Support Implements support for system level traces compatible with SEGGER SystemView tool on top of ESP32 application tracing module. That kind of traces can help to analyse program's behaviour. SystemView can show timeline of tasks/ISRs execution, context switches, statistics related to the CPUs' load distribution etc. Also this commit adds useful feature to ESP32 application tracing module: - Trace data buffering is implemented to handle temporary peaks of events load
2017-03-22 06:07:37 +03:00
Initial public version
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do {
listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &( pxReadyTasksLists[ uxDynamicTopReady ] ) );
/* Find out if the next task in the list is
already being executed by another core */
foundNonExecutingWaiter = pdTRUE;
portBASE_TYPE i = 0;
for ( i=0; i<portNUM_PROCESSORS; i++ ) {
if (i == xPortGetCoreID()) {
continue;
} else if (pxCurrentTCB[i] == pxTCB) {
holdTop=pdTRUE; //keep this as the top prio, for the other CPU
foundNonExecutingWaiter = pdFALSE;
break;
}
}
esp32: SEGGER SystemView Tracing Support Implements support for system level traces compatible with SEGGER SystemView tool on top of ESP32 application tracing module. That kind of traces can help to analyse program's behaviour. SystemView can show timeline of tasks/ISRs execution, context switches, statistics related to the CPUs' load distribution etc. Also this commit adds useful feature to ESP32 application tracing module: - Trace data buffering is implemented to handle temporary peaks of events load
2017-03-22 06:07:37 +03:00
Initial public version
2016-08-17 23:08:22 +08:00
if (foundNonExecutingWaiter == pdTRUE) {
/* If the task is not being executed
by another core and its affinity is
compatible with the current one,
prepare it to be swapped in */
if (pxTCB->xCoreID == tskNO_AFFINITY) {
pxCurrentTCB[xPortGetCoreID()] = pxTCB;
ableToSchedule = pdTRUE;
} else if (pxTCB->xCoreID == xPortGetCoreID()) {
pxCurrentTCB[xPortGetCoreID()] = pxTCB;
ableToSchedule = pdTRUE;
} else {
ableToSchedule = pdFALSE;
holdTop=pdTRUE; //keep this as the top prio, for the other CPU
}
} else {
ableToSchedule = pdFALSE;
}
esp32: SEGGER SystemView Tracing Support Implements support for system level traces compatible with SEGGER SystemView tool on top of ESP32 application tracing module. That kind of traces can help to analyse program's behaviour. SystemView can show timeline of tasks/ISRs execution, context switches, statistics related to the CPUs' load distribution etc. Also this commit adds useful feature to ESP32 application tracing module: - Trace data buffering is implemented to handle temporary peaks of events load
2017-03-22 06:07:37 +03:00
Initial public version
2016-08-17 23:08:22 +08:00
if (ableToSchedule == pdFALSE) {
resetListHead = pdTRUE;
} else if ((ableToSchedule == pdTRUE) && (resetListHead == pdTRUE)) {
tskTCB * pxResetTCB;
do {
listGET_OWNER_OF_NEXT_ENTRY( pxResetTCB, &( pxReadyTasksLists[ uxDynamicTopReady ] ) );
} while(pxResetTCB != pxRefTCB);
}
} while ((ableToSchedule == pdFALSE) && (pxTCB != pxRefTCB));
} else {
if (!holdTop) --uxTopReadyPriority;
}
--uxDynamicTopReady;
}
traceTASK_SWITCHED_IN();
esp32: SEGGER SystemView Tracing Support Implements support for system level traces compatible with SEGGER SystemView tool on top of ESP32 application tracing module. That kind of traces can help to analyse program's behaviour. SystemView can show timeline of tasks/ISRs execution, context switches, statistics related to the CPUs' load distribution etc. Also this commit adds useful feature to ESP32 application tracing module: - Trace data buffering is implemented to handle temporary peaks of events load
2017-03-22 06:07:37 +03:00
xSwitchingContext[ xPortGetCoreID() ] = pdFALSE;
Initial public version
2016-08-17 23:08:22 +08:00
Make portENTER_CRITICAL and portENTER_CRITICAL_ISR the same, plus some changes to fix an issue this causes
2017-06-05 15:54:50 +08:00
//Exit critical region manually as well: release the mux now, interrupts will be re-enabled when we
//exit the function.
#ifdef CONFIG_FREERTOS_PORTMUX_DEBUG
freertos: fix compilation errors with portMUX debugging enabled Fixes https://github.com/espressif/esp-idf/issues/1057 Ref TW15702.
2017-10-13 08:33:57 +08:00
vPortCPUReleaseMutex( &xTaskQueueMutex, __FUNCTION__, __LINE__ );
Make portENTER_CRITICAL and portENTER_CRITICAL_ISR the same, plus some changes to fix an issue this causes
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#else
vPortCPUReleaseMutex( &xTaskQueueMutex );
#endif
Add option to automatically set a watchpoint at the end of the swapped-in task
2017-01-09 16:42:45 +08:00
#if CONFIG_FREERTOS_WATCHPOINT_END_OF_STACK
Add documentation to panic handler functions, move watchpoint stuff from tasks.c to port.c, account for non-32-bytes-aligned stacks when setting watchpoint, add debug reason explanation to panic handler
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vPortSetStackWatchpoint(pxCurrentTCB[xPortGetCoreID()]->pxStack);
Add option to automatically set a watchpoint at the end of the swapped-in task
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#endif
Initial public version
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}
portEXIT_CRITICAL_NESTED(irqstate);
}
/*-----------------------------------------------------------*/
void vTaskPlaceOnEventList( List_t * const pxEventList, const TickType_t xTicksToWait )
{
TickType_t xTimeToWake;
configASSERT( pxEventList );
taskENTER_CRITICAL(&xTaskQueueMutex);
/* Place the event list item of the TCB in the appropriate event list.
This is placed in the list in priority order so the highest priority task
is the first to be woken by the event. The queue that contains the event
list is locked, preventing simultaneous access from interrupts. */
vListInsert( pxEventList, &( pxCurrentTCB[ xPortGetCoreID() ]->xEventListItem ) );
/* The task must be removed from from the ready list before it is added to
the blocked list as the same list item is used for both lists. Exclusive
access to the ready lists guaranteed because the scheduler is locked. */
if( uxListRemove( &( pxCurrentTCB[ xPortGetCoreID() ]->xGenericListItem ) ) == ( UBaseType_t ) 0 )
{
/* The current task must be in a ready list, so there is no need to
check, and the port reset macro can be called directly. */
portRESET_READY_PRIORITY( pxCurrentTCB[ xPortGetCoreID() ]->uxPriority, uxTopReadyPriority );
}
else
{
mtCOVERAGE_TEST_MARKER();
}
#if ( INCLUDE_vTaskSuspend == 1 )
{
if( xTicksToWait == portMAX_DELAY )
{
/* Add the task to the suspended task list instead of a delayed task
list to ensure the task is not woken by a timing event. It will
block indefinitely. */
freertos: pass TCB rather than the array to trace functions
2018-11-28 12:19:18 +08:00
traceMOVED_TASK_TO_SUSPENDED_LIST(pxCurrentTCB[ xPortGetCoreID() ]);
Initial public version
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vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB[ xPortGetCoreID() ]->xGenericListItem ) );
}
else
{
/* Calculate the time at which the task should be woken if the event
does not occur. This may overflow but this doesn't matter, the
scheduler will handle it. */
xTimeToWake = xTickCount + xTicksToWait;
prvAddCurrentTaskToDelayedList( xPortGetCoreID(), xTimeToWake );
}
}
#else /* INCLUDE_vTaskSuspend */
{
/* Calculate the time at which the task should be woken if the event does
not occur. This may overflow but this doesn't matter, the scheduler
will handle it. */
xTimeToWake = xTickCount + xTicksToWait;
prvAddCurrentTaskToDelayedList( xTimeToWake );
}
#endif /* INCLUDE_vTaskSuspend */
taskEXIT_CRITICAL(&xTaskQueueMutex);
}
/*-----------------------------------------------------------*/
void vTaskPlaceOnUnorderedEventList( List_t * pxEventList, const TickType_t xItemValue, const TickType_t xTicksToWait )
{
TickType_t xTimeToWake;
configASSERT( pxEventList );
taskENTER_CRITICAL(&xTaskQueueMutex);
/* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
the event groups implementation. */
configASSERT( uxSchedulerSuspended[ xPortGetCoreID() ] != 0 );
/* Store the item value in the event list item. It is safe to access the
event list item here as interrupts won't access the event list item of a
task that is not in the Blocked state. */
listSET_LIST_ITEM_VALUE( &( pxCurrentTCB[ xPortGetCoreID() ]->xEventListItem ), xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
/* Place the event list item of the TCB at the end of the appropriate event
list. It is safe to access the event list here because it is part of an
event group implementation - and interrupts don't access event groups
directly (instead they access them indirectly by pending function calls to
the task level). */
vListInsertEnd( pxEventList, &( pxCurrentTCB[ xPortGetCoreID() ]->xEventListItem ) );
/* The task must be removed from the ready list before it is added to the
blocked list. Exclusive access can be assured to the ready list as the
scheduler is locked. */
if( uxListRemove( &( pxCurrentTCB[ xPortGetCoreID() ]->xGenericListItem ) ) == ( UBaseType_t ) 0 )
{
/* The current task must be in a ready list, so there is no need to
check, and the port reset macro can be called directly. */
portRESET_READY_PRIORITY( pxCurrentTCB[ xPortGetCoreID() ]->uxPriority, uxTopReadyPriority );
}
else
{
mtCOVERAGE_TEST_MARKER();
}
#if ( INCLUDE_vTaskSuspend == 1 )
{
if( xTicksToWait == portMAX_DELAY )
{
/* Add the task to the suspended task list instead of a delayed task
list to ensure it is not woken by a timing event. It will block
indefinitely. */
vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB[ xPortGetCoreID() ]->xGenericListItem ) );
}
else
{
/* Calculate the time at which the task should be woken if the event
does not occur. This may overflow but this doesn't matter, the
kernel will manage it correctly. */
xTimeToWake = xTickCount + xTicksToWait;
prvAddCurrentTaskToDelayedList( xPortGetCoreID(), xTimeToWake );
}
}
#else /* INCLUDE_vTaskSuspend */
{
/* Calculate the time at which the task should be woken if the event does
not occur. This may overflow but this doesn't matter, the kernel
will manage it correctly. */
xTimeToWake = xTickCount + xTicksToWait;
prvAddCurrentTaskToDelayedList( xTimeToWake );
}
#endif /* INCLUDE_vTaskSuspend */
taskEXIT_CRITICAL(&xTaskQueueMutex);
}
/*-----------------------------------------------------------*/
#if configUSE_TIMERS == 1
void vTaskPlaceOnEventListRestricted( List_t * const pxEventList, const TickType_t xTicksToWait )
{
TickType_t xTimeToWake;
taskENTER_CRITICAL(&xTaskQueueMutex);
configASSERT( pxEventList );
/* This function should not be called by application code hence the
'Restricted' in its name. It is not part of the public API. It is
designed for use by kernel code, and has special calling requirements -
it should be called from a critical section. */
/* Place the event list item of the TCB in the appropriate event list.
In this case it is assume that this is the only task that is going to
be waiting on this event list, so the faster vListInsertEnd() function
can be used in place of vListInsert. */
vListInsertEnd( pxEventList, &( pxCurrentTCB[ xPortGetCoreID() ]->xEventListItem ) );
/* We must remove this task from the ready list before adding it to the
blocked list as the same list item is used for both lists. This
function is called form a critical section. */
if( uxListRemove( &( pxCurrentTCB[ xPortGetCoreID() ]->xGenericListItem ) ) == ( UBaseType_t ) 0 )
{
/* The current task must be in a ready list, so there is no need to
check, and the port reset macro can be called directly. */
portRESET_READY_PRIORITY( pxCurrentTCB[ xPortGetCoreID() ]->uxPriority, uxTopReadyPriority );
}
else
{
mtCOVERAGE_TEST_MARKER();
}
/* Calculate the time at which the task should be woken if the event does
not occur. This may overflow but this doesn't matter. */
xTimeToWake = xTickCount + xTicksToWait;
traceTASK_DELAY_UNTIL();
prvAddCurrentTaskToDelayedList( xPortGetCoreID(), xTimeToWake );
taskEXIT_CRITICAL(&xTaskQueueMutex);
}
#endif /* configUSE_TIMERS */
/*-----------------------------------------------------------*/
BaseType_t xTaskRemoveFromEventList( const List_t * const pxEventList )
{
TCB_t *pxUnblockedTCB;
BaseType_t xReturn;
freertos: When scheduler is disabled, tasks on other core should immediately resume ... if triggered by a SemaphoreGive/etc. Previously they would resume after scheduler was resumed, on next RTOS tick of other CPU.
2017-09-28 11:46:53 +10:00
BaseType_t xTaskCanBeReady;
freertos: Also test (& handle) the case where scheduler is disabled on other CPU... ie CPU A has scheduler disabled and task blocked on Q. CPU B sends to Q (or gives mutex, etc.) Task on CPU A should be woken on scheduler resume.
2017-09-28 12:08:34 +10:00
UBaseType_t i, uxTargetCPU;
Initial public version
2016-08-17 23:08:22 +08:00
/* THIS FUNCTION MUST BE CALLED FROM A CRITICAL SECTION. It can also be
called from a critical section within an ISR. */
Make vTaskEnterCritical callable from ISR
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taskENTER_CRITICAL_ISR(&xTaskQueueMutex);
Initial public version
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/* The event list is sorted in priority order, so the first in the list can
be removed as it is known to be the highest priority. Remove the TCB from
the delayed list, and add it to the ready list.
If an event is for a queue that is locked then this function will never
get called - the lock count on the queue will get modified instead. This
means exclusive access to the event list is guaranteed here.
This function assumes that a check has already been made to ensure that
pxEventList is not empty. */
freertos: fix protection issue in freertos queue event list When functions in queue.c calls listLIST_IS_EMPTY() to check queue event list, the queue list is protected by queue mutex, on the other hand, when xTaskIncrementTick() modify the queue list, the queue list is protected by xTaskQueueMutex, this may cause xTaskRemoveFromEventList operate on the empty queue list and cause problem. This commit is to fix this bug. may cause
2017-01-24 20:40:14 +08:00
if ( ( listLIST_IS_EMPTY( pxEventList ) ) == pdFALSE ) {
pxUnblockedTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
configASSERT( pxUnblockedTCB );
( void ) uxListRemove( &( pxUnblockedTCB->xEventListItem ) );
} else {
taskEXIT_CRITICAL_ISR(&xTaskQueueMutex);
return pdFALSE;
}
Initial public version
2016-08-17 23:08:22 +08:00
freertos: When scheduler is disabled, tasks on other core should immediately resume ... if triggered by a SemaphoreGive/etc. Previously they would resume after scheduler was resumed, on next RTOS tick of other CPU.
2017-09-28 11:46:53 +10:00
/* Determine if the task can possibly be run on either CPU now, either because the scheduler
the task is pinned to is running or because a scheduler is running on any CPU. */
xTaskCanBeReady = pdFALSE;
if ( pxUnblockedTCB->xCoreID == tskNO_AFFINITY ) {
freertos: Also test (& handle) the case where scheduler is disabled on other CPU... ie CPU A has scheduler disabled and task blocked on Q. CPU B sends to Q (or gives mutex, etc.) Task on CPU A should be woken on scheduler resume.
2017-09-28 12:08:34 +10:00
uxTargetCPU = xPortGetCoreID();
freertos: When scheduler is disabled, tasks on other core should immediately resume ... if triggered by a SemaphoreGive/etc. Previously they would resume after scheduler was resumed, on next RTOS tick of other CPU.
2017-09-28 11:46:53 +10:00
for (i = 0; i < portNUM_PROCESSORS; i++) {
if ( uxSchedulerSuspended[ i ] == ( UBaseType_t ) pdFALSE ) {
xTaskCanBeReady = pdTRUE;
break;
}
}
} else {
freertos: Also test (& handle) the case where scheduler is disabled on other CPU... ie CPU A has scheduler disabled and task blocked on Q. CPU B sends to Q (or gives mutex, etc.) Task on CPU A should be woken on scheduler resume.
2017-09-28 12:08:34 +10:00
uxTargetCPU = pxUnblockedTCB->xCoreID;
xTaskCanBeReady = uxSchedulerSuspended[ uxTargetCPU ] == ( UBaseType_t ) pdFALSE;
freertos: When scheduler is disabled, tasks on other core should immediately resume ... if triggered by a SemaphoreGive/etc. Previously they would resume after scheduler was resumed, on next RTOS tick of other CPU.
2017-09-28 11:46:53 +10:00
}
if( xTaskCanBeReady )
Initial public version
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{
( void ) uxListRemove( &( pxUnblockedTCB->xGenericListItem ) );
prvAddTaskToReadyList( pxUnblockedTCB );
}
else
{
/* The delayed and ready lists cannot be accessed, so hold this task
freertos: When scheduler is disabled, tasks on other core should immediately resume ... if triggered by a SemaphoreGive/etc. Previously they would resume after scheduler was resumed, on next RTOS tick of other CPU.
2017-09-28 11:46:53 +10:00
pending until the scheduler is resumed on this CPU. */
freertos: Also test (& handle) the case where scheduler is disabled on other CPU... ie CPU A has scheduler disabled and task blocked on Q. CPU B sends to Q (or gives mutex, etc.) Task on CPU A should be woken on scheduler resume.
2017-09-28 12:08:34 +10:00
vListInsertEnd( &( xPendingReadyList[ uxTargetCPU ] ), &( pxUnblockedTCB->xEventListItem ) );
Initial public version
2016-08-17 23:08:22 +08:00
}
Most code written. Interrupts still do not fire yet.
2016-10-26 21:09:55 +08:00
if ( tskCAN_RUN_HERE(pxUnblockedTCB->xCoreID) && pxUnblockedTCB->uxPriority >= pxCurrentTCB[ xPortGetCoreID() ]->uxPriority )
Initial public version
2016-08-17 23:08:22 +08:00
{
/* Return true if the task removed from the event list has a higher
priority than the calling task. This allows the calling task to know if
it should force a context switch now. */
xReturn = pdTRUE;
/* Mark that a yield is pending in case the user is not using the
"xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */
Add checks for tasks woken up on other CPUs where needed, make xYieldPending and xPendingReadyList per-processor, add configurable ISR stack size to Kconfig, in general fix the entire wake-up-task-on-other-cpu-by-interrupt implementation
2016-10-27 16:07:47 +08:00
xYieldPending[ xPortGetCoreID() ] = pdTRUE;
Most code written. Interrupts still do not fire yet.
2016-10-26 21:09:55 +08:00
}
else if ( pxUnblockedTCB->xCoreID != xPortGetCoreID() )
{
taskYIELD_OTHER_CORE( pxUnblockedTCB->xCoreID, pxUnblockedTCB->uxPriority );
xReturn = pdFALSE;
Initial public version
2016-08-17 23:08:22 +08:00
}
else
{
xReturn = pdFALSE;
}
#if( configUSE_TICKLESS_IDLE == 1 )
{
/* If a task is blocked on a kernel object then xNextTaskUnblockTime
might be set to the blocked task's time out time. If the task is
unblocked for a reason other than a timeout xNextTaskUnblockTime is
normally left unchanged, because it is automatically get reset to a new
value when the tick count equals xNextTaskUnblockTime. However if
tickless idling is used it might be more important to enter sleep mode
at the earliest possible time - so reset xNextTaskUnblockTime here to
ensure it is updated at the earliest possible time. */
prvResetNextTaskUnblockTime();
}
#endif
Make vTaskEnterCritical callable from ISR
2016-09-05 11:46:08 +08:00
taskEXIT_CRITICAL_ISR(&xTaskQueueMutex);
Initial public version
2016-08-17 23:08:22 +08:00
return xReturn;
}
/*-----------------------------------------------------------*/
BaseType_t xTaskRemoveFromUnorderedEventList( ListItem_t * pxEventListItem, const TickType_t xItemValue )
{
TCB_t *pxUnblockedTCB;
BaseType_t xReturn;
taskENTER_CRITICAL(&xTaskQueueMutex);
/* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
the event flags implementation. */
configASSERT( uxSchedulerSuspended[ xPortGetCoreID() ] != pdFALSE );
/* Store the new item value in the event list. */
listSET_LIST_ITEM_VALUE( pxEventListItem, xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
/* Remove the event list form the event flag. Interrupts do not access
event flags. */
pxUnblockedTCB = ( TCB_t * ) listGET_LIST_ITEM_OWNER( pxEventListItem );
configASSERT( pxUnblockedTCB );
( void ) uxListRemove( pxEventListItem );
/* Remove the task from the delayed list and add it to the ready list. The
scheduler is suspended so interrupts will not be accessing the ready
lists. */
( void ) uxListRemove( &( pxUnblockedTCB->xGenericListItem ) );
prvAddTaskToReadyList( pxUnblockedTCB );
Most code written. Interrupts still do not fire yet.
2016-10-26 21:09:55 +08:00
if ( tskCAN_RUN_HERE(pxUnblockedTCB->xCoreID) && pxUnblockedTCB->uxPriority >= pxCurrentTCB[ xPortGetCoreID() ]->uxPriority )
Initial public version
2016-08-17 23:08:22 +08:00
{
/* Return true if the task removed from the event list has
a higher priority than the calling task. This allows
the calling task to know if it should force a context
switch now. */
xReturn = pdTRUE;
/* Mark that a yield is pending in case the user is not using the
"xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */
Add checks for tasks woken up on other CPUs where needed, make xYieldPending and xPendingReadyList per-processor, add configurable ISR stack size to Kconfig, in general fix the entire wake-up-task-on-other-cpu-by-interrupt implementation
2016-10-27 16:07:47 +08:00
xYieldPending[ xPortGetCoreID() ] = pdTRUE;
Most code written. Interrupts still do not fire yet.
2016-10-26 21:09:55 +08:00
}
else if ( pxUnblockedTCB->xCoreID != xPortGetCoreID() )
{
taskYIELD_OTHER_CORE( pxUnblockedTCB->xCoreID, pxUnblockedTCB->uxPriority );
xReturn = pdFALSE;
Initial public version
2016-08-17 23:08:22 +08:00
}
else
{
xReturn = pdFALSE;
}
taskEXIT_CRITICAL(&xTaskQueueMutex);
return xReturn;
}
/*-----------------------------------------------------------*/
void vTaskSetTimeOutState( TimeOut_t * const pxTimeOut )
{
configASSERT( pxTimeOut );
pxTimeOut->xOverflowCount = xNumOfOverflows;
pxTimeOut->xTimeOnEntering = xTickCount;
}
/*-----------------------------------------------------------*/
BaseType_t xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut, TickType_t * const pxTicksToWait )
{
BaseType_t xReturn;
configASSERT( pxTimeOut );
configASSERT( pxTicksToWait );
freertos: use xTaskQueueMutex to protect tick count Having two different spinlocks is problematic due to possibly different order in which the locks will be taken. Changing the order would require significant restructuring of kernel code which is undesirable. An additional place where taking xTickCountMutex was needed was in vApplicationSleep function. Not taking xTickCountMutex resulted in other CPU sometimes possibly advancing tick count while light sleep entry/exit was happening. Taking xTickCountMutex in addition to xTaskQueueMutex has shown a problem that in different code paths, these two spinlocks could be taken in different order, leading to (unlikely, but possible) deadlocks.
2018-10-12 14:18:49 +08:00
taskENTER_CRITICAL(&xTaskQueueMutex);
Initial public version
2016-08-17 23:08:22 +08:00
{
/* Minor optimisation. The tick count cannot change in this block. */
const TickType_t xConstTickCount = xTickCount;
#if ( INCLUDE_vTaskSuspend == 1 )
/* If INCLUDE_vTaskSuspend is set to 1 and the block time specified is
the maximum block time then the task should block indefinitely, and
therefore never time out. */
if( *pxTicksToWait == portMAX_DELAY )
{
xReturn = pdFALSE;
}
else /* We are not blocking indefinitely, perform the checks below. */
#endif
if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( xConstTickCount >= pxTimeOut->xTimeOnEntering ) ) /*lint !e525 Indentation preferred as is to make code within pre-processor directives clearer. */
{
/* The tick count is greater than the time at which vTaskSetTimeout()
was called, but has also overflowed since vTaskSetTimeOut() was called.
It must have wrapped all the way around and gone past us again. This
passed since vTaskSetTimeout() was called. */
xReturn = pdTRUE;
}
else if( ( xConstTickCount - pxTimeOut->xTimeOnEntering ) < *pxTicksToWait )
{
/* Not a genuine timeout. Adjust parameters for time remaining. */
*pxTicksToWait -= ( xConstTickCount - pxTimeOut->xTimeOnEntering );
vTaskSetTimeOutState( pxTimeOut );
xReturn = pdFALSE;
}
else
{
xReturn = pdTRUE;
}
}
freertos: use xTaskQueueMutex to protect tick count Having two different spinlocks is problematic due to possibly different order in which the locks will be taken. Changing the order would require significant restructuring of kernel code which is undesirable. An additional place where taking xTickCountMutex was needed was in vApplicationSleep function. Not taking xTickCountMutex resulted in other CPU sometimes possibly advancing tick count while light sleep entry/exit was happening. Taking xTickCountMutex in addition to xTaskQueueMutex has shown a problem that in different code paths, these two spinlocks could be taken in different order, leading to (unlikely, but possible) deadlocks.
2018-10-12 14:18:49 +08:00
taskEXIT_CRITICAL(&xTaskQueueMutex);
Initial public version
2016-08-17 23:08:22 +08:00
return xReturn;
}
/*-----------------------------------------------------------*/
void vTaskMissedYield( void )
{
Most code written. Interrupts still do not fire yet.
2016-10-26 21:09:55 +08:00
xYieldPending[ xPortGetCoreID() ] = pdTRUE;
Initial public version
2016-08-17 23:08:22 +08:00
}
/*-----------------------------------------------------------*/
#if ( configUSE_TRACE_FACILITY == 1 )
UBaseType_t uxTaskGetTaskNumber( TaskHandle_t xTask )
{
UBaseType_t uxReturn;
TCB_t *pxTCB;
if( xTask != NULL )
{
pxTCB = ( TCB_t * ) xTask;
uxReturn = pxTCB->uxTaskNumber;
}
else
{
uxReturn = 0U;
}
return uxReturn;
}
#endif /* configUSE_TRACE_FACILITY */
/*-----------------------------------------------------------*/
#if ( configUSE_TRACE_FACILITY == 1 )
void vTaskSetTaskNumber( TaskHandle_t xTask, const UBaseType_t uxHandle )
{
TCB_t *pxTCB;
if( xTask != NULL )
{
pxTCB = ( TCB_t * ) xTask;
pxTCB->uxTaskNumber = uxHandle;
}
}
#endif /* configUSE_TRACE_FACILITY */
/*
* -----------------------------------------------------------
* The Idle task.
* ----------------------------------------------------------
*
* The portTASK_FUNCTION() macro is used to allow port/compiler specific
* language extensions. The equivalent prototype for this function is:
*
* void prvIdleTask( void *pvParameters );
*
*/
static portTASK_FUNCTION( prvIdleTask, pvParameters )
{
/* Stop warnings. */
( void ) pvParameters;
for( ;; )
{
/* See if any tasks have been deleted. */
prvCheckTasksWaitingTermination();
#if ( configUSE_PREEMPTION == 0 )
{
/* If we are not using preemption we keep forcing a task switch to
see if any other task has become available. If we are using
preemption we don't need to do this as any task becoming available
will automatically get the processor anyway. */
taskYIELD();
}
#endif /* configUSE_PREEMPTION */
#if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
{
/* When using preemption tasks of equal priority will be
timesliced. If a task that is sharing the idle priority is ready
to run then the idle task should yield before the end of the
timeslice.
A critical region is not required here as we are just reading from
the list, and an occasional incorrect value will not matter. If
the ready list at the idle priority contains more than one task
then a task other than the idle task is ready to execute. */
if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( UBaseType_t ) 1 )
{
taskYIELD();
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
#endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */
#if ( configUSE_IDLE_HOOK == 1 )
{
extern void vApplicationIdleHook( void );
/* Call the user defined function from within the idle task. This
allows the application designer to add background functionality
without the overhead of a separate task.
NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
CALL A FUNCTION THAT MIGHT BLOCK. */
vApplicationIdleHook();
}
#endif /* configUSE_IDLE_HOOK */
freertos: cleanup tick/idle hook functionality If CONFIG_FREERTOS_LEGACY_HOOKS is kept enabled then defining idle/tick hooks will be applications responsibility as was the case earlier. Signed-off-by: Mahavir Jain <mahavir@espressif.com>
2018-08-31 15:18:09 +05:30
#if ( CONFIG_FREERTOS_LEGACY_HOOKS == 1 )
Add a more scalable mechanism for the FreeRTOS tick- and idle hooks; idle handler now uses WAITI to reduce power
2016-11-11 19:20:54 +08:00
{
/* Call the esp-idf hook system */
esp_vApplicationIdleHook();
}
freertos: cleanup tick/idle hook functionality If CONFIG_FREERTOS_LEGACY_HOOKS is kept enabled then defining idle/tick hooks will be applications responsibility as was the case earlier. Signed-off-by: Mahavir Jain <mahavir@espressif.com>
2018-08-31 15:18:09 +05:30
#endif /* CONFIG_FREERTOS_LEGACY_HOOKS */
Add a more scalable mechanism for the FreeRTOS tick- and idle hooks; idle handler now uses WAITI to reduce power
2016-11-11 19:20:54 +08:00
Initial public version
2016-08-17 23:08:22 +08:00
/* This conditional compilation should use inequality to 0, not equality
to 1. This is to ensure portSUPPRESS_TICKS_AND_SLEEP() is called when
user defined low power mode implementations require
configUSE_TICKLESS_IDLE to be set to a value other than 1. */
#if ( configUSE_TICKLESS_IDLE != 0 )
{
TickType_t xExpectedIdleTime;
/* It is not desirable to suspend then resume the scheduler on
each iteration of the idle task. Therefore, a preliminary
test of the expected idle time is performed without the
scheduler suspended. The result here is not necessarily
valid. */
xExpectedIdleTime = prvGetExpectedIdleTime();
if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
{
taskENTER_CRITICAL(&xTaskQueueMutex);
{
/* Now the scheduler is suspended, the expected idle
time can be sampled again, and this time its value can
be used. */
configASSERT( xNextTaskUnblockTime >= xTickCount );
xExpectedIdleTime = prvGetExpectedIdleTime();
if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
{
traceLOW_POWER_IDLE_BEGIN();
freertos: cleanup tick/idle hook functionality If CONFIG_FREERTOS_LEGACY_HOOKS is kept enabled then defining idle/tick hooks will be applications responsibility as was the case earlier. Signed-off-by: Mahavir Jain <mahavir@espressif.com>
2018-08-31 15:18:09 +05:30
portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime );
Initial public version
2016-08-17 23:08:22 +08:00
traceLOW_POWER_IDLE_END();
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
taskEXIT_CRITICAL(&xTaskQueueMutex);
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
#endif /* configUSE_TICKLESS_IDLE */
}
}
/*-----------------------------------------------------------*/
#if configUSE_TICKLESS_IDLE != 0
eSleepModeStatus eTaskConfirmSleepModeStatus( void )
{
eSleepModeStatus eReturn = eStandardSleep;
taskENTER_CRITICAL(&xTaskQueueMutex);
Add checks for tasks woken up on other CPUs where needed, make xYieldPending and xPendingReadyList per-processor, add configurable ISR stack size to Kconfig, in general fix the entire wake-up-task-on-other-cpu-by-interrupt implementation
2016-10-27 16:07:47 +08:00
if( listCURRENT_LIST_LENGTH( &xPendingReadyList[ xPortGetCoreID() ] ) != 0 )
Initial public version
2016-08-17 23:08:22 +08:00
{
/* A task was made ready while the scheduler was suspended. */
eReturn = eAbortSleep;
}
Most code written. Interrupts still do not fire yet.
2016-10-26 21:09:55 +08:00
else if( xYieldPending[ xPortGetCoreID() ] != pdFALSE )
Initial public version
2016-08-17 23:08:22 +08:00
{
/* A yield was pended while the scheduler was suspended. */
eReturn = eAbortSleep;
}
else
{
#if configUSE_TIMERS == 0
{
/* The idle task exists in addition to the application tasks. */
const UBaseType_t uxNonApplicationTasks = 1;
/* If timers are not being used and all the tasks are in the
suspended list (which might mean they have an infinite block
time rather than actually being suspended) then it is safe to
turn all clocks off and just wait for external interrupts. */
if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == ( uxCurrentNumberOfTasks - uxNonApplicationTasks ) )
{
eReturn = eNoTasksWaitingTimeout;
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
#endif /* configUSE_TIMERS */
}
taskEXIT_CRITICAL(&xTaskQueueMutex);
return eReturn;
}
#endif /* configUSE_TICKLESS_IDLE */
/*-----------------------------------------------------------*/
#if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
'Merge branch 'thread_local_storage_delete_callbacks' into 'master' The thread-local-storage feature in FreeRTOS attaches an application-usable array of pointers to a thread control block. These pointers usually point to a structure the thread allocates. When a thread gets (voluntarily or involuntarily) destroyed, this memory can leak. This merge adds a matching second array of user-settable pointers to destructor routines. As soon as the task gets cleaned up (which happens in the idle thread), the destructors get called and the memory can be freed. See merge request !19
2016-08-24 13:29:06 +08:00
#if ( configTHREAD_LOCAL_STORAGE_DELETE_CALLBACKS )
void vTaskSetThreadLocalStoragePointerAndDelCallback( TaskHandle_t xTaskToSet, BaseType_t xIndex, void *pvValue , TlsDeleteCallbackFunction_t xDelCallback)
{
TCB_t *pxTCB;
if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )
{
taskENTER_CRITICAL(&xTaskQueueMutex);
add more protection for per-core data
2016-12-26 19:04:41 +08:00
pxTCB = prvGetTCBFromHandle( xTaskToSet );
'Merge branch 'thread_local_storage_delete_callbacks' into 'master' The thread-local-storage feature in FreeRTOS attaches an application-usable array of pointers to a thread control block. These pointers usually point to a structure the thread allocates. When a thread gets (voluntarily or involuntarily) destroyed, this memory can leak. This merge adds a matching second array of user-settable pointers to destructor routines. As soon as the task gets cleaned up (which happens in the idle thread), the destructors get called and the memory can be freed. See merge request !19
2016-08-24 13:29:06 +08:00
pxTCB->pvThreadLocalStoragePointers[ xIndex ] = pvValue;
pxTCB->pvThreadLocalStoragePointersDelCallback[ xIndex ] = xDelCallback;
taskEXIT_CRITICAL(&xTaskQueueMutex);
}
}
void vTaskSetThreadLocalStoragePointer( TaskHandle_t xTaskToSet, BaseType_t xIndex, void *pvValue )
{
vTaskSetThreadLocalStoragePointerAndDelCallback( xTaskToSet, xIndex, pvValue, (TlsDeleteCallbackFunction_t)NULL );
}
#else
Initial public version
2016-08-17 23:08:22 +08:00
void vTaskSetThreadLocalStoragePointer( TaskHandle_t xTaskToSet, BaseType_t xIndex, void *pvValue )
{
TCB_t *pxTCB;
if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )
{
add more protection for per-core data
2016-12-26 19:04:41 +08:00
taskENTER_CRITICAL(&xTaskQueueMutex);
Initial public version
2016-08-17 23:08:22 +08:00
pxTCB = prvGetTCBFromHandle( xTaskToSet );
pxTCB->pvThreadLocalStoragePointers[ xIndex ] = pvValue;
add more protection for per-core data
2016-12-26 19:04:41 +08:00
taskEXIT_CRITICAL(&xTaskQueueMutex);
Initial public version
2016-08-17 23:08:22 +08:00
}
}
'Merge branch 'thread_local_storage_delete_callbacks' into 'master' The thread-local-storage feature in FreeRTOS attaches an application-usable array of pointers to a thread control block. These pointers usually point to a structure the thread allocates. When a thread gets (voluntarily or involuntarily) destroyed, this memory can leak. This merge adds a matching second array of user-settable pointers to destructor routines. As soon as the task gets cleaned up (which happens in the idle thread), the destructors get called and the memory can be freed. See merge request !19
2016-08-24 13:29:06 +08:00
#endif /* configTHREAD_LOCAL_STORAGE_DELETE_CALLBACKS */
Initial public version
2016-08-17 23:08:22 +08:00
#endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */
/*-----------------------------------------------------------*/
#if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
void *pvTaskGetThreadLocalStoragePointer( TaskHandle_t xTaskToQuery, BaseType_t xIndex )
{
void *pvReturn = NULL;
TCB_t *pxTCB;
if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )
{
pxTCB = prvGetTCBFromHandle( xTaskToQuery );
pvReturn = pxTCB->pvThreadLocalStoragePointers[ xIndex ];
}
else
{
pvReturn = NULL;
}
return pvReturn;
}
#endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */
#if ( portUSING_MPU_WRAPPERS == 1 )
/* ToDo: Check for multicore */
void vTaskAllocateMPURegions( TaskHandle_t xTaskToModify, const MemoryRegion_t * const xRegions )
{
TCB_t *pxTCB;
Add UNTESTED_FUNCTION() call to untested functions, make Kconfig option to enable that to map to assert()
2016-09-27 11:36:30 +08:00
UNTESTED_FUNCTION();
Initial public version
2016-08-17 23:08:22 +08:00
/* If null is passed in here then we are deleting ourselves. */
pxTCB = prvGetTCBFromHandle( xTaskToModify );
vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
}
#endif /* portUSING_MPU_WRAPPERS */
/*-----------------------------------------------------------*/
static void prvInitialiseTaskLists( void )
{
UBaseType_t uxPriority;
for( uxPriority = ( UBaseType_t ) 0U; uxPriority < ( UBaseType_t ) configMAX_PRIORITIES; uxPriority++ )
{
vListInitialise( &( pxReadyTasksLists[ uxPriority ] ) );
}
vListInitialise( &xDelayedTaskList1 );
vListInitialise( &xDelayedTaskList2 );
freertos: Fix crash when waking task on CPU1 with scheduler disabled xPendingReadyList[1] was never initialised correctly, so if a task is added to this list (ie by xSemaphoreGiveFromISR() or similar) while scheduler is disabled, then it causes a null pointer dereference. Bug produces stack traces similar to: 0x40086e87: vListInsertEnd at /home/gus/esp/32/idf/components/freertos/./list.c:130 0x40084ba3: xTaskRemoveFromEventList at /home/gus/esp/32/idf/components/freertos/./tasks.c:3439 0x40083c54: xQueueGiveFromISR at /home/gus/esp/32/idf/components/freertos/./queue.c:2034 0x400f50a0: timer_group0_isr at /home/gus/esp/32/idf/components/freertos/test/./test_suspend_scheduler.c:27 0x40081d7d: _xt_lowint1 at xtensa_vectors.o:?
2017-06-05 16:08:46 +10:00
vListInitialise( &xPendingReadyList[ 0 ] );
if (portNUM_PROCESSORS == 2) {
vListInitialise( &xPendingReadyList[ 1 ] );
}
Initial public version
2016-08-17 23:08:22 +08:00
#if ( INCLUDE_vTaskDelete == 1 )
{
vListInitialise( &xTasksWaitingTermination );
}
#endif /* INCLUDE_vTaskDelete */
#if ( INCLUDE_vTaskSuspend == 1 )
{
vListInitialise( &xSuspendedTaskList );
}
#endif /* INCLUDE_vTaskSuspend */
/* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
using list2. */
pxDelayedTaskList = &xDelayedTaskList1;
pxOverflowDelayedTaskList = &xDelayedTaskList2;
}
/*-----------------------------------------------------------*/
static void prvCheckTasksWaitingTermination( void )
{
#if ( INCLUDE_vTaskDelete == 1 )
{
BaseType_t xListIsEmpty;
freertos/fix SMP bug with Idle task clean up This commit backports vTaskDelete() behavior from FreeRTOS v9.0.0 which allows for the immediate freeing of task memory if the task being deleted is not currently running and not pinned to the other core. This commit also fixes a bug in prvCheckTasksWaitingTermination which prevented the Idle Task from cleaning up all tasks awaiting deletion. Each iteration of the Idle Task should traverse the xTasksWaitingTermination list and clean up all tasks not pinned to the other core. The previous implementation would cause prvCheckTasksWaitingTermination to return when encountering a task pinned to the other core whilst traversing the xTasksWaitingTermination list. The test case for vTaskDelete() has been updated to test for the bugfix and backported deletion behavior.
2017-11-23 22:35:54 +08:00
int core = xPortGetCoreID();
Initial public version
2016-08-17 23:08:22 +08:00
/* ucTasksDeleted is used to prevent vTaskSuspendAll() being called
too often in the idle task. */
freertos: Idle task shouldn't hold xTaskQueueMutex while calling TLS destructors If the callbacks use any blocking call (ie printf), this can otherwise trigger a deadlock.
2017-10-05 12:12:19 +11:00
while(uxTasksDeleted > ( UBaseType_t ) 0U )
Initial public version
2016-08-17 23:08:22 +08:00
{
freertos: Idle task shouldn't hold xTaskQueueMutex while calling TLS destructors If the callbacks use any blocking call (ie printf), this can otherwise trigger a deadlock.
2017-10-05 12:12:19 +11:00
TCB_t *pxTCB = NULL;
freertos/fix SMP bug with Idle task clean up This commit backports vTaskDelete() behavior from FreeRTOS v9.0.0 which allows for the immediate freeing of task memory if the task being deleted is not currently running and not pinned to the other core. This commit also fixes a bug in prvCheckTasksWaitingTermination which prevented the Idle Task from cleaning up all tasks awaiting deletion. Each iteration of the Idle Task should traverse the xTasksWaitingTermination list and clean up all tasks not pinned to the other core. The previous implementation would cause prvCheckTasksWaitingTermination to return when encountering a task pinned to the other core whilst traversing the xTasksWaitingTermination list. The test case for vTaskDelete() has been updated to test for the bugfix and backported deletion behavior.
2017-11-23 22:35:54 +08:00
freertos: Idle task shouldn't hold xTaskQueueMutex while calling TLS destructors If the callbacks use any blocking call (ie printf), this can otherwise trigger a deadlock.
2017-10-05 12:12:19 +11:00
taskENTER_CRITICAL(&xTaskQueueMutex);
Initial public version
2016-08-17 23:08:22 +08:00
{
xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );
freertos/fix SMP bug with Idle task clean up This commit backports vTaskDelete() behavior from FreeRTOS v9.0.0 which allows for the immediate freeing of task memory if the task being deleted is not currently running and not pinned to the other core. This commit also fixes a bug in prvCheckTasksWaitingTermination which prevented the Idle Task from cleaning up all tasks awaiting deletion. Each iteration of the Idle Task should traverse the xTasksWaitingTermination list and clean up all tasks not pinned to the other core. The previous implementation would cause prvCheckTasksWaitingTermination to return when encountering a task pinned to the other core whilst traversing the xTasksWaitingTermination list. The test case for vTaskDelete() has been updated to test for the bugfix and backported deletion behavior.
2017-11-23 22:35:54 +08:00
if( xListIsEmpty == pdFALSE )
Initial public version
2016-08-17 23:08:22 +08:00
{
fix bug that files missing commit in MR 773
2017-05-31 17:20:29 +08:00
/* We only want to kill tasks that ran on this core because e.g. _xt_coproc_release needs to
freertos/fix SMP bug with Idle task clean up This commit backports vTaskDelete() behavior from FreeRTOS v9.0.0 which allows for the immediate freeing of task memory if the task being deleted is not currently running and not pinned to the other core. This commit also fixes a bug in prvCheckTasksWaitingTermination which prevented the Idle Task from cleaning up all tasks awaiting deletion. Each iteration of the Idle Task should traverse the xTasksWaitingTermination list and clean up all tasks not pinned to the other core. The previous implementation would cause prvCheckTasksWaitingTermination to return when encountering a task pinned to the other core whilst traversing the xTasksWaitingTermination list. The test case for vTaskDelete() has been updated to test for the bugfix and backported deletion behavior.
2017-11-23 22:35:54 +08:00
be called on the core the process is pinned on, if any */
ListItem_t *target = listGET_HEAD_ENTRY(&xTasksWaitingTermination);
freertos: prvCheckTasksWaitingTermination bugfix Bugfix to prevent a self deleting no affinity task's memory from being freed by the idle task of the other core before the self deleting no affinity task is able to context switch out. prvCheckTasksWaitingTermination now checks if the task is still on pxCurrentTCB before freeing task memory.
2017-12-18 21:58:15 +08:00
for( ; target != listGET_END_MARKER(&xTasksWaitingTermination); target = listGET_NEXT(target) ){ //Walk the list
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 || (portNUM_PROCESSORS > 1 && pxCurrentTCB[!core] == tgt_tcb) ){
continue; //Can't free memory of task that is still running
}
if(affinity == core || affinity == tskNO_AFFINITY){ //Find first item not pinned to other core
pxTCB = tgt_tcb;
freertos/fix SMP bug with Idle task clean up This commit backports vTaskDelete() behavior from FreeRTOS v9.0.0 which allows for the immediate freeing of task memory if the task being deleted is not currently running and not pinned to the other core. This commit also fixes a bug in prvCheckTasksWaitingTermination which prevented the Idle Task from cleaning up all tasks awaiting deletion. Each iteration of the Idle Task should traverse the xTasksWaitingTermination list and clean up all tasks not pinned to the other core. The previous implementation would cause prvCheckTasksWaitingTermination to return when encountering a task pinned to the other core whilst traversing the xTasksWaitingTermination list. The test case for vTaskDelete() has been updated to test for the bugfix and backported deletion behavior.
2017-11-23 22:35:54 +08:00
break;
}
}
if(pxTCB != NULL){
( void ) uxListRemove( target ); //Remove list item from list
fix bug that files missing commit in MR 773
2017-05-31 17:20:29 +08:00
--uxCurrentNumberOfTasks;
--uxTasksDeleted;
}
Initial public version
2016-08-17 23:08:22 +08:00
}
freertos: Idle task shouldn't hold xTaskQueueMutex while calling TLS destructors If the callbacks use any blocking call (ie printf), this can otherwise trigger a deadlock.
2017-10-05 12:12:19 +11:00
}
freertos/fix SMP bug with Idle task clean up This commit backports vTaskDelete() behavior from FreeRTOS v9.0.0 which allows for the immediate freeing of task memory if the task being deleted is not currently running and not pinned to the other core. This commit also fixes a bug in prvCheckTasksWaitingTermination which prevented the Idle Task from cleaning up all tasks awaiting deletion. Each iteration of the Idle Task should traverse the xTasksWaitingTermination list and clean up all tasks not pinned to the other core. The previous implementation would cause prvCheckTasksWaitingTermination to return when encountering a task pinned to the other core whilst traversing the xTasksWaitingTermination list. The test case for vTaskDelete() has been updated to test for the bugfix and backported deletion behavior.
2017-11-23 22:35:54 +08:00
taskEXIT_CRITICAL(&xTaskQueueMutex); //Need to call deletion callbacks outside critical section
esp32: SEGGER SystemView Tracing Support Implements support for system level traces compatible with SEGGER SystemView tool on top of ESP32 application tracing module. That kind of traces can help to analyse program's behaviour. SystemView can show timeline of tasks/ISRs execution, context switches, statistics related to the CPUs' load distribution etc. Also this commit adds useful feature to ESP32 application tracing module: - Trace data buffering is implemented to handle temporary peaks of events load
2017-03-22 06:07:37 +03:00
freertos/fix SMP bug with Idle task clean up This commit backports vTaskDelete() behavior from FreeRTOS v9.0.0 which allows for the immediate freeing of task memory if the task being deleted is not currently running and not pinned to the other core. This commit also fixes a bug in prvCheckTasksWaitingTermination which prevented the Idle Task from cleaning up all tasks awaiting deletion. Each iteration of the Idle Task should traverse the xTasksWaitingTermination list and clean up all tasks not pinned to the other core. The previous implementation would cause prvCheckTasksWaitingTermination to return when encountering a task pinned to the other core whilst traversing the xTasksWaitingTermination list. The test case for vTaskDelete() has been updated to test for the bugfix and backported deletion behavior.
2017-11-23 22:35:54 +08:00
if (pxTCB != NULL) { //Call deletion callbacks and free TCB memory
#if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 ) && ( configTHREAD_LOCAL_STORAGE_DELETE_CALLBACKS )
prvDeleteTLS( pxTCB );
#endif
prvDeleteTCB( pxTCB );
Initial public version
2016-08-17 23:08:22 +08:00
}
else
{
mtCOVERAGE_TEST_MARKER();
freertos/fix SMP bug with Idle task clean up This commit backports vTaskDelete() behavior from FreeRTOS v9.0.0 which allows for the immediate freeing of task memory if the task being deleted is not currently running and not pinned to the other core. This commit also fixes a bug in prvCheckTasksWaitingTermination which prevented the Idle Task from cleaning up all tasks awaiting deletion. Each iteration of the Idle Task should traverse the xTasksWaitingTermination list and clean up all tasks not pinned to the other core. The previous implementation would cause prvCheckTasksWaitingTermination to return when encountering a task pinned to the other core whilst traversing the xTasksWaitingTermination list. The test case for vTaskDelete() has been updated to test for the bugfix and backported deletion behavior.
2017-11-23 22:35:54 +08:00
break; //No TCB found that could be freed by this core, break out of loop
Initial public version
2016-08-17 23:08:22 +08:00
}
esp32: SEGGER SystemView Tracing Support Implements support for system level traces compatible with SEGGER SystemView tool on top of ESP32 application tracing module. That kind of traces can help to analyse program's behaviour. SystemView can show timeline of tasks/ISRs execution, context switches, statistics related to the CPUs' load distribution etc. Also this commit adds useful feature to ESP32 application tracing module: - Trace data buffering is implemented to handle temporary peaks of events load
2017-03-22 06:07:37 +03:00
}
Initial public version
2016-08-17 23:08:22 +08:00
}
#endif /* vTaskDelete */
}
/*-----------------------------------------------------------*/
//This should be called with the taskqueuemutex grabbed. -JD
static void prvAddCurrentTaskToDelayedList( const BaseType_t xCoreID, const TickType_t xTimeToWake )
{
/* The list item will be inserted in wake time order. */
listSET_LIST_ITEM_VALUE( &( pxCurrentTCB[ xCoreID ]->xGenericListItem ), xTimeToWake );
if( xTimeToWake < xTickCount )
{
esp32: SEGGER SystemView Tracing Support Implements support for system level traces compatible with SEGGER SystemView tool on top of ESP32 application tracing module. That kind of traces can help to analyse program's behaviour. SystemView can show timeline of tasks/ISRs execution, context switches, statistics related to the CPUs' load distribution etc. Also this commit adds useful feature to ESP32 application tracing module: - Trace data buffering is implemented to handle temporary peaks of events load
2017-03-22 06:07:37 +03:00
traceMOVED_TASK_TO_OVERFLOW_DELAYED_LIST();
Initial public version
2016-08-17 23:08:22 +08:00
/* Wake time has overflowed. Place this item in the overflow list. */
vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB[ xCoreID ]->xGenericListItem ) );
}
else
{
esp32: SEGGER SystemView Tracing Support Implements support for system level traces compatible with SEGGER SystemView tool on top of ESP32 application tracing module. That kind of traces can help to analyse program's behaviour. SystemView can show timeline of tasks/ISRs execution, context switches, statistics related to the CPUs' load distribution etc. Also this commit adds useful feature to ESP32 application tracing module: - Trace data buffering is implemented to handle temporary peaks of events load
2017-03-22 06:07:37 +03:00
traceMOVED_TASK_TO_DELAYED_LIST();
Initial public version
2016-08-17 23:08:22 +08:00
/* The wake time has not overflowed, so the current block list is used. */
vListInsert( pxDelayedTaskList, &( pxCurrentTCB[ xCoreID ]->xGenericListItem ) );
/* If the task entering the blocked state was placed at the head of the
list of blocked tasks then xNextTaskUnblockTime needs to be updated
too. */
if( xTimeToWake < xNextTaskUnblockTime )
{
xNextTaskUnblockTime = xTimeToWake;
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
}
/*-----------------------------------------------------------*/
Automatically pin no-cpu-affinity task to a core when FPU is used
2016-09-28 17:02:44 +08:00
BaseType_t xTaskGetAffinity( TaskHandle_t xTask )
{
TCB_t *pxTCB;
pxTCB = prvGetTCBFromHandle( xTask );
return pxTCB->xCoreID;
}
/*-----------------------------------------------------------*/
Initial public version
2016-08-17 23:08:22 +08:00
#if ( configUSE_TRACE_FACILITY == 1 )
static UBaseType_t prvListTaskWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState )
{
volatile TCB_t *pxNextTCB, *pxFirstTCB;
UBaseType_t uxTask = 0;
if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 )
{
listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
/* Populate an TaskStatus_t structure within the
pxTaskStatusArray array for each task that is referenced from
pxList. See the definition of TaskStatus_t in task.h for the
meaning of each TaskStatus_t structure member. */
do
{
listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
pxTaskStatusArray[ uxTask ].xHandle = ( TaskHandle_t ) pxNextTCB;
pxTaskStatusArray[ uxTask ].pcTaskName = ( const char * ) &( pxNextTCB->pcTaskName [ 0 ] );
pxTaskStatusArray[ uxTask ].xTaskNumber = pxNextTCB->uxTCBNumber;
pxTaskStatusArray[ uxTask ].eCurrentState = eState;
pxTaskStatusArray[ uxTask ].uxCurrentPriority = pxNextTCB->uxPriority;
freertos: add configTASKLIST_INCLUDE_COREID
2018-07-09 15:25:59 +08:00
#if ( configTASKLIST_INCLUDE_COREID == 1 )
Added: display xCoreID in vTaskList Merges https://github.com/espressif/esp-idf/pull/2064
2018-06-14 20:37:52 +10:00
pxTaskStatusArray[ uxTask ].xCoreID = pxNextTCB->xCoreID;
freertos: add configTASKLIST_INCLUDE_COREID
2018-07-09 15:25:59 +08:00
#endif /* configTASKLIST_INCLUDE_COREID */
Initial public version
2016-08-17 23:08:22 +08:00
#if ( INCLUDE_vTaskSuspend == 1 )
{
/* If the task is in the suspended list then there is a chance
it is actually just blocked indefinitely - so really it should
be reported as being in the Blocked state. */
if( eState == eSuspended )
{
if( listLIST_ITEM_CONTAINER( &( pxNextTCB->xEventListItem ) ) != NULL )
{
pxTaskStatusArray[ uxTask ].eCurrentState = eBlocked;
}
}
}
#endif /* INCLUDE_vTaskSuspend */
#if ( configUSE_MUTEXES == 1 )
{
pxTaskStatusArray[ uxTask ].uxBasePriority = pxNextTCB->uxBasePriority;
}
#else
{
pxTaskStatusArray[ uxTask ].uxBasePriority = 0;
}
#endif
#if ( configGENERATE_RUN_TIME_STATS == 1 )
{
pxTaskStatusArray[ uxTask ].ulRunTimeCounter = pxNextTCB->ulRunTimeCounter;
}
#else
{
pxTaskStatusArray[ uxTask ].ulRunTimeCounter = 0;
}
#endif
#if ( portSTACK_GROWTH > 0 )
{
pxTaskStatusArray[ uxTask ].usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxNextTCB->pxEndOfStack );
}
#else
{
pxTaskStatusArray[ uxTask ].usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxNextTCB->pxStack );
}
#endif
uxTask++;
} while( pxNextTCB != pxFirstTCB );
}
else
{
mtCOVERAGE_TEST_MARKER();
}
return uxTask;
}
#endif /* configUSE_TRACE_FACILITY */
/*-----------------------------------------------------------*/
#if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
Make internal stack size variables in FreeRTOS 32-bit instead of 16-bit
2017-04-19 10:47:19 +08:00
static uint32_t prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte )
Initial public version
2016-08-17 23:08:22 +08:00
{
uint32_t ulCount = 0U;
while( *pucStackByte == ( uint8_t ) tskSTACK_FILL_BYTE )
{
pucStackByte -= portSTACK_GROWTH;
ulCount++;
}
ulCount /= ( uint32_t ) sizeof( StackType_t ); /*lint !e961 Casting is not redundant on smaller architectures. */
Make internal stack size variables in FreeRTOS 32-bit instead of 16-bit
2017-04-19 10:47:19 +08:00
return ( uint32_t ) ulCount;
Initial public version
2016-08-17 23:08:22 +08:00
}
#endif /* ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) */
/*-----------------------------------------------------------*/
#if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
UBaseType_t uxTaskGetStackHighWaterMark( TaskHandle_t xTask )
{
TCB_t *pxTCB;
uint8_t *pucEndOfStack;
UBaseType_t uxReturn;
pxTCB = prvGetTCBFromHandle( xTask );
#if portSTACK_GROWTH < 0
{
pucEndOfStack = ( uint8_t * ) pxTCB->pxStack;
}
#else
{
pucEndOfStack = ( uint8_t * ) pxTCB->pxEndOfStack;
}
#endif
uxReturn = ( UBaseType_t ) prvTaskCheckFreeStackSpace( pucEndOfStack );
return uxReturn;
}
#endif /* INCLUDE_uxTaskGetStackHighWaterMark */
/*-----------------------------------------------------------*/
esp32: SEGGER SystemView Tracing Support Implements support for system level traces compatible with SEGGER SystemView tool on top of ESP32 application tracing module. That kind of traces can help to analyse program's behaviour. SystemView can show timeline of tasks/ISRs execution, context switches, statistics related to the CPUs' load distribution etc. Also this commit adds useful feature to ESP32 application tracing module: - Trace data buffering is implemented to handle temporary peaks of events load
2017-03-22 06:07:37 +03:00
#if (INCLUDE_pxTaskGetStackStart == 1)
freertos: enabled use of pxTaskGetStackStart and cleaned up it's implementation Merges #1298
2017-11-17 13:05:54 +01:00
uint8_t* pxTaskGetStackStart( TaskHandle_t xTask)
{
TCB_t *pxTCB;
uint8_t* uxReturn;
pxTCB = prvGetTCBFromHandle( xTask );
uxReturn = (uint8_t*)pxTCB->pxStack;
return uxReturn;
}
esp32: SEGGER SystemView Tracing Support Implements support for system level traces compatible with SEGGER SystemView tool on top of ESP32 application tracing module. That kind of traces can help to analyse program's behaviour. SystemView can show timeline of tasks/ISRs execution, context switches, statistics related to the CPUs' load distribution etc. Also this commit adds useful feature to ESP32 application tracing module: - Trace data buffering is implemented to handle temporary peaks of events load
2017-03-22 06:07:37 +03:00
#endif /* INCLUDE_pxTaskGetStackStart */
/*-----------------------------------------------------------*/
Initial public version
2016-08-17 23:08:22 +08:00
#if ( INCLUDE_vTaskDelete == 1 )
static void prvDeleteTCB( TCB_t *pxTCB )
{
freertos: portCLEAN_UP_TCB should be performed before freeing tcb memory Signed-off-by: Mahavir Jain <mahavir@espressif.com>
2018-03-27 19:32:43 +05:30
/* This call is required for any port specific cleanup related to task.
It must be above the vPortFree() calls. */
portCLEAN_UP_TCB( pxTCB );
Initial public version
2016-08-17 23:08:22 +08:00
/* Free up the memory allocated by the scheduler for the task. It is up
to the task to free any memory allocated at the application level. */
#if ( configUSE_NEWLIB_REENTRANT == 1 )
{
_reclaim_reent( &( pxTCB->xNewLib_reent ) );
}
#endif /* configUSE_NEWLIB_REENTRANT */
fix bug that files missing commit in MR 773
2017-05-31 17:20:29 +08:00
#if ( portUSING_MPU_WRAPPERS == 1 )
vPortReleaseTaskMPUSettings( &( pxTCB->xMPUSettings) );
#endif
Backport the static allocation feature from FreeRTOS V9.0.0 This feature allows to use static buffers (or from a pool of memory which is not controlled by FreeRTOS). In order to reduce the impact of the changes, the static feature has only been added to the queus (and in consequence to the semaphores and the mutexes) and the tasks. The Timer task is always dynamically allocated and also the idle task(s), which in the case of the ESP-IDF is ok, since we always need to have dynamic allocation enabled.
2016-09-22 12:20:56 +08:00
#if( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 0 ) && ( portUSING_MPU_WRAPPERS == 0 ) )
{
/* The task can only have been allocated dynamically - free both
the stack and TCB. */
vPortFreeAligned( pxTCB->pxStack );
vPortFree( pxTCB );
}
#elif( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE == 1 )
Initial public version
2016-08-17 23:08:22 +08:00
{
Backport the static allocation feature from FreeRTOS V9.0.0 This feature allows to use static buffers (or from a pool of memory which is not controlled by FreeRTOS). In order to reduce the impact of the changes, the static feature has only been added to the queus (and in consequence to the semaphores and the mutexes) and the tasks. The Timer task is always dynamically allocated and also the idle task(s), which in the case of the ESP-IDF is ok, since we always need to have dynamic allocation enabled.
2016-09-22 12:20:56 +08:00
/* The task could have been allocated statically or dynamically, so
check what was statically allocated before trying to free the
memory. */
if( pxTCB->ucStaticallyAllocated == tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB )
Initial public version
2016-08-17 23:08:22 +08:00
{
Backport the static allocation feature from FreeRTOS V9.0.0 This feature allows to use static buffers (or from a pool of memory which is not controlled by FreeRTOS). In order to reduce the impact of the changes, the static feature has only been added to the queus (and in consequence to the semaphores and the mutexes) and the tasks. The Timer task is always dynamically allocated and also the idle task(s), which in the case of the ESP-IDF is ok, since we always need to have dynamic allocation enabled.
2016-09-22 12:20:56 +08:00
/* Both the stack and TCB were allocated dynamically, so both
must be freed. */
Initial public version
2016-08-17 23:08:22 +08:00
vPortFreeAligned( pxTCB->pxStack );
Backport the static allocation feature from FreeRTOS V9.0.0 This feature allows to use static buffers (or from a pool of memory which is not controlled by FreeRTOS). In order to reduce the impact of the changes, the static feature has only been added to the queus (and in consequence to the semaphores and the mutexes) and the tasks. The Timer task is always dynamically allocated and also the idle task(s), which in the case of the ESP-IDF is ok, since we always need to have dynamic allocation enabled.
2016-09-22 12:20:56 +08:00
vPortFree( pxTCB );
}
else if( pxTCB->ucStaticallyAllocated == tskSTATICALLY_ALLOCATED_STACK_ONLY )
{
/* Only the stack was statically allocated, so the TCB is the
only memory that must be freed. */
vPortFree( pxTCB );
}
else
{
/* Neither the stack nor the TCB were allocated dynamically, so
nothing needs to be freed. */
configASSERT( pxTCB->ucStaticallyAllocated == tskSTATICALLY_ALLOCATED_STACK_AND_TCB )
mtCOVERAGE_TEST_MARKER();
Initial public version
2016-08-17 23:08:22 +08:00
}
}
Backport the static allocation feature from FreeRTOS V9.0.0 This feature allows to use static buffers (or from a pool of memory which is not controlled by FreeRTOS). In order to reduce the impact of the changes, the static feature has only been added to the queus (and in consequence to the semaphores and the mutexes) and the tasks. The Timer task is always dynamically allocated and also the idle task(s), which in the case of the ESP-IDF is ok, since we always need to have dynamic allocation enabled.
2016-09-22 12:20:56 +08:00
#endif /* configSUPPORT_DYNAMIC_ALLOCATION */
Initial public version
2016-08-17 23:08:22 +08:00
}
#endif /* INCLUDE_vTaskDelete */
/*-----------------------------------------------------------*/
freertos/fix SMP bug with Idle task clean up This commit backports vTaskDelete() behavior from FreeRTOS v9.0.0 which allows for the immediate freeing of task memory if the task being deleted is not currently running and not pinned to the other core. This commit also fixes a bug in prvCheckTasksWaitingTermination which prevented the Idle Task from cleaning up all tasks awaiting deletion. Each iteration of the Idle Task should traverse the xTasksWaitingTermination list and clean up all tasks not pinned to the other core. The previous implementation would cause prvCheckTasksWaitingTermination to return when encountering a task pinned to the other core whilst traversing the xTasksWaitingTermination list. The test case for vTaskDelete() has been updated to test for the bugfix and backported deletion behavior.
2017-11-23 22:35:54 +08:00
#if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 ) && ( configTHREAD_LOCAL_STORAGE_DELETE_CALLBACKS )
static void prvDeleteTLS( TCB_t *pxTCB )
{
configASSERT( pxTCB );
for( int x = 0; x < ( UBaseType_t ) configNUM_THREAD_LOCAL_STORAGE_POINTERS; x++ )
{
if (pxTCB->pvThreadLocalStoragePointersDelCallback[ x ] != NULL) //If del cb is set
{
pxTCB->pvThreadLocalStoragePointersDelCallback[ x ](x, pxTCB->pvThreadLocalStoragePointers[ x ]); //Call del cb
}
}
}
#endif /* ( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 ) && ( configTHREAD_LOCAL_STORAGE_DELETE_CALLBACKS ) */
/*-----------------------------------------------------------*/
Initial public version
2016-08-17 23:08:22 +08:00
static void prvResetNextTaskUnblockTime( void )
{
TCB_t *pxTCB;
if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
{
/* The new current delayed list is empty. Set
xNextTaskUnblockTime to the maximum possible value so it is
extremely unlikely that the
if( xTickCount >= xNextTaskUnblockTime ) test will pass until
there is an item in the delayed list. */
xNextTaskUnblockTime = portMAX_DELAY;
}
else
{
/* The new current delayed list is not empty, get the value of
the item at the head of the delayed list. This is the time at
which the task at the head of the delayed list should be removed
from the Blocked state. */
( pxTCB ) = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( ( pxTCB )->xGenericListItem ) );
}
}
/*-----------------------------------------------------------*/
#if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )
TaskHandle_t xTaskGetCurrentTaskHandle( void )
{
TaskHandle_t xReturn;
add more protection for per-core data
2016-12-26 19:04:41 +08:00
unsigned state;
Initial public version
2016-08-17 23:08:22 +08:00
freertos: rework code based on review
2016-12-27 12:11:07 +08:00
state = portENTER_CRITICAL_NESTED();
Initial public version
2016-08-17 23:08:22 +08:00
xReturn = pxCurrentTCB[ xPortGetCoreID() ];
freertos: rework code based on review
2016-12-27 12:11:07 +08:00
portEXIT_CRITICAL_NESTED(state);
Initial public version
2016-08-17 23:08:22 +08:00
return xReturn;
}
Make CPU1 int wdt / idle task wdt configurable, panic now properly disables other cpu, tick handler now also is called on cpu1, task wdt prints currently running tasks.
2016-10-25 18:08:55 +08:00
TaskHandle_t xTaskGetCurrentTaskHandleForCPU( BaseType_t cpuid )
{
TaskHandle_t xReturn=NULL;
//Xtensa-specific: the pxCurrentPCB pointer is atomic so we shouldn't need a lock.
if (cpuid < portNUM_PROCESSORS) {
xReturn = pxCurrentTCB[ cpuid ];
}
return xReturn;
}
Initial public version
2016-08-17 23:08:22 +08:00
#endif /* ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) */
/*-----------------------------------------------------------*/
#if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
BaseType_t xTaskGetSchedulerState( void )
{
BaseType_t xReturn;
add more protection for per-core data
2016-12-26 19:04:41 +08:00
unsigned state;
Initial public version
2016-08-17 23:08:22 +08:00
freertos: rework code based on review
2016-12-27 12:11:07 +08:00
state = portENTER_CRITICAL_NESTED();
Initial public version
2016-08-17 23:08:22 +08:00
if( xSchedulerRunning == pdFALSE )
{
xReturn = taskSCHEDULER_NOT_STARTED;
}
else
{
if( uxSchedulerSuspended[ xPortGetCoreID() ] == ( UBaseType_t ) pdFALSE )
{
xReturn = taskSCHEDULER_RUNNING;
}
else
{
xReturn = taskSCHEDULER_SUSPENDED;
}
}
freertos: rework code based on review
2016-12-27 12:11:07 +08:00
portEXIT_CRITICAL_NESTED(state);
Initial public version
2016-08-17 23:08:22 +08:00
return xReturn;
}
#endif /* ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) */
/*-----------------------------------------------------------*/
#if ( configUSE_MUTEXES == 1 )
void vTaskPriorityInherit( TaskHandle_t const pxMutexHolder )
{
TCB_t * const pxTCB = ( TCB_t * ) pxMutexHolder;
freertos: use xTaskQueueMutex to protect tick count Having two different spinlocks is problematic due to possibly different order in which the locks will be taken. Changing the order would require significant restructuring of kernel code which is undesirable. An additional place where taking xTickCountMutex was needed was in vApplicationSleep function. Not taking xTickCountMutex resulted in other CPU sometimes possibly advancing tick count while light sleep entry/exit was happening. Taking xTickCountMutex in addition to xTaskQueueMutex has shown a problem that in different code paths, these two spinlocks could be taken in different order, leading to (unlikely, but possible) deadlocks.
2018-10-12 14:18:49 +08:00
taskENTER_CRITICAL(&xTaskQueueMutex);
Initial public version
2016-08-17 23:08:22 +08:00
/* If the mutex was given back by an interrupt while the queue was
locked then the mutex holder might now be NULL. */
if( pxMutexHolder != NULL )
{
if( pxTCB->uxPriority < pxCurrentTCB[ xPortGetCoreID() ]->uxPriority )
{
freertos: protect calls to prvAddTaskToReadyList with xTaskQueueMutex
2016-09-05 10:22:37 +08:00
taskENTER_CRITICAL(&xTaskQueueMutex);
Initial public version
2016-08-17 23:08:22 +08:00
/* Adjust the mutex holder state to account for its new
priority. Only reset the event list item value if the value is
not being used for anything else. */
if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
{
listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) pxCurrentTCB[ xPortGetCoreID() ]->uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
}
else
{
mtCOVERAGE_TEST_MARKER();
}
/* If the task being modified is in the ready state it will need to
be moved into a new list. */
if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE )
{
if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
{
taskRESET_READY_PRIORITY( pxTCB->uxPriority );
}
else
{
mtCOVERAGE_TEST_MARKER();
}
/* Inherit the priority before being moved into the new list. */
pxTCB->uxPriority = pxCurrentTCB[ xPortGetCoreID() ]->uxPriority;
esp32: SEGGER SystemView Tracing Support Implements support for system level traces compatible with SEGGER SystemView tool on top of ESP32 application tracing module. That kind of traces can help to analyse program's behaviour. SystemView can show timeline of tasks/ISRs execution, context switches, statistics related to the CPUs' load distribution etc. Also this commit adds useful feature to ESP32 application tracing module: - Trace data buffering is implemented to handle temporary peaks of events load
2017-03-22 06:07:37 +03:00
prvReaddTaskToReadyList( pxTCB );
Initial public version
2016-08-17 23:08:22 +08:00
}
else
{
/* Just inherit the priority. */
pxTCB->uxPriority = pxCurrentTCB[ xPortGetCoreID() ]->uxPriority;
}
freertos: protect calls to prvAddTaskToReadyList with xTaskQueueMutex
2016-09-05 10:22:37 +08:00
taskEXIT_CRITICAL(&xTaskQueueMutex);
Initial public version
2016-08-17 23:08:22 +08:00
traceTASK_PRIORITY_INHERIT( pxTCB, pxCurrentTCB[ xPortGetCoreID() ]->uxPriority );
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
else
{
mtCOVERAGE_TEST_MARKER();
}
freertos: use xTaskQueueMutex to protect tick count Having two different spinlocks is problematic due to possibly different order in which the locks will be taken. Changing the order would require significant restructuring of kernel code which is undesirable. An additional place where taking xTickCountMutex was needed was in vApplicationSleep function. Not taking xTickCountMutex resulted in other CPU sometimes possibly advancing tick count while light sleep entry/exit was happening. Taking xTickCountMutex in addition to xTaskQueueMutex has shown a problem that in different code paths, these two spinlocks could be taken in different order, leading to (unlikely, but possible) deadlocks.
2018-10-12 14:18:49 +08:00
taskEXIT_CRITICAL(&xTaskQueueMutex);
Initial public version
2016-08-17 23:08:22 +08:00
}
#endif /* configUSE_MUTEXES */
/*-----------------------------------------------------------*/
#if ( configUSE_MUTEXES == 1 )
BaseType_t xTaskPriorityDisinherit( TaskHandle_t const pxMutexHolder )
{
TCB_t * const pxTCB = ( TCB_t * ) pxMutexHolder;
BaseType_t xReturn = pdFALSE;
freertos: use xTaskQueueMutex to protect tick count Having two different spinlocks is problematic due to possibly different order in which the locks will be taken. Changing the order would require significant restructuring of kernel code which is undesirable. An additional place where taking xTickCountMutex was needed was in vApplicationSleep function. Not taking xTickCountMutex resulted in other CPU sometimes possibly advancing tick count while light sleep entry/exit was happening. Taking xTickCountMutex in addition to xTaskQueueMutex has shown a problem that in different code paths, these two spinlocks could be taken in different order, leading to (unlikely, but possible) deadlocks.
2018-10-12 14:18:49 +08:00
taskENTER_CRITICAL(&xTaskQueueMutex);
Initial public version
2016-08-17 23:08:22 +08:00
if( pxMutexHolder != NULL )
{
configASSERT( pxTCB->uxMutexesHeld );
( pxTCB->uxMutexesHeld )--;
if( pxTCB->uxPriority != pxTCB->uxBasePriority )
{
/* Only disinherit if no other mutexes are held. */
if( pxTCB->uxMutexesHeld == ( UBaseType_t ) 0 )
{
freertos: protect calls to prvAddTaskToReadyList with xTaskQueueMutex
2016-09-05 10:22:37 +08:00
taskENTER_CRITICAL(&xTaskQueueMutex);
Initial public version
2016-08-17 23:08:22 +08:00
/* A task can only have an inhertied priority if it holds
the mutex. If the mutex is held by a task then it cannot be
given from an interrupt, and if a mutex is given by the
holding task then it must be the running state task. Remove
the holding task from the ready list. */
if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
{
taskRESET_READY_PRIORITY( pxTCB->uxPriority );
}
else
{
mtCOVERAGE_TEST_MARKER();
}
/* Disinherit the priority before adding the task into the
new ready list. */
traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
pxTCB->uxPriority = pxTCB->uxBasePriority;
/* Reset the event list item value. It cannot be in use for
any other purpose if this task is running, and it must be
running to give back the mutex. */
listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) pxTCB->uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
esp32: SEGGER SystemView Tracing Support Implements support for system level traces compatible with SEGGER SystemView tool on top of ESP32 application tracing module. That kind of traces can help to analyse program's behaviour. SystemView can show timeline of tasks/ISRs execution, context switches, statistics related to the CPUs' load distribution etc. Also this commit adds useful feature to ESP32 application tracing module: - Trace data buffering is implemented to handle temporary peaks of events load
2017-03-22 06:07:37 +03:00
prvReaddTaskToReadyList( pxTCB );
Initial public version
2016-08-17 23:08:22 +08:00
/* Return true to indicate that a context switch is required.
This is only actually required in the corner case whereby
multiple mutexes were held and the mutexes were given back
in an order different to that in which they were taken.
If a context switch did not occur when the first mutex was
returned, even if a task was waiting on it, then a context
switch should occur when the last mutex is returned whether
a task is waiting on it or not. */
xReturn = pdTRUE;
freertos: protect calls to prvAddTaskToReadyList with xTaskQueueMutex
2016-09-05 10:22:37 +08:00
taskEXIT_CRITICAL(&xTaskQueueMutex);
Initial public version
2016-08-17 23:08:22 +08:00
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
else
{
mtCOVERAGE_TEST_MARKER();
}
freertos: use xTaskQueueMutex to protect tick count Having two different spinlocks is problematic due to possibly different order in which the locks will be taken. Changing the order would require significant restructuring of kernel code which is undesirable. An additional place where taking xTickCountMutex was needed was in vApplicationSleep function. Not taking xTickCountMutex resulted in other CPU sometimes possibly advancing tick count while light sleep entry/exit was happening. Taking xTickCountMutex in addition to xTaskQueueMutex has shown a problem that in different code paths, these two spinlocks could be taken in different order, leading to (unlikely, but possible) deadlocks.
2018-10-12 14:18:49 +08:00
taskEXIT_CRITICAL(&xTaskQueueMutex);
Initial public version
2016-08-17 23:08:22 +08:00
return xReturn;
}
#endif /* configUSE_MUTEXES */
/*-----------------------------------------------------------*/
/* For multicore, this assumes the vPortCPUAquireMutex is recursive, that is, it can be called multiple
times and the release call will have to be called as many times for the mux to unlock. */
/* Gotcha (which seems to be deliberate in FreeRTOS, according to
http://www.freertos.org/FreeRTOS_Support_Forum_Archive/December_2012/freertos_PIC32_Bug_-_vTaskEnterCritical_6400806.html
Add Trax-support to esp-idf
2016-10-17 12:18:17 +08:00
) is that calling vTaskEnterCritical followed by vTaskExitCritical will leave the interrupts DISABLED when the scheduler
esp32: SEGGER SystemView Tracing Support Implements support for system level traces compatible with SEGGER SystemView tool on top of ESP32 application tracing module. That kind of traces can help to analyse program's behaviour. SystemView can show timeline of tasks/ISRs execution, context switches, statistics related to the CPUs' load distribution etc. Also this commit adds useful feature to ESP32 application tracing module: - Trace data buffering is implemented to handle temporary peaks of events load
2017-03-22 06:07:37 +03:00
is not running. Re-enabling the scheduler will re-enable the interrupts instead.
Make portENTER_CRITICAL and portENTER_CRITICAL_ISR the same, plus some changes to fix an issue this causes
2017-06-05 15:54:50 +08:00
For ESP32 FreeRTOS, vTaskEnterCritical implements both portENTER_CRITICAL and portENTER_CRITICAL_ISR.
*/
Initial public version
2016-08-17 23:08:22 +08:00
#if ( portCRITICAL_NESTING_IN_TCB == 1 )
freertos: Inline vPortCPUAcquireMutex/vPortCPUReleaseMutex into implementations Further improves performance: No contention -> 134 cycles Recursion -> 117 cycles Contention -> 323 cycles
2017-02-16 16:56:06 +11:00
#include "portmux_impl.h"
Initial public version
2016-08-17 23:08:22 +08:00
FreeRTOS: Convert portMUX_DEBUG to a configuration item
2016-08-25 16:30:47 +08:00
#ifdef CONFIG_FREERTOS_PORTMUX_DEBUG
Initial public version
2016-08-17 23:08:22 +08:00
void vTaskEnterCritical( portMUX_TYPE *mux, const char *function, int line )
#else
void vTaskEnterCritical( portMUX_TYPE *mux )
#endif
{
Fix bug where nesting vTaskEnterCritical calls would not re-enable interrupts after vTaskExitCritical sections.
2016-09-13 10:22:38 +08:00
BaseType_t oldInterruptLevel=0;
freertos spinlock/portmux: Reduce spinlocking overhead Ref TW7117 Microbenchmarks in unit tests: (All numbers in cycles per benchmarked operation): Release mode No lock contention lock/unlock - 301 -> 167 (-45%) Recursive no contention lock/unlock - 289 -> 148 (-49%) Lock contention two CPUs (lock/unlock) 699 -> 400 (-43%) Debug mode No lock contention lock/unlock - 355 -> 203 (-43%) Recursive no contention lock/unlock - 345 -> 188 (-46%) Lock contention two CPUs (lock/unlock) 761 -> 483 (-36%)
2017-02-13 14:46:37 +11:00
BaseType_t schedulerRunning = xSchedulerRunning;
components/esp_common: added esp_macros.h that aims to hold useful macros esp_common/esp_compiler: renamed esp_macros file to a more specific one esp_common/esp_compiler: removed CONTAINER_OF macro, it was a duplicate components/freertos: placed likely macros around port and critical sections component/freertos: placed likely macros on lists module components/freertos: placed unlikely macros inside of assertion points, they likely wont fail components/freertos: added likely macros on queue modules FreeRTOS queues are one of most hot code path, because to queues itself tend to be used a lot by the applications, besides that, queues are the basic primitive to form both mutexes and semaphores, The focus here is to place likely macros inside lowest level send and receive routines, since they're common from all kobjects: semaphores, queues, mutexes and FR internals (like timer queue) components/lwip: placed likely/unlikey on net-interfaces code components/fatfs: added unlikely macros on disk drivers code components/spiffs: added unlikely macros on low level fs driver components/freertos: added likely/unlikely macros on timers and ticker freertos/event_group: placed likely/unlikely macros on hot event group code paths components/sdmmc: placed likely / unlikely macros on lower level path of sdmmc components/bt: placed unlikely macros around bt HCI functions calling components/lwip: added likely/unlikely macros on OS port code section components/freertos: fix code style on tick handler
2019-10-15 18:01:05 -03:00
if(likely(schedulerRunning != pdFALSE))
Fix prev code to not crash horribly when scheduler is not running yet
2016-09-05 11:58:40 +08:00
{
Fix bug where nesting vTaskEnterCritical calls would not re-enable interrupts after vTaskExitCritical sections.
2016-09-13 10:22:38 +08:00
//Interrupts may already be disabled (because we're doing this recursively) but we can't get the interrupt level after
//vPortCPUAquireMutex, because it also may mess with interrupts. Get it here first, then later figure out if we're nesting
//and save for real there.
oldInterruptLevel=portENTER_CRITICAL_NESTED();
Fix prev code to not crash horribly when scheduler is not running yet
2016-09-05 11:58:40 +08:00
}
FreeRTOS: Convert portMUX_DEBUG to a configuration item
2016-08-25 16:30:47 +08:00
#ifdef CONFIG_FREERTOS_PORTMUX_DEBUG
portmux: Add vPortCPUAcquireMutexTimeout() function Refactor app_trace locking to use this function.
2017-07-20 16:34:45 +10:00
vPortCPUAcquireMutexIntsDisabled( mux, portMUX_NO_TIMEOUT, function, line );
Initial public version
2016-08-17 23:08:22 +08:00
#else
portmux: Add vPortCPUAcquireMutexTimeout() function Refactor app_trace locking to use this function.
2017-07-20 16:34:45 +10:00
vPortCPUAcquireMutexIntsDisabled( mux, portMUX_NO_TIMEOUT );
Initial public version
2016-08-17 23:08:22 +08:00
#endif
components/esp_common: added esp_macros.h that aims to hold useful macros esp_common/esp_compiler: renamed esp_macros file to a more specific one esp_common/esp_compiler: removed CONTAINER_OF macro, it was a duplicate components/freertos: placed likely macros around port and critical sections component/freertos: placed likely macros on lists module components/freertos: placed unlikely macros inside of assertion points, they likely wont fail components/freertos: added likely macros on queue modules FreeRTOS queues are one of most hot code path, because to queues itself tend to be used a lot by the applications, besides that, queues are the basic primitive to form both mutexes and semaphores, The focus here is to place likely macros inside lowest level send and receive routines, since they're common from all kobjects: semaphores, queues, mutexes and FR internals (like timer queue) components/lwip: placed likely/unlikey on net-interfaces code components/fatfs: added unlikely macros on disk drivers code components/spiffs: added unlikely macros on low level fs driver components/freertos: added likely/unlikely macros on timers and ticker freertos/event_group: placed likely/unlikely macros on hot event group code paths components/sdmmc: placed likely / unlikely macros on lower level path of sdmmc components/bt: placed unlikely macros around bt HCI functions calling components/lwip: added likely/unlikely macros on OS port code section components/freertos: fix code style on tick handler
2019-10-15 18:01:05 -03:00
if(likely(schedulerRunning != pdFALSE))
Initial public version
2016-08-17 23:08:22 +08:00
{
freertos spinlock/portmux: Reduce spinlocking overhead Ref TW7117 Microbenchmarks in unit tests: (All numbers in cycles per benchmarked operation): Release mode No lock contention lock/unlock - 301 -> 167 (-45%) Recursive no contention lock/unlock - 289 -> 148 (-49%) Lock contention two CPUs (lock/unlock) 699 -> 400 (-43%) Debug mode No lock contention lock/unlock - 355 -> 203 (-43%) Recursive no contention lock/unlock - 345 -> 188 (-46%) Lock contention two CPUs (lock/unlock) 761 -> 483 (-36%)
2017-02-13 14:46:37 +11:00
TCB_t *tcb = pxCurrentTCB[xPortGetCoreID()];
BaseType_t newNesting = tcb->uxCriticalNesting + 1;
tcb->uxCriticalNesting = newNesting;
if( newNesting == 1 )
Fix bug where nesting vTaskEnterCritical calls would not re-enable interrupts after vTaskExitCritical sections.
2016-09-13 10:22:38 +08:00
{
//This is the first time we get called. Save original interrupt level.
freertos spinlock/portmux: Reduce spinlocking overhead Ref TW7117 Microbenchmarks in unit tests: (All numbers in cycles per benchmarked operation): Release mode No lock contention lock/unlock - 301 -> 167 (-45%) Recursive no contention lock/unlock - 289 -> 148 (-49%) Lock contention two CPUs (lock/unlock) 699 -> 400 (-43%) Debug mode No lock contention lock/unlock - 355 -> 203 (-43%) Recursive no contention lock/unlock - 345 -> 188 (-46%) Lock contention two CPUs (lock/unlock) 761 -> 483 (-36%)
2017-02-13 14:46:37 +11:00
tcb->uxOldInterruptState = oldInterruptLevel;
Fix bug where nesting vTaskEnterCritical calls would not re-enable interrupts after vTaskExitCritical sections.
2016-09-13 10:22:38 +08:00
}
Add working portASSERT_IF_IN_ISR function, fix enter_critical thing even better.
2016-09-05 12:30:57 +08:00
Fix bug where nesting vTaskEnterCritical calls would not re-enable interrupts after vTaskExitCritical sections.
2016-09-13 10:22:38 +08:00
/* Original FreeRTOS comment, saved for reference:
This is not the interrupt safe version of the enter critical
Initial public version
2016-08-17 23:08:22 +08:00
function so assert() if it is being called from an interrupt
context. Only API functions that end in "FromISR" can be used in an
freertos spinlock/portmux: Reduce spinlocking overhead Ref TW7117 Microbenchmarks in unit tests: (All numbers in cycles per benchmarked operation): Release mode No lock contention lock/unlock - 301 -> 167 (-45%) Recursive no contention lock/unlock - 289 -> 148 (-49%) Lock contention two CPUs (lock/unlock) 699 -> 400 (-43%) Debug mode No lock contention lock/unlock - 355 -> 203 (-43%) Recursive no contention lock/unlock - 345 -> 188 (-46%) Lock contention two CPUs (lock/unlock) 761 -> 483 (-36%)
2017-02-13 14:46:37 +11:00
interrupt. Only assert if the critical nesting count is 1 to
Initial public version
2016-08-17 23:08:22 +08:00
protect against recursive calls if the assert function also uses a
critical section. */
Fix bug where nesting vTaskEnterCritical calls would not re-enable interrupts after vTaskExitCritical sections.
2016-09-13 10:22:38 +08:00
esp32: SEGGER SystemView Tracing Support Implements support for system level traces compatible with SEGGER SystemView tool on top of ESP32 application tracing module. That kind of traces can help to analyse program's behaviour. SystemView can show timeline of tasks/ISRs execution, context switches, statistics related to the CPUs' load distribution etc. Also this commit adds useful feature to ESP32 application tracing module: - Trace data buffering is implemented to handle temporary peaks of events load
2017-03-22 06:07:37 +03:00
/* DISABLED in the esp32 port - because of SMP, For ESP32
FreeRTOS, vTaskEnterCritical implements both
Make portENTER_CRITICAL and portENTER_CRITICAL_ISR the same, plus some changes to fix an issue this causes
2017-06-05 15:54:50 +08:00
portENTER_CRITICAL and portENTER_CRITICAL_ISR. vTaskEnterCritical
Add working portASSERT_IF_IN_ISR function, fix enter_critical thing even better.
2016-09-05 12:30:57 +08:00
has to be used in way more places than before, and some are called
esp32: SEGGER SystemView Tracing Support Implements support for system level traces compatible with SEGGER SystemView tool on top of ESP32 application tracing module. That kind of traces can help to analyse program's behaviour. SystemView can show timeline of tasks/ISRs execution, context switches, statistics related to the CPUs' load distribution etc. Also this commit adds useful feature to ESP32 application tracing module: - Trace data buffering is implemented to handle temporary peaks of events load
2017-03-22 06:07:37 +03:00
both from ISR as well as non-ISR code, thus we re-organized
Add working portASSERT_IF_IN_ISR function, fix enter_critical thing even better.
2016-09-05 12:30:57 +08:00
vTaskEnterCritical to also work in ISRs. */
#if 0
freertos spinlock/portmux: Reduce spinlocking overhead Ref TW7117 Microbenchmarks in unit tests: (All numbers in cycles per benchmarked operation): Release mode No lock contention lock/unlock - 301 -> 167 (-45%) Recursive no contention lock/unlock - 289 -> 148 (-49%) Lock contention two CPUs (lock/unlock) 699 -> 400 (-43%) Debug mode No lock contention lock/unlock - 355 -> 203 (-43%) Recursive no contention lock/unlock - 345 -> 188 (-46%) Lock contention two CPUs (lock/unlock) 761 -> 483 (-36%)
2017-02-13 14:46:37 +11:00
if( newNesting == 1 )
Initial public version
2016-08-17 23:08:22 +08:00
{
portASSERT_IF_IN_ISR();
}
Add working portASSERT_IF_IN_ISR function, fix enter_critical thing even better.
2016-09-05 12:30:57 +08:00
#endif
Initial public version
2016-08-17 23:08:22 +08:00
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
#endif /* portCRITICAL_NESTING_IN_TCB */
/*-----------------------------------------------------------*/
Make portENTER_CRITICAL and portENTER_CRITICAL_ISR the same, plus some changes to fix an issue this causes
2017-06-05 15:54:50 +08:00
/*
For ESP32 FreeRTOS, vTaskExitCritical implements both portEXIT_CRITICAL and portEXIT_CRITICAL_ISR.
*/
Initial public version
2016-08-17 23:08:22 +08:00
#if ( portCRITICAL_NESTING_IN_TCB == 1 )
FreeRTOS: Convert portMUX_DEBUG to a configuration item
2016-08-25 16:30:47 +08:00
#ifdef CONFIG_FREERTOS_PORTMUX_DEBUG
Initial public version
2016-08-17 23:08:22 +08:00
void vTaskExitCritical( portMUX_TYPE *mux, const char *function, int line )
#else
void vTaskExitCritical( portMUX_TYPE *mux )
#endif
{
FreeRTOS: Convert portMUX_DEBUG to a configuration item
2016-08-25 16:30:47 +08:00
#ifdef CONFIG_FREERTOS_PORTMUX_DEBUG
freertos spinlock/portmux: Reduce spinlocking overhead Ref TW7117 Microbenchmarks in unit tests: (All numbers in cycles per benchmarked operation): Release mode No lock contention lock/unlock - 301 -> 167 (-45%) Recursive no contention lock/unlock - 289 -> 148 (-49%) Lock contention two CPUs (lock/unlock) 699 -> 400 (-43%) Debug mode No lock contention lock/unlock - 355 -> 203 (-43%) Recursive no contention lock/unlock - 345 -> 188 (-46%) Lock contention two CPUs (lock/unlock) 761 -> 483 (-36%)
2017-02-13 14:46:37 +11:00
vPortCPUReleaseMutexIntsDisabled( mux, function, line );
Initial public version
2016-08-17 23:08:22 +08:00
#else
freertos spinlock/portmux: Reduce spinlocking overhead Ref TW7117 Microbenchmarks in unit tests: (All numbers in cycles per benchmarked operation): Release mode No lock contention lock/unlock - 301 -> 167 (-45%) Recursive no contention lock/unlock - 289 -> 148 (-49%) Lock contention two CPUs (lock/unlock) 699 -> 400 (-43%) Debug mode No lock contention lock/unlock - 355 -> 203 (-43%) Recursive no contention lock/unlock - 345 -> 188 (-46%) Lock contention two CPUs (lock/unlock) 761 -> 483 (-36%)
2017-02-13 14:46:37 +11:00
vPortCPUReleaseMutexIntsDisabled( mux );
Initial public version
2016-08-17 23:08:22 +08:00
#endif
components/esp_common: added esp_macros.h that aims to hold useful macros esp_common/esp_compiler: renamed esp_macros file to a more specific one esp_common/esp_compiler: removed CONTAINER_OF macro, it was a duplicate components/freertos: placed likely macros around port and critical sections component/freertos: placed likely macros on lists module components/freertos: placed unlikely macros inside of assertion points, they likely wont fail components/freertos: added likely macros on queue modules FreeRTOS queues are one of most hot code path, because to queues itself tend to be used a lot by the applications, besides that, queues are the basic primitive to form both mutexes and semaphores, The focus here is to place likely macros inside lowest level send and receive routines, since they're common from all kobjects: semaphores, queues, mutexes and FR internals (like timer queue) components/lwip: placed likely/unlikey on net-interfaces code components/fatfs: added unlikely macros on disk drivers code components/spiffs: added unlikely macros on low level fs driver components/freertos: added likely/unlikely macros on timers and ticker freertos/event_group: placed likely/unlikely macros on hot event group code paths components/sdmmc: placed likely / unlikely macros on lower level path of sdmmc components/bt: placed unlikely macros around bt HCI functions calling components/lwip: added likely/unlikely macros on OS port code section components/freertos: fix code style on tick handler
2019-10-15 18:01:05 -03:00
if(likely(xSchedulerRunning != pdFALSE))
Initial public version
2016-08-17 23:08:22 +08:00
{
freertos spinlock/portmux: Reduce spinlocking overhead Ref TW7117 Microbenchmarks in unit tests: (All numbers in cycles per benchmarked operation): Release mode No lock contention lock/unlock - 301 -> 167 (-45%) Recursive no contention lock/unlock - 289 -> 148 (-49%) Lock contention two CPUs (lock/unlock) 699 -> 400 (-43%) Debug mode No lock contention lock/unlock - 355 -> 203 (-43%) Recursive no contention lock/unlock - 345 -> 188 (-46%) Lock contention two CPUs (lock/unlock) 761 -> 483 (-36%)
2017-02-13 14:46:37 +11:00
TCB_t *tcb = pxCurrentTCB[xPortGetCoreID()];
BaseType_t nesting = tcb->uxCriticalNesting;
components/esp_common: added esp_macros.h that aims to hold useful macros esp_common/esp_compiler: renamed esp_macros file to a more specific one esp_common/esp_compiler: removed CONTAINER_OF macro, it was a duplicate components/freertos: placed likely macros around port and critical sections component/freertos: placed likely macros on lists module components/freertos: placed unlikely macros inside of assertion points, they likely wont fail components/freertos: added likely macros on queue modules FreeRTOS queues are one of most hot code path, because to queues itself tend to be used a lot by the applications, besides that, queues are the basic primitive to form both mutexes and semaphores, The focus here is to place likely macros inside lowest level send and receive routines, since they're common from all kobjects: semaphores, queues, mutexes and FR internals (like timer queue) components/lwip: placed likely/unlikey on net-interfaces code components/fatfs: added unlikely macros on disk drivers code components/spiffs: added unlikely macros on low level fs driver components/freertos: added likely/unlikely macros on timers and ticker freertos/event_group: placed likely/unlikely macros on hot event group code paths components/sdmmc: placed likely / unlikely macros on lower level path of sdmmc components/bt: placed unlikely macros around bt HCI functions calling components/lwip: added likely/unlikely macros on OS port code section components/freertos: fix code style on tick handler
2019-10-15 18:01:05 -03:00
if(likely(nesting > 0U))
Initial public version
2016-08-17 23:08:22 +08:00
{
freertos spinlock/portmux: Reduce spinlocking overhead Ref TW7117 Microbenchmarks in unit tests: (All numbers in cycles per benchmarked operation): Release mode No lock contention lock/unlock - 301 -> 167 (-45%) Recursive no contention lock/unlock - 289 -> 148 (-49%) Lock contention two CPUs (lock/unlock) 699 -> 400 (-43%) Debug mode No lock contention lock/unlock - 355 -> 203 (-43%) Recursive no contention lock/unlock - 345 -> 188 (-46%) Lock contention two CPUs (lock/unlock) 761 -> 483 (-36%)
2017-02-13 14:46:37 +11:00
nesting--;
tcb->uxCriticalNesting = nesting;
Initial public version
2016-08-17 23:08:22 +08:00
freertos spinlock/portmux: Reduce spinlocking overhead Ref TW7117 Microbenchmarks in unit tests: (All numbers in cycles per benchmarked operation): Release mode No lock contention lock/unlock - 301 -> 167 (-45%) Recursive no contention lock/unlock - 289 -> 148 (-49%) Lock contention two CPUs (lock/unlock) 699 -> 400 (-43%) Debug mode No lock contention lock/unlock - 355 -> 203 (-43%) Recursive no contention lock/unlock - 345 -> 188 (-46%) Lock contention two CPUs (lock/unlock) 761 -> 483 (-36%)
2017-02-13 14:46:37 +11:00
if( nesting == 0U )
Initial public version
2016-08-17 23:08:22 +08:00
{
freertos spinlock/portmux: Reduce spinlocking overhead Ref TW7117 Microbenchmarks in unit tests: (All numbers in cycles per benchmarked operation): Release mode No lock contention lock/unlock - 301 -> 167 (-45%) Recursive no contention lock/unlock - 289 -> 148 (-49%) Lock contention two CPUs (lock/unlock) 699 -> 400 (-43%) Debug mode No lock contention lock/unlock - 355 -> 203 (-43%) Recursive no contention lock/unlock - 345 -> 188 (-46%) Lock contention two CPUs (lock/unlock) 761 -> 483 (-36%)
2017-02-13 14:46:37 +11:00
portEXIT_CRITICAL_NESTED(tcb->uxOldInterruptState);
Initial public version
2016-08-17 23:08:22 +08:00
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
esp32: SEGGER SystemView Tracing Support Implements support for system level traces compatible with SEGGER SystemView tool on top of ESP32 application tracing module. That kind of traces can help to analyse program's behaviour. SystemView can show timeline of tasks/ISRs execution, context switches, statistics related to the CPUs' load distribution etc. Also this commit adds useful feature to ESP32 application tracing module: - Trace data buffering is implemented to handle temporary peaks of events load
2017-03-22 06:07:37 +03:00
Initial public version
2016-08-17 23:08:22 +08:00
#endif /* portCRITICAL_NESTING_IN_TCB */
/*-----------------------------------------------------------*/
#if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName )
{
BaseType_t x;
/* Start by copying the entire string. */
strcpy( pcBuffer, pcTaskName );
/* Pad the end of the string with spaces to ensure columns line up when
printed out. */
for( x = strlen( pcBuffer ); x < ( configMAX_TASK_NAME_LEN - 1 ); x++ )
{
pcBuffer[ x ] = ' ';
}
/* Terminate. */
pcBuffer[ x ] = 0x00;
/* Return the new end of string. */
return &( pcBuffer[ x ] );
}
#endif /* ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) */
/*-----------------------------------------------------------*/
#if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
void vTaskList( char * pcWriteBuffer )
{
TaskStatus_t *pxTaskStatusArray;
volatile UBaseType_t uxArraySize, x;
char cStatus;
/*
* PLEASE NOTE:
*
* This function is provided for convenience only, and is used by many
* of the demo applications. Do not consider it to be part of the
* scheduler.
*
* vTaskList() calls uxTaskGetSystemState(), then formats part of the
* uxTaskGetSystemState() output into a human readable table that
* displays task names, states and stack usage.
*
* vTaskList() has a dependency on the sprintf() C library function that
* might bloat the code size, use a lot of stack, and provide different
* results on different platforms. An alternative, tiny, third party,
* and limited functionality implementation of sprintf() is provided in
* many of the FreeRTOS/Demo sub-directories in a file called
* printf-stdarg.c (note printf-stdarg.c does not provide a full
* snprintf() implementation!).
*
* It is recommended that production systems call uxTaskGetSystemState()
* directly to get access to raw stats data, rather than indirectly
* through a call to vTaskList().
*/
/* Make sure the write buffer does not contain a string. */
*pcWriteBuffer = 0x00;
/* Take a snapshot of the number of tasks in case it changes while this
function is executing. */
uxArraySize = uxCurrentNumberOfTasks;
Backport the static allocation feature from FreeRTOS V9.0.0 This feature allows to use static buffers (or from a pool of memory which is not controlled by FreeRTOS). In order to reduce the impact of the changes, the static feature has only been added to the queus (and in consequence to the semaphores and the mutexes) and the tasks. The Timer task is always dynamically allocated and also the idle task(s), which in the case of the ESP-IDF is ok, since we always need to have dynamic allocation enabled.
2016-09-22 12:20:56 +08:00
/* Allocate an array index for each task. NOTE! if
configSUPPORT_DYNAMIC_ALLOCATION is set to 0 then pvPortMalloc() will
equate to NULL. */
Initial public version
2016-08-17 23:08:22 +08:00
pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) );
if( pxTaskStatusArray != NULL )
{
/* Generate the (binary) data. */
uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, NULL );
/* Create a human readable table from the binary data. */
for( x = 0; x < uxArraySize; x++ )
{
switch( pxTaskStatusArray[ x ].eCurrentState )
{
case eReady: cStatus = tskREADY_CHAR;
break;
case eBlocked: cStatus = tskBLOCKED_CHAR;
break;
case eSuspended: cStatus = tskSUSPENDED_CHAR;
break;
case eDeleted: cStatus = tskDELETED_CHAR;
break;
default: /* Should not get here, but it is included
to prevent static checking errors. */
cStatus = 0x00;
break;
}
/* Write the task name to the string, padding with spaces so it
can be printed in tabular form more easily. */
pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );
/* Write the rest of the string. */
freertos: add configTASKLIST_INCLUDE_COREID
2018-07-09 15:25:59 +08:00
#if configTASKLIST_INCLUDE_COREID
Added: display xCoreID in vTaskList Merges https://github.com/espressif/esp-idf/pull/2064
2018-06-14 20:37:52 +10:00
sprintf( pcWriteBuffer, "\t%c\t%u\t%u\t%u\t%hd\r\n", cStatus, ( unsigned int ) pxTaskStatusArray[ x ].uxCurrentPriority, ( unsigned int ) pxTaskStatusArray[ x ].usStackHighWaterMark, ( unsigned int ) pxTaskStatusArray[ x ].xTaskNumber, ( int ) pxTaskStatusArray[ x ].xCoreID );
#else
Initial public version
2016-08-17 23:08:22 +08:00
sprintf( pcWriteBuffer, "\t%c\t%u\t%u\t%u\r\n", cStatus, ( unsigned int ) pxTaskStatusArray[ x ].uxCurrentPriority, ( unsigned int ) pxTaskStatusArray[ x ].usStackHighWaterMark, ( unsigned int ) pxTaskStatusArray[ x ].xTaskNumber );
Added: display xCoreID in vTaskList Merges https://github.com/espressif/esp-idf/pull/2064
2018-06-14 20:37:52 +10:00
#endif
Initial public version
2016-08-17 23:08:22 +08:00
pcWriteBuffer += strlen( pcWriteBuffer );
}
Backport the static allocation feature from FreeRTOS V9.0.0 This feature allows to use static buffers (or from a pool of memory which is not controlled by FreeRTOS). In order to reduce the impact of the changes, the static feature has only been added to the queus (and in consequence to the semaphores and the mutexes) and the tasks. The Timer task is always dynamically allocated and also the idle task(s), which in the case of the ESP-IDF is ok, since we always need to have dynamic allocation enabled.
2016-09-22 12:20:56 +08:00
/* Free the array again. NOTE! If configSUPPORT_DYNAMIC_ALLOCATION
is 0 then vPortFree() will be #defined to nothing. */
Initial public version
2016-08-17 23:08:22 +08:00
vPortFree( pxTaskStatusArray );
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
#endif /* ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) ) */
/*----------------------------------------------------------*/
#if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
void vTaskGetRunTimeStats( char *pcWriteBuffer )
{
TaskStatus_t *pxTaskStatusArray;
volatile UBaseType_t uxArraySize, x;
uint32_t ulTotalTime, ulStatsAsPercentage;
#if( configUSE_TRACE_FACILITY != 1 )
{
#error configUSE_TRACE_FACILITY must also be set to 1 in FreeRTOSConfig.h to use vTaskGetRunTimeStats().
}
#endif
/*
* PLEASE NOTE:
*
* This function is provided for convenience only, and is used by many
* of the demo applications. Do not consider it to be part of the
* scheduler.
*
* vTaskGetRunTimeStats() calls uxTaskGetSystemState(), then formats part
* of the uxTaskGetSystemState() output into a human readable table that
* displays the amount of time each task has spent in the Running state
* in both absolute and percentage terms.
*
* vTaskGetRunTimeStats() has a dependency on the sprintf() C library
* function that might bloat the code size, use a lot of stack, and
* provide different results on different platforms. An alternative,
* tiny, third party, and limited functionality implementation of
* sprintf() is provided in many of the FreeRTOS/Demo sub-directories in
* a file called printf-stdarg.c (note printf-stdarg.c does not provide
* a full snprintf() implementation!).
*
* It is recommended that production systems call uxTaskGetSystemState()
* directly to get access to raw stats data, rather than indirectly
* through a call to vTaskGetRunTimeStats().
*/
/* Make sure the write buffer does not contain a string. */
*pcWriteBuffer = 0x00;
/* Take a snapshot of the number of tasks in case it changes while this
function is executing. */
uxArraySize = uxCurrentNumberOfTasks;
Backport the static allocation feature from FreeRTOS V9.0.0 This feature allows to use static buffers (or from a pool of memory which is not controlled by FreeRTOS). In order to reduce the impact of the changes, the static feature has only been added to the queus (and in consequence to the semaphores and the mutexes) and the tasks. The Timer task is always dynamically allocated and also the idle task(s), which in the case of the ESP-IDF is ok, since we always need to have dynamic allocation enabled.
2016-09-22 12:20:56 +08:00
/* Allocate an array index for each task. NOTE! If
configSUPPORT_DYNAMIC_ALLOCATION is set to 0 then pvPortMalloc() will
equate to NULL. */
Initial public version
2016-08-17 23:08:22 +08:00
pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) );
if( pxTaskStatusArray != NULL )
{
/* Generate the (binary) data. */
uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, &ulTotalTime );
/* For percentage calculations. */
ulTotalTime /= 100UL;
/* Avoid divide by zero errors. */
if( ulTotalTime > 0 )
{
/* Create a human readable table from the binary data. */
for( x = 0; x < uxArraySize; x++ )
{
/* What percentage of the total run time has the task used?
This will always be rounded down to the nearest integer.
ulTotalRunTimeDiv100 has already been divided by 100. */
FreeRTOS/make Queue Registry and Run Time Stats configurable This commit makes the configQUEUE_REGISTRY_SIZE and configGENERATE_RUN_TIME_STATS configurable in menuconfig. - configQUEUE_REGISTRY_SIZE can now be set in menuconfig. - The functions vQueueAddToRegistry() and vQueueUnregisterQueue() were made SMP compatbile - pcQueueGetName() was backported from FreeRTOS v9.0.0 - Added test case for Queue Registry functions - configGENERATE_RUN_TIME_STATS can now be enabled in menuconfig. CCOUNT or esp_timer can be selected as the FreeRTOS run time clock in menuconfig as well, although CCOUNT will overflow quickly. - Run time stats collection (in vTaskSwitchContext) and generation (in uxTaskGetSystemState) have been made SMP compatible. Therefore vTaskGetRunTimeStats() now displays the run time usage of each task as a percentage of total runtime of both CPUs Squash
2017-10-30 16:03:56 +08:00
/* Also need to consider total run time of all */
ulStatsAsPercentage = (pxTaskStatusArray[ x ].ulRunTimeCounter/portNUM_PROCESSORS)/ ulTotalTime;
Initial public version
2016-08-17 23:08:22 +08:00
/* Write the task name to the string, padding with
spaces so it can be printed in tabular form more
easily. */
pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );
if( ulStatsAsPercentage > 0UL )
{
#ifdef portLU_PRINTF_SPECIFIER_REQUIRED
{
sprintf( pcWriteBuffer, "\t%lu\t\t%lu%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter, ulStatsAsPercentage );
}
#else
{
/* sizeof( int ) == sizeof( long ) so a smaller
printf() library can be used. */
sprintf( pcWriteBuffer, "\t%u\t\t%u%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage );
}
#endif
}
else
{
/* If the percentage is zero here then the task has
consumed less than 1% of the total run time. */
#ifdef portLU_PRINTF_SPECIFIER_REQUIRED
{
sprintf( pcWriteBuffer, "\t%lu\t\t<1%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter );
}
#else
{
/* sizeof( int ) == sizeof( long ) so a smaller
printf() library can be used. */
sprintf( pcWriteBuffer, "\t%u\t\t<1%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter );
}
#endif
}
pcWriteBuffer += strlen( pcWriteBuffer );
}
}
else
{
mtCOVERAGE_TEST_MARKER();
}
Backport the static allocation feature from FreeRTOS V9.0.0 This feature allows to use static buffers (or from a pool of memory which is not controlled by FreeRTOS). In order to reduce the impact of the changes, the static feature has only been added to the queus (and in consequence to the semaphores and the mutexes) and the tasks. The Timer task is always dynamically allocated and also the idle task(s), which in the case of the ESP-IDF is ok, since we always need to have dynamic allocation enabled.
2016-09-22 12:20:56 +08:00
/* Free the array again. NOTE! If configSUPPORT_DYNAMIC_ALLOCATION
is 0 then vPortFree() will be #defined to nothing. */
Initial public version
2016-08-17 23:08:22 +08:00
vPortFree( pxTaskStatusArray );
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
#endif /* ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) ) */
/*-----------------------------------------------------------*/
TickType_t uxTaskResetEventItemValue( void )
{
TickType_t uxReturn;
taskENTER_CRITICAL(&xTaskQueueMutex);
uxReturn = listGET_LIST_ITEM_VALUE( &( pxCurrentTCB[ xPortGetCoreID() ]->xEventListItem ) );
/* Reset the event list item to its normal value - so it can be used with
queues and semaphores. */
listSET_LIST_ITEM_VALUE( &( pxCurrentTCB[ xPortGetCoreID() ]->xEventListItem ), ( ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) pxCurrentTCB[ xPortGetCoreID() ]->uxPriority ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
taskEXIT_CRITICAL(&xTaskQueueMutex);
return uxReturn;
}
/*-----------------------------------------------------------*/
#if ( configUSE_MUTEXES == 1 )
void *pvTaskIncrementMutexHeldCount( void )
{
add more protection for per-core data
2016-12-26 19:04:41 +08:00
TCB_t *curTCB;
Initial public version
2016-08-17 23:08:22 +08:00
/* If xSemaphoreCreateMutex() is called before any tasks have been created
freertos: rework code based on review
2016-12-27 12:11:07 +08:00
then pxCurrentTCB will be NULL. */
Initial public version
2016-08-17 23:08:22 +08:00
taskENTER_CRITICAL(&xTaskQueueMutex);
if( pxCurrentTCB[ xPortGetCoreID() ] != NULL )
{
( pxCurrentTCB[ xPortGetCoreID() ]->uxMutexesHeld )++;
}
add more protection for per-core data
2016-12-26 19:04:41 +08:00
curTCB = pxCurrentTCB[ xPortGetCoreID() ];
Initial public version
2016-08-17 23:08:22 +08:00
taskEXIT_CRITICAL(&xTaskQueueMutex);
add more protection for per-core data
2016-12-26 19:04:41 +08:00
return curTCB;
Initial public version
2016-08-17 23:08:22 +08:00
}
#endif /* configUSE_MUTEXES */
/*-----------------------------------------------------------*/
#if( configUSE_TASK_NOTIFICATIONS == 1 )
uint32_t ulTaskNotifyTake( BaseType_t xClearCountOnExit, TickType_t xTicksToWait )
{
TickType_t xTimeToWake;
uint32_t ulReturn;
taskENTER_CRITICAL(&xTaskQueueMutex);
{
/* Only block if the notification count is not already non-zero. */
if( pxCurrentTCB[ xPortGetCoreID() ]->ulNotifiedValue == 0UL )
{
/* Mark this task as waiting for a notification. */
pxCurrentTCB[ xPortGetCoreID() ]->eNotifyState = eWaitingNotification;
if( xTicksToWait > ( TickType_t ) 0 )
{
/* The task is going to block. First it must be removed
from the ready list. */
if( uxListRemove( &( pxCurrentTCB[ xPortGetCoreID() ]->xGenericListItem ) ) == ( UBaseType_t ) 0 )
{
/* The current task must be in a ready list, so there is
no need to check, and the port reset macro can be called
directly. */
portRESET_READY_PRIORITY( pxCurrentTCB[ xPortGetCoreID() ]->uxPriority, uxTopReadyPriority );
}
else
{
mtCOVERAGE_TEST_MARKER();
}
#if ( INCLUDE_vTaskSuspend == 1 )
{
if( xTicksToWait == portMAX_DELAY )
{
/* Add the task to the suspended task list instead
of a delayed task list to ensure the task is not
woken by a timing event. It will block
indefinitely. */
freertos: pass TCB rather than the array to trace functions
2018-11-28 12:19:18 +08:00
traceMOVED_TASK_TO_SUSPENDED_LIST(pxCurrentTCB[ xPortGetCoreID() ]);
Initial public version
2016-08-17 23:08:22 +08:00
vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB[ xPortGetCoreID() ]->xGenericListItem ) );
}
else
{
/* Calculate the time at which the task should be
woken if no notification events occur. This may
overflow but this doesn't matter, the scheduler will
handle it. */
xTimeToWake = xTickCount + xTicksToWait;
prvAddCurrentTaskToDelayedList( xPortGetCoreID(), xTimeToWake );
}
}
#else /* INCLUDE_vTaskSuspend */
{
/* Calculate the time at which the task should be
woken if the event does not occur. This may
overflow but this doesn't matter, the scheduler will
handle it. */
xTimeToWake = xTickCount + xTicksToWait;
prvAddCurrentTaskToDelayedList( xTimeToWake );
}
#endif /* INCLUDE_vTaskSuspend */
/* All ports are written to allow a yield in a critical
section (some will yield immediately, others wait until the
critical section exits) - but it is not something that
application code should ever do. */
portYIELD_WITHIN_API();
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
taskEXIT_CRITICAL(&xTaskQueueMutex);
taskENTER_CRITICAL(&xTaskQueueMutex);
{
ulReturn = pxCurrentTCB[ xPortGetCoreID() ]->ulNotifiedValue;
if( ulReturn != 0UL )
{
if( xClearCountOnExit != pdFALSE )
{
pxCurrentTCB[ xPortGetCoreID() ]->ulNotifiedValue = 0UL;
}
else
{
( pxCurrentTCB[ xPortGetCoreID() ]->ulNotifiedValue )--;
}
}
else
{
mtCOVERAGE_TEST_MARKER();
}
pxCurrentTCB[ xPortGetCoreID() ]->eNotifyState = eNotWaitingNotification;
}
taskEXIT_CRITICAL(&xTaskQueueMutex);
return ulReturn;
}
#endif /* configUSE_TASK_NOTIFICATIONS */
/*-----------------------------------------------------------*/
#if( configUSE_TASK_NOTIFICATIONS == 1 )
BaseType_t xTaskNotifyWait( uint32_t ulBitsToClearOnEntry, uint32_t ulBitsToClearOnExit, uint32_t *pulNotificationValue, TickType_t xTicksToWait )
{
TickType_t xTimeToWake;
BaseType_t xReturn;
taskENTER_CRITICAL(&xTaskQueueMutex);
{
/* Only block if a notification is not already pending. */
if( pxCurrentTCB[ xPortGetCoreID() ]->eNotifyState != eNotified )
{
/* Clear bits in the task's notification value as bits may get
set by the notifying task or interrupt. This can be used to
clear the value to zero. */
pxCurrentTCB[ xPortGetCoreID() ]->ulNotifiedValue &= ~ulBitsToClearOnEntry;
/* Mark this task as waiting for a notification. */
pxCurrentTCB[ xPortGetCoreID() ]->eNotifyState = eWaitingNotification;
if( xTicksToWait > ( TickType_t ) 0 )
{
/* The task is going to block. First it must be removed
from the ready list. */
if( uxListRemove( &( pxCurrentTCB[ xPortGetCoreID() ]->xGenericListItem ) ) == ( UBaseType_t ) 0 )
{
/* The current task must be in a ready list, so there is
no need to check, and the port reset macro can be called
directly. */
portRESET_READY_PRIORITY( pxCurrentTCB[ xPortGetCoreID() ]->uxPriority, uxTopReadyPriority );
}
else
{
mtCOVERAGE_TEST_MARKER();
}
#if ( INCLUDE_vTaskSuspend == 1 )
{
if( xTicksToWait == portMAX_DELAY )
{
/* Add the task to the suspended task list instead
of a delayed task list to ensure the task is not
woken by a timing event. It will block
indefinitely. */
freertos: pass TCB rather than the array to trace functions
2018-11-28 12:19:18 +08:00
traceMOVED_TASK_TO_SUSPENDED_LIST(pxCurrentTCB[ xPortGetCoreID() ]);
Initial public version
2016-08-17 23:08:22 +08:00
vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB[ xPortGetCoreID() ]->xGenericListItem ) );
}
else
{
/* Calculate the time at which the task should be
woken if no notification events occur. This may
overflow but this doesn't matter, the scheduler will
handle it. */
xTimeToWake = xTickCount + xTicksToWait;
prvAddCurrentTaskToDelayedList( xPortGetCoreID(), xTimeToWake );
}
}
#else /* INCLUDE_vTaskSuspend */
{
/* Calculate the time at which the task should be
woken if the event does not occur. This may
overflow but this doesn't matter, the scheduler will
handle it. */
xTimeToWake = xTickCount + xTicksToWait;
prvAddCurrentTaskToDelayedList( xTimeToWake );
}
#endif /* INCLUDE_vTaskSuspend */
/* All ports are written to allow a yield in a critical
section (some will yield immediately, others wait until the
critical section exits) - but it is not something that
application code should ever do. */
portYIELD_WITHIN_API();
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
taskEXIT_CRITICAL(&xTaskQueueMutex);
taskENTER_CRITICAL(&xTaskQueueMutex);
{
if( pulNotificationValue != NULL )
{
/* Output the current notification value, which may or may not
have changed. */
*pulNotificationValue = pxCurrentTCB[ xPortGetCoreID() ]->ulNotifiedValue;
}
/* If eNotifyValue is set then either the task never entered the
blocked state (because a notification was already pending) or the
task unblocked because of a notification. Otherwise the task
unblocked because of a timeout. */
if( pxCurrentTCB[ xPortGetCoreID() ]->eNotifyState == eWaitingNotification )
{
/* A notification was not received. */
xReturn = pdFALSE;
}
else
{
/* A notification was already pending or a notification was
received while the task was waiting. */
pxCurrentTCB[ xPortGetCoreID() ]->ulNotifiedValue &= ~ulBitsToClearOnExit;
xReturn = pdTRUE;
}
pxCurrentTCB[ xPortGetCoreID() ]->eNotifyState = eNotWaitingNotification;
}
taskEXIT_CRITICAL(&xTaskQueueMutex);
return xReturn;
}
#endif /* configUSE_TASK_NOTIFICATIONS */
/*-----------------------------------------------------------*/
#if( configUSE_TASK_NOTIFICATIONS == 1 )
BaseType_t xTaskNotify( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction )
{
TCB_t * pxTCB;
eNotifyValue eOriginalNotifyState;
BaseType_t xReturn = pdPASS;
configASSERT( xTaskToNotify );
pxTCB = ( TCB_t * ) xTaskToNotify;
taskENTER_CRITICAL(&xTaskQueueMutex);
{
eOriginalNotifyState = pxTCB->eNotifyState;
pxTCB->eNotifyState = eNotified;
switch( eAction )
{
case eSetBits :
pxTCB->ulNotifiedValue |= ulValue;
break;
case eIncrement :
( pxTCB->ulNotifiedValue )++;
break;
case eSetValueWithOverwrite :
pxTCB->ulNotifiedValue = ulValue;
break;
case eSetValueWithoutOverwrite :
if( eOriginalNotifyState != eNotified )
{
pxTCB->ulNotifiedValue = ulValue;
}
else
{
/* The value could not be written to the task. */
xReturn = pdFAIL;
}
break;
case eNoAction:
/* The task is being notified without its notify value being
updated. */
break;
}
/* If the task is in the blocked state specifically to wait for a
notification then unblock it now. */
if( eOriginalNotifyState == eWaitingNotification )
{
( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
prvAddTaskToReadyList( pxTCB );
/* The task should not have been on an event list. */
configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
Most code written. Interrupts still do not fire yet.
2016-10-26 21:09:55 +08:00
if( tskCAN_RUN_HERE(pxTCB->xCoreID) && pxTCB->uxPriority > pxCurrentTCB[ xPortGetCoreID() ]->uxPriority )
Initial public version
2016-08-17 23:08:22 +08:00
{
/* The notified task has a priority above the currently
executing task so a yield is required. */
portYIELD_WITHIN_API();
}
Most code written. Interrupts still do not fire yet.
2016-10-26 21:09:55 +08:00
else if ( pxTCB->xCoreID != xPortGetCoreID() )
{
taskYIELD_OTHER_CORE(pxTCB->xCoreID, pxTCB->uxPriority);
}
Initial public version
2016-08-17 23:08:22 +08:00
else
{
mtCOVERAGE_TEST_MARKER();
}
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
taskEXIT_CRITICAL(&xTaskQueueMutex);
return xReturn;
}
#endif /* configUSE_TASK_NOTIFICATIONS */
/*-----------------------------------------------------------*/
#if( configUSE_TASK_NOTIFICATIONS == 1 )
BaseType_t xTaskNotifyFromISR( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, BaseType_t *pxHigherPriorityTaskWoken )
{
TCB_t * pxTCB;
eNotifyValue eOriginalNotifyState;
BaseType_t xReturn = pdPASS;
configASSERT( xTaskToNotify );
pxTCB = ( TCB_t * ) xTaskToNotify;
taskENTER_CRITICAL_ISR(&xTaskQueueMutex);
{
eOriginalNotifyState = pxTCB->eNotifyState;
pxTCB->eNotifyState = eNotified;
switch( eAction )
{
case eSetBits :
pxTCB->ulNotifiedValue |= ulValue;
break;
case eIncrement :
( pxTCB->ulNotifiedValue )++;
break;
case eSetValueWithOverwrite :
pxTCB->ulNotifiedValue = ulValue;
break;
case eSetValueWithoutOverwrite :
if( eOriginalNotifyState != eNotified )
{
pxTCB->ulNotifiedValue = ulValue;
}
else
{
/* The value could not be written to the task. */
xReturn = pdFAIL;
}
break;
case eNoAction :
/* The task is being notified without its notify value being
updated. */
break;
}
/* If the task is in the blocked state specifically to wait for a
notification then unblock it now. */
if( eOriginalNotifyState == eWaitingNotification )
{
/* The task should not have been on an event list. */
configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
if( uxSchedulerSuspended[ xPortGetCoreID() ] == ( UBaseType_t ) pdFALSE )
{
( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
prvAddTaskToReadyList( pxTCB );
}
else
{
/* The delayed and ready lists cannot be accessed, so hold
this task pending until the scheduler is resumed. */
Add checks for tasks woken up on other CPUs where needed, make xYieldPending and xPendingReadyList per-processor, add configurable ISR stack size to Kconfig, in general fix the entire wake-up-task-on-other-cpu-by-interrupt implementation
2016-10-27 16:07:47 +08:00
vListInsertEnd( &( xPendingReadyList[ xPortGetCoreID() ] ), &( pxTCB->xEventListItem ) );
Initial public version
2016-08-17 23:08:22 +08:00
}
Most code written. Interrupts still do not fire yet.
2016-10-26 21:09:55 +08:00
if( tskCAN_RUN_HERE(pxTCB->xCoreID) && pxTCB->uxPriority > pxCurrentTCB[ xPortGetCoreID() ]->uxPriority )
Initial public version
2016-08-17 23:08:22 +08:00
{
/* The notified task has a priority above the currently
executing task so a yield is required. */
if( pxHigherPriorityTaskWoken != NULL )
{
*pxHigherPriorityTaskWoken = pdTRUE;
}
}
Most code written. Interrupts still do not fire yet.
2016-10-26 21:09:55 +08:00
else if ( pxTCB->xCoreID != xPortGetCoreID() )
{
taskYIELD_OTHER_CORE( pxTCB->xCoreID, pxTCB->uxPriority );
}
Initial public version
2016-08-17 23:08:22 +08:00
else
{
mtCOVERAGE_TEST_MARKER();
}
}
}
taskEXIT_CRITICAL_ISR(&xTaskQueueMutex);
return xReturn;
}
#endif /* configUSE_TASK_NOTIFICATIONS */
/*-----------------------------------------------------------*/
#if( configUSE_TASK_NOTIFICATIONS == 1 )
void vTaskNotifyGiveFromISR( TaskHandle_t xTaskToNotify, BaseType_t *pxHigherPriorityTaskWoken )
{
TCB_t * pxTCB;
eNotifyValue eOriginalNotifyState;
configASSERT( xTaskToNotify );
pxTCB = ( TCB_t * ) xTaskToNotify;
taskENTER_CRITICAL_ISR(&xTaskQueueMutex);
{
eOriginalNotifyState = pxTCB->eNotifyState;
pxTCB->eNotifyState = eNotified;
/* 'Giving' is equivalent to incrementing a count in a counting
semaphore. */
( pxTCB->ulNotifiedValue )++;
/* If the task is in the blocked state specifically to wait for a
notification then unblock it now. */
if( eOriginalNotifyState == eWaitingNotification )
{
/* The task should not have been on an event list. */
configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
if( uxSchedulerSuspended[ xPortGetCoreID() ] == ( UBaseType_t ) pdFALSE )
{
( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
prvAddTaskToReadyList( pxTCB );
}
else
{
/* The delayed and ready lists cannot be accessed, so hold
this task pending until the scheduler is resumed. */
Add checks for tasks woken up on other CPUs where needed, make xYieldPending and xPendingReadyList per-processor, add configurable ISR stack size to Kconfig, in general fix the entire wake-up-task-on-other-cpu-by-interrupt implementation
2016-10-27 16:07:47 +08:00
vListInsertEnd( &( xPendingReadyList[ xPortGetCoreID() ] ), &( pxTCB->xEventListItem ) );
Initial public version
2016-08-17 23:08:22 +08:00
}
esp32: SEGGER SystemView Tracing Support Implements support for system level traces compatible with SEGGER SystemView tool on top of ESP32 application tracing module. That kind of traces can help to analyse program's behaviour. SystemView can show timeline of tasks/ISRs execution, context switches, statistics related to the CPUs' load distribution etc. Also this commit adds useful feature to ESP32 application tracing module: - Trace data buffering is implemented to handle temporary peaks of events load
2017-03-22 06:07:37 +03:00
Most code written. Interrupts still do not fire yet.
2016-10-26 21:09:55 +08:00
if( tskCAN_RUN_HERE(pxTCB->xCoreID) && pxTCB->uxPriority > pxCurrentTCB[ xPortGetCoreID() ]->uxPriority )
Initial public version
2016-08-17 23:08:22 +08:00
{
/* The notified task has a priority above the currently
executing task so a yield is required. */
if( pxHigherPriorityTaskWoken != NULL )
{
*pxHigherPriorityTaskWoken = pdTRUE;
}
}
Most code written. Interrupts still do not fire yet.
2016-10-26 21:09:55 +08:00
else if ( pxTCB->xCoreID != xPortGetCoreID() )
{
taskYIELD_OTHER_CORE( pxTCB->xCoreID, pxTCB->uxPriority );
}
Initial public version
2016-08-17 23:08:22 +08:00
else
{
mtCOVERAGE_TEST_MARKER();
}
}
}
taskEXIT_CRITICAL_ISR(&xTaskQueueMutex);
}
#endif /* configUSE_TASK_NOTIFICATIONS */
esp32: Add core dump saving to flash feature Complimentary changes: 1) Partition table definitions files with core dump partition 2) Special sub-type for core dump partition 3) Special version of spi_flash_xxx 4) espcoredump.py is script to get core dump from flash and print useful info 5) FreeRTOS API was extended to get tasks snapshots
2016-12-22 02:56:23 +03:00
#if ( configENABLE_TASK_SNAPSHOT == 1 )
esp32: Fixes crash during core dump. Removes piece of debugging code introduced by 8d43859b.
2017-09-10 19:17:46 +03:00
static void prvTaskGetSnapshot( TaskSnapshot_t *pxTaskSnapshotArray, UBaseType_t *uxTask, TCB_t *pxTCB )
{
if (pxTCB == NULL) {
return;
}
pxTaskSnapshotArray[ *uxTask ].pxTCB = pxTCB;
pxTaskSnapshotArray[ *uxTask ].pxTopOfStack = (StackType_t *)pxTCB->pxTopOfStack;
#if( portSTACK_GROWTH < 0 )
{
pxTaskSnapshotArray[ *uxTask ].pxEndOfStack = pxTCB->pxEndOfStack;
}
#else
{
pxTaskSnapshotArray[ *uxTask ].pxEndOfStack = pxTCB->pxStack;
}
#endif
(*uxTask)++;
}
esp32: SEGGER SystemView Tracing Support Implements support for system level traces compatible with SEGGER SystemView tool on top of ESP32 application tracing module. That kind of traces can help to analyse program's behaviour. SystemView can show timeline of tasks/ISRs execution, context switches, statistics related to the CPUs' load distribution etc. Also this commit adds useful feature to ESP32 application tracing module: - Trace data buffering is implemented to handle temporary peaks of events load
2017-03-22 06:07:37 +03:00
esp32: Add core dump saving to flash feature Complimentary changes: 1) Partition table definitions files with core dump partition 2) Special sub-type for core dump partition 3) Special version of spi_flash_xxx 4) espcoredump.py is script to get core dump from flash and print useful info 5) FreeRTOS API was extended to get tasks snapshots
2016-12-22 02:56:23 +03:00
static void prvTaskGetSnapshotsFromList( TaskSnapshot_t *pxTaskSnapshotArray, UBaseType_t *uxTask, const UBaseType_t uxArraySize, List_t *pxList )
{
TCB_t *pxNextTCB, *pxFirstTCB;
if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 )
{
listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
do
{
if( *uxTask >= uxArraySize )
break;
esp32: Fixes crash during core dump. Removes piece of debugging code introduced by 8d43859b.
2017-09-10 19:17:46 +03:00
listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
prvTaskGetSnapshot( pxTaskSnapshotArray, uxTask, pxNextTCB );
esp32: Add core dump saving to flash feature Complimentary changes: 1) Partition table definitions files with core dump partition 2) Special sub-type for core dump partition 3) Special version of spi_flash_xxx 4) espcoredump.py is script to get core dump from flash and print useful info 5) FreeRTOS API was extended to get tasks snapshots
2016-12-22 02:56:23 +03:00
} while( pxNextTCB != pxFirstTCB );
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
UBaseType_t uxTaskGetSnapshotAll( TaskSnapshot_t * const pxTaskSnapshotArray, const UBaseType_t uxArraySize, UBaseType_t * const pxTcbSz )
{
UBaseType_t uxTask = 0, i = 0;
esp32: SEGGER SystemView Tracing Support Implements support for system level traces compatible with SEGGER SystemView tool on top of ESP32 application tracing module. That kind of traces can help to analyse program's behaviour. SystemView can show timeline of tasks/ISRs execution, context switches, statistics related to the CPUs' load distribution etc. Also this commit adds useful feature to ESP32 application tracing module: - Trace data buffering is implemented to handle temporary peaks of events load
2017-03-22 06:07:37 +03:00
*pxTcbSz = sizeof(TCB_t);
/* Fill in an TaskStatus_t structure with information on each
task in the Ready state. */
i = configMAX_PRIORITIES;
do
{
i--;
prvTaskGetSnapshotsFromList( pxTaskSnapshotArray, &uxTask, uxArraySize, &( pxReadyTasksLists[ i ] ) );
} while( i > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
/* Fill in an TaskStatus_t structure with information on each
task in the Blocked state. */
prvTaskGetSnapshotsFromList( pxTaskSnapshotArray, &uxTask, uxArraySize, ( List_t * ) pxDelayedTaskList );
prvTaskGetSnapshotsFromList( pxTaskSnapshotArray, &uxTask, uxArraySize, ( List_t * ) pxOverflowDelayedTaskList );
esp32: Fixes crash during core dump. Removes piece of debugging code introduced by 8d43859b.
2017-09-10 19:17:46 +03:00
for (i = 0; i < portNUM_PROCESSORS; i++) {
if( uxTask >= uxArraySize )
break;
prvTaskGetSnapshotsFromList( pxTaskSnapshotArray, &uxTask, uxArraySize, &( xPendingReadyList[ i ] ) );
}
esp32: SEGGER SystemView Tracing Support Implements support for system level traces compatible with SEGGER SystemView tool on top of ESP32 application tracing module. That kind of traces can help to analyse program's behaviour. SystemView can show timeline of tasks/ISRs execution, context switches, statistics related to the CPUs' load distribution etc. Also this commit adds useful feature to ESP32 application tracing module: - Trace data buffering is implemented to handle temporary peaks of events load
2017-03-22 06:07:37 +03:00
#if( INCLUDE_vTaskDelete == 1 )
{
prvTaskGetSnapshotsFromList( pxTaskSnapshotArray, &uxTask, uxArraySize, &xTasksWaitingTermination );
}
#endif
esp32: Add core dump saving to flash feature Complimentary changes: 1) Partition table definitions files with core dump partition 2) Special sub-type for core dump partition 3) Special version of spi_flash_xxx 4) espcoredump.py is script to get core dump from flash and print useful info 5) FreeRTOS API was extended to get tasks snapshots
2016-12-22 02:56:23 +03:00
esp32: SEGGER SystemView Tracing Support Implements support for system level traces compatible with SEGGER SystemView tool on top of ESP32 application tracing module. That kind of traces can help to analyse program's behaviour. SystemView can show timeline of tasks/ISRs execution, context switches, statistics related to the CPUs' load distribution etc. Also this commit adds useful feature to ESP32 application tracing module: - Trace data buffering is implemented to handle temporary peaks of events load
2017-03-22 06:07:37 +03:00
#if ( INCLUDE_vTaskSuspend == 1 )
{
prvTaskGetSnapshotsFromList( pxTaskSnapshotArray, &uxTask, uxArraySize, &xSuspendedTaskList );
esp32: Add core dump saving to flash feature Complimentary changes: 1) Partition table definitions files with core dump partition 2) Special sub-type for core dump partition 3) Special version of spi_flash_xxx 4) espcoredump.py is script to get core dump from flash and print useful info 5) FreeRTOS API was extended to get tasks snapshots
2016-12-22 02:56:23 +03:00
}
esp32: SEGGER SystemView Tracing Support Implements support for system level traces compatible with SEGGER SystemView tool on top of ESP32 application tracing module. That kind of traces can help to analyse program's behaviour. SystemView can show timeline of tasks/ISRs execution, context switches, statistics related to the CPUs' load distribution etc. Also this commit adds useful feature to ESP32 application tracing module: - Trace data buffering is implemented to handle temporary peaks of events load
2017-03-22 06:07:37 +03:00
#endif
esp32: Add core dump saving to flash feature Complimentary changes: 1) Partition table definitions files with core dump partition 2) Special sub-type for core dump partition 3) Special version of spi_flash_xxx 4) espcoredump.py is script to get core dump from flash and print useful info 5) FreeRTOS API was extended to get tasks snapshots
2016-12-22 02:56:23 +03:00
return uxTask;
}
#endif
Initial public version
2016-08-17 23:08:22 +08:00
#ifdef FREERTOS_MODULE_TEST
#include "tasks_test_access_functions.h"
#endif
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