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freertos: Fix some edge cases around un-pinned tasks migrating cores

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This commit is contained in:
Angus Gratton
2020-10-01 08:51:46 +10:00
parent dfa2d547a7
commit 30b5aab77a
1 changed files with 26 additions and 8 deletions
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34
components/freertos/tasks.c
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@@ -1278,11 +1278,15 @@ static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB, TaskFunction_t pxTaskCode
void vTaskDelete( TaskHandle_t xTaskToDelete ) void vTaskDelete( TaskHandle_t xTaskToDelete )
{ {
TCB_t *pxTCB; TCB_t *pxTCB;
BaseType_t core = xPortGetCoreID(); TCB_t *curTCB;
BaseType_t core;
BaseType_t xFreeNow = 0; BaseType_t xFreeNow = 0;
taskENTER_CRITICAL( &xTaskQueueMutex ); taskENTER_CRITICAL( &xTaskQueueMutex );
{ {
core = xPortGetCoreID();
curTCB = pxCurrentTCB[core];
/* If null is passed in here then it is the calling task that is /* If null is passed in here then it is the calling task that is
being deleted. */ being deleted. */
pxTCB = prvGetTCBFromHandle( xTaskToDelete ); pxTCB = prvGetTCBFromHandle( xTaskToDelete );
@@ -1313,7 +1317,7 @@ static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB, TaskFunction_t pxTaskCode
not return. */ not return. */
uxTaskNumber++; uxTaskNumber++;
if( pxTCB == pxCurrentTCB[core] || if( pxTCB == curTCB ||
(portNUM_PROCESSORS > 1 && pxTCB == pxCurrentTCB[ !core ]) || (portNUM_PROCESSORS > 1 && pxTCB == pxCurrentTCB[ !core ]) ||
(portNUM_PROCESSORS > 1 && pxTCB->xCoreID == (!core)) ) (portNUM_PROCESSORS > 1 && pxTCB->xCoreID == (!core)) )
{ {
@@ -1362,15 +1366,29 @@ static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB, TaskFunction_t pxTaskCode
been deleted. */ been deleted. */
if( xSchedulerRunning != pdFALSE ) if( xSchedulerRunning != pdFALSE )
{ {
if( pxTCB == pxCurrentTCB[core] ) if( pxTCB == curTCB )
{ {
configASSERT( xTaskGetSchedulerState() != taskSCHEDULER_SUSPENDED ); configASSERT( xTaskGetSchedulerState() != taskSCHEDULER_SUSPENDED );
portYIELD_WITHIN_API(); portYIELD_WITHIN_API();
} }
else if ( portNUM_PROCESSORS > 1 && pxTCB == pxCurrentTCB[ !core] ) //If task was currently running on the other core else if ( portNUM_PROCESSORS > 1 )
{ {
/* if task is running on the other CPU, force a yield on that CPU to take it off */ /* Check if the deleted task is currently running on any other core
vPortYieldOtherCore( !core ); and force a yield to take it off.
(this includes re-checking the core that curTCB was previously
running on, in case curTCB has migrated to a different core.)
*/
taskENTER_CRITICAL( &xTaskQueueMutex );
for(BaseType_t i = 0; i < portNUM_PROCESSORS; i++)
{
if(pxTCB == pxCurrentTCB[ i ] )
{
vPortYieldOtherCore( i );
break;
}
}
taskEXIT_CRITICAL( &xTaskQueueMutex );
} }
else else
{ {
@@ -1929,10 +1947,10 @@ static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB, TaskFunction_t pxTaskCode
{ {
/* The current task has just been suspended. */ /* The current task has just been suspended. */
taskENTER_CRITICAL(&xTaskQueueMutex); taskENTER_CRITICAL(&xTaskQueueMutex);
BaseType_t core = xPortGetCoreID(); BaseType_t suspended = uxSchedulerSuspended[xPortGetCoreID()];
taskEXIT_CRITICAL(&xTaskQueueMutex); taskEXIT_CRITICAL(&xTaskQueueMutex);
configASSERT( uxSchedulerSuspended[core] == 0 ); configASSERT( suspended == 0 );
portYIELD_WITHIN_API(); portYIELD_WITHIN_API();
} }
else else