espressif/esp-idf
1
0
Fork 1
mirror of https://github.com/espressif/esp-idf.git synced 2025-07-31 19:24:33 +02:00
Code Issues Packages Projects Releases Wiki Activity

Merge branch 'feature/cleanup_freertos_hooks' into 'master'

Browse Source 
Cleanup freertos idle/tick hooks functionality

See merge request idf/esp-idf!3131
This commit is contained in:
Angus Gratton
2018-09-18 08:07:41 +08:00
parent 822fdd6e53 ff81dc16e0
commit 3276a1316f
17 changed files with 71 additions and 76 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
components/driver/CMakeLists.txt
View File

@@ -23,6 +23,6 @@ set(COMPONENT_SRCS "can.c"
set(COMPONENT_ADD_INCLUDEDIRS "include")
set(COMPONENT_PRIV_INCLUDEDIRS "include/driver")
set(COMPONENT_REQUIRES)
set(COMPONENT_REQUIRES esp_ringbuf)
register_component()

5
components/esp32/freertos_hooks.c
View File

@@ -59,11 +59,10 @@ void esp_vApplicationIdleHook()
#ifdef CONFIG_PM_ENABLE
esp_pm_impl_idle_hook();
#endif
}
extern void esp_vApplicationWaitiHook( void )
{
#ifndef CONFIG_FREERTOS_USE_TICKLESS_IDLE
asm("waiti 0");
#endif
}
esp_err_t esp_register_freertos_idle_hook_for_cpu(esp_freertos_idle_cb_t new_idle_cb, UBaseType_t cpuid)

8
components/esp32/pm_esp32.c
View File

@@ -455,7 +455,7 @@ void IRAM_ATTR esp_pm_impl_isr_hook()
#if CONFIG_FREERTOS_USE_TICKLESS_IDLE
bool IRAM_ATTR vApplicationSleep( TickType_t xExpectedIdleTime )
void IRAM_ATTR vApplicationSleep( TickType_t xExpectedIdleTime )
{
bool result = false;
portENTER_CRITICAL(&s_switch_lock);
@@ -499,7 +499,11 @@ bool IRAM_ATTR vApplicationSleep( TickType_t xExpectedIdleTime )
}
}
portEXIT_CRITICAL(&s_switch_lock);
return result;
/* Tick less idle was not successful, can block till next interrupt here */
if (!result) {
asm("waiti 0");
}
}
#endif //CONFIG_FREERTOS_USE_TICKLESS_IDLE

6
components/esp32/task_wdt.c
View File

@@ -135,7 +135,7 @@ void __attribute__((weak)) esp_task_wdt_isr_user_handler(void)
*/
static void task_wdt_isr(void *arg)
{
portENTER_CRITICAL(&twdt_spinlock);
portENTER_CRITICAL_ISR(&twdt_spinlock);
twdt_task_t *twdttask;
const char *cpu;
//Reset hardware timer so that 2nd stage timeout is not reached (will trigger system reset)
@@ -169,12 +169,12 @@ static void task_wdt_isr(void *arg)
esp_task_wdt_isr_user_handler();
if (twdt_config->panic){ //Trigger Panic if configured to do so
ESP_EARLY_LOGE(TAG, "Aborting.");
portEXIT_CRITICAL(&twdt_spinlock);
portEXIT_CRITICAL_ISR(&twdt_spinlock);
esp_reset_reason_set_hint(ESP_RST_TASK_WDT);
abort();
}
portEXIT_CRITICAL(&twdt_spinlock);
portEXIT_CRITICAL_ISR(&twdt_spinlock);
}
/*

6
components/esp_ringbuf/CMakeLists.txt Normal file
View File

@@ -0,0 +1,6 @@
set(COMPONENT_ADD_INCLUDEDIRS "include")
set(COMPONENT_SRCS "ringbuf.c")
set(COMPONENT_REQUIRES)
register_component()

0
components/esp_ringbuf/component.mk Normal file
View File

0
components/freertos/include/freertos/ringbuf.h → components/esp_ringbuf/include/freertos/ringbuf.h
View File

52
components/freertos/ringbuf.c → components/esp_ringbuf/ringbuf.c
View File

@@ -14,10 +14,10 @@
#include <stdlib.h>
#include <string.h>
#include "FreeRTOS.h"
#include "task.h"
#include "semphr.h"
#include "ringbuf.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "freertos/semphr.h"
#include "freertos/ringbuf.h"
//32-bit alignment macros
#define rbALIGN_SIZE( xSize ) ( ( xSize + portBYTE_ALIGNMENT_MASK ) & ~portBYTE_ALIGNMENT_MASK )
@@ -566,7 +566,7 @@ static BaseType_t prvReceiveGeneric(Ringbuffer_t *pxRingbuffer, void **pvItem1,
}
//Semaphore obtained, check if item can be retrieved
taskENTER_CRITICAL(&pxRingbuffer->mux);
portENTER_CRITICAL(&pxRingbuffer->mux);
if (prvCheckItemAvail(pxRingbuffer) == pdTRUE) {
//Item is available for retrieval
BaseType_t xIsSplit;
@@ -591,14 +591,14 @@ static BaseType_t prvReceiveGeneric(Ringbuffer_t *pxRingbuffer, void **pvItem1,
if (pxRingbuffer->xItemsWaiting > 0) {
xReturnSemaphore = pdTRUE;
}
taskEXIT_CRITICAL(&pxRingbuffer->mux);
portEXIT_CRITICAL(&pxRingbuffer->mux);
break;
}
//No item available for retrieval, adjust ticks and take the semaphore again
if (xTicksToWait != portMAX_DELAY) {
xTicksRemaining = xTicksEnd - xTaskGetTickCount();
}
taskEXIT_CRITICAL(&pxRingbuffer->mux);
portEXIT_CRITICAL(&pxRingbuffer->mux);
/*
* Gap between critical section and re-acquiring of the semaphore. If
* semaphore is given now, priority inversion might occur (see docs)
@@ -616,7 +616,7 @@ static BaseType_t prvReceiveGenericFromISR(Ringbuffer_t *pxRingbuffer, void **pv
BaseType_t xReturn = pdFALSE;
BaseType_t xReturnSemaphore = pdFALSE;
taskENTER_CRITICAL_ISR(&pxRingbuffer->mux);
portENTER_CRITICAL_ISR(&pxRingbuffer->mux);
if(prvCheckItemAvail(pxRingbuffer) == pdTRUE) {
BaseType_t xIsSplit;
if (pxRingbuffer->uxRingbufferFlags & rbBYTE_BUFFER_FLAG) {
@@ -641,7 +641,7 @@ static BaseType_t prvReceiveGenericFromISR(Ringbuffer_t *pxRingbuffer, void **pv
xReturnSemaphore = pdTRUE;
}
}
taskEXIT_CRITICAL_ISR(&pxRingbuffer->mux);
portEXIT_CRITICAL_ISR(&pxRingbuffer->mux);
if (xReturnSemaphore == pdTRUE) {
xSemaphoreGiveFromISR(pxRingbuffer->xItemsBufferedSemaphore, NULL); //Give semaphore back so other tasks can retrieve
@@ -766,7 +766,7 @@ BaseType_t xRingbufferSend(RingbufHandle_t xRingbuffer, const void *pvItem, size
break;
}
//Semaphore obtained, check if item can fit
taskENTER_CRITICAL(&pxRingbuffer->mux);
portENTER_CRITICAL(&pxRingbuffer->mux);
if(pxRingbuffer->xCheckItemFits(pxRingbuffer, xItemSize) == pdTRUE) {
//Item will fit, copy item
pxRingbuffer->vCopyItem(pxRingbuffer, pvItem, xItemSize);
@@ -775,14 +775,14 @@ BaseType_t xRingbufferSend(RingbufHandle_t xRingbuffer, const void *pvItem, size
if (prvGetFreeSize(pxRingbuffer) > 0) {
xReturnSemaphore = pdTRUE;
}
taskEXIT_CRITICAL(&pxRingbuffer->mux);
portEXIT_CRITICAL(&pxRingbuffer->mux);
break;
}
//Item doesn't fit, adjust ticks and take the semaphore again
if (xTicksToWait != portMAX_DELAY) {
xTicksRemaining = xTicksEnd - xTaskGetTickCount();
}
taskEXIT_CRITICAL(&pxRingbuffer->mux);
portEXIT_CRITICAL(&pxRingbuffer->mux);
/*
* Gap between critical section and re-acquiring of the semaphore. If
* semaphore is given now, priority inversion might occur (see docs)
@@ -815,7 +815,7 @@ BaseType_t xRingbufferSendFromISR(RingbufHandle_t xRingbuffer, const void *pvIte
//Attempt to send an item
BaseType_t xReturn;
BaseType_t xReturnSemaphore = pdFALSE;
taskENTER_CRITICAL_ISR(&pxRingbuffer->mux);
portENTER_CRITICAL_ISR(&pxRingbuffer->mux);
if (pxRingbuffer->xCheckItemFits(xRingbuffer, xItemSize) == pdTRUE) {
pxRingbuffer->vCopyItem(xRingbuffer, pvItem, xItemSize);
xReturn = pdTRUE;
@@ -826,7 +826,7 @@ BaseType_t xRingbufferSendFromISR(RingbufHandle_t xRingbuffer, const void *pvIte
} else {
xReturn = pdFALSE;
}
taskEXIT_CRITICAL_ISR(&pxRingbuffer->mux);
portEXIT_CRITICAL_ISR(&pxRingbuffer->mux);
if (xReturn == pdTRUE) {
//Indicate item was successfully sent
@@ -997,9 +997,9 @@ void vRingbufferReturnItem(RingbufHandle_t xRingbuffer, void *pvItem)
configASSERT(pxRingbuffer);
configASSERT(pvItem != NULL);
taskENTER_CRITICAL(&pxRingbuffer->mux);
portENTER_CRITICAL(&pxRingbuffer->mux);
pxRingbuffer->vReturnItem(pxRingbuffer, (uint8_t *)pvItem);
taskEXIT_CRITICAL(&pxRingbuffer->mux);
portEXIT_CRITICAL(&pxRingbuffer->mux);
xSemaphoreGive(pxRingbuffer->xFreeSpaceSemaphore);
}
@@ -1009,9 +1009,9 @@ void vRingbufferReturnItemFromISR(RingbufHandle_t xRingbuffer, void *pvItem, Bas
configASSERT(pxRingbuffer);
configASSERT(pvItem != NULL);
taskENTER_CRITICAL_ISR(&pxRingbuffer->mux);
portENTER_CRITICAL_ISR(&pxRingbuffer->mux);
pxRingbuffer->vReturnItem(pxRingbuffer, (uint8_t *)pvItem);
taskEXIT_CRITICAL_ISR(&pxRingbuffer->mux);
portEXIT_CRITICAL_ISR(&pxRingbuffer->mux);
xSemaphoreGiveFromISR(pxRingbuffer->xFreeSpaceSemaphore, pxHigherPriorityTaskWoken);
}
@@ -1045,9 +1045,9 @@ size_t xRingbufferGetCurFreeSize(RingbufHandle_t xRingbuffer)
configASSERT(pxRingbuffer);
size_t xFreeSize;
taskENTER_CRITICAL(&pxRingbuffer->mux);
portENTER_CRITICAL(&pxRingbuffer->mux);
xFreeSize = pxRingbuffer->xGetCurMaxSize(pxRingbuffer);
taskEXIT_CRITICAL(&pxRingbuffer->mux);
portEXIT_CRITICAL(&pxRingbuffer->mux);
return xFreeSize;
}
@@ -1057,7 +1057,7 @@ BaseType_t xRingbufferAddToQueueSetRead(RingbufHandle_t xRingbuffer, QueueSetHan
configASSERT(pxRingbuffer);
BaseType_t xReturn;
taskENTER_CRITICAL(&pxRingbuffer->mux);
portENTER_CRITICAL(&pxRingbuffer->mux);
//Cannot add semaphore to queue set if semaphore is not empty. Temporarily hold semaphore
BaseType_t xHoldSemaphore = xSemaphoreTake(pxRingbuffer->xItemsBufferedSemaphore, 0);
xReturn = xQueueAddToSet(pxRingbuffer->xItemsBufferedSemaphore, xQueueSet);
@@ -1065,7 +1065,7 @@ BaseType_t xRingbufferAddToQueueSetRead(RingbufHandle_t xRingbuffer, QueueSetHan
//Return semaphore if temporarily held
configASSERT(xSemaphoreGive(pxRingbuffer->xItemsBufferedSemaphore) == pdTRUE);
}
taskEXIT_CRITICAL(&pxRingbuffer->mux);
portEXIT_CRITICAL(&pxRingbuffer->mux);
return xReturn;
}
@@ -1083,7 +1083,7 @@ BaseType_t xRingbufferRemoveFromQueueSetRead(RingbufHandle_t xRingbuffer, QueueS
configASSERT(pxRingbuffer);
BaseType_t xReturn;
taskENTER_CRITICAL(&pxRingbuffer->mux);
portENTER_CRITICAL(&pxRingbuffer->mux);
//Cannot remove semaphore from queue set if semaphore is not empty. Temporarily hold semaphore
BaseType_t xHoldSemaphore = xSemaphoreTake(pxRingbuffer->xItemsBufferedSemaphore, 0);
xReturn = xQueueRemoveFromSet(pxRingbuffer->xItemsBufferedSemaphore, xQueueSet);
@@ -1091,7 +1091,7 @@ BaseType_t xRingbufferRemoveFromQueueSetRead(RingbufHandle_t xRingbuffer, QueueS
//Return semaphore if temporarily held
configASSERT(xSemaphoreGive(pxRingbuffer->xItemsBufferedSemaphore) == pdTRUE);
}
taskEXIT_CRITICAL(&pxRingbuffer->mux);
portEXIT_CRITICAL(&pxRingbuffer->mux);
return xReturn;
}
@@ -1100,7 +1100,7 @@ void vRingbufferGetInfo(RingbufHandle_t xRingbuffer, UBaseType_t *uxFree, UBaseT
Ringbuffer_t *pxRingbuffer = (Ringbuffer_t *)xRingbuffer;
configASSERT(pxRingbuffer);
taskENTER_CRITICAL(&pxRingbuffer->mux);
portENTER_CRITICAL(&pxRingbuffer->mux);
if (uxFree != NULL) {
*uxFree = (UBaseType_t)(pxRingbuffer->pucFree - pxRingbuffer->pucHead);
}
@@ -1113,7 +1113,7 @@ void vRingbufferGetInfo(RingbufHandle_t xRingbuffer, UBaseType_t *uxFree, UBaseT
if (uxItemsWaiting != NULL) {
*uxItemsWaiting = (UBaseType_t)(pxRingbuffer->xItemsWaiting);
}
taskEXIT_CRITICAL(&pxRingbuffer->mux);
portEXIT_CRITICAL(&pxRingbuffer->mux);
}
void xRingbufferPrintInfo(RingbufHandle_t xRingbuffer)

5
components/esp_ringbuf/test/component.mk Normal file
View File

@@ -0,0 +1,5 @@
#
#Component Makefile
#
COMPONENT_ADD_LDFLAGS = -Wl,--whole-archive -l$(COMPONENT_NAME) -Wl,--no-whole-archive

0
components/freertos/test/test_ringbuf.c → components/esp_ringbuf/test/test_ringbuf.c
View File

2
components/freertos/CMakeLists.txt
View File

@@ -7,7 +7,6 @@ set(COMPONENT_SRCS "FreeRTOS-openocd.c"
"port.c"
"portasm.S"
"queue.c"
"ringbuf.c"
"tasks.c"
"timers.c"
"xtensa_context.S"
@@ -28,7 +27,6 @@ set_source_files_properties(
event_groups.c
timers.c
queue.c
ringbuf.c
PROPERTIES COMPILE_DEFINITIONS
_ESP_FREERTOS_INTERNAL
)

18
components/freertos/Kconfig
View File

@@ -173,24 +173,6 @@ config FREERTOS_LEGACY_HOOKS
hooks can also still be enabled. Please enable this only if you have code that for some
reason can't be migrated to the esp_register_freertos_xxx_hook system.
if FREERTOS_LEGACY_HOOKS
config FREERTOS_LEGACY_IDLE_HOOK
bool "Enable legacy idle hook"
default n
help
If enabled, FreeRTOS will call a function called vApplicationIdleHook when the idle thread
on a CPU is running. Please make sure your code defines such a function.
config FREERTOS_LEGACY_TICK_HOOK
bool "Enable legacy tick hook"
default n
help
If enabled, FreeRTOS will call a function called vApplicationTickHook when a FreeRTOS
tick is executed. Please make sure your code defines such a function.
endif #FREERTOS_LEGACY_HOOKS
config FREERTOS_MAX_TASK_NAME_LEN
int "Maximum task name length"
range 1 256

5
components/freertos/include/freertos/FreeRTOSConfig.h
View File

@@ -159,9 +159,8 @@ int xt_clock_freq(void) __attribute__((deprecated));
*----------------------------------------------------------*/
#define configUSE_PREEMPTION 1
#define configUSE_IDLE_HOOK ( CONFIG_FREERTOS_LEGACY_IDLE_HOOK )
#define configUSE_TICK_HOOK ( CONFIG_FREERTOS_LEGACY_TICK_HOOK )
#define configUSE_IDLE_HOOK 1
#define configUSE_TICK_HOOK 1
#define configTICK_RATE_HZ ( CONFIG_FREERTOS_HZ )

9
components/freertos/include/freertos/portmacro.h
View File

@@ -368,10 +368,15 @@ typedef struct {
#endif
extern void esp_vApplicationIdleHook( void );
extern void esp_vApplicationWaitiHook( void );
extern void esp_vApplicationTickHook( void );
#ifndef CONFIG_FREERTOS_LEGACY_HOOKS
#define vApplicationIdleHook esp_vApplicationIdleHook
#define vApplicationTickHook esp_vApplicationTickHook
#endif /* !CONFIG_FREERTOS_LEGACY_HOOKS */
void _xt_coproc_release(volatile void * coproc_sa_base);
bool vApplicationSleep( TickType_t xExpectedIdleTime );
void vApplicationSleep( TickType_t xExpectedIdleTime );
#define portSUPPRESS_TICKS_AND_SLEEP( idleTime ) vApplicationSleep( idleTime )

21
components/freertos/tasks.c
View File

@@ -489,7 +489,6 @@ to its original value when it is released. */
#if configUSE_TICK_HOOK > 0
extern void vApplicationTickHook( void );
#endif
extern void esp_vApplicationTickHook( void );
#if portFIRST_TASK_HOOK
extern void vPortFirstTaskHook(TaskFunction_t taskfn);
@@ -2497,7 +2496,9 @@ BaseType_t xSwitchRequired = pdFALSE;
#if ( configUSE_TICK_HOOK == 1 )
vApplicationTickHook();
#endif /* configUSE_TICK_HOOK */
#if ( CONFIG_FREERTOS_LEGACY_HOOKS == 1 )
esp_vApplicationTickHook();
#endif /* CONFIG_FREERTOS_LEGACY_HOOKS */
/*
We can't really calculate what we need, that's done on core 0... just assume we need a switch.
@@ -2640,7 +2641,9 @@ BaseType_t xSwitchRequired = pdFALSE;
#if ( configUSE_TICK_HOOK == 1 )
vApplicationTickHook();
#endif /* configUSE_TICK_HOOK */
#if ( CONFIG_FREERTOS_LEGACY_HOOKS == 1 )
esp_vApplicationTickHook();
#endif /* CONFIG_FREERTOS_LEGACY_HOOKS */
}
else
{
@@ -2660,7 +2663,9 @@ BaseType_t xSwitchRequired = pdFALSE;
vApplicationTickHook();
}
#endif
#if ( CONFIG_FREERTOS_LEGACY_HOOKS == 1 )
esp_vApplicationTickHook();
#endif /* CONFIG_FREERTOS_LEGACY_HOOKS */
}
#if ( configUSE_PREEMPTION == 1 )
@@ -3434,10 +3439,12 @@ static portTASK_FUNCTION( prvIdleTask, pvParameters )
vApplicationIdleHook();
}
#endif /* configUSE_IDLE_HOOK */
#if ( CONFIG_FREERTOS_LEGACY_HOOKS == 1 )
{
/* Call the esp-idf hook system */
esp_vApplicationIdleHook();
}
#endif /* CONFIG_FREERTOS_LEGACY_HOOKS */
/* This conditional compilation should use inequality to 0, not equality
@@ -3447,7 +3454,6 @@ static portTASK_FUNCTION( prvIdleTask, pvParameters )
#if ( configUSE_TICKLESS_IDLE != 0 )
{
TickType_t xExpectedIdleTime;
BaseType_t xEnteredSleep = pdFALSE;
/* It is not desirable to suspend then resume the scheduler on
each iteration of the idle task. Therefore, a preliminary
@@ -3469,7 +3475,7 @@ static portTASK_FUNCTION( prvIdleTask, pvParameters )
if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
{
traceLOW_POWER_IDLE_BEGIN();
xEnteredSleep = portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime );
portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime );
traceLOW_POWER_IDLE_END();
}
else
@@ -3483,16 +3489,7 @@ static portTASK_FUNCTION( prvIdleTask, pvParameters )
{
mtCOVERAGE_TEST_MARKER();
}
/* It might be possible to enter tickless idle again, so skip
* the fallback sleep hook if tickless idle was successful
*/
if ( !xEnteredSleep )
{
esp_vApplicationWaitiHook();
}
}
#else
esp_vApplicationWaitiHook();
#endif /* configUSE_TICKLESS_IDLE */
}
}

3
docs/Doxyfile
View File

@@ -179,7 +179,8 @@ INPUT = \
../../components/freertos/include/freertos/semphr.h \
../../components/freertos/include/freertos/timers.h \
../../components/freertos/include/freertos/event_groups.h \
../../components/freertos/include/freertos/ringbuf.h \
### Ringbuffer
../../components/esp_ringbuf/include/freertos/ringbuf.h \
### Helper functions for error codes
../../components/esp32/include/esp_err.h \
### System APIs

5
docs/en/api-reference/system/freertos_additions.rst
View File

@@ -374,9 +374,8 @@ defined Idle Hook and Tick Hook on every iteration of the Idle Task and Tick
Interrupt respectively.
Vanilla FreeRTOS hooks are referred to as **Legacy Hooks** in ESP-IDF FreeRTOS.
To enable legacy hooks, :envvar:`CONFIG_FREERTOS_LEGACY_HOOKS`,
:envvar:`CONFIG_FREERTOS_LEGACY_IDLE_HOOK`, and :envvar:`CONFIG_FREERTOS_LEGACY_TICK_HOOK`
should all be enabled in ``make menuconfig``.
To enable legacy hooks, :envvar:`CONFIG_FREERTOS_LEGACY_HOOKS` should be enabled
in ``make menuconfig``.
Due to vanilla FreeRTOS being designed for single core, ``vApplicationIdleHook()``
and ``vApplicationTickHook()`` can only be defined once. However, the ESP32 is dual core