freertos: Synchronize tasks.c functions (major changes) to v10.4.3

This commit synchronizes multiple functions that contain major differences with
upstream v10.4.3. Multi-core modifications are then reapplied to the function.

Vanilla code uses "pxTCB == pxCurrentTCB" to check whether a task is currently
running. This commit adds the following macros instead.

- taskIS_CURRENTLY_RUNNING()
- taskIS_CURRENTLY_RUNNING_ON_CORE()

The following functions have been updated to use those macros instead.

- eTaskGetState()
- vTaskPrioritySet()
- vTaskResume()

The following functions have been synchronized with upstream v10.4.3.
Multi-core modifications are then reapplied.

- vTaskSuspend()
- vTaskDelete()
- prvGetExpectedIdleTime()

components/freertos/FreeRTOS-Kernel/tasks.c

@@ -259,6 +259,15 @@ extern void esp_vApplicationIdleHook(void);
     #define taskCAN_RUN_ON_CORE( xCore, xCoreID )   ( pdTRUE )
 #endif /* configNUM_CORES > 1 */
 
+/* Check if a task is a currently running task. */
+#if ( configNUM_CORES > 1 )
+    #define taskIS_CURRENTLY_RUNNING( pxTCB )                   ( ( ( pxTCB ) == pxCurrentTCB[ 0 ] ) || ( ( pxTCB ) == pxCurrentTCB[ 1 ] ) )
+    #define taskIS_CURRENTLY_RUNNING_ON_CORE( pxTCB, xCoreID )  ( ( pxTCB ) == pxCurrentTCB[ ( xCoreID ) ] )
+#else
+    #define taskIS_CURRENTLY_RUNNING( pxTCB )                   ( ( pxTCB ) == pxCurrentTCB[ 0 ] )
+    #define taskIS_CURRENTLY_RUNNING_ON_CORE( pxTCB, xCoreID )  taskIS_CURRENTLY_RUNNING( ( pxTCB ) )
+#endif /* configNUM_CORES > 1 */
+
 /*
  * Several functions take a TaskHandle_t parameter that can optionally be NULL,
  * where NULL is used to indicate that the handle of the currently executing
@@ -1363,14 +1372,17 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB )
     void vTaskDelete( TaskHandle_t xTaskToDelete )
     {
         TCB_t * pxTCB;
-        TCB_t * curTCB;
+        BaseType_t xFreeNow;
-        BaseType_t core;
-        BaseType_t xFreeNow = 0;
 
         taskENTER_CRITICAL( &xKernelLock );
         {
-            core = xPortGetCoreID();
+            BaseType_t xCurCoreID;
-            curTCB = pxCurrentTCB[core];
+            #if ( configNUM_CORES > 1 )
+                xCurCoreID = xPortGetCoreID();
+            #else
+                xCurCoreID = 0;
+                ( void ) xCurCoreID;
+            #endif
 
             /* If null is passed in here then it is the calling task that is
              * being deleted. */
@@ -1402,12 +1414,19 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB )
              * not return. */
             uxTaskNumber++;
 
-            if( pxTCB == curTCB ||
+            /*
-                /* in SMP, we also can't immediately delete the task active on the other core */
+             * We cannot immediately a task that is
-                (configNUM_CORES > 1 && pxTCB == pxCurrentTCB[ !core ]) ||
+             * - Currently running on either core
-                /* ... and we can't delete a non-running task pinned to the other core, as
+             * - If the task is not currently running but is pinned to the other (due to FPU cleanup)
-                   FPU cleanup has to happen on the same core */
+             * Todo: Allow deletion of tasks pinned to other core (IDF-5803)
-                (configNUM_CORES > 1 && pxTCB->xCoreID == (!core)) )
+             */
+            #if ( configNUM_CORES > 1 )
+                xFreeNow = ( taskIS_CURRENTLY_RUNNING( pxTCB ) || ( pxTCB->xCoreID == !xCurCoreID ) ) ? pdFALSE : pdTRUE;
+            #else
+                xFreeNow = ( taskIS_CURRENTLY_RUNNING( pxTCB ) ) ? pdFALSE : pdTRUE;
+            #endif /* configNUM_CORES > 1 */
+
+            if( xFreeNow == pdFALSE )
             {
                 /* A task is deleting itself.  This cannot complete within the
                  * task itself, as a context switch to another task is required.
@@ -1421,43 +1440,47 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB )
                  * check the xTasksWaitingTermination list. */
                 ++uxDeletedTasksWaitingCleanUp;
 
+                /* Call the delete hook before portPRE_TASK_DELETE_HOOK() as
+                 * portPRE_TASK_DELETE_HOOK() does not return in the Win32 port. */
+                traceTASK_DELETE( pxTCB );
+
                 /* 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[core] );
+                portPRE_TASK_DELETE_HOOK( pxTCB, &xYieldPending[ xCurCoreID ] );
 
-                if (configNUM_CORES > 1 && pxTCB == pxCurrentTCB[ !core ])
+                #if ( configNUM_CORES > 1 )
-                {
+                    if( taskIS_CURRENTLY_RUNNING_ON_CORE( pxTCB, !xCurCoreID ) )
-                    /* SMP case of deleting a task running on a different core. Same issue
+                    {
-                    as a task deleting itself, but we need to send a yield to this task now
+                        /* SMP case of deleting a task running on a different core. Same issue
-                    before we release xKernelLock.
+                        as a task deleting itself, but we need to send a yield to this task now
+                        before we release xKernelLock.
 
-                    Specifically there is a case where the other core may already be spinning on
+                        Specifically there is a case where the other core may already be spinning on
-                    xKernelLock waiting to go into a blocked state. A check is added in
+                        xKernelLock waiting to go into a blocked state. A check is added in
-                    prvAddCurrentTaskToDelayedList() to prevent it from removing itself from
+                        prvAddCurrentTaskToDelayedList() to prevent it from removing itself from
-                    xTasksWaitingTermination list in this case (instead it will immediately
+                        xTasksWaitingTermination list in this case (instead it will immediately
-                    release xKernelLock again and be yielded before the FreeRTOS function
+                        release xKernelLock again and be yielded before the FreeRTOS function
-                    returns.) */
+                        returns.) */
-                    vPortYieldOtherCore( !core );
+                        vPortYieldOtherCore( !xCurCoreID );
-                }
+                    }
+                #endif /* configNUM_CORES > 1 */
             }
             else
             {
                 --uxCurrentNumberOfTasks;
-                xFreeNow = pdTRUE;
+                traceTASK_DELETE( pxTCB );
 
                 /* Reset the next expected unblock time in case it referred to
                  * the task that has just been deleted. */
                 prvResetNextTaskUnblockTime();
             }
-
-            traceTASK_DELETE( pxTCB );
         }
         taskEXIT_CRITICAL( &xKernelLock );
 
-        if(xFreeNow == pdTRUE) {
+        if( xFreeNow == pdTRUE ) {
             #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 ) && ( configTHREAD_LOCAL_STORAGE_DELETE_CALLBACKS )
                 prvDeleteTLS( pxTCB );
             #endif
@@ -1469,7 +1492,8 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB )
          * been deleted. */
         if( xSchedulerRunning != pdFALSE )
         {
-            if( pxTCB == curTCB )
+            taskENTER_CRITICAL( &xKernelLock );
+            if( taskIS_CURRENTLY_RUNNING_ON_CORE( pxTCB, xPortGetCoreID() ) )
             {
                 configASSERT( xTaskGetSchedulerState() != taskSCHEDULER_SUSPENDED );
                 portYIELD_WITHIN_API();
@@ -1478,6 +1502,7 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB )
             {
                 mtCOVERAGE_TEST_MARKER();
             }
+            taskEXIT_CRITICAL( &xKernelLock );
         }
     }
 
@@ -1649,18 +1674,11 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB )
         configASSERT( pxTCB );
 
         taskENTER_CRITICAL( &xKernelLock );     //Need critical section incase either core context switches in between
-        if( pxTCB == pxCurrentTCB[xPortGetCoreID()])
+        if( taskIS_CURRENTLY_RUNNING( pxTCB ) )
         {
             /* The task calling this function is querying its own state. */
             eReturn = eRunning;
         }
-        #if (configNUM_CORES > 1)
-        else if (pxTCB == pxCurrentTCB[!xPortGetCoreID()])
-        {
-            /* The task calling this function is querying its own state. */
-            eReturn = eRunning;
-        }
-        #endif
         else
         {
             pxStateList = listLIST_ITEM_CONTAINER( &( pxTCB->xStateListItem ) );
@@ -1847,7 +1865,7 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB )
                  * priority than the calling task. */
                 if( uxNewPriority > uxCurrentBasePriority )
                 {
-                    if( pxTCB != pxCurrentTCB[ xPortGetCoreID() ] )
+                    if( !taskIS_CURRENTLY_RUNNING( pxTCB ) )
                     {
                         /* The priority of a task other than the currently
                          * running task is being raised.  Is the priority being
@@ -1868,13 +1886,22 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB )
                          * priority task able to run so no yield is required. */
                     }
                 }
-                else if( pxTCB == pxCurrentTCB[ xPortGetCoreID() ] )
+                else if( taskIS_CURRENTLY_RUNNING_ON_CORE( pxTCB, 0 ) )
                 {
                     /* 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;
                 }
+                #if ( configNUM_CORES > 1 )
+                    else if( taskIS_CURRENTLY_RUNNING_ON_CORE( pxTCB, 1 ) )
+                    {
+                        /* Setting the priority of the running task on the other
+                         * core down means there may now be another task of
+                         * higher priority that is ready to execute. */
+                        vPortYieldOtherCore( 1 );
+                    }
+                #endif /* configNUM_CORES > 1 */
                 else
                 {
                     /* Setting the priority of any other task down does not
@@ -1973,7 +2000,6 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB )
     void vTaskSuspend( TaskHandle_t xTaskToSuspend )
     {
         TCB_t * pxTCB;
-        TCB_t * curTCB;
 
         taskENTER_CRITICAL( &xKernelLock );
         {
@@ -2005,7 +2031,6 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB )
             }
 
             vListInsertEnd( &xSuspendedTaskList, &( pxTCB->xStateListItem ) );
-            curTCB = pxCurrentTCB[ xPortGetCoreID() ];
 
             #if ( configUSE_TASK_NOTIFICATIONS == 1 )
                 {
@@ -2022,76 +2047,70 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB )
                     }
                 }
             #endif /* if ( configUSE_TASK_NOTIFICATIONS == 1 ) */
-        }
-        taskEXIT_CRITICAL( &xKernelLock );
 
-        if( xSchedulerRunning != pdFALSE )
-        {
-            /* Reset the next expected unblock time in case it referred to the
-             * task that is now in the Suspended state. */
-            taskENTER_CRITICAL( &xKernelLock );
-            {
-                prvResetNextTaskUnblockTime();
-            }
-            taskEXIT_CRITICAL( &xKernelLock );
-        }
-        else
-        {
-            mtCOVERAGE_TEST_MARKER();
-        }
-
-        if( pxTCB == curTCB )
-        {
             if( xSchedulerRunning != pdFALSE )
             {
-                /* The current task has just been suspended. */
+                /* Reset the next expected unblock time in case it referred to the
-                taskENTER_CRITICAL( &xKernelLock );
-                BaseType_t suspended = uxSchedulerSuspended[xPortGetCoreID()];
-                taskEXIT_CRITICAL( &xKernelLock );
-
-                configASSERT( suspended == 0 );
-                (void)suspended;
-                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 ) /*lint !e931 Right has no side effect, just volatile. */
-                {
-                    /* 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( &xKernelLock );
-                    pxCurrentTCB[ xPortGetCoreID() ] = NULL;
-                    taskEXIT_CRITICAL( &xKernelLock );
-                }
-                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( &xKernelLock );
+                prvResetNextTaskUnblockTime();
-                {
-                    prvResetNextTaskUnblockTime();
-                }
-                taskEXIT_CRITICAL( &xKernelLock );
             }
             else
             {
                 mtCOVERAGE_TEST_MARKER();
             }
+
+            if( taskIS_CURRENTLY_RUNNING_ON_CORE( pxTCB, xPortGetCoreID() ) )
+            {
+                if( xSchedulerRunning != pdFALSE )
+                {
+                    /* The current task has just been suspended. */
+                    configASSERT( uxSchedulerSuspended[ xPortGetCoreID() ] == 0 );
+                    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 ) /*lint !e931 Right has no side effect, just volatile. */
+                    {
+                        /* 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. */
+                        pxCurrentTCB[ xPortGetCoreID() ] = NULL;
+                    }
+                    else
+                    {
+                        vTaskSwitchContext();
+                    }
+                }
+            }
+            #if ( configNUM_CORES > 1 )
+                else if( taskIS_CURRENTLY_RUNNING_ON_CORE( pxTCB, !xPortGetCoreID() ) )
+                {
+                    /* The other core's current task has just been suspended */
+                    if( xSchedulerRunning != pdFALSE )
+                    {
+                        vPortYieldOtherCore( !xPortGetCoreID() );
+                    }
+                    else
+                    {
+                        /* The scheduler is not running, but the task that was pointed
+                         * to by pxCurrentTCB[ otherCore ] has just been suspended.
+                         * We simply set the pxCurrentTCB[ otherCore ] to NULL for now.
+                         * Todo: Update vTaskSwitchContext() to be runnable on
+                         * behalf of the other core. */
+                        pxCurrentTCB[ !xPortGetCoreID() ] = NULL;
+                    }
+                }
+            #endif /* configNUM_CORES > 1 */
+            else
+            {
+                mtCOVERAGE_TEST_MARKER();
+            }
         }
+        taskEXIT_CRITICAL( &xKernelLock );
     }
 
 #endif /* INCLUDE_vTaskSuspend */
@@ -2157,7 +2176,7 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB )
         {
             /* The parameter cannot be NULL as it is impossible to resume the
              * currently executing task. */
-            if( ( pxTCB != pxCurrentTCB[xPortGetCoreID()] ) && ( pxTCB != NULL ) )
+            if( !taskIS_CURRENTLY_RUNNING( pxTCB ) && ( pxTCB != NULL ) )
             {
                 if( prvTaskIsTaskSuspended( pxTCB ) != pdFALSE )
                 {
@@ -2457,47 +2476,45 @@ void vTaskSuspendAll( void )
 
 #if ( configUSE_TICKLESS_IDLE != 0 )
 
-#if ( configNUM_CORES > 1 )
-
-    static BaseType_t xHaveReadyTasks( void )
-    {
-        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;
-    }
-
-#endif // configNUM_CORES > 1
-
     static TickType_t prvGetExpectedIdleTime( void )
     {
-    TickType_t xReturn;
+        TickType_t xReturn;
-
+        UBaseType_t uxHigherPriorityReadyTasks = pdFALSE;
 
+        /* We need a critical section here as we are about to access kernel data structures */
         taskENTER_CRITICAL( &xKernelLock );
+
+        /* uxHigherPriorityReadyTasks takes care of the case where
+         * configUSE_PREEMPTION is 0, so there may be tasks above the idle priority
+         * task that are in the Ready state, even though the idle task is
+         * running. */
+        #if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
+            {
+                if( uxTopReadyPriority > tskIDLE_PRIORITY )
+                {
+                    uxHigherPriorityReadyTasks = pdTRUE;
+                }
+            }
+        #else
+            {
+                const UBaseType_t uxLeastSignificantBit = ( UBaseType_t ) 0x01;
+
+                /* When port optimised task selection is used the uxTopReadyPriority
+                 * variable is used as a bit map.  If bits other than the least
+                 * significant bit are set then there are tasks that have a priority
+                 * above the idle priority that are in the Ready state.  This takes
+                 * care of the case where the co-operative scheduler is in use. */
+                if( uxTopReadyPriority > uxLeastSignificantBit )
+                {
+                    uxHigherPriorityReadyTasks = pdTRUE;
+                }
+            }
+        #endif /* if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 ) */
+
         if( pxCurrentTCB[ xPortGetCoreID() ]->uxPriority > tskIDLE_PRIORITY )
         {
             xReturn = 0;
         }
-#if configNUM_CORES > 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 // configNUM_CORES > 1
         else if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > configNUM_CORES )
         {
             /* There are other idle priority tasks in the ready state.  If
@@ -2505,10 +2522,18 @@ void vTaskSuspendAll( void )
              * processed. */
             xReturn = 0;
         }
+        else if( uxHigherPriorityReadyTasks != pdFALSE )
+        {
+            /* There are tasks in the Ready state that have a priority above the
+             * idle priority.  This path can only be reached if
+             * configUSE_PREEMPTION is 0. */
+            xReturn = 0;
+        }
         else
         {
             xReturn = xNextTaskUnblockTime - xTickCount;
         }
+
         taskEXIT_CRITICAL( &xKernelLock );
 
         return xReturn;