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freertos: Inline vPortCPUAcquireMutex/vPortCPUReleaseMutex into implementations

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Further improves performance:
No contention -> 134 cycles
Recursion -> 117 cycles
Contention -> 323 cycles
This commit is contained in:
Angus Gratton
2017-02-16 16:56:06 +11:00
committed by Angus Gratton
parent db58a2732b
commit 5c996a1b29
4 changed files with 149 additions and 116 deletions
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4
components/freertos/include/freertos/portmacro.h
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@@ -199,8 +199,6 @@ void vPortCPUInitializeMutex(portMUX_TYPE *mux);
#ifdef CONFIG_FREERTOS_PORTMUX_DEBUG #ifdef CONFIG_FREERTOS_PORTMUX_DEBUG
void vPortCPUAcquireMutex(portMUX_TYPE *mux, const char *function, int line); void vPortCPUAcquireMutex(portMUX_TYPE *mux, const char *function, int line);
portBASE_TYPE vPortCPUReleaseMutex(portMUX_TYPE *mux, const char *function, int line); portBASE_TYPE vPortCPUReleaseMutex(portMUX_TYPE *mux, const char *function, int line);
void vPortCPUAcquireMutexIntsDisabled(portMUX_TYPE *mux, const char *function, int line);
portBASE_TYPE vPortCPUReleaseMutexIntsDisabled(portMUX_TYPE *mux, const char *function, int line);
void vTaskEnterCritical( portMUX_TYPE *mux, const char *function, int line ); void vTaskEnterCritical( portMUX_TYPE *mux, const char *function, int line );
void vTaskExitCritical( portMUX_TYPE *mux, const char *function, int line ); void vTaskExitCritical( portMUX_TYPE *mux, const char *function, int line );
#define portENTER_CRITICAL(mux) vTaskEnterCritical(mux, __FUNCTION__, __LINE__) #define portENTER_CRITICAL(mux) vTaskEnterCritical(mux, __FUNCTION__, __LINE__)
@@ -212,8 +210,6 @@ void vTaskExitCritical( portMUX_TYPE *mux );
void vTaskEnterCritical( portMUX_TYPE *mux ); void vTaskEnterCritical( portMUX_TYPE *mux );
void vPortCPUAcquireMutex(portMUX_TYPE *mux); void vPortCPUAcquireMutex(portMUX_TYPE *mux);
void vPortCPUReleaseMutex(portMUX_TYPE *mux); void vPortCPUReleaseMutex(portMUX_TYPE *mux);
void vPortCPUAcquireMutexIntsDisabled(portMUX_TYPE *mux);
void vPortCPUReleaseMutexIntsDisabled(portMUX_TYPE *mux);
#define portENTER_CRITICAL(mux) vTaskEnterCritical(mux) #define portENTER_CRITICAL(mux) vTaskEnterCritical(mux)
#define portEXIT_CRITICAL(mux) vTaskExitCritical(mux) #define portEXIT_CRITICAL(mux) vTaskExitCritical(mux)

113
components/freertos/port.c
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@@ -307,6 +307,7 @@ void vPortCPUInitializeMutex(portMUX_TYPE *mux) {
mux->count=0; mux->count=0;
} }
#include "portmux_impl.h"
/* /*
* For kernel use: Acquire a per-CPU mux. Spinlocks, so don't hold on to these muxes for too long. * For kernel use: Acquire a per-CPU mux. Spinlocks, so don't hold on to these muxes for too long.
@@ -325,72 +326,6 @@ void vPortCPUAcquireMutex(portMUX_TYPE *mux) {
} }
#endif #endif
/* XOR one core ID with this value to get the other core ID */
#define CORE_ID_XOR_SWAP (CORE_ID_PRO ^ CORE_ID_APP)
#ifdef CONFIG_FREERTOS_PORTMUX_DEBUG
void vPortCPUAcquireMutexIntsDisabled(portMUX_TYPE *mux, const char *fnName, int line) {
#else
void vPortCPUAcquireMutexIntsDisabled(portMUX_TYPE *mux) {
#endif
#if !CONFIG_FREERTOS_UNICORE
uint32_t res;
portBASE_TYPE coreID, otherCoreID;
#ifdef CONFIG_FREERTOS_PORTMUX_DEBUG
uint32_t timeout=(1<<16);
uint32_t owner = mux->owner;
if (owner != portMUX_FREE_VAL && owner != CORE_ID_PRO && owner != CORE_ID_APP) {
ets_printf("ERROR: vPortCPUAcquireMutex: mux %p is uninitialized (0x%X)! Called from %s line %d.\n", mux, owner, fnName, line);
mux->owner=portMUX_FREE_VAL;
}
#endif
/* Spin until we own the core */
RSR(PRID, coreID);
/* Note: coreID is the full 32 bit core ID (CORE_ID_PRO/CORE_ID_APP),
not the 0/1 value returned by xPortGetCoreID()
*/
otherCoreID = CORE_ID_XOR_SWAP ^ coreID;
do {
/* mux->owner should be one of portMUX_FREE_VAL, CORE_ID_PRO,
CORE_ID_APP:
- If portMUX_FREE_VAL, we want to atomically set to 'coreID'.
- If "our" coreID, we can drop through immediately.
- If "otherCoreID", we spin here.
*/
res = coreID;
uxPortCompareSet(&mux->owner, portMUX_FREE_VAL, &res);
#ifdef CONFIG_FREERTOS_PORTMUX_DEBUG
timeout--;
if (timeout == 0) {
ets_printf("Timeout on mux! last non-recursive lock %s line %d, curr %s line %d\n", mux->lastLockedFn, mux->lastLockedLine, fnName, line);
ets_printf("Owner 0x%x count %d\n", mux->owner, mux->count);
}
#endif
} while (res == otherCoreID);
assert(res == coreID || res == portMUX_FREE_VAL); /* any other value implies memory corruption or uninitialized mux */
assert((res == portMUX_FREE_VAL) == (mux->count == 0)); /* we're first to lock iff count is zero */
assert(mux->count < 0xFF); /* Bad count value implies memory corruption */
/* now we own it, we can increment the refcount */
mux->count++;
#ifdef CONFIG_FREERTOS_PORTMUX_DEBUG
if (res==portMUX_FREE_VAL) { //initial lock
mux->lastLockedFn=fnName;
mux->lastLockedLine=line;
} else {
ets_printf("Recursive lock: count=%d last non-recursive lock %s line %d, curr %s line %d\n", mux->count-1,
mux->lastLockedFn, mux->lastLockedLine, fnName, line);
}
#endif
#endif
}
/* /*
* For kernel use: Release a per-CPU mux * For kernel use: Release a per-CPU mux
@@ -411,58 +346,12 @@ void vPortCPUReleaseMutex(portMUX_TYPE *mux) {
} }
#endif #endif
#ifdef CONFIG_FREERTOS_PORTMUX_DEBUG
void vPortCPUReleaseMutexIntsDisabled(portMUX_TYPE *mux, const char *fnName, int line) {
#else
void vPortCPUReleaseMutexIntsDisabled(portMUX_TYPE *mux) {
#endif
#if !CONFIG_FREERTOS_UNICORE
portBASE_TYPE coreID;
#ifdef CONFIG_FREERTOS_PORTMUX_DEBUG
const char *lastLockedFn=mux->lastLockedFn;
int lastLockedLine=mux->lastLockedLine;
mux->lastLockedFn=fnName;
mux->lastLockedLine=line;
uint32_t owner = mux->owner;
if (owner != portMUX_FREE_VAL && owner != CORE_ID_PRO && owner != CORE_ID_APP) {
ets_printf("ERROR: vPortCPUReleaseMutex: mux %p is invalid (0x%x)!\n", mux, mux->owner);
}
#endif
#if CONFIG_FREERTOS_PORTMUX_DEBUG || !defined(NDEBUG)
RSR(PRID, coreID);
#endif
#ifdef CONFIG_FREERTOS_PORTMUX_DEBUG
if (coreID != mux->owner) {
ets_printf("ERROR: vPortCPUReleaseMutex: mux %p was already unlocked!\n", mux);
ets_printf("Last non-recursive unlock %s line %d, curr unlock %s line %d\n", lastLockedFn, lastLockedLine, fnName, line);
}
#endif
assert(coreID == mux->owner); // This is a mutex we didn't lock, or it's corrupt
assert(mux->count > 0); // Indicates memory corruption
assert(mux->count < 0x100); // Indicates memory corruption
mux->count--;
if(mux->count == 0) {
mux->owner = portMUX_FREE_VAL;
}
#ifdef CONFIG_FREERTOS_PORTMUX_DEBUG_RECURSIVE
else {
ets_printf("Recursive unlock: count=%d last locked %s line %d, curr %s line %d\n", mux->count, lastLockedFn, lastLockedLine, fnName, line);
}
#endif
#endif //!CONFIG_FREERTOS_UNICORE
}
#if CONFIG_FREERTOS_BREAK_ON_SCHEDULER_START_JTAG #if CONFIG_FREERTOS_BREAK_ON_SCHEDULER_START_JTAG
void vPortFirstTaskHook(TaskFunction_t function) { void vPortFirstTaskHook(TaskFunction_t function) {
esp_set_breakpoint_if_jtag(function); esp_set_breakpoint_if_jtag(function);
} }
#endif #endif
void vPortSetStackWatchpoint( void* pxStackStart ) { void vPortSetStackWatchpoint( void* pxStackStart ) {
//Set watchpoint 1 to watch the last 32 bytes of the stack. //Set watchpoint 1 to watch the last 32 bytes of the stack.
//Unfortunately, the Xtensa watchpoints can't set a watchpoint on a random [base - base+n] region because //Unfortunately, the Xtensa watchpoints can't set a watchpoint on a random [base - base+n] region because

147
components/freertos/portmux_impl.h Normal file
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@@ -0,0 +1,147 @@
/*
Copyright (C) 2016-2017 Espressif Shanghai PTE LTD
Copyright (C) 2015 Real Time Engineers Ltd.
All rights reserved
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
*/
/* This header exists for performance reasons, in order to inline the
implementation of vPortCPUAcquireMutexIntsDisabled and
vPortCPUReleaseMutexIntsDisabled into the
vTaskEnterCritical/vTaskExitCritical functions as well as the
vPortCPUAcquireMutex/vPortCPUReleaseMutex implementations.
Normally this kind of performance hack is over the top, but these
functions get used a great deal by FreeRTOS internals.
It should be #included by freertos port.c or tasks.c, in esp-idf.
*/
#include "soc/cpu.h"
/* XOR one core ID with this value to get the other core ID */
#define CORE_ID_XOR_SWAP (CORE_ID_PRO ^ CORE_ID_APP)
#ifdef CONFIG_FREERTOS_PORTMUX_DEBUG
static inline void vPortCPUAcquireMutexIntsDisabled(portMUX_TYPE *mux, const char *fnName, int line) {
#else
static inline void vPortCPUAcquireMutexIntsDisabled(portMUX_TYPE *mux) {
#endif
#if !CONFIG_FREERTOS_UNICORE
uint32_t res;
portBASE_TYPE coreID, otherCoreID;
#ifdef CONFIG_FREERTOS_PORTMUX_DEBUG
uint32_t timeout=(1<<16);
uint32_t owner = mux->owner;
if (owner != portMUX_FREE_VAL && owner != CORE_ID_PRO && owner != CORE_ID_APP) {
ets_printf("ERROR: vPortCPUAcquireMutex: mux %p is uninitialized (0x%X)! Called from %s line %d.\n", mux, owner, fnName, line);
mux->owner=portMUX_FREE_VAL;
}
#endif
/* Spin until we own the core */
RSR(PRID, coreID);
/* Note: coreID is the full 32 bit core ID (CORE_ID_PRO/CORE_ID_APP),
not the 0/1 value returned by xPortGetCoreID()
*/
otherCoreID = CORE_ID_XOR_SWAP ^ coreID;
do {
/* mux->owner should be one of portMUX_FREE_VAL, CORE_ID_PRO,
CORE_ID_APP:
- If portMUX_FREE_VAL, we want to atomically set to 'coreID'.
- If "our" coreID, we can drop through immediately.
- If "otherCoreID", we spin here.
*/
res = coreID;
uxPortCompareSet(&mux->owner, portMUX_FREE_VAL, &res);
#ifdef CONFIG_FREERTOS_PORTMUX_DEBUG
timeout--;
if (timeout == 0) {
ets_printf("Timeout on mux! last non-recursive lock %s line %d, curr %s line %d\n", mux->lastLockedFn, mux->lastLockedLine, fnName, line);
ets_printf("Owner 0x%x count %d\n", mux->owner, mux->count);
}
#endif
} while (res == otherCoreID);
assert(res == coreID || res == portMUX_FREE_VAL); /* any other value implies memory corruption or uninitialized mux */
assert((res == portMUX_FREE_VAL) == (mux->count == 0)); /* we're first to lock iff count is zero */
assert(mux->count < 0xFF); /* Bad count value implies memory corruption */
/* now we own it, we can increment the refcount */
mux->count++;
#ifdef CONFIG_FREERTOS_PORTMUX_DEBUG
if (res==portMUX_FREE_VAL) { //initial lock
mux->lastLockedFn=fnName;
mux->lastLockedLine=line;
} else {
ets_printf("Recursive lock: count=%d last non-recursive lock %s line %d, curr %s line %d\n", mux->count-1,
mux->lastLockedFn, mux->lastLockedLine, fnName, line);
}
#endif
#endif
}
#ifdef CONFIG_FREERTOS_PORTMUX_DEBUG
static inline void vPortCPUReleaseMutexIntsDisabled(portMUX_TYPE *mux, const char *fnName, int line) {
#else
static inline void vPortCPUReleaseMutexIntsDisabled(portMUX_TYPE *mux) {
#endif
#if !CONFIG_FREERTOS_UNICORE
portBASE_TYPE coreID;
#ifdef CONFIG_FREERTOS_PORTMUX_DEBUG
const char *lastLockedFn=mux->lastLockedFn;
int lastLockedLine=mux->lastLockedLine;
mux->lastLockedFn=fnName;
mux->lastLockedLine=line;
uint32_t owner = mux->owner;
if (owner != portMUX_FREE_VAL && owner != CORE_ID_PRO && owner != CORE_ID_APP) {
ets_printf("ERROR: vPortCPUReleaseMutex: mux %p is invalid (0x%x)!\n", mux, mux->owner);
}
#endif
#if CONFIG_FREERTOS_PORTMUX_DEBUG || !defined(NDEBUG)
RSR(PRID, coreID);
#endif
#ifdef CONFIG_FREERTOS_PORTMUX_DEBUG
if (coreID != mux->owner) {
ets_printf("ERROR: vPortCPUReleaseMutex: mux %p was already unlocked!\n", mux);
ets_printf("Last non-recursive unlock %s line %d, curr unlock %s line %d\n", lastLockedFn, lastLockedLine, fnName, line);
}
#endif
assert(coreID == mux->owner); // This is a mutex we didn't lock, or it's corrupt
assert(mux->count > 0); // Indicates memory corruption
assert(mux->count < 0x100); // Indicates memory corruption
mux->count--;
if(mux->count == 0) {
mux->owner = portMUX_FREE_VAL;
}
#ifdef CONFIG_FREERTOS_PORTMUX_DEBUG_RECURSIVE
else {
ets_printf("Recursive unlock: count=%d last locked %s line %d, curr %s line %d\n", mux->count, lastLockedFn, lastLockedLine, fnName, line);
}
#endif
#endif //!CONFIG_FREERTOS_UNICORE
}

1
components/freertos/tasks.c
View File

@@ -4103,6 +4103,7 @@ For ESP32 FreeRTOS, vTaskEnterCritical implements both portENTER_CRITICAL and po
#if ( portCRITICAL_NESTING_IN_TCB == 1 ) #if ( portCRITICAL_NESTING_IN_TCB == 1 )
#include "portmux_impl.h"
#ifdef CONFIG_FREERTOS_PORTMUX_DEBUG #ifdef CONFIG_FREERTOS_PORTMUX_DEBUG
void vTaskEnterCritical( portMUX_TYPE *mux, const char *function, int line ) void vTaskEnterCritical( portMUX_TYPE *mux, const char *function, int line )