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Merge branch 'bugfix/app_tasks_start_on_wrong_cpu' into 'master'

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Fix a scheduling bug

Fixes:
- Trivial bug where in some special cases a task could be started on the wrong core (and would run there for max 1 tick)
- More major bug causing a yield to be done with a mux held.

See merge request !523
This commit is contained in:
Jeroen Domburg
2017-02-23 11:19:37 +08:00
parent c057f067c7 ce7d0a7015
commit 7dfb1c2e97
1 changed files with 15 additions and 8 deletions
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23
components/freertos/tasks.c
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@@ -1056,11 +1056,15 @@ static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB, TaskFunction_t pxTaskCode
taskENTER_CRITICAL(&xTaskQueueMutex); taskENTER_CRITICAL(&xTaskQueueMutex);
{ {
uxCurrentNumberOfTasks++; uxCurrentNumberOfTasks++;
if( pxCurrentTCB[ xPortGetCoreID() ] == NULL ) //If the task has no affinity and nothing is scheduled on this core, just throw it this core.
//If it has affinity, throw it on the core that needs it if nothing is already scheduled there.
BaseType_t xMyCore = xCoreID;
if ( xMyCore == tskNO_AFFINITY) xMyCore = xPortGetCoreID();
if( pxCurrentTCB[ xMyCore ] == NULL )
{ {
/* There are no other tasks, or all the other tasks are in /* There are no other tasks, or all the other tasks are in
the suspended state - make this the current task. */ the suspended state - make this the current task. */
pxCurrentTCB[ xPortGetCoreID() ] = pxNewTCB; pxCurrentTCB[ xMyCore ] = pxNewTCB;
if( uxCurrentNumberOfTasks == ( UBaseType_t ) 1 ) if( uxCurrentNumberOfTasks == ( UBaseType_t ) 1 )
{ {
@@ -1121,12 +1125,13 @@ static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB, TaskFunction_t pxTaskCode
portSETUP_TCB( pxNewTCB ); portSETUP_TCB( pxNewTCB );
} }
curTCB = pxCurrentTCB[ xPortGetCoreID() ];
taskEXIT_CRITICAL(&xTaskQueueMutex); taskEXIT_CRITICAL(&xTaskQueueMutex);
if( xSchedulerRunning != pdFALSE ) if( xSchedulerRunning != pdFALSE )
{ {
taskENTER_CRITICAL(&xTaskQueueMutex); taskENTER_CRITICAL(&xTaskQueueMutex);
curTCB = pxCurrentTCB[ xPortGetCoreID() ];
/* Scheduler is running. If the created task is of a higher priority than an executing task /* Scheduler is running. If the created task is of a higher priority than an executing task
then it should run now. then it should run now.
ToDo: This only works for the current core. If a task is scheduled on an other processor, ToDo: This only works for the current core. If a task is scheduled on an other processor,
@@ -1141,7 +1146,7 @@ static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB, TaskFunction_t pxTaskCode
*/ */
if( tskCAN_RUN_HERE( xCoreID ) && curTCB->uxPriority < pxNewTCB->uxPriority ) if( tskCAN_RUN_HERE( xCoreID ) && curTCB->uxPriority < pxNewTCB->uxPriority )
{ {
taskYIELD_IF_USING_PREEMPTION(); taskYIELD_IF_USING_PREEMPTION_MUX(&xTaskQueueMutex);
} }
else if( xCoreID != xPortGetCoreID() ) { else if( xCoreID != xPortGetCoreID() ) {
taskYIELD_OTHER_CORE(xCoreID, pxNewTCB->uxPriority); taskYIELD_OTHER_CORE(xCoreID, pxNewTCB->uxPriority);
@@ -2659,11 +2664,13 @@ BaseType_t xSwitchRequired = pdFALSE;
void vTaskSwitchContext( void ) void vTaskSwitchContext( void )
{ {
tskTCB * pxTCB; //Note: This can be called from interrupt context as well as from non-interrupt context (voluntary yield). The
//This can be called both from IRQ as well as normal context, so we can't //taskENTER_CRITICAL/taskEXIT_CRITICAL is modified to work in both scenarios for the ESP32, so we can freely use
//use taskENTER_CRITICAL() here. Instead, save the irq status and disable //them here. However, in case of a voluntary yield, a nonvoluntary yield can still happen *during* the voluntary
//IRQs, so we can use taskENTER_CRITICAL_ISR and friends. //yield. Disabling interrupts using portENTER_CRITICAL_NESTED puts a stop to this and makes the rest of the code a
//bit neater.
int irqstate=portENTER_CRITICAL_NESTED(); int irqstate=portENTER_CRITICAL_NESTED();
tskTCB * pxTCB;
if( uxSchedulerSuspended[ xPortGetCoreID() ] != ( UBaseType_t ) pdFALSE ) if( uxSchedulerSuspended[ xPortGetCoreID() ] != ( UBaseType_t ) pdFALSE )
{ {
/* The scheduler is currently suspended - do not allow a context /* The scheduler is currently suspended - do not allow a context