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feat(freertos/smp): Add ESP-IDF specific modifications

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- Add ESP-IDF specific modifications to FreeRTOS-Kernel-SMP source code
- Update IDF addition source files to support V11 kernel
This commit is contained in:
Darian Leung
2024-02-02 23:33:27 +08:00
parent 421dab29fa
commit 888678d102
5 changed files with 77 additions and 42 deletions
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25
components/freertos/FreeRTOS-Kernel-SMP/include/freertos/FreeRTOS.h
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@@ -3262,4 +3262,29 @@ typedef StaticStreamBuffer_t StaticMessageBuffer_t;
#endif
/* *INDENT-ON* */
/*-----------------------------------------------------------
* IDF Compatibility
*----------------------------------------------------------*/
#ifdef ESP_PLATFORM
/*
* Include ESP-IDF API additions implicitly for compatibility reasons.
*
* ESP-IDF API additions were previously added directly to FreeRTOS headers
* (e.g., task.h, queue.h). These APIs have now been moved to
* idf_additions.h.
*
* To ensure there are no breaking changes, we include idf_additions.h
* implicitly here so that those API additions are still accessible. Given
* that FreeRTOS.h must be included first before calling any FreeRTOS API,
* any existing source code can continue using these relocated APIs without
* any additional header inclusions via this implicit inclusion.
*
* Todo: Deprecate this implicit inclusion by ESP-IDF v6.0 (IDF-8126)
*/
#include "freertos/idf_additions.h"
#endif /* ESP_PLATFORM */
#endif /* INC_FREERTOS_H */

4
components/freertos/FreeRTOS-Kernel-SMP/include/freertos/task.h
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@@ -3578,9 +3578,7 @@ TaskHandle_t xTaskGetCurrentTaskHandle( void ) PRIVILEGED_FUNCTION;
/*
* Return the handle of the task running on specified core.
*/
#if ( configNUMBER_OF_CORES > 1 )
TaskHandle_t xTaskGetCurrentTaskHandleForCore( BaseType_t xCoreID ) PRIVILEGED_FUNCTION;
#endif
TaskHandle_t xTaskGetCurrentTaskHandleForCore( BaseType_t xCoreID ) PRIVILEGED_FUNCTION;
/*
* Shortcut used by the queue implementation to prevent unnecessary call to

47
components/freertos/FreeRTOS-Kernel-SMP/tasks.c
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@@ -483,7 +483,16 @@ PRIVILEGED_DATA static List_t xPendingReadyList; /**< Ta
PRIVILEGED_DATA static volatile UBaseType_t uxCurrentNumberOfTasks = ( UBaseType_t ) 0U;
PRIVILEGED_DATA static volatile TickType_t xTickCount = ( TickType_t ) configINITIAL_TICK_COUNT;
PRIVILEGED_DATA static volatile UBaseType_t uxTopReadyPriority = tskIDLE_PRIORITY;
PRIVILEGED_DATA static volatile BaseType_t xSchedulerRunning = pdFALSE;
#if ( ( ESP_PLATFORM == 1 ) && ( configNUM_CORES > 1 ) )
/*
* Workaround for non-thread safe multi-core OS startup (see IDF-4524)
*/
PRIVILEGED_DATA static volatile BaseType_t xSchedulerRunningPerCore[ configNUM_CORES ] = { pdFALSE };
#define xSchedulerRunning xSchedulerRunningPerCore[ portGET_CORE_ID() ]
#else // ( ESP_PLATFORM == 1 ) && ( configNUM_CORES > 1 )
PRIVILEGED_DATA static volatile BaseType_t xSchedulerRunning = pdFALSE;
#endif // ( ESP_PLATFORM == 1 ) && ( configNUM_CORES > 1 )
PRIVILEGED_DATA static volatile TickType_t xPendedTicks = ( TickType_t ) 0U;
PRIVILEGED_DATA static volatile BaseType_t xYieldPendings[ configNUMBER_OF_CORES ] = { pdFALSE };
PRIVILEGED_DATA static volatile BaseType_t xNumOfOverflows = ( BaseType_t ) 0;
@@ -6552,24 +6561,28 @@ static void prvResetNextTaskUnblockTime( void )
return xReturn;
}
TaskHandle_t xTaskGetCurrentTaskHandleForCore( BaseType_t xCoreID )
{
TaskHandle_t xReturn = NULL;
traceENTER_xTaskGetCurrentTaskHandleForCore( xCoreID );
if( taskVALID_CORE_ID( xCoreID ) != pdFALSE )
{
xReturn = pxCurrentTCBs[ xCoreID ];
}
traceRETURN_xTaskGetCurrentTaskHandleForCore( xReturn );
return xReturn;
}
#endif /* #if ( configNUMBER_OF_CORES == 1 ) */
TaskHandle_t xTaskGetCurrentTaskHandleForCore( BaseType_t xCoreID )
{
TaskHandle_t xReturn = NULL;
traceENTER_xTaskGetCurrentTaskHandleForCore( xCoreID );
if( taskVALID_CORE_ID( xCoreID ) != pdFALSE )
{
#if ( configNUMBER_OF_CORES == 1 )
xReturn = pxCurrentTCB;
#else /* #if ( configNUMBER_OF_CORES == 1 ) */
xReturn = pxCurrentTCBs[ xCoreID ];
#endif /* #if ( configNUMBER_OF_CORES == 1 ) */
}
traceRETURN_xTaskGetCurrentTaskHandleForCore( xReturn );
return xReturn;
}
#endif /* ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) */
/*-----------------------------------------------------------*/

26
components/freertos/esp_additions/freertos_tasks_c_additions.h
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@@ -440,7 +440,7 @@ BaseType_t xTaskGetCoreID( TaskHandle_t xTask )
}
/*----------------------------------------------------------*/
#if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
#if ( ( !CONFIG_FREERTOS_SMP ) && ( INCLUDE_xTaskGetIdleTaskHandle == 1 ) )
TaskHandle_t xTaskGetIdleTaskHandleForCore( BaseType_t xCoreID )
{
@@ -451,10 +451,10 @@ BaseType_t xTaskGetCoreID( TaskHandle_t xTask )
return xIdleTaskHandle[ xCoreID ];
}
#endif /* INCLUDE_xTaskGetIdleTaskHandle */
#endif /* ( ( !CONFIG_FREERTOS_SMP ) && ( INCLUDE_xTaskGetIdleTaskHandle == 1 ) ) */
/*----------------------------------------------------------*/
#if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )
#if ( ( !CONFIG_FREERTOS_SMP ) && ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) )
TaskHandle_t xTaskGetCurrentTaskHandleForCore( BaseType_t xCoreID )
{
@@ -478,7 +478,7 @@ BaseType_t xTaskGetCoreID( TaskHandle_t xTask )
return xReturn;
}
#endif /* ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) */
#endif /* ( ( !CONFIG_FREERTOS_SMP ) && ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) ) */
/*----------------------------------------------------------*/
#if ( !CONFIG_FREERTOS_SMP && ( configGENERATE_RUN_TIME_STATS == 1 ) && ( INCLUDE_xTaskGetIdleTaskHandle == 1 ) )
@@ -743,7 +743,11 @@ uint8_t * pxTaskGetStackStart( TaskHandle_t xTask )
if( xYieldRequired != pdFALSE )
{
taskYIELD_IF_USING_PREEMPTION();
#if CONFIG_FREERTOS_SMP
taskYIELD_TASK_CORE_IF_USING_PREEMPTION( pxTCB );
#else
taskYIELD_IF_USING_PREEMPTION();
#endif
}
}
}
@@ -849,16 +853,8 @@ uint8_t * pxTaskGetStackStart( TaskHandle_t xTask )
}
else
{
/* We have a task; return its reentrant struct. */
#if ( CONFIG_FREERTOS_SMP )
{
ret = &pxCurTask->xNewLib_reent;
}
#else /* CONFIG_FREERTOS_SMP */
{
ret = &pxCurTask->xTLSBlock;
}
#endif /* CONFIG_FREERTOS_SMP */
/* We have a currently executing task. Return its reentrant struct. */
ret = &pxCurTask->xTLSBlock;
}
return ret;

17
components/freertos/esp_additions/include/freertos/idf_additions.h
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@@ -1,5 +1,5 @@
/*
* SPDX-FileCopyrightText: 2023 Espressif Systems (Shanghai) CO LTD
* SPDX-FileCopyrightText: 2023-2024 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0
*/
@@ -131,17 +131,21 @@
*/
BaseType_t xTaskGetCoreID( TaskHandle_t xTask );
#if ( ( !CONFIG_FREERTOS_SMP ) && ( INCLUDE_xTaskGetIdleTaskHandle == 1 ) )
/**
* @brief Get the handle of idle task for the given core.
*
* [refactor-todo] See if this needs to be deprecated (IDF-8145)
*
* @note If CONFIG_FREERTOS_SMP is enabled, please call xTaskGetIdleTaskHandle()
* instead.
* @param xCoreID The core to query
* @return Handle of the idle task for the queried core
*/
TaskHandle_t xTaskGetIdleTaskHandleForCore( BaseType_t xCoreID );
TaskHandle_t xTaskGetIdleTaskHandleForCore( BaseType_t xCoreID );
#endif /* ( ( !CONFIG_FREERTOS_SMP ) && ( INCLUDE_xTaskGetIdleTaskHandle == 1 ) ) */
#if ( ( !CONFIG_FREERTOS_SMP ) && ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) )
/**
* @brief Get the handle of the task currently running on a certain core
@@ -152,13 +156,12 @@ TaskHandle_t xTaskGetIdleTaskHandleForCore( BaseType_t xCoreID );
*
* [refactor-todo] See if this needs to be deprecated (IDF-8145)
*
* @note If CONFIG_FREERTOS_SMP is enabled, please call xTaskGetCurrentTaskHandleCPU()
* instead.
* @param xCoreID The core to query
* @return Handle of the current task running on the queried core
*/
TaskHandle_t xTaskGetCurrentTaskHandleForCore( BaseType_t xCoreID );
TaskHandle_t xTaskGetCurrentTaskHandleForCore( BaseType_t xCoreID );
#endif /* ( ( !CONFIG_FREERTOS_SMP ) && ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) ) */
#if ( !CONFIG_FREERTOS_SMP && ( configGENERATE_RUN_TIME_STATS == 1 ) && ( INCLUDE_xTaskGetIdleTaskHandle == 1 ) )