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Merge branch 'feature/freertos_restore_single_core_task_selection_algorithm' into 'master'

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FreeRTOS(IDF): Restore vanilla task selection algorithm if building for single core with optimized selection is disabled

See merge request espressif/esp-idf!21001
This commit is contained in:
Darian
2022-11-29 14:04:44 +08:00
parent 3082fc7911 dff138f883
commit 1e953e31fc
2 changed files with 108 additions and 98 deletions
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12
components/freertos/FreeRTOS-Kernel/include/freertos/FreeRTOS.h
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@@ -98,6 +98,14 @@
#error configMAX_PRIORITIES must be defined to be greater than or equal to 1. #error configMAX_PRIORITIES must be defined to be greater than or equal to 1.
#endif #endif
#ifndef configNUM_CORES
#error Missing definition: configNUM_CORES must be defined in FreeRTOSConfig.h
#endif
#if ( ( configNUM_CORES != 1 ) && ( configNUM_CORES != 2 ) )
#error configNUM_CORES must be defined to either 1 or 2.
#endif
#ifndef configUSE_PREEMPTION #ifndef configUSE_PREEMPTION
#error Missing definition: configUSE_PREEMPTION must be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details. #error Missing definition: configUSE_PREEMPTION must be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details.
#endif #endif
@@ -972,6 +980,10 @@
#error configUSE_MUTEXES must be set to 1 to use recursive mutexes #error configUSE_MUTEXES must be set to 1 to use recursive mutexes
#endif #endif
#if ( ( configNUM_CORES > 1 ) && ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 1 ) )
#error configUSE_PORT_OPTIMISED_TASK_SELECTION is not supported if configNUM_CORES > 1
#endif
#ifndef configINITIAL_TICK_COUNT #ifndef configINITIAL_TICK_COUNT
#define configINITIAL_TICK_COUNT 0 #define configINITIAL_TICK_COUNT 0
#endif #endif

194
components/freertos/FreeRTOS-Kernel/tasks.c
View File

@@ -145,9 +145,9 @@
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
#ifdef ESP_PLATFORM #if ( configNUM_CORES > 1 )
#define taskSELECT_HIGHEST_PRIORITY_TASK() taskSelectHighestPriorityTaskSMP() #define taskSELECT_HIGHEST_PRIORITY_TASK() taskSelectHighestPriorityTaskSMP()
#else //ESP_PLATFORM #else /* configNUM_CORES > 1 */
#define taskSELECT_HIGHEST_PRIORITY_TASK() \ #define taskSELECT_HIGHEST_PRIORITY_TASK() \
{ \ { \
UBaseType_t uxTopPriority = uxTopReadyPriority; \ UBaseType_t uxTopPriority = uxTopReadyPriority; \
@@ -160,11 +160,11 @@
} \ } \
\ \
/* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of \ /* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of \
* the same priority get an equal share of the processor time. */ \ * the same priority get an equal share of the processor time. */ \
listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB[ xPortGetCoreID() ], &( pxReadyTasksLists[ uxTopPriority ] ) ); \ listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB[ 0 ], &( pxReadyTasksLists[ uxTopPriority ] ) ); \
uxTopReadyPriority = uxTopPriority; \ uxTopReadyPriority = uxTopPriority; \
} /* taskSELECT_HIGHEST_PRIORITY_TASK */ } /* taskSELECT_HIGHEST_PRIORITY_TASK */
#endif //ESP_PLATFORM #endif /* configNUM_CORES > 1 */
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
@@ -185,14 +185,14 @@
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
#define taskSELECT_HIGHEST_PRIORITY_TASK() \ #define taskSELECT_HIGHEST_PRIORITY_TASK() \
{ \ { \
UBaseType_t uxTopPriority; \ UBaseType_t uxTopPriority; \
\ \
/* Find the highest priority list that contains ready tasks. */ \ /* Find the highest priority list that contains ready tasks. */ \
portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority ); \ portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority ); \
configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 ); \ configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 ); \
listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB[ xPortGetCoreID() ], &( pxReadyTasksLists[ uxTopPriority ] ) ); \ listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB[ 0 ], &( pxReadyTasksLists[ uxTopPriority ] ) ); \
} /* taskSELECT_HIGHEST_PRIORITY_TASK() */ } /* taskSELECT_HIGHEST_PRIORITY_TASK() */
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
@@ -3509,95 +3509,93 @@ BaseType_t xTaskIncrementTick( void )
#endif /* configUSE_APPLICATION_TASK_TAG */ #endif /* configUSE_APPLICATION_TASK_TAG */
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
#ifdef ESP_PLATFORM #if ( configNUM_CORES > 1 )
#if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 ) static void taskSelectHighestPriorityTaskSMP( void )
static void taskSelectHighestPriorityTaskSMP( void ) {
/* This function is called from a critical section. So some optimizations are made */
BaseType_t uxCurPriority;
BaseType_t xTaskScheduled = pdFALSE;
BaseType_t xNewTopPrioritySet = pdFALSE;
BaseType_t xCoreID = xPortGetCoreID(); /* Optimization: Read once */
/* Search for tasks, starting form the highest ready priority. If nothing is
* found, we eventually default to the IDLE tasks at priority 0 */
for( uxCurPriority = uxTopReadyPriority; uxCurPriority >= 0 && xTaskScheduled == pdFALSE; uxCurPriority-- )
{ {
/* This function is called from a critical section. So some optimizations are made */ /* Check if current priority has one or more ready tasks. Skip if none */
BaseType_t uxCurPriority; if( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxCurPriority ] ) ) )
BaseType_t xTaskScheduled = pdFALSE;
BaseType_t xNewTopPrioritySet = pdFALSE;
BaseType_t xCoreID = xPortGetCoreID(); /* Optimization: Read once */
/* Search for tasks, starting form the highest ready priority. If nothing is
* found, we eventually default to the IDLE tasks at priority 0 */
for( uxCurPriority = uxTopReadyPriority; uxCurPriority >= 0 && xTaskScheduled == pdFALSE; uxCurPriority-- )
{ {
/* Check if current priority has one or more ready tasks. Skip if none */ continue;
if( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxCurPriority ] ) ) )
{
continue;
}
/* Save a copy of highest priority that has a ready state task */
if( xNewTopPrioritySet == pdFALSE )
{
xNewTopPrioritySet = pdTRUE;
uxTopReadyPriority = uxCurPriority;
}
/* We now search this priority's ready task list for a runnable task.
* We always start searching from the head of the list, so we reset
* pxIndex to point to the tail so that we start walking the list from
* the first item */
pxReadyTasksLists[ uxCurPriority ].pxIndex = ( ListItem_t * ) &( pxReadyTasksLists[ uxCurPriority ].xListEnd );
/* Get the first item on the list */
TCB_t * pxTCBCur;
TCB_t * pxTCBFirst;
listGET_OWNER_OF_NEXT_ENTRY( pxTCBCur, &( pxReadyTasksLists[ uxCurPriority ] ) );
pxTCBFirst = pxTCBCur;
do
{
/* Check if the current task is currently being executed. However, if
* it's being executed by the current core, we can still schedule it.
* Todo: Each task can store a xTaskRunState, instead of needing to
* check each core */
UBaseType_t ux;
for( ux = 0; ux < ( UBaseType_t ) configNUM_CORES; ux++ )
{
if( ux == xCoreID )
{
continue;
}
else if( pxCurrentTCB[ ux ] == pxTCBCur )
{
/* Current task is already being executed. Get the next task */
goto get_next_task;
}
}
/* Check if the current task has a compatible affinity */
if( ( pxTCBCur->xCoreID != xCoreID ) && ( pxTCBCur->xCoreID != tskNO_AFFINITY ) )
{
goto get_next_task;
}
/* The current task is runnable. Schedule it */
pxCurrentTCB[ xCoreID ] = pxTCBCur;
xTaskScheduled = pdTRUE;
/* Move the current tasks list item to the back of the list in order
* to implement best effort round robin. To do this, we need to reset
* the pxIndex to point to the tail again. */
pxReadyTasksLists[ uxCurPriority ].pxIndex = ( ListItem_t * ) &( pxReadyTasksLists[ uxCurPriority ].xListEnd );
uxListRemove( &( pxTCBCur->xStateListItem ) );
vListInsertEnd( &( pxReadyTasksLists[ uxCurPriority ] ), &( pxTCBCur->xStateListItem ) );
break;
get_next_task:
/* The current task cannot be scheduled. Get the next task in the list */
listGET_OWNER_OF_NEXT_ENTRY( pxTCBCur, &( pxReadyTasksLists[ uxCurPriority ] ) );
} while( pxTCBCur != pxTCBFirst ); /* Check to see if we've walked the entire list */
} }
assert( xTaskScheduled == pdTRUE ); /* At this point, a task MUST have been scheduled */ /* Save a copy of highest priority that has a ready state task */
if( xNewTopPrioritySet == pdFALSE )
{
xNewTopPrioritySet = pdTRUE;
uxTopReadyPriority = uxCurPriority;
}
/* We now search this priority's ready task list for a runnable task.
* We always start searching from the head of the list, so we reset
* pxIndex to point to the tail so that we start walking the list from
* the first item */
pxReadyTasksLists[ uxCurPriority ].pxIndex = ( ListItem_t * ) &( pxReadyTasksLists[ uxCurPriority ].xListEnd );
/* Get the first item on the list */
TCB_t * pxTCBCur;
TCB_t * pxTCBFirst;
listGET_OWNER_OF_NEXT_ENTRY( pxTCBCur, &( pxReadyTasksLists[ uxCurPriority ] ) );
pxTCBFirst = pxTCBCur;
do
{
/* Check if the current task is currently being executed. However, if
* it's being executed by the current core, we can still schedule it.
* Todo: Each task can store a xTaskRunState, instead of needing to
* check each core */
UBaseType_t ux;
for( ux = 0; ux < ( UBaseType_t ) configNUM_CORES; ux++ )
{
if( ux == xCoreID )
{
continue;
}
else if( pxCurrentTCB[ ux ] == pxTCBCur )
{
/* Current task is already being executed. Get the next task */
goto get_next_task;
}
}
/* Check if the current task has a compatible affinity */
if( ( pxTCBCur->xCoreID != xCoreID ) && ( pxTCBCur->xCoreID != tskNO_AFFINITY ) )
{
goto get_next_task;
}
/* The current task is runnable. Schedule it */
pxCurrentTCB[ xCoreID ] = pxTCBCur;
xTaskScheduled = pdTRUE;
/* Move the current tasks list item to the back of the list in order
* to implement best effort round robin. To do this, we need to reset
* the pxIndex to point to the tail again. */
pxReadyTasksLists[ uxCurPriority ].pxIndex = ( ListItem_t * ) &( pxReadyTasksLists[ uxCurPriority ].xListEnd );
uxListRemove( &( pxTCBCur->xStateListItem ) );
vListInsertEnd( &( pxReadyTasksLists[ uxCurPriority ] ), &( pxTCBCur->xStateListItem ) );
break;
get_next_task:
/* The current task cannot be scheduled. Get the next task in the list */
listGET_OWNER_OF_NEXT_ENTRY( pxTCBCur, &( pxReadyTasksLists[ uxCurPriority ] ) );
} while( pxTCBCur != pxTCBFirst ); /* Check to see if we've walked the entire list */
} }
#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
#endif //ESP_PLATFORM assert( xTaskScheduled == pdTRUE ); /* At this point, a task MUST have been scheduled */
}
#endif /* configNUM_CORES > 1 */
void vTaskSwitchContext( void ) void vTaskSwitchContext( void )
{ {