feat(freertos): Optimized xTaskIncrementTickOtherCores()

This commit optimizes the xTaskIncrementTickOtherCores() function by
avoiding unnecessary context switches.

components/freertos/FreeRTOS-Kernel/tasks.c

@@ -6,7 +6,7 @@
  *
  * SPDX-License-Identifier: MIT
  *
- * SPDX-FileContributor: 2023 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileContributor: 2023-2024 Espressif Systems (Shanghai) CO LTD
  *
  * Permission is hereby granted, free of charge, to any person obtaining a copy of
  * this software and associated documentation files (the "Software"), to deal in
@@ -3284,16 +3284,53 @@ BaseType_t xTaskIncrementTick( void )
                              * For SMP, since this function is only run on core
                              * 0, we only need to context switch if the unblocked
                              * task can run on core 0 and has a higher priority
-                             * than the current task. */
+                             * than the current task.
-                            if( ( taskIS_AFFINITY_COMPATIBLE( 0, pxTCB ) == pdTRUE ) && ( pxTCB->uxPriority > pxCurrentTCBs[ 0 ]->uxPriority ) )
+                             *
+                             * If the unblocked task has affinity to the other
+                             * core or no affinity then we need to set xYieldPending
+                             * for the other core if the unblocked task has a priority
+                             * higher than the priority of the currently running task
+                             * on the other core. */
+                            if( taskIS_AFFINITY_COMPATIBLE( 0, pxTCB ) == pdTRUE )
+                            {
+                                if( pxTCB->uxPriority > pxCurrentTCBs[ 0 ]->uxPriority )
                                 {
                                     xSwitchRequired = pdTRUE;
                                 }
+
+                                #if ( configNUMBER_OF_CORES > 1 )
+                                    else if( pxTCB->xCoreID == tskNO_AFFINITY )
+                                    {
+                                        if( pxTCB->uxPriority > pxCurrentTCBs[ 1 ]->uxPriority )
+                                        {
+                                            xYieldPending[ 1 ] = pdTRUE;
+                                        }
                                         else
                                         {
                                             mtCOVERAGE_TEST_MARKER();
                                         }
                                     }
+                                #endif /* if ( configNUMBER_OF_CORES > 1 ) */
+                                else
+                                {
+                                    mtCOVERAGE_TEST_MARKER();
+                                }
+                            }
+
+                            #if ( configNUMBER_OF_CORES > 1 )
+                                else
+                                {
+                                    if( pxTCB->uxPriority > pxCurrentTCBs[ 1 ]->uxPriority )
+                                    {
+                                        xYieldPending[ 1 ] = pdTRUE;
+                                    }
+                                    else
+                                    {
+                                        mtCOVERAGE_TEST_MARKER();
+                                    }
+                                }
+                            #endif /* if ( configNUMBER_OF_CORES > 1 ) */
+                        }
                         #endif /* configUSE_PREEMPTION */
                     }
                 }
@@ -5440,7 +5477,7 @@ static void prvResetNextTaskUnblockTime( void )
                 /* Write the rest of the string. */
                 #if ( configTASKLIST_INCLUDE_COREID == 1 )
                 {
-                    const BaseType_t xCoreID = ( pxTaskStatusArray[ x ].xCoreID == tskNO_AFFINITY ) ? -1 : pxTaskStatusArray[ x ].xCoreID ;
+                    const BaseType_t xCoreID = ( pxTaskStatusArray[ x ].xCoreID == tskNO_AFFINITY ) ? -1 : pxTaskStatusArray[ x ].xCoreID;
                     sprintf( pcWriteBuffer, "\t%c\t%u\t%d\t%u\t%u\r\n", cStatus, ( unsigned int ) pxTaskStatusArray[ x ].uxCurrentPriority, ( int ) xCoreID, ( unsigned int ) pxTaskStatusArray[ x ].usStackHighWaterMark, ( unsigned int ) pxTaskStatusArray[ x ].xTaskNumber ); /*lint !e586 sprintf() allowed as this is compiled with many compilers and this is a utility function only - not part of the core kernel implementation. */
                 }
                 #else /* configTASKLIST_INCLUDE_COREID == 1 */

components/freertos/esp_additions/freertos_tasks_c_additions.h

@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2015-2023 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2015-2024 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -87,9 +87,8 @@ _Static_assert( tskNO_AFFINITY == ( BaseType_t ) CONFIG_FREERTOS_NO_AFFINITY, "C
         /* This function should never be called by Core 0. */
         configASSERT( xCoreID != 0 );
 
-        /* Called by the portable layer each time a tick interrupt occurs.
+        /* Called by the portable layer each time a tick interrupt occurs
-         * Increments the tick then checks to see if the new tick value will
+         * on a core other than core 0. */
-         * cause any tasks to be unblocked. */
         traceTASK_INCREMENT_TICK( xTickCount );
 
         if( uxSchedulerSuspended[ xCoreID ] == ( UBaseType_t ) 0U )
@@ -98,23 +97,6 @@ _Static_assert( tskNO_AFFINITY == ( BaseType_t ) CONFIG_FREERTOS_NO_AFFINITY, "C
              * kernel data structures. */
             taskENTER_CRITICAL_ISR( &xKernelLock );
 
-            /* A task being unblocked cannot cause an immediate context switch
-             * if preemption is turned off. */
-            #if ( configUSE_PREEMPTION == 1 )
-            {
-                /* Check if core 0 calling xTaskIncrementTick() has
-                 * unblocked a task that can be run. */
-                if( uxTopReadyPriority > pxCurrentTCBs[ xCoreID ]->uxPriority )
-                {
-                    xSwitchRequired = pdTRUE;
-                }
-                else
-                {
-                    mtCOVERAGE_TEST_MARKER();
-                }
-            }
-            #endif /* if ( configUSE_PREEMPTION == 1 ) */
-
             /* Tasks of equal priority to the currently running task will share
              * processing time (time slice) if preemption is on, and the application
              * writer has not explicitly turned time slicing off. */
@@ -891,7 +873,8 @@ uint8_t * pxTaskGetStackStart( TaskHandle_t xTask )
  *
  * @note There are currently differing number of task list between SMP FreeRTOS and ESP-IDF FreeRTOS
  */
-static List_t * non_ready_task_lists[] = {
+static List_t * non_ready_task_lists[] =
+{
     #ifdef CONFIG_FREERTOS_SMP
         &xPendingReadyList,
     #else /* CONFIG_FREERTOS_SMP */
@@ -1104,7 +1087,8 @@ UBaseType_t uxTaskGetSnapshotAll( TaskSnapshot_t * const pxTaskSnapshotArray,
         pxCurTaskList = pxGetNextTaskList( pxCurTaskList );
     }
 
-    if (pxTCBSize != NULL) {
+    if( pxTCBSize != NULL )
+    {
         *pxTCBSize = sizeof( TCB_t );
     }
 
@@ -1151,7 +1135,8 @@ void * pvTaskGetCurrentTCBForCore( BaseType_t xCoreID )
         ESP_FREERTOS_DEBUG_TABLE_END,
     };
 
-    const DRAM_ATTR uint8_t FreeRTOS_openocd_params[ ESP_FREERTOS_DEBUG_TABLE_END ] = {
+    const DRAM_ATTR uint8_t FreeRTOS_openocd_params[ ESP_FREERTOS_DEBUG_TABLE_END ] =
+    {
         ESP_FREERTOS_DEBUG_TABLE_END, /* table size */
         1,                            /* table version */
         tskKERNEL_VERSION_MAJOR,