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Merge branch 'refactor/freertos_check_scheduler_suspend_asserts' into 'master'

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FreeRTOS(IDF): Refactor configASSERTs for scheduler suspension

Closes IDF-5889

See merge request espressif/esp-idf!22576
This commit is contained in:
Darian
2023-03-09 20:19:57 +08:00
parent 9c1897028a 353b25410a
commit 77ca79a5e9
1 changed files with 27 additions and 10 deletions
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37
components/freertos/FreeRTOS-Kernel/tasks.c
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@@ -282,6 +282,27 @@
#define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? ( TaskHandle_t ) pxCurrentTCB[ 0 ] : ( ( TaskHandle_t ) pxHandle ) ) #define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? ( TaskHandle_t ) pxCurrentTCB[ 0 ] : ( ( TaskHandle_t ) pxHandle ) )
#endif #endif
/*
* There are various blocking tasks.c API that call configASSERT() to check if
* the API is being called while the scheduler is suspended. However, these
* asserts are done outside a critical section or interrupt disabled block.
* Directly checking uxSchedulerSuspended[ xPortGetCoreID() ] outside a critical
* section can lead to false positives in SMP. Thus for SMP, we call
* xTaskGetSchedulerState() instead.
*
* Take the following example of an unpinned Task A in SMP calling
* uxSchedulerSuspended[ xPortGetCoreID() ]:
* - Task A calls xPortGetCoreID() which is 0
* - Task A gets preempted by Task B, Task A switches to core 1
* - Task B on core 0 calls vTaskSuspendAll()
* - Task A checks uxSchedulerSuspended[ 0 ] leading to a false positive
*/
#if ( configNUM_CORES > 1 )
#define taskIS_SCHEDULER_SUSPENDED() ( xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED )
#else
#define taskIS_SCHEDULER_SUSPENDED() ( uxSchedulerSuspended[ 0 ] > 0 )
#endif /* configNUM_CORES > 1 */
/* The item value of the event list item is normally used to hold the priority /* The item value of the event list item is normally used to hold the priority
* of the task to which it belongs (coded to allow it to be held in reverse * of the task to which it belongs (coded to allow it to be held in reverse
* priority order). However, it is occasionally borrowed for other purposes. It * priority order). However, it is occasionally borrowed for other purposes. It
@@ -1488,7 +1509,7 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB )
if( taskIS_CURRENTLY_RUNNING_ON_CORE( pxTCB, xPortGetCoreID() ) ) if( taskIS_CURRENTLY_RUNNING_ON_CORE( pxTCB, xPortGetCoreID() ) )
{ {
configASSERT( xTaskGetSchedulerState() != taskSCHEDULER_SUSPENDED ); configASSERT( uxSchedulerSuspended[ xPortGetCoreID() ] == 0 );
portYIELD_WITHIN_API(); portYIELD_WITHIN_API();
} }
else else
@@ -1522,7 +1543,7 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB )
configASSERT( pxPreviousWakeTime ); configASSERT( pxPreviousWakeTime );
configASSERT( ( xTimeIncrement > 0U ) ); configASSERT( ( xTimeIncrement > 0U ) );
configASSERT( xTaskGetSchedulerState() != taskSCHEDULER_SUSPENDED ); configASSERT( !taskIS_SCHEDULER_SUSPENDED() );
prvENTER_CRITICAL_OR_SUSPEND_ALL( &xKernelLock ); prvENTER_CRITICAL_OR_SUSPEND_ALL( &xKernelLock );
{ {
@@ -1608,7 +1629,7 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB )
/* A delay time of zero just forces a reschedule. */ /* A delay time of zero just forces a reschedule. */
if( xTicksToDelay > ( TickType_t ) 0U ) if( xTicksToDelay > ( TickType_t ) 0U )
{ {
configASSERT( xTaskGetSchedulerState() != taskSCHEDULER_SUSPENDED ); configASSERT( !taskIS_SCHEDULER_SUSPENDED() );
prvENTER_CRITICAL_OR_SUSPEND_ALL( &xKernelLock ); prvENTER_CRITICAL_OR_SUSPEND_ALL( &xKernelLock );
{ {
traceTASK_DELAY(); traceTASK_DELAY();
@@ -2540,7 +2561,7 @@ BaseType_t xTaskResumeAll( void )
/* If uxSchedulerSuspended is zero then this function does not match a /* If uxSchedulerSuspended is zero then this function does not match a
* previous call to vTaskSuspendAll(). */ * previous call to vTaskSuspendAll(). */
configASSERT( uxSchedulerSuspended[ xPortGetCoreID() ] ); configASSERT( taskIS_SCHEDULER_SUSPENDED() );
/* It is possible that an ISR caused a task to be removed from an event /* It is possible that an ISR caused a task to be removed from an event
* list while the scheduler was suspended. If this was the case then the * list while the scheduler was suspended. If this was the case then the
@@ -2990,11 +3011,7 @@ BaseType_t xTaskCatchUpTicks( TickType_t xTicksToCatchUp )
/* Must not be called with the scheduler suspended as the implementation /* Must not be called with the scheduler suspended as the implementation
* relies on xPendedTicks being wound down to 0 in xTaskResumeAll(). */ * relies on xPendedTicks being wound down to 0 in xTaskResumeAll(). */
#ifdef ESP_PLATFORM configASSERT( !taskIS_SCHEDULER_SUSPENDED() );
configASSERT( xTaskGetSchedulerState() != taskSCHEDULER_SUSPENDED );
#else
configASSERT( uxSchedulerSuspended == 0 );
#endif // ESP_PLATFORM
/* Use xPendedTicks to mimic xTicksToCatchUp number of ticks occurring when /* Use xPendedTicks to mimic xTicksToCatchUp number of ticks occurring when
* the scheduler is suspended so the ticks are executed in xTaskResumeAll(). */ * the scheduler is suspended so the ticks are executed in xTaskResumeAll(). */
@@ -3974,7 +3991,7 @@ void vTaskRemoveFromUnorderedEventList( ListItem_t * pxEventListItem,
/* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
* the event flags implementation. */ * the event flags implementation. */
configASSERT( uxSchedulerSuspended != pdFALSE ); configASSERT( uxSchedulerSuspended[ 0 ] != pdFALSE );
#endif /* configNUM_CORES > 1 */ #endif /* configNUM_CORES > 1 */
/* Store the new item value in the event list. */ /* Store the new item value in the event list. */