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Merge branch 'smp' into smp

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Joseph Julicher 2021-05-19 10:10:36 -07:00 • committed by GitHub
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4 changed files with 88 additions and 67 deletions
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3
.github/lexicon.txt vendored
View file

@ -2400,7 +2400,8 @@ uxbitstoset
uxbitstowait
uxbitstowaitfor
uxcontrolbits
uxcoreexclude
uxcoreaffinitymask
uxcoreaffinityinheritancemask
uxcriticalnesting
uxcurrenteventbits
uxcurrentnumberoftasks

8
include/FreeRTOS.h
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@ -240,8 +240,8 @@
#define configUSE_TASK_PREEMPTION_DISABLE 0
#endif
#ifndef configUSE_CORE_EXCLUSION
#define configUSE_CORE_EXCLUSION 0
#ifndef configUSE_CORE_AFFINITY
#define configUSE_CORE_AFFINITY 0
#endif
#ifndef configUSE_ALTERNATIVE_API
@ -948,7 +948,7 @@
#error configUSE_MUTEXES must be set to 1 to use recursive mutexes
#endif
#if( ( configRUN_MULTIPLE_PRIORITIES == 0 ) && ( configUSE_CORE_EXCLUSION != 0 ) )
#if( ( configRUN_MULTIPLE_PRIORITIES == 0 ) && ( configUSE_CORE_AFFINITY != 0 ) )
#error configRUN_MULTIPLE_PRIORITIES must be set to 1 to use core exclusion
#endif
@ -1209,7 +1209,7 @@ typedef struct xSTATIC_TCB
#if ( configUSE_TASK_PREEMPTION_DISABLE == 1 )
BaseType_t xDummy24;
#endif
#if ( configUSE_CORE_EXCLUSION == 1 )
#if ( configUSE_CORE_AFFINITY == 1 && configNUM_CORES > 1 )
UBaseType_t uxDummy25;
#endif
#if ( ( portSTACK_GROWTH > 0 ) || ( configRECORD_STACK_HIGH_ADDRESS == 1 ) )

14
include/task.h
View file

@ -170,6 +170,14 @@ typedef enum
*/
#define tskIDLE_PRIORITY ( ( UBaseType_t ) 0U )
/**
* Defines affinity to all available cores.
*
*/
#define tskNO_AFFINITY ( ( UBaseType_t ) -1U )
/**
* task. h
*
@ -1235,8 +1243,10 @@ void vTaskResume( TaskHandle_t xTaskToResume ) PRIVILEGED_FUNCTION;
*/
BaseType_t xTaskResumeFromISR( TaskHandle_t xTaskToResume ) PRIVILEGED_FUNCTION;
void vTaskCoreExclusionSet( const TaskHandle_t xTask, UBaseType_t uxCoreExclude );
UBaseType_t vTaskCoreExclusionGet( const TaskHandle_t xTask );
#if ( configUSE_CORE_AFFINITY == 1)
void vTaskCoreAffinitySet( const TaskHandle_t xTask, UBaseType_t uxCoreAffinityMask );
UBaseType_t vTaskCoreAffinityGet( const TaskHandle_t xTask );
#endif
void vTaskPreemptionDisable( const TaskHandle_t xTask );
void vTaskPreemptionEnable( const TaskHandle_t xTask );

130
tasks.c
View file

@ -254,8 +254,8 @@ typedef struct tskTaskControlBlock /* The old naming convention is used to
BaseType_t xPreemptionDisable; /*< Used to prevent the task from being preempted */
#endif
#if ( configUSE_CORE_EXCLUSION == 1 )
UBaseType_t uxCoreExclude; /*< Used to exclude the task from certain cores */
#if ( configUSE_CORE_AFFINITY == 1 && configNUM_CORES > 1 )
UBaseType_t uxCoreAffinityMask; /*< Used to link the task to certain cores. UBaseType_t must have >= the same number of bits as SMP confNUM_CORES */
#endif
#if ( ( portSTACK_GROWTH > 0 ) || ( configRECORD_STACK_HIGH_ADDRESS == 1 ) )
@ -289,7 +289,6 @@ typedef struct tskTaskControlBlock /* The old naming convention is used to
#endif
#if ( configUSE_NEWLIB_REENTRANT == 1 )
/* Allocate a Newlib reent structure that is specific to this task.
* Note Newlib support has been included by popular demand, but is not
* used by the FreeRTOS maintainers themselves. FreeRTOS is not
@ -760,8 +759,10 @@ static void prvYieldForTask( TCB_t * pxTCB,
{
if( xTaskPriority <= xLowestPriority )
{
#if ( configUSE_CORE_EXCLUSION == 1 )
if( ( pxTCB->uxCoreExclude & ( 1 << x ) ) == 0 )
#if ( configNUM_CORES > 1 )
#if ( configUSE_CORE_AFFINITY == 1 )
if( ( pxTCB->uxCoreAffinityMask & ( 1 << x ) ) != 0 )
#endif
#endif
{
#if ( configUSE_TASK_PREEMPTION_DISABLE == 1 )
@ -824,7 +825,7 @@ static void prvYieldForTask( TCB_t * pxTCB,
BaseType_t xTaskScheduled = pdFALSE;
BaseType_t xDecrementTopPriority = pdTRUE;
#if ( configUSE_CORE_EXCLUSION == 1 )
#if ( configUSE_CORE_AFFINITY == 1 )
TCB_t * pxPreviousTCB = NULL;
#endif
#if ( ( configRUN_MULTIPLE_PRIORITIES == 0 ) && ( configNUM_CORES > 1 ) )
@ -892,13 +893,15 @@ static void prvYieldForTask( TCB_t * pxTCB,
if( pxTCB->xTaskRunState == taskTASK_NOT_RUNNING )
{
#if ( configUSE_CORE_EXCLUSION == 1 )
if( ( pxTCB->uxCoreExclude & ( 1 << xCoreID ) ) == 0 )
#if ( configNUM_CORES > 1 )
#if ( configUSE_CORE_AFFINITY == 1 )
if( ( pxTCB->uxCoreAffinityMask & ( 1 << xCoreID ) ) != 0 )
#endif
#endif
{
/* If the task is not being executed by any core swap it in */
pxCurrentTCBs[ xCoreID ]->xTaskRunState = taskTASK_NOT_RUNNING;
#if ( configUSE_CORE_EXCLUSION == 1 )
#if ( configUSE_CORE_AFFINITY == 1 )
pxPreviousTCB = pxCurrentTCBs[ xCoreID ];
#endif
pxTCB->xTaskRunState = ( TaskRunning_t ) xCoreID;
@ -909,8 +912,10 @@ static void prvYieldForTask( TCB_t * pxTCB,
else if( pxTCB == pxCurrentTCBs[ xCoreID ] )
{
configASSERT( ( pxTCB->xTaskRunState == xCoreID ) || ( pxTCB->xTaskRunState == taskTASK_YIELDING ) );
#if ( configUSE_CORE_EXCLUSION == 1 )
if( ( pxTCB->uxCoreExclude & ( 1 << xCoreID ) ) == 0 )
#if ( configNUM_CORES > 1 )
#if ( configUSE_CORE_AFFINITY == 1 )
if( ( pxTCB->uxCoreAffinityMask & ( 1 << xCoreID ) ) != 0 )
#endif
#endif
{
/* The task is already running on this core, mark it as scheduled */
@ -974,12 +979,13 @@ static void prvYieldForTask( TCB_t * pxTCB,
}
#endif /* if ( ( configRUN_MULTIPLE_PRIORITIES == 0 ) && ( configNUM_CORES > 1 ) ) */
#if ( configUSE_CORE_EXCLUSION == 1 )
#if ( configNUM_CORES > 1 )
#if ( configUSE_CORE_AFFINITY == 1 )
if( ( pxPreviousTCB != NULL ) && ( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxPreviousTCB->uxPriority ] ), &( pxPreviousTCB->xStateListItem ) ) != pdFALSE ) )
{
/* A ready task was just bumped off this core. Look at the cores it is not excluded
/* A ready task was just bumped off this core. Look at the cores it can run from
* from to see if it is able to run on any of them */
UBaseType_t uxCoreMap = ~( pxPreviousTCB->uxCoreExclude );
UBaseType_t uxCoreMap = pxPreviousTCB->uxCoreAffinityMask;
BaseType_t xLowestPriority = pxPreviousTCB->uxPriority - pxPreviousTCB->xIsIdle;
BaseType_t xLowestPriorityCore = -1;
@ -990,12 +996,12 @@ static void prvYieldForTask( TCB_t * pxTCB,
* on with the cores that the new task is excluded from. It is possible that the
* new task was only placed onto this core because it is excluded from another.
* Check to see if the previous task could run on one of those cores. */
uxCoreMap &= pxCurrentTCBs[ xCoreID ]->uxCoreExclude;
uxCoreMap &= ~( pxCurrentTCBs[ xCoreID ]->uxCoreAffinityMask );
}
else
{
/* The ready task that was removed from this core is excluded from it.
* See if we can schedule it on any of the cores where it is not excluded from. */
* @todo See if we can schedule it on any of the cores where it is not excluded from. */
}
uxCoreMap &= ( ( 1 << configNUM_CORES ) - 1 );
@ -1027,7 +1033,8 @@ static void prvYieldForTask( TCB_t * pxTCB,
prvYieldCore( xLowestPriorityCore );
}
}
#endif /* if ( configUSE_CORE_EXCLUSION == 1 ) */
#endif /* if ( configUSE_CORE_AFFINITY == 1 ) */
#endif /* if ( configNUM_CORES > 1 ) */
return pdTRUE;
}
@ -1047,8 +1054,6 @@ static void prvYieldForTask( TCB_t * pxTCB,
#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
/*-----------------------------------------------------------*/
#if ( configSUPPORT_STATIC_ALLOCATION == 1 )
TaskHandle_t xTaskCreateStatic( TaskFunction_t pxTaskCode,
@ -1481,10 +1486,12 @@ static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
}
#endif
#if ( configUSE_CORE_EXCLUSION == 1 )
#if ( configNUM_CORES > 1 )
#if ( configUSE_CORE_AFFINITY == 1 )
{
pxNewTCB->uxCoreExclude = 0;
pxNewTCB->uxCoreAffinityMask = tskNO_AFFINITY;
}
#endif
#endif
#if ( configUSE_TASK_PREEMPTION_DISABLE == 1 )
{
@ -1552,8 +1559,9 @@ static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
{
pxNewTCB->xIsIdle = pdTRUE;
}
#if(configNUM_CORES > 1)
else if(pxTaskCode == prvMinimalIdleTask)
#if ( configNUM_CORES > 1 )
else if( pxTaskCode == prvMinimalIdleTask )
{
pxNewTCB->xIsIdle = pdTRUE;
}
@ -1608,11 +1616,6 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB )
if( pxCurrentTCBs[ xCoreID ] == NULL )
{
pxNewTCB->xTaskRunState = xCoreID;
#if ( configUSE_CORE_EXCLUSION == 1 )
{
pxNewTCB->uxCoreExclude = ~( 1 << xCoreID );
}
#endif
pxCurrentTCBs[ xCoreID ] = pxNewTCB;
break;
}
@ -1702,7 +1705,6 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB )
* no longer running. */
if( xTaskRunningOnCore != taskTASK_NOT_RUNNING )
{
/* A running task is being deleted. This cannot complete within the
* task itself, as a context switch to another task is required.
* Place the task in the termination list. The idle task will
@ -1744,7 +1746,6 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB )
xCoreID = portGET_CORE_ID();
if( xTaskRunningOnCore == xCoreID )
{
configASSERT( uxSchedulerSuspended == 0 );
@ -1948,7 +1949,7 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB )
}
}
}
#else /* if ( configUSE_TASK_NOTIFICATIONS == 1 ) */
#else /* if ( configUSE_TASK_NOTIFICATIONS == 1 ) */
{
eReturn = eSuspended;
}
@ -2220,10 +2221,11 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB )
#endif /* INCLUDE_vTaskPrioritySet */
/*-----------------------------------------------------------*/
#if ( configUSE_CORE_EXCLUSION == 1 )
#if ( configNUM_CORES > 1 )
#if ( configUSE_CORE_AFFINITY == 1 )
void vTaskCoreExclusionSet( const TaskHandle_t xTask,
UBaseType_t uxCoreExclude )
void vTaskCoreAffinitySet( const TaskHandle_t xTask,
UBaseType_t uxCoreAffinityMask )
{
TCB_t * pxTCB;
BaseType_t xCoreID;
@ -2232,7 +2234,7 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB )
{
pxTCB = prvGetTCBFromHandle( xTask );
pxTCB->uxCoreExclude = uxCoreExclude;
pxTCB->uxCoreAffinityMask = uxCoreAffinityMask;
if( xSchedulerRunning != pdFALSE )
{
@ -2240,7 +2242,7 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB )
{
xCoreID = ( BaseType_t ) pxTCB->xTaskRunState;
if( ( uxCoreExclude & ( 1 << xCoreID ) ) != 0 )
if( ( uxCoreAffinityMask & ( 1 << xCoreID ) ) != 0 )
{
prvYieldCore( xCoreID );
}
@ -2250,27 +2252,31 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB )
taskEXIT_CRITICAL();
}
#endif /* configUSE_CORE_EXCLUSION */
#endif /* configUSE_CORE_AFFINITY */
#endif /* if ( configNUM_CORES > 1 ) */
/*-----------------------------------------------------------*/
#if ( configUSE_CORE_EXCLUSION == 1 )
#if ( configNUM_CORES > 1 )
#if ( configUSE_CORE_AFFINITY == 1 )
UBaseType_t vTaskCoreExclusionGet( const TaskHandle_t xTask )
UBaseType_t vTaskCoreAffinityGet( const TaskHandle_t xTask )
{
TCB_t * pxTCB;
UBaseType_t uxCoreExclude;
UBaseType_t uxCoreAffinityMask;
taskENTER_CRITICAL();
{
pxTCB = prvGetTCBFromHandle( xTask );
uxCoreExclude = pxTCB->uxCoreExclude;
uxCoreAffinityMask = pxTCB->uxCoreAffinityMask;
}
taskEXIT_CRITICAL();
return uxCoreExclude;
return uxCoreAffinityMask;
}
#endif /* configUSE_CORE_EXCLUSION */
#endif /* configUSE_CORE_AFFINITY */
#endif /* if ( configNUM_CORES > 1 ) */
/*-----------------------------------------------------------*/
#if ( configUSE_TASK_PREEMPTION_DISABLE == 1 )
@ -2451,8 +2457,7 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB )
BaseType_t xReturn = pdFALSE;
const TCB_t * const pxTCB = xTask;
/* Accesses xPendingReadyList so must be called from a critical
* section. */
/* Accesses xPendingReadyList so must be called from a critical section. */
/* It does not make sense to check if the calling task is suspended. */
configASSERT( xTask );
@ -2673,7 +2678,7 @@ static BaseType_t prvCreateIdleTasks( void )
#if ( configSUPPORT_STATIC_ALLOCATION == 1 )
{
if(xCoreID == 0)
if( xCoreID == 0 )
{
StaticTask_t * pxIdleTaskTCBBuffer = NULL;
StackType_t * pxIdleTaskStackBuffer = NULL;
@ -2690,21 +2695,22 @@ static BaseType_t prvCreateIdleTasks( void )
pxIdleTaskStackBuffer,
pxIdleTaskTCBBuffer ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
}
#if( configNUM_CORES > 1)
#if ( configNUM_CORES > 1 )
else
{
static StaticTask_t xIdleTCBBuffers[configNUM_CORES-1];
static StackType_t xIdleTaskStackBuffers[configMINIMAL_STACK_SIZE][configNUM_CORES-1];
static StaticTask_t xIdleTCBBuffers[ configNUM_CORES - 1 ];
static StackType_t xIdleTaskStackBuffers[ configNUM_CORES - 1 ][ configMINIMAL_STACK_SIZE ];
xIdleTaskHandle[ xCoreID ] = xTaskCreateStatic( prvMinimalIdleTask,
cIdleName,
configMINIMAL_STACK_SIZE,
( void * ) NULL, /*lint !e961. The cast is not redundant for all compilers. */
portPRIVILEGE_BIT, /* In effect ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), but tskIDLE_PRIORITY is zero. */
xIdleTaskStackBuffers[xCoreID-1],
&xIdleTCBBuffers[xCoreID-1] ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
( void * ) NULL, /*lint !e961. The cast is not redundant for all compilers. */
portPRIVILEGE_BIT, /* In effect ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), but tskIDLE_PRIORITY is zero. */
xIdleTaskStackBuffers[ xCoreID - 1 ],
&xIdleTCBBuffers[ xCoreID - 1 ] ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
}
#endif
#endif /* if ( configNUM_CORES > 1 ) */
if( xIdleTaskHandle[ xCoreID ] != NULL )
{
xReturn = pdPASS;
@ -2714,9 +2720,9 @@ static BaseType_t prvCreateIdleTasks( void )
xReturn = pdFAIL;
}
}
#else /* if ( configSUPPORT_STATIC_ALLOCATION == 1 ) */
#else /* if ( configSUPPORT_STATIC_ALLOCATION == 1 ) */
{
if(xCoreID == 0)
if( xCoreID == 0 )
{
/* The Idle task is being created using dynamically allocated RAM. */
xReturn = xTaskCreate( prvIdleTask,
@ -2726,7 +2732,8 @@ static BaseType_t prvCreateIdleTasks( void )
portPRIVILEGE_BIT, /* In effect ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), but tskIDLE_PRIORITY is zero. */
&xIdleTaskHandle[ xCoreID ] ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
}
#if( configNUM_CORES > 1 )
#if ( configNUM_CORES > 1 )
else
{
xReturn = xTaskCreate( prvMinimalIdleTask,
@ -4210,10 +4217,12 @@ void vTaskMissedYield( void )
*
* @todo additional conditional compiles to remove this function.
*/
#if (configNUM_CORES > 1)
#if ( configNUM_CORES > 1 )
static portTASK_FUNCTION( prvMinimalIdleTask, pvParameters )
{
for(;;)
taskYIELD();
for( ; ; )
{
#if ( configUSE_PREEMPTION == 0 )
{
@ -4249,7 +4258,8 @@ static portTASK_FUNCTION( prvMinimalIdleTask, pvParameters )
#endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */
}
}
#endif
#endif /* if ( configNUM_CORES > 1 ) */
/*
* -----------------------------------------------------------
* The Idle task.