mirror of
https://github.com/FreeRTOS/FreeRTOS-Kernel.git
synced 2026-03-09 18:13:30 -04:00
feat(freertos-smp): Added support for TCB locks
This commit is contained in:
Sudeep Mohanty
parent
e850728909
commit
118bfded41
2 changed files with 224 additions and 14 deletions
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@ -373,6 +373,25 @@
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#define portUSING_GRANULAR_LOCKS 0
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#endif
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/* configUSE_TCB_DATA_GROUP_LOCK enables per-TCB spinlocks to protect TCB-specific
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* data such as uxPreemptionDisable. This reduces lock contention compared to using
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* the global kernel lock. When enabled:
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* - Each TCB has its own spinlock (xTCBSpinlock)
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* - vTaskPreemptionDisable/Enable use the TCB lock instead of kernel lock
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* - prvYieldCore acquires the target TCB's lock before checking uxPreemptionDisable
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* This feature requires portUSING_GRANULAR_LOCKS and multi-core. */
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#ifndef configUSE_TCB_DATA_GROUP_LOCK
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#define configUSE_TCB_DATA_GROUP_LOCK 0
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#endif
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#if ( ( configUSE_TCB_DATA_GROUP_LOCK == 1 ) && ( portUSING_GRANULAR_LOCKS != 1 ) )
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#error configUSE_TCB_DATA_GROUP_LOCK requires portUSING_GRANULAR_LOCKS to be enabled
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#endif
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#if ( ( configUSE_TCB_DATA_GROUP_LOCK == 1 ) && ( configNUMBER_OF_CORES == 1 ) )
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#error configUSE_TCB_DATA_GROUP_LOCK is not supported in single core FreeRTOS
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#endif
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#ifndef configMAX_TASK_NAME_LEN
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#define configMAX_TASK_NAME_LEN 16
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#endif
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@ -3296,6 +3315,9 @@ typedef struct xSTATIC_TCB
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void * pvDummyDirectTransferBuffer;
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BaseType_t xDummyDirectTransferPosition;
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#endif
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#if ( configUSE_TCB_DATA_GROUP_LOCK == 1 )
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portSPINLOCK_TYPE xTCBDummySpinlock; /**< Spinlock protecting TCB-specific data (uxPreemptionDisable, uxDeferredStateChange). */
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#endif
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} StaticTask_t;
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/*
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216
tasks.c
216
tasks.c
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@ -350,7 +350,44 @@
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/* Yields the given core. This must be called from a critical section and xCoreID
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* must be valid. This macro is not required in single core since there is only
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* one core to yield. */
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#if ( configUSE_TASK_PREEMPTION_DISABLE == 1 )
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#if ( configUSE_TCB_DATA_GROUP_LOCK == 1 )
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/* When TCB data group lock is enabled, we need to acquire the target core's
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* TCB spinlock before checking uxPreemptionDisable to prevent a race condition
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* where the target core could disable preemption between our check and the
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* cross-core interrupt arriving. */
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#define prvYieldCore( xCoreID ) \
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do { \
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BaseType_t xCurrentCoreID = ( BaseType_t ) portGET_CORE_ID(); \
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BaseType_t xCoreToYield = ( xCoreID ); \
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if( xCoreToYield == xCurrentCoreID ) \
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{ \
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/* Pending a yield for this core since it is in the critical section. */ \
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xYieldPendings[ xCoreToYield ] = pdTRUE; \
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} \
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else \
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{ \
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/* Acquire the target core's TCB spinlock to prevent race with vTaskPreemptionDisable. */ \
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portGET_SPINLOCK( xCurrentCoreID, &( pxCurrentTCBs[ xCoreToYield ]->xTCBSpinlock ) ); \
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{ \
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if( pxCurrentTCBs[ xCoreToYield ]->uxPreemptionDisable == 0U ) \
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{ \
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/* Request other core to yield if it is not requested before. */ \
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if( pxCurrentTCBs[ xCoreToYield ]->xTaskRunState != taskTASK_SCHEDULED_TO_YIELD ) \
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{ \
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portYIELD_CORE( xCoreToYield ); \
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pxCurrentTCBs[ xCoreToYield ]->xTaskRunState = taskTASK_SCHEDULED_TO_YIELD; \
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} \
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} \
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else \
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{ \
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xYieldPendings[ xCoreToYield ] = pdTRUE; \
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} \
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} \
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portRELEASE_SPINLOCK( xCurrentCoreID, &( pxCurrentTCBs[ xCoreToYield ]->xTCBSpinlock ) ); \
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} \
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} while( 0 )
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#elif ( configUSE_TASK_PREEMPTION_DISABLE == 1 )
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#define prvYieldCore( xCoreID ) \
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do { \
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if( ( xCoreID ) == ( BaseType_t ) portGET_CORE_ID() ) \
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@ -375,7 +412,7 @@
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} \
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} \
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} while( 0 )
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#else /* if ( configUSE_TASK_PREEMPTION_DISABLE == 1 ) */
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#else /* if ( configUSE_TCB_DATA_GROUP_LOCK == 1 ) */
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#define prvYieldCore( xCoreID ) \
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do { \
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if( ( xCoreID ) == ( BaseType_t ) portGET_CORE_ID() ) \
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@ -393,7 +430,7 @@
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} \
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} \
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} while( 0 )
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#endif /* #if ( configUSE_TASK_PREEMPTION_DISABLE == 1 ) */
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#endif /* #if ( configUSE_TCB_DATA_GROUP_LOCK == 1 ) */
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#endif /* #if ( configNUMBER_OF_CORES > 1 ) */
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/*-----------------------------------------------------------*/
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@ -524,6 +561,10 @@ typedef struct tskTaskControlBlock /* The old naming convention is used to
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* NULL when not using direct transfer */
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BaseType_t xDirectTransferPosition; /**< Position for direct transfer (queueSEND_TO_BACK, queueSEND_TO_FRONT, queueOVERWRITE) */
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#endif
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#if ( ( configUSE_TCB_DATA_GROUP_LOCK == 1 ) && ( configNUMBER_OF_CORES > 1 ) )
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portSPINLOCK_TYPE xTCBSpinlock; /**< Spinlock protecting TCB-specific data (uxPreemptionDisable, uxDeferredStateChange). */
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#endif
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} tskTCB;
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/* The old tskTCB name is maintained above then typedefed to the new TCB_t name
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@ -2173,6 +2214,12 @@ static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
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}
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#endif /* #if ( configNUMBER_OF_CORES > 1 ) */
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#if ( ( configUSE_TCB_DATA_GROUP_LOCK == 1 ) && ( configNUMBER_OF_CORES > 1 ) )
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{
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portINIT_SPINLOCK( &( pxNewTCB->xTCBSpinlock ) );
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}
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#endif
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if( pxCreatedTask != NULL )
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{
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/* Pass the handle out in an anonymous way. The handle can be used to
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@ -3311,6 +3358,123 @@ static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
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/*-----------------------------------------------------------*/
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#if ( ( configUSE_TCB_DATA_GROUP_LOCK == 1 ) && ( configNUMBER_OF_CORES > 1 ) )
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static void prvTaskTCBLockCheckForRunStateChange( void )
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{
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const TCB_t * pxThisTCB;
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BaseType_t xCoreID = ( BaseType_t ) portGET_CORE_ID();
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/* This must only be called from within a task. */
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portASSERT_IF_IN_ISR();
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/* This function is always called with interrupts disabled
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* so this is safe. */
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pxThisTCB = pxCurrentTCBs[ xCoreID ];
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while( pxThisTCB->xTaskRunState == taskTASK_SCHEDULED_TO_YIELD )
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{
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UBaseType_t uxPrevCriticalNesting;
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/* We are only here if we just entered a critical section
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* or if we just suspended the scheduler, and another task
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* has requested that we yield.
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*
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* This is slightly complicated since we need to save and restore
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* the suspension and critical nesting counts, as well as release
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* and reacquire the correct locks. And then, do it all over again
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* if our state changed again during the reacquisition. */
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uxPrevCriticalNesting = portGET_CRITICAL_NESTING_COUNT( xCoreID );
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if( uxPrevCriticalNesting > 0U )
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{
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portSET_CRITICAL_NESTING_COUNT( xCoreID, 0U );
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portRELEASE_SPINLOCK( xCoreID, &pxCurrentTCBs[ xCoreID ]->xTCBSpinlock );
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}
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else
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{
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/* The scheduler is suspended. uxSchedulerSuspended is updated
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* only when the task is not requested to yield. */
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mtCOVERAGE_TEST_MARKER();
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}
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portMEMORY_BARRIER();
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portENABLE_INTERRUPTS();
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/* Enabling interrupts should cause this core to immediately service
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* the pending interrupt and yield. After servicing the pending interrupt,
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* the task needs to re-evaluate its run state within this loop, as
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* other cores may have requested this task to yield, potentially altering
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* its run state. */
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portDISABLE_INTERRUPTS();
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xCoreID = ( BaseType_t ) portGET_CORE_ID();
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portGET_SPINLOCK( xCoreID, &pxCurrentTCBs[ xCoreID ]->xTCBSpinlock );
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portSET_CRITICAL_NESTING_COUNT( xCoreID, uxPrevCriticalNesting );
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}
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}
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void vTaskTCBEnterCritical( void )
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{
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if( xSchedulerRunning != pdFALSE )
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{
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portDISABLE_INTERRUPTS();
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{
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const BaseType_t xCoreID = ( BaseType_t ) portGET_CORE_ID();
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portGET_SPINLOCK( xCoreID, &pxCurrentTCBs[ xCoreID ]->xTCBSpinlock );
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portINCREMENT_CRITICAL_NESTING_COUNT( xCoreID );
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if( ( portGET_CRITICAL_NESTING_COUNT( xCoreID ) == 1U ) &&
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( pxCurrentTCBs[ xCoreID ]->uxPreemptionDisable == 0U ) )
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{
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prvTaskTCBLockCheckForRunStateChange();
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}
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}
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}
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}
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void vTaskTCBExitCritical( void )
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{
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const BaseType_t xCoreID = ( BaseType_t ) portGET_CORE_ID();
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if( xSchedulerRunning != pdFALSE )
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{
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if( portGET_CRITICAL_NESTING_COUNT( xCoreID ) > 0U )
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{
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BaseType_t xYieldCurrentTask = pdFALSE;
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/* Get the xYieldPending stats inside the critical section. */
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if( pxCurrentTCBs[ xCoreID ]->uxPreemptionDisable == 0U )
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{
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xYieldCurrentTask = xYieldPendings[ xCoreID ];
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}
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portRELEASE_SPINLOCK( xCoreID, &pxCurrentTCBs[ xCoreID ]->xTCBSpinlock );
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portDECREMENT_CRITICAL_NESTING_COUNT( xCoreID );
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/* If the critical nesting count is 0, enable interrupts */
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if( portGET_CRITICAL_NESTING_COUNT( xCoreID ) == 0U )
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{
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portENABLE_INTERRUPTS();
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if( xYieldCurrentTask != pdFALSE )
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{
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portYIELD();
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}
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}
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}
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}
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}
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#endif /* #if ( ( configUSE_TCB_DATA_GROUP_LOCK == 1 ) && ( configNUMBER_OF_CORES > 1 ) ) */
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/*-----------------------------------------------------------*/
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#if ( configUSE_TASK_PREEMPTION_DISABLE == 1 )
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void vTaskPreemptionDisable( const TaskHandle_t xTask )
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@ -3319,8 +3483,8 @@ static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
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traceENTER_vTaskPreemptionDisable( xTask );
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#if ( configLIGHTWEIGHT_CRITICAL_SECTION == 1 )
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vKernelLightWeightEnterCritical();
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#if ( configUSE_TCB_DATA_GROUP_LOCK == 1 )
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vTaskTCBEnterCritical();
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#else
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kernelENTER_CRITICAL();
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#endif
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@ -3337,8 +3501,8 @@ static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
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mtCOVERAGE_TEST_MARKER();
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}
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}
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#if ( configLIGHTWEIGHT_CRITICAL_SECTION == 1 )
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vKernelLightWeightExitCritical();
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#if ( configUSE_TCB_DATA_GROUP_LOCK == 1 )
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vTaskTCBExitCritical();
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#else
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kernelEXIT_CRITICAL();
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#endif
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@ -3356,15 +3520,18 @@ static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
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TCB_t * pxTCB;
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UBaseType_t uxDeferredAction = 0U;
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BaseType_t xAlreadyYielded = pdFALSE;
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BaseType_t xTaskRequestedToYield = pdFALSE;
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#if ( configLIGHTWEIGHT_CRITICAL_SECTION == 1 )
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vKernelLightWeightEnterCritical();
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#if ( configUSE_TCB_DATA_GROUP_LOCK == 1 )
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vTaskTCBEnterCritical();
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#else
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kernelENTER_CRITICAL();
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#endif
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{
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if( xSchedulerRunning != pdFALSE )
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{
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/* Current task running on the core can not be changed by other core.
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* Get TCB from handle is safe to call within TCB critical section. */
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pxTCB = prvGetTCBFromHandle( xTask );
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configASSERT( pxTCB != NULL );
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configASSERT( pxTCB->uxPreemptionDisable > 0U );
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@ -3381,8 +3548,7 @@ static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
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{
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if( ( xYieldPendings[ pxTCB->xTaskRunState ] != pdFALSE ) && ( taskTASK_IS_RUNNING( pxTCB ) != pdFALSE ) )
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{
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prvYieldCore( pxTCB->xTaskRunState );
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xAlreadyYielded = pdTRUE;
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xTaskRequestedToYield = pdTRUE;
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}
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else
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{
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@ -3400,8 +3566,8 @@ static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
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mtCOVERAGE_TEST_MARKER();
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}
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}
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#if ( configLIGHTWEIGHT_CRITICAL_SECTION == 1 )
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vKernelLightWeightExitCritical();
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#if ( configUSE_TCB_DATA_GROUP_LOCK == 1 )
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vTaskTCBExitCritical();
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#else
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kernelEXIT_CRITICAL();
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#endif
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@ -3424,6 +3590,27 @@ static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
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/* Any deferred action on the task would result in a context switch. */
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xAlreadyYielded = pdTRUE;
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}
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else
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{
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if( xTaskRequestedToYield != pdFALSE )
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{
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/* prvYieldCore must be called in critical section. */
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kernelENTER_CRITICAL();
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{
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pxTCB = prvGetTCBFromHandle( xTask );
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/* There is gap between TCB critical section and kernel critical section.
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* Checking the yield pending again to prevent that the current task
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* already handle the yield request. */
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if( ( xYieldPendings[ pxTCB->xTaskRunState ] != pdFALSE ) && ( taskTASK_IS_RUNNING( pxTCB ) != pdFALSE ) )
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{
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prvYieldCore( pxTCB->xTaskRunState );
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}
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}
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kernelEXIT_CRITICAL();
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xAlreadyYielded = pdTRUE;
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}
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}
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return xAlreadyYielded;
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}
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@ -7576,7 +7763,8 @@ static void prvResetNextTaskUnblockTime( void )
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* interrupt. Only assert if the critical nesting count is 1 to
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* protect against recursive calls if the assert function also uses a
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* critical section. */
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if( portGET_CRITICAL_NESTING_COUNT( xCoreID ) == 1U )
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if( ( portGET_CRITICAL_NESTING_COUNT( xCoreID ) == 1U ) &&
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( pxCurrentTCBs[ xCoreID ]->uxPreemptionDisable == 0U ) )
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{
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portASSERT_IF_IN_ISR();
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