mirror of
https://github.com/FreeRTOS/FreeRTOS-Kernel.git
synced 2026-10-10 08:02:57 -04:00
feat(granular_locks): Add granular locking functions
- Updated prvCheckForRunStateChange() for granular locks
- Updated vTaskSuspendAll() and xTaskResumeAll()
- Now holds the xTaskSpinlock during kernel suspension
- Increments/decrements xPreemptionDisable. Only yields when 0, thus allowing
for nested suspensions across different data groups
Co-authored-by: Sudeep Mohanty <sudeep.mohanty@espressif.com>
This commit is contained in:
Darian Leung
Sudeep Mohanty
parent
363e80bfdc
commit
7fa93024a1
3 changed files with 293 additions and 153 deletions
201
include/task.h
201
include/task.h
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@ -224,7 +224,7 @@ typedef enum
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* \defgroup taskYIELD taskYIELD
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* \ingroup SchedulerControl
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*/
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#define taskYIELD() portYIELD()
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#define taskYIELD() portYIELD()
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/**
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* task. h
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@ -238,12 +238,19 @@ typedef enum
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* \defgroup taskENTER_CRITICAL taskENTER_CRITICAL
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* \ingroup SchedulerControl
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*/
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#define taskENTER_CRITICAL() portENTER_CRITICAL()
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#define taskENTER_CRITICAL() portENTER_CRITICAL()
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#if ( configNUMBER_OF_CORES == 1 )
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#define taskENTER_CRITICAL_FROM_ISR() portSET_INTERRUPT_MASK_FROM_ISR()
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#define taskENTER_CRITICAL_FROM_ISR() portSET_INTERRUPT_MASK_FROM_ISR()
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#else
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#define taskENTER_CRITICAL_FROM_ISR() portENTER_CRITICAL_FROM_ISR()
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#define taskENTER_CRITICAL_FROM_ISR() portENTER_CRITICAL_FROM_ISR()
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#endif
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#if ( ( portUSING_GRANULAR_LOCKS == 1 ) && ( configNUMBER_OF_CORES > 1 ) )
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#define taskLOCK_DATA_GROUP( pxTaskSpinlock, pxISRSpinlock ) portLOCK_DATA_GROUP( ( portSPINLOCK_TYPE * ) pxTaskSpinlock, ( portSPINLOCK_TYPE * ) pxISRSpinlock )
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#define taskLOCK_DATA_GROUP_FROM_ISR( pxISRSpinlock ) portLOCK_DATA_GROUP_FROM_ISR( pxISRSpinlock )
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#else /* #if ( ( portUSING_GRANULAR_LOCKS == 1 ) && ( configNUMBER_OF_CORES > 1 ) ) */
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#define taskLOCK_DATA_GROUP( pxTaskSpinlock, pxISRSpinlock ) taskENTER_CRITICAL()
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#define taskLOCK_DATA_GROUP_FROM_ISR( pxISRSpinlock ) taskENTER_CRITICAL_FROM_ISR()
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#endif /* #if ( ( portUSING_GRANULAR_LOCKS == 1 ) && ( configNUMBER_OF_CORES > 1 ) ) */
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/**
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* task. h
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@ -257,12 +264,19 @@ typedef enum
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* \defgroup taskEXIT_CRITICAL taskEXIT_CRITICAL
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* \ingroup SchedulerControl
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*/
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#define taskEXIT_CRITICAL() portEXIT_CRITICAL()
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#define taskEXIT_CRITICAL() portEXIT_CRITICAL()
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#if ( configNUMBER_OF_CORES == 1 )
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#define taskEXIT_CRITICAL_FROM_ISR( x ) portCLEAR_INTERRUPT_MASK_FROM_ISR( x )
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#define taskEXIT_CRITICAL_FROM_ISR( x ) portCLEAR_INTERRUPT_MASK_FROM_ISR( x )
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#else
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#define taskEXIT_CRITICAL_FROM_ISR( x ) portEXIT_CRITICAL_FROM_ISR( x )
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#define taskEXIT_CRITICAL_FROM_ISR( x ) portEXIT_CRITICAL_FROM_ISR( x )
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#endif
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#if ( ( portUSING_GRANULAR_LOCKS == 1 ) && ( configNUMBER_OF_CORES > 1 ) )
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#define taskUNLOCK_DATA_GROUP( pxTaskSpinlock, pxISRSpinlock ) portUNLOCK_DATA_GROUP( ( portSPINLOCK_TYPE * ) pxTaskSpinlock, ( portSPINLOCK_TYPE * ) pxISRSpinlock )
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#define taskUNLOCK_DATA_GROUP_FROM_ISR( x, pxISRSpinlock ) portUNLOCK_DATA_GROUP_FROM_ISR( x, pxISRSpinlock )
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#else /* #if ( ( portUSING_GRANULAR_LOCKS == 1 ) && ( configNUMBER_OF_CORES > 1 ) ) */
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#define taskUNLOCK_DATA_GROUP( pxTaskSpinlock, pxISRSpinlock ) taskEXIT_CRITICAL()
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#define taskUNLOCK_DATA_GROUP_FROM_ISR( x, pxISRSpinlock ) taskEXIT_CRITICAL_FROM_ISR( x )
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#endif /* #if ( ( portUSING_GRANULAR_LOCKS == 1 ) && ( configNUMBER_OF_CORES > 1 ) ) */
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/**
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* task. h
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@ -294,6 +308,146 @@ typedef enum
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/* Checks if core ID is valid. */
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#define taskVALID_CORE_ID( xCoreID ) ( ( ( ( ( BaseType_t ) 0 <= ( xCoreID ) ) && ( ( xCoreID ) < ( BaseType_t ) configNUMBER_OF_CORES ) ) ) ? ( pdTRUE ) : ( pdFALSE ) )
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/**
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* task. h
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*
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* Macro to enter a data group critical section.
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*
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* \defgroup taskDATA_GROUP_ENTER_CRITICAL taskDATA_GROUP_ENTER_CRITICAL
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* \ingroup GranularLocks
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*/
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#if ( portUSING_GRANULAR_LOCKS == 1 )
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#define taskDATA_GROUP_ENTER_CRITICAL( pxTaskSpinlock, pxISRSpinlock ) \
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do { \
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/* Disable preemption to avoid task state changes during the critical section. */ \
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vTaskPreemptionDisable( NULL ); \
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{ \
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const BaseType_t xCoreID = ( BaseType_t ) portGET_CORE_ID(); \
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/* Task spinlock is always taken first */ \
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portGET_SPINLOCK( xCoreID, ( portSPINLOCK_TYPE * ) pxTaskSpinlock ); \
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/* Disable interrupts */ \
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portDISABLE_INTERRUPTS(); \
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/* Take the ISR spinlock next */ \
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portGET_SPINLOCK( xCoreID, ( portSPINLOCK_TYPE * ) pxISRSpinlock ); \
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/* Increment the critical nesting count */ \
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portINCREMENT_CRITICAL_NESTING_COUNT( xCoreID ); \
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} \
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} while( 0 )
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#endif /* #if ( portUSING_GRANULAR_LOCKS == 1 ) */
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/**
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* task. h
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*
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* Macro to enter a data group critical section from an interrupt.
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*
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* \defgroup taskDATA_GROUP_ENTER_CRITICAL_FROM_ISR taskDATA_GROUP_ENTER_CRITICAL_FROM_ISR
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* \ingroup GranularLocks
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*/
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#if ( portUSING_GRANULAR_LOCKS == 1 )
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#define taskDATA_GROUP_ENTER_CRITICAL_FROM_ISR( pxISRSpinlock, puxSavedInterruptStatus ) \
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do { \
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*( puxSavedInterruptStatus ) = portSET_INTERRUPT_MASK_FROM_ISR(); \
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const BaseType_t xCoreID = ( BaseType_t ) portGET_CORE_ID(); \
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/* Take the ISR spinlock */ \
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portGET_SPINLOCK( xCoreID, ( portSPINLOCK_TYPE * ) pxISRSpinlock ); \
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/* Increment the critical nesting count */ \
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portINCREMENT_CRITICAL_NESTING_COUNT( xCoreID ); \
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} while( 0 )
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#endif /* #if ( portUSING_GRANULAR_LOCKS == 1 ) */
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/**
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* task. h
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*
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* Macro to exit a data group critical section.
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*
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* \defgroup taskDATA_GROUP_EXIT_CRITICAL taskDATA_GROUP_EXIT_CRITICAL
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* \ingroup GranularLocks
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*/
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#if ( portUSING_GRANULAR_LOCKS == 1 )
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#define taskDATA_GROUP_EXIT_CRITICAL( pxTaskSpinlock, pxISRSpinlock ) \
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do { \
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const BaseType_t xCoreID = ( BaseType_t ) portGET_CORE_ID(); \
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configASSERT( portGET_CRITICAL_NESTING_COUNT( xCoreID ) > 0U ); \
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/* Release the ISR spinlock */ \
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portRELEASE_SPINLOCK( xCoreID, ( portSPINLOCK_TYPE * ) pxISRSpinlock ); \
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/* Release the task spinlock */ \
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portRELEASE_SPINLOCK( xCoreID, ( portSPINLOCK_TYPE * ) pxTaskSpinlock ); \
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/* Decrement the critical nesting count */ \
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portDECREMENT_CRITICAL_NESTING_COUNT( xCoreID ); \
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/* Enable interrupts only if the critical nesting count is 0 */ \
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if( portGET_CRITICAL_NESTING_COUNT( xCoreID ) == 0 ) \
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{ \
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portENABLE_INTERRUPTS(); \
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} \
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else \
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{ \
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mtCOVERAGE_TEST_MARKER(); \
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} \
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/* Re-enable preemption */ \
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vTaskPreemptionEnable( NULL ); \
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} while( 0 )
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#endif /* #if ( portUSING_GRANULAR_LOCKS == 1 ) */
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/**
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* task. h
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*
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* Macro to exit a data group critical section from an interrupt.
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*
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* \defgroup taskDATA_GROUP_EXIT_CRITICAL_FROM_ISR taskDATA_GROUP_EXIT_CRITICAL_FROM_ISR
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* \ingroup GranularLocks
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*/
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#if ( portUSING_GRANULAR_LOCKS == 1 )
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#define taskDATA_GROUP_EXIT_CRITICAL_FROM_ISR( uxSavedInterruptStatus, pxISRSpinlock ) \
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do { \
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const BaseType_t xCoreID = ( BaseType_t ) portGET_CORE_ID(); \
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configASSERT( portGET_CRITICAL_NESTING_COUNT( xCoreID ) > 0U ); \
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/* Decrement the critical nesting count */ \
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portDECREMENT_CRITICAL_NESTING_COUNT( xCoreID ); \
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/* Release the ISR spinlock */ \
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portRELEASE_SPINLOCK( xCoreID, ( portSPINLOCK_TYPE * ) pxISRSpinlock ); \
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if( portGET_CRITICAL_NESTING_COUNT( xCoreID ) == 0 ) \
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{ \
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portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus ); \
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} \
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} while( 0 )
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#endif /* #if ( portUSING_GRANULAR_LOCKS == 1 ) */
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/**
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* task. h
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*
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* Macros to lock a data group (task-level lock only).
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*
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* \defgroup taskDATA_GROUP_LOCK taskDATA_GROUP_LOCK
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* \ingroup GranularLocks
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*/
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#if ( portUSING_GRANULAR_LOCKS == 1 )
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#define taskDATA_GROUP_LOCK( pxTaskSpinlock ) \
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do { \
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/* Disable preemption while holding the task spinlock. */ \
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vTaskPreemptionDisable( NULL ); \
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{ \
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portGET_SPINLOCK( portGET_CORE_ID(), ( portSPINLOCK_TYPE * ) ( pxTaskSpinlock ) ); \
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} \
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} while( 0 )
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#endif /* #if ( portUSING_GRANULAR_LOCKS == 1 ) */
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/**
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* task. h
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*
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* Macros to unlock a data group (task-level lock only).
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*
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* \defgroup taskDATA_GROUP_UNLOCK taskDATA_GROUP_UNLOCK
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* \ingroup GranularLocks
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*/
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#if ( portUSING_GRANULAR_LOCKS == 1 )
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#define taskDATA_GROUP_UNLOCK( pxTaskSpinlock ) \
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( { \
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portRELEASE_SPINLOCK( portGET_CORE_ID(), ( portSPINLOCK_TYPE * ) ( pxTaskSpinlock ) ); \
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/* Re-enable preemption after releasing the task spinlock. */ \
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prvTaskPreemptionEnable( NULL ); \
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} )
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#endif /* #if ( portUSING_GRANULAR_LOCKS == 1 ) */
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/*-----------------------------------------------------------
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* TASK CREATION API
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*----------------------------------------------------------*/
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@ -1556,6 +1710,23 @@ BaseType_t xTaskResumeFromISR( TaskHandle_t xTaskToResume ) PRIVILEGED_FUNCTION;
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void vTaskPreemptionEnable( const TaskHandle_t xTask );
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#endif
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#if ( configUSE_TASK_PREEMPTION_DISABLE == 1 )
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/*
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* THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE. IT IS ONLY
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* INTENDED FOR USE WHEN IMPLEMENTING A PORT OF THE SCHEDULER AND IS
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* AN INTERFACE WHICH IS FOR THE EXCLUSIVE USE OF THE SCHEDULER.
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*
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* @param xTask The handle of the task to enable preemption. Passing NULL
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* enables preemption for the calling task.
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*
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* @return pdTRUE if enabling preemption for the task resulted in a context
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* switch, otherwise pdFALSE. This is used by the scheduler to determine if a
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* context switch may be required following the enable.
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*/
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BaseType_t prvTaskPreemptionEnable( const TaskHandle_t xTask );
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#endif
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/*-----------------------------------------------------------
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* SCHEDULER CONTROL
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*----------------------------------------------------------*/
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@ -3825,7 +3996,7 @@ void vTaskInternalSetTimeOutState( TimeOut_t * const pxTimeOut ) PRIVILEGED_FUNC
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* It should be used in the implementation of portENTER_CRITICAL if port is running a
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* multiple core FreeRTOS.
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*/
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#if ( ( portCRITICAL_NESTING_IN_TCB == 1 ) || ( configNUMBER_OF_CORES > 1 ) )
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#if !( ( portUSING_GRANULAR_LOCKS == 1 ) && ( configNUMBER_OF_CORES > 1 ) )
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void vTaskEnterCritical( void );
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#endif
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@ -3837,7 +4008,7 @@ void vTaskInternalSetTimeOutState( TimeOut_t * const pxTimeOut ) PRIVILEGED_FUNC
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* It should be used in the implementation of portEXIT_CRITICAL if port is running a
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* multiple core FreeRTOS.
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*/
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#if ( ( portCRITICAL_NESTING_IN_TCB == 1 ) || ( configNUMBER_OF_CORES > 1 ) )
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#if !( ( portUSING_GRANULAR_LOCKS == 1 ) && ( configNUMBER_OF_CORES > 1 ) )
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void vTaskExitCritical( void );
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#endif
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@ -3847,7 +4018,7 @@ void vTaskInternalSetTimeOutState( TimeOut_t * const pxTimeOut ) PRIVILEGED_FUNC
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* should be used in the implementation of portENTER_CRITICAL_FROM_ISR if port is
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* running a multiple core FreeRTOS.
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*/
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#if ( configNUMBER_OF_CORES > 1 )
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#if !( ( portUSING_GRANULAR_LOCKS == 1 ) && ( configNUMBER_OF_CORES > 1 ) )
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UBaseType_t vTaskEnterCriticalFromISR( void );
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#endif
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@ -3857,10 +4028,18 @@ void vTaskInternalSetTimeOutState( TimeOut_t * const pxTimeOut ) PRIVILEGED_FUNC
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* should be used in the implementation of portEXIT_CRITICAL_FROM_ISR if port is
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* running a multiple core FreeRTOS.
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*/
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#if ( configNUMBER_OF_CORES > 1 )
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#if !( ( portUSING_GRANULAR_LOCKS == 1 ) && ( configNUMBER_OF_CORES > 1 ) )
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void vTaskExitCriticalFromISR( UBaseType_t uxSavedInterruptStatus );
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#endif
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/*
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* Checks whether a yield is required after taskUNLOCK_DATA_GROUP() returns.
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* To be called while data group is locked.
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*/
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#if ( ( portUSING_GRANULAR_LOCKS == 1 ) && ( configNUMBER_OF_CORES > 1 ) )
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BaseType_t xTaskUnlockCanYield( void );
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#endif /* #if ( ( portUSING_GRANULAR_LOCKS == 1 ) && ( configNUMBER_OF_CORES > 1 ) ) */
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#if ( portUSING_MPU_WRAPPERS == 1 )
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/*
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