mirror of
https://github.com/FreeRTOS/FreeRTOS-Kernel.git
synced 2025-09-08 07:07:47 -04:00
Kernel optimisations.
This commit is contained in:
Richard Barry
parent
c9d9bddc3c
commit
ad8fa53043
5 changed files with 224 additions and 206 deletions
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@ -201,12 +201,11 @@ PRIVILEGED_DATA static xList xPendingReadyList; /*< Tasks that have been r
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/* File private variables. --------------------------------*/
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PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxCurrentNumberOfTasks = ( unsigned portBASE_TYPE ) 0U;
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PRIVILEGED_DATA static volatile portTickType xTickCount = ( portTickType ) 0U;
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PRIVILEGED_DATA static unsigned portBASE_TYPE uxTopUsedPriority = tskIDLE_PRIORITY;
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PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTopReadyPriority = tskIDLE_PRIORITY;
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PRIVILEGED_DATA static volatile signed portBASE_TYPE xSchedulerRunning = pdFALSE;
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PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxSchedulerSuspended = ( unsigned portBASE_TYPE ) pdFALSE;
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PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxPendedTicks = ( unsigned portBASE_TYPE ) 0U;
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PRIVILEGED_DATA static volatile portBASE_TYPE xYieldPending = ( portBASE_TYPE ) pdFALSE;
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PRIVILEGED_DATA static volatile portBASE_TYPE xYieldPending = ( portBASE_TYPE ) pdFALSE;
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PRIVILEGED_DATA static volatile portBASE_TYPE xNumOfOverflows = ( portBASE_TYPE ) 0;
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PRIVILEGED_DATA static unsigned portBASE_TYPE uxTaskNumber = ( unsigned portBASE_TYPE ) 0U;
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PRIVILEGED_DATA static volatile portTickType xNextTaskUnblockTime = ( portTickType ) portMAX_DELAY;
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@ -214,7 +213,7 @@ PRIVILEGED_DATA static volatile portTickType xNextTaskUnblockTime = ( portTic
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#if ( configGENERATE_RUN_TIME_STATS == 1 )
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PRIVILEGED_DATA static unsigned long ulTaskSwitchedInTime = 0UL; /*< Holds the value of a timer/counter the last time a task was switched in. */
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PRIVILEGED_DATA static unsigned long ulTotalRunTime = 0UL; /*< Holds the total amount of execution time as defined by the run time counter clock. */
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PRIVILEGED_DATA static unsigned long ulTotalRunTime = 0UL; /*< Holds the total amount of execution time as defined by the run time counter clock. */
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#endif
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@ -587,13 +586,6 @@ tskTCB * pxNewTCB;
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}
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}
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/* Remember the top priority to make context switching faster. Use
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the priority in pxNewTCB as this has been capped to a valid value. */
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if( pxNewTCB->uxPriority > uxTopUsedPriority )
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{
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uxTopUsedPriority = pxNewTCB->uxPriority;
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}
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uxTaskNumber++;
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#if ( configUSE_TRACE_FACILITY == 1 )
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@ -662,7 +654,7 @@ tskTCB * pxNewTCB;
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}
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/* Is the task waiting on an event also? */
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if( pxTCB->xEventListItem.pvContainer != NULL )
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if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
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{
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uxListRemove( &( pxTCB->xEventListItem ) );
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}
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@ -707,17 +699,21 @@ tskTCB * pxNewTCB;
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vTaskSuspendAll();
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{
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/* Minor optimisation. The tick count cannot change in this
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block. */
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const portTickType xConstTickCount = xTickCount;
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/* Generate the tick time at which the task wants to wake. */
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xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
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if( xTickCount < *pxPreviousWakeTime )
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if( xConstTickCount < *pxPreviousWakeTime )
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{
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/* The tick count has overflowed since this function was
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lasted called. In this case the only time we should ever
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actually delay is if the wake time has also overflowed,
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and the wake time is greater than the tick time. When this
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is the case it is as if neither time had overflowed. */
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if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xTickCount ) )
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if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xConstTickCount ) )
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{
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xShouldDelay = pdTRUE;
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}
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@ -727,7 +723,7 @@ tskTCB * pxNewTCB;
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/* The tick time has not overflowed. In this case we will
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delay if either the wake time has overflowed, and/or the
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tick time is less than the wake time. */
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if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xTickCount ) )
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if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xConstTickCount ) )
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{
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xShouldDelay = pdTRUE;
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}
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@ -825,9 +821,7 @@ tskTCB * pxNewTCB;
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{
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eTaskState eReturn;
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xList *pxStateList;
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tskTCB *pxTCB;
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pxTCB = ( tskTCB * ) xTask;
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const tskTCB * const pxTCB = ( tskTCB * ) xTask;
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if( pxTCB == pxCurrentTCB )
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{
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@ -1048,7 +1042,7 @@ tskTCB * pxNewTCB;
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}
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/* Is the task waiting on an event also? */
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if( pxTCB->xEventListItem.pvContainer != NULL )
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if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
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{
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uxListRemove( &( pxTCB->xEventListItem ) );
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}
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@ -1126,15 +1120,11 @@ tskTCB * pxNewTCB;
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void vTaskResume( xTaskHandle xTaskToResume )
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{
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tskTCB *pxTCB;
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tskTCB * const pxTCB = ( tskTCB * ) xTaskToResume;
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/* It does not make sense to resume the calling task. */
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configASSERT( xTaskToResume );
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/* Remove the task from whichever list it is currently in, and place
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it in the ready list. */
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pxTCB = ( tskTCB * ) xTaskToResume;
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/* The parameter cannot be NULL as it is impossible to resume the
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currently executing task. */
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if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) )
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@ -1172,31 +1162,29 @@ tskTCB * pxNewTCB;
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portBASE_TYPE xTaskResumeFromISR( xTaskHandle xTaskToResume )
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{
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portBASE_TYPE xYieldRequired = pdFALSE;
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tskTCB *pxTCB;
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tskTCB * const pxTCB = ( tskTCB * ) xTaskToResume;
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unsigned portBASE_TYPE uxSavedInterruptStatus;
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configASSERT( xTaskToResume );
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/* RTOS ports that support interrupt nesting have the concept of a
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maximum system call (or maximum API call) interrupt priority.
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Interrupts that are above the maximum system call priority are keep
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permanently enabled, even when the RTOS kernel is in a critical section,
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but cannot make any calls to FreeRTOS API functions. If configASSERT()
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is defined in FreeRTOSConfig.h then
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/* RTOS ports that support interrupt nesting have the concept of a
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maximum system call (or maximum API call) interrupt priority.
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Interrupts that are above the maximum system call priority are keep
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permanently enabled, even when the RTOS kernel is in a critical section,
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but cannot make any calls to FreeRTOS API functions. If configASSERT()
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is defined in FreeRTOSConfig.h then
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portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
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failure if a FreeRTOS API function is called from an interrupt that has
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been assigned a priority above the configured maximum system call
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priority. Only FreeRTOS functions that end in FromISR can be called
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from interrupts that have been assigned a priority at or (logically)
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below the maximum system call interrupt priority. FreeRTOS maintains a
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separate interrupt safe API to ensure interrupt entry is as fast and as
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simple as possible. More information (albeit Cortex-M specific) is
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provided on the following link:
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failure if a FreeRTOS API function is called from an interrupt that has
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been assigned a priority above the configured maximum system call
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priority. Only FreeRTOS functions that end in FromISR can be called
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from interrupts that have been assigned a priority at or (logically)
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below the maximum system call interrupt priority. FreeRTOS maintains a
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separate interrupt safe API to ensure interrupt entry is as fast and as
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simple as possible. More information (albeit Cortex-M specific) is
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provided on the following link:
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http://www.freertos.org/RTOS-Cortex-M3-M4.html */
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portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
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pxTCB = ( tskTCB * ) xTaskToResume;
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uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
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{
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if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
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@ -1434,20 +1422,20 @@ unsigned portBASE_TYPE uxSavedInterruptStatus;
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/* RTOS ports that support interrupt nesting have the concept of a maximum
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system call (or maximum API call) interrupt priority. Interrupts that are
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above the maximum system call priority are keep permanently enabled, even
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above the maximum system call priority are keep permanently enabled, even
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when the RTOS kernel is in a critical section, but cannot make any calls to
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FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
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FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
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then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
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failure if a FreeRTOS API function is called from an interrupt that has been
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assigned a priority above the configured maximum system call priority.
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Only FreeRTOS functions that end in FromISR can be called from interrupts
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that have been assigned a priority at or (logically) below the maximum
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system call interrupt priority. FreeRTOS maintains a separate interrupt
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safe API to ensure interrupt entry is as fast and as simple as possible.
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More information (albeit Cortex-M specific) is provided on the following
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that have been assigned a priority at or (logically) below the maximum
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system call interrupt priority. FreeRTOS maintains a separate interrupt
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safe API to ensure interrupt entry is as fast and as simple as possible.
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More information (albeit Cortex-M specific) is provided on the following
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link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
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portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
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uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
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xReturn = xTickCount;
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portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
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@ -1506,7 +1494,7 @@ unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )
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#if( INCLUDE_vTaskDelete == 1 )
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{
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/* Fill in an xTaskStatusType structure with information on
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/* Fill in an xTaskStatusType structure with information on
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each task that has been deleted but not yet cleaned up. */
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uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xTasksWaitingTermination, eDeleted );
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}
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@ -1514,7 +1502,7 @@ unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )
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#if ( INCLUDE_vTaskSuspend == 1 )
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{
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/* Fill in an xTaskStatusType structure with information on
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/* Fill in an xTaskStatusType structure with information on
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each task in the Suspended state. */
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uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xSuspendedTaskList, eSuspended );
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}
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@ -1522,11 +1510,17 @@ unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )
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#if ( configGENERATE_RUN_TIME_STATS == 1)
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{
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*pulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
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if( pulTotalRunTime != NULL )
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{
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*pulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
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}
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}
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#else
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{
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*pulTotalRunTime = 0;
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if( pulTotalRunTime != NULL )
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{
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*pulTotalRunTime = 0;
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}
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}
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#endif
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}
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@ -1585,75 +1579,82 @@ portBASE_TYPE xSwitchRequired = pdFALSE;
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/* Increment the RTOS tick, switching the delayed and overflowed
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delayed lists if it wraps to 0. */
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++xTickCount;
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if( xTickCount == ( portTickType ) 0U )
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{
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taskSWITCH_DELAYED_LISTS();
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}
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/* See if this tick has made a timeout expire. Tasks are stored in the
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queue in the order of their wake time - meaning once one tasks has been
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found whose block time has not expired there is no need not look any
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further down the list. */
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if( xTickCount >= xNextTaskUnblockTime )
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{
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for( ;; )
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/* Minor optimisation. The tick count cannot change in this
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block. */
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const portTickType xConstTickCount = xTickCount;
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if( xConstTickCount == ( portTickType ) 0U )
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{
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if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
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{
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/* The delayed list is empty. Set xNextTaskUnblockTime to
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the maximum possible value so it is extremely unlikely that
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the if( xTickCount >= xNextTaskUnblockTime ) test will pass
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next time through. */
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xNextTaskUnblockTime = portMAX_DELAY;
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break;
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}
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else
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{
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/* The delayed list is not empty, get the value of the item
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at the head of the delayed list. This is the time at which
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the task at the head of the delayed list must be removed
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from the Blocked state. */
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pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
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xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) );
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taskSWITCH_DELAYED_LISTS();
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}
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if( xTickCount < xItemValue )
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/* See if this tick has made a timeout expire. Tasks are stored in the
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queue in the order of their wake time - meaning once one tasks has been
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found whose block time has not expired there is no need not look any
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further down the list. */
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if( xConstTickCount >= xNextTaskUnblockTime )
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{
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for( ;; )
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{
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if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
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{
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/* It is not time to unblock this item yet, but the item
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value is the time at which the task at the head of the
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blocked list must be removed from the Blocked state -
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so record the item value in xNextTaskUnblockTime. */
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xNextTaskUnblockTime = xItemValue;
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/* The delayed list is empty. Set xNextTaskUnblockTime to
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the maximum possible value so it is extremely unlikely that
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the if( xTickCount >= xNextTaskUnblockTime ) test will pass
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next time through. */
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xNextTaskUnblockTime = portMAX_DELAY;
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break;
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}
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/* It is time to remove the item from the Blocked state. */
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uxListRemove( &( pxTCB->xGenericListItem ) );
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/* Is the task waiting on an event also? If so remove it
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from the event list. */
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if( pxTCB->xEventListItem.pvContainer != NULL )
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else
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{
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uxListRemove( &( pxTCB->xEventListItem ) );
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}
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/* The delayed list is not empty, get the value of the item
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at the head of the delayed list. This is the time at which
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the task at the head of the delayed list must be removed
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from the Blocked state. */
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pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
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xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) );
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/* Place the unblocked task into the appropriate ready
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list. */
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prvAddTaskToReadyList( pxTCB );
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/* A task being unblocked cannot cause an immediate context
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switch if preemption is turned off. */
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#if ( configUSE_PREEMPTION == 1 )
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{
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/* Preemption is on, but a context switch should only
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be performed if the unblocked task has a priority that
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is equal to or higher than the currently executing
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task. */
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if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
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if( xConstTickCount < xItemValue )
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{
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xSwitchRequired = pdTRUE;
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/* It is not time to unblock this item yet, but the item
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value is the time at which the task at the head of the
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blocked list must be removed from the Blocked state -
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so record the item value in xNextTaskUnblockTime. */
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xNextTaskUnblockTime = xItemValue;
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break;
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}
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/* It is time to remove the item from the Blocked state. */
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uxListRemove( &( pxTCB->xGenericListItem ) );
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/* Is the task waiting on an event also? If so remove it
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from the event list. */
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if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
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{
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uxListRemove( &( pxTCB->xEventListItem ) );
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}
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/* Place the unblocked task into the appropriate ready
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list. */
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prvAddTaskToReadyList( pxTCB );
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/* A task being unblocked cannot cause an immediate context
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switch if preemption is turned off. */
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#if ( configUSE_PREEMPTION == 1 )
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{
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/* Preemption is on, but a context switch should only
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be performed if the unblocked task has a priority that
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is equal to or higher than the currently executing
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task. */
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if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
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{
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xSwitchRequired = pdTRUE;
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}
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}
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#endif /* configUSE_PREEMPTION */
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}
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#endif /* configUSE_PREEMPTION */
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}
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}
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}
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@ -1999,6 +2000,9 @@ portBASE_TYPE xReturn;
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taskENTER_CRITICAL();
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{
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/* Minor optimisation. The tick count cannot change in this block. */
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const portTickType xConstTickCount = xTickCount;
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#if ( INCLUDE_vTaskSuspend == 1 )
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/* If INCLUDE_vTaskSuspend is set to 1 and the block time specified is
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the maximum block time then the task should block indefinitely, and
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@ -2010,7 +2014,7 @@ portBASE_TYPE xReturn;
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else /* We are not blocking indefinitely, perform the checks below. */
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#endif
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if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( ( portTickType ) xTickCount >= ( portTickType ) pxTimeOut->xTimeOnEntering ) )
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if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( ( portTickType ) xConstTickCount >= ( portTickType ) pxTimeOut->xTimeOnEntering ) )
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{
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/* The tick count is greater than the time at which vTaskSetTimeout()
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was called, but has also overflowed since vTaskSetTimeOut() was called.
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@ -2018,10 +2022,10 @@ portBASE_TYPE xReturn;
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passed since vTaskSetTimeout() was called. */
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xReturn = pdTRUE;
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}
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else if( ( ( portTickType ) ( ( portTickType ) xTickCount - ( portTickType ) pxTimeOut->xTimeOnEntering ) ) < ( portTickType ) *pxTicksToWait )
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else if( ( ( portTickType ) ( ( portTickType ) xConstTickCount - ( portTickType ) pxTimeOut->xTimeOnEntering ) ) < ( portTickType ) *pxTicksToWait )
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{
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||||
/* Not a genuine timeout. Adjust parameters for time remaining. */
|
||||
*pxTicksToWait -= ( ( portTickType ) xTickCount - ( portTickType ) pxTimeOut->xTimeOnEntering );
|
||||
*pxTicksToWait -= ( ( portTickType ) xConstTickCount - ( portTickType ) pxTimeOut->xTimeOnEntering );
|
||||
vTaskSetTimeOutState( pxTimeOut );
|
||||
xReturn = pdFALSE;
|
||||
}
|
||||
|
|
@ -2458,10 +2462,10 @@ tskTCB *pxNewTCB;
|
|||
unsigned portBASE_TYPE uxTask = 0;
|
||||
|
||||
if( listCURRENT_LIST_LENGTH( pxList ) > 0 )
|
||||
{
|
||||
{
|
||||
listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
|
||||
|
||||
/* Populate an xTaskStatusType structure within the
|
||||
|
||||
/* Populate an xTaskStatusType structure within the
|
||||
pxTaskStatusArray array for each task that is referenced from
|
||||
pxList. See the definition of xTaskStatusType in task.h for the
|
||||
meaning of each xTaskStatusType structure member. */
|
||||
|
|
@ -2741,7 +2745,6 @@ tskTCB *pxNewTCB;
|
|||
{
|
||||
xTaskStatusType *pxTaskStatusArray;
|
||||
volatile unsigned portBASE_TYPE uxArraySize, x;
|
||||
unsigned long ulTotalRunTime;
|
||||
char cStatus;
|
||||
|
||||
/*
|
||||
|
|
@ -2782,7 +2785,7 @@ tskTCB *pxNewTCB;
|
|||
if( pxTaskStatusArray != NULL )
|
||||
{
|
||||
/* Generate the (binary) data. */
|
||||
uxArraySize = xTaskGetSystemState( pxTaskStatusArray, uxArraySize, &ulTotalRunTime );
|
||||
uxArraySize = xTaskGetSystemState( pxTaskStatusArray, uxArraySize, NULL );
|
||||
|
||||
/* Create a human readable table from the binary data. */
|
||||
for( x = 0; x < uxArraySize; x++ )
|
||||
|
|
@ -2825,7 +2828,7 @@ tskTCB *pxNewTCB;
|
|||
{
|
||||
xTaskStatusType *pxTaskStatusArray;
|
||||
volatile unsigned portBASE_TYPE uxArraySize, x;
|
||||
unsigned long ulTotalRunTime, ulStatsAsPercentage;
|
||||
unsigned long ulTotalTime, ulStatsAsPercentage;
|
||||
|
||||
/*
|
||||
* PLEASE NOTE:
|
||||
|
|
@ -2865,13 +2868,13 @@ tskTCB *pxNewTCB;
|
|||
if( pxTaskStatusArray != NULL )
|
||||
{
|
||||
/* Generate the (binary) data. */
|
||||
uxArraySize = xTaskGetSystemState( pxTaskStatusArray, uxArraySize, &ulTotalRunTime );
|
||||
uxArraySize = xTaskGetSystemState( pxTaskStatusArray, uxArraySize, &ulTotalTime );
|
||||
|
||||
/* For percentage calculations. */
|
||||
ulTotalRunTime /= 100UL;
|
||||
ulTotalTime /= 100UL;
|
||||
|
||||
/* Avoid divide by zero errors. */
|
||||
if( ulTotalRunTime > 0 )
|
||||
if( ulTotalTime > 0 )
|
||||
{
|
||||
/* Create a human readable table from the binary data. */
|
||||
for( x = 0; x < uxArraySize; x++ )
|
||||
|
|
@ -2879,7 +2882,7 @@ tskTCB *pxNewTCB;
|
|||
/* What percentage of the total run time has the task used?
|
||||
This will always be rounded down to the nearest integer.
|
||||
ulTotalRunTimeDiv100 has already been divided by 100. */
|
||||
ulStatsAsPercentage = pxTaskStatusArray[ x ].ulRunTimeCounter / ulTotalRunTime;
|
||||
ulStatsAsPercentage = pxTaskStatusArray[ x ].ulRunTimeCounter / ulTotalTime;
|
||||
|
||||
if( ulStatsAsPercentage > 0UL )
|
||||
{
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue