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Updated from upstream

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Joseph Julicher 2021-05-19 10:02:49 -07:00
parent e71e702110
commit d58750f5f9
1 changed files with 132 additions and 140 deletions
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270
tasks.c
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@ -150,7 +150,7 @@
/* A port optimised version is provided. Call the port defined macros. */ /* A port optimised version is provided. Call the port defined macros. */
#define taskRECORD_READY_PRIORITY( uxPriority ) portRECORD_READY_PRIORITY( uxPriority, uxTopReadyPriority ) #define taskRECORD_READY_PRIORITY( uxPriority ) portRECORD_READY_PRIORITY( uxPriority, uxTopReadyPriority )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* A port optimised version is provided, call it only if the TCB being reset /* A port optimised version is provided, call it only if the TCB being reset
* is being referenced from a ready list. If it is referenced from a delayed * is being referenced from a ready list. If it is referenced from a delayed
@ -467,7 +467,7 @@ static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
*/ */
static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters ) PRIVILEGED_FUNCTION; static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters ) PRIVILEGED_FUNCTION;
#if ( configNUM_CORES > 1 ) #if ( configNUM_CORES > 1 )
static portTASK_FUNCTION_PROTO( prvMinimalIdleTask, pvParameters ) PRIVILEGED_FUNCTION; static portTASK_FUNCTION_PROTO( prvMinimalIdleTask, pvParameters ) PRIVILEGED_FUNCTION;
#endif #endif
/* /*
@ -632,13 +632,13 @@ static void prvCheckForRunStateChange( void )
while( pxThisTCB->xTaskRunState == taskTASK_YIELDING ) while( pxThisTCB->xTaskRunState == taskTASK_YIELDING )
{ {
/* We are only here if we just entered a critical section /* We are only here if we just entered a critical section
* or if we just suspended the scheduler, and another task * or if we just suspended the scheduler, and another task
* has requested that we yield. * has requested that we yield.
* *
* This is slightly complicated since we need to save and restore * This is slightly complicated since we need to save and restore
* the suspension and critical nesting counts, as well as release * the suspension and critical nesting counts, as well as release
* and reacquire the correct locks. And then do it all over again * and reacquire the correct locks. And then do it all over again
* if our state changed again during the reacquisition. */ * if our state changed again during the reacquisition. */
uxPrevCriticalNesting = pxThisTCB->uxCriticalNesting; uxPrevCriticalNesting = pxThisTCB->uxCriticalNesting;
uxPrevSchedulerSuspended = uxSchedulerSuspended; uxPrevSchedulerSuspended = uxSchedulerSuspended;
@ -981,58 +981,58 @@ static void prvYieldForTask( TCB_t * pxTCB,
#if ( configNUM_CORES > 1 ) #if ( configNUM_CORES > 1 )
#if ( configUSE_CORE_AFFINITY == 1 ) #if ( configUSE_CORE_AFFINITY == 1 )
if( ( pxPreviousTCB != NULL ) && ( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxPreviousTCB->uxPriority ] ), &( pxPreviousTCB->xStateListItem ) ) != pdFALSE ) ) 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 can run from /* 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 */ * from to see if it is able to run on any of them */
UBaseType_t uxCoreMap = pxPreviousTCB->uxCoreAffinityMask; UBaseType_t uxCoreMap = pxPreviousTCB->uxCoreAffinityMask;
BaseType_t xLowestPriority = pxPreviousTCB->uxPriority - pxPreviousTCB->xIsIdle; BaseType_t xLowestPriority = pxPreviousTCB->uxPriority - pxPreviousTCB->xIsIdle;
BaseType_t xLowestPriorityCore = -1; BaseType_t xLowestPriorityCore = -1;
if( ( uxCoreMap & ( 1 << xCoreID ) ) != 0 ) if( ( uxCoreMap & ( 1 << xCoreID ) ) != 0 )
{ {
/* The ready task that was removed from this core is not excluded from it. /* The ready task that was removed from this core is not excluded from it.
* Only look at the intersection of the cores the removed task is allowed to run * Only look at the intersection of the cores the removed task is allowed to run
* on with the cores that the new task is excluded from. It is possible that the * 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. * 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. */ * Check to see if the previous task could run on one of those cores. */
uxCoreMap &= ~( pxCurrentTCBs[ xCoreID ]->uxCoreAffinityMask ); uxCoreMap &= ~( pxCurrentTCBs[ xCoreID ]->uxCoreAffinityMask );
} }
else else
{ {
/* The ready task that was removed from this core is excluded from it. /* The ready task that was removed from this core is excluded from it.
* @todo 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 ); uxCoreMap &= ( ( 1 << configNUM_CORES ) - 1 );
while( uxCoreMap != 0 ) while( uxCoreMap != 0 )
{
int uxCore = 31UL - ( uint32_t ) __builtin_clz( uxCoreMap );
xassert( taskVALID_CORE_ID( uxCore ) );
uxCoreMap &= ~( 1 << uxCore );
BaseType_t xTaskPriority = ( BaseType_t ) pxCurrentTCBs[ uxCore ]->uxPriority - pxCurrentTCBs[ uxCore ]->xIsIdle;
if( ( xTaskPriority < xLowestPriority ) && ( taskTASK_IS_RUNNING( pxCurrentTCBs[ uxCore ]->xTaskRunState ) != pdFALSE ) && ( xYieldPendings[ uxCore ] == pdFALSE ) )
{ {
int uxCore = 31UL - ( uint32_t ) __builtin_clz( uxCoreMap ); #if ( configUSE_TASK_PREEMPTION_DISABLE == 1 )
if( pxCurrentTCBs[ uxCore ]->xPreemptionDisable == pdFALSE )
xassert( taskVALID_CORE_ID( uxCore ) ); #endif
uxCoreMap &= ~( 1 << uxCore );
BaseType_t xTaskPriority = ( BaseType_t ) pxCurrentTCBs[ uxCore ]->uxPriority - pxCurrentTCBs[ uxCore ]->xIsIdle;
if( ( xTaskPriority < xLowestPriority ) && ( taskTASK_IS_RUNNING( pxCurrentTCBs[ uxCore ]->xTaskRunState ) != pdFALSE ) && ( xYieldPendings[ uxCore ] == pdFALSE ) )
{ {
#if ( configUSE_TASK_PREEMPTION_DISABLE == 1 ) xLowestPriority = xTaskPriority;
if( pxCurrentTCBs[ uxCore ]->xPreemptionDisable == pdFALSE ) xLowestPriorityCore = uxCore;
#endif
{
xLowestPriority = xTaskPriority;
xLowestPriorityCore = uxCore;
}
} }
} }
if( taskVALID_CORE_ID( xLowestPriorityCore ) )
{
prvYieldCore( xLowestPriorityCore );
}
} }
if( taskVALID_CORE_ID( xLowestPriorityCore ) )
{
prvYieldCore( xLowestPriorityCore );
}
}
#endif /* if ( configUSE_CORE_AFFINITY == 1 ) */ #endif /* if ( configUSE_CORE_AFFINITY == 1 ) */
#endif /* if ( configNUM_CORES > 1 ) */ #endif /* if ( configNUM_CORES > 1 ) */
@ -1488,9 +1488,9 @@ static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
#if ( configNUM_CORES > 1 ) #if ( configNUM_CORES > 1 )
#if ( configUSE_CORE_AFFINITY == 1 ) #if ( configUSE_CORE_AFFINITY == 1 )
{ {
pxNewTCB->uxCoreAffinityMask = tskNO_AFFINITY; pxNewTCB->uxCoreAffinityMask = tskNO_AFFINITY;
} }
#endif #endif
#endif #endif
#if ( configUSE_TASK_PREEMPTION_DISABLE == 1 ) #if ( configUSE_TASK_PREEMPTION_DISABLE == 1 )
@ -1561,9 +1561,9 @@ static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
} }
#if ( configNUM_CORES > 1 ) #if ( configNUM_CORES > 1 )
else if( pxTaskCode == prvMinimalIdleTask ) else if( pxTaskCode == prvMinimalIdleTask )
{ {
pxNewTCB->xIsIdle = pdTRUE; pxNewTCB->xIsIdle = pdTRUE;
} }
#endif #endif
else else
{ {
@ -1615,14 +1615,6 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB )
if( pxCurrentTCBs[ xCoreID ] == NULL ) if( pxCurrentTCBs[ xCoreID ] == NULL )
{ {
pxNewTCB->xTaskRunState = xCoreID; pxNewTCB->xTaskRunState = xCoreID;
/* This section of code pins the idle tasks to cores.
#if ( configUSE_CORE_AFFINITY == 1 )
* {
* pxNewTCB->uxCoreAffinityMask = ( 1 << xCoreID );
* }
#endif
*/
pxCurrentTCBs[ xCoreID ] = pxNewTCB; pxCurrentTCBs[ xCoreID ] = pxNewTCB;
break; break;
} }
@ -2233,31 +2225,31 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB )
void vTaskCoreAffinitySet( const TaskHandle_t xTask, void vTaskCoreAffinitySet( const TaskHandle_t xTask,
UBaseType_t uxCoreAffinityMask ) UBaseType_t uxCoreAffinityMask )
{ {
TCB_t * pxTCB; TCB_t * pxTCB;
BaseType_t xCoreID; BaseType_t xCoreID;
taskENTER_CRITICAL(); taskENTER_CRITICAL();
{ {
pxTCB = prvGetTCBFromHandle( xTask ); pxTCB = prvGetTCBFromHandle( xTask );
pxTCB->uxCoreAffinityMask = uxCoreAffinityMask; pxTCB->uxCoreAffinityMask = uxCoreAffinityMask;
if( xSchedulerRunning != pdFALSE ) if( xSchedulerRunning != pdFALSE )
{
if( taskTASK_IS_RUNNING( pxTCB->xTaskRunState ) )
{ {
if( taskTASK_IS_RUNNING( pxTCB->xTaskRunState ) ) xCoreID = ( BaseType_t ) pxTCB->xTaskRunState;
{
xCoreID = ( BaseType_t ) pxTCB->xTaskRunState;
if( ( uxCoreAffinityMask & ( 1 << xCoreID ) ) != 0 ) if( ( uxCoreAffinityMask & ( 1 << xCoreID ) ) != 0 )
{ {
prvYieldCore( xCoreID ); prvYieldCore( xCoreID );
}
} }
} }
} }
taskEXIT_CRITICAL();
} }
taskEXIT_CRITICAL();
}
#endif /* configUSE_CORE_AFFINITY */ #endif /* configUSE_CORE_AFFINITY */
#endif /* if ( configNUM_CORES > 1 ) */ #endif /* if ( configNUM_CORES > 1 ) */
@ -2267,19 +2259,19 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB )
#if ( configUSE_CORE_AFFINITY == 1 ) #if ( configUSE_CORE_AFFINITY == 1 )
UBaseType_t vTaskCoreAffinityGet( const TaskHandle_t xTask ) UBaseType_t vTaskCoreAffinityGet( const TaskHandle_t xTask )
{ {
TCB_t * pxTCB; TCB_t * pxTCB;
UBaseType_t uxCoreAffinityMask; UBaseType_t uxCoreAffinityMask;
taskENTER_CRITICAL(); taskENTER_CRITICAL();
{ {
pxTCB = prvGetTCBFromHandle( xTask ); pxTCB = prvGetTCBFromHandle( xTask );
uxCoreAffinityMask = pxTCB->uxCoreAffinityMask; uxCoreAffinityMask = pxTCB->uxCoreAffinityMask;
} }
taskEXIT_CRITICAL(); taskEXIT_CRITICAL();
return uxCoreAffinityMask; return uxCoreAffinityMask;
} }
#endif /* configUSE_CORE_AFFINITY */ #endif /* configUSE_CORE_AFFINITY */
#endif /* if ( configNUM_CORES > 1 ) */ #endif /* if ( configNUM_CORES > 1 ) */
@ -2632,7 +2624,7 @@ static BaseType_t prvCreateIdleTasks( void )
BaseType_t xCoreID; BaseType_t xCoreID;
char cIdleName[ configMAX_TASK_NAME_LEN ]; char cIdleName[ configMAX_TASK_NAME_LEN ];
/* Add each idle task at the lowest priority. */ /* Add each idle task at the lowest priority. */
for( xCoreID = ( BaseType_t ) 0; xCoreID < ( BaseType_t ) configNUM_CORES; xCoreID++ ) for( xCoreID = ( BaseType_t ) 0; xCoreID < ( BaseType_t ) configNUM_CORES; xCoreID++ )
{ {
BaseType_t x; BaseType_t x;
@ -2692,7 +2684,7 @@ static BaseType_t prvCreateIdleTasks( void )
uint32_t ulIdleTaskStackSize; uint32_t ulIdleTaskStackSize;
/* The Idle task is created using user provided RAM - obtain the /* The Idle task is created using user provided RAM - obtain the
* address of the RAM then create the idle task. */ * address of the RAM then create the idle task. */
vApplicationGetIdleTaskMemory( &pxIdleTaskTCBBuffer, &pxIdleTaskStackBuffer, &ulIdleTaskStackSize ); vApplicationGetIdleTaskMemory( &pxIdleTaskTCBBuffer, &pxIdleTaskStackBuffer, &ulIdleTaskStackSize );
xIdleTaskHandle[ xCoreID ] = xTaskCreateStatic( prvIdleTask, xIdleTaskHandle[ xCoreID ] = xTaskCreateStatic( prvIdleTask,
cIdleName, cIdleName,
@ -2703,19 +2695,19 @@ static BaseType_t prvCreateIdleTasks( void )
pxIdleTaskTCBBuffer ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */ 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 else
{ {
static StaticTask_t xIdleTCBBuffers[ configNUM_CORES - 1 ]; static StaticTask_t xIdleTCBBuffers[ configNUM_CORES - 1 ];
static StackType_t xIdleTaskStackBuffers[ configNUM_CORES - 1 ][ configMINIMAL_STACK_SIZE ]; static StackType_t xIdleTaskStackBuffers[ configNUM_CORES - 1 ][ configMINIMAL_STACK_SIZE ];
xIdleTaskHandle[ xCoreID ] = xTaskCreateStatic( prvMinimalIdleTask, xIdleTaskHandle[ xCoreID ] = xTaskCreateStatic( prvMinimalIdleTask,
cIdleName, cIdleName,
configMINIMAL_STACK_SIZE, configMINIMAL_STACK_SIZE,
( void * ) NULL, /*lint !e961. The cast is not redundant for all 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. */ portPRIVILEGE_BIT, /* In effect ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), but tskIDLE_PRIORITY is zero. */
xIdleTaskStackBuffers[ xCoreID - 1 ], xIdleTaskStackBuffers[ xCoreID - 1 ],
&xIdleTCBBuffers[ xCoreID - 1 ] ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */ &xIdleTCBBuffers[ xCoreID - 1 ] ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
} }
#endif /* if ( configNUM_CORES > 1 ) */ #endif /* if ( configNUM_CORES > 1 ) */
if( xIdleTaskHandle[ xCoreID ] != NULL ) if( xIdleTaskHandle[ xCoreID ] != NULL )
@ -2731,25 +2723,25 @@ static BaseType_t prvCreateIdleTasks( void )
{ {
if( xCoreID == 0 ) if( xCoreID == 0 )
{ {
/* The Idle task is being created using dynamically allocated RAM. */ /* The Idle task is being created using dynamically allocated RAM. */
xReturn = xTaskCreate( prvIdleTask, xReturn = xTaskCreate( prvIdleTask,
cIdleName, cIdleName,
configMINIMAL_STACK_SIZE, configMINIMAL_STACK_SIZE,
( void * ) NULL, ( void * ) NULL,
portPRIVILEGE_BIT, /* In effect ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), but tskIDLE_PRIORITY is zero. */ 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. */ &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 else
{ {
xReturn = xTaskCreate( prvMinimalIdleTask, xReturn = xTaskCreate( prvMinimalIdleTask,
cIdleName, cIdleName,
configMINIMAL_STACK_SIZE, configMINIMAL_STACK_SIZE,
( void * ) NULL, ( void * ) NULL,
portPRIVILEGE_BIT, /* In effect ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), but tskIDLE_PRIORITY is zero. */ 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. */ &xIdleTaskHandle[ xCoreID ] ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
} }
#endif #endif
} }
#endif /* configSUPPORT_STATIC_ALLOCATION */ #endif /* configSUPPORT_STATIC_ALLOCATION */
@ -4226,45 +4218,45 @@ void vTaskMissedYield( void )
*/ */
#if ( configNUM_CORES > 1 ) #if ( configNUM_CORES > 1 )
static portTASK_FUNCTION( prvMinimalIdleTask, pvParameters ) static portTASK_FUNCTION( prvMinimalIdleTask, pvParameters )
{ {
taskYIELD(); taskYIELD();
for( ; ; ) for( ; ; )
{ {
#if ( configUSE_PREEMPTION == 0 ) #if ( configUSE_PREEMPTION == 0 )
{
/* If we are not using preemption we keep forcing a task switch to
* see if any other task has become available. If we are using
* preemption we don't need to do this as any task becoming available
* will automatically get the processor anyway. */
taskYIELD();
}
#endif /* configUSE_PREEMPTION */
#if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
{
/* When using preemption tasks of equal priority will be
* timesliced. If a task that is sharing the idle priority is ready
* to run then the idle task should yield before the end of the
* timeslice.
*
* A critical region is not required here as we are just reading from
* the list, and an occasional incorrect value will not matter. If
* the ready list at the idle priority contains one more task than the
* number of idle tasks, which is equal to the configured numbers of cores
* then a task other than the idle task is ready to execute. */
if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( UBaseType_t ) configNUM_CORES )
{ {
/* If we are not using preemption we keep forcing a task switch to
* see if any other task has become available. If we are using
* preemption we don't need to do this as any task becoming available
* will automatically get the processor anyway. */
taskYIELD(); taskYIELD();
} }
#endif /* configUSE_PREEMPTION */ else
#if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
{ {
/* When using preemption tasks of equal priority will be mtCOVERAGE_TEST_MARKER();
* timesliced. If a task that is sharing the idle priority is ready
* to run then the idle task should yield before the end of the
* timeslice.
*
* A critical region is not required here as we are just reading from
* the list, and an occasional incorrect value will not matter. If
* the ready list at the idle priority contains one more task than the
* number of idle tasks, which is equal to the configured numbers of cores
* then a task other than the idle task is ready to execute. */
if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( UBaseType_t ) configNUM_CORES )
{
taskYIELD();
}
else
{
mtCOVERAGE_TEST_MARKER();
}
} }
#endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */ }
} #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */
} }
}
#endif /* if ( configNUM_CORES > 1 ) */ #endif /* if ( configNUM_CORES > 1 ) */
/* /*