mirror of
https://github.com/FreeRTOS/FreeRTOS-Kernel.git
synced 2025-11-04 02:32:42 -05:00
Static allocation and lightweight idle tasks (#323)
* added multiple idle tasks * Added multiple IDLE tasks to non-static allocation * Adjustments to tasks from PR review
This commit is contained in:
Joseph Julicher
GitHub
parent
83595e81b5
commit
ec943bcc1a
1 changed files with 133 additions and 33 deletions
166
tasks.c
166
tasks.c
|
|
@ -410,6 +410,11 @@ PRIVILEGED_DATA static volatile UBaseType_t uxSchedulerSuspended = ( UBaseType_t
|
|||
|
||||
/* File private functions. --------------------------------*/
|
||||
|
||||
/*
|
||||
* Creates the idle tasks during scheduler start
|
||||
*/
|
||||
static BaseType_t prvCreateIdleTasks( void );
|
||||
|
||||
/*
|
||||
* Returns the yield pending count for the calling core.
|
||||
*/
|
||||
|
|
@ -460,13 +465,11 @@ static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
|
|||
* The idle task is automatically created and added to the ready lists upon
|
||||
* creation of the first user task.
|
||||
*
|
||||
* The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
|
||||
* language extensions. The equivalent prototype for this function is:
|
||||
*
|
||||
* void prvIdleTask( void *pvParameters );
|
||||
*
|
||||
*/
|
||||
static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters ) PRIVILEGED_FUNCTION;
|
||||
#if ( configNUM_CORES > 1 )
|
||||
static portTASK_FUNCTION_PROTO( prvMinimalIdleTask, pvParameters ) PRIVILEGED_FUNCTION;
|
||||
#endif
|
||||
|
||||
/*
|
||||
* Utility to free all memory allocated by the scheduler to hold a TCB,
|
||||
|
|
@ -1545,7 +1548,20 @@ static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
|
|||
pxNewTCB->xTaskRunState = taskTASK_NOT_RUNNING;
|
||||
|
||||
/* Is this an idle task? */
|
||||
pxNewTCB->xIsIdle = ( pxTaskCode == prvIdleTask );
|
||||
if(pxTaskCode == prvIdleTask)
|
||||
{
|
||||
pxNewTCB->xIsIdle = pdTRUE;
|
||||
}
|
||||
#if(configNUM_CORES > 1)
|
||||
else if(pxTaskCode == prvMinimalIdleTask)
|
||||
{
|
||||
pxNewTCB->xIsIdle = pdTRUE;
|
||||
}
|
||||
#endif
|
||||
else
|
||||
{
|
||||
pxNewTCB->xIsIdle = pdFALSE;
|
||||
}
|
||||
|
||||
if( pxCreatedTask != NULL )
|
||||
{
|
||||
|
|
@ -2598,19 +2614,13 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB )
|
|||
#endif /* ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) */
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
void vTaskStartScheduler( void )
|
||||
static BaseType_t prvCreateIdleTasks( void )
|
||||
{
|
||||
BaseType_t xReturn;
|
||||
BaseType_t xReturn = pdPASS;
|
||||
BaseType_t xCoreID;
|
||||
char cIdleName[ configMAX_TASK_NAME_LEN ];
|
||||
|
||||
#if ( configUSE_TIMERS == 1 )
|
||||
{
|
||||
xReturn = xTimerCreateTimerTask();
|
||||
}
|
||||
#endif /* configUSE_TIMERS */
|
||||
|
||||
/* 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++ )
|
||||
{
|
||||
BaseType_t x;
|
||||
|
|
@ -2663,22 +2673,38 @@ void vTaskStartScheduler( void )
|
|||
|
||||
#if ( configSUPPORT_STATIC_ALLOCATION == 1 )
|
||||
{
|
||||
#error User must specify an array of buffers for idle task TCBs and stacks
|
||||
StaticTask_t * pxIdleTaskTCBBuffer = NULL;
|
||||
StackType_t * pxIdleTaskStackBuffer = NULL;
|
||||
uint32_t ulIdleTaskStackSize;
|
||||
if(xCoreID == 0)
|
||||
{
|
||||
StaticTask_t * pxIdleTaskTCBBuffer = NULL;
|
||||
StackType_t * pxIdleTaskStackBuffer = NULL;
|
||||
uint32_t ulIdleTaskStackSize;
|
||||
|
||||
/* The Idle task is created using user provided RAM - obtain the
|
||||
* address of the RAM then create the idle task. */
|
||||
vApplicationGetIdleTaskMemory( &pxIdleTaskTCBBuffer, &pxIdleTaskStackBuffer, &ulIdleTaskStackSize );
|
||||
xIdleTaskHandle[ xCoreID ] = xTaskCreateStatic( prvIdleTask,
|
||||
cIdleName,
|
||||
ulIdleTaskStackSize,
|
||||
( 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. */
|
||||
pxIdleTaskStackBuffer,
|
||||
pxIdleTaskTCBBuffer ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
|
||||
/* The Idle task is created using user provided RAM - obtain the
|
||||
* address of the RAM then create the idle task. */
|
||||
vApplicationGetIdleTaskMemory( &pxIdleTaskTCBBuffer, &pxIdleTaskStackBuffer, &ulIdleTaskStackSize );
|
||||
xIdleTaskHandle[ xCoreID ] = xTaskCreateStatic( prvIdleTask,
|
||||
cIdleName,
|
||||
ulIdleTaskStackSize,
|
||||
( 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. */
|
||||
pxIdleTaskStackBuffer,
|
||||
pxIdleTaskTCBBuffer ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
|
||||
}
|
||||
#if( configNUM_CORES > 1)
|
||||
else
|
||||
{
|
||||
static StaticTask_t xIdleTCBBuffers[configNUM_CORES-1];
|
||||
static StackType_t xIdleTaskStackBuffers[configMINIMAL_STACK_SIZE][configNUM_CORES-1];
|
||||
|
||||
xIdleTaskHandle[ xCoreID ] = xTaskCreateStatic( prvMinimalIdleTask,
|
||||
cIdleName,
|
||||
configMINIMAL_STACK_SIZE,
|
||||
( void * ) NULL, /*lint !e961. The cast is not redundant for all compilers. */
|
||||
portPRIVILEGE_BIT, /* In effect ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), but tskIDLE_PRIORITY is zero. */
|
||||
xIdleTaskStackBuffers[xCoreID-1],
|
||||
&xIdleTCBBuffers[xCoreID-1] ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
|
||||
}
|
||||
#endif
|
||||
if( xIdleTaskHandle[ xCoreID ] != NULL )
|
||||
{
|
||||
xReturn = pdPASS;
|
||||
|
|
@ -2690,6 +2716,8 @@ void vTaskStartScheduler( void )
|
|||
}
|
||||
#else /* if ( configSUPPORT_STATIC_ALLOCATION == 1 ) */
|
||||
{
|
||||
if(xCoreID == 0)
|
||||
{
|
||||
/* The Idle task is being created using dynamically allocated RAM. */
|
||||
xReturn = xTaskCreate( prvIdleTask,
|
||||
cIdleName,
|
||||
|
|
@ -2697,9 +2725,35 @@ void vTaskStartScheduler( void )
|
|||
( void * ) NULL,
|
||||
portPRIVILEGE_BIT, /* In effect ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), but tskIDLE_PRIORITY is zero. */
|
||||
&xIdleTaskHandle[ xCoreID ] ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
|
||||
}
|
||||
#if( configNUM_CORES > 1 )
|
||||
else
|
||||
{
|
||||
xReturn = xTaskCreate( prvMinimalIdleTask,
|
||||
cIdleName,
|
||||
configMINIMAL_STACK_SIZE,
|
||||
( void * ) NULL,
|
||||
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. */
|
||||
}
|
||||
#endif
|
||||
}
|
||||
#endif /* configSUPPORT_STATIC_ALLOCATION */
|
||||
}
|
||||
return xReturn;
|
||||
}
|
||||
|
||||
void vTaskStartScheduler( void )
|
||||
{
|
||||
BaseType_t xReturn;
|
||||
|
||||
#if ( configUSE_TIMERS == 1 )
|
||||
{
|
||||
xReturn = xTimerCreateTimerTask();
|
||||
}
|
||||
#endif /* configUSE_TIMERS */
|
||||
|
||||
xReturn = prvCreateIdleTasks();
|
||||
|
||||
if( xReturn == pdPASS )
|
||||
{
|
||||
|
|
@ -4146,15 +4200,61 @@ void vTaskMissedYield( void )
|
|||
|
||||
#endif /* configUSE_TRACE_FACILITY */
|
||||
|
||||
/*
|
||||
* -----------------------------------------------------------
|
||||
* The MinimalIdle task.
|
||||
* ----------------------------------------------------------
|
||||
*
|
||||
* The minimal idle task is used for all the additional Cores in a SMP system.
|
||||
* There must be only 1 idle task and the rest are minimal idle tasks.
|
||||
*
|
||||
* @todo additional conditional compiles to remove this function.
|
||||
*/
|
||||
#if (configNUM_CORES > 1)
|
||||
static portTASK_FUNCTION( prvMinimalIdleTask, pvParameters )
|
||||
{
|
||||
for(;;)
|
||||
{
|
||||
#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 )
|
||||
{
|
||||
taskYIELD();
|
||||
}
|
||||
else
|
||||
{
|
||||
mtCOVERAGE_TEST_MARKER();
|
||||
}
|
||||
}
|
||||
#endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */
|
||||
}
|
||||
}
|
||||
#endif
|
||||
/*
|
||||
* -----------------------------------------------------------
|
||||
* The Idle task.
|
||||
* ----------------------------------------------------------
|
||||
*
|
||||
* The portTASK_FUNCTION() macro is used to allow port/compiler specific
|
||||
* language extensions. The equivalent prototype for this function is:
|
||||
*
|
||||
* void prvIdleTask( void *pvParameters );
|
||||
*
|
||||
*/
|
||||
static portTASK_FUNCTION( prvIdleTask, pvParameters )
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue