Merge da5dccf641 into 2615dcde13

feat(freertos/smp): Add Granular Locking V4 proposal documents
Co-authored-by: Sudeep Mohanty <sudeep.mohanty@espressif.com>
2025-07-05 11:57:15 -04:00 · 2025-05-23 08:08:58 +00:00 · 2025-05-23 10:08:42 +02:00 · 2025-05-23 10:08:42 +02:00 · 2025-05-23 10:08:42 +02:00 · 2025-05-23 10:08:42 +02:00
3 changed files with 21 additions and 7 deletions
--- a/include/task.h
+++ b/include/task.h
@ -333,6 +333,7 @@ typedef enum
        portGET_SPINLOCK( xCoreID, ( portSPINLOCK_TYPE * ) &( ( pxDataGroup )->xISRSpinlock ) ); \
        /* Increment the critical nesting count */                                               \
        portINCREMENT_CRITICAL_NESTING_COUNT( xCoreID );                                         \
+        /* Return the previous interrupt status */                                               \
        uxSavedInterruptStatus;                                                                  \
    } )
 #endif /* #if ( portUSING_GRANULAR_LOCKS == 1 ) */
@ -350,6 +351,7 @@ typedef enum
    do {                                                                                                  \
        const BaseType_t xCoreID = ( BaseType_t ) portGET_CORE_ID();                                      \
        configASSERT( portGET_CRITICAL_NESTING_COUNT( xCoreID ) > 0U );                                   \
+        /* Decrement the critical nesting count */                                                        \
        portDECREMENT_CRITICAL_NESTING_COUNT( xCoreID );                                                  \
        if( portGET_CRITICAL_NESTING_COUNT( xCoreID ) == 0 )                                              \
        {                                                                                                 \
@ -382,7 +384,9 @@ typedef enum
    do {                                                                                         \
        const BaseType_t xCoreID = ( BaseType_t ) portGET_CORE_ID();                             \
        configASSERT( portGET_CRITICAL_NESTING_COUNT( xCoreID ) > 0U );                          \
+        /* Decrement the critical nesting count */                                               \
        portDECREMENT_CRITICAL_NESTING_COUNT( xCoreID );                                         \
+        /* Release the ISR spinlock */                                                           \
        portRELEASE_SPINLOCK( xCoreID, ( portSPINLOCK_TYPE * ) &( pxDataGroup->xISRSpinlock ) ); \
        if( portGET_CRITICAL_NESTING_COUNT( xCoreID ) == 0 )                                     \
        {                                                                                        \
--- a/queue.c
+++ b/queue.c
@ -339,6 +339,14 @@ static void prvInitialiseNewQueue( const UBaseType_t uxQueueLength,
        prvUnlockQueue( ( pxQueue ) );                                          \
        portRELEASE_SPINLOCK( portGET_CORE_ID(), &( pxQueue->xTaskSpinlock ) ); \
        vTaskPreemptionEnable( NULL );                                          \
+        if( ( xYieldAPI ) == pdTRUE )                                           \
+        {                                                                       \
+            taskYIELD_WITHIN_API();                                             \
+        }                                                                       \
+        else                                                                    \
+        {                                                                       \
+            mtCOVERAGE_TEST_MARKER();                                           \
+        }                                                                       \
    } while( 0 )
 #else /* #if ( ( portUSING_GRANULAR_LOCKS == 1 ) && ( configNUMBER_OF_CORES > 1 ) ) */
    #define queueLOCK( pxQueue )     \
--- a/tasks.c
+++ b/tasks.c
@ -5406,11 +5406,13 @@ BaseType_t xTaskIncrementTick( void )
             * SMP port. */
            configASSERT( portGET_CRITICAL_NESTING_COUNT( xCoreID ) == 0 );

-            if( uxSchedulerSuspended != ( UBaseType_t ) 0U
-                #if ( configUSE_TASK_PREEMPTION_DISABLE == 1 )
-                    || ( ( taskTASK_IS_RUNNING( pxCurrentTCBs[ xCoreID ] ) ) && ( pxCurrentTCBs[ xCoreID ]->xPreemptionDisable > 0U ) )
-                #endif
-                )
+            /* vTaskSwitchContext() must not be called with a task that has
+             * preemption disabled. */
+            #if ( configUSE_TASK_PREEMPTION_DISABLE == 1 )
+                configASSERT( pxCurrentTCBs[ xCoreID ]->xPreemptionDisable == 0U );
+            #endif
+
+            if( uxSchedulerSuspended != ( UBaseType_t ) 0U )
            {
                /* The scheduler is currently suspended or the task
                 * has requested to not be preempted - do not allow
@ -7498,11 +7500,11 @@ static void prvResetNextTaskUnblockTime( void )
                    BaseType_t xYieldCurrentTask;

                    /* Get the xYieldPending stats inside the critical section. */
-                    #if ( configUSE_TASK_PREEMPTION_DISABLE == 1 )
+                    #if ( portUSING_GRANULAR_LOCKS == 1 )
                        xYieldCurrentTask = xTaskUnlockCanYield();
                    #else
                        xYieldCurrentTask = xYieldPendings[ xCoreID ];
-                    #endif /* configUSE_TASK_PREEMPTION_DISABLE */
+                    #endif /* #if ( portUSING_GRANULAR_LOCKS == 1 ) */

                    kernelRELEASE_ISR_LOCK( xCoreID );
                    kernelRELEASE_TASK_LOCK( xCoreID );
Author	SHA1	Message	Date
Sudeep Mohanty	7b73d35554	Merge `da5dccf641` into `2615dcde13`	2025-05-23 08:08:58 +00:00
Darian Leung	da5dccf641	feat(freertos/smp): Add Granular Locking V4 proposal documents Co-authored-by: Sudeep Mohanty <sudeep.mohanty@espressif.com>	2025-05-23 10:08:42 +02:00
Darian Leung	cb637b9318	change(freertos/smp): Update timers.c locking Updated timers.c to use granular locking - Added xTaskSpinlock and xISRSpinlock - Replaced critical section macros with data group critical section macros such as taskENTER/EXIT_CRITICAL() with tmrENTER/EXIT_CRITICAL(). - Added vTimerEnterCritical() and vTimerExitCritical() to map to the data group critical section macros. Co-authored-by: Sudeep Mohanty <sudeep.mohanty@espressif.com>	2025-05-23 10:08:42 +02:00
Darian Leung	e7773dc7be	change(freertos/smp): Update stream_buffer.c locking Updated stream_buffer.c to use granular locking - Added xTaskSpinlock and xISRSpinlock - Replaced critical section macros with data group critical section macros such as taskENTER/EXIT_CRITICAL/_FROM_ISR() with sbENTER/EXIT_CRITICAL_FROM_ISR(). - Added vStreambuffersEnterCritical/FromISR() and vStreambuffersExitCritical/FromISR() to map to the data group critical section macros. - Added prvLockStreamBufferForTasks() and prvUnlockStreamBufferForTasks() to suspend the stream buffer when executing non-deterministic code. Co-authored-by: Sudeep Mohanty <sudeep.mohanty@espressif.com>	2025-05-23 10:08:42 +02:00
Darian Leung	030afa1318	change(freertos/smp): Update event_groups.c locking Updated event_groups.c to use granular locking - Added xTaskSpinlock and xISRSpinlock - Replaced critical section macros with data group critical section macros such as taskENTER/EXIT_CRITICAL/_FROM_ISR() with event_groupsENTER/EXIT_CRITICAL/_FROM_ISR(). - Added vEventGroupsEnterCritical/FromISR() and vEventGroupsExitCriti/FromISR() functions that map to the data group critical section macros. - Added prvLockEventGroupForTasks() and prvUnlockEventGroupForTasks() to suspend the event group when executing non-deterministic code. - xEventGroupSetBits() and vEventGroupDelete() accesses the kernel data group directly. Thus, added vTaskSuspendAll()/xTaskResumeAll() to these fucntions. Co-authored-by: Sudeep Mohanty <sudeep.mohanty@espressif.com>	2025-05-23 10:08:42 +02:00
Darian Leung	e87034f74a	change(freertos/smp): Update queue.c locking Updated queue.c to use granular locking - Added xTaskSpinlock and xISRSpinlock - Replaced critical section macros with data group critical section macros such as taskENTER/EXIT_CRITICAL/_FROM_ISR() with queueENTER/EXIT_CRITICAL_FROM_ISR(). - Added vQueueEnterCritical/FromISR() and vQueueExitCritical/FromISR() which map to the data group critical section macros. - Added prvLockQueueForTasks() and prvUnlockQueueForTasks() as the granular locking equivalents to prvLockQueue() and prvUnlockQueue() respectively Co-authored-by: Sudeep Mohanty <sudeep.mohanty@espressif.com>	2025-05-23 10:08:42 +02:00
Darian Leung	bb6b05497f	change(freertos/smp): Update tasks.c locking Updated critical section macros with granular locks. Some tasks.c API relied on their callers to enter critical sections. This assumption no longer works under granular locking. Critical sections added to the following functions: - `vTaskInternalSetTimeOutState()` - `xTaskIncrementTick()` - `vTaskSwitchContext()` - `xTaskRemoveFromEventList()` - `vTaskInternalSetTimeOutState()` - `eTaskConfirmSleepModeStatus()` - `xTaskPriorityDisinherit()` - `pvTaskIncrementMutexHeldCount()` Added missing suspensions to the following functions: - `vTaskPlaceOnEventList()` - `vTaskPlaceOnUnorderedEventList()` - `vTaskPlaceOnEventListRestricted()` Fixed the locking in vTaskSwitchContext() vTaskSwitchContext() must aquire both kernel locks, viz., task lock and ISR lock. This is because, vTaskSwitchContext() can be called from either task context or ISR context. Also, vTaskSwitchContext() must not alter the interrupt state prematurely. Co-authored-by: Sudeep Mohanty <sudeep.mohanty@espressif.com>	2025-05-23 10:08:42 +02:00
Darian Leung	eb7d86f0c3	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>	2025-05-23 10:08:35 +02:00
Darian Leung	308d050178	feat(freertos/smp): Add granular locking port macros checks Adds the required checks for granular locking port macros. Port Config: - portUSING_GRANULAR_LOCKS to enable granular locks - portCRITICAL_NESTING_IN_TCB should be disabled Granular Locking Port Macros: - Spinlocks - portSPINLOCK_TYPE - portINIT_SPINLOCK( pxSpinlock ) - portINIT_SPINLOCK_STATIC - Locking - portGET_SPINLOCK() - portRELEASE_SPINLOCK() Co-authored-by: Sudeep Mohanty <sudeep.mohanty@espressif.com>	2025-05-23 08:49:51 +02:00
Darian Leung	94c320c9e2	feat(freertos/smp): Allow vTaskPreemptionEnable() to be nested Changed xPreemptionDisable to be a count rather than a pdTRUE/pdFALSE. This allows nested calls to vTaskPreemptionEnable(), where a yield only occurs when xPreemptionDisable is 0. Co-authored-by: Sudeep Mohanty <sudeep.mohanty@espressif.com>	2025-05-23 08:49:51 +02:00
Darian Leung	f836da4a8f	refactor(freertos/smp): Move critical sections inside xTaskPriorityInherit() xTaskPriorityInherit() is called inside a critical section from queue.c. This commit moves the critical section into xTaskPriorityInherit(). Co-authored-by: Sudeep Mohanty <sudeep.mohanty@espressif.com>	2025-05-23 08:49:51 +02:00