kopia lustrzana https://github.com/espressif/esp-idf
freertos: Adds new APIs to set/get and restore base priority
Closes https://github.com/espressif/esp-idf/issues/7580pull/9840/head
KonstantinKondrashov
BOT
rodzic
c070c58ef3
commit
9c830297b9
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@ -62,7 +62,8 @@ list(APPEND srcs
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"freertos_v8_compat.c")
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list(APPEND private_include_dirs
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"include/freertos")
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"include/freertos"
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"esp_additions/private_include") # For include "freertos_tasks_c_additions.h"
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if(CONFIG_ESP32_IRAM_AS_8BIT_ACCESSIBLE_MEMORY)
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list(APPEND srcs "port/xtensa/xtensa_loadstore_handler.S")
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@ -7,7 +7,7 @@ ifdef CONFIG_FREERTOS_DEBUG_OCDAWARE
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endif
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COMPONENT_ADD_INCLUDEDIRS := include include/esp_additions include/esp_additions/freertos port/xtensa/include
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COMPONENT_PRIV_INCLUDEDIRS := include/esp_additions include/esp_additions/freertos include/freertos port/xtensa/include/freertos port/xtensa port/priv_include .
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COMPONENT_PRIV_INCLUDEDIRS := esp_additions/private_include include/esp_additions include/esp_additions/freertos include/freertos port/xtensa/include/freertos port/xtensa port/priv_include .
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COMPONENT_SRCDIRS += port port/xtensa esp_additions/
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ifndef CONFIG_ESP32_IRAM_AS_8BIT_ACCESSIBLE_MEMORY
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@ -0,0 +1,267 @@
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// Copyright 2015-2021 Espressif Systems (Shanghai) PTE LTD
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#pragma once
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#include "idf_additions_inc.h"
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/**
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* This file will be included in `tasks.c` file, thus, it must NOT be included
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* by any (other) file.
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* The functions below only consist in getters for the static variables in
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* `tasks.c` file.
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* The only source files that should call these functions are the ones in
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* `/additions` directory.
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*/
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#if ( configENABLE_TASK_SNAPSHOT == 1 )
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UBaseType_t pxTCBGetSize ( void )
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{
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return sizeof(TCB_t);
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}
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ListItem_t* pxTCBGetStateListItem ( void *pxTCB )
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{
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return &(((TCB_t*)pxTCB)->xStateListItem);
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}
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StackType_t* pxTCBGetStartOfStack ( void *pxTCB )
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{
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return (StackType_t*) ((TCB_t*)pxTCB)->pxStack;
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}
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StackType_t* pxTCBGetTopOfStack ( void *pxTCB )
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{
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return (StackType_t*) ((TCB_t*)pxTCB)->pxTopOfStack;
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}
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StackType_t* pxTCBGetEndOfStack ( void *pxTCB )
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{
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return (StackType_t*) ((TCB_t*)pxTCB)->pxEndOfStack;
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}
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List_t* pxListGetReadyTask ( UBaseType_t idx )
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{
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return &( pxReadyTasksLists[idx] );
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}
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List_t* pxListGetReadyPendingTask ( UBaseType_t idx )
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{
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return &( xPendingReadyList[idx] );
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}
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List_t* pxGetDelayedTaskList ( void ) {
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return pxDelayedTaskList;
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}
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List_t* pxGetOverflowDelayedTaskList ( void ) {
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return pxOverflowDelayedTaskList;
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}
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List_t* pxGetTasksWaitingTermination ( void ) {
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return &xTasksWaitingTermination;
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}
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List_t* pxGetSuspendedTaskList ( void ) {
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return &xSuspendedTaskList;
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}
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#endif
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#if ( INCLUDE_vTaskPrioritySet == 1 )
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void prvTaskPriorityRaise( prvTaskSavedPriority_t * pxSavedPriority, UBaseType_t uxNewPriority )
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{
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TCB_t * pxTCB;
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UBaseType_t uxPriorityUsedOnEntry;
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configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) );
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/* Ensure the new priority is valid. */
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if( uxNewPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
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{
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uxNewPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
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}
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taskENTER_CRITICAL();
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{
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pxTCB = prvGetTCBFromHandle( NULL );
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#if ( configUSE_MUTEXES == 1 )
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{
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pxSavedPriority->uxPriority = pxTCB->uxPriority;
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pxSavedPriority->uxBasePriority = pxTCB->uxBasePriority;
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/* If uxNewPriority < uxBasePriority, then there is nothing else to
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* do, as uxBasePriority is always <= uxPriority. */
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if( uxNewPriority > pxTCB->uxBasePriority )
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{
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pxTCB->uxBasePriority = uxNewPriority;
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/* Remember the task's current priority before attempting to
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* change it. If the task's current priority is changed, it must
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* be done so before moving the task between task lists) in order
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* for the taskRESET_READY_PRIORITY() macro to function correctly. */
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uxPriorityUsedOnEntry = pxTCB->uxPriority;
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if( uxNewPriority > pxTCB->uxPriority )
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{
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pxTCB->uxPriority = uxNewPriority;
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/* Only reset the event list item value if the value is not
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* being used for anything else. */
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if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
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{
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listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) uxNewPriority ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
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}
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/* If the task is in the blocked or suspended list we need do
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* nothing more than change its priority variable. However, if
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* the task is in a ready list it needs to be removed and placed
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* in the list appropriate to its new priority. */
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if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xStateListItem ) ) != pdFALSE )
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{
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/* The task is currently in its ready list - remove before
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* adding it to its new ready list. As we are in a critical
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* section we can do this even if the scheduler is suspended. */
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if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
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{
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/* It is known that the task is in its ready list so
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* there is no need to check again and the port level
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* reset macro can be called directly. */
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portRESET_READY_PRIORITY( uxPriorityUsedOnEntry, uxTopReadyPriority );
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}
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prvAddTaskToReadyList( pxTCB );
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}
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}
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}
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}
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#else /* if ( configUSE_MUTEXES == 1 ) */
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{
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pxSavedPriority->uxPriority = pxTCB->uxPriority;
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if ( uxNewPriority > pxTCB->uxPriority)
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{
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vTaskPrioritySet( NULL, uxNewPriority );
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}
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}
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#endif
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}
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taskEXIT_CRITICAL();
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}
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void prvTaskPriorityRestore( prvTaskSavedPriority_t * pxSavedPriority )
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{
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TCB_t * pxTCB;
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UBaseType_t uxNewPriority;
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UBaseType_t uxPriorityUsedOnEntry;
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UBaseType_t uxBasePriorityUsedOnEntry;
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BaseType_t xYieldRequired = pdFALSE;
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taskENTER_CRITICAL();
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{
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pxTCB = prvGetTCBFromHandle( NULL );
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#if ( configUSE_MUTEXES == 1 )
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{
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/* If the saved uxBasePriority == the task's uxBasePriority, it means
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* that prvTaskPriorityRaise() never raised the task's uxBasePriority.
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* In that case, there is nothing else to do. */
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if( pxSavedPriority->uxBasePriority != pxTCB->uxBasePriority )
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{
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uxBasePriorityUsedOnEntry = pxTCB->uxBasePriority;
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pxTCB->uxBasePriority = pxSavedPriority->uxBasePriority;
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/* Remember the task's current priority before attempting to
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* change it. If the task's current priority is changed, it must
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* be done so before moving the task between task lists in order
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* for the taskRESET_READY_PRIORITY() macro to function correctly. */
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uxPriorityUsedOnEntry = pxTCB->uxPriority;
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/* Check if the task inherited a priority after prvTaskPriorityRaise().
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* If this is the case, there is nothing else to do. The priority
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* will be restored when the task disinherits its priority. */
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if( pxTCB->uxPriority == uxBasePriorityUsedOnEntry )
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{
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if( pxTCB->uxMutexesHeld == 0 )
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{
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/* The task may have inherited a priority before prvTaskPriorityRaise()
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* then disinherited a priority after prvTaskPriorityRaise().
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* Thus we need set the uxPriority to the saved base priority
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* so that the task's priority gets restored to the priority
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* before any inheritance or raising. */
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pxTCB->uxPriority = pxSavedPriority->uxBasePriority;
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}
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else
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{
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/* The task may have inherited a priority before prvTaskPriorityRaise()
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* was called. Thus, we need to restore uxPriority to the
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* "saved uxPriority" so that the task still retains that
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* inherited priority. */
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pxTCB->uxPriority = pxSavedPriority->uxPriority;
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}
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uxNewPriority = pxTCB->uxPriority;
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if( uxNewPriority < uxPriorityUsedOnEntry )
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{
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/* Setting the priority of the running task down means
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* there may now be another task of higher priority that
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* is ready to execute. */
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xYieldRequired = pdTRUE;
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}
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/* Only reset the event list item value if the value is not
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* being used for anything else. */
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if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
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{
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listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) uxNewPriority ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
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}
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/* If the task is in the blocked or suspended list we need do
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* nothing more than change its priority variable. However, if
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* the task is in a ready list it needs to be removed and placed
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* in the list appropriate to its new priority. */
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if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xStateListItem ) ) != pdFALSE )
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{
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/* The task is currently in its ready list - remove before
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* adding it to its new ready list. As we are in a critical
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* section we can do this even if the scheduler is suspended. */
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if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
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{
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/* It is known that the task is in its ready list so
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* there is no need to check again and the port level
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* reset macro can be called directly. */
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portRESET_READY_PRIORITY( uxPriorityUsedOnEntry, uxTopReadyPriority );
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}
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prvAddTaskToReadyList( pxTCB );
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}
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if( xYieldRequired != pdFALSE )
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{
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taskYIELD_IF_USING_PREEMPTION();
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}
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}
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}
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}
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#else /* if ( configUSE_MUTEXES == 1 ) */
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{
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vTaskPrioritySet( NULL, pxSavedPriority->uxPriority );
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}
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#endif
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}
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taskEXIT_CRITICAL();
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}
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#endif // ( INCLUDE_vTaskPrioritySet == 1 )
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@ -0,0 +1,57 @@
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/*
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* SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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#include "sdkconfig.h"
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "idf_additions_inc.h"
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#if ( INCLUDE_vTaskPrioritySet == 1 )
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/**
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* INCLUDE_vTaskPrioritySet must be defined as 1 for this function to be available.
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* See the configuration section for more information.
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*
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* Saves the current priority and current base priority of a task, then raises the tasks
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* current and base priority to uxNewPriority if uxNewPriority is of a higher priority.
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* Once a task's priority has been raised with this function, the priority can be restored
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* by calling prvTaskPriorityRestore()
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* - Note that this function differs from vTaskPrioritySet() as the task's current priority
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* will be modified even if the task has already inherited a priority.
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* - This function is intended for special circumstance where a task must be forced immediately
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* to a higher priority.
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*
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* For configUSE_MUTEXES == 0: A context switch will occur before the function returns if the priority
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* being set is higher than the currently executing task.
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*
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* @note This functions is private is only be called internally within various IDF components.
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* Users should never call this function from their application.
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*
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* @note vTaskPrioritySet() should not be called while a task's priority is already raised via this function
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*
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* @param pxSavedPriority returns base and current priorities
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*
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* @param uxNewPriority The priority to which the task will be set.
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*/
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void prvTaskPriorityRaise( prvTaskSavedPriority_t * pxSavedPriority, UBaseType_t uxNewPriority );
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/**
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* INCLUDE_vTaskPrioritySet must be defined as 1 for this function to be available.
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* See the configuration section for more information.
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*
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* Restore a task's priority that was previously raised by prvTaskPriorityRaise().
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*
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* For configUSE_MUTEXES == 0: A context switch will occur before the function returns if the priority
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* being set is higher than the currently executing task.
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*
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* @note This functions is private is only be called internally within various IDF components.
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* Users should never call this function from their application.
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*
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* @param pxSavedPriority previously saved base and current priorities that need to be restored
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*/
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void prvTaskPriorityRestore( prvTaskSavedPriority_t * pxSavedPriority );
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#endif // ( INCLUDE_vTaskPrioritySet == 1)
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@ -0,0 +1,33 @@
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/*
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* SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD
|
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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#ifndef FREERTOS_ADDITITIONS_INC_H_
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#define FREERTOS_ADDITITIONS_INC_H_
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#ifdef __cplusplus
|
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extern "C" {
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#endif
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|
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#include "sdkconfig.h"
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#include "freertos/FreeRTOS.h"
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#if ( INCLUDE_vTaskPrioritySet == 1 )
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typedef struct {
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UBaseType_t uxPriority;
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#if ( configUSE_MUTEXES == 1 )
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UBaseType_t uxBasePriority;
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#endif
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} prvTaskSavedPriority_t;
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#endif // ( INCLUDE_vTaskPrioritySet == 1)
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|
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#ifdef __cplusplus
|
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}
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#endif
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#endif //FREERTOS_ADDITITIONS_INC_H_
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|
|
@ -1,80 +0,0 @@
|
|||
// Copyright 2015-2021 Espressif Systems (Shanghai) PTE LTD
|
||||
//
|
||||
// Licensed under the Apache License, Version 2.0 (the "License");
|
||||
// you may not use this file except in compliance with the License.
|
||||
// You may obtain a copy of the License at
|
||||
//
|
||||
// http://www.apache.org/licenses/LICENSE-2.0
|
||||
//
|
||||
// Unless required by applicable law or agreed to in writing, software
|
||||
// distributed under the License is distributed on an "AS IS" BASIS,
|
||||
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
// See the License for the specific language governing permissions and
|
||||
// limitations under the License.
|
||||
|
||||
#pragma once
|
||||
|
||||
/**
|
||||
* This file will be included in `tasks.c` file, thus, it must NOT be included
|
||||
* by any (other) file.
|
||||
* The functions below only consist in getters for the static variables in
|
||||
* `tasks.c` file.
|
||||
* The only source files that should call these functions are the ones in
|
||||
* `/additions` directory.
|
||||
*/
|
||||
|
||||
#if ( configENABLE_TASK_SNAPSHOT == 1 )
|
||||
|
||||
UBaseType_t pxTCBGetSize ( void )
|
||||
{
|
||||
return sizeof(TCB_t);
|
||||
}
|
||||
|
||||
ListItem_t* pxTCBGetStateListItem ( void *pxTCB )
|
||||
{
|
||||
return &(((TCB_t*)pxTCB)->xStateListItem);
|
||||
}
|
||||
|
||||
StackType_t* pxTCBGetStartOfStack ( void *pxTCB )
|
||||
{
|
||||
return (StackType_t*) ((TCB_t*)pxTCB)->pxStack;
|
||||
}
|
||||
|
||||
StackType_t* pxTCBGetTopOfStack ( void *pxTCB )
|
||||
{
|
||||
return (StackType_t*) ((TCB_t*)pxTCB)->pxTopOfStack;
|
||||
}
|
||||
|
||||
StackType_t* pxTCBGetEndOfStack ( void *pxTCB )
|
||||
{
|
||||
return (StackType_t*) ((TCB_t*)pxTCB)->pxEndOfStack;
|
||||
}
|
||||
|
||||
|
||||
List_t* pxListGetReadyTask ( UBaseType_t idx )
|
||||
{
|
||||
return &( pxReadyTasksLists[idx] );
|
||||
}
|
||||
|
||||
List_t* pxListGetReadyPendingTask ( UBaseType_t idx )
|
||||
{
|
||||
return &( xPendingReadyList[idx] );
|
||||
}
|
||||
|
||||
List_t* pxGetDelayedTaskList ( void ) {
|
||||
return pxDelayedTaskList;
|
||||
}
|
||||
|
||||
List_t* pxGetOverflowDelayedTaskList ( void ) {
|
||||
return pxOverflowDelayedTaskList;
|
||||
}
|
||||
|
||||
List_t* pxGetTasksWaitingTermination ( void ) {
|
||||
return &xTasksWaitingTermination;
|
||||
}
|
||||
|
||||
List_t* pxGetSuspendedTaskList ( void ) {
|
||||
return &xSuspendedTaskList;
|
||||
}
|
||||
|
||||
#endif
|
||||
|
|
@ -29,6 +29,8 @@ entries:
|
|||
tasks: vTaskRemoveFromUnorderedEventList (default)
|
||||
tasks: uxTaskPriorityGet (default)
|
||||
tasks: vTaskPrioritySet (default)
|
||||
tasks: prvTaskPriorityRaise (default)
|
||||
tasks: prvTaskPriorityRestore (default)
|
||||
tasks: vTaskSetThreadLocalStoragePointerAndDelCallback (default)
|
||||
tasks: pvTaskGetThreadLocalStoragePointer (default)
|
||||
tasks: xTaskGetCurrentTaskHandleForCPU (default)
|
||||
|
|
|
|||
|
|
@ -11,6 +11,7 @@
|
|||
|
||||
#include <freertos/FreeRTOS.h>
|
||||
#include <freertos/task.h>
|
||||
#include <freertos/idf_additions.h>
|
||||
#include <freertos/semphr.h>
|
||||
#if CONFIG_IDF_TARGET_ESP32
|
||||
#include "soc/dport_reg.h"
|
||||
|
|
@ -155,8 +156,9 @@ void IRAM_ATTR spi_flash_disable_interrupts_caches_and_other_cpu(void)
|
|||
} else {
|
||||
// Temporarily raise current task priority to prevent a deadlock while
|
||||
// waiting for IPC task to start on the other CPU
|
||||
int old_prio = uxTaskPriorityGet(NULL);
|
||||
vTaskPrioritySet(NULL, configMAX_PRIORITIES - 1);
|
||||
prvTaskSavedPriority_t SavedPriority;
|
||||
prvTaskPriorityRaise(&SavedPriority, configMAX_PRIORITIES - 1);
|
||||
|
||||
// Signal to the spi_flash_op_block_task on the other CPU that we need it to
|
||||
// disable cache there and block other tasks from executing.
|
||||
s_flash_op_can_start = false;
|
||||
|
|
@ -169,7 +171,7 @@ void IRAM_ATTR spi_flash_disable_interrupts_caches_and_other_cpu(void)
|
|||
// Disable scheduler on the current CPU
|
||||
vTaskSuspendAll();
|
||||
// Can now set the priority back to the normal one
|
||||
vTaskPrioritySet(NULL, old_prio);
|
||||
prvTaskPriorityRestore(&SavedPriority);
|
||||
// This is guaranteed to run on CPU <cpuid> because the other CPU is now
|
||||
// occupied by highest priority task
|
||||
assert(xPortGetCoreID() == cpuid);
|
||||
|
|
|
|||
Ładowanie…
Reference in New Issue