diff --git a/components/freertos/FreeRTOS-Kernel/tasks.c b/components/freertos/FreeRTOS-Kernel/tasks.c index 3459a572a7..ca99a75655 100644 --- a/components/freertos/FreeRTOS-Kernel/tasks.c +++ b/components/freertos/FreeRTOS-Kernel/tasks.c @@ -506,6 +506,11 @@ PRIVILEGED_DATA static volatile BaseType_t xSwitchingContext[ configNUM_CORES ] /* File private functions. --------------------------------*/ +/* + * Creates the idle tasks during scheduler start. + */ +static BaseType_t prvCreateIdleTasks( void ); + /** * Utility task that simply returns pdTRUE if the task referenced by xTask is * currently in the Suspended state, or pdFALSE if the task referenced by xTask @@ -2125,16 +2130,14 @@ 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; - #ifdef ESP_PLATFORM - /* Create an IDLE task for each core */ - for( BaseType_t xCoreID = 0; xCoreID < configNUM_CORES; xCoreID++ ) - #endif //ESP_PLATFORM - /* Add the idle task at the lowest priority. */ - #if ( configSUPPORT_STATIC_ALLOCATION == 1 ) + #if ( configNUM_CORES == 1 ) + { + /* Add the idle task at the lowest priority. */ + #if ( configSUPPORT_STATIC_ALLOCATION == 1 ) { StaticTask_t * pxIdleTaskTCBBuffer = NULL; StackType_t * pxIdleTaskStackBuffer = NULL; @@ -2143,16 +2146,16 @@ void vTaskStartScheduler( void ) /* 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 ] = xTaskCreateStaticPinnedToCore( prvIdleTask, - configIDLE_TASK_NAME, - 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, - xCoreID ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */ + xIdleTaskHandle[ 0 ] = xTaskCreateStaticPinnedToCore( prvIdleTask, + configIDLE_TASK_NAME, + 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, + 0 ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */ - if( xIdleTaskHandle[ xCoreID ] != NULL ) + if( xIdleTaskHandle[ 0 ] != NULL ) { xReturn = pdPASS; } @@ -2161,27 +2164,136 @@ void vTaskStartScheduler( void ) xReturn = pdFAIL; } } - #else /* if ( configSUPPORT_STATIC_ALLOCATION == 1 ) */ + #else /* if ( configSUPPORT_STATIC_ALLOCATION == 1 ) */ { /* The Idle task is being created using dynamically allocated RAM. */ xReturn = xTaskCreatePinnedToCore( prvIdleTask, configIDLE_TASK_NAME, configMINIMAL_STACK_SIZE, ( void * ) NULL, - portPRIVILEGE_BIT, /* In effect ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), but tskIDLE_PRIORITY is zero. */ - &xIdleTaskHandle[ xCoreID ], - xCoreID ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */ + portPRIVILEGE_BIT, /* In effect ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), but tskIDLE_PRIORITY is zero. */ + &xIdleTaskHandle[ 0 ], + 0 ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */ + } + #endif /* configSUPPORT_STATIC_ALLOCATION */ + } + #else /* #if ( configNUM_CORES == 1 ) */ + { + BaseType_t xCoreID; + char cIdleName[ configMAX_TASK_NAME_LEN ]; - if( xIdleTaskHandle[ xCoreID ] != NULL ) + /* Add each idle task at the lowest priority. */ + for( xCoreID = ( BaseType_t ) 0; xCoreID < ( BaseType_t ) configNUM_CORES; xCoreID++ ) + { + BaseType_t x; + + if( xReturn == pdFAIL ) { - xReturn = pdPASS; + /* TODO: IDF-8240 - Memory leaks occur if IDLE task creation fails on some core + * as we do not free memory for the successfully created IDLE tasks. + */ + break; } else { - xReturn = pdFAIL; + mtCOVERAGE_TEST_MARKER(); } + + for( x = ( BaseType_t ) 0; x < ( BaseType_t ) configMAX_TASK_NAME_LEN; x++ ) + { + cIdleName[ x ] = configIDLE_TASK_NAME[ x ]; + + /* Don't copy all configMAX_TASK_NAME_LEN if the string is shorter than + * configMAX_TASK_NAME_LEN characters just in case the memory after the + * string is not accessible (extremely unlikely). */ + if( cIdleName[ x ] == ( char ) 0x00 ) + { + break; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + + /* Append the idle task number to the end of the name if there is space. */ + if( x < ( BaseType_t ) configMAX_TASK_NAME_LEN ) + { + cIdleName[ x ] = ( char ) ( xCoreID + '0' ); + x++; + + /* And append a null character if there is space. */ + if( x < ( BaseType_t ) configMAX_TASK_NAME_LEN ) + { + cIdleName[ x ] = '\0'; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + #if ( configSUPPORT_STATIC_ALLOCATION == 1 ) + { + 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 ] = xTaskCreateStaticPinnedToCore( 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, + xCoreID ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */ + + if( xIdleTaskHandle[ xCoreID ] != NULL ) + { + xReturn = pdPASS; + } + else + { + xReturn = pdFAIL; + } + } + #else /* if ( configSUPPORT_STATIC_ALLOCATION == 1 ) */ + { + /* The Idle task is being created using dynamically allocated RAM. */ + xReturn = xTaskCreatePinnedToCore( prvIdleTask, + cIdleName, + configMINIMAL_STACK_SIZE, + ( void * ) NULL, + portPRIVILEGE_BIT, /* In effect ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), but tskIDLE_PRIORITY is zero. */ + &xIdleTaskHandle[ xCoreID ], + xCoreID ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */ + } + #endif /* configSUPPORT_STATIC_ALLOCATION */ } - #endif /* configSUPPORT_STATIC_ALLOCATION */ + } + #endif /* #if ( configNUM_CORES == 1 ) */ + + return xReturn; +} + +/*-----------------------------------------------------------*/ + +void vTaskStartScheduler( void ) +{ + BaseType_t xReturn; + + /* The code for prvCreateIdleTasks() has been backported from the upstream + * FreeRTOS-Kernel source. The reference for the same is on the mainline + * at the commit id# 2f94b181a2f049ec342deba0927bed51f7174ab0. + */ + xReturn = prvCreateIdleTasks(); #if ( configUSE_TIMERS == 1 ) { diff --git a/docs/en/api-reference/system/freertos.rst b/docs/en/api-reference/system/freertos.rst index bb8bbaf1d9..745f7e8297 100644 --- a/docs/en/api-reference/system/freertos.rst +++ b/docs/en/api-reference/system/freertos.rst @@ -95,7 +95,7 @@ During startup, ESP-IDF and the FreeRTOS kernel automatically create multiple ta - Affinity - Priority * - Idle Tasks (``IDLEx``) - - An idle task (``IDLEx``) is created for (and pinned to) each CPU core, where ``x`` is the CPU core's number + - An idle task (``IDLEx``) is created for (and pinned to) each CPU core, where ``x`` is the CPU core's number. The ``x`` is dropped when single-core configuration is enabled. - :ref:`CONFIG_FREERTOS_IDLE_TASK_STACKSIZE` - Core x - ``0`` diff --git a/docs/zh_CN/api-reference/system/freertos.rst b/docs/zh_CN/api-reference/system/freertos.rst index d32ac2ef97..7fbe7b967c 100644 --- a/docs/zh_CN/api-reference/system/freertos.rst +++ b/docs/zh_CN/api-reference/system/freertos.rst @@ -95,7 +95,7 @@ ESP-IDF FreeRTOS - 亲和性 - 优先级 * - 空闲任务 (``IDLEx``) - - 为每个 CPU 核创建并固定一个空闲任务 (``IDLEx``)，其中 ``x`` 是 CPU 核的编号 + - 为每个 CPU 核创建并固定一个空闲任务 (``IDLEx``)，其中 ``x`` 是 CPU 核的编号。 当启用单核配置时，``x`` 将被删除。 - :ref:`CONFIG_FREERTOS_IDLE_TASK_STACKSIZE` - Core x - ``0``