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Merge branch 'bugfix/tw9313_dual_core_issue' into 'master'
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freertos: fix dual core issue

This commit try to fix dual issue tw9313 raised by QA
1. Put per-core data into critical session or interrupt disabled/enabled session
2. Idle task may have problem when it terminate the task in both core

See merge request !333
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@jack0c
jack0c committed Dec 27, 2016
2 parents 835fa31 + d049fd3 commit 6d0fd80
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Showing 3 changed files with 41 additions and 25 deletions.
4 changes: 1 addition & 3 deletions components/freertos/Kconfig
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,7 @@ menu "FreeRTOS"
# This is actually also handled in the ESP32 startup code, not only in FreeRTOS.
config FREERTOS_UNICORE
bool "Run FreeRTOS only on first core"
default y
default n
help
This version of FreeRTOS normally takes control of all cores of
the CPU. Select this if you only want to start it on the first core.
Expand Down Expand Up @@ -195,8 +195,6 @@ config FREERTOS_PORTMUX_DEBUG_RECURSIVE
If enabled, additional debug information will be printed for recursive
portMUX usage.



endif # FREERTOS_DEBUG_INTERNALS

endmenu
1 change: 0 additions & 1 deletion components/freertos/include/freertos/portmacro.h
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Original file line number Diff line number Diff line change
Expand Up @@ -213,7 +213,6 @@ portBASE_TYPE vPortCPUReleaseMutex(portMUX_TYPE *mux);
#define portEXIT_CRITICAL_ISR(mux) vPortCPUReleaseMutex(mux)
#endif


// Cleaner and preferred solution allows nested interrupts disabling and restoring via local registers or stack.
// They can be called from interrupts too.
//NOT SMP-COMPATIBLE! Use only if all you want is to disable the interrupts locally!
Expand Down
61 changes: 40 additions & 21 deletions components/freertos/tasks.c
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Original file line number Diff line number Diff line change
Expand Up @@ -369,7 +369,7 @@ PRIVILEGED_DATA static portMUX_TYPE xTickCountMutex = portMUX_INITIALIZER_UNLOCK
\
/* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of \
the same priority get an equal share of the processor time. */ \
listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB[ xPortGetCoreID() ], &( pxReadyTasksLists[ uxTopReadyPriority ] ) ); \
listGET_OWNER_OF_NEXT_ENTRY( xTaskGetCurrentTaskHandle(), &( pxReadyTasksLists[ uxTopReadyPriority ] ) ); \
} /* taskSELECT_HIGHEST_PRIORITY_TASK */

/*-----------------------------------------------------------*/
Expand Down Expand Up @@ -398,7 +398,7 @@ PRIVILEGED_DATA static portMUX_TYPE xTickCountMutex = portMUX_INITIALIZER_UNLOCK
/* Find the highest priority queue that contains ready tasks. */ \
portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority ); \
configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 ); \
listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB[ xPortGetCoreID() ], &( pxReadyTasksLists[ uxTopPriority ] ) ); \
listGET_OWNER_OF_NEXT_ENTRY( xTaskGetCurrentTaskHandle(), &( pxReadyTasksLists[ uxTopPriority ] ) ); \
} /* taskSELECT_HIGHEST_PRIORITY_TASK() */

/*-----------------------------------------------------------*/
Expand Down Expand Up @@ -456,7 +456,7 @@ count overflows. */
* see if the parameter is NULL and returns a pointer to the appropriate TCB.
*/
/* ToDo: See if this still works for multicore. */
#define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? ( TCB_t * ) pxCurrentTCB[ xPortGetCoreID() ] : ( TCB_t * ) ( pxHandle ) )
#define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? ( TCB_t * ) xTaskGetCurrentTaskHandle() : ( TCB_t * ) ( pxHandle ) )

/* The item value of the event list item is normally used to hold the priority
of the task to which it belongs (coded to allow it to be held in reverse
Expand Down Expand Up @@ -631,9 +631,11 @@ static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB, TaskFunction_t pxTaskCode
*/
void taskYIELD_OTHER_CORE( BaseType_t xCoreID, UBaseType_t uxPriority )
{
TCB_t *curTCB = xTaskGetCurrentTaskHandle();
BaseType_t i;

if (xCoreID != tskNO_AFFINITY) {
if ( pxCurrentTCB[ xCoreID ]->uxPriority < uxPriority ) {
if ( curTCB->uxPriority < uxPriority ) {
vPortYieldOtherCore( xCoreID );
}
}
Expand Down Expand Up @@ -1039,6 +1041,7 @@ UBaseType_t x;

static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB, TaskFunction_t pxTaskCode, const BaseType_t xCoreID )
{
TCB_t *curTCB;
BaseType_t i;

/* Ensure interrupts don't access the task lists while the lists are being
Expand Down Expand Up @@ -1111,23 +1114,25 @@ static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB, TaskFunction_t pxTaskCode

portSETUP_TCB( pxNewTCB );
}
curTCB = pxCurrentTCB[ xPortGetCoreID() ];
taskEXIT_CRITICAL(&xTaskQueueMutex);

if( xSchedulerRunning != pdFALSE )
{
taskENTER_CRITICAL(&xTaskQueueMutex);
/* Scheduler is running. If the created task is of a higher priority than an executing task
then it should run now.
ToDo: This only works for the current core. If a task is scheduled on an other processor,
the other processor will keep running the task it's working on, and only switch to the newer
task on a timer interrupt. */
//No mux here, uxPriority is mostly atomic and there's not really any harm if this check misfires.
if( pxCurrentTCB[ xPortGetCoreID() ]->uxPriority < pxNewTCB->uxPriority )
if( curTCB->uxPriority < pxNewTCB->uxPriority )
{
/* Scheduler is running. If the created task is of a higher priority than an executing task
then it should run now.
No mux here, uxPriority is mostly atomic and there's not really any harm if this check misfires.
*/
if( tskCAN_RUN_HERE( xCoreID ) && pxCurrentTCB[ xPortGetCoreID() ]->uxPriority < pxNewTCB->uxPriority )
if( tskCAN_RUN_HERE( xCoreID ) && curTCB->uxPriority < pxNewTCB->uxPriority )
{
taskYIELD_IF_USING_PREEMPTION();
}
Expand All @@ -1143,6 +1148,7 @@ static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB, TaskFunction_t pxTaskCode
{
mtCOVERAGE_TEST_MARKER();
}
taskEXIT_CRITICAL(&xTaskQueueMutex);
}
else
{
Expand Down Expand Up @@ -1409,11 +1415,12 @@ static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB, TaskFunction_t pxTaskCode
eTaskState eReturn;
List_t *pxStateList;
const TCB_t * const pxTCB = ( TCB_t * ) xTask;
TCB_t * curTCB = xTaskGetCurrentTaskHandle();

UNTESTED_FUNCTION();
configASSERT( pxTCB );

if( pxTCB == pxCurrentTCB[ xPortGetCoreID() ] )
if( pxTCB == curTCB )
{
/* The task calling this function is querying its own state. */
eReturn = eRunning;
Expand Down Expand Up @@ -1691,6 +1698,7 @@ static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB, TaskFunction_t pxTaskCode
void vTaskSuspend( TaskHandle_t xTaskToSuspend )
{
TCB_t *pxTCB;
TCB_t *curTCB;

UNTESTED_FUNCTION();
taskENTER_CRITICAL(&xTaskQueueMutex);
Expand Down Expand Up @@ -1723,10 +1731,11 @@ static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB, TaskFunction_t pxTaskCode
}

vListInsertEnd( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) );
curTCB = pxCurrentTCB[ xPortGetCoreID() ];
}
taskEXIT_CRITICAL(&xTaskQueueMutex);

if( pxTCB == pxCurrentTCB[ xPortGetCoreID() ] )
if( pxTCB == curTCB )
{
if( xSchedulerRunning != pdFALSE )
{
Expand Down Expand Up @@ -2034,7 +2043,7 @@ void vTaskEndScheduler( void )
//Return global reent struct if FreeRTOS isn't running,
struct _reent* __getreent() {
//No lock needed because if this changes, we won't be running anymore.
TCB_t *currTask=pxCurrentTCB[ xPortGetCoreID() ];
TCB_t *currTask=xTaskGetCurrentTaskHandle();
if (currTask==NULL) {
//No task running. Return global struct.
return _GLOBAL_REENT;
Expand All @@ -2052,7 +2061,11 @@ void vTaskSuspendAll( void )
BaseType_t. Please read Richard Barry's reply in the following link to a
post in the FreeRTOS support forum before reporting this as a bug! -
http://goo.gl/wu4acr */
unsigned state;

state = portENTER_CRITICAL_NESTED();
++uxSchedulerSuspended[ xPortGetCoreID() ];
portEXIT_CRITICAL_NESTED(state);
}
/*----------------------------------------------------------*/

Expand Down Expand Up @@ -2595,7 +2608,7 @@ BaseType_t xSwitchRequired = pdFALSE;
/* If xTask is NULL then we are setting our own task hook. */
if( xTask == NULL )
{
xTCB = ( TCB_t * ) pxCurrentTCB[ xPortGetCoreID() ];
xTCB = ( TCB_t * ) xTaskGetCurrentTaskHandle();
}
else
{
Expand Down Expand Up @@ -2626,7 +2639,7 @@ BaseType_t xSwitchRequired = pdFALSE;
/* If xTask is NULL then we are calling our own task hook. */
if( xTask == NULL )
{
xTCB = ( TCB_t * ) pxCurrentTCB[ xPortGetCoreID() ];
xTCB = ( TCB_t * ) xTaskGetCurrentTaskHandle();
}
else
{
Expand Down Expand Up @@ -3387,8 +3400,8 @@ static portTASK_FUNCTION( prvIdleTask, pvParameters )

if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )
{
pxTCB = prvGetTCBFromHandle( xTaskToSet );
taskENTER_CRITICAL(&xTaskQueueMutex);
pxTCB = prvGetTCBFromHandle( xTaskToSet );
pxTCB->pvThreadLocalStoragePointers[ xIndex ] = pvValue;
pxTCB->pvThreadLocalStoragePointersDelCallback[ xIndex ] = xDelCallback;
taskEXIT_CRITICAL(&xTaskQueueMutex);
Expand All @@ -3408,8 +3421,10 @@ static portTASK_FUNCTION( prvIdleTask, pvParameters )

if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )
{
taskENTER_CRITICAL(&xTaskQueueMutex);
pxTCB = prvGetTCBFromHandle( xTaskToSet );
pxTCB->pvThreadLocalStoragePointers[ xIndex ] = pvValue;
taskEXIT_CRITICAL(&xTaskQueueMutex);
}
}
#endif /* configTHREAD_LOCAL_STORAGE_DELETE_CALLBACKS */
Expand Down Expand Up @@ -3496,26 +3511,23 @@ static void prvCheckTasksWaitingTermination( void )

/* ucTasksDeleted is used to prevent vTaskSuspendAll() being called
too often in the idle task. */
taskENTER_CRITICAL(&xTaskQueueMutex);
while( uxTasksDeleted > ( UBaseType_t ) 0U )
{
taskENTER_CRITICAL(&xTaskQueueMutex);
{
xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );
}
taskEXIT_CRITICAL(&xTaskQueueMutex);

if( xListIsEmpty == pdFALSE )
{
TCB_t *pxTCB;

taskENTER_CRITICAL(&xTaskQueueMutex);
{
pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xTasksWaitingTermination ) );
( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
--uxCurrentNumberOfTasks;
--uxTasksDeleted;
}
taskEXIT_CRITICAL(&xTaskQueueMutex);

#if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 ) && ( configTHREAD_LOCAL_STORAGE_DELETE_CALLBACKS )
{
Expand All @@ -3535,7 +3547,8 @@ static void prvCheckTasksWaitingTermination( void )
{
mtCOVERAGE_TEST_MARKER();
}
}
}
taskEXIT_CRITICAL(&xTaskQueueMutex);
}
#endif /* vTaskDelete */
}
Expand Down Expand Up @@ -3805,11 +3818,11 @@ TCB_t *pxTCB;
TaskHandle_t xTaskGetCurrentTaskHandle( void )
{
TaskHandle_t xReturn;
unsigned state;

/* A critical section is not required as this is not called from
an interrupt and the current TCB will always be the same for any
individual execution thread. */
state = portENTER_CRITICAL_NESTED();
xReturn = pxCurrentTCB[ xPortGetCoreID() ];
portEXIT_CRITICAL_NESTED(state);

return xReturn;
}
Expand All @@ -3835,7 +3848,9 @@ TCB_t *pxTCB;
BaseType_t xTaskGetSchedulerState( void )
{
BaseType_t xReturn;
unsigned state;

state = portENTER_CRITICAL_NESTED();
if( xSchedulerRunning == pdFALSE )
{
xReturn = taskSCHEDULER_NOT_STARTED;
Expand All @@ -3851,6 +3866,7 @@ TCB_t *pxTCB;
xReturn = taskSCHEDULER_SUSPENDED;
}
}
portEXIT_CRITICAL_NESTED(state);

return xReturn;
}
Expand Down Expand Up @@ -4386,16 +4402,19 @@ TickType_t uxReturn;

void *pvTaskIncrementMutexHeldCount( void )
{
TCB_t *curTCB;

/* If xSemaphoreCreateMutex() is called before any tasks have been created
then pxCurrentTCB will be NULL. */
taskENTER_CRITICAL(&xTaskQueueMutex);
if( pxCurrentTCB[ xPortGetCoreID() ] != NULL )
{
( pxCurrentTCB[ xPortGetCoreID() ]->uxMutexesHeld )++;
}
curTCB = pxCurrentTCB[ xPortGetCoreID() ];
taskEXIT_CRITICAL(&xTaskQueueMutex);

return pxCurrentTCB[ xPortGetCoreID() ];
return curTCB;
}

#endif /* configUSE_MUTEXES */
Expand Down

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