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Merge branch 'main' into fix/idle_task_name_len
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@aggarg
aggarg authored Dec 19, 2024
2 parents 926b8d7 + 31dd1e3 commit e0f9e6c
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Showing 2 changed files with 85 additions and 65 deletions.
8 changes: 4 additions & 4 deletions portable/ThirdParty/GCC/RP2040/include/portmacro.h
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Original file line number Diff line number Diff line change
Expand Up @@ -158,10 +158,10 @@ void vYieldCore( int xCoreID );
#define portCRITICAL_NESTING_IN_TCB 0

extern UBaseType_t uxCriticalNestings[ configNUMBER_OF_CORES ];
#define portGET_CRITICAL_NESTING_COUNT() ( uxCriticalNestings[ portGET_CORE_ID() ] )
#define portSET_CRITICAL_NESTING_COUNT( x ) ( uxCriticalNestings[ portGET_CORE_ID() ] = ( x ) )
#define portINCREMENT_CRITICAL_NESTING_COUNT() ( uxCriticalNestings[ portGET_CORE_ID() ]++ )
#define portDECREMENT_CRITICAL_NESTING_COUNT() ( uxCriticalNestings[ portGET_CORE_ID() ]-- )
#define portGET_CRITICAL_NESTING_COUNT( xCoreID ) ( uxCriticalNestings[ ( xCoreID ) ] )
#define portSET_CRITICAL_NESTING_COUNT( xCoreID, x ) ( uxCriticalNestings[ ( xCoreID ) ] = ( x ) )
#define portINCREMENT_CRITICAL_NESTING_COUNT( xCoreID ) ( uxCriticalNestings[ ( xCoreID ) ]++ )
#define portDECREMENT_CRITICAL_NESTING_COUNT( xCoreID ) ( uxCriticalNestings[ ( xCoreID ) ]-- )

/*-----------------------------------------------------------*/

Expand Down
142 changes: 81 additions & 61 deletions tasks.c
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Original file line number Diff line number Diff line change
Expand Up @@ -317,10 +317,10 @@
#define taskATTRIBUTE_IS_IDLE ( UBaseType_t ) ( 1U << 0U )

#if ( ( configNUMBER_OF_CORES > 1 ) && ( portCRITICAL_NESTING_IN_TCB == 1 ) )
#define portGET_CRITICAL_NESTING_COUNT() ( pxCurrentTCBs[ portGET_CORE_ID() ]->uxCriticalNesting )
#define portSET_CRITICAL_NESTING_COUNT( x ) ( pxCurrentTCBs[ portGET_CORE_ID() ]->uxCriticalNesting = ( x ) )
#define portINCREMENT_CRITICAL_NESTING_COUNT() ( pxCurrentTCBs[ portGET_CORE_ID() ]->uxCriticalNesting++ )
#define portDECREMENT_CRITICAL_NESTING_COUNT() ( pxCurrentTCBs[ portGET_CORE_ID() ]->uxCriticalNesting-- )
#define portGET_CRITICAL_NESTING_COUNT( xCoreID ) ( pxCurrentTCBs[ ( xCoreID ) ]->uxCriticalNesting )
#define portSET_CRITICAL_NESTING_COUNT( xCoreID, x ) ( pxCurrentTCBs[ ( xCoreID ) ]->uxCriticalNesting = ( x ) )
#define portINCREMENT_CRITICAL_NESTING_COUNT( xCoreID ) ( pxCurrentTCBs[ ( xCoreID ) ]->uxCriticalNesting++ )
#define portDECREMENT_CRITICAL_NESTING_COUNT( xCoreID ) ( pxCurrentTCBs[ ( xCoreID ) ]->uxCriticalNesting-- )
#endif /* #if ( ( configNUMBER_OF_CORES > 1 ) && ( portCRITICAL_NESTING_IN_TCB == 1 ) ) */

#define taskBITS_PER_BYTE ( ( size_t ) 8 )
Expand Down Expand Up @@ -807,13 +807,14 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB ) PRIVILEGED_FUNCTION;
{
UBaseType_t uxPrevCriticalNesting;
const TCB_t * pxThisTCB;
BaseType_t xCoreID = ( BaseType_t ) portGET_CORE_ID();

/* This must only be called from within a task. */
portASSERT_IF_IN_ISR();

/* This function is always called with interrupts disabled
* so this is safe. */
pxThisTCB = pxCurrentTCBs[ portGET_CORE_ID() ];
pxThisTCB = pxCurrentTCBs[ xCoreID ];

while( pxThisTCB->xTaskRunState == taskTASK_SCHEDULED_TO_YIELD )
{
Expand All @@ -825,11 +826,11 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB ) PRIVILEGED_FUNCTION;
* the suspension and critical nesting counts, as well as release
* and reacquire the correct locks. And then, do it all over again
* if our state changed again during the reacquisition. */
uxPrevCriticalNesting = portGET_CRITICAL_NESTING_COUNT();
uxPrevCriticalNesting = portGET_CRITICAL_NESTING_COUNT( xCoreID );

if( uxPrevCriticalNesting > 0U )
{
portSET_CRITICAL_NESTING_COUNT( 0U );
portSET_CRITICAL_NESTING_COUNT( xCoreID, 0U );
portRELEASE_ISR_LOCK();
}
else
Expand All @@ -854,8 +855,9 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB ) PRIVILEGED_FUNCTION;
portDISABLE_INTERRUPTS();
portGET_TASK_LOCK();
portGET_ISR_LOCK();
xCoreID = ( BaseType_t ) portGET_CORE_ID();

portSET_CRITICAL_NESTING_COUNT( uxPrevCriticalNesting );
portSET_CRITICAL_NESTING_COUNT( xCoreID, uxPrevCriticalNesting );

if( uxPrevCriticalNesting == 0U )
{
Expand All @@ -874,13 +876,14 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB ) PRIVILEGED_FUNCTION;
BaseType_t xCurrentCoreTaskPriority;
BaseType_t xLowestPriorityCore = ( BaseType_t ) -1;
BaseType_t xCoreID;
const BaseType_t xCurrentCoreID = portGET_CORE_ID();

#if ( configRUN_MULTIPLE_PRIORITIES == 0 )
BaseType_t xYieldCount = 0;
#endif /* #if ( configRUN_MULTIPLE_PRIORITIES == 0 ) */

/* This must be called from a critical section. */
configASSERT( portGET_CRITICAL_NESTING_COUNT() > 0U );
configASSERT( portGET_CRITICAL_NESTING_COUNT( xCurrentCoreID ) > 0U );

#if ( configRUN_MULTIPLE_PRIORITIES == 0 )

Expand Down Expand Up @@ -969,11 +972,11 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB ) PRIVILEGED_FUNCTION;

#if ( configRUN_MULTIPLE_PRIORITIES == 0 )
/* Verify that the calling core always yields to higher priority tasks. */
if( ( ( pxCurrentTCBs[ portGET_CORE_ID() ]->uxTaskAttributes & taskATTRIBUTE_IS_IDLE ) == 0U ) &&
( pxTCB->uxPriority > pxCurrentTCBs[ portGET_CORE_ID() ]->uxPriority ) )
if( ( ( pxCurrentTCBs[ xCurrentCoreID ]->uxTaskAttributes & taskATTRIBUTE_IS_IDLE ) == 0U ) &&
( pxTCB->uxPriority > pxCurrentTCBs[ xCurrentCoreID ]->uxPriority ) )
{
configASSERT( ( xYieldPendings[ portGET_CORE_ID() ] == pdTRUE ) ||
( taskTASK_IS_RUNNING( pxCurrentTCBs[ portGET_CORE_ID() ] ) == pdFALSE ) );
configASSERT( ( xYieldPendings[ xCurrentCoreID ] == pdTRUE ) ||
( taskTASK_IS_RUNNING( pxCurrentTCBs[ xCurrentCoreID ] ) == pdFALSE ) );
}
#endif
}
Expand Down Expand Up @@ -3865,7 +3868,7 @@ void vTaskSuspendAll( void )
ulState = portSET_INTERRUPT_MASK();

/* This must never be called from inside a critical section. */
configASSERT( portGET_CRITICAL_NESTING_COUNT() == 0 );
configASSERT( portGET_CRITICAL_NESTING_COUNT( portGET_CORE_ID() ) == 0 );

/* portSOFTWARE_BARRIER() is only implemented for emulated/simulated ports that
* do not otherwise exhibit real time behaviour. */
Expand Down Expand Up @@ -3988,8 +3991,7 @@ BaseType_t xTaskResumeAll( void )
* tasks from this list into their appropriate ready list. */
taskENTER_CRITICAL();
{
BaseType_t xCoreID;
xCoreID = ( BaseType_t ) portGET_CORE_ID();
const BaseType_t xCoreID = ( BaseType_t ) portGET_CORE_ID();

/* If uxSchedulerSuspended is zero then this function does not match a
* previous call to vTaskSuspendAll(). */
Expand Down Expand Up @@ -5172,7 +5174,7 @@ BaseType_t xTaskIncrementTick( void )
/* vTaskSwitchContext() must never be called from within a critical section.
* This is not necessarily true for single core FreeRTOS, but it is for this
* SMP port. */
configASSERT( portGET_CRITICAL_NESTING_COUNT() == 0 );
configASSERT( portGET_CRITICAL_NESTING_COUNT( xCoreID ) == 0 );

if( uxSchedulerSuspended != ( UBaseType_t ) 0U )
{
Expand Down Expand Up @@ -6922,16 +6924,24 @@ static void prvResetNextTaskUnblockTime( void )
*/
void vTaskYieldWithinAPI( void )
{
UBaseType_t ulState;

traceENTER_vTaskYieldWithinAPI();

if( portGET_CRITICAL_NESTING_COUNT() == 0U )
{
portYIELD();
}
else
ulState = portSET_INTERRUPT_MASK();
{
xYieldPendings[ portGET_CORE_ID() ] = pdTRUE;
const BaseType_t xCoreID = ( BaseType_t ) portGET_CORE_ID();

if( portGET_CRITICAL_NESTING_COUNT( xCoreID ) == 0U )
{
portYIELD();
}
else
{
xYieldPendings[ xCoreID ] = pdTRUE;
}
}
portCLEAR_INTERRUPT_MASK( ulState );

traceRETURN_vTaskYieldWithinAPI();
}
Expand Down Expand Up @@ -6980,40 +6990,43 @@ static void prvResetNextTaskUnblockTime( void )
traceENTER_vTaskEnterCritical();

portDISABLE_INTERRUPTS();

if( xSchedulerRunning != pdFALSE )
{
if( portGET_CRITICAL_NESTING_COUNT() == 0U )
{
portGET_TASK_LOCK();
portGET_ISR_LOCK();
}

portINCREMENT_CRITICAL_NESTING_COUNT();
const BaseType_t xCoreID = ( BaseType_t ) portGET_CORE_ID();

/* This is not the interrupt safe version of the enter critical
* function so assert() if it is being called from an interrupt
* context. Only API functions that end in "FromISR" can be used in an
* interrupt. Only assert if the critical nesting count is 1 to
* protect against recursive calls if the assert function also uses a
* critical section. */
if( portGET_CRITICAL_NESTING_COUNT() == 1U )
if( xSchedulerRunning != pdFALSE )
{
portASSERT_IF_IN_ISR();
if( portGET_CRITICAL_NESTING_COUNT( xCoreID ) == 0U )
{
portGET_TASK_LOCK();
portGET_ISR_LOCK();
}

if( uxSchedulerSuspended == 0U )
portINCREMENT_CRITICAL_NESTING_COUNT( xCoreID );

/* This is not the interrupt safe version of the enter critical
* function so assert() if it is being called from an interrupt
* context. Only API functions that end in "FromISR" can be used in an
* interrupt. Only assert if the critical nesting count is 1 to
* protect against recursive calls if the assert function also uses a
* critical section. */
if( portGET_CRITICAL_NESTING_COUNT( xCoreID ) == 1U )
{
/* The only time there would be a problem is if this is called
* before a context switch and vTaskExitCritical() is called
* after pxCurrentTCB changes. Therefore this should not be
* used within vTaskSwitchContext(). */
prvCheckForRunStateChange();
portASSERT_IF_IN_ISR();

if( uxSchedulerSuspended == 0U )
{
/* The only time there would be a problem is if this is called
* before a context switch and vTaskExitCritical() is called
* after pxCurrentTCB changes. Therefore this should not be
* used within vTaskSwitchContext(). */
prvCheckForRunStateChange();
}
}
}
}
else
{
mtCOVERAGE_TEST_MARKER();
else
{
mtCOVERAGE_TEST_MARKER();
}
}

traceRETURN_vTaskEnterCritical();
Expand All @@ -7028,19 +7041,20 @@ static void prvResetNextTaskUnblockTime( void )
UBaseType_t vTaskEnterCriticalFromISR( void )
{
UBaseType_t uxSavedInterruptStatus = 0;
const BaseType_t xCoreID = ( BaseType_t ) portGET_CORE_ID();

traceENTER_vTaskEnterCriticalFromISR();

if( xSchedulerRunning != pdFALSE )
{
uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();

if( portGET_CRITICAL_NESTING_COUNT() == 0U )
if( portGET_CRITICAL_NESTING_COUNT( xCoreID ) == 0U )
{
portGET_ISR_LOCK();
}

portINCREMENT_CRITICAL_NESTING_COUNT();
portINCREMENT_CRITICAL_NESTING_COUNT( xCoreID );
}
else
{
Expand Down Expand Up @@ -7104,28 +7118,30 @@ static void prvResetNextTaskUnblockTime( void )

void vTaskExitCritical( void )
{
const BaseType_t xCoreID = ( BaseType_t ) portGET_CORE_ID();

traceENTER_vTaskExitCritical();

if( xSchedulerRunning != pdFALSE )
{
/* If critical nesting count is zero then this function
* does not match a previous call to vTaskEnterCritical(). */
configASSERT( portGET_CRITICAL_NESTING_COUNT() > 0U );
configASSERT( portGET_CRITICAL_NESTING_COUNT( xCoreID ) > 0U );

/* This function should not be called in ISR. Use vTaskExitCriticalFromISR
* to exit critical section from ISR. */
portASSERT_IF_IN_ISR();

if( portGET_CRITICAL_NESTING_COUNT() > 0U )
if( portGET_CRITICAL_NESTING_COUNT( xCoreID ) > 0U )
{
portDECREMENT_CRITICAL_NESTING_COUNT();
portDECREMENT_CRITICAL_NESTING_COUNT( xCoreID );

if( portGET_CRITICAL_NESTING_COUNT() == 0U )
if( portGET_CRITICAL_NESTING_COUNT( xCoreID ) == 0U )
{
BaseType_t xYieldCurrentTask;

/* Get the xYieldPending stats inside the critical section. */
xYieldCurrentTask = xYieldPendings[ portGET_CORE_ID() ];
xYieldCurrentTask = xYieldPendings[ xCoreID ];

portRELEASE_ISR_LOCK();
portRELEASE_TASK_LOCK();
Expand Down Expand Up @@ -7165,19 +7181,23 @@ static void prvResetNextTaskUnblockTime( void )

void vTaskExitCriticalFromISR( UBaseType_t uxSavedInterruptStatus )
{
BaseType_t xCoreID;

traceENTER_vTaskExitCriticalFromISR( uxSavedInterruptStatus );

if( xSchedulerRunning != pdFALSE )
{
xCoreID = ( BaseType_t ) portGET_CORE_ID();

/* If critical nesting count is zero then this function
* does not match a previous call to vTaskEnterCritical(). */
configASSERT( portGET_CRITICAL_NESTING_COUNT() > 0U );
configASSERT( portGET_CRITICAL_NESTING_COUNT( xCoreID ) > 0U );

if( portGET_CRITICAL_NESTING_COUNT() > 0U )
if( portGET_CRITICAL_NESTING_COUNT( xCoreID ) > 0U )
{
portDECREMENT_CRITICAL_NESTING_COUNT();
portDECREMENT_CRITICAL_NESTING_COUNT( xCoreID );

if( portGET_CRITICAL_NESTING_COUNT() == 0U )
if( portGET_CRITICAL_NESTING_COUNT( xCoreID ) == 0U )
{
portRELEASE_ISR_LOCK();
portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
Expand Down

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