From 106e15ea6ba44189e231c06c5b6c3ca46b3b8134 Mon Sep 17 00:00:00 2001 From: Joseph Julicher Date: Wed, 19 May 2021 08:38:58 -0700 Subject: [PATCH] Uncrustified tasks.c --- tasks.c | 386 ++++++++++++++++++++++++++++---------------------------- 1 file changed, 195 insertions(+), 191 deletions(-) diff --git a/tasks.c b/tasks.c index bd07d59a3..911170f91 100644 --- a/tasks.c +++ b/tasks.c @@ -150,7 +150,7 @@ /* A port optimised version is provided. Call the port defined macros. */ #define taskRECORD_READY_PRIORITY( uxPriority ) portRECORD_READY_PRIORITY( uxPriority, uxTopReadyPriority ) - /*-----------------------------------------------------------*/ + /*-----------------------------------------------------------*/ /* A port optimised version is provided, call it only if the TCB being reset * is being referenced from a ready list. If it is referenced from a delayed @@ -255,7 +255,7 @@ typedef struct tskTaskControlBlock /* The old naming convention is used to #endif #if ( configUSE_CORE_AFFINITY == 1 && configNUM_CORES > 1 ) - UBaseType_t uxCoreAffinityMask; /*< Used to link the task to certain cores. UBaseType_t must have >= the same number of bits as SMP confNUM_CORES */ + UBaseType_t uxCoreAffinityMask; /*< Used to link the task to certain cores. UBaseType_t must have >= the same number of bits as SMP confNUM_CORES */ UBaseType_t uxCoreAffinityInheritanceMask; /*< Used to allow a task to inherit the affinity of its parent */ #endif @@ -290,7 +290,6 @@ typedef struct tskTaskControlBlock /* The old naming convention is used to #endif #if ( configUSE_NEWLIB_REENTRANT == 1 ) - /* Allocate a Newlib reent structure that is specific to this task. * Note Newlib support has been included by popular demand, but is not * used by the FreeRTOS maintainers themselves. FreeRTOS is not @@ -322,7 +321,7 @@ typedef struct tskTaskControlBlock /* The old naming convention is used to #if ( configUSE_POSIX_ERRNO == 1 ) int iTaskErrno; #endif -} tskTCB; +} tskTCB; /* The old tskTCB name is maintained above then typedefed to the new TCB_t name * below to enable the use of older kernel aware debuggers. */ @@ -469,7 +468,7 @@ static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION; */ static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters ) PRIVILEGED_FUNCTION; #if ( configNUM_CORES > 1 ) -static portTASK_FUNCTION_PROTO( prvMinimalIdleTask, pvParameters ) PRIVILEGED_FUNCTION; + static portTASK_FUNCTION_PROTO( prvMinimalIdleTask, pvParameters ) PRIVILEGED_FUNCTION; #endif /* @@ -634,13 +633,13 @@ static void prvCheckForRunStateChange( void ) while( pxThisTCB->xTaskRunState == taskTASK_YIELDING ) { /* We are only here if we just entered a critical section - * or if we just suspended the scheduler, and another task - * has requested that we yield. - * - * This is slightly complicated since we need to save and restore - * 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. */ + * or if we just suspended the scheduler, and another task + * has requested that we yield. + * + * This is slightly complicated since we need to save and restore + * 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 = pxThisTCB->uxCriticalNesting; uxPrevSchedulerSuspended = uxSchedulerSuspended; @@ -761,10 +760,10 @@ static void prvYieldForTask( TCB_t * pxTCB, { if( xTaskPriority <= xLowestPriority ) { - #if( configNUM_CORES > 1 ) - #if ( configUSE_CORE_AFFINITY == 1 ) - if( ( pxTCB->uxCoreAffinityMask & ( 1 << x ) ) != 0 ) - #endif + #if ( configNUM_CORES > 1 ) + #if ( configUSE_CORE_AFFINITY == 1 ) + if( ( pxTCB->uxCoreAffinityMask & ( 1 << x ) ) != 0 ) + #endif #endif { #if ( configUSE_TASK_PREEMPTION_DISABLE == 1 ) @@ -896,9 +895,9 @@ static void prvYieldForTask( TCB_t * pxTCB, if( pxTCB->xTaskRunState == taskTASK_NOT_RUNNING ) { #if ( configNUM_CORES > 1 ) - #if ( configUSE_CORE_AFFINITY == 1 ) - if( ( pxTCB->uxCoreAffinityMask & ( 1 << xCoreID ) ) != 0 ) - #endif + #if ( configUSE_CORE_AFFINITY == 1 ) + if( ( pxTCB->uxCoreAffinityMask & ( 1 << xCoreID ) ) != 0 ) + #endif #endif { /* If the task is not being executed by any core swap it in */ @@ -914,10 +913,10 @@ static void prvYieldForTask( TCB_t * pxTCB, else if( pxTCB == pxCurrentTCBs[ xCoreID ] ) { configASSERT( ( pxTCB->xTaskRunState == xCoreID ) || ( pxTCB->xTaskRunState == taskTASK_YIELDING ) ); - #if( configNUM_CORES > 1 ) - #if ( configUSE_CORE_AFFINITY == 1 ) - if( ( pxTCB->uxCoreAffinityMask & ( 1 << xCoreID ) ) != 0 ) - #endif + #if ( configNUM_CORES > 1 ) + #if ( configUSE_CORE_AFFINITY == 1 ) + if( ( pxTCB->uxCoreAffinityMask & ( 1 << xCoreID ) ) != 0 ) + #endif #endif { /* The task is already running on this core, mark it as scheduled */ @@ -982,60 +981,60 @@ static void prvYieldForTask( TCB_t * pxTCB, #endif /* if ( ( configRUN_MULTIPLE_PRIORITIES == 0 ) && ( configNUM_CORES > 1 ) ) */ #if ( configNUM_CORES > 1 ) - #if ( configUSE_CORE_AFFINITY == 1 ) - if( ( pxPreviousTCB != NULL ) && ( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxPreviousTCB->uxPriority ] ), &( pxPreviousTCB->xStateListItem ) ) != pdFALSE ) ) - { - /* A ready task was just bumped off this core. Look at the cores it can run from - * from to see if it is able to run on any of them */ - UBaseType_t uxCoreMap = pxPreviousTCB->uxCoreAffinityMask; - BaseType_t xLowestPriority = pxPreviousTCB->uxPriority - pxPreviousTCB->xIsIdle; - BaseType_t xLowestPriorityCore = -1; - - if( ( uxCoreMap & ( 1 << xCoreID ) ) != 0 ) - { - /* The ready task that was removed from this core is not excluded from it. - * Only look at the intersection of the cores the removed task is allowed to run - * on with the cores that the new task is excluded from. It is possible that the - * new task was only placed onto this core because it is excluded from another. - * Check to see if the previous task could run on one of those cores. */ - uxCoreMap &= ~( pxCurrentTCBs[ xCoreID ]->uxCoreAffinityMask ); - } - else + #if ( configUSE_CORE_AFFINITY == 1 ) + if( ( pxPreviousTCB != NULL ) && ( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxPreviousTCB->uxPriority ] ), &( pxPreviousTCB->xStateListItem ) ) != pdFALSE ) ) { - /* The ready task that was removed from this core is excluded from it. - * @todo See if we can schedule it on any of the cores where it is not excluded from. */ - } + /* A ready task was just bumped off this core. Look at the cores it can run from + * from to see if it is able to run on any of them */ + UBaseType_t uxCoreMap = pxPreviousTCB->uxCoreAffinityMask; + BaseType_t xLowestPriority = pxPreviousTCB->uxPriority - pxPreviousTCB->xIsIdle; + BaseType_t xLowestPriorityCore = -1; + + if( ( uxCoreMap & ( 1 << xCoreID ) ) != 0 ) + { + /* The ready task that was removed from this core is not excluded from it. + * Only look at the intersection of the cores the removed task is allowed to run + * on with the cores that the new task is excluded from. It is possible that the + * new task was only placed onto this core because it is excluded from another. + * Check to see if the previous task could run on one of those cores. */ + uxCoreMap &= ~( pxCurrentTCBs[ xCoreID ]->uxCoreAffinityMask ); + } + else + { + /* The ready task that was removed from this core is excluded from it. + * @todo See if we can schedule it on any of the cores where it is not excluded from. */ + } - uxCoreMap &= ( ( 1 << configNUM_CORES ) - 1 ); + uxCoreMap &= ( ( 1 << configNUM_CORES ) - 1 ); - while( uxCoreMap != 0 ) - { - int uxCore = 31UL - ( uint32_t ) __builtin_clz( uxCoreMap ); + while( uxCoreMap != 0 ) + { + int uxCore = 31UL - ( uint32_t ) __builtin_clz( uxCoreMap ); - xassert( taskVALID_CORE_ID( uxCore ) ); + xassert( taskVALID_CORE_ID( uxCore ) ); - uxCoreMap &= ~( 1 << uxCore ); + uxCoreMap &= ~( 1 << uxCore ); - BaseType_t xTaskPriority = ( BaseType_t ) pxCurrentTCBs[ uxCore ]->uxPriority - pxCurrentTCBs[ uxCore ]->xIsIdle; + BaseType_t xTaskPriority = ( BaseType_t ) pxCurrentTCBs[ uxCore ]->uxPriority - pxCurrentTCBs[ uxCore ]->xIsIdle; - if( ( xTaskPriority < xLowestPriority ) && ( taskTASK_IS_RUNNING( pxCurrentTCBs[ uxCore ]->xTaskRunState ) != pdFALSE ) && ( xYieldPendings[ uxCore ] == pdFALSE ) ) - { - #if ( configUSE_TASK_PREEMPTION_DISABLE == 1 ) - if( pxCurrentTCBs[ uxCore ]->xPreemptionDisable == pdFALSE ) - #endif + if( ( xTaskPriority < xLowestPriority ) && ( taskTASK_IS_RUNNING( pxCurrentTCBs[ uxCore ]->xTaskRunState ) != pdFALSE ) && ( xYieldPendings[ uxCore ] == pdFALSE ) ) { - xLowestPriority = xTaskPriority; - xLowestPriorityCore = uxCore; + #if ( configUSE_TASK_PREEMPTION_DISABLE == 1 ) + if( pxCurrentTCBs[ uxCore ]->xPreemptionDisable == pdFALSE ) + #endif + { + xLowestPriority = xTaskPriority; + xLowestPriorityCore = uxCore; + } } } - } - if( taskVALID_CORE_ID( xLowestPriorityCore ) ) - { - prvYieldCore( xLowestPriorityCore ); + if( taskVALID_CORE_ID( xLowestPriorityCore ) ) + { + prvYieldCore( xLowestPriorityCore ); + } } - } - #endif /* if ( configUSE_CORE_AFFINITY == 1 ) */ + #endif /* if ( configUSE_CORE_AFFINITY == 1 ) */ #endif /* if ( configNUM_CORES > 1 ) */ return pdTRUE; @@ -1489,11 +1488,11 @@ static void prvInitialiseNewTask( TaskFunction_t pxTaskCode, #endif #if ( configNUM_CORES > 1 ) - #if ( configUSE_CORE_AFFINITY == 1 ) - { - pxNewTCB->uxCoreAffinityMask = tskNO_AFFINITY; - } - #endif + #if ( configUSE_CORE_AFFINITY == 1 ) + { + pxNewTCB->uxCoreAffinityMask = tskNO_AFFINITY; + } + #endif #endif #if ( configUSE_TASK_PREEMPTION_DISABLE == 1 ) { @@ -1557,15 +1556,16 @@ static void prvInitialiseNewTask( TaskFunction_t pxTaskCode, pxNewTCB->xTaskRunState = taskTASK_NOT_RUNNING; /* Is this an idle task? */ - if(pxTaskCode == prvIdleTask) - { - pxNewTCB->xIsIdle = pdTRUE; - } - #if(configNUM_CORES > 1) - else if(pxTaskCode == prvMinimalIdleTask) + if( pxTaskCode == prvIdleTask ) { pxNewTCB->xIsIdle = pdTRUE; } + + #if ( configNUM_CORES > 1 ) + else if( pxTaskCode == prvMinimalIdleTask ) + { + pxNewTCB->xIsIdle = pdTRUE; + } #endif else { @@ -1617,13 +1617,14 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB ) if( pxCurrentTCBs[ xCoreID ] == NULL ) { pxNewTCB->xTaskRunState = xCoreID; + /* This section of code pins the idle tasks to cores. - #if ( configUSE_CORE_AFFINITY == 1 ) - { - pxNewTCB->uxCoreAffinityMask = ( 1 << xCoreID ); - } - #endif - */ + #if ( configUSE_CORE_AFFINITY == 1 ) + * { + * pxNewTCB->uxCoreAffinityMask = ( 1 << xCoreID ); + * } + #endif + */ pxCurrentTCBs[ xCoreID ] = pxNewTCB; break; } @@ -1713,7 +1714,6 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB ) * no longer running. */ if( xTaskRunningOnCore != taskTASK_NOT_RUNNING ) { - /* A running task is being deleted. This cannot complete within the * task itself, as a context switch to another task is required. * Place the task in the termination list. The idle task will @@ -1755,7 +1755,6 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB ) xCoreID = portGET_CORE_ID(); - if( xTaskRunningOnCore == xCoreID ) { configASSERT( uxSchedulerSuspended == 0 ); @@ -1959,7 +1958,7 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB ) } } } - #else /* if ( configUSE_TASK_NOTIFICATIONS == 1 ) */ + #else /* if ( configUSE_TASK_NOTIFICATIONS == 1 ) */ { eReturn = eSuspended; } @@ -2232,60 +2231,60 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB ) /*-----------------------------------------------------------*/ #if ( configNUM_CORES > 1 ) -#if ( configUSE_CORE_AFFINITY == 1 ) - - void vTaskCoreAffinitySet( const TaskHandle_t xTask, - UBaseType_t uxCoreAffinityMask ) - { - TCB_t * pxTCB; - BaseType_t xCoreID; + #if ( configUSE_CORE_AFFINITY == 1 ) - taskENTER_CRITICAL(); + void vTaskCoreAffinitySet( const TaskHandle_t xTask, + UBaseType_t uxCoreAffinityMask ) { - pxTCB = prvGetTCBFromHandle( xTask ); - - pxTCB->uxCoreAffinityMask = uxCoreAffinityMask; + TCB_t * pxTCB; + BaseType_t xCoreID; - if( xSchedulerRunning != pdFALSE ) + taskENTER_CRITICAL(); { - if( taskTASK_IS_RUNNING( pxTCB->xTaskRunState ) ) - { - xCoreID = ( BaseType_t ) pxTCB->xTaskRunState; + pxTCB = prvGetTCBFromHandle( xTask ); - if( ( uxCoreAffinityMask & ( 1 << xCoreID ) ) != 0 ) + pxTCB->uxCoreAffinityMask = uxCoreAffinityMask; + + if( xSchedulerRunning != pdFALSE ) + { + if( taskTASK_IS_RUNNING( pxTCB->xTaskRunState ) ) { - prvYieldCore( xCoreID ); + xCoreID = ( BaseType_t ) pxTCB->xTaskRunState; + + if( ( uxCoreAffinityMask & ( 1 << xCoreID ) ) != 0 ) + { + prvYieldCore( xCoreID ); + } } } } + taskEXIT_CRITICAL(); } - taskEXIT_CRITICAL(); - } -#endif /* configUSE_CORE_AFFINITY */ -#endif + #endif /* configUSE_CORE_AFFINITY */ +#endif /* if ( configNUM_CORES > 1 ) */ /*-----------------------------------------------------------*/ #if ( configNUM_CORES > 1 ) -#if ( configUSE_CORE_AFFINITY == 1 ) - - UBaseType_t vTaskCoreAffinityGet( const TaskHandle_t xTask ) - { - TCB_t * pxTCB; - UBaseType_t uxCoreAffinityMask; + #if ( configUSE_CORE_AFFINITY == 1 ) - taskENTER_CRITICAL(); + UBaseType_t vTaskCoreAffinityGet( const TaskHandle_t xTask ) { - pxTCB = prvGetTCBFromHandle( xTask ); - uxCoreAffinityMask = pxTCB->uxCoreAffinityMask; - } - taskEXIT_CRITICAL(); + TCB_t * pxTCB; + UBaseType_t uxCoreAffinityMask; - return uxCoreAffinityMask; - } + taskENTER_CRITICAL(); + { + pxTCB = prvGetTCBFromHandle( xTask ); + uxCoreAffinityMask = pxTCB->uxCoreAffinityMask; + } + taskEXIT_CRITICAL(); -#endif /* configUSE_CORE_AFFINITY */ -#endif + return uxCoreAffinityMask; + } + + #endif /* configUSE_CORE_AFFINITY */ +#endif /* if ( configNUM_CORES > 1 ) */ /*-----------------------------------------------------------*/ @@ -2635,7 +2634,7 @@ static BaseType_t prvCreateIdleTasks( void ) BaseType_t xCoreID; char cIdleName[ configMAX_TASK_NAME_LEN ]; - /* Add each idle task at the lowest priority. */ + /* Add each idle task at the lowest priority. */ for( xCoreID = ( BaseType_t ) 0; xCoreID < ( BaseType_t ) configNUM_CORES; xCoreID++ ) { BaseType_t x; @@ -2688,14 +2687,14 @@ static BaseType_t prvCreateIdleTasks( void ) #if ( configSUPPORT_STATIC_ALLOCATION == 1 ) { - if(xCoreID == 0) + if( xCoreID == 0 ) { 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. */ + * address of the RAM then create the idle task. */ vApplicationGetIdleTaskMemory( &pxIdleTaskTCBBuffer, &pxIdleTaskStackBuffer, &ulIdleTaskStackSize ); xIdleTaskHandle[ xCoreID ] = xTaskCreateStatic( prvIdleTask, cIdleName, @@ -2705,21 +2704,23 @@ static BaseType_t prvCreateIdleTasks( void ) pxIdleTaskStackBuffer, pxIdleTaskTCBBuffer ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */ } - #if( configNUM_CORES > 1) - else - { - static StaticTask_t xIdleTCBBuffers[configNUM_CORES-1]; - static StackType_t xIdleTaskStackBuffers[configNUM_CORES-1][configMINIMAL_STACK_SIZE]; - xIdleTaskHandle[ xCoreID ] = xTaskCreateStatic( prvMinimalIdleTask, - cIdleName, - configMINIMAL_STACK_SIZE, - ( 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. */ - xIdleTaskStackBuffers[xCoreID-1], - &xIdleTCBBuffers[xCoreID-1] ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */ - } - #endif + #if ( configNUM_CORES > 1 ) + else + { + static StaticTask_t xIdleTCBBuffers[ configNUM_CORES - 1 ]; + static StackType_t xIdleTaskStackBuffers[ configNUM_CORES - 1 ][ configMINIMAL_STACK_SIZE ]; + + xIdleTaskHandle[ xCoreID ] = xTaskCreateStatic( prvMinimalIdleTask, + cIdleName, + configMINIMAL_STACK_SIZE, + ( 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. */ + xIdleTaskStackBuffers[ xCoreID - 1 ], + &xIdleTCBBuffers[ xCoreID - 1 ] ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */ + } + #endif /* if ( configNUM_CORES > 1 ) */ + if( xIdleTaskHandle[ xCoreID ] != NULL ) { xReturn = pdPASS; @@ -2729,32 +2730,34 @@ static BaseType_t prvCreateIdleTasks( void ) xReturn = pdFAIL; } } - #else /* if ( configSUPPORT_STATIC_ALLOCATION == 1 ) */ + #else /* if ( configSUPPORT_STATIC_ALLOCATION == 1 ) */ { - if(xCoreID == 0) - { - /* The Idle task is being created using dynamically allocated RAM. */ - xReturn = xTaskCreate( prvIdleTask, - cIdleName, - configMINIMAL_STACK_SIZE, - ( void * ) NULL, - portPRIVILEGE_BIT, /* In effect ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), but tskIDLE_PRIORITY is zero. */ - &xIdleTaskHandle[ xCoreID ] ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */ - } - #if( configNUM_CORES > 1 ) - else + if( xCoreID == 0 ) { - xReturn = xTaskCreate( prvMinimalIdleTask, - cIdleName, - configMINIMAL_STACK_SIZE, - ( void * ) NULL, - portPRIVILEGE_BIT, /* In effect ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), but tskIDLE_PRIORITY is zero. */ - &xIdleTaskHandle[ xCoreID ] ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */ + /* The Idle task is being created using dynamically allocated RAM. */ + xReturn = xTaskCreate( prvIdleTask, + cIdleName, + configMINIMAL_STACK_SIZE, + ( void * ) NULL, + portPRIVILEGE_BIT, /* In effect ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), but tskIDLE_PRIORITY is zero. */ + &xIdleTaskHandle[ xCoreID ] ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */ } + + #if ( configNUM_CORES > 1 ) + else + { + xReturn = xTaskCreate( prvMinimalIdleTask, + cIdleName, + configMINIMAL_STACK_SIZE, + ( void * ) NULL, + portPRIVILEGE_BIT, /* In effect ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), but tskIDLE_PRIORITY is zero. */ + &xIdleTaskHandle[ xCoreID ] ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */ + } #endif } #endif /* configSUPPORT_STATIC_ALLOCATION */ } + return xReturn; } @@ -4222,49 +4225,50 @@ void vTaskMissedYield( void ) * * The minimal idle task is used for all the additional Cores in a SMP system. * There must be only 1 idle task and the rest are minimal idle tasks. - * + * * @todo additional conditional compiles to remove this function. */ -#if (configNUM_CORES > 1) -static portTASK_FUNCTION( prvMinimalIdleTask, pvParameters ) -{ - for(;;) +#if ( configNUM_CORES > 1 ) + static portTASK_FUNCTION( prvMinimalIdleTask, pvParameters ) { - #if ( configUSE_PREEMPTION == 0 ) - { - /* If we are not using preemption we keep forcing a task switch to - * see if any other task has become available. If we are using - * preemption we don't need to do this as any task becoming available - * will automatically get the processor anyway. */ - taskYIELD(); - } - #endif /* configUSE_PREEMPTION */ - - #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) - { - /* When using preemption tasks of equal priority will be - * timesliced. If a task that is sharing the idle priority is ready - * to run then the idle task should yield before the end of the - * timeslice. - * - * A critical region is not required here as we are just reading from - * the list, and an occasional incorrect value will not matter. If - * the ready list at the idle priority contains one more task than the - * number of idle tasks, which is equal to the configured numbers of cores - * then a task other than the idle task is ready to execute. */ - if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( UBaseType_t ) configNUM_CORES ) + for( ; ; ) + { + #if ( configUSE_PREEMPTION == 0 ) { + /* If we are not using preemption we keep forcing a task switch to + * see if any other task has become available. If we are using + * preemption we don't need to do this as any task becoming available + * will automatically get the processor anyway. */ taskYIELD(); } - else + #endif /* configUSE_PREEMPTION */ + + #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) { - mtCOVERAGE_TEST_MARKER(); + /* When using preemption tasks of equal priority will be + * timesliced. If a task that is sharing the idle priority is ready + * to run then the idle task should yield before the end of the + * timeslice. + * + * A critical region is not required here as we are just reading from + * the list, and an occasional incorrect value will not matter. If + * the ready list at the idle priority contains one more task than the + * number of idle tasks, which is equal to the configured numbers of cores + * then a task other than the idle task is ready to execute. */ + if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( UBaseType_t ) configNUM_CORES ) + { + taskYIELD(); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } } - } - #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */ + #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */ + } } -} -#endif +#endif /* if ( configNUM_CORES > 1 ) */ + /* * ----------------------------------------------------------- * The Idle task.