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Uncrustified tasks.c

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pull/326/head
Joseph Julicher 4 years ago
parent 87279a3dc7
commit 106e15ea6b
1 changed files with 195 additions and 191 deletions
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386
tasks.c
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@ -150,7 +150,7 @@
/* A port optimised version is provided. Call the port defined macros. */ /* A port optimised version is provided. Call the port defined macros. */
#define taskRECORD_READY_PRIORITY( uxPriority ) portRECORD_READY_PRIORITY( uxPriority, uxTopReadyPriority ) #define taskRECORD_READY_PRIORITY( uxPriority ) portRECORD_READY_PRIORITY( uxPriority, uxTopReadyPriority )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* A port optimised version is provided, call it only if the TCB being reset /* 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 * 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 #endif
#if ( configUSE_CORE_AFFINITY == 1 && configNUM_CORES > 1 ) #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 */ UBaseType_t uxCoreAffinityInheritanceMask; /*< Used to allow a task to inherit the affinity of its parent */
#endif #endif
@ -290,7 +290,6 @@ typedef struct tskTaskControlBlock /* The old naming convention is used to
#endif #endif
#if ( configUSE_NEWLIB_REENTRANT == 1 ) #if ( configUSE_NEWLIB_REENTRANT == 1 )
/* Allocate a Newlib reent structure that is specific to this task. /* Allocate a Newlib reent structure that is specific to this task.
* Note Newlib support has been included by popular demand, but is not * Note Newlib support has been included by popular demand, but is not
* used by the FreeRTOS maintainers themselves. FreeRTOS 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 ) #if ( configUSE_POSIX_ERRNO == 1 )
int iTaskErrno; int iTaskErrno;
#endif #endif
} tskTCB; } tskTCB;
/* The old tskTCB name is maintained above then typedefed to the new TCB_t name /* 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. */ * 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; static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters ) PRIVILEGED_FUNCTION;
#if ( configNUM_CORES > 1 ) #if ( configNUM_CORES > 1 )
static portTASK_FUNCTION_PROTO( prvMinimalIdleTask, pvParameters ) PRIVILEGED_FUNCTION; static portTASK_FUNCTION_PROTO( prvMinimalIdleTask, pvParameters ) PRIVILEGED_FUNCTION;
#endif #endif
/* /*
@ -634,13 +633,13 @@ static void prvCheckForRunStateChange( void )
while( pxThisTCB->xTaskRunState == taskTASK_YIELDING ) while( pxThisTCB->xTaskRunState == taskTASK_YIELDING )
{ {
/* We are only here if we just entered a critical section /* We are only here if we just entered a critical section
* or if we just suspended the scheduler, and another task * or if we just suspended the scheduler, and another task
* has requested that we yield. * has requested that we yield.
* *
* This is slightly complicated since we need to save and restore * This is slightly complicated since we need to save and restore
* the suspension and critical nesting counts, as well as release * the suspension and critical nesting counts, as well as release
* and reacquire the correct locks. And then do it all over again * and reacquire the correct locks. And then do it all over again
* if our state changed again during the reacquisition. */ * if our state changed again during the reacquisition. */
uxPrevCriticalNesting = pxThisTCB->uxCriticalNesting; uxPrevCriticalNesting = pxThisTCB->uxCriticalNesting;
uxPrevSchedulerSuspended = uxSchedulerSuspended; uxPrevSchedulerSuspended = uxSchedulerSuspended;
@ -761,10 +760,10 @@ static void prvYieldForTask( TCB_t * pxTCB,
{ {
if( xTaskPriority <= xLowestPriority ) if( xTaskPriority <= xLowestPriority )
{ {
#if( configNUM_CORES > 1 ) #if ( configNUM_CORES > 1 )
#if ( configUSE_CORE_AFFINITY == 1 ) #if ( configUSE_CORE_AFFINITY == 1 )
if( ( pxTCB->uxCoreAffinityMask & ( 1 << x ) ) != 0 ) if( ( pxTCB->uxCoreAffinityMask & ( 1 << x ) ) != 0 )
#endif #endif
#endif #endif
{ {
#if ( configUSE_TASK_PREEMPTION_DISABLE == 1 ) #if ( configUSE_TASK_PREEMPTION_DISABLE == 1 )
@ -896,9 +895,9 @@ static void prvYieldForTask( TCB_t * pxTCB,
if( pxTCB->xTaskRunState == taskTASK_NOT_RUNNING ) if( pxTCB->xTaskRunState == taskTASK_NOT_RUNNING )
{ {
#if ( configNUM_CORES > 1 ) #if ( configNUM_CORES > 1 )
#if ( configUSE_CORE_AFFINITY == 1 ) #if ( configUSE_CORE_AFFINITY == 1 )
if( ( pxTCB->uxCoreAffinityMask & ( 1 << xCoreID ) ) != 0 ) if( ( pxTCB->uxCoreAffinityMask & ( 1 << xCoreID ) ) != 0 )
#endif #endif
#endif #endif
{ {
/* If the task is not being executed by any core swap it in */ /* 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 ] ) else if( pxTCB == pxCurrentTCBs[ xCoreID ] )
{ {
configASSERT( ( pxTCB->xTaskRunState == xCoreID ) || ( pxTCB->xTaskRunState == taskTASK_YIELDING ) ); configASSERT( ( pxTCB->xTaskRunState == xCoreID ) || ( pxTCB->xTaskRunState == taskTASK_YIELDING ) );
#if( configNUM_CORES > 1 ) #if ( configNUM_CORES > 1 )
#if ( configUSE_CORE_AFFINITY == 1 ) #if ( configUSE_CORE_AFFINITY == 1 )
if( ( pxTCB->uxCoreAffinityMask & ( 1 << xCoreID ) ) != 0 ) if( ( pxTCB->uxCoreAffinityMask & ( 1 << xCoreID ) ) != 0 )
#endif #endif
#endif #endif
{ {
/* The task is already running on this core, mark it as scheduled */ /* 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 ) ) */ #endif /* if ( ( configRUN_MULTIPLE_PRIORITIES == 0 ) && ( configNUM_CORES > 1 ) ) */
#if ( configNUM_CORES > 1 ) #if ( configNUM_CORES > 1 )
#if ( configUSE_CORE_AFFINITY == 1 ) #if ( configUSE_CORE_AFFINITY == 1 )
if( ( pxPreviousTCB != NULL ) && ( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxPreviousTCB->uxPriority ] ), &( pxPreviousTCB->xStateListItem ) ) != pdFALSE ) ) 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
{ {
/* The ready task that was removed from this core is excluded from it. /* A ready task was just bumped off this core. Look at the cores it can run from
* @todo See if we can schedule it on any of the cores where it is not excluded 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 ) while( uxCoreMap != 0 )
{ {
int uxCore = 31UL - ( uint32_t ) __builtin_clz( uxCoreMap ); 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( ( xTaskPriority < xLowestPriority ) && ( taskTASK_IS_RUNNING( pxCurrentTCBs[ uxCore ]->xTaskRunState ) != pdFALSE ) && ( xYieldPendings[ uxCore ] == pdFALSE ) )
{
#if ( configUSE_TASK_PREEMPTION_DISABLE == 1 )
if( pxCurrentTCBs[ uxCore ]->xPreemptionDisable == pdFALSE )
#endif
{ {
xLowestPriority = xTaskPriority; #if ( configUSE_TASK_PREEMPTION_DISABLE == 1 )
xLowestPriorityCore = uxCore; if( pxCurrentTCBs[ uxCore ]->xPreemptionDisable == pdFALSE )
#endif
{
xLowestPriority = xTaskPriority;
xLowestPriorityCore = uxCore;
}
} }
} }
}
if( taskVALID_CORE_ID( xLowestPriorityCore ) ) if( taskVALID_CORE_ID( xLowestPriorityCore ) )
{ {
prvYieldCore( xLowestPriorityCore ); prvYieldCore( xLowestPriorityCore );
}
} }
} #endif /* if ( configUSE_CORE_AFFINITY == 1 ) */
#endif /* if ( configUSE_CORE_AFFINITY == 1 ) */
#endif /* if ( configNUM_CORES > 1 ) */ #endif /* if ( configNUM_CORES > 1 ) */
return pdTRUE; return pdTRUE;
@ -1489,11 +1488,11 @@ static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
#endif #endif
#if ( configNUM_CORES > 1 ) #if ( configNUM_CORES > 1 )
#if ( configUSE_CORE_AFFINITY == 1 ) #if ( configUSE_CORE_AFFINITY == 1 )
{ {
pxNewTCB->uxCoreAffinityMask = tskNO_AFFINITY; pxNewTCB->uxCoreAffinityMask = tskNO_AFFINITY;
} }
#endif #endif
#endif #endif
#if ( configUSE_TASK_PREEMPTION_DISABLE == 1 ) #if ( configUSE_TASK_PREEMPTION_DISABLE == 1 )
{ {
@ -1557,15 +1556,16 @@ static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
pxNewTCB->xTaskRunState = taskTASK_NOT_RUNNING; pxNewTCB->xTaskRunState = taskTASK_NOT_RUNNING;
/* Is this an idle task? */ /* Is this an idle task? */
if(pxTaskCode == prvIdleTask) if( pxTaskCode == prvIdleTask )
{
pxNewTCB->xIsIdle = pdTRUE;
}
#if(configNUM_CORES > 1)
else if(pxTaskCode == prvMinimalIdleTask)
{ {
pxNewTCB->xIsIdle = pdTRUE; pxNewTCB->xIsIdle = pdTRUE;
} }
#if ( configNUM_CORES > 1 )
else if( pxTaskCode == prvMinimalIdleTask )
{
pxNewTCB->xIsIdle = pdTRUE;
}
#endif #endif
else else
{ {
@ -1617,13 +1617,14 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB )
if( pxCurrentTCBs[ xCoreID ] == NULL ) if( pxCurrentTCBs[ xCoreID ] == NULL )
{ {
pxNewTCB->xTaskRunState = xCoreID; pxNewTCB->xTaskRunState = xCoreID;
/* This section of code pins the idle tasks to cores. /* This section of code pins the idle tasks to cores.
#if ( configUSE_CORE_AFFINITY == 1 ) #if ( configUSE_CORE_AFFINITY == 1 )
{ * {
pxNewTCB->uxCoreAffinityMask = ( 1 << xCoreID ); * pxNewTCB->uxCoreAffinityMask = ( 1 << xCoreID );
} * }
#endif #endif
*/ */
pxCurrentTCBs[ xCoreID ] = pxNewTCB; pxCurrentTCBs[ xCoreID ] = pxNewTCB;
break; break;
} }
@ -1713,7 +1714,6 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB )
* no longer running. */ * no longer running. */
if( xTaskRunningOnCore != taskTASK_NOT_RUNNING ) if( xTaskRunningOnCore != taskTASK_NOT_RUNNING )
{ {
/* A running task is being deleted. This cannot complete within the /* A running task is being deleted. This cannot complete within the
* task itself, as a context switch to another task is required. * task itself, as a context switch to another task is required.
* Place the task in the termination list. The idle task will * 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(); xCoreID = portGET_CORE_ID();
if( xTaskRunningOnCore == xCoreID ) if( xTaskRunningOnCore == xCoreID )
{ {
configASSERT( uxSchedulerSuspended == 0 ); 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; eReturn = eSuspended;
} }
@ -2232,60 +2231,60 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
#if ( configNUM_CORES > 1 ) #if ( configNUM_CORES > 1 )
#if ( configUSE_CORE_AFFINITY == 1 ) #if ( configUSE_CORE_AFFINITY == 1 )
void vTaskCoreAffinitySet( const TaskHandle_t xTask,
UBaseType_t uxCoreAffinityMask )
{
TCB_t * pxTCB;
BaseType_t xCoreID;
taskENTER_CRITICAL(); void vTaskCoreAffinitySet( const TaskHandle_t xTask,
UBaseType_t uxCoreAffinityMask )
{ {
pxTCB = prvGetTCBFromHandle( xTask ); TCB_t * pxTCB;
BaseType_t xCoreID;
pxTCB->uxCoreAffinityMask = uxCoreAffinityMask;
if( xSchedulerRunning != pdFALSE ) taskENTER_CRITICAL();
{ {
if( taskTASK_IS_RUNNING( pxTCB->xTaskRunState ) ) pxTCB = prvGetTCBFromHandle( xTask );
{
xCoreID = ( BaseType_t ) pxTCB->xTaskRunState;
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 /* configUSE_CORE_AFFINITY */
#endif #endif /* if ( configNUM_CORES > 1 ) */
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
#if ( configNUM_CORES > 1 ) #if ( configNUM_CORES > 1 )
#if ( configUSE_CORE_AFFINITY == 1 ) #if ( configUSE_CORE_AFFINITY == 1 )
UBaseType_t vTaskCoreAffinityGet( const TaskHandle_t xTask )
{
TCB_t * pxTCB;
UBaseType_t uxCoreAffinityMask;
taskENTER_CRITICAL(); UBaseType_t vTaskCoreAffinityGet( const TaskHandle_t xTask )
{ {
pxTCB = prvGetTCBFromHandle( xTask ); TCB_t * pxTCB;
uxCoreAffinityMask = pxTCB->uxCoreAffinityMask; UBaseType_t uxCoreAffinityMask;
}
taskEXIT_CRITICAL();
return uxCoreAffinityMask; taskENTER_CRITICAL();
} {
pxTCB = prvGetTCBFromHandle( xTask );
uxCoreAffinityMask = pxTCB->uxCoreAffinityMask;
}
taskEXIT_CRITICAL();
#endif /* configUSE_CORE_AFFINITY */ return uxCoreAffinityMask;
#endif }
#endif /* configUSE_CORE_AFFINITY */
#endif /* if ( configNUM_CORES > 1 ) */
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
@ -2635,7 +2634,7 @@ static BaseType_t prvCreateIdleTasks( void )
BaseType_t xCoreID; BaseType_t xCoreID;
char cIdleName[ configMAX_TASK_NAME_LEN ]; 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++ ) for( xCoreID = ( BaseType_t ) 0; xCoreID < ( BaseType_t ) configNUM_CORES; xCoreID++ )
{ {
BaseType_t x; BaseType_t x;
@ -2688,14 +2687,14 @@ static BaseType_t prvCreateIdleTasks( void )
#if ( configSUPPORT_STATIC_ALLOCATION == 1 ) #if ( configSUPPORT_STATIC_ALLOCATION == 1 )
{ {
if(xCoreID == 0) if( xCoreID == 0 )
{ {
StaticTask_t * pxIdleTaskTCBBuffer = NULL; StaticTask_t * pxIdleTaskTCBBuffer = NULL;
StackType_t * pxIdleTaskStackBuffer = NULL; StackType_t * pxIdleTaskStackBuffer = NULL;
uint32_t ulIdleTaskStackSize; uint32_t ulIdleTaskStackSize;
/* The Idle task is created using user provided RAM - obtain the /* 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 ); vApplicationGetIdleTaskMemory( &pxIdleTaskTCBBuffer, &pxIdleTaskStackBuffer, &ulIdleTaskStackSize );
xIdleTaskHandle[ xCoreID ] = xTaskCreateStatic( prvIdleTask, xIdleTaskHandle[ xCoreID ] = xTaskCreateStatic( prvIdleTask,
cIdleName, cIdleName,
@ -2705,21 +2704,23 @@ static BaseType_t prvCreateIdleTasks( void )
pxIdleTaskStackBuffer, pxIdleTaskStackBuffer,
pxIdleTaskTCBBuffer ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */ 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, #if ( configNUM_CORES > 1 )
cIdleName, else
configMINIMAL_STACK_SIZE, {
( void * ) NULL, /*lint !e961. The cast is not redundant for all compilers. */ static StaticTask_t xIdleTCBBuffers[ configNUM_CORES - 1 ];
portPRIVILEGE_BIT, /* In effect ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), but tskIDLE_PRIORITY is zero. */ static StackType_t xIdleTaskStackBuffers[ configNUM_CORES - 1 ][ configMINIMAL_STACK_SIZE ];
xIdleTaskStackBuffers[xCoreID-1],
&xIdleTCBBuffers[xCoreID-1] ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */ xIdleTaskHandle[ xCoreID ] = xTaskCreateStatic( prvMinimalIdleTask,
} cIdleName,
#endif 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 ) if( xIdleTaskHandle[ xCoreID ] != NULL )
{ {
xReturn = pdPASS; xReturn = pdPASS;
@ -2729,32 +2730,34 @@ static BaseType_t prvCreateIdleTasks( void )
xReturn = pdFAIL; xReturn = pdFAIL;
} }
} }
#else /* if ( configSUPPORT_STATIC_ALLOCATION == 1 ) */ #else /* if ( configSUPPORT_STATIC_ALLOCATION == 1 ) */
{ {
if(xCoreID == 0) 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
{ {
xReturn = xTaskCreate( prvMinimalIdleTask, /* The Idle task is being created using dynamically allocated RAM. */
cIdleName, xReturn = xTaskCreate( prvIdleTask,
configMINIMAL_STACK_SIZE, cIdleName,
( void * ) NULL, configMINIMAL_STACK_SIZE,
portPRIVILEGE_BIT, /* In effect ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), but tskIDLE_PRIORITY is zero. */ ( void * ) NULL,
&xIdleTaskHandle[ 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[ 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
} }
#endif /* configSUPPORT_STATIC_ALLOCATION */ #endif /* configSUPPORT_STATIC_ALLOCATION */
} }
return xReturn; return xReturn;
} }
@ -4222,49 +4225,50 @@ void vTaskMissedYield( void )
* *
* The minimal idle task is used for all the additional Cores in a SMP system. * 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. * There must be only 1 idle task and the rest are minimal idle tasks.
* *
* @todo additional conditional compiles to remove this function. * @todo additional conditional compiles to remove this function.
*/ */
#if (configNUM_CORES > 1) #if ( configNUM_CORES > 1 )
static portTASK_FUNCTION( prvMinimalIdleTask, pvParameters ) static portTASK_FUNCTION( prvMinimalIdleTask, pvParameters )
{
for(;;)
{ {
#if ( configUSE_PREEMPTION == 0 ) for( ; ; )
{ {
/* If we are not using preemption we keep forcing a task switch to #if ( configUSE_PREEMPTION == 0 )
* 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 )
{ {
/* 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(); 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 /* if ( configNUM_CORES > 1 ) */
#endif
/* /*
* ----------------------------------------------------------- * -----------------------------------------------------------
* The Idle task. * The Idle task.

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