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added multiple idle tasks

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pull/323/head
Joseph Julicher 4 years ago
parent 83595e81b5
commit 80457ca165
1 changed files with 96 additions and 16 deletions
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112
tasks.c
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@ -467,6 +467,9 @@ 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;
#endif
/*
* Utility to free all memory allocated by the scheduler to hold a TCB,
@ -1545,7 +1548,11 @@ static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
pxNewTCB->xTaskRunState = taskTASK_NOT_RUNNING;
/* Is this an idle task? */
#if(configNUM_CORES > 1)
pxNewTCB->xIsIdle = ( pxTaskCode == prvIdleTask ) || (pxTaskCode == prvMinimalIdleTask);
#else
pxNewTCB->xIsIdle = ( pxTaskCode == prvIdleTask );
#endif
if( pxCreatedTask != NULL )
{
@ -2663,22 +2670,40 @@ void vTaskStartScheduler( void )
#if ( configSUPPORT_STATIC_ALLOCATION == 1 )
{
#error User must specify an array of buffers for idle task TCBs and stacks
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 ] = xTaskCreateStatic( 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 ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
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. */
vApplicationGetIdleTaskMemory( &pxIdleTaskTCBBuffer, &pxIdleTaskStackBuffer, &ulIdleTaskStackSize );
xIdleTaskHandle[ xCoreID ] = xTaskCreateStatic( 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 ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
}
#if( configNUM_CORES > 1)
else
{
struct taskMemory{
StaticTask_t TCB;
StackType_t stack[configMINIMAL_STACK_SIZE];
};
static struct taskMemory idleMemory[configNUM_CORES];
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. */
idleMemory[xCoreID].stack,
&idleMemory[xCoreID].TCB ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
}
#endif
if( xIdleTaskHandle[ xCoreID ] != NULL )
{
xReturn = pdPASS;
@ -4146,6 +4171,61 @@ void vTaskMissedYield( void )
#endif /* configUSE_TRACE_FACILITY */
/*
* -----------------------------------------------------------
* The MinimalIdle task.
* ----------------------------------------------------------
*
* The portTASK_FUNCTION() macro is used to allow port/compiler specific
* language extensions. The equivalent prototype for this function is:
*
* void prvMinimalIdleTask( void *pvParameters );
*
* 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 ( 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 )
{
taskYIELD();
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
#endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */
}
}
#endif
/*
* -----------------------------------------------------------
* The Idle task.

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