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Merge branch 'workaround/pin_noaffinity_task_to_core_when_fpu_used' into 'master'

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Workaround: Automatically pin no-cpu-affinity task to a core when FPU is used

FPU status at the moment does not migrate cleanly between cores, so tasks without affinity that happen to migrate across FPUs will run into problems. As a workaround, this modification will automatically pin the task to the current CPU when FPU activity is detected. If anything, it's better than getting all kinds of weird and wonderful FPU corruption issues...

See merge request !124
This commit is contained in:
Jeroen Domburg 2016-09-29 11:16:41 +08:00
parent 2a68a97545 4daa768e3c
commit 0383bc8599
3 changed files with 39 additions and 1 deletions
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6
components/freertos/include/freertos/task.h
View file

@ -1979,6 +1979,12 @@ BaseType_t xTaskGenericCreate( TaskFunction_t pxTaskCode, const char * const pcN
*/
UBaseType_t uxTaskGetTaskNumber( TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
/*
* Get the current core affinity of a task
*/
BaseType_t xTaskGetAffinity( TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
/*
* Set the uxTaskNumber of the task referenced by the xTask parameter to
* uxHandle.

14
components/freertos/tasks.c
View file

@ -160,7 +160,7 @@ typedef struct tskTaskControlBlock
StackType_t *pxStack; /*< Points to the start of the stack. */
char pcTaskName[ configMAX_TASK_NAME_LEN ];/*< Descriptive name given to the task when created. Facilitates debugging only. */ /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
BaseType_t xCoreID; /*< Core this task is pinned to */
/* If this moves around (other than pcTaskName size changes), please change the define in xtensa_vectors.S as well. */
#if ( portSTACK_GROWTH > 0 )
StackType_t *pxEndOfStack; /*< Points to the end of the stack on architectures where the stack grows up from low memory. */
#endif
@ -3339,6 +3339,18 @@ TCB_t *pxNewTCB;
}
/*-----------------------------------------------------------*/
BaseType_t xTaskGetAffinity( TaskHandle_t xTask )
{
TCB_t *pxTCB;
UBaseType_t uxReturn;
pxTCB = prvGetTCBFromHandle( xTask );
return pxTCB->xCoreID;
}
/*-----------------------------------------------------------*/
#if ( configUSE_TRACE_FACILITY == 1 )
static UBaseType_t prvListTaskWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState )

20
components/freertos/xtensa_vectors.S
View file

@ -92,6 +92,12 @@ SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
#include "xtensa_rtos.h"
/*
Define for workaround: pin no-cpu-affinity tasks to a cpu when fpu is used.
Please change this when the tcb structure is changed
*/
#define TASKTCB_XCOREID_OFFSET (0x3C+configMAX_TASK_NAME_LEN+3)&~3
.extern pxCurrentTCB
/* Enable stack backtrace across exception/interrupt - see below */
#define XT_DEBUG_BACKTRACE 0
@ -892,6 +898,20 @@ _xt_coproc_exc:
addx4 a0, a5, a0 /* a0 = &_xt_coproc_mask[n] */
l32i a0, a0, 0 /* a0 = (n << 16) | (1 << n) */
/* TODO: Remove this as soon as coprocessor state moving works across cores - JD */
/* FPU operations are incompatible with non-pinned tasks. If we have a FPU operation
here, to keep the entire thing from crashing, it's better to pin the task to whatever
core we're running on now. */
movi a2, pxCurrentTCB
getcoreid a3
slli a3, a3, 2
add a2, a2, a3
l32i a2, a2, 0 /* a2 = start of pxCurrentTCB[cpuid] */
addi a2, a2, TASKTCB_XCOREID_OFFSET /* offset to xCoreID in tcb struct */
getcoreid a3
s32i a3, a2, 0 /* store current cpuid */
/* Grab correct xt_coproc_owner_sa for this core */
getcoreid a2
movi a3, XCHAL_CP_MAX << 2
mull a2, a2, a3