Merge branch 'bugfix/freertos_event_groups' into 'master'

FreeRTOS: Fix cross-core event group sync

As above

Also includes fixes which allowed removing some semi-hacky bits from the event group unit tests - specifically, higher priority tasks will always be started immediately even if they run on the opposite core.

See merge request !535

components/freertos/event_groups.c

@@ -119,13 +119,10 @@ typedef struct xEventGroupDefinition
 		UBaseType_t uxEventGroupNumber;
 	#endif
 
+	portMUX_TYPE eventGroupMux;
 } EventGroup_t;
 
 
-/* Again: one mux for all events. Maybe this can be made more granular. ToDo: look into that. -JD */
-static portMUX_TYPE xEventGroupMux = portMUX_INITIALIZER_UNLOCKED;
-
-
 /*-----------------------------------------------------------*/
 
 /*
@@ -156,6 +153,8 @@ EventGroup_t *pxEventBits;
 		traceEVENT_GROUP_CREATE_FAILED();
 	}
 
+    vPortCPUInitializeMutex(&pxEventBits->eventGroupMux);
+
 	return ( EventGroupHandle_t ) pxEventBits;
 }
 /*-----------------------------------------------------------*/
@@ -176,6 +175,7 @@ BaseType_t xTimeoutOccurred = pdFALSE;
 	#endif
 
 	vTaskSuspendAll();
+	taskENTER_CRITICAL(&pxEventBits->eventGroupMux);
 	{
 		uxOriginalBitValue = pxEventBits->uxEventBits;
 
@@ -217,6 +217,7 @@ BaseType_t xTimeoutOccurred = pdFALSE;
 			}
 		}
 	}
+	taskEXIT_CRITICAL( &pxEventBits->eventGroupMux );
 	xAlreadyYielded = xTaskResumeAll();
 
 	if( xTicksToWait != ( TickType_t ) 0 )
@@ -239,7 +240,7 @@ BaseType_t xTimeoutOccurred = pdFALSE;
 		if( ( uxReturn & eventUNBLOCKED_DUE_TO_BIT_SET ) == ( EventBits_t ) 0 )
 		{
 			/* The task timed out, just return the current event bit value. */
-			taskENTER_CRITICAL( &xEventGroupMux );
+			taskENTER_CRITICAL( &pxEventBits->eventGroupMux );
 			{
 				uxReturn = pxEventBits->uxEventBits;
 
@@ -256,7 +257,7 @@ BaseType_t xTimeoutOccurred = pdFALSE;
 					mtCOVERAGE_TEST_MARKER();
 				}
 			}
-			taskEXIT_CRITICAL( &xEventGroupMux );
+			taskEXIT_CRITICAL( &pxEventBits->eventGroupMux );
 
 			xTimeoutOccurred = pdTRUE;
 		}
@@ -295,6 +296,7 @@ BaseType_t xTimeoutOccurred = pdFALSE;
 	#endif
 
 	vTaskSuspendAll();
+	taskENTER_CRITICAL( &pxEventBits->eventGroupMux );
 	{
 		const EventBits_t uxCurrentEventBits = pxEventBits->uxEventBits;
 
@@ -361,6 +363,7 @@ BaseType_t xTimeoutOccurred = pdFALSE;
 			traceEVENT_GROUP_WAIT_BITS_BLOCK( xEventGroup, uxBitsToWaitFor );
 		}
 	}
+	taskEXIT_CRITICAL( &pxEventBits->eventGroupMux );
 	xAlreadyYielded = xTaskResumeAll();
 
 	if( xTicksToWait != ( TickType_t ) 0 )
@@ -382,7 +385,7 @@ BaseType_t xTimeoutOccurred = pdFALSE;
 
 		if( ( uxReturn & eventUNBLOCKED_DUE_TO_BIT_SET ) == ( EventBits_t ) 0 )
 		{
-			taskENTER_CRITICAL( &xEventGroupMux );
+			taskENTER_CRITICAL( &pxEventBits->eventGroupMux );
 			{
 				/* The task timed out, just return the current event bit value. */
 				uxReturn = pxEventBits->uxEventBits;
@@ -405,7 +408,7 @@ BaseType_t xTimeoutOccurred = pdFALSE;
 					mtCOVERAGE_TEST_MARKER();
 				}
 			}
-			taskEXIT_CRITICAL( &xEventGroupMux );
+			taskEXIT_CRITICAL( &pxEventBits->eventGroupMux );
 
 			/* Prevent compiler warnings when trace macros are not used. */
 			xTimeoutOccurred = pdFALSE;
@@ -434,7 +437,7 @@ EventBits_t uxReturn;
 	configASSERT( xEventGroup );
 	configASSERT( ( uxBitsToClear & eventEVENT_BITS_CONTROL_BYTES ) == 0 );
 
-	taskENTER_CRITICAL( &xEventGroupMux );
+	taskENTER_CRITICAL( &pxEventBits->eventGroupMux );
 	{
 		traceEVENT_GROUP_CLEAR_BITS( xEventGroup, uxBitsToClear );
 
@@ -445,7 +448,7 @@ EventBits_t uxReturn;
 		/* Clear the bits. */
 		pxEventBits->uxEventBits &= ~uxBitsToClear;
 	}
-	taskEXIT_CRITICAL( &xEventGroupMux );
+	taskEXIT_CRITICAL( &pxEventBits->eventGroupMux );
 
 	return uxReturn;
 }
@@ -498,7 +501,9 @@ BaseType_t xMatchFound = pdFALSE;
 
 	pxList = &( pxEventBits->xTasksWaitingForBits );
 	pxListEnd = listGET_END_MARKER( pxList ); /*lint !e826 !e740 The mini list structure is used as the list end to save RAM.  This is checked and valid. */
+
 	vTaskSuspendAll();
+	taskENTER_CRITICAL(&pxEventBits->eventGroupMux);
 	{
 		traceEVENT_GROUP_SET_BITS( xEventGroup, uxBitsToSet );
 
@@ -570,6 +575,7 @@ BaseType_t xMatchFound = pdFALSE;
 		bit was set in the control word. */
 		pxEventBits->uxEventBits &= ~uxBitsToClear;
 	}
+	taskEXIT_CRITICAL(&pxEventBits->eventGroupMux);
 	( void ) xTaskResumeAll();
 
 	return pxEventBits->uxEventBits;
@@ -578,10 +584,11 @@ BaseType_t xMatchFound = pdFALSE;
 
 void vEventGroupDelete( EventGroupHandle_t xEventGroup )
 {
-EventGroup_t *pxEventBits = ( EventGroup_t * ) xEventGroup;
+	EventGroup_t *pxEventBits = ( EventGroup_t * ) xEventGroup;
-const List_t *pxTasksWaitingForBits = &( pxEventBits->xTasksWaitingForBits );
+	const List_t *pxTasksWaitingForBits = &( pxEventBits->xTasksWaitingForBits );
 
 	vTaskSuspendAll();
+	taskENTER_CRITICAL( &pxEventBits->eventGroupMux );
 	{
 		traceEVENT_GROUP_DELETE( xEventGroup );
 
@@ -593,6 +600,7 @@ const List_t *pxTasksWaitingForBits = &( pxEventBits->xTasksWaitingForBits );
 			( void ) xTaskRemoveFromUnorderedEventList( pxTasksWaitingForBits->xListEnd.pxNext, eventUNBLOCKED_DUE_TO_BIT_SET );
 		}
 
+		taskEXIT_CRITICAL( &pxEventBits->eventGroupMux );
 		vPortFree( pxEventBits );
 	}
 	( void ) xTaskResumeAll();

components/freertos/tasks.c

@@ -1046,25 +1046,59 @@ UBaseType_t x;
 }
 /*-----------------------------------------------------------*/
 
-static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB, TaskFunction_t pxTaskCode, const BaseType_t xCoreID )
+static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB, TaskFunction_t pxTaskCode, BaseType_t xCoreID )
 {
-	TCB_t *curTCB;
+	TCB_t *curTCB, *tcb0, *tcb1;
-	BaseType_t i;
 
     /* Ensure interrupts don't access the task lists while the lists are being
 	updated. */
 	taskENTER_CRITICAL(&xTaskQueueMutex);
 	{
 		uxCurrentNumberOfTasks++;
-		//If the task has no affinity and nothing is scheduled on this core, just throw it this core.
+
-		//If it has affinity, throw it on the core that needs it if nothing is already scheduled there.
+		// Determine which core this task starts on
-		BaseType_t xMyCore = xCoreID;
+		if ( xCoreID == tskNO_AFFINITY )
-		if ( xMyCore == tskNO_AFFINITY) xMyCore = xPortGetCoreID();
+		{
-		if( pxCurrentTCB[ xMyCore ] == NULL )
+			if ( portNUM_PROCESSORS == 1 )
+			{
+				xCoreID = 0;
+			}
+			else
+			{
+				// if the task has no affinity, put it on either core if nothing is currently scheduled there. Failing that,
+				// put it on the core where it will preempt the lowest priority running task. If neither of these are true,
+				// queue it on the currently running core.
+				tcb0 = pxCurrentTCB[0];
+				tcb1 = pxCurrentTCB[1];
+				if ( tcb0 == NULL )
+				{
+					xCoreID = 0;
+				}
+				else if ( tcb1 == NULL )
+				{
+					xCoreID = 1;
+				}
+				else if ( tcb0->uxPriority < pxNewTCB->uxPriority && tcb0->uxPriority < tcb1->uxPriority )
+				{
+					xCoreID = 0;
+				}
+				else if ( tcb1->uxPriority < pxNewTCB->uxPriority )
+				{
+					xCoreID = 1;
+				}
+				else
+				{
+					xCoreID = xPortGetCoreID(); // Both CPU have higher priority tasks running on them, so this won't run yet
+				}
+			}
+		}
+
+        // If nothing is running on this core, put the new task there now
+		if( pxCurrentTCB[ xCoreID ] == NULL )
 		{
 			/* There are no other tasks, or all the other tasks are in
 			the suspended state - make this the current task. */
-			pxCurrentTCB[ xMyCore ] = pxNewTCB;
+			pxCurrentTCB[ xCoreID ] = pxNewTCB;
 
 			if( uxCurrentNumberOfTasks == ( UBaseType_t ) 1 )
 			{
@@ -1090,19 +1124,11 @@ static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB, TaskFunction_t pxTaskCode
 			so far. */
 			if( xSchedulerRunning == pdFALSE )
 			{
-				/* Scheduler isn't running yet. We need to determine on which CPU to run this task. */
+				/* Scheduler isn't running yet. We need to determine on which CPU to run this task.
-				for ( i=0; i<portNUM_PROCESSORS; i++ ) 
+				   Schedule now if either nothing is scheduled yet or we can replace a task of lower prio. */
+				if ( pxCurrentTCB[xCoreID] == NULL || pxCurrentTCB[xCoreID]->uxPriority <= pxNewTCB->uxPriority )
 				{
-					/* Can we schedule this task on core i? */
+					pxCurrentTCB[xCoreID] = pxNewTCB;
-					if (xCoreID == tskNO_AFFINITY || xCoreID == i) 
-					{
-						/* Schedule if nothing is scheduled yet, or overwrite a task of lower prio. */
-						if ( pxCurrentTCB[i] == NULL || pxCurrentTCB[i]->uxPriority <= pxNewTCB->uxPriority )
-						{
-							pxCurrentTCB[i] = pxNewTCB;
-							break;
-						}
-					}
 				}
 			}
 			else
@@ -1130,37 +1156,27 @@ static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB, TaskFunction_t pxTaskCode
 
 	if( xSchedulerRunning != pdFALSE )
 	{
-	       taskENTER_CRITICAL(&xTaskQueueMutex);
+		taskENTER_CRITICAL(&xTaskQueueMutex);
-		curTCB = pxCurrentTCB[ xPortGetCoreID() ];
+
+		curTCB = pxCurrentTCB[ xCoreID ];
 		/* Scheduler is running. If the created task is of a higher priority than an executing task
-	       then it should run now.
+		   then it should run now.
-		   ToDo: This only works for the current core. If a task is scheduled on an other processor,
+		*/
-		   the other processor will keep running the task it's working on, and only switch to the newer 
+		if( curTCB == NULL || curTCB->uxPriority < pxNewTCB->uxPriority )
-		   task on a timer interrupt. */
-		//No mux here, uxPriority is mostly atomic and there's not really any harm if this check misfires.
-		if( curTCB->uxPriority < pxNewTCB->uxPriority )
 		{
-			/* Scheduler is running. If the created task is of a higher priority than an executing task
+			if( xCoreID == xPortGetCoreID() )
-			  then it should run now.
-			  No mux here, uxPriority is mostly atomic and there's not really any harm if this check misfires.
-			*/
-			if( tskCAN_RUN_HERE( xCoreID ) && curTCB->uxPriority < pxNewTCB->uxPriority )
 			{
 				taskYIELD_IF_USING_PREEMPTION_MUX(&xTaskQueueMutex);
 			}
-			else if( xCoreID != xPortGetCoreID() ) {
+			else {
 				taskYIELD_OTHER_CORE(xCoreID, pxNewTCB->uxPriority);
 			}
-			else
-			{
-				mtCOVERAGE_TEST_MARKER();
-			}
 		}
 		else
 		{
 			mtCOVERAGE_TEST_MARKER();
 		}
-	        taskEXIT_CRITICAL(&xTaskQueueMutex);
+		taskEXIT_CRITICAL(&xTaskQueueMutex);
 	}
 	else
 	{

components/freertos/test/test_freertos_eventgroups.c

@@ -11,9 +11,10 @@
 #define BIT_RESPONSE(TASK) (1 << (TASK+1))
 #define ALL_RESPONSE_BITS (((1 << NUM_TASKS) - 1) << 1)
 
-static const int NUM_TASKS = 4;
+static const int NUM_TASKS = 8;
-static const int COUNT = 4000;
+static const int COUNT = 1000;
 static EventGroupHandle_t eg;
+static SemaphoreHandle_t done_sem;
 
 static void task_event_group_call_response(void *param)
 {
@@ -24,47 +25,51 @@ static void task_event_group_call_response(void *param)
     for (int i = 0; i < COUNT; i++) {
         /* Wait until the common "call" bit is set, starts off all tasks
            (clear on return) */
-        while (!xEventGroupWaitBits(eg, BIT_CALL, true, false, portMAX_DELAY)) {
+        TEST_ASSERT( xEventGroupWaitBits(eg, BIT_CALL, true, false, portMAX_DELAY) );
-        }
 
         /* Set our individual "response" bit */
         xEventGroupSetBits(eg, BIT_RESPONSE(task_num));
     }
 
     printf("Task %d done\n", task_num);
-
+    xSemaphoreGive(done_sem);
-    /* Delay is due to not-yet-fixed bug with deleting tasks at same time */
-    vTaskDelay(100 / portTICK_PERIOD_MS);
     vTaskDelete(NULL);
 }
 
-TEST_CASE("FreeRTOS Event Groups", "[freertos][ignore]")
+TEST_CASE("FreeRTOS Event Groups", "[freertos]")
 {
     eg = xEventGroupCreate();
+    done_sem = xSemaphoreCreateCounting(NUM_TASKS, 0);
 
-    /* Note: task_event_group_call_response all have higher priority than us, so will block together.
+    /* Note: task_event_group_call_response all have higher priority than this task, so on this core
+       they will always preempt this task.
 
-       This is important because we need to know they'll all have blocked on BIT_CALL each time we
+       This is important because we need to know all tasks have blocked on BIT_CALL each time we signal it,
-       signal it, or they get out of sync.
+       or they get out of sync.
      */
     for (int c = 0; c < NUM_TASKS; c++) {
         xTaskCreatePinnedToCore(task_event_group_call_response, "tsk_call_resp", 4096, (void *)c, configMAX_PRIORITIES - 1, NULL, c % portNUM_PROCESSORS);
     }
-    /* Scheduler weirdness, if we don't sleep a few ticks here then the tasks on the other CPU aren't running yet... */
+
-    vTaskDelay(10);
+    /* Tasks all start instantly, but this task will resume running at the same time as the higher priority tasks on the
+       other processor may still be setting up, so give a tick for them to also block on BIT_CALL... */
+    vTaskDelay(1);
 
     for (int i = 0; i < COUNT; i++) {
-        if (i % 100 == 0) {
-            //printf("Call %d\n", i);
-        }
         /* signal all tasks with "CALL" bit... */
         xEventGroupSetBits(eg, BIT_CALL);
 
-        while (xEventGroupWaitBits(eg, ALL_RESPONSE_BITS, true, true, portMAX_DELAY) != ALL_RESPONSE_BITS) {
+        TEST_ASSERT_EQUAL_HEX16(ALL_RESPONSE_BITS, xEventGroupWaitBits(eg, ALL_RESPONSE_BITS, true, true, 100 / portMAX_DELAY));
-        }
     }
-}
 
+    /* Ensure all tasks cleaned up correctly */
+    for (int c = 0; c < NUM_TASKS; c++) {
+        TEST_ASSERT( xSemaphoreTake(done_sem, 100/portTICK_PERIOD_MS) );
+    }
+
+    vSemaphoreDelete(done_sem);
+    vEventGroupDelete(eg);
+}
 
 #define BIT_DONE(X) (1<<(NUM_TASKS+1+X))
 
@@ -82,24 +87,32 @@ static void task_test_sync(void *param)
     }
     int after_done = xEventGroupSetBits(eg, BIT_DONE(task_num));
 
-    printf("Done %d = %x\n", task_num, after_done);
+    printf("Done %d = 0x%08x\n", task_num, after_done);
 
-    /* Delay is due to not-yet-fixed bug with deleting tasks at same time */
+    xSemaphoreGive(done_sem);
-    vTaskDelay(100 / portTICK_PERIOD_MS);
     vTaskDelete(NULL);
 }
 
-TEST_CASE("FreeRTOS Event Group Sync", "[freertos][ignore]")
+TEST_CASE("FreeRTOS Event Group Sync", "[freertos]")
 {
     eg = xEventGroupCreate();
+    done_sem = xSemaphoreCreateCounting(NUM_TASKS, 0);
 
     for (int c = 0; c < NUM_TASKS; c++) {
         xTaskCreatePinnedToCore(task_test_sync, "task_test_sync", 4096, (void *)c, configMAX_PRIORITIES - 1, NULL, c % portNUM_PROCESSORS);
     }
 
     for (int c = 0; c < NUM_TASKS; c++) {
-        printf("Waiting on %d (%x)\n", c, BIT_DONE(c));
+        printf("Waiting on %d (0x%08x)\n", c, BIT_DONE(c));
-        xEventGroupWaitBits(eg, BIT_DONE(c), false, false, portMAX_DELAY);
+        TEST_ASSERT( xEventGroupWaitBits(eg, BIT_DONE(c), false, false, portMAX_DELAY) );
     }
+
+    /* Ensure all tasks cleaned up correctly */
+    for (int c = 0; c < NUM_TASKS; c++) {
+        TEST_ASSERT( xSemaphoreTake(done_sem, 100/portTICK_PERIOD_MS) );
+    }
+
+    vSemaphoreDelete(done_sem);
+    vEventGroupDelete(eg);
 }
 

components/freertos/test/test_freertos_task_delete.c

@@ -10,13 +10,17 @@
 static void task_delete_self(void *param)
 {
     printf("Task %p running on core %d. Deleting shortly...\n", xTaskGetCurrentTaskHandle(), xPortGetCoreID());
+    vTaskDelay(5);
     vTaskDelete(NULL);
 }
 
-TEST_CASE("FreeRTOS Delete Tasks", "[freertos][ignore]")
+TEST_CASE("FreeRTOS Delete Tasks", "[freertos]")
 {
+    uint32_t before_count = uxTaskGetNumberOfTasks();
+
     xTaskCreatePinnedToCore(task_delete_self, "tsk_self_a", 4096, NULL, configMAX_PRIORITIES - 1, NULL, 0);
     xTaskCreatePinnedToCore(task_delete_self, "tsk_self_a", 4096, NULL, configMAX_PRIORITIES - 1, NULL, 0);
+    TEST_ASSERT_EQUAL(before_count + 2, uxTaskGetNumberOfTasks());
     vTaskDelay(200 / portTICK_PERIOD_MS);
-    printf("Done?\n");
+    TEST_ASSERT_EQUAL(before_count, uxTaskGetNumberOfTasks());
 }