Make portENTER_CRITICAL and portENTER_CRITICAL_ISR the same, plus some changes to fix an issue this causes
This commit is contained in:
Jeroen Domburg
parent
e45a288516
commit
d4b0f85eb4
3 changed files with 47 additions and 29 deletions
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@ -194,6 +194,10 @@ do not disable the interrupts (because they already are).
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This all assumes that interrupts are either entirely disabled or enabled. Interrupr priority levels
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will break this scheme.
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Remark: For the ESP32, portENTER_CRITICAL and portENTER_CRITICAL_ISR both alias vTaskEnterCritical, meaning
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that either function can be called both from ISR as well as task context. This is not standard FreeRTOS
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behaviour; please keep this in mind if you need any compatibility with other FreeRTOS implementations.
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*/
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void vPortCPUInitializeMutex(portMUX_TYPE *mux);
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#ifdef CONFIG_FREERTOS_PORTMUX_DEBUG
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@ -203,8 +207,8 @@ void vTaskEnterCritical( portMUX_TYPE *mux, const char *function, int line );
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void vTaskExitCritical( portMUX_TYPE *mux, const char *function, int line );
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#define portENTER_CRITICAL(mux) vTaskEnterCritical(mux, __FUNCTION__, __LINE__)
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#define portEXIT_CRITICAL(mux) vTaskExitCritical(mux, __FUNCTION__, __LINE__)
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#define portENTER_CRITICAL_ISR(mux) vPortCPUAcquireMutex(mux, __FUNCTION__, __LINE__)
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#define portEXIT_CRITICAL_ISR(mux) vPortCPUReleaseMutex(mux, __FUNCTION__, __LINE__)
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#define portENTER_CRITICAL_ISR(mux) vTaskEnterCritical(mux, __FUNCTION__, __LINE__)
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#define portEXIT_CRITICAL_ISR(mux) vTaskExitCritical(mux, __FUNCTION__, __LINE__)
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#else
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void vTaskExitCritical( portMUX_TYPE *mux );
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void vTaskEnterCritical( portMUX_TYPE *mux );
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@ -212,13 +216,14 @@ void vPortCPUAcquireMutex(portMUX_TYPE *mux);
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portBASE_TYPE vPortCPUReleaseMutex(portMUX_TYPE *mux);
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#define portENTER_CRITICAL(mux) vTaskEnterCritical(mux)
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#define portEXIT_CRITICAL(mux) vTaskExitCritical(mux)
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#define portENTER_CRITICAL_ISR(mux) vPortCPUAcquireMutex(mux)
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#define portEXIT_CRITICAL_ISR(mux) vPortCPUReleaseMutex(mux)
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#define portENTER_CRITICAL_ISR(mux) vTaskEnterCritical(mux)
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#define portEXIT_CRITICAL_ISR(mux) vTaskExitCritical(mux)
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#endif
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// Cleaner and preferred solution allows nested interrupts disabling and restoring via local registers or stack.
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// They can be called from interrupts too.
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//NOT SMP-COMPATIBLE! Use only if all you want is to disable the interrupts locally!
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// WARNING: This ONLY disables interrupt on the current CPU, meaning they cannot be used as a replacement for the vTaskExitCritical spinlock
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// on a multicore system. Only use if disabling interrupts on the current CPU only is indeed what you want.
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static inline unsigned portENTER_CRITICAL_NESTED() { unsigned state = XTOS_SET_INTLEVEL(XCHAL_EXCM_LEVEL); portbenchmarkINTERRUPT_DISABLE(); return state; }
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#define portEXIT_CRITICAL_NESTED(state) do { portbenchmarkINTERRUPT_RESTORE(state); XTOS_RESTORE_JUST_INTLEVEL(state); } while (0)
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@ -2679,11 +2679,8 @@ BaseType_t xSwitchRequired = pdFALSE;
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void vTaskSwitchContext( void )
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{
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//Note: This can be called from interrupt context as well as from non-interrupt context (voluntary yield). The
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//taskENTER_CRITICAL/taskEXIT_CRITICAL is modified to work in both scenarios for the ESP32, so we can freely use
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//them here. However, in case of a voluntary yield, a nonvoluntary yield can still happen *during* the voluntary
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//yield. Disabling interrupts using portENTER_CRITICAL_NESTED puts a stop to this and makes the rest of the code a
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//bit neater.
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//Theoretically, this is only called from either the tick interrupt or the crosscore interrupt, so disabling
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//interrupts shouldn't be necessary anymore. Still, for safety we'll leave it in for now.
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int irqstate=portENTER_CRITICAL_NESTED();
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tskTCB * pxTCB;
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if( uxSchedulerSuspended[ xPortGetCoreID() ] != ( UBaseType_t ) pdFALSE )
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@ -2706,9 +2703,9 @@ void vTaskSwitchContext( void )
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#endif
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/* Add the amount of time the task has been running to the
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accumulated time so far. The time the task started running was
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accumulated time so far. The time the task started running was
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stored in ulTaskSwitchedInTime. Note that there is no overflow
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protection here so count values are only valid until the timer
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protection here so count values are only valid until the timer
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overflows. The guard against negative values is to protect
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against suspect run time stat counter implementations - which
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are provided by the application, not the kernel. */
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@ -2730,13 +2727,18 @@ void vTaskSwitchContext( void )
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taskFIRST_CHECK_FOR_STACK_OVERFLOW();
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taskSECOND_CHECK_FOR_STACK_OVERFLOW();
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/* Select a new task to run using either the generic C or port
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optimised asm code. */
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/* ToDo: either get rid of port-changable task switching stuff, or put all this inside the
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taskSELECT_HIGHEST_PRIORITY_TASK macro, then replace this all with a taskSELECT_HIGHEST_PRIORITY_TASK();
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call */
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/* Select a new task to run */
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taskENTER_CRITICAL_ISR(&xTaskQueueMutex);
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/*
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We cannot do taskENTER_CRITICAL_ISR(&xTaskQueueMutex); here because it saves the interrupt context to the task tcb, and we're
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swapping that out here. Instead, we're going to do the work here ourselves. Because interrupts are already disabled, we only
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need to acquire the mutex.
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*/
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#ifdef CONFIG_FREERTOS_PORTMUX_DEBUG
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vPortCPUAcquireMutex( &xTaskQueueMutex, __FUNCTION__, __LINE__ );
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#else
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vPortCPUAcquireMutex( &xTaskQueueMutex );
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#endif
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unsigned portBASE_TYPE foundNonExecutingWaiter = pdFALSE, ableToSchedule = pdFALSE, resetListHead;
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portBASE_TYPE uxDynamicTopReady = uxTopReadyPriority;
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@ -2821,12 +2823,17 @@ void vTaskSwitchContext( void )
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}
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--uxDynamicTopReady;
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}
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taskEXIT_CRITICAL_ISR(&xTaskQueueMutex);
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/* ToDo: taskSELECT_HIGHEST_PRIORITY_TASK replacement code ends here. */
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traceTASK_SWITCHED_IN();
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//Exit critical region manually as well: release the mux now, interrupts will be re-enabled when we
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//exit the function.
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#ifdef CONFIG_FREERTOS_PORTMUX_DEBUG
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vPortCPUReleaseMutex( &xTaskQueueMutex, function, line );
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#else
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vPortCPUReleaseMutex( &xTaskQueueMutex );
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#endif
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#if CONFIG_FREERTOS_WATCHPOINT_END_OF_STACK
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vPortSetStackWatchpoint(pxCurrentTCB[xPortGetCoreID()]->pxStack);
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#endif
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@ -4060,7 +4067,10 @@ TCB_t *pxTCB;
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/* Gotcha (which seems to be deliberate in FreeRTOS, according to
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http://www.freertos.org/FreeRTOS_Support_Forum_Archive/December_2012/freertos_PIC32_Bug_-_vTaskEnterCritical_6400806.html
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) is that calling vTaskEnterCritical followed by vTaskExitCritical will leave the interrupts DISABLED when the scheduler
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is not running. Re-enabling the scheduler will re-enable the interrupts instead. */
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is not running. Re-enabling the scheduler will re-enable the interrupts instead.
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For ESP32 FreeRTOS, vTaskEnterCritical implements both portENTER_CRITICAL and portENTER_CRITICAL_ISR.
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*/
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#if ( portCRITICAL_NESTING_IN_TCB == 1 )
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@ -4103,7 +4113,9 @@ is not running. Re-enabling the scheduler will re-enable the interrupts instead
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protect against recursive calls if the assert function also uses a
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critical section. */
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/* DISABLED in the esp32 port - because of SMP, vTaskEnterCritical
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/* DISABLED in the esp32 port - because of SMP, For ESP32
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FreeRTOS, vTaskEnterCritical implements both
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portENTER_CRITICAL and portENTER_CRITICAL_ISR. vTaskEnterCritical
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has to be used in way more places than before, and some are called
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both from ISR as well as non-ISR code, thus we re-organized
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vTaskEnterCritical to also work in ISRs. */
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@ -4124,6 +4136,10 @@ is not running. Re-enabling the scheduler will re-enable the interrupts instead
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#endif /* portCRITICAL_NESTING_IN_TCB */
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/*-----------------------------------------------------------*/
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/*
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For ESP32 FreeRTOS, vTaskExitCritical implements both portEXIT_CRITICAL and portEXIT_CRITICAL_ISR.
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*/
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#if ( portCRITICAL_NESTING_IN_TCB == 1 )
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#ifdef CONFIG_FREERTOS_PORTMUX_DEBUG
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@ -111,12 +111,9 @@ CONFIG_ESP32_ENABLE_COREDUMP_TO_NONE=y
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# CONFIG_ESP32_APPTRACE_DEST_UART is not set
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CONFIG_ESP32_APPTRACE_DEST_NONE=y
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# CONFIG_ESP32_APPTRACE_ENABLE is not set
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CONFIG_BASE_MAC_STORED_DEFAULT_EFUSE=y
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# CONFIG_BASE_MAC_STORED_CUSTOMER_DEFINED_EFUSE is not set
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# CONFIG_BASE_MAC_STORED_OTHER_CUSTOMER_DEFINED_PLACE is not set
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# CONFIG_TWO_MAC_ADDRESS_FROM_EFUSE is not set
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CONFIG_FOUR_MAC_ADDRESS_FROM_EFUSE=y
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CONFIG_NUMBER_OF_MAC_ADDRESS_GENERATED_FROM_EFUSE=4
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# CONFIG_TWO_UNIVERSAL_MAC_ADDRESS is not set
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CONFIG_FOUR_UNIVERSAL_MAC_ADDRESS=y
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CONFIG_NUMBER_OF_UNIVERSAL_MAC_ADDRESS=4
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CONFIG_SYSTEM_EVENT_QUEUE_SIZE=32
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CONFIG_SYSTEM_EVENT_TASK_STACK_SIZE=2048
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CONFIG_MAIN_TASK_STACK_SIZE=4096
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