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Merge branch 'bugfix/spinlock_performance' into 'master'

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freertos: Reduce CPU spinlock (portmux) overhead

See merge request !497
This commit is contained in:
Angus Gratton 2017-09-05 09:16:10 +08:00
commit d531b56d93
14 changed files with 449 additions and 219 deletions
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6
.gitlab-ci.yml
View file

@ -538,6 +538,12 @@ UT_001_06:
- ESP32_IDF - ESP32_IDF
- UT_T1_SPIMODE - UT_T1_SPIMODE
UT_001_07:
<<: *unit_test_template
tags:
- ESP32_IDF
- UT_T1_1
IT_001_01: IT_001_01:
<<: *test_template <<: *test_template
tags: tags:

88
components/app_trace/app_trace_util.c
View file

@ -22,6 +22,7 @@
// TODO: get actual clock from PLL config // TODO: get actual clock from PLL config
#define ESP_APPTRACE_CPUTICKS2US(_t_) ((_t_)/(XT_CLOCK_FREQ/1000000)) #define ESP_APPTRACE_CPUTICKS2US(_t_) ((_t_)/(XT_CLOCK_FREQ/1000000))
#define ESP_APPTRACE_US2CPUTICKS(_t_) ((_t_)*(XT_CLOCK_FREQ/1000000))
esp_err_t esp_apptrace_tmo_check(esp_apptrace_tmo_t *tmo) esp_err_t esp_apptrace_tmo_check(esp_apptrace_tmo_t *tmo)
{ {
@ -45,81 +46,38 @@ esp_err_t esp_apptrace_tmo_check(esp_apptrace_tmo_t *tmo)
esp_err_t esp_apptrace_lock_take(esp_apptrace_lock_t *lock, esp_apptrace_tmo_t *tmo) esp_err_t esp_apptrace_lock_take(esp_apptrace_lock_t *lock, esp_apptrace_tmo_t *tmo)
{ {
uint32_t res; int res;
#if CONFIG_SYSVIEW_ENABLE
uint32_t recCnt;
#endif
while (1) { while (1) {
res = (xPortGetCoreID() << portMUX_VAL_SHIFT) | portMUX_MAGIC_VAL; // do not overwrite lock->int_state before we actually acquired the mux
// first disable IRQs on this CPU, this will prevent current task from been unsigned int_state = portENTER_CRITICAL_NESTED();
// preempted by higher prio tasks, otherwise deadlock can happen: // FIXME: if mux is busy it is not good idea to loop during the whole tmo with disabled IRQs.
// when lower prio task took mux and then preempted by higher prio one which also tries to // So we check mux state using zero tmo, restore IRQs and let others tasks/IRQs to run on this CPU
// get mux with INFINITE timeout // while we are doing our own tmo check.
unsigned int irq_stat = portENTER_CRITICAL_NESTED(); bool success = vPortCPUAcquireMutexTimeout(&lock->mux, 0);
// Now try to lock mux if (success) {
uxPortCompareSet(&lock->portmux.mux, portMUX_FREE_VAL, &res); lock->int_state = int_state;
if (res == portMUX_FREE_VAL) { return ESP_OK;
// do not enable IRQs, we will held them disabled until mux is unlocked
// we do not need to flush cache region for mux->irq_stat because it is used
// to hold and restore IRQ state only for CPU which took mux, other CPUs will not use this value
lock->irq_stat = irq_stat;
break;
} }
#if CONFIG_SYSVIEW_ENABLE portEXIT_CRITICAL_NESTED(int_state);
else if (((res & portMUX_VAL_MASK) >> portMUX_VAL_SHIFT) == xPortGetCoreID()) { // we can be preempted from this place till the next call (above) to portENTER_CRITICAL_NESTED()
recCnt = (res & portMUX_CNT_MASK) >> portMUX_CNT_SHIFT; res = esp_apptrace_tmo_check(tmo);
recCnt++; if (res != ESP_OK) {
// ets_printf("Recursive lock: recCnt=%d\n", recCnt);
lock->portmux.mux = portMUX_MAGIC_VAL | (recCnt << portMUX_CNT_SHIFT) | (xPortGetCoreID() << portMUX_VAL_SHIFT);
break; break;
} }
#endif
// if mux is locked by other task/ISR enable IRQs and let other guys work
portEXIT_CRITICAL_NESTED(irq_stat);
int err = esp_apptrace_tmo_check(tmo);
if (err != ESP_OK) {
return err;
}
} }
return res;
return ESP_OK;
} }
esp_err_t esp_apptrace_lock_give(esp_apptrace_lock_t *lock) esp_err_t esp_apptrace_lock_give(esp_apptrace_lock_t *lock)
{ {
esp_err_t ret = ESP_OK; // save lock's irq state value for this CPU
uint32_t res = 0; unsigned int_state = lock->int_state;
unsigned int irq_stat; // after call to the following func we can not be sure that lock->int_state
#if CONFIG_SYSVIEW_ENABLE // is not overwritten by other CPU who has acquired the mux just after we released it. See esp_apptrace_lock_take().
uint32_t recCnt; vPortCPUReleaseMutex(&lock->mux);
#endif portEXIT_CRITICAL_NESTED(int_state);
res = portMUX_FREE_VAL; return ESP_OK;
// first of all save a copy of IRQ status for this locker because uxPortCompareSet will unlock mux and tasks/ISRs
// from other core can overwrite mux->irq_stat
irq_stat = lock->irq_stat;
uxPortCompareSet(&lock->portmux.mux, (xPortGetCoreID() << portMUX_VAL_SHIFT) | portMUX_MAGIC_VAL, &res);
if ( ((res & portMUX_VAL_MASK) >> portMUX_VAL_SHIFT) == xPortGetCoreID() ) {
#if CONFIG_SYSVIEW_ENABLE
//Lock is valid, we can return safely. Just need to check if it's a recursive lock; if so we need to decrease the refcount.
if ( ((res & portMUX_CNT_MASK) >> portMUX_CNT_SHIFT) != 0) {
//We locked this, but the reccount isn't zero. Decrease refcount and continue.
recCnt = (res & portMUX_CNT_MASK) >> portMUX_CNT_SHIFT;
recCnt--;
lock->portmux.mux = portMUX_MAGIC_VAL | (recCnt << portMUX_CNT_SHIFT) | (xPortGetCoreID() << portMUX_VAL_SHIFT);
}
#endif
} else if ( res == portMUX_FREE_VAL ) {
ret = ESP_FAIL; // should never get here
} else {
ret = ESP_FAIL; // should never get here
}
// restore local interrupts
portEXIT_CRITICAL_NESTED(irq_stat);
return ret;
} }
/////////////////////////////////////////////////////////////////////////////// ///////////////////////////////////////////////////////////////////////////////

8
components/app_trace/include/esp_app_trace_util.h
View file

@ -59,8 +59,8 @@ static inline uint32_t esp_apptrace_tmo_remaining_us(esp_apptrace_tmo_t *tmo)
/** Tracing module synchronization lock */ /** Tracing module synchronization lock */
typedef struct { typedef struct {
volatile unsigned int irq_stat; ///< local (on 1 CPU) IRQ state portMUX_TYPE mux;
portMUX_TYPE portmux; ///< mux for synchronization unsigned int_state;
} esp_apptrace_lock_t; } esp_apptrace_lock_t;
/** /**
@ -70,8 +70,8 @@ typedef struct {
*/ */
static inline void esp_apptrace_lock_init(esp_apptrace_lock_t *lock) static inline void esp_apptrace_lock_init(esp_apptrace_lock_t *lock)
{ {
lock->portmux.mux = portMUX_FREE_VAL; vPortCPUInitializeMutex(&lock->mux);
lock->irq_stat = 0; lock->int_state = 0;
} }
/** /**

2
components/app_trace/sys_view/Sample/Config/SEGGER_SYSVIEW_Config_FreeRTOS.c
View file

@ -115,7 +115,7 @@ static timer_group_t s_ts_timer_group;
// everything is fine, so for multi-core env we have to wait on underlying lock forever // everything is fine, so for multi-core env we have to wait on underlying lock forever
#define SEGGER_LOCK_WAIT_TMO ESP_APPTRACE_TMO_INFINITE #define SEGGER_LOCK_WAIT_TMO ESP_APPTRACE_TMO_INFINITE
static esp_apptrace_lock_t s_sys_view_lock = {.irq_stat = 0, .portmux = portMUX_INITIALIZER_UNLOCKED}; static esp_apptrace_lock_t s_sys_view_lock = {.mux = portMUX_INITIALIZER_UNLOCKED, .int_state = 0};
static const char * const s_isr_names[] = { static const char * const s_isr_names[] = {
[0] = "WIFI_MAC", [0] = "WIFI_MAC",

2
components/esp32/lib

@ -1 +1 @@
Subproject commit 64b0ff4199614a8a5066fe3a05d446acb52575e6 Subproject commit fc2118052ec3863e228840d15df58bc66ff0ce57

15
components/freertos/include/freertos/FreeRTOS.h
View file

@ -978,13 +978,14 @@ typedef struct xSTATIC_QUEUE
uint8_t ucDummy9; uint8_t ucDummy9;
#endif #endif
struct { struct {
volatile uint32_t ucDummy10; volatile uint32_t ucDummy10;
#ifdef CONFIG_FREERTOS_PORTMUX_DEBUG uint32_t ucDummy11;
void *pvDummy8; #ifdef CONFIG_FREERTOS_PORTMUX_DEBUG
UBaseType_t uxDummy11; void *pvDummy8;
#endif UBaseType_t uxDummy12;
} sDummy12; #endif
} sDummy1;
} StaticQueue_t; } StaticQueue_t;
typedef StaticQueue_t StaticSemaphore_t; typedef StaticQueue_t StaticSemaphore_t;

2
components/freertos/include/freertos/portable.h
View file

@ -199,7 +199,7 @@ BaseType_t xPortInIsrContext();
/* Multi-core: get current core ID */ /* Multi-core: get current core ID */
static inline uint32_t IRAM_ATTR xPortGetCoreID() { static inline uint32_t IRAM_ATTR xPortGetCoreID() {
int id; int id;
asm volatile( asm (
"rsr.prid %0\n" "rsr.prid %0\n"
" extui %0,%0,13,1" " extui %0,%0,13,1"
:"=r"(id)); :"=r"(id));

46
components/freertos/include/freertos/portmacro.h
View file

@ -127,7 +127,8 @@ typedef unsigned portBASE_TYPE UBaseType_t;
typedef struct { typedef struct {
volatile uint32_t mux; uint32_t owner;
uint32_t count;
#ifdef CONFIG_FREERTOS_PORTMUX_DEBUG #ifdef CONFIG_FREERTOS_PORTMUX_DEBUG
const char *lastLockedFn; const char *lastLockedFn;
int lastLockedLine; int lastLockedLine;
@ -143,24 +144,23 @@ typedef struct {
* The magic number in the top 16 bits is there so we can detect uninitialized and corrupted muxes. * The magic number in the top 16 bits is there so we can detect uninitialized and corrupted muxes.
*/ */
#define portMUX_MAGIC_VAL 0xB33F0000
#define portMUX_FREE_VAL 0xB33FFFFF #define portMUX_FREE_VAL 0xB33FFFFF
#define portMUX_MAGIC_MASK 0xFFFF0000
#define portMUX_MAGIC_SHIFT 16 /* Special constants for vPortCPUAcquireMutexTimeout() */
#define portMUX_CNT_MASK 0x0000FF00 #define portMUX_NO_TIMEOUT (-1) /* When passed for 'timeout_cycles', spin forever if necessary */
#define portMUX_CNT_SHIFT 8 #define portMUX_TRY_LOCK 0 /* Try to acquire the spinlock a single time only */
#define portMUX_VAL_MASK 0x000000FF
#define portMUX_VAL_SHIFT 0
//Keep this in sync with the portMUX_TYPE struct definition please. //Keep this in sync with the portMUX_TYPE struct definition please.
#ifndef CONFIG_FREERTOS_PORTMUX_DEBUG #ifndef CONFIG_FREERTOS_PORTMUX_DEBUG
#define portMUX_INITIALIZER_UNLOCKED { \ #define portMUX_INITIALIZER_UNLOCKED { \
.mux = portMUX_MAGIC_VAL|portMUX_FREE_VAL \ .owner = portMUX_FREE_VAL, \
.count = 0, \
} }
#else #else
#define portMUX_INITIALIZER_UNLOCKED { \ #define portMUX_INITIALIZER_UNLOCKED { \
.mux = portMUX_MAGIC_VAL|portMUX_FREE_VAL, \ .owner = portMUX_FREE_VAL, \
.lastLockedFn = "(never locked)", \ .count = 0, \
.lastLockedFn = "(never locked)", \
.lastLockedLine = -1 \ .lastLockedLine = -1 \
} }
#endif #endif
@ -173,7 +173,6 @@ typedef struct {
#define portASSERT_IF_IN_ISR() vPortAssertIfInISR() #define portASSERT_IF_IN_ISR() vPortAssertIfInISR()
void vPortAssertIfInISR(); void vPortAssertIfInISR();
#define portCRITICAL_NESTING_IN_TCB 1 #define portCRITICAL_NESTING_IN_TCB 1
/* /*
@ -203,7 +202,10 @@ behaviour; please keep this in mind if you need any compatibility with other Fre
void vPortCPUInitializeMutex(portMUX_TYPE *mux); void vPortCPUInitializeMutex(portMUX_TYPE *mux);
#ifdef CONFIG_FREERTOS_PORTMUX_DEBUG #ifdef CONFIG_FREERTOS_PORTMUX_DEBUG
void vPortCPUAcquireMutex(portMUX_TYPE *mux, const char *function, int line); void vPortCPUAcquireMutex(portMUX_TYPE *mux, const char *function, int line);
bool vPortCPUAcquireMutexTimeout(portMUX_TYPE *mux, int timeout_cycles, const char *function, int line);
portBASE_TYPE vPortCPUReleaseMutex(portMUX_TYPE *mux, const char *function, int line); portBASE_TYPE vPortCPUReleaseMutex(portMUX_TYPE *mux, const char *function, int line);
void vTaskEnterCritical( portMUX_TYPE *mux, const char *function, int line ); void vTaskEnterCritical( portMUX_TYPE *mux, const char *function, int line );
void vTaskExitCritical( portMUX_TYPE *mux, const char *function, int line ); void vTaskExitCritical( portMUX_TYPE *mux, const char *function, int line );
#define portENTER_CRITICAL(mux) vTaskEnterCritical(mux, __FUNCTION__, __LINE__) #define portENTER_CRITICAL(mux) vTaskEnterCritical(mux, __FUNCTION__, __LINE__)
@ -214,7 +216,18 @@ void vTaskExitCritical( portMUX_TYPE *mux, const char *function, int line );
void vTaskExitCritical( portMUX_TYPE *mux ); void vTaskExitCritical( portMUX_TYPE *mux );
void vTaskEnterCritical( portMUX_TYPE *mux ); void vTaskEnterCritical( portMUX_TYPE *mux );
void vPortCPUAcquireMutex(portMUX_TYPE *mux); void vPortCPUAcquireMutex(portMUX_TYPE *mux);
portBASE_TYPE vPortCPUReleaseMutex(portMUX_TYPE *mux);
/** @brief Acquire a portmux spinlock with a timeout
*
* @param mux Pointer to portmux to acquire.
* @param timeout_cycles Timeout to spin, in CPU cycles. Pass portMUX_NO_TIMEOUT to wait forever,
* portMUX_TRY_LOCK to try a single time to acquire the lock.
*
* @return true if mutex is successfully acquired, false on timeout.
*/
bool vPortCPUAcquireMutexTimeout(portMUX_TYPE *mux, int timeout_cycles);
void vPortCPUReleaseMutex(portMUX_TYPE *mux);
#define portENTER_CRITICAL(mux) vTaskEnterCritical(mux) #define portENTER_CRITICAL(mux) vTaskEnterCritical(mux)
#define portEXIT_CRITICAL(mux) vTaskExitCritical(mux) #define portEXIT_CRITICAL(mux) vTaskExitCritical(mux)
#define portENTER_CRITICAL_ISR(mux) vTaskEnterCritical(mux) #define portENTER_CRITICAL_ISR(mux) vTaskEnterCritical(mux)
@ -243,9 +256,8 @@ static inline unsigned portENTER_CRITICAL_NESTED() { unsigned state = XTOS_SET_I
* ESP32, though. (Would show up directly if it did because the magic wouldn't match.) * ESP32, though. (Would show up directly if it did because the magic wouldn't match.)
*/ */
static inline void uxPortCompareSet(volatile uint32_t *addr, uint32_t compare, uint32_t *set) { static inline void uxPortCompareSet(volatile uint32_t *addr, uint32_t compare, uint32_t *set) {
__asm__ __volatile__( __asm__ __volatile__ (
"WSR %2,SCOMPARE1 \n" "WSR %2,SCOMPARE1 \n"
"ISYNC \n"
"S32C1I %0, %1, 0 \n" "S32C1I %0, %1, 0 \n"
:"=r"(*set) :"=r"(*set)
:"r"(addr), "r"(compare), "0"(*set) :"r"(addr), "r"(compare), "0"(*set)

10
components/freertos/include/freertos/xtensa_context.h
View file

@ -314,11 +314,10 @@ STRUCT_END(XtSolFrame)
/* /*
Macro to get the current core ID. Only uses the reg given as an argument. Macro to get the current core ID. Only uses the reg given as an argument.
Reading PRID on the ESP108 architecture gives us 0xCDCD on the PRO processor Reading PRID on the ESP32 gives us 0xCDCD on the PRO processor (0)
and 0xABAB on the APP CPU. We distinguish between the two by simply checking and 0xABAB on the APP CPU (1). We distinguish between the two by simply checking
bit 1: it's 1 on the APP and 0 on the PRO processor. bit 13: it's 1 on the APP and 0 on the PRO processor.
*/ */
#ifdef __ASSEMBLER__ #ifdef __ASSEMBLER__
.macro getcoreid reg .macro getcoreid reg
rsr.prid \reg rsr.prid \reg
@ -326,7 +325,8 @@ STRUCT_END(XtSolFrame)
.endm .endm
#endif #endif
#define CORE_ID_PRO 0xCDCD
#define CORE_ID_APP 0xABAB
/* /*
------------------------------------------------------------------------------- -------------------------------------------------------------------------------

139
components/freertos/port.c
View file

@ -97,6 +97,7 @@
#include "xtensa_rtos.h" #include "xtensa_rtos.h"
#include "rom/ets_sys.h" #include "rom/ets_sys.h"
#include "soc/cpu.h"
#include "FreeRTOS.h" #include "FreeRTOS.h"
#include "task.h" #include "task.h"
@ -302,122 +303,63 @@ void vPortCPUInitializeMutex(portMUX_TYPE *mux) {
mux->lastLockedFn="(never locked)"; mux->lastLockedFn="(never locked)";
mux->lastLockedLine=-1; mux->lastLockedLine=-1;
#endif #endif
mux->mux=portMUX_FREE_VAL; mux->owner=portMUX_FREE_VAL;
mux->count=0;
} }
#include "portmux_impl.h"
/* /*
* For kernel use: Acquire a per-CPU mux. Spinlocks, so don't hold on to these muxes for too long. * For kernel use: Acquire a per-CPU mux. Spinlocks, so don't hold on to these muxes for too long.
*/ */
#ifdef CONFIG_FREERTOS_PORTMUX_DEBUG #ifdef CONFIG_FREERTOS_PORTMUX_DEBUG
void vPortCPUAcquireMutex(portMUX_TYPE *mux, const char *fnName, int line) { void vPortCPUAcquireMutex(portMUX_TYPE *mux, const char *fnName, int line) {
unsigned int irqStatus = portENTER_CRITICAL_NESTED();
vPortCPUAcquireMutexIntsDisabled(mux, portMUX_NO_TIMEOUT, fnName, line);
portEXIT_CRITICAL_NESTED(irqStatus);
}
bool vPortCPUAcquireMutexTimeout(portMUX_TYPE *mux, uint32_t timeout_cycles, const char *fnName, int line) {
unsigned int irqStatus = portENTER_CRITICAL_NESTED();
bool result = vPortCPUAcquireMutexIntsDisabled(mux, timeout_cycles, fnName, line);
portEXIT_CRITICAL_NESTED(irqStatus);
return result;
}
#else #else
void vPortCPUAcquireMutex(portMUX_TYPE *mux) { void vPortCPUAcquireMutex(portMUX_TYPE *mux) {
#endif unsigned int irqStatus = portENTER_CRITICAL_NESTED();
#if !CONFIG_FREERTOS_UNICORE vPortCPUAcquireMutexIntsDisabled(mux, portMUX_NO_TIMEOUT);
uint32_t res; portEXIT_CRITICAL_NESTED(irqStatus);
uint32_t recCnt; }
unsigned int irqStatus;
#ifdef CONFIG_FREERTOS_PORTMUX_DEBUG bool vPortCPUAcquireMutexTimeout(portMUX_TYPE *mux, int timeout_cycles) {
uint32_t cnt=(1<<16); unsigned int irqStatus = portENTER_CRITICAL_NESTED();
if ( (mux->mux & portMUX_MAGIC_MASK) != portMUX_MAGIC_VAL ) { bool result = vPortCPUAcquireMutexIntsDisabled(mux, timeout_cycles);
ets_printf("ERROR: vPortCPUAcquireMutex: mux %p is uninitialized (0x%X)! Called from %s line %d.\n", mux, mux->mux, fnName, line); portEXIT_CRITICAL_NESTED(irqStatus);
mux->mux=portMUX_FREE_VAL; return result;
} }
#endif #endif
irqStatus=portENTER_CRITICAL_NESTED();
do {
//Lock mux if it's currently unlocked
res=(xPortGetCoreID()<<portMUX_VAL_SHIFT)|portMUX_MAGIC_VAL;
uxPortCompareSet(&mux->mux, portMUX_FREE_VAL, &res);
//If it wasn't free and we're the owner of the lock, we are locking recursively.
if ( (res != portMUX_FREE_VAL) && (((res&portMUX_VAL_MASK)>>portMUX_VAL_SHIFT) == xPortGetCoreID()) ) {
//Mux was already locked by us. Just bump the recurse count by one.
recCnt=(res&portMUX_CNT_MASK)>>portMUX_CNT_SHIFT;
recCnt++;
#ifdef CONFIG_FREERTOS_PORTMUX_DEBUG_RECURSIVE
ets_printf("Recursive lock: recCnt=%d last non-recursive lock %s line %d, curr %s line %d\n", recCnt, mux->lastLockedFn, mux->lastLockedLine, fnName, line);
#endif
mux->mux=portMUX_MAGIC_VAL|(recCnt<<portMUX_CNT_SHIFT)|(xPortGetCoreID()<<portMUX_VAL_SHIFT);
break;
}
#ifdef CONFIG_FREERTOS_PORTMUX_DEBUG
cnt--;
if (cnt==0) {
ets_printf("Timeout on mux! last non-recursive lock %s line %d, curr %s line %d\n", mux->lastLockedFn, mux->lastLockedLine, fnName, line);
ets_printf("Mux value %X\n", mux->mux);
}
#endif
} while (res!=portMUX_FREE_VAL);
#ifdef CONFIG_FREERTOS_PORTMUX_DEBUG
if (res==portMUX_FREE_VAL) { //initial lock
mux->lastLockedFn=fnName;
mux->lastLockedLine=line;
}
#endif
portEXIT_CRITICAL_NESTED(irqStatus);
#endif
}
/* /*
* For kernel use: Release a per-CPU mux. Returns true if everything is OK, false if mux * For kernel use: Release a per-CPU mux
* was already unlocked or is locked by a different core. *
* Mux must be already locked by this core
*/ */
#ifdef CONFIG_FREERTOS_PORTMUX_DEBUG #ifdef CONFIG_FREERTOS_PORTMUX_DEBUG
portBASE_TYPE vPortCPUReleaseMutex(portMUX_TYPE *mux, const char *fnName, int line) { void vPortCPUReleaseMutex(portMUX_TYPE *mux, const char *fnName, int line) {
#else unsigned int irqStatus = portENTER_CRITICAL_NESTED();
portBASE_TYPE vPortCPUReleaseMutex(portMUX_TYPE *mux) { vPortCPUReleaseMutexIntsDisabled(mux, fnName, line);
#endif
#if !CONFIG_FREERTOS_UNICORE
uint32_t res=0;
uint32_t recCnt;
unsigned int irqStatus;
portBASE_TYPE ret=pdTRUE;
// ets_printf("Unlock %p\n", mux);
irqStatus=portENTER_CRITICAL_NESTED();
#ifdef CONFIG_FREERTOS_PORTMUX_DEBUG
const char *lastLockedFn=mux->lastLockedFn;
int lastLockedLine=mux->lastLockedLine;
mux->lastLockedFn=fnName;
mux->lastLockedLine=line;
if ( (mux->mux & portMUX_MAGIC_MASK) != portMUX_MAGIC_VAL ) ets_printf("ERROR: vPortCPUReleaseMutex: mux %p is uninitialized (0x%X)!\n", mux, mux->mux);
#endif
//Unlock mux if it's currently locked with a recurse count of 0
res=portMUX_FREE_VAL;
uxPortCompareSet(&mux->mux, (xPortGetCoreID()<<portMUX_VAL_SHIFT)|portMUX_MAGIC_VAL, &res);
if ( ((res&portMUX_VAL_MASK)>>portMUX_VAL_SHIFT) == xPortGetCoreID() ) {
//Lock is valid, we can return safely. Just need to check if it's a recursive lock; if so we need to decrease the refcount.
if ( ((res&portMUX_CNT_MASK)>>portMUX_CNT_SHIFT)!=0) {
//We locked this, but the reccount isn't zero. Decrease refcount and continue.
recCnt=(res&portMUX_CNT_MASK)>>portMUX_CNT_SHIFT;
recCnt--;
#ifdef CONFIG_FREERTOS_PORTMUX_DEBUG_RECURSIVE
ets_printf("Recursive unlock: recCnt=%d last locked %s line %d, curr %s line %d\n", recCnt, lastLockedFn, lastLockedLine, fnName, line);
#endif
mux->mux=portMUX_MAGIC_VAL|(recCnt<<portMUX_CNT_SHIFT)|(xPortGetCoreID()<<portMUX_VAL_SHIFT);
}
} else if ( res == portMUX_FREE_VAL ) {
#ifdef CONFIG_FREERTOS_PORTMUX_DEBUG
ets_printf("ERROR: vPortCPUReleaseMutex: mux %p was already unlocked!\n", mux);
ets_printf("Last non-recursive unlock %s line %d, curr unlock %s line %d\n", lastLockedFn, lastLockedLine, fnName, line);
#endif
ret=pdFALSE;
} else {
#ifdef CONFIG_FREERTOS_PORTMUX_DEBUG
ets_printf("ERROR: vPortCPUReleaseMutex: mux %p wasn't locked by this core (%d) but by core %d (ret=%x, mux=%x).\n", mux, xPortGetCoreID(), ((res&portMUX_VAL_MASK)>>portMUX_VAL_SHIFT), res, mux->mux);
ets_printf("Last non-recursive lock %s line %d\n", lastLockedFn, lastLockedLine);
ets_printf("Called by %s line %d\n", fnName, line);
#endif
ret=pdFALSE;
}
portEXIT_CRITICAL_NESTED(irqStatus); portEXIT_CRITICAL_NESTED(irqStatus);
return ret;
#else //!CONFIG_FREERTOS_UNICORE
return 0;
#endif
} }
#else
void vPortCPUReleaseMutex(portMUX_TYPE *mux) {
unsigned int irqStatus = portENTER_CRITICAL_NESTED();
vPortCPUReleaseMutexIntsDisabled(mux);
portEXIT_CRITICAL_NESTED(irqStatus);
}
#endif
#if CONFIG_FREERTOS_BREAK_ON_SCHEDULER_START_JTAG #if CONFIG_FREERTOS_BREAK_ON_SCHEDULER_START_JTAG
void vPortFirstTaskHook(TaskFunction_t function) { void vPortFirstTaskHook(TaskFunction_t function) {
@ -425,7 +367,6 @@ void vPortFirstTaskHook(TaskFunction_t function) {
} }
#endif #endif
void vPortSetStackWatchpoint( void* pxStackStart ) { void vPortSetStackWatchpoint( void* pxStackStart ) {
//Set watchpoint 1 to watch the last 32 bytes of the stack. //Set watchpoint 1 to watch the last 32 bytes of the stack.
//Unfortunately, the Xtensa watchpoints can't set a watchpoint on a random [base - base+n] region because //Unfortunately, the Xtensa watchpoints can't set a watchpoint on a random [base - base+n] region because

169
components/freertos/portmux_impl.h Normal file
View file

@ -0,0 +1,169 @@
/*
Copyright (C) 2016-2017 Espressif Shanghai PTE LTD
Copyright (C) 2015 Real Time Engineers Ltd.
All rights reserved
FreeRTOS is free software; you can redistribute it and/or modify it under
the terms of the GNU General Public License (version 2) as published by the
Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
***************************************************************************
>>! NOTE: The modification to the GPL is included to allow you to !<<
>>! distribute a combined work that includes FreeRTOS without being !<<
>>! obliged to provide the source code for proprietary components !<<
>>! outside of the FreeRTOS kernel. !<<
***************************************************************************
FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
FOR A PARTICULAR PURPOSE. Full license text is available on the following
link: http://www.freertos.org/a00114.html
*/
/* This header exists for performance reasons, in order to inline the
implementation of vPortCPUAcquireMutexIntsDisabled and
vPortCPUReleaseMutexIntsDisabled into the
vTaskEnterCritical/vTaskExitCritical functions in task.c as well as the
vPortCPUAcquireMutex/vPortCPUReleaseMutex implementations.
Normally this kind of performance hack is over the top, but
vTaskEnterCritical/vTaskExitCritical is called a great
deal by FreeRTOS internals.
It should be #included by freertos port.c or tasks.c, in esp-idf.
*/
#include "soc/cpu.h"
/* XOR one core ID with this value to get the other core ID */
#define CORE_ID_XOR_SWAP (CORE_ID_PRO ^ CORE_ID_APP)
static inline bool __attribute__((always_inline))
#ifdef CONFIG_FREERTOS_PORTMUX_DEBUG
vPortCPUAcquireMutexIntsDisabled(portMUX_TYPE *mux, int timeout_cycles, const char *fnName, int line) {
#else
vPortCPUAcquireMutexIntsDisabled(portMUX_TYPE *mux, int timeout_cycles) {
#endif
#if !CONFIG_FREERTOS_UNICORE
uint32_t res;
portBASE_TYPE coreID, otherCoreID;
uint32_t ccount_start;
bool set_timeout = timeout_cycles > portMUX_NO_TIMEOUT;
#ifdef CONFIG_FREERTOS_PORTMUX_DEBUG
if (!set_timeout) {
timeout_cycles = 10000; // Always set a timeout in debug mode
set_timeout = true;
}
#endif
if (set_timeout) { // Timeout
RSR(CCOUNT, ccount_start);
}
#ifdef CONFIG_FREERTOS_PORTMUX_DEBUG
uint32_t owner = mux->owner;
if (owner != portMUX_FREE_VAL && owner != CORE_ID_PRO && owner != CORE_ID_APP) {
ets_printf("ERROR: vPortCPUAcquireMutex: mux %p is uninitialized (0x%X)! Called from %s line %d.\n", mux, owner, fnName, line);
mux->owner=portMUX_FREE_VAL;
}
#endif
/* Spin until we own the core */
RSR(PRID, coreID);
/* Note: coreID is the full 32 bit core ID (CORE_ID_PRO/CORE_ID_APP),
not the 0/1 value returned by xPortGetCoreID()
*/
otherCoreID = CORE_ID_XOR_SWAP ^ coreID;
do {
/* mux->owner should be one of portMUX_FREE_VAL, CORE_ID_PRO,
CORE_ID_APP:
- If portMUX_FREE_VAL, we want to atomically set to 'coreID'.
- If "our" coreID, we can drop through immediately.
- If "otherCoreID", we spin here.
*/
res = coreID;
uxPortCompareSet(&mux->owner, portMUX_FREE_VAL, &res);
if (res != otherCoreID) {
break; // mux->owner is "our" coreID
}
if (set_timeout) {
uint32_t ccount_now;
RSR(CCOUNT, ccount_now);
if (ccount_now - ccount_start > (unsigned)timeout_cycles) {
#ifdef CONFIG_FREERTOS_PORTMUX_DEBUG
ets_printf("Timeout on mux! last non-recursive lock %s line %d, curr %s line %d\n", mux->lastLockedFn, mux->lastLockedLine, fnName, line);
ets_printf("Owner 0x%x count %d\n", mux->owner, mux->count);
#endif
return false;
}
}
} while (1);
assert(res == coreID || res == portMUX_FREE_VAL); /* any other value implies memory corruption or uninitialized mux */
assert((res == portMUX_FREE_VAL) == (mux->count == 0)); /* we're first to lock iff count is zero */
assert(mux->count < 0xFF); /* Bad count value implies memory corruption */
/* now we own it, we can increment the refcount */
mux->count++;
#ifdef CONFIG_FREERTOS_PORTMUX_DEBUG
if (res==portMUX_FREE_VAL) { //initial lock
mux->lastLockedFn=fnName;
mux->lastLockedLine=line;
} else {
ets_printf("Recursive lock: count=%d last non-recursive lock %s line %d, curr %s line %d\n", mux->count-1,
mux->lastLockedFn, mux->lastLockedLine, fnName, line);
}
#endif /* CONFIG_FREERTOS_PORTMUX_DEBUG */
#endif /* CONFIG_FREERTOS_UNICORE */
return true;
}
#ifdef CONFIG_FREERTOS_PORTMUX_DEBUG
static inline void vPortCPUReleaseMutexIntsDisabled(portMUX_TYPE *mux, const char *fnName, int line) {
#else
static inline void vPortCPUReleaseMutexIntsDisabled(portMUX_TYPE *mux) {
#endif
#if !CONFIG_FREERTOS_UNICORE
portBASE_TYPE coreID;
#ifdef CONFIG_FREERTOS_PORTMUX_DEBUG
const char *lastLockedFn=mux->lastLockedFn;
int lastLockedLine=mux->lastLockedLine;
mux->lastLockedFn=fnName;
mux->lastLockedLine=line;
uint32_t owner = mux->owner;
if (owner != portMUX_FREE_VAL && owner != CORE_ID_PRO && owner != CORE_ID_APP) {
ets_printf("ERROR: vPortCPUReleaseMutex: mux %p is invalid (0x%x)!\n", mux, mux->owner);
}
#endif
#if CONFIG_FREERTOS_PORTMUX_DEBUG || !defined(NDEBUG)
RSR(PRID, coreID);
#endif
#ifdef CONFIG_FREERTOS_PORTMUX_DEBUG
if (coreID != mux->owner) {
ets_printf("ERROR: vPortCPUReleaseMutex: mux %p was already unlocked!\n", mux);
ets_printf("Last non-recursive unlock %s line %d, curr unlock %s line %d\n", lastLockedFn, lastLockedLine, fnName, line);
}
#endif
assert(coreID == mux->owner); // This is a mutex we didn't lock, or it's corrupt
assert(mux->count > 0); // Indicates memory corruption
assert(mux->count < 0x100); // Indicates memory corruption
mux->count--;
if(mux->count == 0) {
mux->owner = portMUX_FREE_VAL;
}
#ifdef CONFIG_FREERTOS_PORTMUX_DEBUG_RECURSIVE
else {
ets_printf("Recursive unlock: count=%d last locked %s line %d, curr %s line %d\n", mux->count, lastLockedFn, lastLockedLine, fnName, line);
}
#endif
#endif //!CONFIG_FREERTOS_UNICORE
}

38
components/freertos/tasks.c
View file

@ -4103,6 +4103,7 @@ For ESP32 FreeRTOS, vTaskEnterCritical implements both portENTER_CRITICAL and po
#if ( portCRITICAL_NESTING_IN_TCB == 1 ) #if ( portCRITICAL_NESTING_IN_TCB == 1 )
#include "portmux_impl.h"
#ifdef CONFIG_FREERTOS_PORTMUX_DEBUG #ifdef CONFIG_FREERTOS_PORTMUX_DEBUG
void vTaskEnterCritical( portMUX_TYPE *mux, const char *function, int line ) void vTaskEnterCritical( portMUX_TYPE *mux, const char *function, int line )
@ -4111,7 +4112,8 @@ For ESP32 FreeRTOS, vTaskEnterCritical implements both portENTER_CRITICAL and po
#endif #endif
{ {
BaseType_t oldInterruptLevel=0; BaseType_t oldInterruptLevel=0;
if( xSchedulerRunning != pdFALSE ) BaseType_t schedulerRunning = xSchedulerRunning;
if( schedulerRunning != pdFALSE )
{ {
//Interrupts may already be disabled (because we're doing this recursively) but we can't get the interrupt level after //Interrupts may already be disabled (because we're doing this recursively) but we can't get the interrupt level after
//vPortCPUAquireMutex, because it also may mess with interrupts. Get it here first, then later figure out if we're nesting //vPortCPUAquireMutex, because it also may mess with interrupts. Get it here first, then later figure out if we're nesting
@ -4119,26 +4121,27 @@ For ESP32 FreeRTOS, vTaskEnterCritical implements both portENTER_CRITICAL and po
oldInterruptLevel=portENTER_CRITICAL_NESTED(); oldInterruptLevel=portENTER_CRITICAL_NESTED();
} }
#ifdef CONFIG_FREERTOS_PORTMUX_DEBUG #ifdef CONFIG_FREERTOS_PORTMUX_DEBUG
vPortCPUAcquireMutex( mux, function, line ); vPortCPUAcquireMutexIntsDisabled( mux, portMUX_NO_TIMEOUT, function, line );
#else #else
vPortCPUAcquireMutex( mux ); vPortCPUAcquireMutexIntsDisabled( mux, portMUX_NO_TIMEOUT );
#endif #endif
if( xSchedulerRunning != pdFALSE ) if( schedulerRunning != pdFALSE )
{ {
( pxCurrentTCB[ xPortGetCoreID() ]->uxCriticalNesting )++; TCB_t *tcb = pxCurrentTCB[xPortGetCoreID()];
BaseType_t newNesting = tcb->uxCriticalNesting + 1;
if( xSchedulerRunning != pdFALSE && pxCurrentTCB[ xPortGetCoreID() ]->uxCriticalNesting == 1 ) tcb->uxCriticalNesting = newNesting;
if( newNesting == 1 )
{ {
//This is the first time we get called. Save original interrupt level. //This is the first time we get called. Save original interrupt level.
pxCurrentTCB[ xPortGetCoreID() ]->uxOldInterruptState=oldInterruptLevel; tcb->uxOldInterruptState = oldInterruptLevel;
} }
/* Original FreeRTOS comment, saved for reference: /* Original FreeRTOS comment, saved for reference:
This is not the interrupt safe version of the enter critical This is not the interrupt safe version of the enter critical
function so assert() if it is being called from an interrupt function so assert() if it is being called from an interrupt
context. Only API functions that end in "FromISR" can be used in an context. Only API functions that end in "FromISR" can be used in an
interrupt. Only assert if the critical nesting count is 1 to interrupt. Only assert if the critical nesting count is 1 to
protect against recursive calls if the assert function also uses a protect against recursive calls if the assert function also uses a
critical section. */ critical section. */
@ -4149,7 +4152,7 @@ For ESP32 FreeRTOS, vTaskEnterCritical implements both portENTER_CRITICAL and po
both from ISR as well as non-ISR code, thus we re-organized both from ISR as well as non-ISR code, thus we re-organized
vTaskEnterCritical to also work in ISRs. */ vTaskEnterCritical to also work in ISRs. */
#if 0 #if 0
if( pxCurrentTCB[ xPortGetCoreID() ]->uxCriticalNesting == 1 ) if( newNesting == 1 )
{ {
portASSERT_IF_IN_ISR(); portASSERT_IF_IN_ISR();
} }
@ -4178,19 +4181,22 @@ For ESP32 FreeRTOS, vTaskExitCritical implements both portEXIT_CRITICAL and port
#endif #endif
{ {
#ifdef CONFIG_FREERTOS_PORTMUX_DEBUG #ifdef CONFIG_FREERTOS_PORTMUX_DEBUG
vPortCPUReleaseMutex( mux, function, line ); vPortCPUReleaseMutexIntsDisabled( mux, function, line );
#else #else
vPortCPUReleaseMutex( mux ); vPortCPUReleaseMutexIntsDisabled( mux );
#endif #endif
if( xSchedulerRunning != pdFALSE ) if( xSchedulerRunning != pdFALSE )
{ {
if( pxCurrentTCB[ xPortGetCoreID() ]->uxCriticalNesting > 0U ) TCB_t *tcb = pxCurrentTCB[xPortGetCoreID()];
BaseType_t nesting = tcb->uxCriticalNesting;
if( nesting > 0U )
{ {
( pxCurrentTCB[ xPortGetCoreID() ]->uxCriticalNesting )--; nesting--;
tcb->uxCriticalNesting = nesting;
if( pxCurrentTCB[ xPortGetCoreID() ]->uxCriticalNesting == 0U ) if( nesting == 0U )
{ {
portEXIT_CRITICAL_NESTED(pxCurrentTCB[ xPortGetCoreID() ]->uxOldInterruptState); portEXIT_CRITICAL_NESTED(tcb->uxOldInterruptState);
} }
else else
{ {

133
components/freertos/test/test_spinlocks.c Normal file
View file

@ -0,0 +1,133 @@
/*
Combined unit tests & benchmarking for spinlock "portMUX" functionality
*/
#include <esp_types.h>
#include <stdio.h>
#include "rom/ets_sys.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "freertos/semphr.h"
#include "freertos/queue.h"
#include "freertos/xtensa_api.h"
#include "unity.h"
#include "soc/uart_reg.h"
#include "soc/dport_reg.h"
#include "soc/io_mux_reg.h"
#include "soc/cpu.h"
#define REPEAT_OPS 10000
static uint32_t start, end;
#define BENCHMARK_START() do { \
RSR(CCOUNT, start); \
} while(0)
#define BENCHMARK_END(OPERATION) do { \
RSR(CCOUNT, end); \
printf("%s took %d cycles/op (%d cycles for %d ops)\n", \
OPERATION, (end - start)/REPEAT_OPS, \
(end - start), REPEAT_OPS); \
} while(0)
TEST_CASE("portMUX spinlocks (no contention)", "[freertos]")
{
portMUX_TYPE mux = portMUX_INITIALIZER_UNLOCKED;
BENCHMARK_START();
for (int i = 0; i < REPEAT_OPS; i++) {
portENTER_CRITICAL(&mux);
portEXIT_CRITICAL(&mux);
}
BENCHMARK_END("no contention lock");
}
TEST_CASE("portMUX recursive locks (no contention)", "[freertos]")
{
portMUX_TYPE mux = portMUX_INITIALIZER_UNLOCKED;
BENCHMARK_START();
const int RECURSE_COUNT = 25;
for (int i = 0; i < REPEAT_OPS / RECURSE_COUNT; i++) {
for (int j = 0; j < RECURSE_COUNT; j++) {
portENTER_CRITICAL(&mux);
}
for (int j = 0; j < RECURSE_COUNT; j++) {
portEXIT_CRITICAL(&mux);
}
}
BENCHMARK_END("no contention recursive");
}
static volatile int shared_value;
static portMUX_TYPE shared_mux;
static xSemaphoreHandle done_sem;
static void task_shared_value_increment(void *ignore)
{
for (int i = 0; i < REPEAT_OPS; i++) {
portENTER_CRITICAL(&shared_mux);
shared_value++;
portEXIT_CRITICAL(&shared_mux);
}
xSemaphoreGive(done_sem);
vTaskDelete(NULL);
}
TEST_CASE("portMUX cross-core locking", "[freertos]")
{
done_sem = xSemaphoreCreateCounting(2, 0);
vPortCPUInitializeMutex(&shared_mux);
shared_value = 0;
BENCHMARK_START();
xTaskCreatePinnedToCore(task_shared_value_increment, "INC0", 2048, NULL, UNITY_FREERTOS_PRIORITY + 1, NULL, UNITY_FREERTOS_CPU ? 0 : 1);
xTaskCreatePinnedToCore(task_shared_value_increment, "INC1", 2048, NULL, UNITY_FREERTOS_PRIORITY + 1, NULL, UNITY_FREERTOS_CPU);
for(int i = 0; i < 2; i++) {
if(!xSemaphoreTake(done_sem, 10000/portTICK_PERIOD_MS)) {
TEST_FAIL_MESSAGE("done_sem not released by test task");
}
}
BENCHMARK_END("cross-core incrementing");
vSemaphoreDelete(done_sem);
TEST_ASSERT_EQUAL_INT(REPEAT_OPS * 2, shared_value);
}
TEST_CASE("portMUX high contention", "[freertos]")
{
const int TOTAL_TASKS = 8; /* half on each core */
done_sem = xSemaphoreCreateCounting(TOTAL_TASKS, 0);
vPortCPUInitializeMutex(&shared_mux);
shared_value = 0;
BENCHMARK_START();
for (int i = 0; i < TOTAL_TASKS / 2; i++) {
/* as each task has a higher priority than previous, expect
them to preempt the earlier created task, at least on the
other core (this core has the unity task, until that
blocks)... */
xTaskCreatePinnedToCore(task_shared_value_increment, "INC0", 2048, NULL, tskIDLE_PRIORITY + 1 + i, NULL, UNITY_FREERTOS_CPU ? 0 : 1);
xTaskCreatePinnedToCore(task_shared_value_increment, "INC1", 2048, NULL, tskIDLE_PRIORITY + 1 + i, NULL, UNITY_FREERTOS_CPU);
}
for(int i = 0; i < TOTAL_TASKS; i++) {
if(!xSemaphoreTake(done_sem, 10000/portTICK_PERIOD_MS)) {
TEST_FAIL_MESSAGE("done_sem not released by test task");
}
}
BENCHMARK_END("cross-core high contention");
vSemaphoreDelete(done_sem);
TEST_ASSERT_EQUAL_INT(REPEAT_OPS * TOTAL_TASKS, shared_value);
}

6
components/freertos/test/test_suspend_scheduler.c
View file

@ -49,6 +49,7 @@ TEST_CASE("Handle pending context switch while scheduler disabled", "[freertos]"
isr_count = 0; isr_count = 0;
isr_semaphore = xSemaphoreCreateMutex(); isr_semaphore = xSemaphoreCreateMutex();
TaskHandle_t counter_task; TaskHandle_t counter_task;
intr_handle_t isr_handle = NULL;
xTaskCreatePinnedToCore(counter_task_fn, "counter", 2048, xTaskCreatePinnedToCore(counter_task_fn, "counter", 2048,
NULL, UNITY_FREERTOS_PRIORITY + 1, NULL, UNITY_FREERTOS_PRIORITY + 1,
@ -69,7 +70,7 @@ TEST_CASE("Handle pending context switch while scheduler disabled", "[freertos]"
timer_set_counter_value(TIMER_GROUP_0, TIMER_0, 0); timer_set_counter_value(TIMER_GROUP_0, TIMER_0, 0);
timer_set_alarm_value(TIMER_GROUP_0, TIMER_0, 1000); timer_set_alarm_value(TIMER_GROUP_0, TIMER_0, 1000);
timer_enable_intr(TIMER_GROUP_0, TIMER_0); timer_enable_intr(TIMER_GROUP_0, TIMER_0);
timer_isr_register(TIMER_GROUP_0, TIMER_0, timer_group0_isr, NULL, 0, NULL); timer_isr_register(TIMER_GROUP_0, TIMER_0, timer_group0_isr, NULL, 0, &isr_handle);
timer_start(TIMER_GROUP_0, TIMER_0); timer_start(TIMER_GROUP_0, TIMER_0);
vTaskDelay(5); vTaskDelay(5);
@ -101,6 +102,9 @@ TEST_CASE("Handle pending context switch while scheduler disabled", "[freertos]"
TEST_ASSERT_NOT_EQUAL(task_count, no_sched_task); TEST_ASSERT_NOT_EQUAL(task_count, no_sched_task);
} }
esp_intr_free(isr_handle);
timer_disable_intr(TIMER_GROUP_0, TIMER_0);
vTaskDelete(counter_task); vTaskDelete(counter_task);
vSemaphoreDelete(isr_semaphore); vSemaphoreDelete(isr_semaphore);
} }