Commit graph

95 commits

Author SHA1 Message Date
Darian Leung
38afa32cfb freertos/fix SMP bug with Idle task clean up
This commit backports vTaskDelete() behavior from FreeRTOS v9.0.0  which
allows for the immediate freeing of task memory if the task being deleted
is not currently running and not pinned to the other core. This commit also
fixes a bug in prvCheckTasksWaitingTermination which prevented the
Idle Task from cleaning up all tasks awaiting deletion. Each iteration of the Idle
Task should traverse the xTasksWaitingTermination list and clean up all tasks
not pinned to the other core. The previous implementation would cause
prvCheckTasksWaitingTermination to return when encountering a task
pinned to the other core whilst traversing the xTasksWaitingTermination list.

The test case for vTaskDelete() has been updated to test for the bugfix and
backported deletion behavior.
2017-12-05 18:13:56 +08:00
Krzysztof Bociurko
969911b7c2 freertos: enabled use of pxTaskGetStackStart and cleaned up it's implementation
Merges #1298
2017-11-22 11:01:42 +08:00
Darian Leung
d1853dbbc0 FreeRTOS/make Queue Registry and Run Time Stats configurable
This commit makes the configQUEUE_REGISTRY_SIZE and
configGENERATE_RUN_TIME_STATS configurable in menuconfig.

- configQUEUE_REGISTRY_SIZE can now be set in menuconfig.
- The functions vQueueAddToRegistry() and vQueueUnregisterQueue() were made
  SMP compatbile
- pcQueueGetName() was backported from FreeRTOS v9.0.0
- Added test case for Queue Registry functions

- configGENERATE_RUN_TIME_STATS can now be enabled in menuconfig. CCOUNT or
  esp_timer can be selected as the FreeRTOS run time clock in menuconfig as
  well, although CCOUNT will overflow quickly.
- Run time stats collection (in vTaskSwitchContext) and generation (in
  uxTaskGetSystemState) have been made SMP compatible. Therefore
  vTaskGetRunTimeStats() now displays the run time usage of each task as a
  percentage of total runtime of both CPUs

Squash
2017-11-14 15:50:31 +08:00
Ivan Grokhotkov
a45e9c806d Merge branch 'bugfix/new_task_watchdog_API_false_trigger' into 'master'
feat/New Task Watchdog API

See merge request !1380
2017-11-07 10:43:56 +08:00
Darian Leung
637ba2e8bb freertos: Test untested functions
Test cases were added for the following functions
- xTaskNotify(), xTaskNotifyGive(), xTaskNotifyFromISR(), vTaskNotifyGiveFromISR(),
- xTaskNotifyWait(), ulTaskNotifyTake()
- vTaskDelayUntil()

The following function was made smp compatible and tested as well
- eTaskGetState()
2017-11-06 15:31:01 +08:00
Darian Leung
9d63e1da4a New Task Watchdog API (Revert of Revert)
This commit reverts the revert on the new task watchdog API. It also
fixes the following bug which caused the reversion.

- sdkconfig TASK_WDT_TIMEOUT_S has been reverted from the unit of ms back to the
unit of seconds. Fixes bug where projects using the new API without rebuilding sdkconfig
would cause the old default value of 5 to be interpreted in ms.

This commit also adds the following features to the task watchdog

- Updated idle hook registration to be compatible with dual core hooks

- Updated dual core hooks to support deregistration for cpu

- Legacy mode has been removed and esp_task_wdt_feed() is now replaced by
  esp_task_wdt_reset().  esp_task_wdt_feed() is deprecated

- Idle hooks to reset are now registered/deregistered when the idle tasks are
  added/deleted from the Task Watchdog instead of at Task Watchdog init/deinit

- Updated example
2017-11-02 16:47:51 +08:00
Darian Leung
a6854b72cd freertos/make trace facility configurable
This commit makes configUSE_TRACE_FACILITY and
configUSE_STATS_FORMATTING_FUNCTIONS configurable in kconfig. Test cases fro the
functions enabled by the two configurations above have also been added.

Test cases for the following functions have been added...

- uxTaskGetSystemState()
- uxTaskGetTaskNumber()
- vTaskSetTaskNumber()

- xEventGroupClearBitsFromISR()
- xEventGroupSetBitsFromISR()
- uxEventGroupGetNumber()

- uxQueueGetQueueNumber()
- vQueueSetQueueNumber()
- ucQueueGetQueueType()

Test cases for the following functions were not required...

- prvListTaskWithinSingleList()
- prvWriteNameToBuffer()
- vTaskList()
2017-10-20 15:17:17 +08:00
Angus Gratton
3234064b6a freertos: Idle task shouldn't hold xTaskQueueMutex while calling TLS destructors
If the callbacks use any blocking call (ie printf), this can otherwise trigger a deadlock.
2017-10-17 14:31:58 +08:00
Ivan Grokhotkov
468d90762a Merge branch 'bugfix/freertos_portmux_debug' into 'master'
freertos: fix compilation errors with portMUX debugging enabled

See merge request !1392
2017-10-17 04:44:04 +08:00
Ivan Grokhotkov
715d081341 freertos: fix compilation errors with portMUX debugging enabled
Fixes https://github.com/espressif/esp-idf/issues/1057

Ref TW15702.
2017-10-13 08:33:57 +08:00
Angus Gratton
353e81da63 freertos: Also test (& handle) the case where scheduler is disabled on other CPU...
ie CPU A has scheduler disabled and task blocked on Q. CPU B sends to Q (or gives mutex, etc.) Task on CPU A should be woken on scheduler resume.
2017-10-11 10:48:20 +11:00
Angus Gratton
3e62c2e052 freertos: When scheduler is disabled, tasks on other core should immediately resume
... if triggered by a SemaphoreGive/etc.

Previously they would resume after scheduler was resumed, on next
RTOS tick of other CPU.
2017-10-11 10:48:20 +11:00
Angus Gratton
f2f9170abc freertos: Fix bug with xTaskResumeAll() not resuming all tasks
Previously if multiple tasks had been added to xPendingReadyList for the CPU, only the first one was resumed.

Includes a test case for resuming multiple (pending) tasks on xTaskResumeAll().

Document the limitation that while scheduler is suspended on one CPU, it can't wake tasks on either CPU.
2017-10-11 10:48:20 +11:00
Jeroen Domburg
b6a2bd1184 Revert "esp32: New Task Watchdog API"
This reverts commit 616baa239d.
2017-09-30 18:07:19 +08:00
Darian Leung
616baa239d esp32: New Task Watchdog API
Legacy API of task watchdog used the same function esp_task_wdt_feed() to add
and feed a task. This caused issues of implicitly adding a task to the wdt list
if the function was used in shared code.

The new API introduces init, adding, feeding, deleting, deinit functions. Tasks
must now be explicitly added to the task watchdog using their handles. Deletion
must also be explicit using task handles. This resolves the issue of implicit
task additions to the task watchdog due to shared code calling
esp_task_wdt_feed().

Task watchdog is now fully configurable at runtime by calling the init and
deinit functions.

Also added functions to get the handles of idle tasks of the other core. This
helps when adding idle tasks to the watchdog at run time.

Configuring the task watchdog using menu config is still available, however
menu config will only result in calling the init and add functions for idle
tasks shortly after the scheduler starts.

Menu config also allows for using legacy behavior, however the legacy behavior
willcall the new API functions but with slight variations to make them legacy
compatible.

Documentation and example have also been updated

gcov_rtio.c headers updated to prevent error of freertos header files being
included in the wrong order.

Resolves issue TW#13265
2017-09-29 23:10:55 +08:00
Jeroen Domburg
740f8a79f0 Add logic to make external RAM usable with malloc() 2017-09-28 17:17:50 +08:00
Alexey Gerenkov
4e0c3a0415 esp32: Fixes crash during core dump.
Removes piece of debugging code introduced by 8d43859b.
2017-09-11 17:20:42 +03:00
Alexey Gerenkov
20942421c3 According to review comments 2017-09-06 10:30:23 +08:00
Alexey Gerenkov
c631c6b358 1) Mux API was added
2) C++ test for threading and mux functions
2017-09-06 10:30:23 +08:00
Angus Gratton
4486d4cb10 portmux: Add vPortCPUAcquireMutexTimeout() function
Refactor app_trace locking to use this function.
2017-09-04 19:11:51 +10:00
Angus Gratton
5c996a1b29 freertos: Inline vPortCPUAcquireMutex/vPortCPUReleaseMutex into implementations
Further improves performance:
No contention -> 134 cycles
Recursion -> 117 cycles
Contention -> 323 cycles
2017-09-04 19:11:51 +10:00
Angus Gratton
4d42b2d100 freertos spinlock/portmux: Reduce spinlocking overhead
Ref TW7117

Microbenchmarks in unit tests:

(All numbers in cycles per benchmarked operation):

Release mode
No lock contention lock/unlock -       301 -> 167 (-45%)
Recursive no contention lock/unlock -  289 -> 148 (-49%)
Lock contention two CPUs (lock/unlock) 699 -> 400 (-43%)

Debug mode
No lock contention lock/unlock -       355 -> 203 (-43%)
Recursive no contention lock/unlock -  345 -> 188 (-46%)
Lock contention two CPUs (lock/unlock) 761 -> 483 (-36%)
2017-09-04 19:11:51 +10:00
Angus Gratton
3ad163e644 freertos: Bump idle stack size to 1KB, min stack to 768 bytes, make configurable
Reverts regression mentioned at
3fe0022efa (commitcomment-23013504)
2017-07-11 14:48:15 +08:00
Alexey Gerenkov
8d43859b6a esp32: SEGGER SystemView Tracing Support
Implements support for system level traces compatible with SEGGER
SystemView tool on top of ESP32 application tracing module.
That kind of traces can help to analyse program's behaviour.
SystemView can show timeline of tasks/ISRs execution, context switches,
statistics related to the CPUs' load distribution etc.

Also this commit adds useful feature to ESP32 application tracing module:
 - Trace data buffering is implemented to handle temporary peaks of events load
2017-06-27 20:52:43 +03:00
Ivan Grokhotkov
7ed8c66547 Merge branch 'bugfix/uxTaskGetSystemState_github_#12142' into 'master'
Bugfix for uxTaskGetSystemState

See merge request !883
2017-06-20 17:27:08 +08:00
Darian Leung
1c798b0eab BugFix: uxTaskGetSystemState test case update
Updated test case to include configASSERT cases (+1 squashed commits)

Squashed commits:

[871ec26f] Freertos:Bugfix uxTaskGetSystemState

Bug (github #12142) with uxTaskGetSystemState where
if called immediately after creating a bunch of tasks,
those tasks would be added twice into the TaskStatusArray.
Bug caused due to use old implementation using vTaskSuspendAll
which did not stop newly created task on other core from accessing the
read/waiting task lists whilst the list were being read by
uxTaskGetSystemState. Fixed bug by replacing vTaskSuspendAll
with taskENTER_CRITICAL and added test case for the bugfix
2017-06-16 16:00:54 +08:00
Jiang Jiang Jian
9a6b1c3b11 Merge branch 'bugfix/always_disable_ints_in_critical_region' into 'master'
Always disable interrupts in a critical region

See merge request !821
2017-06-16 11:36:27 +08:00
Angus Gratton
8bf675786a Merge branch 'feature/freertos_get_priority' into 'master'
freertos: Mark uxTaskPriorityGet() as tested, add SMP task priority unit tests

See merge request !794
2017-06-14 08:31:00 +08:00
Jeroen Domburg
d4b0f85eb4 Make portENTER_CRITICAL and portENTER_CRITICAL_ISR the same, plus some changes to fix an issue this causes 2017-06-05 15:57:42 +08:00
Angus Gratton
b9fc5ecf68 freertos: Fix crash when waking task on CPU1 with scheduler disabled
xPendingReadyList[1] was never initialised correctly, so if a task is added to this list (ie by xSemaphoreGiveFromISR()
or similar) while scheduler is disabled, then it causes a null pointer dereference.

Bug produces stack traces similar to:
0x40086e87: vListInsertEnd at /home/gus/esp/32/idf/components/freertos/./list.c:130
0x40084ba3: xTaskRemoveFromEventList at /home/gus/esp/32/idf/components/freertos/./tasks.c:3439
0x40083c54: xQueueGiveFromISR at /home/gus/esp/32/idf/components/freertos/./queue.c:2034
0x400f50a0: timer_group0_isr at /home/gus/esp/32/idf/components/freertos/test/./test_suspend_scheduler.c:27
0x40081d7d: _xt_lowint1 at xtensa_vectors.o:?
2017-06-05 16:12:20 +10:00
jack
fc130fba86 fix bug that files missing commit in MR 773 2017-05-31 19:37:39 +08:00
Angus Gratton
4947c953d3 freertos: Mark uxTaskPriorityGet() as tested
Also adds some SMP-aware dynamic task priority unit tests
2017-05-29 16:19:00 +10:00
Angus Gratton
1ddf40feb7 Merge branch 'bugfix/freertos_larger_stacksize' into 'master'
Make internal stack size variables in FreeRTOS 32-bit instead of 16-bit

Stock FreeRTOS uses an uint16 to store stack sizes, making it impossible to allocate a stack >64K. This changes this into an uint32, allowing for larger stacks.

See merge request !677
2017-05-17 10:23:39 +08:00
Angus Gratton
895e7423a3 freertos: Preempt other CPU when deleting a task running on it
Includes related fix to preemption unit tests (delete a queue after deleting the task blocked on it.)
2017-05-10 17:23:33 +10:00
Ivan Grokhotkov
e18f8da528 Merge branch 'bugfix/assert_on_pin_task_nonexistent_cpu' into 'master'
Assert when a new task is started on a nonexisting CPU

Previously, starting a task on a CPU ID higher than the amount of CPUs FreeRTOS is configured with would not start the task and possibly have unintended side effects due to some out-of-bounds array writes. Assert on this so the app aborts cleanly.

See merge request !701
2017-04-28 19:55:26 +08:00
Angus Gratton
66726ec166 freertos: Enable vTaskSuspend()/vTaskResume() API
Adds relevant unit tests.

TW11878
2017-04-26 12:50:20 +10:00
Jeroen Domburg
aaeb2bd110 Assert when a new task is started on a nonexisting CPU 2017-04-25 17:47:25 +08:00
Jeroen Domburg
b209c6dcbb Make internal stack size variables in FreeRTOS 32-bit instead of 16-bit 2017-04-19 10:47:19 +08:00
Angus Gratton
45581dbaca freertos: Delay context switch from queue/task APIs until exiting critical section
Closes #374: https://github.com/espressif/esp-idf/issues/374
2017-04-04 10:10:08 +10:00
Daniel Campora
01ad387ac8 freertos: Add config parameters to customize FreeRTOS behaviour.
The options are:
    - SUPPORT_STATIC_ALLOCATION
    - ENABLE_STATIC_TASK_CLEAN_UP_HOOK
    - TIMER_TASK_PRIORITY
    - TIMER_TASK_STACK_DEPTH
    - TIMER_QUEUE_LENGTH

Merges #444 https://github.com/espressif/esp-idf/pull/444
2017-03-22 15:21:38 +08:00
Angus Gratton
8de26e434c freertos: Schedule tasks immediately when they are created on opposite core 2017-02-28 15:47:15 +11:00
Jeroen Domburg
ce7d0a7015 Fixed a small bug where a task could initially be scheduled on a wrong CPU, and a much bigger bug where a yield was performed with a held mux. 2017-02-22 17:04:51 +08:00
Liu Zhi Fu
0017e75bda freertos: fix protection issue in freertos queue event list
When functions in queue.c calls listLIST_IS_EMPTY() to check queue event list, the queue list is
protected by queue mutex, on the other hand, when xTaskIncrementTick() modify the queue list, the
 queue list is protected by xTaskQueueMutex, this may cause xTaskRemoveFromEventList operate on
the empty queue list and cause problem. This commit is to fix this bug.

may cause
2017-02-10 10:30:17 +08:00
Jeroen Domburg
d07a149e2c Fix interrupting task on other CPU that has lower prio than current task on current CPU 2017-02-06 17:53:07 +08:00
Ivan Grokhotkov
31ec0a7c44 freertos: call tick hooks on CPU1 even if CPU0 scheduler is suspended
The block which dispatches ticks on CPU1 was a copy of the code block
for the normal path (CPU0). It used to check uxPendedTicks, with the
logic that uxPendedTicks can be 0 iff the scheduler is not suspended.

On CPU1 however, uxPendedTicks is not related to the state of the
scheduler (as uxPendedTicks is updated on CPU0). Due to this, if CPU0
scheduler was suspended, and uxPendedTicks happened to be nonzero,
tick hooks on CPU1 didn’t run, even though CPU1 scheduler was working.

This change removes the check for uxPendedTicks in CPU1 code path,
so that the tick hooks on CPU1 always get called (as for the CPU0 code
path).
2017-01-18 23:19:05 +08:00
Alexey Gerenkov
39ddc7b836 esp32: Fixes several issues in core dump feature
1) PS is fixed up to allow GDB backtrace to work properly
2) MR!341 discussion: in core dump module: esp_panicPutXXX was replaced by ets_printf.
3) MR!341 discussion: core dump flash magic number was changed.
4) MR!341 discussion: SPI flash access API was redesigned to allow flexible critical section management.
5) test app for core dump feature was added
6) fixed base64 file reading issues on Windows platform
7) now raw bin core file is deleted upon core loader failure by epscoredump.py
2017-01-11 20:51:28 +03:00
Alexey Gerenkov
4a3e160888 esp32: Add core dump saving to flash feature
Complimentary changes:
1) Partition table definitions files with core dump partition
2) Special sub-type for core dump partition
3) Special version of spi_flash_xxx
4) espcoredump.py is script to get core dump from flash and print useful info
5) FreeRTOS API was extended to get tasks snapshots
2017-01-11 20:51:28 +03:00
Jeroen Domburg
881157e1ed Add documentation to panic handler functions, move watchpoint stuff from tasks.c to port.c, account for non-32-bytes-aligned stacks when setting watchpoint, add debug reason explanation to panic handler 2017-01-10 13:05:19 +08:00
Jeroen Domburg
ca57a86f20 Add option to automatically set a watchpoint at the end of the swapped-in task 2017-01-09 16:42:45 +08:00
Liu Zhi Fu
d049fd3929 freertos: rework code based on review 2016-12-27 12:11:07 +08:00