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Merge branch 'fix/priority_inv_when_remove_from_unordered_event_list' into 'master'

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fix(freertos): Fixed priority inversion when setting event group bits

Closes IDF-8160

See merge request espressif/esp-idf!33953
This commit is contained in:
Sudeep Mohanty 2024-10-11 17:49:08 +08:00
commit a97a7b0962
2 changed files with 64 additions and 4 deletions
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17
components/freertos/FreeRTOS-Kernel/tasks.c
View File

@ -4123,10 +4123,19 @@ void vTaskRemoveFromUnorderedEventList( ListItem_t * pxEventListItem,
if( taskIS_YIELD_REQUIRED( pxUnblockedTCB, pdFALSE ) == pdTRUE )
{
/* The unblocked task has a priority above that of the calling task, so
* a context switch is required. This function is called with the
* scheduler suspended so xYieldPending is set so the context switch
* occurs immediately that the scheduler is resumed (unsuspended). */
xYieldPending[ xCurCoreID ] = pdTRUE;
* a context switch is required. */
#if ( configNUM_CORES > 1 )
/* In SMP mode, this function is called from a critical section, so we
* yield the current core to schedule the unblocked task. */
portYIELD_WITHIN_API();
#else /* configNUM_CORES > 1 */
/* In single-core mode, this function is called with the scheduler suspended
* so xYieldPending is set so the context switch occurs immediately once the
* scheduler is resumed (unsuspended). */
xYieldPending[ xCurCoreID ] = pdTRUE;
#endif /* configNUM_CORES > 1 */
}
}
}

51
components/freertos/test_apps/freertos/kernel/event_groups/test_freertos_eventgroups.c
View File

@ -132,6 +132,57 @@ TEST_CASE("FreeRTOS Event Group Sync", "[freertos]")
vEventGroupDelete(eg);
}
static TaskHandle_t run_order[2];
static uint32_t run_order_index = 0;
void task_test_eg_prio(void *arg)
{
TaskHandle_t main_task_hdl = (TaskHandle_t)arg;
/* Notify the main task that this task has been created */
xTaskNotifyGive(main_task_hdl);
/* Wait for the event group bits to be set */
TEST_ASSERT_EQUAL(1, xEventGroupWaitBits(eg, 1, pdTRUE, pdTRUE, portMAX_DELAY));
/* Record the task handle in the run order array */
run_order[run_order_index++] = xTaskGetCurrentTaskHandle();
/* Suspend the task */
vTaskSuspend(NULL);
}
TEST_CASE("FreeRTOS Event Groups do not cause priority inversion when higher priority task is unblocked", "[freertos]")
{
run_order[0] = NULL;
run_order[1] = NULL;
run_order_index = 0;
/* Initialize the event group */
eg = xEventGroupCreate();
/* Create a task with higher priority than the task that will set the event group bits */
TaskHandle_t higher_prio_hdl;
TEST_ASSERT_EQUAL(pdTRUE, xTaskCreatePinnedToCore(task_test_eg_prio, "task_test_eg_prio", 2048, (void *)xTaskGetCurrentTaskHandle(), CONFIG_UNITY_FREERTOS_PRIORITY + 1, &higher_prio_hdl, CONFIG_UNITY_FREERTOS_CPU));
/* Wait for the task to be created */
ulTaskNotifyTake(pdTRUE, portMAX_DELAY);
/* Set the event group bits */
xEventGroupSetBits(eg, 1);
/* Record the task handle in the run order array */
run_order[run_order_index++] = xTaskGetCurrentTaskHandle();
/* Verify that the higher priority task was unblocked and immediately scheduled and the lower priority task was preempted */
TEST_ASSERT_EQUAL(higher_prio_hdl, run_order[0]);
TEST_ASSERT_EQUAL(xTaskGetCurrentTaskHandle(), run_order[1]);
/* Clean up */
vEventGroupDelete(eg);
vTaskDelete(higher_prio_hdl);
}
/*-----------------Test case for event group trace facilities-----------------*/
#ifdef CONFIG_FREERTOS_USE_TRACE_FACILITY
/*