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Merge branch 'zim-xtaskdelayuntil-and-a-few-minor' into 'master'

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freertos: upgrade to 10.4.3 - xTaskDelayUntil change and a few minor changes

See merge request espressif/esp-idf!15011
This commit is contained in:
Zim Kalinowski 2021-09-02 10:01:16 +00:00
commit b7dbd3ffc1
5 changed files with 128 additions and 28 deletions
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38
components/freertos/include/freertos/FreeRTOS.h
View File

@ -53,12 +53,13 @@
#endif
/* *INDENT-ON* */
#ifdef ESP_PLATFORM
/* for likely and unlikely */
#include "esp_compiler.h"
#endif // ESP_PLATFORM
/* Application specific configuration options. */
#include "freertos/FreeRTOSConfig.h"
/* Basic FreeRTOS definitions. */
#include "projdefs.h"
@ -129,8 +130,28 @@
#define INCLUDE_vTaskSuspend 0
#endif
#ifndef INCLUDE_vTaskDelayUntil
#define INCLUDE_vTaskDelayUntil 0
#ifdef INCLUDE_xTaskDelayUntil
#ifdef INCLUDE_vTaskDelayUntil
/* INCLUDE_vTaskDelayUntil was replaced by INCLUDE_xTaskDelayUntil. Backward
* compatibility is maintained if only one or the other is defined, but
* there is a conflict if both are defined. */
#error INCLUDE_vTaskDelayUntil and INCLUDE_xTaskDelayUntil are both defined. INCLUDE_vTaskDelayUntil is no longer required and should be removed
#endif
#endif
#ifndef INCLUDE_xTaskDelayUntil
#ifdef INCLUDE_vTaskDelayUntil
/* If INCLUDE_vTaskDelayUntil is set but INCLUDE_xTaskDelayUntil is not then
* the project's FreeRTOSConfig.h probably pre-dates the introduction of
* xTaskDelayUntil and setting INCLUDE_xTaskDelayUntil to whatever
* INCLUDE_vTaskDelayUntil is set to will ensure backward compatibility.
*/
#define INCLUDE_xTaskDelayUntil INCLUDE_vTaskDelayUntil
#endif
#endif
#ifndef INCLUDE_xTaskDelayUntil
#define INCLUDE_xTaskDelayUntil 0
#endif
#ifndef INCLUDE_vTaskDelay
@ -888,12 +909,14 @@
#endif
#ifndef configSTACK_DEPTH_TYPE
/* Defaults to uint16_t for backward compatibility, but can be overridden
* in FreeRTOSConfig.h if uint16_t is too restrictive. */
#define configSTACK_DEPTH_TYPE uint16_t
#endif
#ifndef configMESSAGE_BUFFER_LENGTH_TYPE
/* Defaults to size_t for backward compatibility, but can be overridden
* in FreeRTOSConfig.h if lengths will always be less than the number of bytes
* in a size_t. */
@ -920,6 +943,7 @@
#endif
#if ( portTICK_TYPE_IS_ATOMIC == 0 )
/* Either variables of tick type cannot be read atomically, or
* portTICK_TYPE_IS_ATOMIC was not set - map the critical sections used when
* the tick count is returned to the standard critical section macros. */
@ -1005,9 +1029,11 @@
#define pxContainer pvContainer
#endif /* configENABLE_BACKWARD_COMPATIBILITY */
#ifdef ESP_PLATFORM
#ifndef configESP32_PER_TASK_DATA
#define configESP32_PER_TASK_DATA 1
#endif
#endif // ESP_PLATFORM
#if ( configUSE_ALTERNATIVE_API != 0 )
#error The alternative API was deprecated some time ago, and was removed in FreeRTOS V9.0 0
@ -1246,9 +1272,7 @@ typedef struct xSTATIC_QUEUE
UBaseType_t uxDummy8;
uint8_t ucDummy9;
#endif
portMUX_TYPE xDummy10;
} StaticQueue_t;
typedef StaticQueue_t StaticSemaphore_t;
@ -1278,9 +1302,7 @@ typedef struct xSTATIC_EVENT_GROUP
#if ( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
uint8_t ucDummy4;
#endif
portMUX_TYPE xDummy5;
} StaticEventGroup_t;
/*
@ -1332,9 +1354,7 @@ typedef struct xSTATIC_STREAM_BUFFER
#if ( configUSE_TRACE_FACILITY == 1 )
UBaseType_t uxDummy4;
#endif
portMUX_TYPE xDummy5;
} StaticStreamBuffer_t;
/* Message buffers are built on stream buffers. */

29
components/freertos/include/freertos/queue.h
View File

@ -80,8 +80,30 @@ typedef struct QueueDefinition * QueueSetMemberHandle_t;
/** @endcond */
/**
* Creates a new queue instance. This allocates the storage required by the
* new queue and returns a handle for the queue.
* @cond
* queue. h
* @code{c}
* QueueHandle_t xQueueCreate(
* UBaseType_t uxQueueLength,
* UBaseType_t uxItemSize
* );
* @endcode
* @endcond
*
* Creates a new queue instance, and returns a handle by which the new queue
* can be referenced.
*
* Internally, within the FreeRTOS implementation, queues use two blocks of
* memory. The first block is used to hold the queue's data structures. The
* second block is used to hold items placed into the queue. If a queue is
* created using xQueueCreate() then both blocks of memory are automatically
* dynamically allocated inside the xQueueCreate() function. (see
* https://www.FreeRTOS.org/a00111.html). If a queue is created using
* xQueueCreateStatic() then the application writer must provide the memory that
* will get used by the queue. xQueueCreateStatic() therefore allows a queue to
* be created without using any dynamic memory allocation.
*
* https://www.FreeRTOS.org/Embedded-RTOS-Queues.html
*
* @param uxQueueLength The maximum number of items that the queue can contain.
*
@ -1562,7 +1584,8 @@ BaseType_t xQueueGiveMutexRecursive( QueueHandle_t xMutex ) PRIVILEGED_FUNCTION;
* preferably in ROM/Flash), not on the stack.
*/
#if ( configQUEUE_REGISTRY_SIZE > 0 )
void vQueueAddToRegistry( QueueHandle_t xQueue, const char * pcQueueName ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
void vQueueAddToRegistry( QueueHandle_t xQueue,
const char * pcQueueName ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
#endif
/**

46
components/freertos/include/freertos/task.h
View File

@ -867,7 +867,10 @@ void vTaskDelete( TaskHandle_t xTaskToDelete ) PRIVILEGED_FUNCTION;
*----------------------------------------------------------*/
/**
* Delay a task for a given number of ticks.
* task. h
* @code{c}
* void vTaskDelay( const TickType_t xTicksToDelay );
* @endcode
*
* Delay a task for a given number of ticks. The actual time that the
* task remains blocked depends on the tick rate. The constant
@ -885,7 +888,7 @@ void vTaskDelete( TaskHandle_t xTaskToDelete ) PRIVILEGED_FUNCTION;
* of controlling the frequency of a periodic task as the path taken through the
* code, as well as other task and interrupt activity, will effect the frequency
* at which vTaskDelay() gets called and therefore the time at which the task
* next executes. See vTaskDelayUntil() for an alternative API function designed
* next executes. See xTaskDelayUntil() for an alternative API function designed
* to facilitate fixed frequency execution. It does this by specifying an
* absolute time (rather than a relative time) at which the calling task should
* unblock.
@ -917,9 +920,12 @@ void vTaskDelete( TaskHandle_t xTaskToDelete ) PRIVILEGED_FUNCTION;
void vTaskDelay( const TickType_t xTicksToDelay ) PRIVILEGED_FUNCTION;
/**
* Delay a task until a specified time.
* task. h
* @code{c}
* BaseType_t xTaskDelayUntil( TickType_t *pxPreviousWakeTime, const TickType_t xTimeIncrement );
* @endcode
*
* INCLUDE_vTaskDelayUntil must be defined as 1 for this function to be available.
* INCLUDE_xTaskDelayUntil must be defined as 1 for this function to be available.
* See the configuration section for more information.
*
* Delay a task until a specified time. This function can be used by periodic
@ -934,22 +940,26 @@ void vTaskDelay( const TickType_t xTicksToDelay ) PRIVILEGED_FUNCTION;
* each time it executes].
*
* Whereas vTaskDelay () specifies a wake time relative to the time at which the function
* is called, vTaskDelayUntil () specifies the absolute (exact) time at which it wishes to
* is called, xTaskDelayUntil () specifies the absolute (exact) time at which it wishes to
* unblock.
*
* The constant portTICK_PERIOD_MS can be used to calculate real time from the tick
* rate - with the resolution of one tick period.
* The macro pdMS_TO_TICKS() can be used to calculate the number of ticks from a
* time specified in milliseconds with a resolution of one tick period.
*
* @param pxPreviousWakeTime Pointer to a variable that holds the time at which the
* task was last unblocked. The variable must be initialised with the current time
* prior to its first use (see the example below). Following this the variable is
* automatically updated within vTaskDelayUntil ().
* automatically updated within xTaskDelayUntil ().
*
* @param xTimeIncrement The cycle time period. The task will be unblocked at
* time *pxPreviousWakeTime + xTimeIncrement. Calling vTaskDelayUntil with the
* time *pxPreviousWakeTime + xTimeIncrement. Calling xTaskDelayUntil with the
* same xTimeIncrement parameter value will cause the task to execute with
* a fixed interface period.
*
* @return Value which can be used to check whether the task was actually delayed.
* Will be pdTRUE if the task way delayed and pdFALSE otherwise. A task will not
* be delayed if the next expected wake time is in the past.
*
* Example usage:
* @code{c}
* // Perform an action every 10 ticks.
@ -957,15 +967,17 @@ void vTaskDelay( const TickType_t xTicksToDelay ) PRIVILEGED_FUNCTION;
* {
* TickType_t xLastWakeTime;
* const TickType_t xFrequency = 10;
* BaseType_t xWasDelayed;
*
* // Initialise the xLastWakeTime variable with the current time.
* xLastWakeTime = xTaskGetTickCount ();
* for( ;; )
* {
* // Wait for the next cycle.
* vTaskDelayUntil( &xLastWakeTime, xFrequency );
* xWasDelayed = xTaskDelayUntil( &xLastWakeTime, xFrequency );
*
* // Perform action here.
* // Perform action here. xWasDelayed value can be used to determine
* // whether a deadline was missed if the code here took too long.
* }
* }
* @endcode
@ -974,9 +986,19 @@ void vTaskDelay( const TickType_t xTicksToDelay ) PRIVILEGED_FUNCTION;
* @endcond
* \ingroup TaskCtrl
*/
void vTaskDelayUntil( TickType_t * const pxPreviousWakeTime,
BaseType_t xTaskDelayUntil( TickType_t * const pxPreviousWakeTime,
const TickType_t xTimeIncrement ) PRIVILEGED_FUNCTION;
/*
* vTaskDelayUntil() is the older version of xTaskDelayUntil() and does not
* return a value.
*/
#define vTaskDelayUntil( pxPreviousWakeTime, xTimeIncrement ) \
{ \
( void ) xTaskDelayUntil( pxPreviousWakeTime, xTimeIncrement ); \
}
/**
* @cond
* task. h

1
components/freertos/linker.lf
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@ -34,6 +34,7 @@ entries:
tasks: xTaskGetCurrentTaskHandleForCPU (default)
tasks: vTaskDelete (default)
tasks: vTaskDelayUntil (default)
tasks: xTaskDelayUntil (default)
tasks: vTaskDelay (default)
tasks: vTaskSuspend (default)
tasks: xTaskResumeAll (default)

42
components/freertos/tasks.c
View File

@ -1440,19 +1440,36 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB,
#endif /* INCLUDE_vTaskDelete */
/*-----------------------------------------------------------*/
#if ( INCLUDE_vTaskDelayUntil == 1 )
#if ( INCLUDE_xTaskDelayUntil == 1 )
#ifdef ESP_PLATFORM
// backward binary compatibility - remove later
#undef vTaskDelayUntil
void vTaskDelayUntil( TickType_t * const pxPreviousWakeTime,
const TickType_t xTimeIncrement )
{
xTaskDelayUntil(pxPreviousWakeTime, xTimeIncrement);
}
#endif // ESP_PLATFORM
BaseType_t xTaskDelayUntil( TickType_t * const pxPreviousWakeTime,
const TickType_t xTimeIncrement )
{
TickType_t xTimeToWake;
#ifdef ESP_PLATFORM
BaseType_t xShouldDelay = pdFALSE;
#else
BaseType_t xAlreadyYielded, xShouldDelay = pdFALSE;
#endif // ESP_PLATFORM
configASSERT( pxPreviousWakeTime );
configASSERT( ( xTimeIncrement > 0U ) );
configASSERT( uxSchedulerSuspended[xPortGetCoreID()] == 0 );
#ifdef ESP_PLATFORM
taskENTER_CRITICAL();
#else
vTaskSuspendAll();
#endif // ESP_PLATFORM
{
/* Minor optimisation. The tick count cannot change in this
* block. */
@ -1508,13 +1525,30 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB,
mtCOVERAGE_TEST_MARKER();
}
}
#ifdef ESP_PLATFORM
taskEXIT_CRITICAL();
#else
xAlreadyYielded = xTaskResumeAll();
#endif // ESP_PLATFORM
/* Force a reschedule, we may have put ourselves to sleep. */
/* Force a reschedule if xTaskResumeAll has not already done so, we may
* have put ourselves to sleep. */
#ifdef ESP_PLATFORM
portYIELD_WITHIN_API();
#else
if( xAlreadyYielded == pdFALSE )
{
portYIELD_WITHIN_API();
}
else
{
mtCOVERAGE_TEST_MARKER();
}
#endif // ESP_PLATFORM
return xShouldDelay;
}
#endif /* INCLUDE_vTaskDelayUntil */
#endif /* INCLUDE_xTaskDelayUntil */
/*-----------------------------------------------------------*/
#if ( INCLUDE_vTaskDelay == 1 )