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Merge pull request #11947 from gschorcht/cpu/esp32/freertos-critcial-sections

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cpu/esp32: critcial section handling changed in FreeRTOS adaptation layer
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benpicco 2019-09-05 12:40:45 +02:00 committed by GitHub
commit dbd97b7588
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4 changed files with 24 additions and 10 deletions
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5
cpu/esp32/Makefile
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@ -4,7 +4,6 @@ MODULE = cpu
# Add a list of subdirectories, that should also be built: # Add a list of subdirectories, that should also be built:
DIRS += $(RIOTCPU)/esp_common DIRS += $(RIOTCPU)/esp_common
DIRS += periph DIRS += periph
DIRS += freertos
DIRS += vendor DIRS += vendor
ifneq (, $(filter esp_cxx, $(USEMODULE))) ifneq (, $(filter esp_cxx, $(USEMODULE)))
@ -23,4 +22,8 @@ ifneq (, $(filter esp_wifi, $(USEMODULE)))
DIRS += esp-wifi DIRS += esp-wifi
endif endif
ifneq (, $(filter riot_freertos, $(USEMODULE)))
DIRS += freertos
endif
include $(RIOTBASE)/Makefile.base include $(RIOTBASE)/Makefile.base

1
cpu/esp32/Makefile.include
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@ -79,6 +79,7 @@ USEMODULE += periph_hwrng
USEMODULE += periph_flash USEMODULE += periph_flash
USEMODULE += periph_rtc USEMODULE += periph_rtc
USEMODULE += periph_uart USEMODULE += periph_uart
USEMODULE += riot_freertos
USEMODULE += random USEMODULE += random
USEMODULE += stdio_uart USEMODULE += stdio_uart
USEMODULE += xtensa USEMODULE += xtensa

17
cpu/esp32/freertos/task.c
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@ -10,7 +10,7 @@
#ifndef DOXYGEN #ifndef DOXYGEN
#define ENABLE_DEBUG 0 #define ENABLE_DEBUG (0)
#include "debug.h" #include "debug.h"
#include <string.h> #include <string.h>
@ -139,8 +139,14 @@ void vTaskEnterCritical( portMUX_TYPE *mux )
/* disable interrupts */ /* disable interrupts */
uint32_t state = irq_disable(); uint32_t state = irq_disable();
/* aquire the mutex with interrupts disabled */ /* Locking the given mutex does not work here, as this function can also
mutex_lock(mux); /* TODO should be only a spin lock */ be called in the interrupt context. Therefore, the given mutex is not
used. Instead, the basic default FreeRTOS mechanism for critical
sections is used by simply disabling interrupts. Since context
switches for the ESP32 are also based on interrupts, there is no
possibility that another thread will enter the critical section
once the interrupts are disabled. */
/* mutex_lock(mux); */ /* TODO should be only a spin lock */
/* increment nesting counter and save old interrupt level */ /* increment nesting counter and save old interrupt level */
threads_arch_exts[my_pid].critical_nesting++; threads_arch_exts[my_pid].critical_nesting++;
@ -157,8 +163,9 @@ void vTaskExitCritical( portMUX_TYPE *mux )
DEBUG("%s pid=%d prio=%d mux=%p\n", __func__, DEBUG("%s pid=%d prio=%d mux=%p\n", __func__,
my_pid, sched_threads[my_pid]->priority, mux); my_pid, sched_threads[my_pid]->priority, mux);
/* release the mutex with interrupts disabled */ /* The given mutex is not used (see vTaskEnterCritical) and has not to
mutex_unlock(mux); /* TODO should be only a spin lock */ be unlocked here. */
/* mutex_unlock(mux); */ /* TODO should be only a spin lock */
/* decrement nesting counter and restore old interrupt level */ /* decrement nesting counter and restore old interrupt level */
if (threads_arch_exts[my_pid].critical_nesting) { if (threads_arch_exts[my_pid].critical_nesting) {

11
cpu/esp32/include/freertos/portmacro.h
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@ -30,8 +30,8 @@ extern "C" {
#define portMUX_TYPE mutex_t #define portMUX_TYPE mutex_t
#define portMUX_INITIALIZER_UNLOCKED MUTEX_INIT #define portMUX_INITIALIZER_UNLOCKED MUTEX_INIT
#define portENTER_CRITICAL(pm) mutex_lock(pm) #define portENTER_CRITICAL(mux) vTaskEnterCritical(mux)
#define portEXIT_CRITICAL(pm) mutex_unlock(pm) #define portEXIT_CRITICAL(mux) vTaskExitCritical(mux)
#define portENTER_CRITICAL_NESTED irq_disable #define portENTER_CRITICAL_NESTED irq_disable
#define portEXIT_CRITICAL_NESTED irq_restore #define portEXIT_CRITICAL_NESTED irq_restore
@ -39,15 +39,18 @@ extern "C" {
#define portEXIT_CRITICAL_ISR(mux) vTaskExitCritical(mux) #define portEXIT_CRITICAL_ISR(mux) vTaskExitCritical(mux)
#define taskENTER_CRITICAL(mux) portENTER_CRITICAL(mux) #define taskENTER_CRITICAL(mux) portENTER_CRITICAL(mux)
#define taskENTER_CRITICAL_ISR(mux) portENTER_CRITICAL_ISR(mux) #define taskENTER_CRITICAL_ISR(mux) portENTER_CRITICAL_ISR(mux)
#define taskEXIT_CRITICAL(mux) portEXIT_CRITICAL(mux) #define taskEXIT_CRITICAL(mux) portEXIT_CRITICAL(mux)
#define taskEXIT_CRITICAL_ISR(mux) portEXIT_CRITICAL_ISR(mux) #define taskEXIT_CRITICAL_ISR(mux) portEXIT_CRITICAL_ISR(mux)
#define portYIELD_FROM_ISR thread_yield_higher #define portYIELD_FROM_ISR thread_yield_higher
#define portNUM_PROCESSORS 2 #define portNUM_PROCESSORS 2
#define xPortGetCoreID() PRO_CPU_NUM #define xPortGetCoreID() PRO_CPU_NUM
extern void vTaskEnterCritical(portMUX_TYPE *mux);
extern void vTaskExitCritical(portMUX_TYPE *mux);
#ifdef __cplusplus #ifdef __cplusplus
} }
#endif #endif