Skip to content

Commit

Permalink
Merge branch 'bugfix/fix_freertos_system_task_names_v5.1' into 'relea…
Browse files Browse the repository at this point in the history 
…se/v5.1'

fix(freertos): Updated IDLE task names for each core to have the coreID as a suffix (v5.1)

See merge request espressif/esp-idf!26118
  • Loading branch information
@ESP-Marius
ESP-Marius committed Nov 14, 2023
2 parents 0f61bd2 + 77492f3 commit 3d29672
Show file tree
Hide file tree
Showing 2 changed files with 138 additions and 26 deletions.
162 changes: 137 additions & 25 deletions components/freertos/FreeRTOS-Kernel/tasks.c
View file
Expand Up @@ -529,6 +529,11 @@ PRIVILEGED_DATA static volatile BaseType_t xSwitchingContext[ configNUM_CORES ]

/* File private functions. --------------------------------*/

/*
* Creates the idle tasks during scheduler start.
*/
static BaseType_t prvCreateIdleTasks( void );

/**
* Utility task that simply returns pdTRUE if the task referenced by xTask is
* currently in the Suspended state, or pdFALSE if the task referenced by xTask
Expand Down Expand Up @@ -2323,16 +2328,14 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB )
#endif /* ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) */
/*-----------------------------------------------------------*/

void vTaskStartScheduler( void )
static BaseType_t prvCreateIdleTasks( void )
{
BaseType_t xReturn;
BaseType_t xReturn = pdPASS;

#ifdef ESP_PLATFORM
/* Create an IDLE task for each core */
for( BaseType_t xCoreID = 0; xCoreID < configNUM_CORES; xCoreID++ )
#endif //ESP_PLATFORM
/* Add the idle task at the lowest priority. */
#if ( configSUPPORT_STATIC_ALLOCATION == 1 )
#if ( configNUM_CORES == 1 )
{
/* Add the idle task at the lowest priority. */
#if ( configSUPPORT_STATIC_ALLOCATION == 1 )
{
StaticTask_t * pxIdleTaskTCBBuffer = NULL;
StackType_t * pxIdleTaskStackBuffer = NULL;
Expand All @@ -2341,16 +2344,16 @@ void vTaskStartScheduler( void )
/* The Idle task is created using user provided RAM - obtain the
* address of the RAM then create the idle task. */
vApplicationGetIdleTaskMemory( &pxIdleTaskTCBBuffer, &pxIdleTaskStackBuffer, &ulIdleTaskStackSize );
xIdleTaskHandle[ xCoreID ] = xTaskCreateStaticPinnedToCore( prvIdleTask,
configIDLE_TASK_NAME,
ulIdleTaskStackSize,
( void * ) NULL, /*lint !e961. The cast is not redundant for all compilers. */
portPRIVILEGE_BIT, /* In effect ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), but tskIDLE_PRIORITY is zero. */
pxIdleTaskStackBuffer,
pxIdleTaskTCBBuffer,
xCoreID ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
xIdleTaskHandle[ 0 ] = xTaskCreateStaticPinnedToCore( prvIdleTask,
configIDLE_TASK_NAME,
ulIdleTaskStackSize,
( void * ) NULL, /*lint !e961. The cast is not redundant for all compilers. */
portPRIVILEGE_BIT, /* In effect ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), but tskIDLE_PRIORITY is zero. */
pxIdleTaskStackBuffer,
pxIdleTaskTCBBuffer,
0 ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */

if( xIdleTaskHandle[ xCoreID ] != NULL )
if( xIdleTaskHandle[ 0 ] != NULL )
{
xReturn = pdPASS;
}
Expand All @@ -2359,27 +2362,136 @@ void vTaskStartScheduler( void )
xReturn = pdFAIL;
}
}
#else /* if ( configSUPPORT_STATIC_ALLOCATION == 1 ) */
#else /* if ( configSUPPORT_STATIC_ALLOCATION == 1 ) */
{
/* The Idle task is being created using dynamically allocated RAM. */
xReturn = xTaskCreatePinnedToCore( prvIdleTask,
configIDLE_TASK_NAME,
configMINIMAL_STACK_SIZE,
( void * ) NULL,
portPRIVILEGE_BIT, /* In effect ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), but tskIDLE_PRIORITY is zero. */
&xIdleTaskHandle[ xCoreID ],
xCoreID ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
portPRIVILEGE_BIT, /* In effect ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), but tskIDLE_PRIORITY is zero. */
&xIdleTaskHandle[ 0 ],
0 ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
}
#endif /* configSUPPORT_STATIC_ALLOCATION */
}
#else /* #if ( configNUM_CORES == 1 ) */
{
BaseType_t xCoreID;
char cIdleName[ configMAX_TASK_NAME_LEN ];

/* Add each idle task at the lowest priority. */
for( xCoreID = ( BaseType_t ) 0; xCoreID < ( BaseType_t ) configNUM_CORES; xCoreID++ )
{
BaseType_t x;

if( xIdleTaskHandle[ xCoreID ] != NULL )
if( xReturn == pdFAIL )
{
xReturn = pdPASS;
/* TODO: IDF-8240 - Memory leaks occur if IDLE task creation fails on some core
* as we do not free memory for the successfully created IDLE tasks.
*/
break;
}
else
{
xReturn = pdFAIL;
mtCOVERAGE_TEST_MARKER();
}

for( x = ( BaseType_t ) 0; x < ( BaseType_t ) configMAX_TASK_NAME_LEN; x++ )
{
cIdleName[ x ] = configIDLE_TASK_NAME[ x ];

/* Don't copy all configMAX_TASK_NAME_LEN if the string is shorter than
* configMAX_TASK_NAME_LEN characters just in case the memory after the
* string is not accessible (extremely unlikely). */
if( cIdleName[ x ] == ( char ) 0x00 )
{
break;
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}

/* Append the idle task number to the end of the name if there is space. */
if( x < ( BaseType_t ) configMAX_TASK_NAME_LEN )
{
cIdleName[ x ] = ( char ) ( xCoreID + '0' );
x++;

/* And append a null character if there is space. */
if( x < ( BaseType_t ) configMAX_TASK_NAME_LEN )
{
cIdleName[ x ] = '\0';
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
else
{
mtCOVERAGE_TEST_MARKER();
}

#if ( configSUPPORT_STATIC_ALLOCATION == 1 )
{
StaticTask_t * pxIdleTaskTCBBuffer = NULL;
StackType_t * pxIdleTaskStackBuffer = NULL;
uint32_t ulIdleTaskStackSize;

/* The Idle task is created using user provided RAM - obtain the
* address of the RAM then create the idle task. */
vApplicationGetIdleTaskMemory( &pxIdleTaskTCBBuffer, &pxIdleTaskStackBuffer, &ulIdleTaskStackSize );
xIdleTaskHandle[ xCoreID ] = xTaskCreateStaticPinnedToCore( prvIdleTask,
cIdleName,
ulIdleTaskStackSize,
( void * ) NULL, /*lint !e961. The cast is not redundant for all compilers. */
portPRIVILEGE_BIT, /* In effect ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), but tskIDLE_PRIORITY is zero. */
pxIdleTaskStackBuffer,
pxIdleTaskTCBBuffer,
xCoreID ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */

if( xIdleTaskHandle[ xCoreID ] != NULL )
{
xReturn = pdPASS;
}
else
{
xReturn = pdFAIL;
}
}
#else /* if ( configSUPPORT_STATIC_ALLOCATION == 1 ) */
{
/* The Idle task is being created using dynamically allocated RAM. */
xReturn = xTaskCreatePinnedToCore( prvIdleTask,
cIdleName,
configMINIMAL_STACK_SIZE,
( void * ) NULL,
portPRIVILEGE_BIT, /* In effect ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), but tskIDLE_PRIORITY is zero. */
&xIdleTaskHandle[ xCoreID ],
xCoreID ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
}
#endif /* configSUPPORT_STATIC_ALLOCATION */
}
#endif /* configSUPPORT_STATIC_ALLOCATION */
}
#endif /* #if ( configNUM_CORES == 1 ) */

return xReturn;
}

/*-----------------------------------------------------------*/

void vTaskStartScheduler( void )
{
BaseType_t xReturn;

/* The code for prvCreateIdleTasks() has been backported from the upstream
* FreeRTOS-Kernel source. The reference for the same is on the mainline
* at the commit id# 2f94b181a2f049ec342deba0927bed51f7174ab0.
*/
xReturn = prvCreateIdleTasks();

#if ( configUSE_TIMERS == 1 )
{
Expand Down
2 changes: 1 addition & 1 deletion docs/en/api-reference/system/freertos.rst
View file
Expand Up @@ -85,7 +85,7 @@ During startup, ESP-IDF and FreeRTOS will automatically create multiple tasks th
- Affinity
- Priority
* - Idle Tasks (``IDLEx``)
- An idle task (``IDLEx``) is created for (and pinned to) each CPU, where ``x`` is the CPU's number.
- An idle task (``IDLEx``) is created for (and pinned to) each CPU core, where ``x`` is the CPU core's number. The ``x`` is dropped when single-core configuration is enabled.
- :ref:`CONFIG_FREERTOS_IDLE_TASK_STACKSIZE`
- CPUx
- ``0``
Expand Down

0 comments on commit 3d29672

Please sign in to comment.