Merge branch 'bugfix/freertos_fpu_isr_pins_task' into 'master'

FreeRTOS: Fix bug where FPU usage in ISR pins the interrupted task.

Closes IDF-6068

See merge request espressif/esp-idf!20573

components/freertos/FreeRTOS-Kernel/portable/xtensa/xtensa_vectors.S

@@ -908,35 +908,32 @@ _xt_coproc_exc:
 
     /* Get co-processor state save area of new owner thread. */
     call0   XT_RTOS_CP_STATE                /* a15 = new owner's save area */
-
-    #ifndef CONFIG_FREERTOS_FPU_IN_ISR
-    beqz    a15, .L_goto_invalid
+    #if CONFIG_FREERTOS_FPU_IN_ISR
+    beqz    a15, .L_skip_core_pin           /* CP used in ISR, skip task pinning */
+    #else
+    beqz    a15, .L_goto_invalid            /* not in a thread (invalid) */
     #endif
 
-    /*When FPU in ISR is enabled we could deal with zeroed a15 */
+#if configNUM_CORES > 1
+    /* CP operations are incompatible with unpinned tasks. Thus we pin the task
+    to the current running core. */
+    movi    a2, pxCurrentTCB
+    getcoreid a3                            /* a3 = current core ID */
+    addx4   a2, a3, a2
+    l32i    a2, a2, 0                       /* a2 = start of pxCurrentTCB[cpuid] */
+    addi    a2, a2, TASKTCB_XCOREID_OFFSET  /* a2 = &TCB.xCoreID */
+    s32i    a3, a2, 0                       /* TCB.xCoreID = current core ID */
+#endif // configNUM_CORES > 1
+
+#if CONFIG_FREERTOS_FPU_IN_ISR
+.L_skip_core_pin:
+#endif
 
     /* Enable the co-processor's bit in CPENABLE. */
     movi    a0, _xt_coproc_mask
     rsr     a4, CPENABLE                    /* a4 = CPENABLE */
     addx4   a0, a5, a0                      /* a0 = &_xt_coproc_mask[n] */
     l32i    a0, a0, 0                       /* a0 = (n << 16) | (1 << n) */
-
-    /* FPU operations are incompatible with non-pinned tasks. If we have a FPU operation
-       here, to keep the entire thing from crashing, it's better to pin the task to whatever
-       core we're running on now. */
-    movi    a2, pxCurrentTCB
-    getcoreid a3
-    addx4     a2,  a3, a2
-    l32i    a2, a2, 0                       /* a2 = start of pxCurrentTCB[cpuid] */
-    addi    a2, a2, TASKTCB_XCOREID_OFFSET  /* offset to xCoreID in tcb struct */
-    s32i    a3, a2, 0                       /* store current cpuid */
-
-    /* Grab correct xt_coproc_owner_sa for this core */
-    movi    a2, XCHAL_CP_MAX << 2
-    mull    a2, a2, a3                      /* multiply by current processor id */
-    movi    a3, _xt_coproc_owner_sa         /* a3 = base of owner array */
-    add     a3, a3, a2                      /* a3 = owner area needed for this processor */
-
     extui   a2, a0, 0, 16                   /* coprocessor bitmask portion */
     or      a4, a4, a2                      /* a4 = CPENABLE | (1 << n) */
     wsr     a4, CPENABLE
@@ -946,7 +943,11 @@ Keep loading _xt_coproc_owner_sa[n] atomic (=load once, then use that value
 everywhere): _xt_coproc_release assumes it works like this in order not to need
 locking.
 */
-
+    /* Grab correct xt_coproc_owner_sa for this core */
+    movi    a2, XCHAL_CP_MAX << 2
+    mull    a2, a2, a3                      /* multiply by current processor id */
+    movi    a3, _xt_coproc_owner_sa         /* a3 = base of owner array */
+    add     a3, a3, a2                      /* a3 = owner area needed for this processor */
 
     /* Get old coprocessor owner thread (save area ptr) and assign new one.  */
     addx4   a3,  a5, a3                      /* a3 = &_xt_coproc_owner_sa[n] */

components/freertos/test/port/test_fpu_in_isr.c

@@ -106,9 +106,6 @@ Test FPU usage in ISR does not affect an unpinned tasks
     - The ISR using the FPU will not affect the unpinned task's affinity
 */
 
-// Known issue in IDF FreeRTOS (IDF-6068), already fixed in SMP FreeRTOS
-#if CONFIG_FREERTOS_SMP
-
 static void unpinned_task(void *arg)
 {
     // Disable scheduling/preemption to make sure the current task doesn't switch cores
@@ -159,6 +156,4 @@ TEST_CASE("FPU: Level 1 ISR does not affect unpinned task", "[freertos]")
     vTaskDelay(10); // Short delay to allow task memory to be freed
 }
 
-#endif // CONFIG_FREERTOS_SMP
-
 #endif // SOC_CPU_HAS_FPU && CONFIG_FREERTOS_FPU_IN_ISR