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eb8c2a7
Fix granular common unit test
chinglee-iot Jul 15, 2025
178e0ea
Merge branch 'feature/smp_granular_locks_v4' into dev/granular_lock_u…
chinglee-iot Aug 15, 2025
02f3f29
Fix for ISO C 90 compatible
chinglee-iot Aug 15, 2025
d11abdb
Update for xTaskRemoveFromEventList
chinglee-iot Aug 15, 2025
3e7b240
fix(freertos-smp): Fixed Lightweight Critical Sections for deferred s…
sudeep-mohanty Aug 5, 2025
2ac2c14
fix(freertos-smp): Stop unconditional yielding in vTaskPreemptionEnable
sudeep-mohanty Aug 2, 2025
e9310aa
fix(freertos-smp): Fix yielding decisions based on preemption state o…
sudeep-mohanty Aug 5, 2025
cc09d63
fix(freertos-smp): Miscellaneous fixes for granular locks
sudeep-mohanty Aug 15, 2025
ef14aaa
Merge remote-tracking branch 'sudeep/feature/smp_granular_locks_v4' i…
chinglee-iot Aug 19, 2025
0f27d66
Update granular lock implementation after merge
chinglee-iot Aug 20, 2025
ad45772
Update merge result
chinglee-iot Aug 20, 2025
bd5db02
Fix and refine queue granular lock implementation
chinglee-iot Aug 20, 2025
1d730b7
Queue logic refine
chinglee-iot Aug 20, 2025
0198b6d
Fix timers.c format
chinglee-iot Aug 20, 2025
13b8609
Update xTaskRemoveFromEventListFromISR implementation
chinglee-iot Aug 21, 2025
ae0b225
Merge remote-tracking branch 'origin/dev/granular_lock_unit_test_kern…
chinglee-iot Aug 22, 2025
0e452c0
Update the logic to yield preemption disabled task
chinglee-iot Aug 22, 2025
5217331
Update the logic to yield preemption disabled task
chinglee-iot Aug 22, 2025
84a60b3
Merge remote-tracking branch 'origin/dev/granular_lock_unit_test_kern…
chinglee-iot Aug 22, 2025
9035057
Remove unused macros
chinglee-iot Aug 22, 2025
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84 changes: 15 additions & 69 deletions event_groups.c
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -87,24 +87,6 @@
#define event_groupsEXIT_CRITICAL_FROM_ISR( uxSavedInterruptStatus, pxEventBits ) taskEXIT_CRITICAL_FROM_ISR( uxSavedInterruptStatus );
#endif /* #if ( portUSING_GRANULAR_LOCKS == 1 ) */

/*
* Locks an event group for tasks. Prevents other tasks from accessing the event group but allows
* ISRs to pend access to the event group. Caller cannot be preempted by other tasks
* after locking the event group, thus allowing the caller to execute non-deterministic
* operations.
*/
#if ( ( portUSING_GRANULAR_LOCKS == 1 ) && ( configNUMBER_OF_CORES > 1 ) )
static void prvLockEventGroupForTasks( EventGroup_t * pxEventBits ) PRIVILEGED_FUNCTION;
#endif /* #if ( ( portUSING_GRANULAR_LOCKS == 1 ) && ( configNUMBER_OF_CORES > 1 ) ) */

/*
* Unlocks an event group for tasks. Handles all pended access from ISRs, then reenables
* preemption for the caller.
*/
#if ( ( portUSING_GRANULAR_LOCKS == 1 ) && ( configNUMBER_OF_CORES > 1 ) )
static BaseType_t prvUnlockEventGroupForTasks( EventGroup_t * pxEventBits ) PRIVILEGED_FUNCTION;
#endif /* #if ( ( portUSING_GRANULAR_LOCKS == 1 ) && ( configNUMBER_OF_CORES > 1 ) ) */

/*
* Test the bits set in uxCurrentEventBits to see if the wait condition is met.
* The wait condition is defined by xWaitForAllBits. If xWaitForAllBits is
Expand All @@ -129,11 +111,19 @@
* When the task unlocks the event group, all pended access attempts are handled.
*/
#if ( ( portUSING_GRANULAR_LOCKS == 1 ) && ( configNUMBER_OF_CORES > 1 ) )
#define event_groupsLOCK( pxEventBits ) prvLockEventGroupForTasks( pxEventBits )
#define event_groupsUNLOCK( pxEventBits ) prvUnlockEventGroupForTasks( pxEventBits );
#define event_groupsLOCK( pxEventBits ) taskDATA_GROUP_LOCK( &( ( pxEventBits )->xTaskSpinlock ) )
#define event_groupsUNLOCK( pxEventBits ) taskDATA_GROUP_UNLOCK( &( ( pxEventBits )->xTaskSpinlock ) )
#define event_groupsUNLOCK_WITH_YIELD_STATUS( pxEventBits, pxxAlreadyYielded ) \
do { \
taskDATA_GROUP_UNLOCK_WITH_YIELD_STATUS( &( ( pxEventBits )->xTaskSpinlock ), pxxAlreadyYielded ); \
} while( 0 )
#else /* #if ( ( portUSING_GRANULAR_LOCKS == 1 ) && ( configNUMBER_OF_CORES > 1 ) ) */
#define event_groupsLOCK( pxEventBits ) vTaskSuspendAll()
#define event_groupsUNLOCK( pxEventBits ) xTaskResumeAll()
#define event_groupsUNLOCK( pxEventBits ) do{ ( void ) xTaskResumeAll(); } while( 0 )
#define event_groupsUNLOCK_WITH_YIELD_STATUS( pxEventBits, pxxAlreadyYielded ) \
do { \
*( pxxAlreadyYielded ) = xTaskResumeAll(); \
} while( 0 )
#endif /* #if ( ( portUSING_GRANULAR_LOCKS == 1 ) && ( configNUMBER_OF_CORES > 1 ) ) */

/*-----------------------------------------------------------*/
Expand Down Expand Up @@ -316,7 +306,7 @@
}
}
}
xAlreadyYielded = event_groupsUNLOCK( pxEventBits );
event_groupsUNLOCK_WITH_YIELD_STATUS( pxEventBits, &xAlreadyYielded );

if( xTicksToWait != ( TickType_t ) 0 )
{
Expand Down Expand Up @@ -472,7 +462,7 @@
traceEVENT_GROUP_WAIT_BITS_BLOCK( xEventGroup, uxBitsToWaitFor );
}
}
xAlreadyYielded = event_groupsUNLOCK( pxEventBits );
event_groupsUNLOCK_WITH_YIELD_STATUS( pxEventBits, &xAlreadyYielded );

if( xTicksToWait != ( TickType_t ) 0 )
{
Expand Down Expand Up @@ -640,7 +630,6 @@
traceEVENT_GROUP_SET_BITS( xEventGroup, uxBitsToSet );

#if ( ( portUSING_GRANULAR_LOCKS == 1 ) && ( configNUMBER_OF_CORES > 1 ) )

/* We are about to access the kernel data group non-deterministically,
* thus we suspend the kernel data group.*/
vTaskSuspendAll();
Expand Down Expand Up @@ -721,7 +710,7 @@
( void ) xTaskResumeAll();
#endif /* #if ( ( portUSING_GRANULAR_LOCKS == 1 ) && ( configNUMBER_OF_CORES > 1 ) ) */
}
( void ) event_groupsUNLOCK( pxEventBits );
event_groupsUNLOCK( pxEventBits );

traceRETURN_xEventGroupSetBits( uxReturnBits );

Expand All @@ -745,7 +734,6 @@
traceEVENT_GROUP_DELETE( xEventGroup );

#if ( ( portUSING_GRANULAR_LOCKS == 1 ) && ( configNUMBER_OF_CORES > 1 ) )

/* We are about to access the kernel data group non-deterministically,
* thus we suspend the kernel data group.*/
vTaskSuspendAll();
Expand All @@ -763,7 +751,7 @@
( void ) xTaskResumeAll();
#endif /* #if ( ( portUSING_GRANULAR_LOCKS == 1 ) && ( configNUMBER_OF_CORES > 1 ) ) */
}
( void ) event_groupsUNLOCK( pxEventBits );
event_groupsUNLOCK( pxEventBits );

#if ( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 0 ) )
{
Expand Down Expand Up @@ -867,48 +855,6 @@
traceRETURN_vEventGroupClearBitsCallback();
}
/*-----------------------------------------------------------*/
#if ( ( portUSING_GRANULAR_LOCKS == 1 ) && ( configNUMBER_OF_CORES > 1 ) )
static void prvLockEventGroupForTasks( EventGroup_t * pxEventBits )
{
/* Disable preemption so that the current task cannot be preempted by another task */
vTaskPreemptionDisable( NULL );

/* Keep holding xTaskSpinlock to prevent tasks on other cores from accessing
* the event group while it is suspended. */
portGET_SPINLOCK( portGET_CORE_ID(), &( pxEventBits->xTaskSpinlock ) );
}
#endif /* #if ( ( portUSING_GRANULAR_LOCKS == 1 ) && ( configNUMBER_OF_CORES > 1 ) ) */
/*-----------------------------------------------------------*/

#if ( ( portUSING_GRANULAR_LOCKS == 1 ) && ( configNUMBER_OF_CORES > 1 ) )
static BaseType_t prvUnlockEventGroupForTasks( EventGroup_t * pxEventBits )
{
BaseType_t xReturn = pdFALSE;

/* Release the previously held task spinlock */
portRELEASE_SPINLOCK( portGET_CORE_ID(), &( pxEventBits->xTaskSpinlock ) );

/* Re-enable preemption */
vTaskPreemptionEnable( NULL );

/* Yield if preemption was re-enabled*/
if( xTaskUnlockCanYield() == pdTRUE )
{
taskYIELD_WITHIN_API();

/* Return true as the task was preempted */
xReturn = pdTRUE;
}
else
{
/* Return false as the task was not preempted */
xReturn = pdFALSE;
}

return xReturn;
}
#endif /* #if ( ( portUSING_GRANULAR_LOCKS == 1 ) && ( configNUMBER_OF_CORES > 1 ) ) */
/*-----------------------------------------------------------*/

static BaseType_t prvTestWaitCondition( const EventBits_t uxCurrentEventBits,
const EventBits_t uxBitsToWaitFor,
Expand Down
8 changes: 2 additions & 6 deletions include/FreeRTOS.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -2958,10 +2958,6 @@
#error configUSE_PORT_OPTIMISED_TASK_SELECTION is not supported in SMP FreeRTOS
#endif

#ifndef configLIGHTWEIGHT_CRITICAL_SECTION
#define configLIGHTWEIGHT_CRITICAL_SECTION 0
#endif

#ifndef configINITIAL_TICK_COUNT
#define configINITIAL_TICK_COUNT 0
#endif
Expand All @@ -2972,8 +2968,8 @@
* portTICK_TYPE_IS_ATOMIC was not set - map the critical sections used when
* the tick count is returned to the standard critical section macros. */
#if ( ( portUSING_GRANULAR_LOCKS == 1 ) && ( configNUMBER_OF_CORES > 1 ) )
#define portTICK_TYPE_ENTER_CRITICAL() portENTER_CRITICAL_DATA_GROUP( &xTaskSpinlock, &xISRSpinlock )
#define portTICK_TYPE_EXIT_CRITICAL() portEXIT_CRITICAL_DATA_GROUP( &xTaskSpinlock, &xISRSpinlock )
#define portTICK_TYPE_ENTER_CRITICAL() kernelENTER_CRITICAL()
#define portTICK_TYPE_EXIT_CRITICAL() kernelEXIT_CRITICAL()
#else /* #if ( ( portUSING_GRANULAR_LOCKS == 1 ) && ( configNUMBER_OF_CORES > 1 ) ) */
#define portTICK_TYPE_ENTER_CRITICAL() portENTER_CRITICAL()
#define portTICK_TYPE_EXIT_CRITICAL() portEXIT_CRITICAL()
Expand Down
135 changes: 103 additions & 32 deletions include/task.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -299,11 +299,11 @@ typedef enum
{ \
const BaseType_t xCoreID = ( BaseType_t ) portGET_CORE_ID(); \
/* Task spinlock is always taken first */ \
portGET_SPINLOCK( xCoreID, ( portSPINLOCK_TYPE * ) pxTaskSpinlock ); \
portGET_SPINLOCK( xCoreID, ( portSPINLOCK_TYPE * ) ( pxTaskSpinlock ) ); \
/* Disable interrupts */ \
portDISABLE_INTERRUPTS(); \
/* Take the ISR spinlock next */ \
portGET_SPINLOCK( xCoreID, ( portSPINLOCK_TYPE * ) pxISRSpinlock ); \
portGET_SPINLOCK( xCoreID, ( portSPINLOCK_TYPE * ) ( pxISRSpinlock ) ); \
/* Increment the critical nesting count */ \
portINCREMENT_CRITICAL_NESTING_COUNT( xCoreID ); \
} \
Expand All @@ -322,11 +322,13 @@ typedef enum
#define taskDATA_GROUP_ENTER_CRITICAL_FROM_ISR( pxISRSpinlock, puxSavedInterruptStatus ) \
do { \
*( puxSavedInterruptStatus ) = portSET_INTERRUPT_MASK_FROM_ISR(); \
const BaseType_t xCoreID = ( BaseType_t ) portGET_CORE_ID(); \
/* Take the ISR spinlock */ \
portGET_SPINLOCK( xCoreID, ( portSPINLOCK_TYPE * ) pxISRSpinlock ); \
/* Increment the critical nesting count */ \
portINCREMENT_CRITICAL_NESTING_COUNT( xCoreID ); \
{ \
const BaseType_t xCoreID = ( BaseType_t ) portGET_CORE_ID(); \
/* Take the ISR spinlock */ \
portGET_SPINLOCK( xCoreID, ( portSPINLOCK_TYPE * ) ( pxISRSpinlock ) ); \
/* Increment the critical nesting count */ \
portINCREMENT_CRITICAL_NESTING_COUNT( xCoreID ); \
} \
} while( 0 )
#endif /* #if ( portUSING_GRANULAR_LOCKS == 1 ) */

Expand All @@ -339,27 +341,27 @@ typedef enum
* \ingroup GranularLocks
*/
#if ( portUSING_GRANULAR_LOCKS == 1 )
#define taskDATA_GROUP_EXIT_CRITICAL( pxTaskSpinlock, pxISRSpinlock ) \
do { \
const BaseType_t xCoreID = ( BaseType_t ) portGET_CORE_ID(); \
configASSERT( portGET_CRITICAL_NESTING_COUNT( xCoreID ) > 0U ); \
/* Release the ISR spinlock */ \
portRELEASE_SPINLOCK( xCoreID, ( portSPINLOCK_TYPE * ) pxISRSpinlock ); \
/* Release the task spinlock */ \
portRELEASE_SPINLOCK( xCoreID, ( portSPINLOCK_TYPE * ) pxTaskSpinlock ); \
/* Decrement the critical nesting count */ \
portDECREMENT_CRITICAL_NESTING_COUNT( xCoreID ); \
/* Enable interrupts only if the critical nesting count is 0 */ \
if( portGET_CRITICAL_NESTING_COUNT( xCoreID ) == 0 ) \
{ \
portENABLE_INTERRUPTS(); \
} \
else \
{ \
mtCOVERAGE_TEST_MARKER(); \
} \
/* Re-enable preemption */ \
vTaskPreemptionEnable( NULL ); \
#define taskDATA_GROUP_EXIT_CRITICAL( pxTaskSpinlock, pxISRSpinlock ) \
do { \
const BaseType_t xCoreID = ( BaseType_t ) portGET_CORE_ID(); \
configASSERT( portGET_CRITICAL_NESTING_COUNT( xCoreID ) > 0U ); \
/* Release the ISR spinlock */ \
portRELEASE_SPINLOCK( xCoreID, ( portSPINLOCK_TYPE * ) ( pxISRSpinlock ) ); \
/* Release the task spinlock */ \
portRELEASE_SPINLOCK( xCoreID, ( portSPINLOCK_TYPE * ) ( pxTaskSpinlock ) ); \
/* Decrement the critical nesting count */ \
portDECREMENT_CRITICAL_NESTING_COUNT( xCoreID ); \
/* Enable interrupts only if the critical nesting count is 0 */ \
if( portGET_CRITICAL_NESTING_COUNT( xCoreID ) == 0 ) \
{ \
portENABLE_INTERRUPTS(); \
} \
else \
{ \
mtCOVERAGE_TEST_MARKER(); \
} \
/* Re-enable preemption */ \
vTaskPreemptionEnable( NULL ); \
} while( 0 )
#endif /* #if ( portUSING_GRANULAR_LOCKS == 1 ) */

Expand All @@ -379,14 +381,82 @@ typedef enum
/* Decrement the critical nesting count */ \
portDECREMENT_CRITICAL_NESTING_COUNT( xCoreID ); \
/* Release the ISR spinlock */ \
portRELEASE_SPINLOCK( xCoreID, ( portSPINLOCK_TYPE * ) pxISRSpinlock ); \
portRELEASE_SPINLOCK( xCoreID, ( portSPINLOCK_TYPE * ) ( pxISRSpinlock ) ); \
if( portGET_CRITICAL_NESTING_COUNT( xCoreID ) == 0 ) \
{ \
portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus ); \
} \
} while( 0 )
#endif /* #if ( portUSING_GRANULAR_LOCKS == 1 ) */

/**
* task. h
*
* Macros to lock a data group (task-level lock only).
*
* \defgroup taskDATA_GROUP_LOCK taskDATA_GROUP_LOCK
* \ingroup GranularLocks
*/
#if ( portUSING_GRANULAR_LOCKS == 1 )
#define taskDATA_GROUP_LOCK( pxTaskSpinlock ) \
do { \
/* Disable preemption while holding the task spinlock. */ \
vTaskPreemptionDisable( NULL ); \
portGET_SPINLOCK( portGET_CORE_ID(), ( portSPINLOCK_TYPE * ) ( pxTaskSpinlock ) ); \
} while( 0 )
#endif /* #if ( portUSING_GRANULAR_LOCKS == 1 ) */

/**
* task. h
*
* Macros to unlock a data group (task-level lock only).
*
* \defgroup taskDATA_GROUP_UNLOCK taskDATA_GROUP_UNLOCK
* \ingroup GranularLocks
*/
#if ( portUSING_GRANULAR_LOCKS == 1 )
#define taskDATA_GROUP_UNLOCK( pxTaskSpinlock ) \
do { \
portRELEASE_SPINLOCK( portGET_CORE_ID(), ( portSPINLOCK_TYPE * ) ( pxTaskSpinlock ) ); \
/* Re-enable preemption after releasing the task spinlock. */ \
vTaskPreemptionEnable( NULL ); \
} while( 0 )
#endif /* #if ( portUSING_GRANULAR_LOCKS == 1 ) */

/**
* task. h
*
* Macros to unlock a data group (task-level lock only).
*
* \defgroup taskDATA_GROUP_UNLOCK taskDATA_GROUP_UNLOCK
* \ingroup GranularLocks
*/
#if ( portUSING_GRANULAR_LOCKS == 1 )
#define taskDATA_GROUP_UNLOCK( pxTaskSpinlock ) \
do { \
portRELEASE_SPINLOCK( portGET_CORE_ID(), ( portSPINLOCK_TYPE * ) ( pxTaskSpinlock ) ); \
/* Re-enable preemption after releasing the task spinlock. */ \
vTaskPreemptionEnable( NULL ); \
} while( 0 )
#endif /* #if ( portUSING_GRANULAR_LOCKS == 1 ) */

/**
* task. h
*
* Macros to unlock a data group and return the task yield status. (task-level lock only).
*
* \defgroup taskDATA_GROUP_UNLOCK taskDATA_GROUP_UNLOCK_WITH_YIELD_STATUS
* \ingroup GranularLocks
*/
#if ( portUSING_GRANULAR_LOCKS == 1 )
#define taskDATA_GROUP_UNLOCK_WITH_YIELD_STATUS( pxTaskSpinlock, pxTaskAlreadyYielded ) \
do { \
portRELEASE_SPINLOCK( portGET_CORE_ID(), ( portSPINLOCK_TYPE * ) ( pxTaskSpinlock ) ); \
/* Re-enable preemption after releasing the task spinlock. */ \
*( pxTaskAlreadyYielded ) = xCurrentTaskPreemptionEnable(); \
} while( 0 )
#endif /* #if ( portUSING_GRANULAR_LOCKS == 1 ) */

/*-----------------------------------------------------------
* TASK CREATION API
*----------------------------------------------------------*/
Expand Down Expand Up @@ -3681,6 +3751,7 @@ void vTaskPlaceOnEventListRestricted( List_t * const pxEventList,
* making the call, otherwise pdFALSE.
*/
BaseType_t xTaskRemoveFromEventList( const List_t * const pxEventList ) PRIVILEGED_FUNCTION;
BaseType_t xTaskRemoveFromEventListFromISR( const List_t * const pxEventList ) PRIVILEGED_FUNCTION;
void vTaskRemoveFromUnorderedEventList( ListItem_t * pxEventListItem,
const TickType_t xItemValue ) PRIVILEGED_FUNCTION;

Expand Down Expand Up @@ -3876,13 +3947,13 @@ void vTaskInternalSetTimeOutState( TimeOut_t * const pxTimeOut ) PRIVILEGED_FUNC
#endif

/*
* Checks whether a yield is required after portUNLOCK_DATA_GROUP() returns.
* To be called while data group is locked.
* Enable preemption of current task asl return the task already yield status.
*/
#if ( ( portUSING_GRANULAR_LOCKS == 1 ) && ( configNUMBER_OF_CORES > 1 ) )
BaseType_t xTaskUnlockCanYield( void );
BaseType_t xCurrentTaskPreemptionEnable( void );
#endif /* #if ( ( portUSING_GRANULAR_LOCKS == 1 ) && ( configNUMBER_OF_CORES > 1 ) ) */


#if ( portUSING_MPU_WRAPPERS == 1 )

/*
Expand Down
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