Release coprocessor registers when a task is deleted.

diff --git a/components/freertos/include/freertos/portable.h b/components/freertos/include/freertos/portable.h
index be45c4eccc3dcfea0be7a527bd83aaa4026e765f..d62ce01b7251c021c09cf0e2eed201eeaf56c385 100644 (file)
--- a/components/freertos/include/freertos/portable.h
+++ b/components/freertos/include/freertos/portable.h
@@ -210,6 +210,7 @@ BaseType_t xPortInIsrContext();
 #if( portUSING_MPU_WRAPPERS == 1 )
        struct xMEMORY_REGION;
        void vPortStoreTaskMPUSettings( xMPU_SETTINGS *xMPUSettings, const struct xMEMORY_REGION * const xRegions, StackType_t *pxBottomOfStack, uint32_t usStackDepth ) PRIVILEGED_FUNCTION;
+       void vPortReleaseTaskMPUSettings( xMPU_SETTINGS *xMPUSettings );
 #endif
 
 /* Multi-core: get current core ID */

diff --git a/components/freertos/include/freertos/portmacro.h b/components/freertos/include/freertos/portmacro.h
index 157b9156f7d830e445ff903e102b716da8542651..6c53c425d2a8f5851258e11b58e6041d7572d1dd 100644 (file)
--- a/components/freertos/include/freertos/portmacro.h
+++ b/components/freertos/include/freertos/portmacro.h
@@ -172,6 +172,7 @@ typedef struct {
 #define portASSERT_IF_IN_ISR()        vPortAssertIfInISR()
 void vPortAssertIfInISR();
 
+
 #define portCRITICAL_NESTING_IN_TCB 1 
 
 /*
@@ -313,6 +314,10 @@ typedef struct {
        #define PRIVILEGED_DATA
 #endif
 
+
+void _xt_coproc_release(void * coproc_sa_base);
+
+
 // porttrace
 #if configUSE_TRACE_FACILITY_2
 #include "porttrace.h"

diff --git a/components/freertos/port.c b/components/freertos/port.c
index f01045ec5cef47011cc1f0e81ea71bacda83aa72..bd6864049ca2d24fdb7c5c37ba8f1e5d792b98d7 100644 (file)
--- a/components/freertos/port.c
+++ b/components/freertos/port.c
@@ -253,6 +253,13 @@ void vPortStoreTaskMPUSettings( xMPU_SETTINGS *xMPUSettings, const struct xMEMOR
         */
        #endif
 }
+
+void vPortReleaseTaskMPUSettings( xMPU_SETTINGS *xMPUSettings )
+{
+       /* If task has live floating point registers somewhere, release them */
+       _xt_coproc_release( xMPUSettings->coproc_area );
+}
+
 #endif
 
 /*

diff --git a/components/freertos/tasks.c b/components/freertos/tasks.c
index 2a28d51bac172ce1228898547615c7e88e14a5e6..d70a278b1997197b361b06ad9f0d5b9f9921e0b8 100644 (file)
--- a/components/freertos/tasks.c
+++ b/components/freertos/tasks.c
@@ -3550,9 +3550,16 @@ static void prvCheckTasksWaitingTermination( void )
 
                                {
                                        pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xTasksWaitingTermination ) );
-                                       ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
-                                       --uxCurrentNumberOfTasks;
-                                       --uxTasksDeleted;
+                                       /* We only want to kill tasks that ran on this core because e.g. _xt_coproc_release needs to
+                                          be called on the core the process is pinned on, if any */
+                                       if( pxTCB->xCoreID == tskNO_AFFINITY || pxTCB->xCoreID == xPortGetCoreID()) {
+                                               ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
+                                               --uxCurrentNumberOfTasks;
+                                               --uxTasksDeleted;
+                                       } else {
+                                               /* Need to wait until the idle task on the other processor kills that task first. */
+                                               break;
+                                       }
                                }
                                
                                #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 ) && ( configTHREAD_LOCAL_STORAGE_DELETE_CALLBACKS )
@@ -3770,6 +3777,10 @@ BaseType_t xTaskGetAffinity( TaskHandle_t xTask )
                }
                #endif /* configUSE_NEWLIB_REENTRANT */
 
+               #if ( portUSING_MPU_WRAPPERS == 1 )
+                       vPortReleaseTaskMPUSettings( &( pxTCB->xMPUSettings) );
+               #endif
+
                #if( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 0 ) && ( portUSING_MPU_WRAPPERS == 0 ) )
                {
                        /* The task can only have been allocated dynamically - free both

diff --git a/components/freertos/xtensa_context.S b/components/freertos/xtensa_context.S
index 9e1c434f227a6d55a0457f67b73118cb5e45b6ba..a8a19be7e47f76e9bf6139c81a7da3d69ab8d2f1 100644 (file)
--- a/components/freertos/xtensa_context.S
+++ b/components/freertos/xtensa_context.S
@@ -378,6 +378,9 @@ May be called when a thread terminates or completes but does not delete
 the co-proc save area, to avoid the exception handler having to save the 
 thread's co-proc state before another thread can use it (optimization).
 
+Needs to be called on the processor the thread was running on. Unpinned threads
+won't have an entry here because they get pinned as soon they use a coprocessor.
+
 Entry Conditions:
     A2  = Pointer to base of co-processor state save area.
 

diff --git a/components/freertos/xtensa_vectors.S b/components/freertos/xtensa_vectors.S
index a6dd01d3154d374b9e201127a498fcb4f0fdf3f2..e88957e38e332cd1f20bd9c535c8aee49160fdd0 100644 (file)
--- a/components/freertos/xtensa_vectors.S
+++ b/components/freertos/xtensa_vectors.S
@@ -931,7 +931,6 @@ _xt_coproc_exc:
     addx4   a0, a5, a0                      /* a0 = &_xt_coproc_mask[n] */
     l32i    a0, a0, 0                       /* a0 = (n << 16) | (1 << n) */
 
-    /* TODO: Remove this as soon as coprocessor state moving works across cores - JD */
     /* 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. */
@@ -944,14 +943,21 @@ _xt_coproc_exc:
 
     /* Grab correct xt_coproc_owner_sa for this core */
     movi    a2, XCHAL_CP_MAX << 2
-    mull    a2, a2, a3
+    mull    a2, a2, a3                      /* multiply by current processor id */
     movi    a3, _xt_coproc_owner_sa         /* a3 = base of owner array */
-    add     a3, a3, a2
+    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
 
+/* 
+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.
+*/
+
+
     /* Get old coprocessor owner thread (save area ptr) and assign new one.  */
     addx4   a3,  a5, a3                      /* a3 = &_xt_coproc_owner_sa[n] */
     l32i    a2,  a3, 0                       /* a2 = old owner's save area */