From: Angus Gratton <angus@espressif.com>
Date: Wed, 10 May 2017 07:23:33 +0000 (+1000)
Subject: freertos: Preempt other CPU when deleting a task running on it
X-Git-Tag: v2.1-rc1~119^2~2
X-Git-Url: https://granicus.if.org/sourcecode?a=commitdiff_plain;h=895e7423a3cd165a7e4d9ed11405abd6616a2243;p=esp-idf

freertos: Preempt other CPU when deleting a task running on it

Includes related fix to preemption unit tests (delete a queue after deleting the task blocked on it.)
---

diff --git a/components/freertos/tasks.c b/components/freertos/tasks.c
index eaff6d96ea..0392a6e3c5 100644
--- a/components/freertos/tasks.c
+++ b/components/freertos/tasks.c
@@ -1251,6 +1251,11 @@ static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB, TaskFunction_t pxTaskCode
 				portPRE_TASK_DELETE_HOOK( pxTCB, &xYieldPending[xPortGetCoreID()] );
 				portYIELD_WITHIN_API();
 			}
+			else if ( portNUM_PROCESSORS > 1 && pxTCB == pxCurrentTCB[ !xPortGetCoreID() ] )
+			{
+				/* if task is running on the other CPU, force a yield on that CPU to take it off */
+				vPortYieldOtherCore( !xPortGetCoreID() );
+			}
 			else
 			{
 				/* Reset the next expected unblock time in case it referred to
diff --git a/components/freertos/test/test_preemption.c b/components/freertos/test/test_preemption.c
index 09dbcc003a..83ab49bf43 100644
--- a/components/freertos/test/test_preemption.c
+++ b/components/freertos/test/test_preemption.c
@@ -66,8 +66,8 @@ TEST_CASE("Yield from lower priority task, same CPU", "[freertos]")
         printf("Yielding from lower priority task took %u cycles\n", delta);
         TEST_ASSERT(delta < 10000);
 
-        vQueueDelete(queue);
         vTaskDelete(sender_task);
+        vQueueDelete(queue);
     }
 }