Merge branch 'smp' into smp

4 files changed, 88 insertions, 67 deletions

diff --git a/.github/lexicon.txt b/.github/lexicon.txt
index cd16258f3..04b3d5d76 100644
--- a/.github/lexicon.txt
+++ b/.github/lexicon.txt
@@ -2400,7 +2400,8 @@ uxbitstoset
 uxbitstowait
 uxbitstowaitfor
 uxcontrolbits
-uxcoreexclude
+uxcoreaffinitymask
+uxcoreaffinityinheritancemask
 uxcriticalnesting
 uxcurrenteventbits
 uxcurrentnumberoftasks
diff --git a/include/FreeRTOS.h b/include/FreeRTOS.h
index b51940b92..9eefd0d8a 100644
--- a/include/FreeRTOS.h
+++ b/include/FreeRTOS.h
@@ -240,8 +240,8 @@
     #define configUSE_TASK_PREEMPTION_DISABLE    0
 #endif
 
-#ifndef configUSE_CORE_EXCLUSION
-    #define configUSE_CORE_EXCLUSION    0
+#ifndef configUSE_CORE_AFFINITY
+    #define configUSE_CORE_AFFINITY    0
 #endif
 
 #ifndef configUSE_ALTERNATIVE_API
@@ -948,7 +948,7 @@
     #error configUSE_MUTEXES must be set to 1 to use recursive mutexes
 #endif
 
-#if( ( configRUN_MULTIPLE_PRIORITIES == 0 ) && ( configUSE_CORE_EXCLUSION != 0 ) )
+#if( ( configRUN_MULTIPLE_PRIORITIES == 0 ) && ( configUSE_CORE_AFFINITY != 0 ) )
     #error configRUN_MULTIPLE_PRIORITIES must be set to 1 to use core exclusion
 #endif
 
@@ -1209,7 +1209,7 @@ typedef struct xSTATIC_TCB
     #if ( configUSE_TASK_PREEMPTION_DISABLE == 1 )
         BaseType_t xDummy24;
     #endif
-    #if ( configUSE_CORE_EXCLUSION == 1 )
+    #if ( configUSE_CORE_AFFINITY == 1 && configNUM_CORES > 1 )
         UBaseType_t uxDummy25;
     #endif
     #if ( ( portSTACK_GROWTH > 0 ) || ( configRECORD_STACK_HIGH_ADDRESS == 1 ) )
diff --git a/include/task.h b/include/task.h
index 87085b2c8..16339cc2a 100644
--- a/include/task.h
+++ b/include/task.h
@@ -171,6 +171,14 @@ typedef enum
 #define tskIDLE_PRIORITY    ( ( UBaseType_t ) 0U )
 
 /**
+ * Defines affinity to all available cores.
+ * 
+ */
+#define tskNO_AFFINITY ( ( UBaseType_t ) -1U )
+
+
+
+/**
  * task. h
  *
  * Macro for forcing a context switch.
@@ -1235,8 +1243,10 @@ void vTaskResume( TaskHandle_t xTaskToResume ) PRIVILEGED_FUNCTION;
  */
 BaseType_t xTaskResumeFromISR( TaskHandle_t xTaskToResume ) PRIVILEGED_FUNCTION;
 
-void vTaskCoreExclusionSet( const TaskHandle_t xTask, UBaseType_t uxCoreExclude );
-UBaseType_t vTaskCoreExclusionGet( const TaskHandle_t xTask );
+#if ( configUSE_CORE_AFFINITY == 1)
+void vTaskCoreAffinitySet( const TaskHandle_t xTask, UBaseType_t uxCoreAffinityMask );
+UBaseType_t vTaskCoreAffinityGet( const TaskHandle_t xTask );
+#endif
 
 void vTaskPreemptionDisable( const TaskHandle_t xTask );
 void vTaskPreemptionEnable( const TaskHandle_t xTask );
diff --git a/tasks.c b/tasks.c
index 13e2535d0..dee586634 100644
--- a/tasks.c
+++ b/tasks.c
@@ -254,8 +254,8 @@ typedef struct tskTaskControlBlock       /* The old naming convention is used to
         BaseType_t xPreemptionDisable; /*< Used to prevent the task from being preempted */
     #endif
 
-    #if ( configUSE_CORE_EXCLUSION == 1 )
-        UBaseType_t uxCoreExclude; /*< Used to exclude the task from certain cores */
+    #if ( configUSE_CORE_AFFINITY == 1 && configNUM_CORES > 1 )
+        UBaseType_t uxCoreAffinityMask;            /*< Used to link the task to certain cores.  UBaseType_t must have >= the same number of bits as SMP confNUM_CORES */
     #endif
 
     #if ( ( portSTACK_GROWTH > 0 ) || ( configRECORD_STACK_HIGH_ADDRESS == 1 ) )
@@ -289,7 +289,6 @@ typedef struct tskTaskControlBlock       /* The old naming convention is used to
     #endif
 
     #if ( configUSE_NEWLIB_REENTRANT == 1 )
-
         /* Allocate a Newlib reent structure that is specific to this task.
          * Note Newlib support has been included by popular demand, but is not
          * used by the FreeRTOS maintainers themselves.  FreeRTOS is not
@@ -760,8 +759,10 @@ static void prvYieldForTask( TCB_t * pxTCB,
         {
             if( xTaskPriority <= xLowestPriority )
             {
-                #if ( configUSE_CORE_EXCLUSION == 1 )
-                    if( ( pxTCB->uxCoreExclude & ( 1 << x ) ) == 0 )
+                #if ( configNUM_CORES > 1 )
+                    #if ( configUSE_CORE_AFFINITY == 1 )
+                        if( ( pxTCB->uxCoreAffinityMask & ( 1 << x ) ) != 0 )
+                    #endif
                 #endif
                 {
                     #if ( configUSE_TASK_PREEMPTION_DISABLE == 1 )
@@ -824,7 +825,7 @@ static void prvYieldForTask( TCB_t * pxTCB,
         BaseType_t xTaskScheduled = pdFALSE;
         BaseType_t xDecrementTopPriority = pdTRUE;
 
-        #if ( configUSE_CORE_EXCLUSION == 1 )
+        #if ( configUSE_CORE_AFFINITY == 1 )
             TCB_t * pxPreviousTCB = NULL;
         #endif
         #if ( ( configRUN_MULTIPLE_PRIORITIES == 0 ) && ( configNUM_CORES > 1 ) )
@@ -892,13 +893,15 @@ static void prvYieldForTask( TCB_t * pxTCB,
 
                     if( pxTCB->xTaskRunState == taskTASK_NOT_RUNNING )
                     {
-                        #if ( configUSE_CORE_EXCLUSION == 1 )
-                            if( ( pxTCB->uxCoreExclude & ( 1 << xCoreID ) ) == 0 )
+                        #if ( configNUM_CORES > 1 )
+                            #if ( configUSE_CORE_AFFINITY == 1 )
+                                if( ( pxTCB->uxCoreAffinityMask & ( 1 << xCoreID ) ) != 0 )
+                            #endif
                         #endif
                         {
                             /* If the task is not being executed by any core swap it in */
                             pxCurrentTCBs[ xCoreID ]->xTaskRunState = taskTASK_NOT_RUNNING;
-                            #if ( configUSE_CORE_EXCLUSION == 1 )
+                            #if ( configUSE_CORE_AFFINITY == 1 )
                                 pxPreviousTCB = pxCurrentTCBs[ xCoreID ];
                             #endif
                             pxTCB->xTaskRunState = ( TaskRunning_t ) xCoreID;
@@ -909,8 +912,10 @@ static void prvYieldForTask( TCB_t * pxTCB,
                     else if( pxTCB == pxCurrentTCBs[ xCoreID ] )
                     {
                         configASSERT( ( pxTCB->xTaskRunState == xCoreID ) || ( pxTCB->xTaskRunState == taskTASK_YIELDING ) );
-                        #if ( configUSE_CORE_EXCLUSION == 1 )
-                            if( ( pxTCB->uxCoreExclude & ( 1 << xCoreID ) ) == 0 )
+                        #if ( configNUM_CORES > 1 )
+                            #if ( configUSE_CORE_AFFINITY == 1 )
+                                if( ( pxTCB->uxCoreAffinityMask & ( 1 << xCoreID ) ) != 0 )
+                            #endif
                         #endif
                         {
                             /* The task is already running on this core, mark it as scheduled */
@@ -974,12 +979,13 @@ static void prvYieldForTask( TCB_t * pxTCB,
             }
         #endif /* if ( ( configRUN_MULTIPLE_PRIORITIES == 0 ) && ( configNUM_CORES > 1 ) ) */
 
-        #if ( configUSE_CORE_EXCLUSION == 1 )
+        #if ( configNUM_CORES > 1 )
+            #if ( configUSE_CORE_AFFINITY == 1 )
             if( ( pxPreviousTCB != NULL ) && ( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxPreviousTCB->uxPriority ] ), &( pxPreviousTCB->xStateListItem ) ) != pdFALSE ) )
             {
-                /* A ready task was just bumped off this core. Look at the cores it is not excluded
+                    /* A ready task was just bumped off this core. Look at the cores it can run from
                  * from to see if it is able to run on any of them */
-                UBaseType_t uxCoreMap = ~( pxPreviousTCB->uxCoreExclude );
+                    UBaseType_t uxCoreMap = pxPreviousTCB->uxCoreAffinityMask;
                 BaseType_t xLowestPriority = pxPreviousTCB->uxPriority - pxPreviousTCB->xIsIdle;
                 BaseType_t xLowestPriorityCore = -1;
 
@@ -990,12 +996,12 @@ static void prvYieldForTask( TCB_t * pxTCB,
                      * on with the cores that the new task is excluded from. It is possible that the
                      * new task was only placed onto this core because it is excluded from another.
                      * Check to see if the previous task could run on one of those cores. */
-                    uxCoreMap &= pxCurrentTCBs[ xCoreID ]->uxCoreExclude;
+                        uxCoreMap &= ~( pxCurrentTCBs[ xCoreID ]->uxCoreAffinityMask );
                 }
                 else
                 {
                     /* The ready task that was removed from this core is excluded from it.
-                     * See if we can schedule it on any of the cores where it is not excluded from. */
+                         * @todo See if we can schedule it on any of the cores where it is not excluded from. */
                 }
 
                 uxCoreMap &= ( ( 1 << configNUM_CORES ) - 1 );
@@ -1027,7 +1033,8 @@ static void prvYieldForTask( TCB_t * pxTCB,
                     prvYieldCore( xLowestPriorityCore );
                 }
             }
-        #endif /* if ( configUSE_CORE_EXCLUSION == 1 ) */
+            #endif /* if ( configUSE_CORE_AFFINITY == 1 ) */
+        #endif /* if ( configNUM_CORES > 1 ) */
 
         return pdTRUE;
     }
@@ -1047,8 +1054,6 @@ static void prvYieldForTask( TCB_t * pxTCB,
 #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
 /*-----------------------------------------------------------*/
 
-
-
 #if ( configSUPPORT_STATIC_ALLOCATION == 1 )
 
     TaskHandle_t xTaskCreateStatic( TaskFunction_t pxTaskCode,
@@ -1481,10 +1486,12 @@ static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
         }
     #endif
 
-    #if ( configUSE_CORE_EXCLUSION == 1 )
+    #if ( configNUM_CORES > 1 )
+        #if ( configUSE_CORE_AFFINITY == 1 )
         {
-            pxNewTCB->uxCoreExclude = 0;
+                pxNewTCB->uxCoreAffinityMask = tskNO_AFFINITY;
         }
+        #endif
     #endif
     #if ( configUSE_TASK_PREEMPTION_DISABLE == 1 )
         {
@@ -1552,8 +1559,9 @@ static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
     {
         pxNewTCB->xIsIdle = pdTRUE;
     }
-    #if(configNUM_CORES > 1)
-    else if(pxTaskCode == prvMinimalIdleTask)
+
+    #if ( configNUM_CORES > 1 )
+        else if( pxTaskCode == prvMinimalIdleTask )
     {
         pxNewTCB->xIsIdle = pdTRUE;
     }
@@ -1608,11 +1616,6 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB )
                     if( pxCurrentTCBs[ xCoreID ] == NULL )
                     {
                         pxNewTCB->xTaskRunState = xCoreID;
-                        #if ( configUSE_CORE_EXCLUSION == 1 )
-                            {
-                                pxNewTCB->uxCoreExclude = ~( 1 << xCoreID );
-                            }
-                        #endif
                         pxCurrentTCBs[ xCoreID ] = pxNewTCB;
                         break;
                     }
@@ -1702,7 +1705,6 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB )
              * no longer running. */
             if( xTaskRunningOnCore != taskTASK_NOT_RUNNING )
             {
-
                 /* A running task is being deleted.  This cannot complete within the
                  * task itself, as a context switch to another task is required.
                  * Place the task in the termination list.  The idle task will
@@ -1744,7 +1746,6 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB )
 
                 xCoreID = portGET_CORE_ID();
 
-
                 if( xTaskRunningOnCore == xCoreID )
                 {
                     configASSERT( uxSchedulerSuspended == 0 );
@@ -1948,7 +1949,7 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB )
                                 }
                             }
                         }
-                    #else  /* if ( configUSE_TASK_NOTIFICATIONS == 1 ) */
+                    #else /* if ( configUSE_TASK_NOTIFICATIONS == 1 ) */
                         {
                             eReturn = eSuspended;
                         }
@@ -2220,10 +2221,11 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB )
 #endif /* INCLUDE_vTaskPrioritySet */
 /*-----------------------------------------------------------*/
 
-#if ( configUSE_CORE_EXCLUSION == 1 )
+#if ( configNUM_CORES > 1 )
+    #if ( configUSE_CORE_AFFINITY == 1 )
 
-    void vTaskCoreExclusionSet( const TaskHandle_t xTask,
-                                UBaseType_t uxCoreExclude )
+        void vTaskCoreAffinitySet( const TaskHandle_t xTask,
+                                   UBaseType_t uxCoreAffinityMask )
     {
         TCB_t * pxTCB;
         BaseType_t xCoreID;
@@ -2232,7 +2234,7 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB )
         {
             pxTCB = prvGetTCBFromHandle( xTask );
 
-            pxTCB->uxCoreExclude = uxCoreExclude;
+                pxTCB->uxCoreAffinityMask = uxCoreAffinityMask;
 
             if( xSchedulerRunning != pdFALSE )
             {
@@ -2240,7 +2242,7 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB )
                 {
                     xCoreID = ( BaseType_t ) pxTCB->xTaskRunState;
 
-                    if( ( uxCoreExclude & ( 1 << xCoreID ) ) != 0 )
+                        if( ( uxCoreAffinityMask & ( 1 << xCoreID ) ) != 0 )
                     {
                         prvYieldCore( xCoreID );
                     }
@@ -2250,27 +2252,31 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB )
         taskEXIT_CRITICAL();
     }
 
-#endif /* configUSE_CORE_EXCLUSION */
+    #endif /* configUSE_CORE_AFFINITY */
+#endif /* if ( configNUM_CORES > 1 ) */
 /*-----------------------------------------------------------*/
 
-#if ( configUSE_CORE_EXCLUSION == 1 )
+#if ( configNUM_CORES > 1 )
+    #if ( configUSE_CORE_AFFINITY == 1 )
 
-    UBaseType_t vTaskCoreExclusionGet( const TaskHandle_t xTask )
+        UBaseType_t vTaskCoreAffinityGet( const TaskHandle_t xTask )
     {
         TCB_t * pxTCB;
-        UBaseType_t uxCoreExclude;
+            UBaseType_t uxCoreAffinityMask;
 
         taskENTER_CRITICAL();
         {
             pxTCB = prvGetTCBFromHandle( xTask );
-            uxCoreExclude = pxTCB->uxCoreExclude;
+                uxCoreAffinityMask = pxTCB->uxCoreAffinityMask;
         }
         taskEXIT_CRITICAL();
 
-        return uxCoreExclude;
+            return uxCoreAffinityMask;
     }
 
-#endif /* configUSE_CORE_EXCLUSION */
+    #endif /* configUSE_CORE_AFFINITY */
+#endif /* if ( configNUM_CORES > 1 ) */
+
 /*-----------------------------------------------------------*/
 
 #if ( configUSE_TASK_PREEMPTION_DISABLE == 1 )
@@ -2451,8 +2457,7 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB )
         BaseType_t xReturn = pdFALSE;
         const TCB_t * const pxTCB = xTask;
 
-        /* Accesses xPendingReadyList so must be called from a critical
-         * section. */
+        /* Accesses xPendingReadyList so must be called from a critical section. */
 
         /* It does not make sense to check if the calling task is suspended. */
         configASSERT( xTask );
@@ -2673,7 +2678,7 @@ static BaseType_t prvCreateIdleTasks( void )
 
         #if ( configSUPPORT_STATIC_ALLOCATION == 1 )
             {
-                if(xCoreID == 0)
+                if( xCoreID == 0 )
                 {
                     StaticTask_t * pxIdleTaskTCBBuffer = NULL;
                     StackType_t * pxIdleTaskStackBuffer = NULL;
@@ -2690,21 +2695,22 @@ static BaseType_t prvCreateIdleTasks( void )
                                                                     pxIdleTaskStackBuffer,
                                                                     pxIdleTaskTCBBuffer ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
                 }
-                #if( configNUM_CORES > 1)
+                #if ( configNUM_CORES > 1 )
                 else
                 {
-                    static StaticTask_t xIdleTCBBuffers[configNUM_CORES-1];
-                    static StackType_t xIdleTaskStackBuffers[configMINIMAL_STACK_SIZE][configNUM_CORES-1];
+                        static StaticTask_t xIdleTCBBuffers[ configNUM_CORES - 1 ];
+                        static StackType_t xIdleTaskStackBuffers[ configNUM_CORES - 1 ][ configMINIMAL_STACK_SIZE ];
 
                     xIdleTaskHandle[ xCoreID ] = xTaskCreateStatic( prvMinimalIdleTask,
                                                                     cIdleName,
                                                                     configMINIMAL_STACK_SIZE,
-                                                                    ( 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. */
-                                                                    xIdleTaskStackBuffers[xCoreID-1],
-                                                                    &xIdleTCBBuffers[xCoreID-1] ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
+                                                                        ( 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. */
+                                                                        xIdleTaskStackBuffers[ xCoreID - 1 ],
+                                                                        &xIdleTCBBuffers[ xCoreID - 1 ] ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
                 }
-                #endif
+                #endif /* if ( configNUM_CORES > 1 ) */
+
                 if( xIdleTaskHandle[ xCoreID ] != NULL )
                 {
                     xReturn = pdPASS;
@@ -2714,9 +2720,9 @@ static BaseType_t prvCreateIdleTasks( void )
                     xReturn = pdFAIL;
                 }
             }
-        #else  /* if ( configSUPPORT_STATIC_ALLOCATION == 1 ) */
+        #else /* if ( configSUPPORT_STATIC_ALLOCATION == 1 ) */
             {
-                if(xCoreID == 0)
+                if( xCoreID == 0 )
                 {
                 /* The Idle task is being created using dynamically allocated RAM. */
                 xReturn = xTaskCreate( prvIdleTask,
@@ -2726,7 +2732,8 @@ static BaseType_t prvCreateIdleTasks( void )
                                        portPRIVILEGE_BIT,             /* In effect ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), but tskIDLE_PRIORITY is zero. */
                                        &xIdleTaskHandle[ xCoreID ] ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
                 }
-                #if( configNUM_CORES > 1 )
+
+                #if ( configNUM_CORES > 1 )
                 else
                 {
                 xReturn = xTaskCreate( prvMinimalIdleTask,
@@ -4210,10 +4217,12 @@ void vTaskMissedYield( void )
  * 
  * @todo additional conditional compiles to remove this function.
  */
-#if (configNUM_CORES > 1)
+
+#if ( configNUM_CORES > 1 )
 static portTASK_FUNCTION( prvMinimalIdleTask, pvParameters )
 {
-    for(;;)
+        taskYIELD();
+        for( ; ; )
     {
         #if ( configUSE_PREEMPTION == 0 )
             {
@@ -4249,7 +4258,8 @@ static portTASK_FUNCTION( prvMinimalIdleTask, pvParameters )
         #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */
     }
 }
-#endif
+#endif /* if ( configNUM_CORES > 1 ) */
+
 /*
  * -----------------------------------------------------------
  * The Idle task.