fix(freertos-smp): Fixes for xTaskIncrementTick and prvEvaluateCoreForYield

Author: sudeep-mohanty

event_groups.c

@@ -884,9 +884,10 @@
         static BaseType_t prvUnlockEventGroupForTasks( EventGroup_t * pxEventBits )
         {
             BaseType_t xReturn = pdFALSE;
+            BaseType_t xCoreID = portGET_CORE_ID();
 
             /* Release the previously held task spinlock */
-            portRELEASE_SPINLOCK( portGET_CORE_ID(), &( pxEventBits->xTaskSpinlock ) );
+            portRELEASE_SPINLOCK( xCoreID, &( pxEventBits->xTaskSpinlock ) );
 
             /* Re-enable preemption */
             vTaskPreemptionEnable( NULL );
@@ -899,7 +900,7 @@
                 /* Return true as the task was preempted */
                 xReturn = pdTRUE;
             }
-            else if( xTaskHigherPriorityTasksReady() == pdTRUE )
+            else if( xTaskHigherPriorityTasksReady( xCoreID ) == pdTRUE )
             {
                 /* Higher priority tasks are ready to run */
                 taskYIELD_WITHIN_API();

include/task.h

@@ -3890,7 +3890,7 @@ void vTaskInternalSetTimeOutState( TimeOut_t * const pxTimeOut ) PRIVILEGED_FUNC
  * yield decisions when unlocking.
  */
 #if ( ( portUSING_GRANULAR_LOCKS == 1 ) && ( configNUMBER_OF_CORES > 1 ) )
-    BaseType_t xTaskHigherPriorityTasksReady( void );
+    BaseType_t xTaskHigherPriorityTasksReady( BaseType_t xCoreID );
 #endif /* #if ( ( portUSING_GRANULAR_LOCKS == 1 ) && ( configNUMBER_OF_CORES > 1 ) ) */
 
 #if ( portUSING_MPU_WRAPPERS == 1 )

tasks.c

@@ -1500,7 +1500,7 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB ) PRIVILEGED_FUNCTION;
             if( pxCurrentTCBs[ xCoreID ]->uxPreemptionDisable == 0U )
             {
                 /* Core can yield immediately */
-                if( xCorePriority < *pxLowestImmediatePriority )
+                if( xCorePriority <= *pxLowestImmediatePriority )
                 {
                     *pxLowestImmediatePriority = xCorePriority;
                     *pxImmediateYieldCore = xCoreID;
@@ -1510,7 +1510,7 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB ) PRIVILEGED_FUNCTION;
             {
                 /* Core could yield if preemption were enabled */
                 if( ( pxPendingYieldCore != NULL ) && ( pxLowestPendingPriority != NULL ) &&
-                    ( xCorePriority < *pxLowestPendingPriority ) )
+                    ( xCorePriority <= *pxLowestPendingPriority ) )
                 {
                     *pxLowestPendingPriority = xCorePriority;
                     *pxPendingYieldCore = xCoreID;
@@ -1520,7 +1520,7 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB ) PRIVILEGED_FUNCTION;
             /* Preemption disable not configured, can yield immediately */
             ( void ) pxPendingYieldCore;
             ( void ) pxLowestPendingPriority;
-            if( xCorePriority < *pxLowestImmediatePriority )
+            if( xCorePriority <= *pxLowestImmediatePriority )
             {
                 *pxLowestImmediatePriority = xCorePriority;
                 *pxImmediateYieldCore = xCoreID;
@@ -5356,7 +5356,7 @@ BaseType_t xTaskIncrementTick( void )
             #if ( configNUMBER_OF_CORES == 1 )
             {
                 /* For single core the core ID is always 0. */
-                if( xYieldPendings[ 0 ] != pdFALSE )
+                if( xYieldPendings[ 0 ] != pdFALSE || xTaskHigherPriorityTasksReady( 0 ) != pdFALSE )
                 {
                     xSwitchRequired = pdTRUE;
                 }
@@ -5376,7 +5376,7 @@ BaseType_t xTaskIncrementTick( void )
                         if( pxCurrentTCBs[ xCoreID ]->uxPreemptionDisable == 0U )
                     #endif
                     {
-                        if( xYieldPendings[ xCoreID ] != pdFALSE )
+                        if( xYieldPendings[ xCoreID ] != pdFALSE || xTaskHigherPriorityTasksReady( xCoreID ) != pdFALSE )
                         {
                             if( xCoreID == xCurrentCoreID )
                             {
@@ -8050,10 +8050,9 @@ static void prvResetNextTaskUnblockTime( void )
 
 #if ( ( portUSING_GRANULAR_LOCKS == 1 ) && ( configNUMBER_OF_CORES > 1 ) )
 
-    BaseType_t xTaskHigherPriorityTasksReady( void )
+    BaseType_t xTaskHigherPriorityTasksReady( BaseType_t xCoreID )
     {
         BaseType_t xReturn = pdFALSE;
-        BaseType_t xCoreID = portGET_CORE_ID();
 
         /* Only check if scheduler is running and not suspended */
         if( ( xSchedulerRunning != pdFALSE ) && ( uxSchedulerSuspended == pdFALSE ) )