added multiple idle tasks

Author: n9wxu

tasks.c

@@ -467,6 +467,9 @@ static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
  *
  */
 static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters ) PRIVILEGED_FUNCTION;
+#if ( configNUM_CORES > 1 )
+static portTASK_FUNCTION_PROTO( prvMinimalIdleTask, pvParameters ) PRIVILEGED_FUNCTION;
+#endif
 
 /*
  * Utility to free all memory allocated by the scheduler to hold a TCB,
@@ -1545,7 +1548,11 @@ static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
     pxNewTCB->xTaskRunState = taskTASK_NOT_RUNNING;
 
     /* Is this an idle task? */
+    #if(configNUM_CORES > 1)
+    pxNewTCB->xIsIdle = ( pxTaskCode == prvIdleTask ) || (pxTaskCode == prvMinimalIdleTask);
+    #else
     pxNewTCB->xIsIdle = ( pxTaskCode == prvIdleTask );
+    #endif
 
     if( pxCreatedTask != NULL )
     {
@@ -2663,22 +2670,40 @@ void vTaskStartScheduler( void )
 
         #if ( configSUPPORT_STATIC_ALLOCATION == 1 )
             {
-                #error User must specify an array of buffers for idle task TCBs and stacks
-                StaticTask_t * pxIdleTaskTCBBuffer = NULL;
-                StackType_t * pxIdleTaskStackBuffer = NULL;
-                uint32_t ulIdleTaskStackSize;
-
-                /* The Idle task is created using user provided RAM - obtain the
-                 * address of the RAM then create the idle task. */
-                vApplicationGetIdleTaskMemory( &pxIdleTaskTCBBuffer, &pxIdleTaskStackBuffer, &ulIdleTaskStackSize );
-                xIdleTaskHandle[ xCoreID ] = xTaskCreateStatic( prvIdleTask,
-                                                                cIdleName,
-                                                                ulIdleTaskStackSize,
-                                                                ( 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. */
-                                                                pxIdleTaskStackBuffer,
-                                                                pxIdleTaskTCBBuffer ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
-
+                if(xCoreID == 0)
+                {
+                    StaticTask_t * pxIdleTaskTCBBuffer = NULL;
+                    StackType_t * pxIdleTaskStackBuffer = NULL;
+                    uint32_t ulIdleTaskStackSize;
+
+                    /* The Idle task is created using user provided RAM - obtain the
+                    * address of the RAM then create the idle task. */
+                    vApplicationGetIdleTaskMemory( &pxIdleTaskTCBBuffer, &pxIdleTaskStackBuffer, &ulIdleTaskStackSize );
+                    xIdleTaskHandle[ xCoreID ] = xTaskCreateStatic( prvIdleTask,
+                                                                    cIdleName,
+                                                                    ulIdleTaskStackSize,
+                                                                    ( 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. */
+                                                                    pxIdleTaskStackBuffer,
+                                                                    pxIdleTaskTCBBuffer ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
+                }
+                #if( configNUM_CORES > 1)
+                else
+                {
+                    struct taskMemory{
+                        StaticTask_t TCB;
+                        StackType_t stack[configMINIMAL_STACK_SIZE];
+                    };
+                    static struct taskMemory idleMemory[configNUM_CORES];
+                    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. */
+                                                                    idleMemory[xCoreID].stack,
+                                                                    &idleMemory[xCoreID].TCB ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
+                }
+                #endif
                 if( xIdleTaskHandle[ xCoreID ] != NULL )
                 {
                     xReturn = pdPASS;
@@ -4146,6 +4171,61 @@ void vTaskMissedYield( void )
 
 #endif /* configUSE_TRACE_FACILITY */
 
+/*
+ * -----------------------------------------------------------
+ * The MinimalIdle task.
+ * ----------------------------------------------------------
+ *
+ * The portTASK_FUNCTION() macro is used to allow port/compiler specific
+ * language extensions.  The equivalent prototype for this function is:
+ *
+ * void prvMinimalIdleTask( void *pvParameters );
+ *
+ * The minimal idle task is used for all the additional Cores in a SMP system.
+ * There must be only 1 idle task and the rest are minimal idle tasks.
+ * 
+ * @todo additional conditional compiles to remove this function.
+ */
+#if (configNUM_CORES > 1)
+static portTASK_FUNCTION( prvMinimalIdleTask, pvParameters )
+{
+    for(;;)
+    {
+        #if ( configUSE_PREEMPTION == 0 )
+            {
+                /* If we are not using preemption we keep forcing a task switch to
+                 * see if any other task has become available.  If we are using
+                 * preemption we don't need to do this as any task becoming available
+                 * will automatically get the processor anyway. */
+                taskYIELD();
+            }
+        #endif /* configUSE_PREEMPTION */
+
+        #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
+            {
+                /* When using preemption tasks of equal priority will be
+                 * timesliced.  If a task that is sharing the idle priority is ready
+                 * to run then the idle task should yield before the end of the
+                 * timeslice.
+                 *
+                 * A critical region is not required here as we are just reading from
+                 * the list, and an occasional incorrect value will not matter.  If
+                 * the ready list at the idle priority contains one more task than the
+                 * number of idle tasks, which is equal to the configured numbers of cores
+                 * then a task other than the idle task is ready to execute. */
+                if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( UBaseType_t ) configNUM_CORES )
+                {
+                    taskYIELD();
+                }
+                else
+                {
+                    mtCOVERAGE_TEST_MARKER();
+                }
+            }
+        #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */
+    }
+}
+#endif
 /*
  * -----------------------------------------------------------
  * The Idle task.