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Feature/smp granular locks v4 #1154

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Feature/smp granular locks v4 #1154

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sudeep-mohanty
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@sudeep-mohanty sudeep-mohanty commented Oct 9, 2024 •
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This PR adds support for granular locking to the FreeRTOS kernel.

Description

Granular locking introduces the concept of having localized locks per kernel data group for SMP configuration. This method is an optional replacement of the existing kernel locks and is controlled by a new port layer configuration, viz., portUSING_GRANULAR_LOCKS. More details about the approach can be found here.

Test Steps

The implementation has been tested on Espressif SoC targets, viz., the ESP32 using the ESP-IDF framework.

1. Testing on an esp32 target

  • To test the implementation of the granular locking scheme on esp32, setup the ESP-IDF environment on your local machine. The steps to follow are listed in the Getting Started Guide.
  • Instead of the main ESP-IDF repository, the granular locks implementation resides in this froked repository - https://github.com/sudeep-mohanty/esp-idf.
  • Once you have cloned the forked repository and setup the ESP-IDF environment, change your branch to feat/granular_locks_tests.
  • To run the FreeRTOS unit tests, change the directory to components/freertos/test_apps/freertos where all the test cases are located.
  • Performance tests are located in the performance subfolder at the same location.
  • Setup the target device with the command idf.py seet-target esp32.
  • Select the Amazon FreeRTOS SMP kernel using the menuconfig options. To do this you must enter the command -idf.py menuconfig -> Component config -> FreeRTOS -> Kernel -> Run the Amazon SMP FreeRTOS kernel instead (FEATURE UNDER DEVELOPMENT). Save the configuration and exit the menuconfig.
  • Now, build and flash the unit test application with the command idf.py build flash monitor.
  • Once the app is up, you can enter the number of the test case and run the unity test case.

TODO

  • Test setup for other targets (Raspberry Pi Pico)
  • Generic target tests to be uploaded to the FreeRTOS repository.

Checklist:

  • I have tested my changes. No regression in existing tests.
  • I have modified and/or added unit-tests to cover the code changes in this Pull Request.

Related Issue

By submitting this pull request, I confirm that you can use, modify, copy, and redistribute this contribution, under the terms of your choice.

@sudeep-mohanty
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@chinglee-iot @aggarg This PR introduces the granular locks changes to the FreeRTOS kernel. Please have a look and we could have discussions/changes in this PR context. Thank you.

cc: @ESP-Marius @Dazza0

@rawalexe
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rawalexe commented Oct 9, 2024 •
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Thank you for your contribution, I'll forward this request to the team. There are few error in the PR can you please try fixing them

@rawalexe
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Hello @sudeep-mohanty, I am just following up if you had time to fix the build issues

@sudeep-mohanty sudeep-mohanty marked this pull request as draft October 15, 2024 08:25
@sudeep-mohanty
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@rawalexe Yes! I shall work on the failures and would also do some refactoring for an easier review process. For now, I've put this PR in draft.

@sudeep-mohanty sudeep-mohanty force-pushed the feature/smp_granular_locks_v4 branch 9 times, most recently from 0159a4a to 5bf8c33 Compare October 30, 2024 10:26
@sudeep-mohanty sudeep-mohanty marked this pull request as ready for review October 30, 2024 10:34
@sudeep-mohanty sudeep-mohanty requested a review from a team as a code owner October 30, 2024 10:34
@ActoryOu
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Hi @sudeep-mohanty,
Could you help check CI failing?

@sudeep-mohanty
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Hi @sudeep-mohanty, Could you help check CI failing?

Hi @ActoryOu, I've made some updates which should fix the CI failures however I could not understand why the link-verifier action fails. Seems more like a script failure to me. So this action would still fail. If you have more information on what is causing it, could you let me know and I shall fix it. Thanks.

@sudeep-mohanty sudeep-mohanty force-pushed the feature/smp_granular_locks_v4 branch 2 times, most recently from c79962d to f50d476 Compare October 31, 2024 12:43
@sudeep-mohanty sudeep-mohanty mentioned this pull request Nov 1, 2024
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sudeep-mohanty commented Nov 1, 2024 •
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Created a PR to fix the CI failure - FreeRTOS/FreeRTOS#1292

Dazza0 and others added 4 commits November 1, 2024 16:28
@Dazza0 @sudeep-mohanty
refactor(freertos/smp): Move critical sections inside xTaskPriorityIn…
9b330c3 
…herit()

xTaskPriorityInherit() is called inside a critical section from queue.c. This
commit moves the critical section into xTaskPriorityInherit().

Co-authored-by: Sudeep Mohanty <sudeep.mohanty@espressif.com>
@Dazza0 @sudeep-mohanty
feat(freertos/smp): Allow vTaskPreemptionEnable() to be nested
2be0ff8 
Changed xPreemptionDisable to be a count rather than a pdTRUE/pdFALSE. This
allows nested calls to vTaskPreemptionEnable(), where a yield only occurs when
xPreemptionDisable is 0.

Co-authored-by: Sudeep Mohanty <sudeep.mohanty@espressif.com>
@Dazza0 @sudeep-mohanty
feat(freertos/smp): Add granular locking port macros checks
0e8f12d 
Adds the required checks for granular locking port macros.

Port Config:

- portUSING_GRANULAR_LOCKS to enable granular locks
- portCRITICAL_NESTING_IN_TCB should be disabled

Granular Locking Port Macros:

- Spinlocks
        - portSPINLOCK_TYPE
        - portINIT_EVENT_GROUP_TASK_SPINLOCK( pxSpinlock )
        - portINIT_EVENT_GROUP_ISR_SPINLOCK( pxSpinlock )
        - portINIT_QUEUE_TASK_SPINLOCK( pxSpinlock )
        - portINIT_QUEUE_ISR_SPINLOCK( pxSpinlock )
        - portINIT_STREAM_BUFFER_TASK_SPINLOCK( pxSpinlock )
        - portINIT_STREAM_BUFFER_ISR_SPINLOCK( pxSpinlock )
        - portINIT_KERNEL_TASK_SPINLOCK_STATIC
        - portINIT_KERNEL_ISR_SPINLOCK_STATIC
        - portINIT_TIMERS_TASK_SPINLOCK_STATIC
        - portINIT_TIMERS_ISR_SPINLOCK_STATIC
- Locking
        - portGET_SPINLOCK()
        - portRELEASE_SPINLOCK()

Co-authored-by: Sudeep Mohanty <sudeep.mohanty@espressif.com>
@Dazza0 @sudeep-mohanty
feat(granular_locks): Add granular locking functions
56d0e10 
Added or modify granular locking related API:

Added:

- vTaskLockDataGroup()
- vTaskUnlockDataGroup()
- uxTaskLockDataGroupFromISR()
- vTaskUnlockDataGroupFromISR()
- taskLOCK_DATA_GROUP()
- taskUNLOCK_DATA_GROUP()
- taskLOCK_DATA_GROUP_FROM_ISR()
- taskUNLOCK_DATA_GROUP_FROM_ISR()

Updated:

- Remove prvCheckForRunStateChange() when granular locks is enabled
- Updated vTaskSuspendAll() and xTaskResumeAll()
    - Now holds the xTaskSpinlock during kernel suspension
    - Increments/decrements xPreemptionDisable. Only yields when 0, thus allowing
    for nested suspensions across different data groups

Co-authored-by: Sudeep Mohanty <sudeep.mohanty@espressif.com>
@sudeep-mohanty sudeep-mohanty force-pushed the feature/smp_granular_locks_v4 branch 2 times, most recently from cd06778 to 70eb466 Compare November 4, 2024 15:29
Dazza0 and others added 6 commits November 4, 2024 16:37
@Dazza0 @sudeep-mohanty
change(freertos/smp): Update tasks.c locking
cac4f0c 
Replaced critical section macros with data group locking macros
such as taskENTER/EXIT_CRITICAL() with taskLOCK/UNLOCK_KERNEL_DATA_GROUP().

Some tasks.c API relied on their callers to enter critical sections. This
assumption no longer works under granular locking. Critical sections added to
the following functions:

- `vTaskInternalSetTimeOutState()`
- `xTaskIncrementTick()`
- `vTaskSwitchContext()`
- `xTaskRemoveFromEventList()`
- `vTaskInternalSetTimeOutState()`
- `eTaskConfirmSleepModeStatus()`
- `xTaskPriorityDisinherit()`
- `pvTaskIncrementMutexHeldCount()`

Added missing suspensions to the following functions:

- `vTaskPlaceOnEventList()`
- `vTaskPlaceOnUnorderedEventList()`
- `vTaskPlaceOnEventListRestricted()`

Fixed the locking in vTaskSwitchContext()

vTaskSwitchContext() must aquire both kernel locks, viz., task lock and
ISR lock. This is because, vTaskSwitchContext() can be called from
either task context or ISR context. Also, vTaskSwitchContext() must not
alter the interrupt state prematurely.

Co-authored-by: Sudeep Mohanty <sudeep.mohanty@espressif.com>
@Dazza0 @sudeep-mohanty
change(freertos/smp): Update queue.c locking
e55151f 
Updated queue.c to use granular locking

- Added xTaskSpinlock and xISRSpinlock
- Replaced  critical section macros with data group locking macros
such as taskENTER/EXIT_CRITICAL() with taskLOCK/UNLOCK_DATA_GROUP().
- Added prvSuspendQueue() and prvResumeQueue() as the granular locking equivalents
to prvLockQueue() and prvUnlockQueue() respectively
- Added missing critical sections to prvNotifyQueueSetContainer()

Co-authored-by: Sudeep Mohanty <sudeep.mohanty@espressif.com>
@Dazza0 @sudeep-mohanty
change(freertos/smp): Update event_groups.c locking
6ef9c00 
Updated event_groups.c to use granular locking

- Added xTaskSpinlock and xISRSpinlock
- Replaced critical section macros with data group locking macros
such as taskENTER/EXIT_CRITICAL() with taskLOCK/UNLOCK_DATA_GROUP().
- Added prvSuspendEventGroup() and prvResumeEventGroup() to suspend the event
group when executing non-deterministic code.
- xEventGroupSetBits() and vEventGroupDelete() accesses the kernel data group
directly. Thus, added vTaskSuspendAll()/xTaskResumeAll() to these fucntions.

Co-authored-by: Sudeep Mohanty <sudeep.mohanty@espressif.com>
@Dazza0 @sudeep-mohanty
change(freertos/smp): Update stream_buffer.c locking
c794d61 
Updated stream_buffer.c to use granular locking

- Added xTaskSpinlock and xISRSpinlock
- Replaced critical section macros with data group locking macros
such as taskENTER/EXIT_CRITICAL() with taskLOCK/UNLOCK_DATA_GROUP().
- Added prvSuspendStreamBuffer() and prvResumeStreamBuffer() to suspend the stream
buffer when executing non-deterministic code.

Co-authored-by: Sudeep Mohanty <sudeep.mohanty@espressif.com>
@Dazza0 @sudeep-mohanty
change(freertos/smp): Update timers.c locking
d840155 
Updated timers.c to use granular locking

- Added xTaskSpinlock and xISRSpinlock
- Replaced critical section macros with data group locking macros
such as taskENTER/EXIT_CRITICAL() with taskLOCK/UNLOCK_DATA_GROUP().

Co-authored-by: Sudeep Mohanty <sudeep.mohanty@espressif.com>
@Dazza0 @sudeep-mohanty
feat(freertos/smp): Add Granular Locking V4 proposal documents
edc1c98 
Co-authored-by: Sudeep Mohanty <sudeep.mohanty@espressif.com>
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sonarcloud bot commented Nov 4, 2024

Quality Gate Passed Quality Gate passed

Issues
0 New issues
0 Accepted issues

Measures
0 Security Hotspots
0.0% Coverage on New Code
6.3% Duplication on New Code

See analysis details on SonarCloud

@sudeep-mohanty sudeep-mohanty marked this pull request as draft November 15, 2024 14:25
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Granular Lock for SMP
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@sudeep-mohanty @rawalexe @ActoryOu @Dazza0