feat(freertos): make FREERTOS_PORT_THREAD_SAFE_CLAIM optinal

components/freertos/FreeRTOS-Kernel-SMP/portable/riscv/include/freertos/portmacro.h

@@ -327,6 +327,7 @@ and vPortExitCritical() from precompiled libraries (.a) thereby failing linking.
 void vPortEnterCritical(void);
 void vPortExitCritical(void);
 
+#if CONFIG_FREERTOS_PORT_THREAD_SAFE_CLAIM
 /**
  * @brief Claim thread-safe region start
  *        If claimed, vPortEnterCritical/vPortExitCritical on the current core are no-ops.
@@ -344,6 +345,7 @@ void xPortThreadSafeClaim(void);
 void xPortThreadSafeDisclaim(void);
 
 extern volatile bool port_xThreadSafeClaimed;
+#endif /* CONFIG_FREERTOS_PORT_THREAD_SAFE_CLAIM */
 
 //IDF task critical sections
 #define portTRY_ENTER_CRITICAL(lock, timeout)       ({(void) lock; (void) timeout; vPortEnterCritical(); pdPASS;})

components/freertos/FreeRTOS-Kernel-SMP/portable/riscv/port.c

@@ -77,7 +77,9 @@ StackType_t *xIsrStackTop = &xIsrStack[0] + (configISR_STACK_SIZE & (~((portPOIN
 // Variables used for IDF style critical sections. These are orthogonal to FreeRTOS critical sections
 static UBaseType_t port_uxCriticalNestingIDF = 0;
 static UBaseType_t port_uxCriticalOldInterruptStateIDF = 0;
+#if CONFIG_FREERTOS_PORT_THREAD_SAFE_CLAIM
 volatile bool port_xThreadSafeClaimed = false;
+#endif
 
 /* ------------------------------------------------ IDF Compatibility --------------------------------------------------
  * - These need to be defined for IDF to compile
@@ -85,6 +87,7 @@ volatile bool port_xThreadSafeClaimed = false;
 
 // ------------------ Critical Sections --------------------
 
+#if CONFIG_FREERTOS_PORT_THREAD_SAFE_CLAIM
 void xPortThreadSafeClaim(void)
 {
     configASSERT(!xPortCanYield());
@@ -98,12 +101,15 @@ void xPortThreadSafeDisclaim(void)
     configASSERT(port_xThreadSafeClaimed);
     port_xThreadSafeClaimed = false;
 }
+#endif /* CONFIG_FREERTOS_PORT_THREAD_SAFE_CLAIM */
 
 void vPortEnterCritical(void)
 {
+#if CONFIG_FREERTOS_PORT_THREAD_SAFE_CLAIM
     if (unlikely(port_xThreadSafeClaimed)) {
         return;
     }
+#endif
     // Save current interrupt threshold and disable interrupts
     UBaseType_t old_thresh = ulPortSetInterruptMask();
     // Update the IDF critical nesting count
@@ -116,9 +122,11 @@ void vPortEnterCritical(void)
 
 void vPortExitCritical(void)
 {
+#if CONFIG_FREERTOS_PORT_THREAD_SAFE_CLAIM
     if (unlikely(port_xThreadSafeClaimed)) {
         return;
     }
+#endif
 
     /* Critical section nesting coung must never be negative */
     configASSERT( port_uxCriticalNestingIDF > 0 );
@@ -316,7 +324,9 @@ BaseType_t xPortStartScheduler(void)
 {
     uxInterruptNesting = 0;
     port_uxCriticalNestingIDF = 0;
+#if CONFIG_FREERTOS_PORT_THREAD_SAFE_CLAIM
     port_xThreadSafeClaimed = false;
+#endif
     uxSchedulerRunning = 0;
 #if configNUM_CORES > 1
     port_uxCoreStartupDone[xPortGetCoreID()] = 0;

components/freertos/FreeRTOS-Kernel-SMP/portable/xtensa/include/freertos/portmacro.h

@@ -321,6 +321,7 @@ static inline void __attribute__((always_inline)) vPortCPUReleaseMutex(portMUX_T
 
 // ------------------ Critical Sections --------------------
 
+#if CONFIG_FREERTOS_PORT_THREAD_SAFE_CLAIM
 /**
  * @brief Claim thread-safe region start
  *        If claimed, vPortEnterCritical/vPortExitCritical on the current core are no-ops.
@@ -338,6 +339,7 @@ void xPortThreadSafeClaim(void);
 void xPortThreadSafeDisclaim(void);
 
 extern volatile bool port_xThreadSafeClaimed;
+#endif /* CONFIG_FREERTOS_PORT_THREAD_SAFE_CLAIM */
 
 BaseType_t xPortEnterCriticalTimeout(portMUX_TYPE *lock, BaseType_t timeout);
 

components/freertos/FreeRTOS-Kernel-SMP/portable/xtensa/port.c

@@ -104,7 +104,9 @@ Variables used by IDF critical sections only (SMP tracks critical nesting inside
 */
 BaseType_t port_uxCriticalNestingIDF[portNUM_PROCESSORS] = {0};
 BaseType_t port_uxCriticalOldInterruptStateIDF[portNUM_PROCESSORS] = {0};
+#if CONFIG_FREERTOS_PORT_THREAD_SAFE_CLAIM
 volatile bool port_xThreadSafeClaimed = false;
+#endif
 
 /*
 *******************************************************************************
@@ -116,6 +118,7 @@ volatile StackType_t DRAM_ATTR __attribute__((aligned(16))) port_IntStack[portNU
 /* One flag for each individual CPU. */
 volatile uint32_t port_switch_flag[portNUM_PROCESSORS];
 
+#if CONFIG_FREERTOS_PORT_THREAD_SAFE_CLAIM
 void xPortThreadSafeClaim(void)
 {
     configASSERT(!xPortCanYield());
@@ -129,12 +132,15 @@ void xPortThreadSafeDisclaim(void)
     configASSERT(port_xThreadSafeClaimed);
     port_xThreadSafeClaimed = false;
 }
+#endif /* CONFIG_FREERTOS_PORT_THREAD_SAFE_CLAIM */
 
 BaseType_t xPortEnterCriticalTimeout(portMUX_TYPE *lock, BaseType_t timeout)
 {
+#if CONFIG_FREERTOS_PORT_THREAD_SAFE_CLAIM
     if (unlikely(port_xThreadSafeClaimed)) {
         return pdPASS;
     }
+#endif
     /* Interrupts may already be disabled (if this function is called in nested
      * manner). However, there's no atomic operation that will allow us to check,
      * thus we have to disable interrupts again anyways.
@@ -163,9 +169,11 @@ BaseType_t xPortEnterCriticalTimeout(portMUX_TYPE *lock, BaseType_t timeout)
 
 void vPortExitCriticalIDF(portMUX_TYPE *lock)
 {
+#if CONFIG_FREERTOS_PORT_THREAD_SAFE_CLAIM
     if (unlikely(port_xThreadSafeClaimed)) {
         return;
     }
+#endif
     /* This function may be called in a nested manner. Therefore, we only need
      * to re-enable interrupts if this is the last call to exit the critical. We
      * can use the nesting count to determine whether this is the last exit call.
@@ -361,7 +369,9 @@ BaseType_t xPortStartScheduler( void )
     BaseType_t coreID = xPortGetCoreID();
     port_xSchedulerRunning[coreID] = 1;
     port_uxCoreStartupDone[coreID] = 0;
+#if CONFIG_FREERTOS_PORT_THREAD_SAFE_CLAIM
     port_xThreadSafeClaimed = false;
+#endif
 
 #if configNUM_CORES > 1
     // Workaround for non-thread safe multi-core OS startup (see IDF-4524)

components/freertos/FreeRTOS-Kernel-SMP/tasks.c

@@ -44,6 +44,9 @@
 #include "task.h"
 #include "timers.h"
 #include "stack_macros.h"
+#if CONFIG_FREERTOS_PORT_THREAD_SAFE_CLAIM
+#include "esp_compiler.h"
+#endif
 
 /* The default definitions are only available for non-MPU ports. The
  * reason is that the stack alignment requirements vary for different
@@ -6968,10 +6971,12 @@ static void prvResetNextTaskUnblockTime( void )
 
     void vTaskEnterCritical( void )
     {
-        if( port_xThreadSafeClaimed )
+#if CONFIG_FREERTOS_PORT_THREAD_SAFE_CLAIM
+        if( unlikely( port_xThreadSafeClaimed ) )
         {
             return;
         }
+#endif
 
         traceENTER_vTaskEnterCritical();
 
@@ -7100,10 +7105,12 @@ static void prvResetNextTaskUnblockTime( void )
 
     void vTaskExitCritical( void )
     {
-        if( port_xThreadSafeClaimed )
+#if CONFIG_FREERTOS_PORT_THREAD_SAFE_CLAIM
+        if( unlikely( port_xThreadSafeClaimed ) )
         {
             return;
         }
+#endif
 
         traceENTER_vTaskExitCritical();
 

components/freertos/FreeRTOS-Kernel/portable/riscv/include/freertos/portmacro.h

@@ -230,6 +230,7 @@ void vPortEnterCritical(void);
  */
 void vPortExitCritical(void);
 
+#if CONFIG_FREERTOS_PORT_THREAD_SAFE_CLAIM
 /**
  * @brief Claim thread-safe region start
  *        If claimed, vPortEnterCritical/vPortExitCritical on the current core are no-ops.
@@ -245,6 +246,7 @@ void xPortThreadSafeClaim(void);
  * @note !!! Caller must guarantee thread safety between Claim and Disclaim !!!
  */
 void xPortThreadSafeDisclaim(void);
+#endif /* CONFIG_FREERTOS_PORT_THREAD_SAFE_CLAIM */
 
 #if (configNUM_CORES > 1)
 /**

components/freertos/FreeRTOS-Kernel/portable/riscv/port.c

@@ -99,7 +99,9 @@ _Static_assert(offsetof( StaticTask_t, pxDummy8 ) == PORT_OFFSET_PX_END_OF_STACK
 volatile UBaseType_t port_xSchedulerRunning[portNUM_PROCESSORS] = {0}; // Indicates whether scheduler is running on a per-core basis
 volatile UBaseType_t port_uxInterruptNesting[portNUM_PROCESSORS] = {0};  // Interrupt nesting level. Increased/decreased in portasm.c
 volatile UBaseType_t port_uxCriticalNesting[portNUM_PROCESSORS] = {0};
+#if CONFIG_FREERTOS_PORT_THREAD_SAFE_CLAIM
 volatile bool port_xThreadSafeClaimed = false;
+#endif
 volatile UBaseType_t port_uxOldInterruptState[portNUM_PROCESSORS] = {0};
 volatile UBaseType_t xPortSwitchFlag[portNUM_PROCESSORS] = {0};
 volatile UBaseType_t port_uxCoreStartupDone[portNUM_PROCESSORS] = {0};  // Indicates whether the core has completed its startup sequence
@@ -159,7 +161,9 @@ BaseType_t xPortStartScheduler(void)
     BaseType_t coreID = xPortGetCoreID();
     port_uxInterruptNesting[coreID] = 0;
     port_uxCriticalNesting[coreID] = 0;
+#if CONFIG_FREERTOS_PORT_THREAD_SAFE_CLAIM
     port_xThreadSafeClaimed = false;
+#endif
     port_xSchedulerRunning[coreID] = 0;
     port_uxCoreStartupDone[coreID] = 0;
 
@@ -529,9 +533,11 @@ void vPortClearInterruptMaskFromISR(UBaseType_t prev_int_level)
 #if (configNUM_CORES > 1)
 BaseType_t __attribute__((optimize("-O3"))) xPortEnterCriticalTimeout(portMUX_TYPE *mux, BaseType_t timeout)
 {
+#if CONFIG_FREERTOS_PORT_THREAD_SAFE_CLAIM
     if (unlikely(port_xThreadSafeClaimed)) {
         return pdPASS;
     }
+#endif
     /* Interrupts may already be disabled (if this function is called in nested
      * manner). However, there's no atomic operation that will allow us to check,
      * thus we have to disable interrupts again anyways.
@@ -559,9 +565,11 @@ BaseType_t __attribute__((optimize("-O3"))) xPortEnterCriticalTimeout(portMUX_TY
 
 void __attribute__((optimize("-O3"))) vPortExitCriticalMultiCore(portMUX_TYPE *mux)
 {
+#if CONFIG_FREERTOS_PORT_THREAD_SAFE_CLAIM
     if (unlikely(port_xThreadSafeClaimed)) {
         return;
     }
+#endif
     /* This function may be called in a nested manner. Therefore, we only need
      * to re-enable interrupts if this is the last call to exit the critical. We
      * can use the nesting count to determine whether this is the last exit call.
@@ -609,6 +617,7 @@ void vPortExitCriticalCompliance(portMUX_TYPE *mux)
 }
 #endif /* (configNUM_CORES > 1) */
 
+#if CONFIG_FREERTOS_PORT_THREAD_SAFE_CLAIM
 void xPortThreadSafeClaim(void)
 {
     configASSERT(!xPortCanYield());
@@ -622,6 +631,7 @@ void xPortThreadSafeDisclaim(void)
     configASSERT(port_xThreadSafeClaimed);
     port_xThreadSafeClaimed = false;
 }
+#endif /* CONFIG_FREERTOS_PORT_THREAD_SAFE_CLAIM */
 
 void vPortEnterCritical(void)
 {
@@ -629,9 +639,11 @@ void vPortEnterCritical(void)
         esp_rom_printf("vPortEnterCritical(void) is not supported on multi-core targets. Please use vPortEnterCriticalMultiCore(portMUX_TYPE *mux) instead.\n");
         abort();
 #endif /* (configNUM_CORES > 1) */
+#if CONFIG_FREERTOS_PORT_THREAD_SAFE_CLAIM
     if (unlikely(port_xThreadSafeClaimed)) {
         return;
     }
+#endif
     BaseType_t state = portSET_INTERRUPT_MASK_FROM_ISR();
     port_uxCriticalNesting[0]++;
 
@@ -646,9 +658,11 @@ void vPortExitCritical(void)
         esp_rom_printf("vPortExitCritical(void) is not supported on multi-core targets. Please use vPortExitCriticalMultiCore(portMUX_TYPE *mux) instead.\n");
         abort();
 #endif /* (configNUM_CORES > 1) */
+#if CONFIG_FREERTOS_PORT_THREAD_SAFE_CLAIM
     if (unlikely(port_xThreadSafeClaimed)) {
         return;
     }
+#endif
 
     /* Critical section nesting count must never be negative */
     configASSERT( port_uxCriticalNesting[0] > 0 );

components/freertos/FreeRTOS-Kernel/portable/xtensa/include/freertos/portmacro.h

@@ -229,6 +229,7 @@ static inline void __attribute__((always_inline)) vPortEnterCritical(portMUX_TYP
  */
 void vPortExitCritical(portMUX_TYPE *mux);
 
+#if CONFIG_FREERTOS_PORT_THREAD_SAFE_CLAIM
 /**
  * @brief Claim thread-safe region start
  *        If claimed, vPortEnterCritical/vPortExitCritical on the current core are no-ops.
@@ -244,6 +245,7 @@ void xPortThreadSafeClaim(void);
  * @note !!! Caller must guarantee thread safety between Claim and Disclaim !!!
  */
 void xPortThreadSafeDisclaim(void);
+#endif /* CONFIG_FREERTOS_PORT_THREAD_SAFE_CLAIM */
 
 /**
  * @brief FreeRTOS Compliant version of xPortEnterCriticalTimeout()

components/freertos/FreeRTOS-Kernel/portable/xtensa/port.c

@@ -77,7 +77,9 @@ const DRAM_ATTR uint32_t offset_xCoreID = offsetof(StaticTask_t, xDummyCoreID);
 volatile unsigned port_xSchedulerRunning[portNUM_PROCESSORS] = {0}; // Indicates whether scheduler is running on a per-core basis
 unsigned port_interruptNesting[portNUM_PROCESSORS] = {0};  // Interrupt nesting level. Increased/decreased in portasm.c, _frxt_int_enter/_frxt_int_exit
 BaseType_t port_uxCriticalNesting[portNUM_PROCESSORS] = {0};
+#if CONFIG_FREERTOS_PORT_THREAD_SAFE_CLAIM
 volatile bool port_xThreadSafeClaimed = false;
+#endif
 BaseType_t port_uxOldInterruptState[portNUM_PROCESSORS] = {0};
 volatile unsigned port_uxCoreStartupDone[portNUM_PROCESSORS] = {0};  // Indicates whether the core has completed its startup sequence
 
@@ -482,6 +484,7 @@ BaseType_t xPortInterruptedFromISRContext(void)
 
 // ------------------ Critical Sections --------------------
 
+#if CONFIG_FREERTOS_PORT_THREAD_SAFE_CLAIM
 void xPortThreadSafeClaim(void)
 {
     configASSERT(!xPortCanYield());
@@ -495,12 +498,15 @@ void xPortThreadSafeDisclaim(void)
     configASSERT(port_xThreadSafeClaimed);
     port_xThreadSafeClaimed = false;
 }
+#endif /* CONFIG_FREERTOS_PORT_THREAD_SAFE_CLAIM */
 
 BaseType_t __attribute__((optimize("-O3"))) xPortEnterCriticalTimeout(portMUX_TYPE *mux, BaseType_t timeout)
 {
+#if CONFIG_FREERTOS_PORT_THREAD_SAFE_CLAIM
     if (unlikely(port_xThreadSafeClaimed)) {
         return pdPASS;
     }
+#endif
     /* Interrupts may already be disabled (if this function is called in nested
      * manner). However, there's no atomic operation that will allow us to check,
      * thus we have to disable interrupts again anyways.
@@ -528,9 +534,11 @@ BaseType_t __attribute__((optimize("-O3"))) xPortEnterCriticalTimeout(portMUX_TY
 
 void __attribute__((optimize("-O3"))) vPortExitCritical(portMUX_TYPE *mux)
 {
+#if CONFIG_FREERTOS_PORT_THREAD_SAFE_CLAIM
     if (unlikely(port_xThreadSafeClaimed)) {
         return;
     }
+#endif
     /* This function may be called in a nested manner. Therefore, we only need
      * to re-enable interrupts if this is the last call to exit the critical. We
      * can use the nesting count to determine whether this is the last exit call.

components/freertos/Kconfig

@@ -566,6 +566,21 @@ menu "FreeRTOS"
                 If enabled, context of port*_CRITICAL calls (ISR or Non-ISR) would be checked to be in compliance with
                 Vanilla FreeRTOS. e.g Calling port*_CRITICAL from ISR context would cause assert failure
 
+        config FREERTOS_PORT_THREAD_SAFE_CLAIM
+            bool "Enable xPortThreadSafeClaim/xPortThreadSafeDisclaim APIs"
+            default y if SOC_BRANCH_PREDICTOR_SUPPORTED
+            default n
+            help
+                Enables the xPortThreadSafeClaim() and xPortThreadSafeDisclaim() APIs, which allow a caller to
+                declare that it has already ensured thread safety (e.g. by disabling interrupts and stalling all
+                other cores), causing subsequent vPortEnterCritical/vPortExitCritical calls to become no-ops for
+                the duration of the claim.
+
+                This feature adds a branch check to every port-layer critical-section enter/exit path. On chips
+                with a hardware branch predictor (SOC_BRANCH_PREDICTOR_SUPPORTED) the branch is predicted-not-taken
+                and has negligible overhead. On older chips without a branch predictor the branch has a measurable
+                per-critical-section cost, so this option defaults to disabled.
+
     endmenu # Port
 
     menu "Extra"

components/freertos/test_apps/freertos/include/freertos_performance.h

@@ -4,8 +4,14 @@
  */
 #pragma once
 
+#include "sdkconfig.h"
+
 #ifndef IDF_PERFORMANCE_MAX_FREERTOS_SPINLOCK_CYCLES_PER_OP
-#define IDF_PERFORMANCE_MAX_FREERTOS_SPINLOCK_CYCLES_PER_OP                     230
+#if CONFIG_FREERTOS_PORT_THREAD_SAFE_CLAIM
+#define IDF_PERFORMANCE_MAX_FREERTOS_SPINLOCK_CYCLES_PER_OP     230
+#else
+#define IDF_PERFORMANCE_MAX_FREERTOS_SPINLOCK_CYCLES_PER_OP     215
+#endif
 #endif
 #ifndef IDF_PERFORMANCE_MAX_FREERTOS_SPINLOCK_CYCLES_PER_OP_PSRAM
 #define IDF_PERFORMANCE_MAX_FREERTOS_SPINLOCK_CYCLES_PER_OP_PSRAM               300