Merge branch 'main' into remove-type-taskrunning

Author: chinglee-iot

tasks.c

@@ -690,62 +690,57 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB ) PRIVILEGED_FUNCTION;
         UBaseType_t uxPrevCriticalNesting;
         const TCB_t * pxThisTCB;
 
-        /* This should be skipped if called from an ISR. If the task on the current
-         * core is no longer running, then vTaskSwitchContext() probably should
-         * be run before returning, but we don't have a way to force that to happen
-         * from here. */
-        if( portCHECK_IF_IN_ISR() == pdFALSE )
-        {
-            /* This function is always called with interrupts disabled
-             * so this is safe. */
-            pxThisTCB = pxCurrentTCBs[ portGET_CORE_ID() ];
-
-            while( pxThisTCB->xTaskRunState == taskTASK_SCHEDULED_TO_YIELD )
-            {
-                /* We are only here if we just entered a critical section
-                * or if we just suspended the scheduler, and another task
-                * has requested that we yield.
-                *
-                * This is slightly complicated since we need to save and restore
-                * the suspension and critical nesting counts, as well as release
-                * and reacquire the correct locks. And then, do it all over again
-                * if our state changed again during the reacquisition. */
-                uxPrevCriticalNesting = portGET_CRITICAL_NESTING_COUNT();
-
-                if( uxPrevCriticalNesting > 0U )
-                {
-                    portSET_CRITICAL_NESTING_COUNT( 0U );
-                    portRELEASE_ISR_LOCK();
-                }
-                else
-                {
-                    /* The scheduler is suspended. uxSchedulerSuspended is updated
-                     * only when the task is not requested to yield. */
-                    mtCOVERAGE_TEST_MARKER();
-                }
+        /* This must only be called from within a task. */
+        portASSERT_IF_IN_ISR();
+
+        /* This function is always called with interrupts disabled
+         * so this is safe. */
+        pxThisTCB = pxCurrentTCBs[ portGET_CORE_ID() ];
+
+        while( pxThisTCB->xTaskRunState == taskTASK_SCHEDULED_TO_YIELD )
+        {
+            /* We are only here if we just entered a critical section
+            * or if we just suspended the scheduler, and another task
+            * has requested that we yield.
+            *
+            * This is slightly complicated since we need to save and restore
+            * the suspension and critical nesting counts, as well as release
+            * and reacquire the correct locks. And then, do it all over again
+            * if our state changed again during the reacquisition. */
+            uxPrevCriticalNesting = portGET_CRITICAL_NESTING_COUNT();
 
-                portRELEASE_TASK_LOCK();
+            if( uxPrevCriticalNesting > 0U )
+            {
+                portSET_CRITICAL_NESTING_COUNT( 0U );
+                portRELEASE_ISR_LOCK();
+            }
+            else
+            {
+                /* The scheduler is suspended. uxSchedulerSuspended is updated
+                 * only when the task is not requested to yield. */
+                mtCOVERAGE_TEST_MARKER();
+            }
 
-                portMEMORY_BARRIER();
-                configASSERT( pxThisTCB->xTaskRunState == taskTASK_SCHEDULED_TO_YIELD );
+            portRELEASE_TASK_LOCK();
+            portMEMORY_BARRIER();
+            configASSERT( pxThisTCB->xTaskRunState == taskTASK_SCHEDULED_TO_YIELD );
 
-                portENABLE_INTERRUPTS();
+            portENABLE_INTERRUPTS();
 
-                /* Enabling interrupts should cause this core to immediately
-                 * service the pending interrupt and yield. If the run state is still
-                 * yielding here then that is a problem. */
-                configASSERT( pxThisTCB->xTaskRunState != taskTASK_SCHEDULED_TO_YIELD );
+            /* Enabling interrupts should cause this core to immediately
+             * service the pending interrupt and yield. If the run state is still
+             * yielding here then that is a problem. */
+            configASSERT( pxThisTCB->xTaskRunState != taskTASK_SCHEDULED_TO_YIELD );
 
-                portDISABLE_INTERRUPTS();
-                portGET_TASK_LOCK();
-                portGET_ISR_LOCK();
+            portDISABLE_INTERRUPTS();
+            portGET_TASK_LOCK();
+            portGET_ISR_LOCK();
 
-                portSET_CRITICAL_NESTING_COUNT( uxPrevCriticalNesting );
+            portSET_CRITICAL_NESTING_COUNT( uxPrevCriticalNesting );
 
-                if( uxPrevCriticalNesting == 0U )
-                {
-                    portRELEASE_ISR_LOCK();
-                }
+            if( uxPrevCriticalNesting == 0U )
+            {
+                portRELEASE_ISR_LOCK();
             }
         }
     }