fix(freertos-smp): Fix yielding decisions based on preemption state of task

sudeep-mohanty · sudeep-mohanty · commit e9310aa1153b · 2025-08-15T17:12:36.000+02:00
diff --git a/tasks.c b/tasks.c
@@ -1085,12 +1085,23 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB ) PRIVILEGED_FUNCTION;
                             #endif
                             {
                                 #if ( configUSE_TASK_PREEMPTION_DISABLE == 1 )
+                                {
                                     if( pxCurrentTCBs[ xCoreID ]->uxPreemptionDisable == 0U )
-                                #endif
+                                    {
+                                        xLowestPriorityToPreempt = xCurrentCoreTaskPriority;
+                                        xLowestPriorityCore = xCoreID;
+                                    }
+                                    else
+                                    {
+                                        xYieldPendings[ xCoreID ] = pdTRUE;
+                                    }
+                                }
+                                #else
                                 {
                                     xLowestPriorityToPreempt = xCurrentCoreTaskPriority;
                                     xLowestPriorityCore = xCoreID;
                                 }
+                                #endif
                             }
                         }
                         else
@@ -1391,12 +1402,23 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB ) PRIVILEGED_FUNCTION;
                                 ( xYieldPendings[ uxCore ] == pdFALSE ) )
                             {
                                 #if ( configUSE_TASK_PREEMPTION_DISABLE == 1 )
+                                {
                                     if( pxCurrentTCBs[ uxCore ]->uxPreemptionDisable == 0U )
-                                #endif
+                                    {
+                                        xLowestPriority = xTaskPriority;
+                                        xLowestPriorityCore = ( BaseType_t ) uxCore;
+                                    }
+                                    else
+                                    {
+                                        xYieldPendings[ uxCore ] = pdTRUE;
+                                    }
+                                }
+                                #else
                                 {
                                     xLowestPriority = xTaskPriority;
                                     xLowestPriorityCore = ( BaseType_t ) uxCore;
                                 }
+                                #endif
                             }
                         }
                     }
@@ -3053,12 +3075,7 @@ static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
                     /* Setting the priority of a running task down means
                      * there may now be another task of higher priority that
                      * is ready to execute. */
-                    #if ( configUSE_TASK_PREEMPTION_DISABLE == 1 )
-                        if( pxTCB->uxPreemptionDisable == 0U )
-                    #endif
-                    {
-                        xYieldRequired = pdTRUE;
-                    }
+                    xYieldRequired = pdTRUE;
                 }
                 else
                 {

Original file line number	Diff line number	Diff line change
`@@ -1085,12 +1085,23 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB ) PRIVILEGED_FUNCTION;`
`1085`	`1085`	`#endif`
`1086`	`1086`	`{`
`1087`	`1087`	`#if ( configUSE_TASK_PREEMPTION_DISABLE == 1 )`
	`1088`	`+ {`
`1088`	`1089`	`if( pxCurrentTCBs[ xCoreID ]->uxPreemptionDisable == 0U )`
`1089`		`- #endif`
	`1090`	`+ {`
	`1091`	`+ xLowestPriorityToPreempt = xCurrentCoreTaskPriority;`
	`1092`	`+ xLowestPriorityCore = xCoreID;`
	`1093`	`+ }`
	`1094`	`+ else`
	`1095`	`+ {`
	`1096`	`+ xYieldPendings[ xCoreID ] = pdTRUE;`
	`1097`	`+ }`
	`1098`	`+ }`
	`1099`	`+ #else`
`1090`	`1100`	`{`
`1091`	`1101`	`xLowestPriorityToPreempt = xCurrentCoreTaskPriority;`
`1092`	`1102`	`xLowestPriorityCore = xCoreID;`
`1093`	`1103`	`}`
	`1104`	`+ #endif`
`1094`	`1105`	`}`
`1095`	`1106`	`}`
`1096`	`1107`	`else`
`@@ -1391,12 +1402,23 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB ) PRIVILEGED_FUNCTION;`
`1391`	`1402`	`( xYieldPendings[ uxCore ] == pdFALSE ) )`
`1392`	`1403`	`{`
`1393`	`1404`	`#if ( configUSE_TASK_PREEMPTION_DISABLE == 1 )`
	`1405`	`+ {`
`1394`	`1406`	`if( pxCurrentTCBs[ uxCore ]->uxPreemptionDisable == 0U )`
`1395`		`- #endif`
	`1407`	`+ {`
	`1408`	`+ xLowestPriority = xTaskPriority;`
	`1409`	`+ xLowestPriorityCore = ( BaseType_t ) uxCore;`
	`1410`	`+ }`
	`1411`	`+ else`
	`1412`	`+ {`
	`1413`	`+ xYieldPendings[ uxCore ] = pdTRUE;`
	`1414`	`+ }`
	`1415`	`+ }`
	`1416`	`+ #else`
`1396`	`1417`	`{`
`1397`	`1418`	`xLowestPriority = xTaskPriority;`
`1398`	`1419`	`xLowestPriorityCore = ( BaseType_t ) uxCore;`
`1399`	`1420`	`}`
	`1421`	`+ #endif`
`1400`	`1422`	`}`
`1401`	`1423`	`}`
`1402`	`1424`	`}`
`@@ -3053,12 +3075,7 @@ static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,`
`3053`	`3075`	`/* Setting the priority of a running task down means`
`3054`	`3076`	`* there may now be another task of higher priority that`
`3055`	`3077`	`* is ready to execute. */`
`3056`		`- #if ( configUSE_TASK_PREEMPTION_DISABLE == 1 )`
`3057`		`- if( pxTCB->uxPreemptionDisable == 0U )`
`3058`		`- #endif`
`3059`		`- {`
`3060`		`- xYieldRequired = pdTRUE;`
`3061`		`- }`
	`3078`	`+ xYieldRequired = pdTRUE;`
`3062`	`3079`	`}`
`3063`	`3080`	`else`
`3064`	`3081`	`{`