…herit()

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

Co-authored-by: Sudeep Mohanty <[email protected]>

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 <[email protected]>

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 <[email protected]>

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 <[email protected]>

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 <[email protected]>

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 <[email protected]>

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 <[email protected]>

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 <[email protected]>

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 <[email protected]>

Co-authored-by: Sudeep Mohanty <[email protected]>