components/freertos: using the optimized task selection on esp32s2beta

components/freertos: cleaned up multicore option scheduler.

components/freertos:  more cleanup and test optimization to present realistic results

components/freertos: remove unused macros of optimized task selection when multicore is used

components/freertos/include/freertos/FreeRTOSConfig.h

@@ -176,15 +176,11 @@ int xt_clock_freq(void) __attribute__((deprecated));
 //#define configCPU_CLOCK_HZ				80000000
 
 /* This has impact on speed of search for highest priority */
-#ifdef configUSE_PORT_OPTIMISED_TASK_SELECTION
 #ifdef SMALL_TEST
 #define configMAX_PRIORITIES			( 7 )
 #else
 #define configMAX_PRIORITIES			( 25 )
 #endif
-#else 
-#define configMAX_PRIORITIES			( 32 )
-#endif
 
 #ifndef CONFIG_APPTRACE_ENABLE
 #define configMINIMAL_STACK_SIZE		768

components/freertos/tasks.c

@@ -368,7 +368,7 @@ PRIVILEGED_DATA static volatile BaseType_t xSwitchingContext[ portNUM_PROCESSORS
 																										\
 		/* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of						\
 		the	same priority get an equal share of the processor time. */									\
-		listGET_OWNER_OF_NEXT_ENTRY( xTaskGetCurrentTaskHandle(), &( pxReadyTasksLists[ uxTopReadyPriority ] ) );		\
+		listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB[xPortGetCoreID()], &( pxReadyTasksLists[ uxTopReadyPriority ] ) );		\
 	} /* taskSELECT_HIGHEST_PRIORITY_TASK */
 
 	/*-----------------------------------------------------------*/
@@ -397,7 +397,7 @@ PRIVILEGED_DATA static volatile BaseType_t xSwitchingContext[ portNUM_PROCESSORS
 		/* Find the highest priority queue that contains ready tasks. */							\
 		portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority );								\
 		configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 );		\
-		listGET_OWNER_OF_NEXT_ENTRY( xTaskGetCurrentTaskHandle(), &( pxReadyTasksLists[ uxTopPriority ] ) );		\
+		listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB[xPortGetCoreID()], &( pxReadyTasksLists[ uxTopPriority ] ) );		\
 	} /* taskSELECT_HIGHEST_PRIORITY_TASK() */
 
 	/*-----------------------------------------------------------*/
@@ -2723,7 +2723,7 @@ void vTaskSwitchContext( void )
 	//Theoretically, this is only called from either the tick interrupt or the crosscore interrupt, so disabling
 	//interrupts shouldn't be necessary anymore. Still, for safety we'll leave it in for now.
 	int irqstate=portENTER_CRITICAL_NESTED();
-	tskTCB * pxTCB;
+
 	if( uxSchedulerSuspended[ xPortGetCoreID() ] != ( UBaseType_t ) pdFALSE )
 	{
 		/* The scheduler is currently suspended - do not allow a context
@@ -2782,16 +2782,12 @@ void vTaskSwitchContext( void )
 		vPortCPUAcquireMutex( &xTaskQueueMutex );
 #endif
 
+#if !CONFIG_FREERTOS_UNICORE
 		unsigned portBASE_TYPE foundNonExecutingWaiter = pdFALSE, ableToSchedule = pdFALSE, resetListHead;
 		unsigned portBASE_TYPE holdTop=pdFALSE;
+		tskTCB * pxTCB;
 
-#if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1
-		portBASE_TYPE uxDynamicTopReady;
-		portGET_HIGHEST_PRIORITY( uxDynamicTopReady, uxTopReadyPriority );
-		portBASE_TYPE uxCopyOfTopReadyPrio = uxDynamicTopReady;
-#else 
 		portBASE_TYPE uxDynamicTopReady = uxTopReadyPriority;
-#endif
 		/*
 		 *  ToDo: This scheduler doesn't correctly implement the round-robin scheduling as done in the single-core
 		 *  FreeRTOS stack when multiple tasks have the same priority and are all ready; it just keeps grabbing the
@@ -2867,18 +2863,19 @@ void vTaskSwitchContext( void )
 					}
 				} while ((ableToSchedule == pdFALSE) && (pxTCB != pxRefTCB));
 			} else {
-				if (!holdTop) {
+				if (!holdTop)  uxTopReadyPriority--;
-					#if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1					
-						portRESET_READY_PRIORITY( uxCopyOfTopReadyPrio,uxTopReadyPriority );
-						portGET_HIGHEST_PRIORITY( uxCopyOfTopReadyPrio,uxTopReadyPriority );
-					#else
-						uxTopReadyPriority--;
-					#endif
-				}
 			}
 			--uxDynamicTopReady;
 		}
 
+#else 
+		//For Unicore targets we can keep the current FreeRTOS O(1)
+		//Scheduler. I hope to optimize better the scheduler for 
+		//Multicore settings -- This will involve to create a per
+		//affinity ready task list which will impact hugely on 
+		//tasks module
+		taskSELECT_HIGHEST_PRIORITY_TASK();
+#endif
 		traceTASK_SWITCHED_IN();
         xSwitchingContext[ xPortGetCoreID() ] = pdFALSE;
 
@@ -2890,6 +2887,7 @@ void vTaskSwitchContext( void )
 		vPortCPUReleaseMutex( &xTaskQueueMutex );
 #endif
 
+
 #if CONFIG_FREERTOS_WATCHPOINT_END_OF_STACK
 		vPortSetStackWatchpoint(pxCurrentTCB[xPortGetCoreID()]->pxStack);
 #endif

components/freertos/test/test_freertos_scheduling_time.c

@@ -12,16 +12,16 @@
 #include "test_utils.h"
 
 typedef struct {
-    uint32_t noof_runs;
     SemaphoreHandle_t end_sema;
     uint32_t before_sched;
     uint32_t cycles_to_sched;
+    TaskHandle_t t1_handle;
 } test_context_t;
 
 static void test_task_1(void *arg) {
     test_context_t *context = (test_context_t *)arg;
 
-    for(context->noof_runs = 0 ;context->noof_runs < 10000; ) {
+    for( ;; ) {
         context->before_sched = portGET_RUN_TIME_COUNTER_VALUE();
         vPortYield();
     }
@@ -31,13 +31,15 @@ static void test_task_1(void *arg) {
 
 static void test_task_2(void *arg) {
     test_context_t *context = (test_context_t *)arg;
+    uint32_t accumulator = 0;
 
-    for( ; context->noof_runs < 10000; context->noof_runs++) {
+    for(int i = 0; i < 10000; i++) {
-        context->cycles_to_sched += (portGET_RUN_TIME_COUNTER_VALUE() - context->before_sched);
+        accumulator += (portGET_RUN_TIME_COUNTER_VALUE() - context->before_sched);
         vPortYield();
     }
 
-    context->cycles_to_sched /= 10000;
+    context->cycles_to_sched = accumulator / 10000;
+    vTaskDelete(context->t1_handle);
     xSemaphoreGive(context->end_sema);
     vTaskDelete(NULL);
 }
@@ -49,8 +51,13 @@ TEST_CASE("scheduling time test", "[freertos]")
     context.end_sema = xSemaphoreCreateBinary();
     TEST_ASSERT(context.end_sema != NULL);
 
-    xTaskCreatePinnedToCore(test_task_1, "test1" , 4096, &context, 1, NULL,1);
+#if !CONFIG_FREERTOS_UNICORE
+    xTaskCreatePinnedToCore(test_task_1, "test1" , 4096, &context, 1, &context.t1_handle,1);
     xTaskCreatePinnedToCore(test_task_2, "test2" , 4096, &context, 1, NULL,1);
+#else
+    xTaskCreatePinnedToCore(test_task_1, "test1" , 4096, &context, 1, &context.t1_handle,0);
+    xTaskCreatePinnedToCore(test_task_2, "test2" , 4096, &context, 1, NULL,0);
+#endif
 
     BaseType_t result = xSemaphoreTake(context.end_sema, portMAX_DELAY);    
     TEST_ASSERT_EQUAL_HEX32(pdTRUE, result);

components/idf_test/include/idf_performance.h

@@ -77,4 +77,4 @@
 #endif //CONFIG_IDF_TARGET_ESP32S2BETA
 
 //time to perform the task selection plus context switch (from task)
-#define IDF_PERFORMANCE_MAX_SCHEDULING_TIME                                     4500
+#define IDF_PERFORMANCE_MAX_SCHEDULING_TIME                                     1500