freemodbus: add affinity option for modbus stack tasks

components/freemodbus/Kconfig

@@ -51,6 +51,29 @@ menu "Modbus configuration"
                 Modbus UART driver event task priority.
                 The priority of Modbus controller task is equal to (CONFIG_FMB_SERIAL_TASK_PRIO - 1).
 
+    choice FMB_PORT_TASK_AFFINITY
+        prompt "Modbus task affinity"
+        default FMB_PORT_TASK_AFFINITY_CPU0
+        depends on !FREERTOS_UNICORE
+        help
+            Allows setting the core affinity of the Modbus controller task, i.e. whether the task is pinned to
+            particular CPU, or allowed to run on any CPU.
+
+        config FMB_PORT_TASK_AFFINITY_NO_AFFINITY
+            bool "No affinity"
+        config FMB_PORT_TASK_AFFINITY_CPU0
+            bool "CPU0"
+        config FMB_PORT_TASK_AFFINITY_CPU1
+            bool "CPU1"
+
+    endchoice
+
+    config FMB_PORT_TASK_AFFINITY
+        hex
+        default FREERTOS_NO_AFFINITY if FMB_PORT_TASK_AFFINITY_NO_AFFINITY || FREERTOS_UNICORE
+        default 0x0 if FMB_PORT_TASK_AFFINITY_CPU0
+        default 0x1 if FMB_PORT_TASK_AFFINITY_CPU1
+
     config FMB_CONTROLLER_SLAVE_ID_SUPPORT
         bool "Modbus controller slave ID support"
         default n

components/freemodbus/port/port.h

@@ -28,6 +28,7 @@
 
 #define MB_PORT_TAG "MB_PORT_COMMON"
 
+#define MB_PORT_TASK_AFFINITY       (CONFIG_FMB_PORT_TASK_AFFINITY)
 #define MB_PORT_HAS_CLOSE           (1) // Define to explicitly close port on destroy
 
 #define MB_PORT_CHECK(a, ret_val, str, ...) \

components/freemodbus/port/portserial.c

@@ -258,8 +258,10 @@ BOOL xMBPortSerialInit(UCHAR ucPORT, ULONG ulBaudRate,
             "mb serial set rx timeout failure, uart_set_rx_timeout() returned (0x%x).", (uint32_t)xErr);
 #endif
     // Create a task to handle UART events
-    BaseType_t xStatus = xTaskCreate(vUartTask, "uart_queue_task", MB_SERIAL_TASK_STACK_SIZE,
+    BaseType_t xStatus = xTaskCreatePinnedToCore(vUartTask, "uart_queue_task",
-                                        NULL, MB_SERIAL_TASK_PRIO, &xMbTaskHandle);
+                                                    MB_SERIAL_TASK_STACK_SIZE,
+                                                    NULL, MB_SERIAL_TASK_PRIO,
+                                                    &xMbTaskHandle, MB_PORT_TASK_AFFINITY);
     if (xStatus != pdPASS) {
         vTaskDelete(xMbTaskHandle);
         // Force exit from function with failure

components/freemodbus/port/portserial_m.c

@@ -251,8 +251,10 @@ BOOL xMBMasterPortSerialInit( UCHAR ucPORT, ULONG ulBaudRate, UCHAR ucDataBits,
     MB_PORT_CHECK((xErr == ESP_OK), FALSE,
             "mb serial set rx timeout failure, uart_set_rx_timeout() returned (0x%x).", (uint32_t)xErr);
     // Create a task to handle UART events
-    BaseType_t xStatus = xTaskCreate(vUartTask, "uart_queue_task", MB_SERIAL_TASK_STACK_SIZE,
+    BaseType_t xStatus = xTaskCreatePinnedToCore(vUartTask, "uart_queue_task",
-                                        NULL, MB_SERIAL_TASK_PRIO, &xMbTaskHandle);
+                                                    MB_SERIAL_TASK_STACK_SIZE,
+                                                    NULL, MB_SERIAL_TASK_PRIO,
+                                                    &xMbTaskHandle, MB_PORT_TASK_AFFINITY);
     if (xStatus != pdPASS) {
         vTaskDelete(xMbTaskHandle);
         // Force exit from function with failure

components/freemodbus/serial_master/modbus_controller/mbc_serial_master.c

@@ -738,12 +738,13 @@ esp_err_t mbc_serial_master_create(mb_port_type_t port_type, void** handler)
     MB_MASTER_CHECK((mbm_opts->mbm_event_group != NULL), 
                         ESP_ERR_NO_MEM, "mb event group error.");
     // Create modbus controller task
-    status = xTaskCreate((void*)&modbus_master_task,
+    status = xTaskCreatePinnedToCore((void*)&modbus_master_task,
                             "modbus_matask",
                             MB_CONTROLLER_STACK_SIZE,
                             NULL,                       // No parameters
                             MB_CONTROLLER_PRIORITY,
-                            &mbm_opts->mbm_task_handle);
+                            &mbm_opts->mbm_task_handle,
+                            MB_PORT_TASK_AFFINITY);
     if (status != pdPASS) {
         vTaskDelete(mbm_opts->mbm_task_handle);
         MB_MASTER_CHECK((status == pdPASS), ESP_ERR_NO_MEM,

components/freemodbus/serial_slave/modbus_controller/mbc_serial_slave.c

@@ -481,12 +481,13 @@ esp_err_t mbc_serial_slave_create(mb_port_type_t port_type, void** handler)
     MB_SLAVE_CHECK((mbs_opts->mbs_notification_queue_handle != NULL),
             ESP_ERR_NO_MEM, "mb notify queue creation error.");
     // Create Modbus controller task
-    status = xTaskCreate((void*)&modbus_slave_task,
+    status = xTaskCreatePinnedToCore((void*)&modbus_slave_task,
                             "modbus_slave_task",
                             MB_CONTROLLER_STACK_SIZE,
                             NULL,
                             MB_CONTROLLER_PRIORITY,
-                            &mbs_opts->mbs_task_handle);
+                            &mbs_opts->mbs_task_handle,
+                            MB_PORT_TASK_AFFINITY);
     if (status != pdPASS) {
         vTaskDelete(mbs_opts->mbs_task_handle);
         MB_SLAVE_CHECK((status == pdPASS), ESP_ERR_NO_MEM,