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Most code written. Interrupts still do not fire yet.

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This commit is contained in:
Jeroen Domburg
2016-10-26 21:09:55 +08:00
parent cbb26c9532
commit d3d9a8bc28
5 changed files with 233 additions and 45 deletions
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107
components/esp32/crosscore_int.c Normal file
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@@ -0,0 +1,107 @@
// Copyright 2015-2016 Espressif Systems (Shanghai) PTE LTD
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include <stdint.h>
#include <string.h>
#include "esp_attr.h"
#include "esp_err.h"
#include "esp_intr.h"
#include "rom/ets_sys.h"
#include "rom/uart.h"
#include "soc/cpu.h"
#include "soc/dport_reg.h"
#include "soc/io_mux_reg.h"
#include "soc/rtc_cntl_reg.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "freertos/semphr.h"
#include "freertos/queue.h"
#include "freertos/portmacro.h"
#define REASON_YIELD (1<<0)
static portMUX_TYPE reasonSpinlock = portMUX_INITIALIZER_UNLOCKED;
static volatile uint32_t reason[ portNUM_PROCESSORS ];
/*
ToDo: There is a small chance the CPU already has yielded when this ISR is serviced. In that case, it's running the intended task but
the ISR will cause it to switch _away_ from it. portYIELD_FROM_ISR will probably just schedule the task again, but have to check that.
*/
static void esp_crosscore_isr(void *arg) {
volatile uint32_t myReasonVal;
#if 0
//A pointer to the correct reason array item is passed to this ISR.
volatile uint32_t *myReason=arg;
#else
//Does not work yet, the interrupt code needs work to understand two separate interrupt and argument
//tables...
volatile uint32_t *myReason=&reason[xPortGetCoreID()];
#endif
//Clear the interrupt first.
if (xPortGetCoreID()==0) {
WRITE_PERI_REG(DPORT_CPU_INTR_FROM_CPU_0_REG, 0);
} else {
WRITE_PERI_REG(DPORT_CPU_INTR_FROM_CPU_0_REG, 1);
}
//Grab the reason and clear it.
portENTER_CRITICAL(&reasonSpinlock);
myReasonVal=*myReason;
*myReason=0;
portEXIT_CRITICAL(&reasonSpinlock);
//Check what we need to do.
if (myReasonVal&REASON_YIELD) {
portYIELD_FROM_ISR();
}
ets_printf("recv yield\n");
}
//Initialize the crosscore interrupt on this core. Call this once
//on each active core.
void esp_crosscore_int_init() {
portENTER_CRITICAL(&reasonSpinlock);
reason[xPortGetCoreID()]=0;
portEXIT_CRITICAL(&reasonSpinlock);
ESP_INTR_DISABLE(ETS_FROM_CPU_INUM);
if (xPortGetCoreID()==0) {
intr_matrix_set(xPortGetCoreID(), ETS_FROM_CPU_INTR0_SOURCE, ETS_FROM_CPU_INUM);
} else {
intr_matrix_set(xPortGetCoreID(), ETS_FROM_CPU_INTR1_SOURCE, ETS_FROM_CPU_INUM);
}
xt_set_interrupt_handler(ETS_FROM_CPU_INUM, esp_crosscore_isr, (void*)&reason[xPortGetCoreID()]);
ESP_INTR_ENABLE(ETS_FROM_CPU_INUM);
}
void esp_crosscore_int_send_yield(int coreId) {
ets_printf("send yield\n");
assert(coreId<portNUM_PROCESSORS);
//Mark the reason we interrupt the other CPU
portENTER_CRITICAL(&reasonSpinlock);
reason[coreId]|=REASON_YIELD;
portEXIT_CRITICAL(&reasonSpinlock);
//Poke the other CPU.
if (coreId==0) {
WRITE_PERI_REG(DPORT_CPU_INTR_FROM_CPU_0_REG, DPORT_CPU_INTR_FROM_CPU_0);
} else {
WRITE_PERI_REG(DPORT_CPU_INTR_FROM_CPU_1_REG, DPORT_CPU_INTR_FROM_CPU_1);
}
}

8
components/esp32/include/esp_crosscore_int.h Normal file
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@@ -0,0 +1,8 @@
#ifndef __ESP_CROSSCORE_INT_H
#define __ESP_CROSSCORE_INT_H
void esp_crosscore_int_init();
void esp_crosscore_int_send_yield(int coreId);
#endif

8
components/freertos/include/freertos/portable.h
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@@ -179,6 +179,14 @@ BaseType_t xPortStartScheduler( void ) PRIVILEGED_FUNCTION;
*/
void vPortEndScheduler( void ) PRIVILEGED_FUNCTION;
/*
* Send an interrupt to another core in order to make the task running
* on it yield for a higher-priority task.
*/
void vPortYieldOtherCore( BaseType_t coreid) PRIVILEGED_FUNCTION;
/*
* The structures and methods of manipulating the MPU are contained within the
* port layer.

8
components/freertos/port.c
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@@ -103,6 +103,8 @@
#include "panic.h"
#include "esp_crosscore_int.h"
/* Defined in portasm.h */
extern void _frxt_tick_timer_init(void);
@@ -228,6 +230,12 @@ BaseType_t xPortSysTickHandler( void )
return ret;
}
void vPortYieldOtherCore( BaseType_t coreid ) {
esp_crosscore_int_send_yield( coreid );
}
/*-----------------------------------------------------------*/
/*

147
components/freertos/tasks.c
View File

@@ -263,7 +263,7 @@ PRIVILEGED_DATA static volatile TickType_t xTickCount = ( TickType_t ) 0U;
PRIVILEGED_DATA static volatile UBaseType_t uxTopReadyPriority = tskIDLE_PRIORITY;
PRIVILEGED_DATA static volatile BaseType_t xSchedulerRunning = pdFALSE;
PRIVILEGED_DATA static volatile UBaseType_t uxPendedTicks = ( UBaseType_t ) 0U;
PRIVILEGED_DATA static volatile BaseType_t xYieldPending = pdFALSE;
PRIVILEGED_DATA static volatile BaseType_t xYieldPending[portNUM_PROCESSORS] = {pdFALSE};
PRIVILEGED_DATA static volatile BaseType_t xNumOfOverflows = ( BaseType_t ) 0;
PRIVILEGED_DATA static UBaseType_t uxTaskNumber = ( UBaseType_t ) 0U;
PRIVILEGED_DATA static volatile TickType_t xNextTaskUnblockTime = portMAX_DELAY;
@@ -417,6 +417,9 @@ count overflows. */
vListInsertEnd( &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xGenericListItem ) )
/*-----------------------------------------------------------*/
#define tskCAN_RUN_HERE( cpuid ) ( cpuid==xPortGetCoreID() || cpuid==tskNO_AFFINITY )
/*
* Several functions take an TaskHandle_t parameter that can optionally be NULL,
* where NULL is used to indicate that the handle of the currently executing
@@ -581,6 +584,35 @@ static void prvResetNextTaskUnblockTime( void );
/*-----------------------------------------------------------*/
/*
* This routine tries to send an interrupt to another core if needed to make it execute a task
* of higher priority. We try to figure out if needed first by inspecting the pxTCB of the
* other CPU first. Specifically for Xtensa, we can do this because pxTCB is an atomic pointer. It
* is possible that it is inaccurate because the other CPU just did a task switch, but in that case
* at most a superfluous interrupt is generated.
*/
static void taskYIELD_OTHER_CORE( BaseType_t xCoreID, UBaseType_t uxPriority )
{
BaseType_t i;
if (xCoreID != tskNO_AFFINITY) {
if ( pxCurrentTCB[ xCoreID ]->uxPriority < uxPriority ) {
vPortYieldOtherCore( xCoreID );
}
}
else
{
/* The task has no affinity. See if we can find a CPU to put it on.*/
for (i=0; i<portNUM_PROCESSORS; i++) {
if (i != xPortGetCoreID() && pxCurrentTCB[ i ]->uxPriority < uxPriority)
{
vPortYieldOtherCore( i );
break;
}
}
}
}
BaseType_t xTaskGenericCreate( TaskFunction_t pxTaskCode, const char * const pcName, const uint16_t usStackDepth, void * const pvParameters, UBaseType_t uxPriority, TaskHandle_t * const pxCreatedTask, StackType_t * const puxStackBuffer, const MemoryRegion_t * const xRegions, const BaseType_t xCoreID) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
{
BaseType_t xReturn;
@@ -753,7 +785,10 @@ BaseType_t i;
the other processor will keep running the task it's working on, and only switch to the newer
task on a timer interrupt. */
//No mux here, uxPriority is mostly atomic and there's not really any harm if this check misfires.
if( pxCurrentTCB[ xPortGetCoreID() ]->uxPriority < uxPriority )
if( xCoreID != xPortGetCoreID() ) {
taskYIELD_OTHER_CORE(xCoreID, uxPriority);
}
else if( pxCurrentTCB[ xPortGetCoreID() ]->uxPriority < uxPriority )
{
taskYIELD_IF_USING_PREEMPTION();
}
@@ -834,7 +869,7 @@ BaseType_t i;
after which it is not possible to yield away from this task -
hence xYieldPending is used to latch that a context switch is
required. */
portPRE_TASK_DELETE_HOOK( pxTCB, &xYieldPending );
portPRE_TASK_DELETE_HOOK( pxTCB, &xYieldPending[xPortGetCoreID()] );
portYIELD_WITHIN_API();
}
else
@@ -1188,10 +1223,14 @@ BaseType_t i;
/* The priority of a task other than the currently
running task is being raised. Is the priority being
raised above that of the running task? */
if( uxNewPriority >= pxCurrentTCB[ xPortGetCoreID() ]->uxPriority )
if ( tskCAN_RUN_HERE(pxTCB->xCoreID) && uxNewPriority >= pxCurrentTCB[ xPortGetCoreID() ]->uxPriority )
{
xYieldRequired = pdTRUE;
}
else if ( pxTCB->xCoreID != xPortGetCoreID() )
{
taskYIELD_OTHER_CORE( pxTCB->xCoreID, uxNewPriority );
}
else
{
mtCOVERAGE_TEST_MARKER();
@@ -1470,13 +1509,17 @@ BaseType_t i;
prvAddTaskToReadyList( pxTCB );
/* We may have just resumed a higher priority task. */
if( pxTCB->uxPriority >= pxCurrentTCB[ xPortGetCoreID() ]->uxPriority )
if( tskCAN_RUN_HERE(pxTCB->xCoreID) && pxTCB->uxPriority >= pxCurrentTCB[ xPortGetCoreID() ]->uxPriority )
{
/* This yield may not cause the task just resumed to run,
but will leave the lists in the correct state for the
next yield. */
taskYIELD_IF_USING_PREEMPTION_MUX(&xTaskQueueMutex);
}
else if( pxTCB->xCoreID != xPortGetCoreID() )
{
taskYIELD_OTHER_CORE( pxTCB->xCoreID, pxTCB->uxPriority );
}
else
{
mtCOVERAGE_TEST_MARKER();
@@ -1521,7 +1564,14 @@ BaseType_t i;
{
/* Ready lists can be accessed so move the task from the
suspended list to the ready list directly. */
if( pxTCB->uxPriority >= pxCurrentTCB[ xPortGetCoreID() ]->uxPriority )
( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
prvAddTaskToReadyList( pxTCB );
if ( pxTCB->xCoreID == xPortGetCoreID() )
{
taskYIELD_OTHER_CORE( pxTCB->xCoreID, pxTCB->uxPriority);
}
else if( pxTCB->uxPriority >= pxCurrentTCB[ xPortGetCoreID() ]->uxPriority )
{
xYieldRequired = pdTRUE;
}
@@ -1529,9 +1579,6 @@ BaseType_t i;
{
mtCOVERAGE_TEST_MARKER();
}
( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
prvAddTaskToReadyList( pxTCB );
}
else
{
@@ -1732,11 +1779,16 @@ BaseType_t xAlreadyYielded = pdFALSE;
/* If the moved task has a priority higher than the current
task then a yield must be performed. */
if( pxTCB->uxPriority >= pxCurrentTCB[ xPortGetCoreID() ]->uxPriority )
if ( tskCAN_RUN_HERE(pxTCB->xCoreID) && pxTCB->uxPriority >= pxCurrentTCB[ xPortGetCoreID() ]->uxPriority )
{
xYieldPending = pdTRUE;
/* We can schedule the awoken task on this CPU. */
xYieldPending[xPortGetCoreID()] = pdTRUE;
break;
}
else if ( pxTCB->xCoreID != xPortGetCoreID() )
{
taskYIELD_OTHER_CORE( pxTCB->xCoreID, pxTCB->uxPriority );
}
else
{
mtCOVERAGE_TEST_MARKER();
@@ -1753,7 +1805,7 @@ BaseType_t xAlreadyYielded = pdFALSE;
{
if( xTaskIncrementTick() != pdFALSE )
{
xYieldPending = pdTRUE;
xYieldPending[ xPortGetCoreID() ] = pdTRUE;
}
else
{
@@ -1767,7 +1819,7 @@ BaseType_t xAlreadyYielded = pdFALSE;
mtCOVERAGE_TEST_MARKER();
}
if( xYieldPending == pdTRUE )
if( xYieldPending[ xPortGetCoreID() ] == pdTRUE )
{
#if( configUSE_PREEMPTION != 0 )
{
@@ -2135,7 +2187,7 @@ BaseType_t xSwitchRequired = pdFALSE;
#if ( configUSE_PREEMPTION == 1 )
{
if( xYieldPending != pdFALSE )
if( xYieldPending [ xPortGetCoreID() ] != pdFALSE )
{
xSwitchRequired = pdTRUE;
}
@@ -2251,11 +2303,11 @@ void vTaskSwitchContext( void )
{
/* The scheduler is currently suspended - do not allow a context
switch. */
xYieldPending = pdTRUE;
xYieldPending[ xPortGetCoreID() ] = pdTRUE;
}
else
{
xYieldPending = pdFALSE;
xYieldPending[ xPortGetCoreID() ] = pdFALSE;
traceTASK_SWITCHED_OUT();
#if ( configGENERATE_RUN_TIME_STATS == 1 )
@@ -2610,16 +2662,16 @@ BaseType_t xReturn;
taskEXIT_CRITICAL(&xTaskQueueMutex);
}
if( pxUnblockedTCB->uxPriority > pxCurrentTCB[ xPortGetCoreID() ]->uxPriority )
if ( tskCAN_RUN_HERE(pxUnblockedTCB->xCoreID) && pxUnblockedTCB->uxPriority >= pxCurrentTCB[ xPortGetCoreID() ]->uxPriority )
{
/* Return true if the task removed from the event list has a higher
priority than the calling task. This allows the calling task to know if
it should force a context switch now. */
/* We can schedule the awoken task on this CPU. */
xYieldPending[xPortGetCoreID()] = pdTRUE;
xReturn = pdTRUE;
/* Mark that a yield is pending in case the user is not using the
"xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */
xYieldPending = pdTRUE;
}
else if ( pxUnblockedTCB->xCoreID != xPortGetCoreID() )
{
taskYIELD_OTHER_CORE( pxUnblockedTCB->xCoreID, pxUnblockedTCB->uxPriority );
xReturn = pdFALSE;
}
else
{
@@ -2670,17 +2722,16 @@ BaseType_t xReturn;
( void ) uxListRemove( &( pxUnblockedTCB->xGenericListItem ) );
prvAddTaskToReadyList( pxUnblockedTCB );
if( pxUnblockedTCB->uxPriority > pxCurrentTCB[ xPortGetCoreID() ]->uxPriority )
if ( tskCAN_RUN_HERE(pxUnblockedTCB->xCoreID) && pxUnblockedTCB->uxPriority >= pxCurrentTCB[ xPortGetCoreID() ]->uxPriority )
{
/* Return true if the task removed from the event list has
a higher priority than the calling task. This allows
the calling task to know if it should force a context
switch now. */
/* We can schedule the awoken task on this CPU. */
xYieldPending[xPortGetCoreID()] = pdTRUE;
xReturn = pdTRUE;
/* Mark that a yield is pending in case the user is not using the
"xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */
xYieldPending = pdTRUE;
}
else if ( pxUnblockedTCB->xCoreID != xPortGetCoreID() )
{
taskYIELD_OTHER_CORE( pxUnblockedTCB->xCoreID, pxUnblockedTCB->uxPriority );
xReturn = pdFALSE;
}
else
{
@@ -2751,7 +2802,7 @@ BaseType_t xReturn;
void vTaskMissedYield( void )
{
xYieldPending = pdTRUE;
xYieldPending[ xPortGetCoreID() ] = pdTRUE;
}
/*-----------------------------------------------------------*/
@@ -2921,7 +2972,7 @@ static portTASK_FUNCTION( prvIdleTask, pvParameters )
/* A task was made ready while the scheduler was suspended. */
eReturn = eAbortSleep;
}
else if( xYieldPending != pdFALSE )
else if( xYieldPending[ xPortGetCoreID() ] != pdFALSE )
{
/* A yield was pended while the scheduler was suspended. */
eReturn = eAbortSleep;
@@ -3597,12 +3648,6 @@ TCB_t *pxTCB;
#endif /* ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) */
/*-----------------------------------------------------------*/
/*
ToDo: Mutexes haven't been tested or adapted to multicore at all.
In fact, nothing below this line has/is.
*/
#if ( configUSE_MUTEXES == 1 )
void vTaskPriorityInherit( TaskHandle_t const pxMutexHolder )
@@ -4434,12 +4479,16 @@ TickType_t uxReturn;
/* The task should not have been on an event list. */
configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
if( pxTCB->uxPriority > pxCurrentTCB[ xPortGetCoreID() ]->uxPriority )
if( tskCAN_RUN_HERE(pxTCB->xCoreID) && pxTCB->uxPriority > pxCurrentTCB[ xPortGetCoreID() ]->uxPriority )
{
/* The notified task has a priority above the currently
executing task so a yield is required. */
portYIELD_WITHIN_API();
}
else if ( pxTCB->xCoreID != xPortGetCoreID() )
{
taskYIELD_OTHER_CORE(pxTCB->xCoreID, pxTCB->uxPriority);
}
else
{
mtCOVERAGE_TEST_MARKER();
@@ -4530,7 +4579,7 @@ TickType_t uxReturn;
vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
}
if( pxTCB->uxPriority > pxCurrentTCB[ xPortGetCoreID() ]->uxPriority )
if( tskCAN_RUN_HERE(pxTCB->xCoreID) && pxTCB->uxPriority > pxCurrentTCB[ xPortGetCoreID() ]->uxPriority )
{
/* The notified task has a priority above the currently
executing task so a yield is required. */
@@ -4539,6 +4588,10 @@ TickType_t uxReturn;
*pxHigherPriorityTaskWoken = pdTRUE;
}
}
else if ( pxTCB->xCoreID != xPortGetCoreID() )
{
taskYIELD_OTHER_CORE( pxTCB->xCoreID, pxTCB->uxPriority );
}
else
{
mtCOVERAGE_TEST_MARKER();
@@ -4593,8 +4646,8 @@ TickType_t uxReturn;
this task pending until the scheduler is resumed. */
vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
}
if( pxTCB->uxPriority > pxCurrentTCB[ xPortGetCoreID() ]->uxPriority )
if( tskCAN_RUN_HERE(pxTCB->xCoreID) && pxTCB->uxPriority > pxCurrentTCB[ xPortGetCoreID() ]->uxPriority )
{
/* The notified task has a priority above the currently
executing task so a yield is required. */
@@ -4603,6 +4656,10 @@ TickType_t uxReturn;
*pxHigherPriorityTaskWoken = pdTRUE;
}
}
else if ( pxTCB->xCoreID != xPortGetCoreID() )
{
taskYIELD_OTHER_CORE( pxTCB->xCoreID, pxTCB->uxPriority );
}
else
{
mtCOVERAGE_TEST_MARKER();