Add checks for tasks woken up on other CPUs where needed, make xYieldPending and...

diff --git a/components/esp32/crosscore_int.c b/components/esp32/crosscore_int.c
index a98b13583cd445e31443eca7c38cca1418d4d4f9..56fe6fe9a7130176e2f0768b2c64a70961b84d31 100644 (file)
--- a/components/esp32/crosscore_int.c
+++ b/components/esp32/crosscore_int.c
@@ -44,64 +44,60 @@ ToDo: There is a small chance the CPU already has yielded when this ISR is servi
 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;
+    volatile uint32_t myReasonVal;
 #if 0
-       //A pointer to the correct reason array item is passed to this ISR.
-       volatile uint32_t *myReason=arg;
+    //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()];
+    //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_1_REG, 0);
-       }
-       //Grab the reason and clear it.
-       portENTER_CRITICAL(&reasonSpinlock);
-       myReasonVal=*myReason;
-       *myReason=0;
-       portEXIT_CRITICAL(&reasonSpinlock);
+    //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_1_REG, 0);
+    }
+    //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");
+    //Check what we need to do.
+    if (myReasonVal&REASON_YIELD) {
+        portYIELD_FROM_ISR();
+    }
 }
 
 //Initialize the crosscore interrupt on this core. Call this once
 //on each active core.
 void esp_crosscore_int_init() {
-       portENTER_CRITICAL(&reasonSpinlock);
-       ets_printf("init cpu %d\n", xPortGetCoreID());
-       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);
+    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);
-       }
+    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);
+    }
 }
 

diff --git a/components/esp32/include/esp_crosscore_int.h b/components/esp32/include/esp_crosscore_int.h
index a64e4b42d6aad845ce72551a583179f577b84725..ca5f3901ee61845b1f0f3ed220d11eee0f7a0ffc 100644 (file)
--- a/components/esp32/include/esp_crosscore_int.h
+++ b/components/esp32/include/esp_crosscore_int.h
@@ -1,8 +1,35 @@
+// 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.
 #ifndef __ESP_CROSSCORE_INT_H
 #define __ESP_CROSSCORE_INT_H
 
 
+/**
+ * Initialize the crosscore interrupt system for this CPU.
+ * This needs to be called once on every CPU that is used
+ * by FreeRTOS.
+ */
 void esp_crosscore_int_init();
+
+
+/**
+ * Send an interrupt to a CPU indicating it should yield its
+ * currently running task in favour of a higher-priority task
+ * that presumably just woke up.
+ *
+ * @param coreID Core that should do the yielding
+ */
 void esp_crosscore_int_send_yield(int coreId);
 
 #endif
\ No newline at end of file

diff --git a/components/freertos/Kconfig b/components/freertos/Kconfig
index 1a65e1eeb7eb52834867504f29d458d2444a8a7c..881c7616f38be2e8c5071bf4bf63b63f07c170f6 100644 (file)
--- a/components/freertos/Kconfig
+++ b/components/freertos/Kconfig
@@ -197,6 +197,15 @@ config FREERTOS_PORTMUX_DEBUG_RECURSIVE
         If enabled, additional debug information will be printed for recursive
         portMUX usage.
 
+config FREERTOS_ISR_STACKSIZE
+    int "ISR stack size"
+    range 1536 32768
+    default 1536
+    help
+        The interrupt handlers have their own stack. The size of the stack can be defined here. 
+        Each processor has its own stack, so the total size occupied will be twice this.
+
+
 endif # FREERTOS_DEBUG_INTERNALS
 
 endmenu

diff --git a/components/freertos/include/freertos/FreeRTOSConfig.h b/components/freertos/include/freertos/FreeRTOSConfig.h
index d1958e7701b6f67473469d4bcadc4d1c9e2baea5..158b40668db2dacd9ddd13e972e085bc4d326cf5 100644 (file)
--- a/components/freertos/include/freertos/FreeRTOSConfig.h
+++ b/components/freertos/include/freertos/FreeRTOSConfig.h
@@ -180,7 +180,7 @@
 /* The Xtensa port uses a separate interrupt stack. Adjust the stack size */
 /* to suit the needs of your specific application.                        */
 #ifndef configISR_STACK_SIZE
-#define configISR_STACK_SIZE                   1024//2048
+#define configISR_STACK_SIZE                   CONFIG_FREERTOS_ISR_STACKSIZE
 #endif
 
 /* Minimal heap size to make sure examples can run on memory limited

diff --git a/components/freertos/tasks.c b/components/freertos/tasks.c
index 1357e5c4d00265be060914eac0fe45da534c4543..82b97fe268a9a416e8d438ceb97c906b125f0667 100644 (file)
--- a/components/freertos/tasks.c
+++ b/components/freertos/tasks.c
@@ -236,7 +236,7 @@ PRIVILEGED_DATA static List_t xDelayedTaskList1;                                            /*< Delayed tasks. */
 PRIVILEGED_DATA static List_t xDelayedTaskList2;                                               /*< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */
 PRIVILEGED_DATA static List_t * volatile pxDelayedTaskList;                            /*< Points to the delayed task list currently being used. */
 PRIVILEGED_DATA static List_t * volatile pxOverflowDelayedTaskList;            /*< Points to the delayed task list currently being used to hold tasks that have overflowed the current tick count. */
-PRIVILEGED_DATA static List_t xPendingReadyList;                                               /*< Tasks that have been readied while the scheduler was suspended.  They will be moved to the ready list when the scheduler is resumed. */
+PRIVILEGED_DATA static List_t xPendingReadyList[ portNUM_PROCESSORS ];                                         /*< Tasks that have been readied while the scheduler was suspended.  They will be moved to the ready list when the scheduler is resumed. */
 
 #if ( INCLUDE_vTaskDelete == 1 )
 
@@ -591,7 +591,7 @@ static void prvResetNextTaskUnblockTime( void );
  * 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 )
+void taskYIELD_OTHER_CORE( BaseType_t xCoreID, UBaseType_t uxPriority )
 {
        BaseType_t i;
        if (xCoreID != tskNO_AFFINITY) {
@@ -781,17 +781,15 @@ BaseType_t i;
                {
                        /* Scheduler is running. If the created task is of a higher priority than an executing task
                          then it should run now.
-                         ToDo: This only works for the current core. If a task is scheduled on an other processor,
-                         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( xCoreID != xPortGetCoreID() ) {
-                               taskYIELD_OTHER_CORE(xCoreID, uxPriority);
-                       }
-                       else if( pxCurrentTCB[ xPortGetCoreID() ]->uxPriority < uxPriority )
+                         No mux here, uxPriority is mostly atomic and there's not really any harm if this check misfires.
+                       */
+                       if( tskCAN_RUN_HERE( xCoreID ) && pxCurrentTCB[ xPortGetCoreID() ]->uxPriority < uxPriority )
                        {
                                taskYIELD_IF_USING_PREEMPTION();
                        }
+                       else if( xCoreID != xPortGetCoreID() ) {
+                               taskYIELD_OTHER_CORE(xCoreID, uxPriority);
+                       }
                        else
                        {
                                mtCOVERAGE_TEST_MARKER();
@@ -1452,7 +1450,7 @@ BaseType_t i;
                if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE )
                {
                        /* Has the task already been resumed from within an ISR? */
-                       if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) == pdFALSE )
+                       if( listIS_CONTAINED_WITHIN( &xPendingReadyList[ xPortGetCoreID() ], &( pxTCB->xEventListItem ) ) == pdFALSE )
                        {
                                /* Is it in the suspended list because it is in the     Suspended
                                state, or because is is blocked with no timeout? */
@@ -1544,7 +1542,6 @@ BaseType_t i;
 
 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
 
-/* ToDo: Make this multicore-compatible. */
        BaseType_t xTaskResumeFromISR( TaskHandle_t xTaskToResume )
        {
        BaseType_t xYieldRequired = pdFALSE;
@@ -1567,13 +1564,13 @@ BaseType_t i;
                                        ( void ) uxListRemove(  &( pxTCB->xGenericListItem ) );
                                        prvAddTaskToReadyList( pxTCB );
 
-                                       if ( pxTCB->xCoreID == xPortGetCoreID() )
+                                       if( tskCAN_RUN_HERE( pxTCB->xCoreID ) && pxTCB->uxPriority >= pxCurrentTCB[ xPortGetCoreID() ]->uxPriority )
                                        {
-                                               taskYIELD_OTHER_CORE( pxTCB->xCoreID, pxTCB->uxPriority);
+                                               xYieldRequired = pdTRUE;
                                        }
-                                       else if( pxTCB->uxPriority >= pxCurrentTCB[ xPortGetCoreID() ]->uxPriority )
+                                       else if ( pxTCB->xCoreID != xPortGetCoreID() )
                                        {
-                                               xYieldRequired = pdTRUE;
+                                               taskYIELD_OTHER_CORE( pxTCB->xCoreID, pxTCB->uxPriority);
                                        }
                                        else
                                        {
@@ -1585,7 +1582,7 @@ BaseType_t i;
                                        /* The delayed or ready lists cannot be accessed so the task
                                        is held in the pending ready list until the scheduler is
                                        unsuspended. */
-                                       vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
+                                       vListInsertEnd( &( xPendingReadyList[ xPortGetCoreID() ] ), &( pxTCB->xEventListItem ) );
                                }
                        }
                        else
@@ -1770,9 +1767,9 @@ BaseType_t xAlreadyYielded = pdFALSE;
                        {
                                /* Move any readied tasks from the pending list into the
                                appropriate ready list. */
-                               while( listLIST_IS_EMPTY( &xPendingReadyList ) == pdFALSE )
+                               while( listLIST_IS_EMPTY( &xPendingReadyList[ xPortGetCoreID() ] ) == pdFALSE )
                                {
-                                       pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xPendingReadyList ) );
+                                       pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xPendingReadyList[ xPortGetCoreID() ] ) );
                                        ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
                                        ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
                                        prvAddTaskToReadyList( pxTCB );
@@ -1785,10 +1782,6 @@ BaseType_t xAlreadyYielded = pdFALSE;
                                                xYieldPending[xPortGetCoreID()] = pdTRUE;
                                                break;
                                        }
-                                       else if ( pxTCB->xCoreID != xPortGetCoreID() ) 
-                                       {
-                                               taskYIELD_OTHER_CORE( pxTCB->xCoreID, pxTCB->uxPriority );
-                                       }
                                        else
                                        {
                                                mtCOVERAGE_TEST_MARKER();
@@ -2658,15 +2651,20 @@ BaseType_t xReturn;
                /* The delayed and ready lists cannot be accessed, so hold this task
                pending until the scheduler is resumed. */
                taskENTER_CRITICAL(&xTaskQueueMutex);
-               vListInsertEnd( &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
+               vListInsertEnd( &( xPendingReadyList[ xPortGetCoreID() ] ), &( pxUnblockedTCB->xEventListItem ) );
                taskEXIT_CRITICAL(&xTaskQueueMutex);
        }
 
        if ( tskCAN_RUN_HERE(pxUnblockedTCB->xCoreID) && pxUnblockedTCB->uxPriority >= pxCurrentTCB[ xPortGetCoreID() ]->uxPriority )
        {
-               /* We can schedule the awoken task on this CPU. */
-               xYieldPending[xPortGetCoreID()] = pdTRUE;
+               /* 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. */
                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[ xPortGetCoreID() ] = pdTRUE;
        }
        else if ( pxUnblockedTCB->xCoreID != xPortGetCoreID() )
        {
@@ -2724,9 +2722,15 @@ BaseType_t xReturn;
 
        if ( tskCAN_RUN_HERE(pxUnblockedTCB->xCoreID) && pxUnblockedTCB->uxPriority >= pxCurrentTCB[ xPortGetCoreID() ]->uxPriority )
        {
-               /* We can schedule the awoken task on this CPU. */
-               xYieldPending[xPortGetCoreID()] = pdTRUE;
+               /* 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. */
                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[ xPortGetCoreID() ] = pdTRUE;
        }
        else if ( pxUnblockedTCB->xCoreID != xPortGetCoreID() )
        {
@@ -2967,7 +2971,7 @@ static portTASK_FUNCTION( prvIdleTask, pvParameters )
        eSleepModeStatus eReturn = eStandardSleep;
                taskENTER_CRITICAL(&xTaskQueueMutex);
 
-               if( listCURRENT_LIST_LENGTH( &xPendingReadyList ) != 0 )
+               if( listCURRENT_LIST_LENGTH( &xPendingReadyList[ xPortGetCoreID() ] ) != 0 )
                {
                        /* A task was made ready while the scheduler was suspended. */
                        eReturn = eAbortSleep;
@@ -3210,7 +3214,7 @@ UBaseType_t uxPriority;
 
        vListInitialise( &xDelayedTaskList1 );
        vListInitialise( &xDelayedTaskList2 );
-       vListInitialise( &xPendingReadyList );
+       vListInitialise( &xPendingReadyList[ xPortGetCoreID() ] );
 
        #if ( INCLUDE_vTaskDelete == 1 )
        {
@@ -4576,7 +4580,7 @@ TickType_t uxReturn;
                                {
                                        /* The delayed and ready lists cannot be accessed, so hold
                                        this task pending until the scheduler is resumed. */
-                                       vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
+                                       vListInsertEnd( &( xPendingReadyList[ xPortGetCoreID() ] ), &( pxTCB->xEventListItem ) );
                                }
 
                                if( tskCAN_RUN_HERE(pxTCB->xCoreID) && pxTCB->uxPriority > pxCurrentTCB[ xPortGetCoreID() ]->uxPriority )
@@ -4644,7 +4648,7 @@ TickType_t uxReturn;
                                {
                                        /* The delayed and ready lists cannot be accessed, so hold
                                        this task pending until the scheduler is resumed. */
-                                       vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
+                                       vListInsertEnd( &( xPendingReadyList[ xPortGetCoreID() ] ), &( pxTCB->xEventListItem ) );
                                }
                                
                                if( tskCAN_RUN_HERE(pxTCB->xCoreID) && pxTCB->uxPriority > pxCurrentTCB[ xPortGetCoreID() ]->uxPriority )