Crash_Override/OVMS3-idf
1
0
Fork 0
Code Issues Pull requests Projects Releases Wiki Activity

esp_common: IPC refactor

Browse source 
- esp_ipc_call_and_wait() can work simultaneously on two CPUs.
- This will increase the priority for ipc_task
  if the current task also wants to use it.
- Added the ESP_IPC_USES_CALLERS_PRIORITY option
  to get back the old IPC behaviour.
This commit is contained in:
KonstantinKondrashov 2019-09-25 02:13:18 +08:00
parent b125bb50ea
commit 6071e2f3c7
2 changed files with 42 additions and 22 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

9
components/esp_common/Kconfig
View file

@ -53,6 +53,15 @@ menu "Common ESP-related"
It can be shrunk if you are sure that you do not use any custom
IPC functionality.
config ESP_IPC_USES_CALLERS_PRIORITY
bool "IPC runs at caller's priority"
default y
depends on !FREERTOS_UNICORE
help
If this option is not enabled then the IPC task will keep behavior
same as prior to that of ESP-IDF v4.0, and hence IPC task will run
at (configMAX_PRIORITIES - 1) priority.
config ESP_TIMER_TASK_STACK_SIZE
int "High-resolution timer task stack size"
default 3584

55
components/esp_common/src/ipc.c
View file

@ -25,18 +25,18 @@
#include "freertos/semphr.h"
static TaskHandle_t s_ipc_task_handle[portNUM_PROCESSORS];
static SemaphoreHandle_t s_ipc_mutex; // This mutex is used as a global lock for esp_ipc_* APIs
static SemaphoreHandle_t s_ipc_mutex[portNUM_PROCESSORS]; // This mutex is used as a global lock for esp_ipc_* APIs
static SemaphoreHandle_t s_ipc_sem[portNUM_PROCESSORS]; // Two semaphores used to wake each of ipc tasks
static SemaphoreHandle_t s_ipc_ack; // Semaphore used to acknowledge that task was woken up,
static SemaphoreHandle_t s_ipc_ack[portNUM_PROCESSORS]; // Semaphore used to acknowledge that task was woken up,
// or function has finished running
static volatile esp_ipc_func_t s_func; // Function which should be called by high priority task
static void * volatile s_func_arg; // Argument to pass into s_func
static volatile esp_ipc_func_t s_func[portNUM_PROCESSORS]; // Function which should be called by high priority task
static void * volatile s_func_arg[portNUM_PROCESSORS]; // Argument to pass into s_func
typedef enum {
IPC_WAIT_FOR_START,
IPC_WAIT_FOR_END
} esp_ipc_wait_t;
static volatile esp_ipc_wait_t s_ipc_wait; // This variable tells high priority task when it should give
static volatile esp_ipc_wait_t s_ipc_wait[portNUM_PROCESSORS];// This variable tells high priority task when it should give
// s_ipc_ack semaphore: before s_func is called, or
// after it returns
@ -53,15 +53,15 @@ static void IRAM_ATTR ipc_task(void* arg)
abort();
}
esp_ipc_func_t func = s_func;
void* arg = s_func_arg;
esp_ipc_func_t func = s_func[cpuid];
void* arg = s_func_arg[cpuid];
if (s_ipc_wait == IPC_WAIT_FOR_START) {
xSemaphoreGive(s_ipc_ack);
if (s_ipc_wait[cpuid] == IPC_WAIT_FOR_START) {
xSemaphoreGive(s_ipc_ack[cpuid]);
}
(*func)(arg);
if (s_ipc_wait == IPC_WAIT_FOR_END) {
xSemaphoreGive(s_ipc_ack);
if (s_ipc_wait[cpuid] == IPC_WAIT_FOR_END) {
xSemaphoreGive(s_ipc_ack[cpuid]);
}
}
// TODO: currently this is unreachable code. Introduce esp_ipc_uninit
@ -86,11 +86,11 @@ static void esp_ipc_init(void) __attribute__((constructor));
static void esp_ipc_init(void)
{
s_ipc_mutex = xSemaphoreCreateMutex();
s_ipc_ack = xSemaphoreCreateBinary();
char task_name[15];
for (int i = 0; i < portNUM_PROCESSORS; ++i) {
snprintf(task_name, sizeof(task_name), "ipc%d", i);
s_ipc_mutex[i] = xSemaphoreCreateMutex();
s_ipc_ack[i] = xSemaphoreCreateBinary();
s_ipc_sem[i] = xSemaphoreCreateBinary();
portBASE_TYPE res = xTaskCreatePinnedToCore(ipc_task, task_name, CONFIG_ESP_IPC_TASK_STACK_SIZE, (void*) i,
configMAX_PRIORITIES - 1, &s_ipc_task_handle[i], i);
@ -107,19 +107,30 @@ static esp_err_t esp_ipc_call_and_wait(uint32_t cpu_id, esp_ipc_func_t func, voi
return ESP_ERR_INVALID_STATE;
}
xSemaphoreTake(s_ipc_mutex, portMAX_DELAY);
#ifdef CONFIG_ESP_IPC_USES_CALLERS_PRIORITY
TaskHandle_t task_handler = xTaskGetCurrentTaskHandle();
UBaseType_t priority_of_current_task = uxTaskPriorityGet(task_handler);
// ipc_task will work with the priority of the caller's task.
vTaskPrioritySet(s_ipc_task_handle[cpu_id], priority_of_current_task);
UBaseType_t priority_of_running_ipc_task = uxTaskPriorityGet(s_ipc_task_handle[cpu_id]);
if (priority_of_running_ipc_task < priority_of_current_task) {
vTaskPrioritySet(s_ipc_task_handle[cpu_id], priority_of_current_task);
}
s_func = func;
s_func_arg = arg;
s_ipc_wait = wait_for;
xSemaphoreTake(s_ipc_mutex[cpu_id], portMAX_DELAY);
vTaskPrioritySet(s_ipc_task_handle[cpu_id], priority_of_current_task);
#else
xSemaphoreTake(s_ipc_mutex[0], portMAX_DELAY);
#endif
s_func[cpu_id] = func;
s_func_arg[cpu_id] = arg;
s_ipc_wait[cpu_id] = wait_for;
xSemaphoreGive(s_ipc_sem[cpu_id]);
xSemaphoreTake(s_ipc_ack, portMAX_DELAY);
xSemaphoreGive(s_ipc_mutex);
xSemaphoreTake(s_ipc_ack[cpu_id], portMAX_DELAY);
#ifdef CONFIG_ESP_IPC_USES_CALLERS_PRIORITY
xSemaphoreGive(s_ipc_mutex[cpu_id]);
#else
xSemaphoreGive(s_ipc_mutex[0]);
#endif
return ESP_OK;
}