esp_common: IPC refactor
- 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.
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2 changed files with 42 additions and 22 deletions
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@ -53,6 +53,15 @@ menu "Common ESP-related"
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It can be shrunk if you are sure that you do not use any custom
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It can be shrunk if you are sure that you do not use any custom
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IPC functionality.
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IPC functionality.
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config ESP_IPC_USES_CALLERS_PRIORITY
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bool "IPC runs at caller's priority"
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default y
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depends on !FREERTOS_UNICORE
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help
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If this option is not enabled then the IPC task will keep behavior
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same as prior to that of ESP-IDF v4.0, and hence IPC task will run
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at (configMAX_PRIORITIES - 1) priority.
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config ESP_TIMER_TASK_STACK_SIZE
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config ESP_TIMER_TASK_STACK_SIZE
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int "High-resolution timer task stack size"
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int "High-resolution timer task stack size"
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default 3584
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default 3584
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@ -25,18 +25,18 @@
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#include "freertos/semphr.h"
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#include "freertos/semphr.h"
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static TaskHandle_t s_ipc_task_handle[portNUM_PROCESSORS];
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static TaskHandle_t s_ipc_task_handle[portNUM_PROCESSORS];
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static SemaphoreHandle_t s_ipc_mutex; // This mutex is used as a global lock for esp_ipc_* APIs
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static SemaphoreHandle_t s_ipc_mutex[portNUM_PROCESSORS]; // This mutex is used as a global lock for esp_ipc_* APIs
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static SemaphoreHandle_t s_ipc_sem[portNUM_PROCESSORS]; // Two semaphores used to wake each of ipc tasks
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static SemaphoreHandle_t s_ipc_sem[portNUM_PROCESSORS]; // Two semaphores used to wake each of ipc tasks
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static SemaphoreHandle_t s_ipc_ack; // Semaphore used to acknowledge that task was woken up,
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static SemaphoreHandle_t s_ipc_ack[portNUM_PROCESSORS]; // Semaphore used to acknowledge that task was woken up,
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// or function has finished running
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// or function has finished running
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static volatile esp_ipc_func_t s_func; // Function which should be called by high priority task
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static volatile esp_ipc_func_t s_func[portNUM_PROCESSORS]; // Function which should be called by high priority task
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static void * volatile s_func_arg; // Argument to pass into s_func
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static void * volatile s_func_arg[portNUM_PROCESSORS]; // Argument to pass into s_func
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typedef enum {
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typedef enum {
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IPC_WAIT_FOR_START,
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IPC_WAIT_FOR_START,
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IPC_WAIT_FOR_END
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IPC_WAIT_FOR_END
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} esp_ipc_wait_t;
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} esp_ipc_wait_t;
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static volatile esp_ipc_wait_t s_ipc_wait; // This variable tells high priority task when it should give
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static volatile esp_ipc_wait_t s_ipc_wait[portNUM_PROCESSORS];// This variable tells high priority task when it should give
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// s_ipc_ack semaphore: before s_func is called, or
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// s_ipc_ack semaphore: before s_func is called, or
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// after it returns
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// after it returns
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@ -53,15 +53,15 @@ static void IRAM_ATTR ipc_task(void* arg)
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abort();
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abort();
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}
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}
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esp_ipc_func_t func = s_func;
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esp_ipc_func_t func = s_func[cpuid];
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void* arg = s_func_arg;
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void* arg = s_func_arg[cpuid];
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if (s_ipc_wait == IPC_WAIT_FOR_START) {
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if (s_ipc_wait[cpuid] == IPC_WAIT_FOR_START) {
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xSemaphoreGive(s_ipc_ack);
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xSemaphoreGive(s_ipc_ack[cpuid]);
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}
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}
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(*func)(arg);
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(*func)(arg);
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if (s_ipc_wait == IPC_WAIT_FOR_END) {
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if (s_ipc_wait[cpuid] == IPC_WAIT_FOR_END) {
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xSemaphoreGive(s_ipc_ack);
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xSemaphoreGive(s_ipc_ack[cpuid]);
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}
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}
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}
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}
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// TODO: currently this is unreachable code. Introduce esp_ipc_uninit
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// TODO: currently this is unreachable code. Introduce esp_ipc_uninit
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@ -86,11 +86,11 @@ static void esp_ipc_init(void) __attribute__((constructor));
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static void esp_ipc_init(void)
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static void esp_ipc_init(void)
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{
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{
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s_ipc_mutex = xSemaphoreCreateMutex();
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s_ipc_ack = xSemaphoreCreateBinary();
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char task_name[15];
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char task_name[15];
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for (int i = 0; i < portNUM_PROCESSORS; ++i) {
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for (int i = 0; i < portNUM_PROCESSORS; ++i) {
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snprintf(task_name, sizeof(task_name), "ipc%d", i);
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snprintf(task_name, sizeof(task_name), "ipc%d", i);
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s_ipc_mutex[i] = xSemaphoreCreateMutex();
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s_ipc_ack[i] = xSemaphoreCreateBinary();
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s_ipc_sem[i] = xSemaphoreCreateBinary();
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s_ipc_sem[i] = xSemaphoreCreateBinary();
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portBASE_TYPE res = xTaskCreatePinnedToCore(ipc_task, task_name, CONFIG_ESP_IPC_TASK_STACK_SIZE, (void*) i,
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portBASE_TYPE res = xTaskCreatePinnedToCore(ipc_task, task_name, CONFIG_ESP_IPC_TASK_STACK_SIZE, (void*) i,
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configMAX_PRIORITIES - 1, &s_ipc_task_handle[i], i);
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configMAX_PRIORITIES - 1, &s_ipc_task_handle[i], i);
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@ -107,19 +107,30 @@ static esp_err_t esp_ipc_call_and_wait(uint32_t cpu_id, esp_ipc_func_t func, voi
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return ESP_ERR_INVALID_STATE;
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return ESP_ERR_INVALID_STATE;
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}
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}
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xSemaphoreTake(s_ipc_mutex, portMAX_DELAY);
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#ifdef CONFIG_ESP_IPC_USES_CALLERS_PRIORITY
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TaskHandle_t task_handler = xTaskGetCurrentTaskHandle();
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TaskHandle_t task_handler = xTaskGetCurrentTaskHandle();
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UBaseType_t priority_of_current_task = uxTaskPriorityGet(task_handler);
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UBaseType_t priority_of_current_task = uxTaskPriorityGet(task_handler);
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// ipc_task will work with the priority of the caller's task.
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UBaseType_t priority_of_running_ipc_task = uxTaskPriorityGet(s_ipc_task_handle[cpu_id]);
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if (priority_of_running_ipc_task < priority_of_current_task) {
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vTaskPrioritySet(s_ipc_task_handle[cpu_id], priority_of_current_task);
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vTaskPrioritySet(s_ipc_task_handle[cpu_id], priority_of_current_task);
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}
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s_func = func;
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xSemaphoreTake(s_ipc_mutex[cpu_id], portMAX_DELAY);
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s_func_arg = arg;
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vTaskPrioritySet(s_ipc_task_handle[cpu_id], priority_of_current_task);
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s_ipc_wait = wait_for;
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#else
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xSemaphoreTake(s_ipc_mutex[0], portMAX_DELAY);
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#endif
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s_func[cpu_id] = func;
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s_func_arg[cpu_id] = arg;
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s_ipc_wait[cpu_id] = wait_for;
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xSemaphoreGive(s_ipc_sem[cpu_id]);
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xSemaphoreGive(s_ipc_sem[cpu_id]);
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xSemaphoreTake(s_ipc_ack, portMAX_DELAY);
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xSemaphoreTake(s_ipc_ack[cpu_id], portMAX_DELAY);
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xSemaphoreGive(s_ipc_mutex);
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#ifdef CONFIG_ESP_IPC_USES_CALLERS_PRIORITY
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xSemaphoreGive(s_ipc_mutex[cpu_id]);
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#else
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xSemaphoreGive(s_ipc_mutex[0]);
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#endif
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return ESP_OK;
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return ESP_OK;
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}
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}
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