27 lines
1.5 KiB
Text
27 lines
1.5 KiB
Text
This version of FreeRTOS has been modified by Espressif to be SMP-aware. The
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API is similar to the original FreeRTOS API, with the following changes:
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- The xTaskCreate() function now creates tasks that will run on the first
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core only, for backwards compatibility. To schedule tasks on another core,
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use xTaskCreatePinnedToCore(), which will accept a core ID as the last
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argument. If this is the constant tskNO_AFFINITY, the task will be dynamically
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scheduled on whichever core has time.
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- vTaskSuspendAll/vTaskResumeAll in non-SMP FreeRTOS will suspend the scheduler
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so no other tasks than the current one will run. In this SMP version, it will
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only suspend the scheduler ON THE CURRENT CORE. That is, tasks scheduled to
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run on the other core(s) or without a specific CPU affinity, will still be
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able to run.
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- Enabling and disabling interrupts will only affect the current core.
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Disabling the interrupts will not disallow other tasks to run as
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it would on a single-core system: the other core still will keep on
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executing all it's own. Use a mux, queue or semaphore to protect your
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structures instead.
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- This FreeRTOS version has the task local storage backported from the 8.2.x
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versions. It, however, has an addition: you can also set a callback when you
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set the pointer. This callback will be called by the idle task, with the
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pointer as an argument, when the thread is destroyed. This depends on the idle
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task getting CPU time; when a thread is hogging the CPU without yielding,
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the idle thread won't be called and the delete callback won't be called either.
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