27 lines
1.4 KiB
Plaintext
27 lines
1.4 KiB
Plaintext
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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- While each core has individual interrupts, the handlers are shared. This
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means that when you set a handler for an interrupt, it will get triggered if
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the interrupt is triggered on both CPU0 as well as on CPU1. This is something
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we may change in future FreeRTOS-esp32 releases.
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