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Add checks for tasks woken up on other CPUs where needed, make xYieldPending and xPendingReadyList per-processor, add configurable ISR stack size to Kconfig, in general fix the entire wake-up-task-on-other-cpu-by-interrupt implementation

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This commit is contained in:
Jeroen Domburg
2016-10-27 16:07:47 +08:00
parent c6477ff10d
commit 3371083c16
5 changed files with 117 additions and 81 deletions
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90
components/esp32/crosscore_int.c
View File

@@ -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);
}
}

27
components/esp32/include/esp_crosscore_int.h
View File

@@ -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