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

components/esp32/crosscore_int.c

@@ -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.
+    //A pointer to the correct reason array item is passed to this ISR.
-	volatile uint32_t *myReason=arg;
+    volatile uint32_t *myReason=arg;
 #else
-	//Does not work yet, the interrupt code needs work to understand two separate interrupt and argument
+    //Does not work yet, the interrupt code needs work to understand two separate interrupt and argument
-	//tables...
+    //tables...
-	volatile uint32_t *myReason=&reason[xPortGetCoreID()];
+    volatile uint32_t *myReason=&reason[xPortGetCoreID()];
 #endif
-	//Clear the interrupt first.
+    //Clear the interrupt first.
-	if (xPortGetCoreID()==0) {
+    if (xPortGetCoreID()==0) {
-		WRITE_PERI_REG(DPORT_CPU_INTR_FROM_CPU_0_REG, 0);
+        WRITE_PERI_REG(DPORT_CPU_INTR_FROM_CPU_0_REG, 0);
-	} else {
+    } else {
-		WRITE_PERI_REG(DPORT_CPU_INTR_FROM_CPU_1_REG, 0);
+        WRITE_PERI_REG(DPORT_CPU_INTR_FROM_CPU_1_REG, 0);
-	}
+    }
-	//Grab the reason and clear it.
+    //Grab the reason and clear it.
-	portENTER_CRITICAL(&reasonSpinlock);
+    portENTER_CRITICAL(&reasonSpinlock);
-	myReasonVal=*myReason;
+    myReasonVal=*myReason;
-	*myReason=0;
+    *myReason=0;
-	portEXIT_CRITICAL(&reasonSpinlock);
+    portEXIT_CRITICAL(&reasonSpinlock);
 
-	//Check what we need to do.
+    //Check what we need to do.
-	if (myReasonVal&REASON_YIELD) {
+    if (myReasonVal&REASON_YIELD) {
-		portYIELD_FROM_ISR();
+        portYIELD_FROM_ISR();
-	}
+    }
-
-	ets_printf("recv yield\n");
 }
 
 //Initialize the crosscore interrupt on this core. Call this once
 //on each active core.
 void esp_crosscore_int_init() {
-	portENTER_CRITICAL(&reasonSpinlock);
+    portENTER_CRITICAL(&reasonSpinlock);
-	ets_printf("init cpu %d\n", xPortGetCoreID());
+    reason[xPortGetCoreID()]=0;
-	reason[xPortGetCoreID()]=0;
+    portEXIT_CRITICAL(&reasonSpinlock);
-	portEXIT_CRITICAL(&reasonSpinlock);
+    ESP_INTR_DISABLE(ETS_FROM_CPU_INUM);
-	ESP_INTR_DISABLE(ETS_FROM_CPU_INUM);
+    if (xPortGetCoreID()==0) {
-	if (xPortGetCoreID()==0) {
+        intr_matrix_set(xPortGetCoreID(), ETS_FROM_CPU_INTR0_SOURCE, ETS_FROM_CPU_INUM);
-		intr_matrix_set(xPortGetCoreID(), ETS_FROM_CPU_INTR0_SOURCE, ETS_FROM_CPU_INUM);
+    } else {
-	} else {
+        intr_matrix_set(xPortGetCoreID(), ETS_FROM_CPU_INTR1_SOURCE, ETS_FROM_CPU_INUM);
-		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()]);
-	xt_set_interrupt_handler(ETS_FROM_CPU_INUM, esp_crosscore_isr, (void*)&reason[xPortGetCoreID()]);
+    ESP_INTR_ENABLE(ETS_FROM_CPU_INUM);
-	ESP_INTR_ENABLE(ETS_FROM_CPU_INUM);
 }
 
 void esp_crosscore_int_send_yield(int coreId) {
-	ets_printf("send yield\n");
+    assert(coreId<portNUM_PROCESSORS);
-	assert(coreId<portNUM_PROCESSORS);
+    //Mark the reason we interrupt the other CPU
-	//Mark the reason we interrupt the other CPU
+    portENTER_CRITICAL(&reasonSpinlock);
-	portENTER_CRITICAL(&reasonSpinlock);
+    reason[coreId]|=REASON_YIELD;
-	reason[coreId]|=REASON_YIELD;
+    portEXIT_CRITICAL(&reasonSpinlock);
-	portEXIT_CRITICAL(&reasonSpinlock);
+    //Poke the other CPU.
-	//Poke the other CPU.
+    if (coreId==0) {
-	if (coreId==0) {
+        WRITE_PERI_REG(DPORT_CPU_INTR_FROM_CPU_0_REG, DPORT_CPU_INTR_FROM_CPU_0);
-		WRITE_PERI_REG(DPORT_CPU_INTR_FROM_CPU_0_REG, DPORT_CPU_INTR_FROM_CPU_0);
+    } else {
-	} else {
+        WRITE_PERI_REG(DPORT_CPU_INTR_FROM_CPU_1_REG, DPORT_CPU_INTR_FROM_CPU_1);
-		WRITE_PERI_REG(DPORT_CPU_INTR_FROM_CPU_1_REG, DPORT_CPU_INTR_FROM_CPU_1);
+    }
-	}
 }
 

components/esp32/include/esp_crosscore_int.h

@@ -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

components/freertos/Kconfig

@@ -197,6 +197,15 @@ config FREERTOS_PORTMUX_DEBUG_RECURSIVE
         If enabled, additional debug information will be printed for recursive
         portMUX usage.
 
+config FREERTOS_ISR_STACKSIZE
+    int "ISR stack size"
+    range 1536 32768
+    default 1536
+    help
+        The interrupt handlers have their own stack. The size of the stack can be defined here. 
+        Each processor has its own stack, so the total size occupied will be twice this.
+
+
 endif # FREERTOS_DEBUG_INTERNALS
 
 endmenu

components/freertos/include/freertos/FreeRTOSConfig.h

@@ -180,7 +180,7 @@
 /* The Xtensa port uses a separate interrupt stack. Adjust the stack size */
 /* to suit the needs of your specific application.                        */
 #ifndef configISR_STACK_SIZE
-#define configISR_STACK_SIZE			1024//2048
+#define configISR_STACK_SIZE			CONFIG_FREERTOS_ISR_STACKSIZE
 #endif
 
 /* Minimal heap size to make sure examples can run on memory limited

components/freertos/tasks.c

@@ -236,7 +236,7 @@ PRIVILEGED_DATA static List_t xDelayedTaskList1;						/*< Delayed tasks. */
 PRIVILEGED_DATA static List_t xDelayedTaskList2;						/*< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */
 PRIVILEGED_DATA static List_t * volatile pxDelayedTaskList;				/*< Points to the delayed task list currently being used. */
 PRIVILEGED_DATA static List_t * volatile pxOverflowDelayedTaskList;		/*< Points to the delayed task list currently being used to hold tasks that have overflowed the current tick count. */
-PRIVILEGED_DATA static List_t xPendingReadyList;						/*< Tasks that have been readied while the scheduler was suspended.  They will be moved to the ready list when the scheduler is resumed. */
+PRIVILEGED_DATA static List_t xPendingReadyList[ portNUM_PROCESSORS ];						/*< Tasks that have been readied while the scheduler was suspended.  They will be moved to the ready list when the scheduler is resumed. */
 
 #if ( INCLUDE_vTaskDelete == 1 )
 
@@ -591,7 +591,7 @@ static void prvResetNextTaskUnblockTime( void );
  * is possible that it is inaccurate because the other CPU just did a task switch, but in that case
  * at most a superfluous interrupt is generated.
 */
-static void taskYIELD_OTHER_CORE( BaseType_t xCoreID, UBaseType_t uxPriority )
+void taskYIELD_OTHER_CORE( BaseType_t xCoreID, UBaseType_t uxPriority )
 {
 	BaseType_t i;
 	if (xCoreID != tskNO_AFFINITY) {
@@ -781,17 +781,15 @@ BaseType_t i;
 		{
 			/* Scheduler is running. If the created task is of a higher priority than an executing task
 			  then it should run now.
-			  ToDo: This only works for the current core. If a task is scheduled on an other processor,
+			  No mux here, uxPriority is mostly atomic and there's not really any harm if this check misfires.
-			  the other processor will keep running the task it's working on, and only switch to the newer 
+			*/
-			  task on a timer interrupt. */
+			if( tskCAN_RUN_HERE( xCoreID ) && pxCurrentTCB[ xPortGetCoreID() ]->uxPriority < uxPriority )
-			  //No mux here, uxPriority is mostly atomic and there's not really any harm if this check misfires.
-			if( xCoreID != xPortGetCoreID() ) {
-				taskYIELD_OTHER_CORE(xCoreID, uxPriority);
-			}
-			else if( pxCurrentTCB[ xPortGetCoreID() ]->uxPriority < uxPriority )
 			{
 				taskYIELD_IF_USING_PREEMPTION();
 			}
+			else if( xCoreID != xPortGetCoreID() ) {
+				taskYIELD_OTHER_CORE(xCoreID, uxPriority);
+			}
 			else
 			{
 				mtCOVERAGE_TEST_MARKER();
@@ -1452,7 +1450,7 @@ BaseType_t i;
 		if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE )
 		{
 			/* Has the task already been resumed from within an ISR? */
-			if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) == pdFALSE )
+			if( listIS_CONTAINED_WITHIN( &xPendingReadyList[ xPortGetCoreID() ], &( pxTCB->xEventListItem ) ) == pdFALSE )
 			{
 				/* Is it in the suspended list because it is in the	Suspended
 				state, or because is is blocked with no timeout? */
@@ -1544,7 +1542,6 @@ BaseType_t i;
 
 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
 
-/* ToDo: Make this multicore-compatible. */
 	BaseType_t xTaskResumeFromISR( TaskHandle_t xTaskToResume )
 	{
 	BaseType_t xYieldRequired = pdFALSE;
@@ -1567,14 +1564,14 @@ BaseType_t i;
 					( void ) uxListRemove(  &( pxTCB->xGenericListItem ) );
 					prvAddTaskToReadyList( pxTCB );
 
-					if ( pxTCB->xCoreID == xPortGetCoreID() )
+					if( tskCAN_RUN_HERE( pxTCB->xCoreID ) && pxTCB->uxPriority >= pxCurrentTCB[ xPortGetCoreID() ]->uxPriority )
-					{
-						taskYIELD_OTHER_CORE( pxTCB->xCoreID, pxTCB->uxPriority);
-					}
-					else if( pxTCB->uxPriority >= pxCurrentTCB[ xPortGetCoreID() ]->uxPriority )
 					{
 						xYieldRequired = pdTRUE;
 					}
+					else if ( pxTCB->xCoreID != xPortGetCoreID() )
+					{
+						taskYIELD_OTHER_CORE( pxTCB->xCoreID, pxTCB->uxPriority);
+					}
 					else
 					{
 						mtCOVERAGE_TEST_MARKER();
@@ -1585,7 +1582,7 @@ BaseType_t i;
 					/* The delayed or ready lists cannot be accessed so the task
 					is held in the pending ready list until the scheduler is
 					unsuspended. */
-					vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
+					vListInsertEnd( &( xPendingReadyList[ xPortGetCoreID() ] ), &( pxTCB->xEventListItem ) );
 				}
 			}
 			else
@@ -1770,9 +1767,9 @@ BaseType_t xAlreadyYielded = pdFALSE;
 			{
 				/* Move any readied tasks from the pending list into the
 				appropriate ready list. */
-				while( listLIST_IS_EMPTY( &xPendingReadyList ) == pdFALSE )
+				while( listLIST_IS_EMPTY( &xPendingReadyList[ xPortGetCoreID() ] ) == pdFALSE )
 				{
-					pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xPendingReadyList ) );
+					pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xPendingReadyList[ xPortGetCoreID() ] ) );
 					( void ) uxListRemove( &( pxTCB->xEventListItem ) );
 					( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
 					prvAddTaskToReadyList( pxTCB );
@@ -1785,10 +1782,6 @@ BaseType_t xAlreadyYielded = pdFALSE;
 						xYieldPending[xPortGetCoreID()] = pdTRUE;
 						break;
 					}
-					else if ( pxTCB->xCoreID != xPortGetCoreID() ) 
-					{
-						taskYIELD_OTHER_CORE( pxTCB->xCoreID, pxTCB->uxPriority );
-					}
 					else
 					{
 						mtCOVERAGE_TEST_MARKER();
@@ -2658,15 +2651,20 @@ BaseType_t xReturn;
 		/* The delayed and ready lists cannot be accessed, so hold this task
 		pending until the scheduler is resumed. */
 		taskENTER_CRITICAL(&xTaskQueueMutex);
-		vListInsertEnd( &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
+		vListInsertEnd( &( xPendingReadyList[ xPortGetCoreID() ] ), &( pxUnblockedTCB->xEventListItem ) );
 		taskEXIT_CRITICAL(&xTaskQueueMutex);
 	}
 
 	if ( tskCAN_RUN_HERE(pxUnblockedTCB->xCoreID) && pxUnblockedTCB->uxPriority >= pxCurrentTCB[ xPortGetCoreID() ]->uxPriority )
 	{
-		/* We can schedule the awoken task on this CPU. */
+		/* Return true if the task removed from the event list has a higher
-		xYieldPending[xPortGetCoreID()] = pdTRUE;
+		priority than the calling task.  This allows the calling task to know if
+		it should force a context switch now. */
 		xReturn = pdTRUE;
+
+		/* Mark that a yield is pending in case the user is not using the
+		"xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */
+		xYieldPending[ xPortGetCoreID() ] = pdTRUE;
 	}
 	else if ( pxUnblockedTCB->xCoreID != xPortGetCoreID() )
 	{
@@ -2724,9 +2722,15 @@ BaseType_t xReturn;
 
 	if ( tskCAN_RUN_HERE(pxUnblockedTCB->xCoreID) && pxUnblockedTCB->uxPriority >= pxCurrentTCB[ xPortGetCoreID() ]->uxPriority )
 	{
-		/* We can schedule the awoken task on this CPU. */
+		/* Return true if the task removed from the event list has
-		xYieldPending[xPortGetCoreID()] = pdTRUE;
+		a higher priority than the calling task.  This allows
+		the calling task to know if it should force a context
+		switch now. */
 		xReturn = pdTRUE;
+
+		/* Mark that a yield is pending in case the user is not using the
+		"xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */
+		xYieldPending[ xPortGetCoreID() ] = pdTRUE;
 	}
 	else if ( pxUnblockedTCB->xCoreID != xPortGetCoreID() )
 	{
@@ -2967,7 +2971,7 @@ static portTASK_FUNCTION( prvIdleTask, pvParameters )
 	eSleepModeStatus eReturn = eStandardSleep;
 		taskENTER_CRITICAL(&xTaskQueueMutex);
 
-		if( listCURRENT_LIST_LENGTH( &xPendingReadyList ) != 0 )
+		if( listCURRENT_LIST_LENGTH( &xPendingReadyList[ xPortGetCoreID() ] ) != 0 )
 		{
 			/* A task was made ready while the scheduler was suspended. */
 			eReturn = eAbortSleep;
@@ -3210,7 +3214,7 @@ UBaseType_t uxPriority;
 
 	vListInitialise( &xDelayedTaskList1 );
 	vListInitialise( &xDelayedTaskList2 );
-	vListInitialise( &xPendingReadyList );
+	vListInitialise( &xPendingReadyList[ xPortGetCoreID() ] );
 
 	#if ( INCLUDE_vTaskDelete == 1 )
 	{
@@ -4576,7 +4580,7 @@ TickType_t uxReturn;
 				{
 					/* The delayed and ready lists cannot be accessed, so hold
 					this task pending until the scheduler is resumed. */
-					vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
+					vListInsertEnd( &( xPendingReadyList[ xPortGetCoreID() ] ), &( pxTCB->xEventListItem ) );
 				}
 
 				if( tskCAN_RUN_HERE(pxTCB->xCoreID) && pxTCB->uxPriority > pxCurrentTCB[ xPortGetCoreID() ]->uxPriority )
@@ -4644,7 +4648,7 @@ TickType_t uxReturn;
 				{
 					/* The delayed and ready lists cannot be accessed, so hold
 					this task pending until the scheduler is resumed. */
-					vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
+					vListInsertEnd( &( xPendingReadyList[ xPortGetCoreID() ] ), &( pxTCB->xEventListItem ) );
 				}
 				
 				if( tskCAN_RUN_HERE(pxTCB->xCoreID) && pxTCB->uxPriority > pxCurrentTCB[ xPortGetCoreID() ]->uxPriority )