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esp_ipc: Use task notifications instead of semaphores

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Closes https://github.com/espressif/esp-idf/pull/10226

- Drop the atomic usage
- Return the xSemaphoreTake for ask back
- Refactoring
This commit is contained in:
tgotic 2022-11-22 16:33:11 +01:00 committed by KonstantinKondrashov
parent 93d99eb062
commit 23a290f29f
1 changed files with 44 additions and 55 deletions
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99
components/esp_system/esp_ipc.c
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@ -26,25 +26,19 @@
#endif //CONFIG_COMPILER_OPTIMIZATION_NONE
static DRAM_ATTR StaticSemaphore_t s_ipc_mutex_buffer[portNUM_PROCESSORS];
static DRAM_ATTR StaticSemaphore_t s_ipc_sem_buffer[portNUM_PROCESSORS];
static DRAM_ATTR StaticSemaphore_t s_ipc_ack_buffer[portNUM_PROCESSORS];
static TaskHandle_t s_ipc_task_handle[portNUM_PROCESSORS];
static SemaphoreHandle_t s_ipc_mutex[portNUM_PROCESSORS]; // This mutex is used as a global lock for esp_ipc_* APIs
static SemaphoreHandle_t s_ipc_sem[portNUM_PROCESSORS]; // Two semaphores used to wake each of ipc tasks
static SemaphoreHandle_t s_ipc_ack[portNUM_PROCESSORS]; // Semaphore used to acknowledge that task was woken up,
// or function has finished running
static volatile esp_ipc_func_t s_func[portNUM_PROCESSORS]; // Function which should be called by high priority task
static volatile esp_ipc_func_t s_func[portNUM_PROCESSORS] = { 0 }; // Function which should be called by high priority task
static void * volatile s_func_arg[portNUM_PROCESSORS]; // Argument to pass into s_func
typedef enum {
IPC_WAIT_NO = 0,
IPC_WAIT_FOR_START,
IPC_WAIT_FOR_END
IPC_WAIT_FOR_END,
} esp_ipc_wait_t;
static volatile esp_ipc_wait_t s_ipc_wait[portNUM_PROCESSORS];// This variable tells high priority task when it should give
// s_ipc_ack semaphore: before s_func is called, or
// after it returns
#if CONFIG_APPTRACE_GCOV_ENABLE
static volatile esp_ipc_func_t s_gcov_func = NULL; // Gcov dump starter function which should be called by high priority task
static void * volatile s_gcov_func_arg; // Argument to pass into s_gcov_func
@ -53,43 +47,48 @@ static void * volatile s_gcov_func_arg; // Argument to pass
static void IRAM_ATTR ipc_task(void* arg)
{
const int cpuid = (int) arg;
assert(cpuid == xPortGetCoreID());
#ifdef CONFIG_ESP_IPC_ISR_ENABLE
esp_ipc_isr_init();
#endif
while (true) {
// Wait for IPC to be initiated.
// This will be indicated by giving the semaphore corresponding to
// this CPU.
if (xSemaphoreTake(s_ipc_sem[cpuid], portMAX_DELAY) != pdTRUE) {
// TODO: when can this happen?
abort();
}
uint32_t ipc_wait;
xTaskNotifyWait(0, ULONG_MAX, &ipc_wait, portMAX_DELAY);
#if CONFIG_APPTRACE_GCOV_ENABLE
if (s_gcov_func) {
(*s_gcov_func)(s_gcov_func_arg);
s_gcov_func = NULL;
/* we can not interfer with IPC calls so no need for further processing */
continue;
// esp_ipc API and gcov_from_isr APIs can be processed together if they came at the same time
if (ipc_wait == IPC_WAIT_NO) {
continue;
}
}
#endif
#endif // CONFIG_APPTRACE_GCOV_ENABLE
#ifndef CONFIG_FREERTOS_UNICORE
if (s_func[cpuid]) {
// we need to cache s_func, s_func_arg and s_ipc_wait variables locally because they can be changed by a subsequent IPC call.
// we need to cache s_func, s_func_arg and ipc_ack variables locally
// because they can be changed by a subsequent IPC call (after xTaskNotify(caller_task_handle)).
esp_ipc_func_t func = s_func[cpuid];
s_func[cpuid] = NULL;
void* arg = s_func_arg[cpuid];
esp_ipc_wait_t ipc_wait = s_ipc_wait[cpuid];
void* func_arg = s_func_arg[cpuid];
SemaphoreHandle_t ipc_ack = s_ipc_ack[cpuid];
if (ipc_wait == IPC_WAIT_FOR_START) {
xSemaphoreGive(s_ipc_ack[cpuid]);
}
(*func)(arg);
if (ipc_wait == IPC_WAIT_FOR_END) {
xSemaphoreGive(s_ipc_ack[cpuid]);
xSemaphoreGive(ipc_ack);
(*func)(func_arg);
} else if (ipc_wait == IPC_WAIT_FOR_END) {
(*func)(func_arg);
xSemaphoreGive(ipc_ack);
} else {
abort();
}
}
#endif // !CONFIG_FREERTOS_UNICORE
}
// TODO: currently this is unreachable code. Introduce esp_ipc_uninit
// function which will signal to both tasks that they can shut down.
@ -113,13 +112,12 @@ static void esp_ipc_init(void) __attribute__((constructor));
static void esp_ipc_init(void)
{
char task_name[configMAX_TASK_NAME_LEN];
char task_name[] = "ipcX"; // up to 10 ipc tasks/cores (0-9)
for (int i = 0; i < portNUM_PROCESSORS; ++i) {
snprintf(task_name, sizeof(task_name), "ipc%d", i);
task_name[3] = i + (char)'0';
s_ipc_mutex[i] = xSemaphoreCreateMutexStatic(&s_ipc_mutex_buffer[i]);
s_ipc_ack[i] = xSemaphoreCreateBinaryStatic(&s_ipc_ack_buffer[i]);
s_ipc_sem[i] = xSemaphoreCreateBinaryStatic(&s_ipc_sem_buffer[i]);
portBASE_TYPE res = xTaskCreatePinnedToCore(ipc_task, task_name, IPC_STACK_SIZE, (void*) i,
configMAX_PRIORITIES - 1, &s_ipc_task_handle[i], i);
assert(res == pdTRUE);
@ -132,6 +130,9 @@ static esp_err_t esp_ipc_call_and_wait(uint32_t cpu_id, esp_ipc_func_t func, voi
if (cpu_id >= portNUM_PROCESSORS) {
return ESP_ERR_INVALID_ARG;
}
if (s_ipc_task_handle[cpu_id] == NULL) {
return ESP_ERR_INVALID_STATE;
}
if (xTaskGetSchedulerState() != taskSCHEDULER_RUNNING) {
return ESP_ERR_INVALID_STATE;
}
@ -152,9 +153,9 @@ static esp_err_t esp_ipc_call_and_wait(uint32_t cpu_id, esp_ipc_func_t func, voi
s_func[cpu_id] = func;
s_func_arg[cpu_id] = arg;
s_ipc_wait[cpu_id] = wait_for;
xSemaphoreGive(s_ipc_sem[cpu_id]);
xTaskNotify(s_ipc_task_handle[cpu_id], wait_for, eSetValueWithOverwrite);
xSemaphoreTake(s_ipc_ack[cpu_id], portMAX_DELAY);
#ifdef CONFIG_ESP_IPC_USES_CALLERS_PRIORITY
xSemaphoreGive(s_ipc_mutex[cpu_id]);
#else
@ -174,38 +175,26 @@ esp_err_t esp_ipc_call_blocking(uint32_t cpu_id, esp_ipc_func_t func, void* arg)
}
// currently this is only called from gcov component
// the top level guarantees that the next call will be only after the previous one has completed
#if CONFIG_APPTRACE_GCOV_ENABLE
esp_err_t esp_ipc_start_gcov_from_isr(uint32_t cpu_id, esp_ipc_func_t func, void* arg)
{
portBASE_TYPE ret = pdFALSE;
if (xTaskGetSchedulerState() != taskSCHEDULER_RUNNING) {
return ESP_ERR_INVALID_STATE;
}
/* Lock IPC to avoid interferring with normal IPC calls, e.g.
avoid situation when esp_ipc_start_gcov_from_isr() is called from IRQ
in the middle of IPC call between `s_func` and `s_func_arg` modification. See esp_ipc_call_and_wait() */
#ifdef CONFIG_ESP_IPC_USES_CALLERS_PRIORITY
ret = xSemaphoreTakeFromISR(s_ipc_mutex[cpu_id], NULL);
#else
ret = xSemaphoreTakeFromISR(s_ipc_mutex[0], NULL);
#endif
if (ret != pdTRUE) {
return ESP_ERR_TIMEOUT;
// Since it is called from an interrupt, it can not wait for a mutex to be released.
if (s_gcov_func == NULL) {
s_gcov_func_arg = arg;
s_gcov_func = func;
// If the target task already has a notification pending then its notification value is not updated (WithoutOverwrite).
xTaskNotifyFromISR(s_ipc_task_handle[cpu_id], IPC_WAIT_NO, eSetValueWithoutOverwrite, NULL);
return ESP_OK;
}
s_gcov_func = func;
s_gcov_func_arg = arg;
ret = xSemaphoreGiveFromISR(s_ipc_sem[cpu_id], NULL);
#ifdef CONFIG_ESP_IPC_USES_CALLERS_PRIORITY
xSemaphoreGiveFromISR(s_ipc_mutex[cpu_id], NULL);
#else
xSemaphoreGiveFromISR(s_ipc_mutex[0], NULL);
#endif
return ret == pdTRUE ? ESP_OK : ESP_FAIL;
// the previous call was not completed
return ESP_FAIL;
}
#endif // CONFIG_APPTRACE_GCOV_ENABLE