Merge branch 'feature/ipc_runs_with_caller_priority' into 'master'

esp_common: IPC works with the priority of the caller's task

Closes IDF-78

See merge request espressif/esp-idf!6191

components/esp32/test/test_ipc.c

@@ -1,8 +1,10 @@
 #include <stdio.h>
 #include "freertos/FreeRTOS.h"
 #include "freertos/task.h"
+#include "freertos/semphr.h"
 #include "unity.h"
 #include "esp_ipc.h"
+#include "esp_log.h"
 #include "sdkconfig.h"
 
 #if !CONFIG_FREERTOS_UNICORE
@@ -19,4 +21,105 @@ TEST_CASE("Test blocking IPC function call", "[ipc]")
     esp_ipc_call_blocking(!xPortGetCoreID(), test_func_ipc_cb, &val);
     TEST_ASSERT_EQUAL_HEX(val, 0xa5a5);
 }
+
+#ifdef CONFIG_ESP_IPC_USES_CALLERS_PRIORITY
+static volatile bool exit_flag;
+
+static void task1(void *sema)
+{
+    ESP_LOGI("task1", "start");
+    ets_delay_us(3000000);
+    vTaskDelay(1);
+    while (exit_flag == false) {
+
+    }
+    ESP_LOGI("task1", "finish");
+    vTaskDelete(NULL);
+}
+
+static UBaseType_t func_ipc_priority;
+
+static void test_func_ipc(void *sema)
+{
+    ets_delay_us(1000000 + xPortGetCoreID() * 100);
+    func_ipc_priority = uxTaskPriorityGet(NULL);
+    xSemaphoreGive(*(xSemaphoreHandle *)sema);
+    ets_printf("test_func_ipc: [%d, %d]\n", func_ipc_priority, xPortGetCoreID());
+}
+
+TEST_CASE("Test ipc_task works with the priority of the caller's task", "[ipc]")
+{
+    UBaseType_t priority = 18;
+    func_ipc_priority = 0;
+    vTaskPrioritySet(NULL, priority);
+
+    xSemaphoreHandle sema_ipc_done = xSemaphoreCreateBinary();
+
+    exit_flag = false;
+    xTaskCreatePinnedToCore(task1, "task1", 4096, NULL, priority + 2, NULL, 1);
+    vTaskDelay(100 / portTICK_PERIOD_MS);
+
+    ESP_LOGI("test", "Start IPC call in IPC_WAIT_FOR_START mode");
+    esp_ipc_call(1, test_func_ipc, &sema_ipc_done);
+    ESP_LOGI("test", "Waiting for IPC finish");
+    xSemaphoreTake(sema_ipc_done, 4000 / portTICK_PERIOD_MS);
+    ESP_LOGI("test", "Stop task1");
+    exit_flag = true;
+    xSemaphoreTake(sema_ipc_done, portMAX_DELAY);
+    vSemaphoreDelete(sema_ipc_done);
+    ESP_LOGI("test", "Check ipc_priority with priority caller's task. Should be the same");
+    vTaskPrioritySet(NULL, 5);
+    TEST_ASSERT_EQUAL(priority, func_ipc_priority);
+}
+
+static void test_func2_ipc(void *arg)
+{
+    int callers_priority = *(int *)arg;
+    ets_delay_us(1000000 + xPortGetCoreID() * 100);
+    UBaseType_t priority = uxTaskPriorityGet(NULL);
+    ets_printf("test_func2_ipc: [callers_priority = %d, priority = %d, cpu = %d]\n", callers_priority, priority, xPortGetCoreID());
+}
+
+static void task(void *sema)
+{
+    int priority = uxTaskPriorityGet(NULL);
+    ESP_LOGI("task", "start [priority = %d, cpu = %d]", priority, xPortGetCoreID());
+    xSemaphoreTake(*(xSemaphoreHandle *)sema, portMAX_DELAY);
+    esp_ipc_call_blocking(!xPortGetCoreID(), test_func2_ipc, &priority);
+    xSemaphoreGive(*(xSemaphoreHandle *)sema);
+    ESP_LOGI("task", "finish [priority = %d, cpu = %d]", priority, xPortGetCoreID());
+    vTaskDelete(NULL);
+}
+
+TEST_CASE("Test multiple ipc_calls", "[ipc]")
+{
+    const int max_tasks = 5;
+    UBaseType_t priority = uxTaskPriorityGet(NULL);
+    ESP_LOGI("test", "priority = %d, cpu = %d", priority, xPortGetCoreID());
+    xSemaphoreHandle sema_ipc_done[max_tasks * portNUM_PROCESSORS];
+
+    for (int task_num = 0; task_num < max_tasks; ++task_num) {
+        ++priority;
+        ESP_LOGI("test", "task prio = %d", priority);
+        for (int cpu_num = 0; cpu_num < portNUM_PROCESSORS; ++cpu_num) {
+            sema_ipc_done[task_num * 2 + cpu_num] = xSemaphoreCreateBinary();
+            xTaskCreatePinnedToCore(task, "task", 4096, &sema_ipc_done[task_num * 2 + cpu_num], priority, NULL, cpu_num);
+        }
+    }
+
+    for (int task_num = 0; task_num < max_tasks; ++task_num) {
+        for (int cpu_num = 0; cpu_num < portNUM_PROCESSORS; ++cpu_num) {
+            xSemaphoreGive(sema_ipc_done[task_num * 2 + cpu_num]);
+        }
+    }
+
+    for (int task_num = 0; task_num < max_tasks; ++task_num) {
+        for (int cpu_num = 0; cpu_num < portNUM_PROCESSORS; ++cpu_num) {
+            xSemaphoreTake(sema_ipc_done[task_num * 2 + cpu_num], portMAX_DELAY);
+            vSemaphoreDelete(sema_ipc_done[task_num * 2 + cpu_num]);
+        }
+    }
+}
 #endif /* !CONFIG_FREERTOS_UNICORE */
+
+#endif // CONFIG_ESP_IPC_USE_CALLERS_PRIORITY

components/esp_common/Kconfig

@@ -54,6 +54,15 @@ menu "Common ESP-related"
             It can be shrunk if you are sure that you do not use any custom
             IPC functionality.
 
+    config ESP_IPC_USES_CALLERS_PRIORITY
+        bool "IPC runs at caller's priority"
+        default y
+        depends on !FREERTOS_UNICORE
+        help
+            If this option is not enabled then the IPC task will keep behavior
+            same as prior to that of ESP-IDF v4.0, and hence IPC task will run
+            at (configMAX_PRIORITIES - 1) priority.
+
     config ESP_TIMER_TASK_STACK_SIZE
         int "High-resolution timer task stack size"
         default 3584

components/esp_common/src/ipc.c

@@ -24,19 +24,19 @@
 #include "freertos/task.h"
 #include "freertos/semphr.h"
 
-
-static SemaphoreHandle_t s_ipc_mutex;                        // This mutex is used as a global lock for esp_ipc_* APIs
+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;                          // Semaphore used to acknowledge that task was woken up,
+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;                       // Function which should be called by high priority task
-static void * volatile s_func_arg;                           // Argument to pass into s_func
+static volatile esp_ipc_func_t s_func[portNUM_PROCESSORS];   // 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_FOR_START,
     IPC_WAIT_FOR_END
 } esp_ipc_wait_t;
 
-static volatile esp_ipc_wait_t s_ipc_wait;                   // This variable tells high priority task when it should give
+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
 
@@ -53,15 +53,15 @@ static void IRAM_ATTR ipc_task(void* arg)
             abort();
         }
 
-        esp_ipc_func_t func = s_func;
-        void* arg = s_func_arg;
+        esp_ipc_func_t func = s_func[cpuid];
+        void* arg = s_func_arg[cpuid];
 
-        if (s_ipc_wait == IPC_WAIT_FOR_START) {
-            xSemaphoreGive(s_ipc_ack);
+        if (s_ipc_wait[cpuid] == IPC_WAIT_FOR_START) {
+            xSemaphoreGive(s_ipc_ack[cpuid]);
         }
         (*func)(arg);
-        if (s_ipc_wait == IPC_WAIT_FOR_END) {
-            xSemaphoreGive(s_ipc_ack);
+        if (s_ipc_wait[cpuid] == IPC_WAIT_FOR_END) {
+            xSemaphoreGive(s_ipc_ack[cpuid]);
         }
     }
     // TODO: currently this is unreachable code. Introduce esp_ipc_uninit
@@ -86,14 +86,14 @@ static void esp_ipc_init(void) __attribute__((constructor));
 
 static void esp_ipc_init(void)
 {
-    s_ipc_mutex = xSemaphoreCreateMutex();
-    s_ipc_ack = xSemaphoreCreateBinary();
     char task_name[15];
     for (int i = 0; i < portNUM_PROCESSORS; ++i) {
         snprintf(task_name, sizeof(task_name), "ipc%d", i);
+        s_ipc_mutex[i] = xSemaphoreCreateMutex();
+        s_ipc_ack[i] = xSemaphoreCreateBinary();
         s_ipc_sem[i] = xSemaphoreCreateBinary();
         portBASE_TYPE res = xTaskCreatePinnedToCore(ipc_task, task_name, CONFIG_ESP_IPC_TASK_STACK_SIZE, (void*) i,
-                                                    configMAX_PRIORITIES - 1, NULL, i);
+                                                    configMAX_PRIORITIES - 1, &s_ipc_task_handle[i], i);
         assert(res == pdTRUE);
     }
 }
@@ -107,14 +107,30 @@ static esp_err_t esp_ipc_call_and_wait(uint32_t cpu_id, esp_ipc_func_t func, voi
         return ESP_ERR_INVALID_STATE;
     }
 
-    xSemaphoreTake(s_ipc_mutex, portMAX_DELAY);
+#ifdef CONFIG_ESP_IPC_USES_CALLERS_PRIORITY
+    TaskHandle_t task_handler = xTaskGetCurrentTaskHandle();
+    UBaseType_t priority_of_current_task = uxTaskPriorityGet(task_handler);
+    UBaseType_t priority_of_running_ipc_task = uxTaskPriorityGet(s_ipc_task_handle[cpu_id]);
+    if (priority_of_running_ipc_task < priority_of_current_task) {
+        vTaskPrioritySet(s_ipc_task_handle[cpu_id], priority_of_current_task);
+    }
 
-    s_func = func;
-    s_func_arg = arg;
-    s_ipc_wait = wait_for;
+    xSemaphoreTake(s_ipc_mutex[cpu_id], portMAX_DELAY);
+    vTaskPrioritySet(s_ipc_task_handle[cpu_id], priority_of_current_task);
+#else
+    xSemaphoreTake(s_ipc_mutex[0], portMAX_DELAY);
+#endif
+
+    s_func[cpu_id] = func;
+    s_func_arg[cpu_id] = arg;
+    s_ipc_wait[cpu_id] = wait_for;
     xSemaphoreGive(s_ipc_sem[cpu_id]);
-    xSemaphoreTake(s_ipc_ack, portMAX_DELAY);
-    xSemaphoreGive(s_ipc_mutex);
+    xSemaphoreTake(s_ipc_ack[cpu_id], portMAX_DELAY);
+#ifdef CONFIG_ESP_IPC_USES_CALLERS_PRIORITY
+    xSemaphoreGive(s_ipc_mutex[cpu_id]);
+#else
+    xSemaphoreGive(s_ipc_mutex[0]);
+#endif
     return ESP_OK;
 }