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components/freertos: using the optimized task selection on esp32s2beta

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components/freertos: cleaned up multicore option scheduler.

components/freertos:  more cleanup and test optimization to present realistic results

components/freertos: remove unused macros of optimized task selection when multicore is used
This commit is contained in:
Felipe Neves 2019-11-08 13:27:02 +08:00
parent 77bf1ff1c0
commit 2c612ec1dc
4 changed files with 29 additions and 28 deletions
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4
components/freertos/include/freertos/FreeRTOSConfig.h
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@ -176,15 +176,11 @@ int xt_clock_freq(void) __attribute__((deprecated));
//#define configCPU_CLOCK_HZ 80000000
/* This has impact on speed of search for highest priority */
#ifdef configUSE_PORT_OPTIMISED_TASK_SELECTION
#ifdef SMALL_TEST
#define configMAX_PRIORITIES ( 7 )
#else
#define configMAX_PRIORITIES ( 25 )
#endif
#else
#define configMAX_PRIORITIES ( 32 )
#endif
#ifndef CONFIG_APPTRACE_ENABLE
#define configMINIMAL_STACK_SIZE 768

32
components/freertos/tasks.c
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@ -368,7 +368,7 @@ PRIVILEGED_DATA static volatile BaseType_t xSwitchingContext[ portNUM_PROCESSORS
\
/* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of \
the same priority get an equal share of the processor time. */ \
listGET_OWNER_OF_NEXT_ENTRY( xTaskGetCurrentTaskHandle(), &( pxReadyTasksLists[ uxTopReadyPriority ] ) ); \
listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB[xPortGetCoreID()], &( pxReadyTasksLists[ uxTopReadyPriority ] ) ); \
} /* taskSELECT_HIGHEST_PRIORITY_TASK */
/*-----------------------------------------------------------*/
@ -397,7 +397,7 @@ PRIVILEGED_DATA static volatile BaseType_t xSwitchingContext[ portNUM_PROCESSORS
/* Find the highest priority queue that contains ready tasks. */ \
portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority ); \
configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 ); \
listGET_OWNER_OF_NEXT_ENTRY( xTaskGetCurrentTaskHandle(), &( pxReadyTasksLists[ uxTopPriority ] ) ); \
listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB[xPortGetCoreID()], &( pxReadyTasksLists[ uxTopPriority ] ) ); \
} /* taskSELECT_HIGHEST_PRIORITY_TASK() */
/*-----------------------------------------------------------*/
@ -2723,7 +2723,7 @@ void vTaskSwitchContext( void )
//Theoretically, this is only called from either the tick interrupt or the crosscore interrupt, so disabling
//interrupts shouldn't be necessary anymore. Still, for safety we'll leave it in for now.
int irqstate=portENTER_CRITICAL_NESTED();
tskTCB * pxTCB;
if( uxSchedulerSuspended[ xPortGetCoreID() ] != ( UBaseType_t ) pdFALSE )
{
/* The scheduler is currently suspended - do not allow a context
@ -2782,16 +2782,12 @@ void vTaskSwitchContext( void )
vPortCPUAcquireMutex( &xTaskQueueMutex );
#endif
#if !CONFIG_FREERTOS_UNICORE
unsigned portBASE_TYPE foundNonExecutingWaiter = pdFALSE, ableToSchedule = pdFALSE, resetListHead;
unsigned portBASE_TYPE holdTop=pdFALSE;
tskTCB * pxTCB;
#if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1
portBASE_TYPE uxDynamicTopReady;
portGET_HIGHEST_PRIORITY( uxDynamicTopReady, uxTopReadyPriority );
portBASE_TYPE uxCopyOfTopReadyPrio = uxDynamicTopReady;
#else
portBASE_TYPE uxDynamicTopReady = uxTopReadyPriority;
#endif
/*
* ToDo: This scheduler doesn't correctly implement the round-robin scheduling as done in the single-core
* FreeRTOS stack when multiple tasks have the same priority and are all ready; it just keeps grabbing the
@ -2867,18 +2863,19 @@ void vTaskSwitchContext( void )
}
} while ((ableToSchedule == pdFALSE) && (pxTCB != pxRefTCB));
} else {
if (!holdTop) {
#if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1
portRESET_READY_PRIORITY( uxCopyOfTopReadyPrio,uxTopReadyPriority );
portGET_HIGHEST_PRIORITY( uxCopyOfTopReadyPrio,uxTopReadyPriority );
#else
uxTopReadyPriority--;
#endif
}
if (!holdTop) uxTopReadyPriority--;
}
--uxDynamicTopReady;
}
#else
//For Unicore targets we can keep the current FreeRTOS O(1)
//Scheduler. I hope to optimize better the scheduler for
//Multicore settings -- This will involve to create a per
//affinity ready task list which will impact hugely on
//tasks module
taskSELECT_HIGHEST_PRIORITY_TASK();
#endif
traceTASK_SWITCHED_IN();
xSwitchingContext[ xPortGetCoreID() ] = pdFALSE;
@ -2890,6 +2887,7 @@ void vTaskSwitchContext( void )
vPortCPUReleaseMutex( &xTaskQueueMutex );
#endif
#if CONFIG_FREERTOS_WATCHPOINT_END_OF_STACK
vPortSetStackWatchpoint(pxCurrentTCB[xPortGetCoreID()]->pxStack);
#endif

19
components/freertos/test/test_freertos_scheduling_time.c
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@ -12,16 +12,16 @@
#include "test_utils.h"
typedef struct {
uint32_t noof_runs;
SemaphoreHandle_t end_sema;
uint32_t before_sched;
uint32_t cycles_to_sched;
TaskHandle_t t1_handle;
} test_context_t;
static void test_task_1(void *arg) {
test_context_t *context = (test_context_t *)arg;
for(context->noof_runs = 0 ;context->noof_runs < 10000; ) {
for( ;; ) {
context->before_sched = portGET_RUN_TIME_COUNTER_VALUE();
vPortYield();
}
@ -31,13 +31,15 @@ static void test_task_1(void *arg) {
static void test_task_2(void *arg) {
test_context_t *context = (test_context_t *)arg;
uint32_t accumulator = 0;
for( ; context->noof_runs < 10000; context->noof_runs++) {
context->cycles_to_sched += (portGET_RUN_TIME_COUNTER_VALUE() - context->before_sched);
for(int i = 0; i < 10000; i++) {
accumulator += (portGET_RUN_TIME_COUNTER_VALUE() - context->before_sched);
vPortYield();
}
context->cycles_to_sched /= 10000;
context->cycles_to_sched = accumulator / 10000;
vTaskDelete(context->t1_handle);
xSemaphoreGive(context->end_sema);
vTaskDelete(NULL);
}
@ -49,8 +51,13 @@ TEST_CASE("scheduling time test", "[freertos]")
context.end_sema = xSemaphoreCreateBinary();
TEST_ASSERT(context.end_sema != NULL);
xTaskCreatePinnedToCore(test_task_1, "test1" , 4096, &context, 1, NULL,1);
#if !CONFIG_FREERTOS_UNICORE
xTaskCreatePinnedToCore(test_task_1, "test1" , 4096, &context, 1, &context.t1_handle,1);
xTaskCreatePinnedToCore(test_task_2, "test2" , 4096, &context, 1, NULL,1);
#else
xTaskCreatePinnedToCore(test_task_1, "test1" , 4096, &context, 1, &context.t1_handle,0);
xTaskCreatePinnedToCore(test_task_2, "test2" , 4096, &context, 1, NULL,0);
#endif
BaseType_t result = xSemaphoreTake(context.end_sema, portMAX_DELAY);
TEST_ASSERT_EQUAL_HEX32(pdTRUE, result);

2
components/idf_test/include/idf_performance.h
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@ -77,4 +77,4 @@
#endif //CONFIG_IDF_TARGET_ESP32S2BETA
//time to perform the task selection plus context switch (from task)
#define IDF_PERFORMANCE_MAX_SCHEDULING_TIME 4500
#define IDF_PERFORMANCE_MAX_SCHEDULING_TIME 1500