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components/esp32: add inter-processor call API and implement spi_flash through it 

With this change, flash operations can run on both cores.
NVS and WiFi stack can also run in dual core mode now.
pull/21/head
Ivan Grokhotkov 2016-09-12 18:54:45 +08:00
rodzic 1c6859573b
commit e9f2645b21
5 zmienionych plików z 321 dodań i 85 usunięć
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25
components/esp32/cpu_start.c
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@ -36,6 +36,8 @@
#include "esp_spi_flash.h"
#include "nvs_flash.h"
#include "esp_event.h"
#include "esp_spi_flash.h"
#include "esp_ipc.h"
static void IRAM_ATTR user_start_cpu0(void);
static void IRAM_ATTR call_user_start_cpu1();
@ -180,37 +182,39 @@ void IRAM_ATTR call_user_start_cpu1() {
user_start_cpu1();
}
extern volatile int port_xSchedulerRunning;
extern int xPortStartScheduler();
extern volatile int port_xSchedulerRunning[2];
void user_start_cpu1(void) {
//Wait for the freertos initialization is finished on CPU0
while (port_xSchedulerRunning == 0) ;
ets_printf("Core0 started initializing FreeRTOS. Jumping to scheduler.\n");
//Okay, start the scheduler!
void IRAM_ATTR user_start_cpu1(void) {
// Wait for FreeRTOS initialization to finish on PRO CPU
while (port_xSchedulerRunning[0] == 0) {
;
}
ets_printf("Starting scheduler on APP CPU.\n");
// Start the scheduler on APP CPU
xPortStartScheduler();
}
extern void (*__init_array_start)(void);
extern void (*__init_array_end)(void);
extern esp_err_t app_main();
static void do_global_ctors(void) {
void (**p)(void);
for(p = &__init_array_start; p != &__init_array_end; ++p)
(*p)();
}
extern esp_err_t app_main();
void user_start_cpu0(void) {
ets_setup_syscalls();
do_global_ctors();
esp_ipc_init();
spi_flash_init();
#if CONFIG_WIFI_ENABLED
ets_printf("nvs_flash_init\n");
esp_err_t ret = nvs_flash_init(5, 3);
if (ret != ESP_OK) {
ets_printf("nvs_flash_init fail, ret=%d\n", ret);
printf("nvs_flash_init failed, ret=%d\n", ret);
}
system_init();
@ -227,6 +231,7 @@ void user_start_cpu0(void) {
app_main();
#endif
ets_printf("Starting scheduler on PRO CPU.\n");
vTaskStartScheduler();
}

5
components/esp32/include/esp_err.h
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@ -27,7 +27,10 @@ typedef int32_t esp_err_t;
#define ESP_OK 0
#define ESP_FAIL -1
#define ESP_ERR_NO_MEM 0x101
#define ESP_ERR_NO_MEM 0x101
#define ESP_ERR_INVALID_ARG 0x102
#define ESP_ERR_INVALID_STATE 0x103
#ifdef __cplusplus
}

84
components/esp32/include/esp_ipc.h 100644
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@ -0,0 +1,84 @@
// 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_IPC_H__
#define __ESP_IPC_H__
#include <esp_err.h>
typedef void (*esp_ipc_func_t)(void* arg);
/**
* @brief Inter-processor call APIs
*
* FreeRTOS provides several APIs which can be used to communicate between
* different tasks, including tasks running on different CPUs.
* This module provides additional APIs to run some code on the other CPU.
*/
/**
* @brief Initialize inter-processor call module.
*
* This function start two tasks, one on each CPU. These tasks are started
* with high priority. These tasks are normally inactive, waiting until one of
* the esp_ipc_call_* functions to be used. One of these tasks will be
* woken up to execute the callback provided to esp_ipc_call_nonblocking or
* esp_ipc_call_blocking.
*/
void esp_ipc_init();
/**
* @brief Execute function on the given CPU
*
* This will wake a high-priority task on CPU indicated by cpu_id argument,
* and run func(arg) in the context of that task.
* This function returns as soon as the high-priority task is woken up.
* If another IPC call is already being executed, this function will also wait
* for it to complete.
*
* In single-core mode, returns ESP_ERR_INVALID_ARG for cpu_id 1.
*
* @param cpu_id CPU where function should be executed (0 or 1)
* @param func pointer to a function which should be executed
* @param arg arbitrary argument to be passed into function
*
* @return ESP_ERR_INVALID_ARG if cpu_id is invalid
* ESP_OK otherwise
*/
esp_err_t esp_ipc_call(uint32_t cpu_id, esp_ipc_func_t func, void* arg);
/**
* @brief Execute function on the given CPU and wait for it to finish
*
* This will wake a high-priority task on CPU indicated by cpu_id argument,
* and run func(arg) in the context of that task.
* This function waits for func to return.
*
* In single-core mode, returns ESP_ERR_INVALID_ARG for cpu_id 1.
*
* @param cpu_id CPU where function should be executed (0 or 1)
* @param func pointer to a function which should be executed
* @param arg arbitrary argument to be passed into function
*
* @return ESP_ERR_INVALID_ARG if cpu_id is invalid
* ESP_OK otherwise
*/
esp_err_t esp_ipc_call_blocking(uint32_t cpu_id, esp_ipc_func_t func, void* arg);
#endif /* __ESP_IPC_H__ */

117
components/esp32/ipc.c 100644
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@ -0,0 +1,117 @@
// 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.
#include <stddef.h>
#include <stdlib.h>
#include <string.h>
#include <assert.h>
#include "esp_err.h"
#include "esp_ipc.h"
#include "esp_attr.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "freertos/semphr.h"
static TaskHandle_t s_ipc_tasks[portNUM_PROCESSORS]; // Two high priority tasks, one for each CPU
static SemaphoreHandle_t s_ipc_mutex; // 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 s_ipc_tasks
static SemaphoreHandle_t s_ipc_ack; // 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
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
// s_ipc_ack semaphore: before s_func is called, or
// after it returns
static void IRAM_ATTR ipc_task(void* arg)
{
const uint32_t cpuid = (uint32_t) arg;
assert(cpuid == xPortGetCoreID());
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();
}
esp_ipc_func_t func = s_func;
void* arg = s_func_arg;
if (s_ipc_wait == IPC_WAIT_FOR_START) {
xSemaphoreGive(s_ipc_ack);
}
(*func)(arg);
if (s_ipc_wait == IPC_WAIT_FOR_END) {
xSemaphoreGive(s_ipc_ack);
}
}
// TODO: currently this is unreachable code. Introduce esp_ipc_uninit
// function which will signal to both tasks that they can shut down.
// Not critical at this point, we don't have a use case for stopping
// IPC yet.
// Also need to delete the semaphore here.
vTaskDelete(NULL);
}
void esp_ipc_init()
{
s_ipc_mutex = xSemaphoreCreateMutex();
s_ipc_ack = xSemaphoreCreateBinary();
const char* task_names[2] = {"ipc0", "ipc1"};
for (int i = 0; i < portNUM_PROCESSORS; ++i) {
s_ipc_sem[i] = xSemaphoreCreateBinary();
xTaskCreatePinnedToCore(ipc_task, task_names[i], XT_STACK_MIN_SIZE, (void*) i,
configMAX_PRIORITIES - 1, &s_ipc_tasks[i], i);
}
}
static esp_err_t esp_ipc_call_and_wait(uint32_t cpu_id, esp_ipc_func_t func, void* arg, esp_ipc_wait_t wait_for)
{
if (cpu_id >= portNUM_PROCESSORS) {
return ESP_ERR_INVALID_ARG;
}
if (xTaskGetSchedulerState() != taskSCHEDULER_RUNNING) {
return ESP_ERR_INVALID_STATE;
}
xSemaphoreTake(s_ipc_mutex, portMAX_DELAY);
s_func = func;
s_func_arg = arg;
s_ipc_wait = IPC_WAIT_FOR_START;
xSemaphoreGive(s_ipc_sem[cpu_id]);
xSemaphoreTake(s_ipc_ack, portMAX_DELAY);
xSemaphoreGive(s_ipc_mutex);
return ESP_OK;
}
esp_err_t esp_ipc_call(uint32_t cpu_id, esp_ipc_func_t func, void* arg)
{
return esp_ipc_call_and_wait(cpu_id, func, arg, IPC_WAIT_FOR_START);
}
esp_err_t esp_ipc_call_blocking(uint32_t cpu_id, esp_ipc_func_t func, void* arg)
{
return esp_ipc_call_and_wait(cpu_id, func, arg, IPC_WAIT_FOR_END);
}

175
components/spi_flash/esp_spi_flash.c
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@ -12,16 +12,20 @@
// See the License for the specific language governing permissions and
// limitations under the License.
#include <stdlib.h>
#include <assert.h>
#include <freertos/FreeRTOS.h>
#include <freertos/task.h>
#include <freertos/semphr.h>
#include <esp_spi_flash.h>
#include <rom/spi_flash.h>
#include <rom/cache.h>
#include <esp_attr.h>
#include <soc/soc.h>
#include <soc/dport_reg.h>
#include "sdkconfig.h"
#include "esp_ipc.h"
#include "esp_attr.h"
#include "esp_spi_flash.h"
/*
Driver for SPI flash read/write/erase operations
@ -42,7 +46,7 @@
this flag to be set. Once the flag is set, it disables cache on CPU A and
starts flash operation.
While flash operation is running, interrupts can still run on CPU B.
While flash operation is running, interrupts can still run on CPU B.
We assume that all interrupt code is placed into RAM.
Once flash operation is complete, function on CPU A sets another flag,
@ -58,93 +62,94 @@
*/
static esp_err_t spi_flash_translate_rc(SpiFlashOpResult rc);
extern void Cache_Flush(int);
static void IRAM_ATTR spi_flash_disable_cache(uint32_t cpuid, uint32_t* saved_state);
static void IRAM_ATTR spi_flash_restore_cache(uint32_t cpuid, uint32_t saved_state);
static uint32_t s_flash_op_cache_state[2];
#ifndef CONFIG_FREERTOS_UNICORE
static SemaphoreHandle_t s_flash_op_mutex;
static bool s_flash_op_can_start = false;
static bool s_flash_op_complete = false;
#endif //CONFIG_FREERTOS_UNICORE
#ifndef CONFIG_FREERTOS_UNICORE
static TaskHandle_t s_flash_op_tasks[2];
static SemaphoreHandle_t s_flash_op_mutex;
static SemaphoreHandle_t s_flash_op_sem[2];
static bool s_flash_op_can_start = false;
static bool s_flash_op_complete = false;
// Task whose duty is to block other tasks from running on a given CPU
static void IRAM_ATTR spi_flash_op_block_task(void* arg)
static void IRAM_ATTR spi_flash_op_block_func(void* arg)
{
// Disable scheduler on this CPU
vTaskSuspendAll();
uint32_t cpuid = (uint32_t) arg;
while (true) {
// Wait for flash operation to be initiated.
// This will be indicated by giving the semaphore corresponding to
// this CPU.
if (xSemaphoreTake(s_flash_op_sem[cpuid], portMAX_DELAY) != pdTRUE) {
// TODO: when can this happen?
abort();
}
// Disable cache on this CPU
Cache_Read_Disable(cpuid);
// Signal to the flash API function that flash operation can start
s_flash_op_can_start = true;
while (!s_flash_op_complete) {
// until we have a way to use interrupts for inter-CPU communication,
// busy loop here and wait for the other CPU to finish flash operation
}
// Flash operation is complete, re-enable cache
Cache_Read_Enable(cpuid);
// Disable cache so that flash operation can start
spi_flash_disable_cache(cpuid, &s_flash_op_cache_state[cpuid]);
s_flash_op_can_start = true;
while (!s_flash_op_complete) {
// until we have a way to use interrupts for inter-CPU communication,
// busy loop here and wait for the other CPU to finish flash operation
}
// TODO: currently this is unreachable code. Introduce spi_flash_uninit
// function which will signal to both tasks that they can shut down.
// Not critical at this point, we don't have a use case for stopping
// SPI flash driver yet.
// Also need to delete the semaphore here.
vTaskDelete(NULL);
// Flash operation is complete, re-enable cache
spi_flash_restore_cache(cpuid, s_flash_op_cache_state[cpuid]);
// Re-enable scheduler
xTaskResumeAll();
}
void spi_flash_init()
{
s_flash_op_can_start = false;
s_flash_op_complete = false;
s_flash_op_sem[0] = xSemaphoreCreateBinary();
s_flash_op_sem[1] = xSemaphoreCreateBinary();
s_flash_op_mutex = xSemaphoreCreateMutex();
// Start two tasks, one on each CPU, with max priorities
// TODO: optimize stack usage. Stack size 512 is too small.
xTaskCreatePinnedToCore(spi_flash_op_block_task, "flash_op_pro", 1024, (void*) 0,
configMAX_PRIORITIES - 1, &s_flash_op_tasks[0], 0);
xTaskCreatePinnedToCore(spi_flash_op_block_task, "flash_op_app", 1024, (void*) 1,
configMAX_PRIORITIES - 1, &s_flash_op_tasks[1], 1);
}
static void IRAM_ATTR spi_flash_disable_interrupts_caches_and_other_cpu()
{
// Take the API lock
xSemaphoreTake(s_flash_op_mutex, portMAX_DELAY);
const uint32_t cpuid = xPortGetCoreID();
uint32_t other_cpuid = !cpuid;
s_flash_op_can_start = false;
s_flash_op_complete = false;
// Signal to the spi_flash_op_block_task on the other CPU that we need it to
// disable cache there and block other tasks from executing.
xSemaphoreGive(s_flash_op_sem[other_cpuid]);
while (!s_flash_op_can_start) {
// Busy loop and wait for spi_flash_op_block_task to take the semaphore on the
// other CPU.
const uint32_t other_cpuid = !cpuid;
if (xTaskGetSchedulerState() == taskSCHEDULER_NOT_STARTED) {
// Scheduler hasn't been started yet, so we don't need to worry
// about cached code running on the APP CPU.
spi_flash_disable_cache(other_cpuid, &s_flash_op_cache_state[other_cpuid]);
} else {
// Signal to the spi_flash_op_block_task on the other CPU that we need it to
// disable cache there and block other tasks from executing.
s_flash_op_can_start = false;
s_flash_op_complete = false;
esp_ipc_call(other_cpuid, &spi_flash_op_block_func, (void*) other_cpuid);
while (!s_flash_op_can_start) {
// Busy loop and wait for spi_flash_op_block_func to disable cache
// on the other CPU
}
// Disable scheduler on CPU cpuid
vTaskSuspendAll();
// This is guaranteed to run on CPU <cpuid> because the other CPU is now
// occupied by highest priority task
assert(xPortGetCoreID() == cpuid);
}
vTaskSuspendAll();
// Disable cache on this CPU as well
Cache_Read_Disable(cpuid);
spi_flash_disable_cache(cpuid, &s_flash_op_cache_state[cpuid]);
}
static void IRAM_ATTR spi_flash_enable_interrupts_caches_and_other_cpu()
{
uint32_t cpuid = xPortGetCoreID();
// Signal to spi_flash_op_block_task that flash operation is complete
s_flash_op_complete = true;
const uint32_t cpuid = xPortGetCoreID();
const uint32_t other_cpuid = !cpuid;
// Re-enable cache on this CPU
Cache_Read_Enable(cpuid);
spi_flash_restore_cache(cpuid, s_flash_op_cache_state[cpuid]);
if (xTaskGetSchedulerState() == taskSCHEDULER_NOT_STARTED) {
// Scheduler is not running yet — just re-enable cache on APP CPU
spi_flash_restore_cache(other_cpuid, s_flash_op_cache_state[other_cpuid]);
} else {
// Signal to spi_flash_op_block_task that flash operation is complete
s_flash_op_complete = true;
// Resume tasks on the current CPU
xTaskResumeAll();
}
// Release API lock
xSemaphoreGive(s_flash_op_mutex);
xTaskResumeAll();
}
#else // CONFIG_FREERTOS_UNICORE
@ -157,14 +162,12 @@ void spi_flash_init()
static void IRAM_ATTR spi_flash_disable_interrupts_caches_and_other_cpu()
{
vTaskSuspendAll();
Cache_Read_Disable(0);
Cache_Read_Disable(1);
spi_flash_disable_cache(0, &s_flash_op_cache_state[0]);
}
static void IRAM_ATTR spi_flash_enable_interrupts_caches_and_other_cpu()
{
Cache_Read_Enable(0);
Cache_Read_Enable(1);
spi_flash_restore_cache(0, s_flash_op_cache_state[0]);
xTaskResumeAll();
}
@ -179,8 +182,6 @@ esp_err_t IRAM_ATTR spi_flash_erase_sector(uint16_t sec)
if (rc == SPI_FLASH_RESULT_OK) {
rc = SPIEraseSector(sec);
}
Cache_Flush(0);
Cache_Flush(1);
spi_flash_enable_interrupts_caches_and_other_cpu();
return spi_flash_translate_rc(rc);
}
@ -193,8 +194,6 @@ esp_err_t IRAM_ATTR spi_flash_write(uint32_t dest_addr, const uint32_t *src, uin
if (rc == SPI_FLASH_RESULT_OK) {
rc = SPIWrite(dest_addr, src, (int32_t) size);
}
Cache_Flush(0);
Cache_Flush(1);
spi_flash_enable_interrupts_caches_and_other_cpu();
return spi_flash_translate_rc(rc);
}
@ -204,8 +203,6 @@ esp_err_t IRAM_ATTR spi_flash_read(uint32_t src_addr, uint32_t *dest, uint32_t s
spi_flash_disable_interrupts_caches_and_other_cpu();
SpiFlashOpResult rc;
rc = SPIRead(src_addr, dest, (int32_t) size);
Cache_Flush(0);
Cache_Flush(1);
spi_flash_enable_interrupts_caches_and_other_cpu();
return spi_flash_translate_rc(rc);
}
@ -222,3 +219,33 @@ static esp_err_t spi_flash_translate_rc(SpiFlashOpResult rc)
return ESP_ERR_FLASH_OP_FAIL;
}
}
static void IRAM_ATTR spi_flash_disable_cache(uint32_t cpuid, uint32_t* saved_state)
{
uint32_t ret = 0;
if (cpuid == 0) {
ret |= GET_PERI_REG_BITS2(PRO_CACHE_CTRL1_REG, 0x1f, 0);
while (GET_PERI_REG_BITS2(PRO_DCACHE_DBUG_REG0, DPORT_PRO_CACHE_STATE, DPORT_PRO_CACHE_STATE_S) != 1) {
;
}
SET_PERI_REG_BITS(PRO_CACHE_CTRL_REG, 1, 0, DPORT_PRO_CACHE_ENABLE_S);
} else {
ret |= GET_PERI_REG_BITS2(APP_CACHE_CTRL1_REG, 0x1f, 0);
while (GET_PERI_REG_BITS2(APP_DCACHE_DBUG_REG0, DPORT_APP_CACHE_STATE, DPORT_APP_CACHE_STATE_S) != 1) {
;
}
SET_PERI_REG_BITS(APP_CACHE_CTRL_REG, 1, 0, DPORT_APP_CACHE_ENABLE_S);
}
*saved_state = ret;
}
static void IRAM_ATTR spi_flash_restore_cache(uint32_t cpuid, uint32_t saved_state)
{
if (cpuid == 0) {
SET_PERI_REG_BITS(PRO_CACHE_CTRL_REG, 1, 1, DPORT_PRO_CACHE_ENABLE_S);
SET_PERI_REG_BITS(PRO_CACHE_CTRL1_REG, 0x1f, saved_state, 0);
} else {
SET_PERI_REG_BITS(APP_CACHE_CTRL_REG, 1, 1, DPORT_APP_CACHE_ENABLE_S);
SET_PERI_REG_BITS(APP_CACHE_CTRL1_REG, 0x1f, saved_state, 0);
}
}