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Simplify multitasking (esp-rs#334)
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@bugadani @bjoernQ
bugadani authored and bjoernQ committed May 23, 2024
1 parent 2e38785 commit ba40b4b
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Showing 8 changed files with 64 additions and 106 deletions.
2 changes: 1 addition & 1 deletion esp-wifi/src/compat/common.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,7 @@ use crate::{
include::OSI_FUNCS_TIME_BLOCKING,
},
memory_fence::memory_fence,
preempt::preempt::current_task,
preempt::current_task,
timer::yield_task,
};

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31 changes: 22 additions & 9 deletions esp-wifi/src/preempt/mod.rs
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Original file line number Diff line number Diff line change
@@ -1,12 +1,3 @@
use atomic_polyfill::AtomicBool;
use core::sync::atomic::Ordering;

pub static mut FIRST_SWITCH: AtomicBool = AtomicBool::new(true);

static mut TASK_TOP: usize = 0;

static mut CTX_NOW: usize = 0;

macro_rules! sum {
($h:expr) => ($h);
($h:expr, $($t:expr),*) =>
Expand All @@ -24,6 +15,28 @@ macro_rules! task_stack {
};
}

static mut TASK_TOP: usize = 1;
static mut CTX_NOW: usize = 0;

fn allocate_task() -> usize {
unsafe {
let i = TASK_TOP - 1;
CTX_NOW = TASK_TOP;
TASK_TOP += 1;
i
}
}

fn next_task() {
unsafe {
CTX_NOW = (CTX_NOW + 1) % TASK_TOP;
}
}

pub fn current_task() -> usize {
unsafe { CTX_NOW }
}

#[cfg(coex)]
task_stack!(8192, 8192, 8192);

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73 changes: 21 additions & 52 deletions esp-wifi/src/preempt/preempt_riscv.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -49,10 +49,10 @@ static mut CTX_TASKS: [Context; MAX_TASK] = [Context {
_running: false,
}; MAX_TASK];

pub fn task_create(task: extern "C" fn()) -> usize {
pub fn task_create(task: extern "C" fn()) {
unsafe {
let i = TASK_TOP;
TASK_TOP += 1;
let i = allocate_task();

CTX_TASKS[i].trap_frame.pc = task as usize;

let task_stack_size = TASK_STACK_SIZE[i];
Expand All @@ -64,19 +64,6 @@ pub fn task_create(task: extern "C" fn()) -> usize {
- 4;
let stack_ptr = task_stack_ptr - (task_stack_ptr % 0x10);
CTX_TASKS[i].trap_frame.sp = stack_ptr;

CTX_NOW = i;
i
}
}

fn task_create_from_mepc(mepc: usize) -> usize {
unsafe {
let i = TASK_TOP;
TASK_TOP += 1;
CTX_TASKS[i].trap_frame.pc = mepc;
CTX_NOW = i;
i
}
}

Expand Down Expand Up @@ -156,42 +143,24 @@ pub fn save_task_context(id: usize, pc: usize, trap_frame: &TrapFrame) {
}
}

pub fn next_task() {
unsafe {
CTX_NOW = (CTX_NOW + 1) % TASK_TOP;
}
}

pub fn task_switch(trap_frame: &mut TrapFrame) {
unsafe {
let old_mepc = trap_frame.pc;

if FIRST_SWITCH.load(Ordering::Relaxed) {
FIRST_SWITCH.store(false, Ordering::Relaxed);
let main_task = task_create_from_mepc(old_mepc);
CTX_NOW = main_task;
}

save_task_context(CTX_NOW, old_mepc, trap_frame);

next_task();

let new_pc = restore_task_context(CTX_NOW, trap_frame);
trap_frame.pc = new_pc;

// debug aid! remove when not needed anymore!!!!!
// static mut CNT: u32 = 0;
// if CTX_NOW == 0 {
// if CNT < 5_000 {
// CNT += 1;
// } else {
// CNT = 0;
// info!("@@@ Task {} PC = {:x} {:?}", CTX_NOW, new_pc, trap_frame);
// }
// }
}
}
let old_mepc = trap_frame.pc;

save_task_context(current_task(), old_mepc, trap_frame);

next_task();

let new_pc = restore_task_context(current_task(), trap_frame);
trap_frame.pc = new_pc;

pub fn current_task() -> usize {
unsafe { CTX_NOW }
// debug aid! remove when not needed anymore!!!!!
// static mut CNT: u32 = 0;
// if CTX_NOW == 0 {
// if CNT < 5_000 {
// CNT += 1;
// } else {
// CNT = 0;
// info!("@@@ Task {} PC = {:x} {:?}", CTX_NOW, new_pc, trap_frame);
// }
// }
}
55 changes: 17 additions & 38 deletions esp-wifi/src/preempt/preempt_xtensa.rs
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Original file line number Diff line number Diff line change
@@ -1,4 +1,5 @@
use super::*;

use crate::hal::trapframe::TrapFrame;

#[derive(Debug, Clone, Copy)]
Expand Down Expand Up @@ -65,10 +66,9 @@ static mut CTX_TASKS: [TaskContext; MAX_TASK] = [TaskContext {
},
}; MAX_TASK];

pub fn task_create(task: extern "C" fn()) -> usize {
pub fn task_create(task: extern "C" fn()) {
unsafe {
let i = TASK_TOP;
TASK_TOP += 1;
let i = allocate_task();

CTX_TASKS[i].trap_frame.PC = task as u32;

Expand All @@ -90,9 +90,6 @@ pub fn task_create(task: extern "C" fn()) -> usize {
*((task_stack_ptr - 8) as *mut u32) = 0;
*((task_stack_ptr - 12) as *mut u32) = stack_ptr;
*((task_stack_ptr - 16) as *mut u32) = 0;

CTX_NOW = i;
i
}
}

Expand All @@ -108,37 +105,19 @@ fn save_task_context(id: usize, trap_frame: &TrapFrame) {
}
}

pub fn next_task() {
unsafe {
CTX_NOW = (CTX_NOW + 1) % TASK_TOP;
}
}

pub fn task_switch(trap_frame: &mut TrapFrame) {
unsafe {
if FIRST_SWITCH.load(Ordering::Relaxed) {
FIRST_SWITCH.store(false, Ordering::Relaxed);
TASK_TOP += 1;
CTX_NOW = TASK_TOP - 1;
}

save_task_context(CTX_NOW, trap_frame);
next_task();
restore_task_context(CTX_NOW, trap_frame);

// debug aid! remove when not needed anymore!!!!!
// static mut CNT: u32 = 0;
// if CTX_NOW == 0 {
// if CNT < 2_000 {
// CNT += 1;
// } else {
// CNT = 0;
// info!("@@@ Task {} {:?} ", 1, CTX_TASKS[1].trap_frame.PC);
// }
// }
};
}

pub fn current_task() -> usize {
unsafe { CTX_NOW }
save_task_context(current_task(), trap_frame);
next_task();
restore_task_context(current_task(), trap_frame);

// debug aid! remove when not needed anymore!!!!!
// static mut CNT: u32 = 0;
// if CTX_NOW == 0 {
// if CNT < 2_000 {
// CNT += 1;
// } else {
// CNT = 0;
// info!("@@@ Task {} {:?} ", 1, CTX_TASKS[1].trap_frame.PC);
// }
// }
}
2 changes: 2 additions & 0 deletions esp-wifi/src/timer/mod.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -19,6 +19,8 @@ pub fn setup_timer_isr(timebase: TimeBase) {
setup_timer(timebase);

setup_multitasking();

yield_task();
}

#[allow(unused)]
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3 changes: 0 additions & 3 deletions esp-wifi/src/timer/riscv.rs
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Original file line number Diff line number Diff line change
@@ -1,5 +1,4 @@
use core::cell::RefCell;
use core::sync::atomic::Ordering;

use critical_section::Mutex;

Expand Down Expand Up @@ -56,8 +55,6 @@ pub fn setup_multitasking() {
unsafe {
riscv::interrupt::enable();
}

while unsafe { crate::preempt::FIRST_SWITCH.load(Ordering::Relaxed) } {}
}

#[interrupt]
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2 changes: 0 additions & 2 deletions esp-wifi/src/timer/xtensa.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -73,8 +73,6 @@ pub fn setup_multitasking() {
| xtensa_lx_rt::interrupt::CpuInterruptLevel::Level6.mask() | enabled,
);
}

while unsafe { crate::preempt::FIRST_SWITCH.load(Ordering::Relaxed) } {}
}

#[allow(non_snake_case)]
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2 changes: 1 addition & 1 deletion esp-wifi/src/wifi/os_adapter.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -789,7 +789,7 @@ pub unsafe extern "C" fn task_ms_to_tick(ms: u32) -> i32 {
*
****************************************************************************/
pub unsafe extern "C" fn task_get_current_task() -> *mut crate::binary::c_types::c_void {
let res = crate::preempt::preempt::current_task() as *mut crate::binary::c_types::c_void;
let res = crate::preempt::current_task() as *mut crate::binary::c_types::c_void;
trace!("task get current task - return {:?}", res);

res
Expand Down

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