reduce task switching latency

dernasherbrezon · Dec 1, 2024 · 77114fe · 77114fe
1 parent 6faeb13
commit 77114fe
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Showing 15 changed files with 151 additions and 108 deletions.
diff --git a/README.md b/README.md
@@ -156,5 +156,6 @@ Run the following command to test:
 ```
 cd test/test_app
 idf.py build
+export ESPBAUD=460800
 pytest --target esp32 --port="/dev/ttyACM0|/dev/ttyACM1" pytest_*
 ```
diff --git a/examples/receive_fsk/main/main.c b/examples/receive_fsk/main/main.c
@@ -28,10 +28,13 @@ static const char *TAG = "sx127x";
 sx127x device;
 int total_packets_received = 0;
 static SemaphoreHandle_t xBinarySemaphore;
-static BaseType_t xHigherPriorityTaskWoken = pdFALSE;
 
 void IRAM_ATTR handle_interrupt_fromisr(void *arg) {
+  BaseType_t xHigherPriorityTaskWoken = pdFALSE;
   xSemaphoreGiveFromISR(xBinarySemaphore, &xHigherPriorityTaskWoken);
+  if (xHigherPriorityTaskWoken == pdTRUE) {
+    portYIELD_FROM_ISR();
+  }
 }
 
 void handle_interrupt_task(void *arg) {
@@ -130,17 +133,17 @@ void app_main() {
     return;
   }
 
-  TaskHandle_t handle_interrupt;
-  BaseType_t task_code = xTaskCreatePinnedToCore(handle_interrupt_task, "handle interrupt", 8196, &device, 2, &handle_interrupt, xPortGetCoreID());
-  if (task_code != pdPASS) {
-    ESP_LOGE(TAG, "can't create task %d", task_code);
-    return;
-  }
-
   gpio_install_isr_service(0);
   setup_gpio_interrupts((gpio_num_t) DIO0, &device);
   setup_gpio_interrupts((gpio_num_t) DIO1, &device);
   setup_gpio_interrupts((gpio_num_t) DIO2, &device);
 
   ESP_ERROR_CHECK(sx127x_set_opmod(SX127x_MODE_RX_CONT, SX127x_MODULATION_FSK, &device));
+
+  TaskHandle_t handle_interrupt;
+  BaseType_t task_code = xTaskCreatePinnedToCore(handle_interrupt_task, "handle interrupt", 8196, &device, 2, &handle_interrupt, xPortGetCoreID());
+  if (task_code != pdPASS) {
+    ESP_LOGE(TAG, "can't create task %d", task_code);
+    return;
+  }
 }
diff --git a/examples/receive_fsk_beacon/main/main.c b/examples/receive_fsk_beacon/main/main.c
@@ -28,10 +28,13 @@ static const char *TAG = "sx127x";
 sx127x device;
 int total_packets_received = 0;
 static SemaphoreHandle_t xBinarySemaphore;
-static BaseType_t xHigherPriorityTaskWoken = pdFALSE;
 
 void IRAM_ATTR handle_interrupt_fromisr(void *arg) {
+  BaseType_t xHigherPriorityTaskWoken = pdFALSE;
   xSemaphoreGiveFromISR(xBinarySemaphore, &xHigherPriorityTaskWoken);
+  if (xHigherPriorityTaskWoken == pdTRUE) {
+    portYIELD_FROM_ISR();
+  }
 }
 
 void handle_interrupt_task(void *arg) {
@@ -129,17 +132,17 @@ void app_main() {
     return;
   }
 
-  TaskHandle_t handle_interrupt;
-  BaseType_t task_code = xTaskCreatePinnedToCore(handle_interrupt_task, "handle interrupt", 8196, &device, 2, &handle_interrupt, xPortGetCoreID());
-  if (task_code != pdPASS) {
-    ESP_LOGE(TAG, "can't create task %d", task_code);
-    return;
-  }
-
   gpio_install_isr_service(0);
   setup_gpio_interrupts((gpio_num_t)DIO0, &device);
   setup_gpio_interrupts((gpio_num_t)DIO1, &device);
   setup_gpio_interrupts((gpio_num_t)DIO2, &device);
 
   ESP_ERROR_CHECK(sx127x_set_opmod(SX127x_MODE_RX_CONT, SX127x_MODULATION_FSK, &device));
+
+  TaskHandle_t handle_interrupt;
+  BaseType_t task_code = xTaskCreatePinnedToCore(handle_interrupt_task, "handle interrupt", 8196, &device, 2, &handle_interrupt, xPortGetCoreID());
+  if (task_code != pdPASS) {
+    ESP_LOGE(TAG, "can't create task %d", task_code);
+    return;
+  }
 }
diff --git a/examples/receive_fsk_filtered/main/main.c b/examples/receive_fsk_filtered/main/main.c
@@ -28,10 +28,13 @@ static const char *TAG = "sx127x";
 sx127x device;
 int total_packets_received = 0;
 static SemaphoreHandle_t xBinarySemaphore;
-static BaseType_t xHigherPriorityTaskWoken = pdFALSE;
 
 void IRAM_ATTR handle_interrupt_fromisr(void *arg) {
+  BaseType_t xHigherPriorityTaskWoken = pdFALSE;
   xSemaphoreGiveFromISR(xBinarySemaphore, &xHigherPriorityTaskWoken);
+  if (xHigherPriorityTaskWoken == pdTRUE) {
+    portYIELD_FROM_ISR();
+  }
 }
 
 void handle_interrupt_task(void *arg) {
@@ -121,17 +124,17 @@ void app_main() {
     return;
   }
 
-  TaskHandle_t handle_interrupt;
-  BaseType_t task_code = xTaskCreatePinnedToCore(handle_interrupt_task, "handle interrupt", 8196, &device, 2, &handle_interrupt, xPortGetCoreID());
-  if (task_code != pdPASS) {
-    ESP_LOGE(TAG, "can't create task %d", task_code);
-    return;
-  }
-
   gpio_install_isr_service(0);
   setup_gpio_interrupts((gpio_num_t)DIO0, &device);
   setup_gpio_interrupts((gpio_num_t)DIO1, &device);
   setup_gpio_interrupts((gpio_num_t)DIO2, &device);
 
   ESP_ERROR_CHECK(sx127x_set_opmod(SX127x_MODE_RX_CONT, SX127x_MODULATION_FSK, &device));
+
+  TaskHandle_t handle_interrupt;
+  BaseType_t task_code = xTaskCreatePinnedToCore(handle_interrupt_task, "handle interrupt", 8196, &device, 2, &handle_interrupt, xPortGetCoreID());
+  if (task_code != pdPASS) {
+    ESP_LOGE(TAG, "can't create task %d", task_code);
+    return;
+  }
 }
diff --git a/examples/receive_fsk_fixed/main/main.c b/examples/receive_fsk_fixed/main/main.c
@@ -28,10 +28,13 @@ static const char *TAG = "sx127x";
 sx127x device;
 int total_packets_received = 0;
 static SemaphoreHandle_t xBinarySemaphore;
-static BaseType_t xHigherPriorityTaskWoken = pdFALSE;
 
 void IRAM_ATTR handle_interrupt_fromisr(void *arg) {
+  BaseType_t xHigherPriorityTaskWoken = pdFALSE;
   xSemaphoreGiveFromISR(xBinarySemaphore, &xHigherPriorityTaskWoken);
+  if (xHigherPriorityTaskWoken == pdTRUE) {
+    portYIELD_FROM_ISR();
+  }
 }
 
 void handle_interrupt_task(void *arg) {
@@ -121,17 +124,17 @@ void app_main() {
     return;
   }
 
-  TaskHandle_t handle_interrupt;
-  BaseType_t task_code = xTaskCreatePinnedToCore(handle_interrupt_task, "handle interrupt", 8196, &device, 2, &handle_interrupt, xPortGetCoreID());
-  if (task_code != pdPASS) {
-    ESP_LOGE(TAG, "can't create task %d", task_code);
-    return;
-  }
-
   gpio_install_isr_service(0);
   setup_gpio_interrupts((gpio_num_t)DIO0, &device);
   setup_gpio_interrupts((gpio_num_t)DIO1, &device);
   setup_gpio_interrupts((gpio_num_t)DIO2, &device);
 
   ESP_ERROR_CHECK(sx127x_set_opmod(SX127x_MODE_RX_CONT, SX127x_MODULATION_FSK, &device));
+
+  TaskHandle_t handle_interrupt;
+  BaseType_t task_code = xTaskCreatePinnedToCore(handle_interrupt_task, "handle interrupt", 8196, &device, 2, &handle_interrupt, xPortGetCoreID());
+  if (task_code != pdPASS) {
+    ESP_LOGE(TAG, "can't create task %d", task_code);
+    return;
+  }
 }
diff --git a/examples/receive_lora/main/main.c b/examples/receive_lora/main/main.c
@@ -20,10 +20,13 @@ static const char *TAG = "sx127x";
 sx127x device;
 int total_packets_received = 0;
 static SemaphoreHandle_t xBinarySemaphore;
-static BaseType_t xHigherPriorityTaskWoken = pdFALSE;
 
 void IRAM_ATTR handle_interrupt_fromisr(void *arg) {
+  BaseType_t xHigherPriorityTaskWoken = pdFALSE;
   xSemaphoreGiveFromISR(xBinarySemaphore, &xHigherPriorityTaskWoken);
+  if (xHigherPriorityTaskWoken == pdTRUE) {
+    portYIELD_FROM_ISR();
+  }
 }
 
 void handle_interrupt_task(void *arg) {
@@ -115,15 +118,15 @@ void app_main() {
     return;
   }
 
+  gpio_install_isr_service(0);
+  setup_gpio_interrupts((gpio_num_t)DIO0, &device);
+
+  ESP_ERROR_CHECK(sx127x_set_opmod(SX127x_MODE_RX_CONT, SX127x_MODULATION_LORA, &device));
+
   TaskHandle_t handle_interrupt;
   BaseType_t task_code = xTaskCreatePinnedToCore(handle_interrupt_task, "handle interrupt", 8196, &device, 2, &handle_interrupt, xPortGetCoreID());
   if (task_code != pdPASS) {
     ESP_LOGE(TAG, "can't create task %d", task_code);
     return;
   }
-
-  gpio_install_isr_service(0);
-  setup_gpio_interrupts((gpio_num_t)DIO0, &device);
-
-  ESP_ERROR_CHECK(sx127x_set_opmod(SX127x_MODE_RX_CONT, SX127x_MODULATION_LORA, &device));
 }
diff --git a/examples/receive_lora_fhss/main/main.c b/examples/receive_lora_fhss/main/main.c
@@ -24,10 +24,13 @@ sx127x device;
 int total_packets_received = 0;
 uint64_t frequencies[] = {437700000, 438200000, 437200012};
 static SemaphoreHandle_t xBinarySemaphore;
-static BaseType_t xHigherPriorityTaskWoken = pdFALSE;
 
 void IRAM_ATTR handle_interrupt_fromisr(void *arg) {
+  BaseType_t xHigherPriorityTaskWoken = pdFALSE;
   xSemaphoreGiveFromISR(xBinarySemaphore, &xHigherPriorityTaskWoken);
+  if (xHigherPriorityTaskWoken == pdTRUE) {
+    portYIELD_FROM_ISR();
+  }
 }
 
 void handle_interrupt_task(void *arg) {
@@ -129,17 +132,17 @@ void app_main() {
     return;
   }
 
-  TaskHandle_t handle_interrupt;
-  BaseType_t task_code = xTaskCreatePinnedToCore(handle_interrupt_task, "handle interrupt", 8196, &device, 2, &handle_interrupt, xPortGetCoreID());
-  if (task_code != pdPASS) {
-    ESP_LOGE(TAG, "can't create task %d", task_code);
-    return;
-  }
-
   gpio_install_isr_service(0);
   setup_gpio_interrupts((gpio_num_t)DIO0, &device, GPIO_INTR_POSEDGE);
   setup_gpio_interrupts((gpio_num_t)DIO1, &device, GPIO_INTR_POSEDGE);
   setup_gpio_interrupts((gpio_num_t)DIO2, &device, GPIO_INTR_POSEDGE);
 
   ESP_ERROR_CHECK(sx127x_set_opmod(SX127x_MODE_RX_CONT, SX127x_MODULATION_LORA, &device));
+
+  TaskHandle_t handle_interrupt;
+  BaseType_t task_code = xTaskCreatePinnedToCore(handle_interrupt_task, "handle interrupt", 8196, &device, 2, &handle_interrupt, xPortGetCoreID());
+  if (task_code != pdPASS) {
+    ESP_LOGE(TAG, "can't create task %d", task_code);
+    return;
+  }
 }
diff --git a/examples/receive_lora_implicit_header/main/main.c b/examples/receive_lora_implicit_header/main/main.c
@@ -20,10 +20,13 @@ static const char *TAG = "sx127x";
 sx127x device;
 int total_packets_received = 0;
 static SemaphoreHandle_t xBinarySemaphore;
-static BaseType_t xHigherPriorityTaskWoken = pdFALSE;
 
 void IRAM_ATTR handle_interrupt_fromisr(void *arg) {
+  BaseType_t xHigherPriorityTaskWoken = pdFALSE;
   xSemaphoreGiveFromISR(xBinarySemaphore, &xHigherPriorityTaskWoken);
+  if (xHigherPriorityTaskWoken == pdTRUE) {
+    portYIELD_FROM_ISR();
+  }
 }
 
 void handle_interrupt_task(void *arg) {
@@ -107,15 +110,15 @@ void app_main() {
     return;
   }
 
+  gpio_install_isr_service(0);
+  setup_gpio_interrupts((gpio_num_t)DIO0, &device);
+
+  ESP_ERROR_CHECK(sx127x_set_opmod(SX127x_MODE_RX_CONT, SX127x_MODULATION_LORA, &device));
+
   TaskHandle_t handle_interrupt;
   BaseType_t task_code = xTaskCreatePinnedToCore(handle_interrupt_task, "handle interrupt", 8196, &device, 2, &handle_interrupt, xPortGetCoreID());
   if (task_code != pdPASS) {
     ESP_LOGE(TAG, "can't create task %d", task_code);
     return;
   }
-
-  gpio_install_isr_service(0);
-  setup_gpio_interrupts((gpio_num_t)DIO0, &device);
-
-  ESP_ERROR_CHECK(sx127x_set_opmod(SX127x_MODE_RX_CONT, SX127x_MODULATION_LORA, &device));
 }
diff --git a/examples/receive_ook/main/main.c b/examples/receive_ook/main/main.c
@@ -28,10 +28,13 @@ static const char *TAG = "sx127x";
 sx127x device;
 int total_packets_received = 0;
 static SemaphoreHandle_t xBinarySemaphore;
-static BaseType_t xHigherPriorityTaskWoken = pdFALSE;
 
 void IRAM_ATTR handle_interrupt_fromisr(void *arg) {
+  BaseType_t xHigherPriorityTaskWoken = pdFALSE;
   xSemaphoreGiveFromISR(xBinarySemaphore, &xHigherPriorityTaskWoken);
+  if (xHigherPriorityTaskWoken == pdTRUE) {
+    portYIELD_FROM_ISR();
+  }
 }
 
 void handle_interrupt_task(void *arg) {
@@ -115,17 +118,17 @@ void app_main() {
     return;
   }
 
-  TaskHandle_t handle_interrupt;
-  BaseType_t task_code = xTaskCreatePinnedToCore(handle_interrupt_task, "handle interrupt", 8196, &device, 2, &handle_interrupt, xPortGetCoreID());
-  if (task_code != pdPASS) {
-    ESP_LOGE(TAG, "can't create task %d", task_code);
-    return;
-  }
-
   gpio_install_isr_service(0);
   setup_gpio_interrupts((gpio_num_t)DIO0, &device);
   setup_gpio_interrupts((gpio_num_t)DIO1, &device);
   setup_gpio_interrupts((gpio_num_t)DIO2, &device);
 
   ESP_ERROR_CHECK(sx127x_set_opmod(SX127x_MODE_RX_CONT, SX127x_MODULATION_OOK, &device));
+
+  TaskHandle_t handle_interrupt;
+  BaseType_t task_code = xTaskCreatePinnedToCore(handle_interrupt_task, "handle interrupt", 8196, &device, 2, &handle_interrupt, xPortGetCoreID());
+  if (task_code != pdPASS) {
+    ESP_LOGE(TAG, "can't create task %d", task_code);
+    return;
+  }
 }
diff --git a/examples/transmit_fsk/main/main.c b/examples/transmit_fsk/main/main.c
@@ -27,10 +27,13 @@ static const char *TAG = "sx127x";
 sx127x device;
 int messages_sent = 0;
 static SemaphoreHandle_t xBinarySemaphore;
-static BaseType_t xHigherPriorityTaskWoken = pdFALSE;
 
 void IRAM_ATTR handle_interrupt_fromisr(void *arg) {
+  BaseType_t xHigherPriorityTaskWoken = pdFALSE;
   xSemaphoreGiveFromISR(xBinarySemaphore, &xHigherPriorityTaskWoken);
+  if (xHigherPriorityTaskWoken == pdTRUE) {
+    portYIELD_FROM_ISR();
+  }
 }
 
 void handle_interrupt_task(void *arg) {
@@ -141,17 +144,17 @@ void app_main() {
     return;
   }
 
-  TaskHandle_t handle_interrupt;
-  BaseType_t task_code = xTaskCreatePinnedToCore(handle_interrupt_task, "handle interrupt", 8196, &device, 2, &handle_interrupt, xPortGetCoreID());
-  if (task_code != pdPASS) {
-    ESP_LOGE(TAG, "can't create task %d", task_code);
-    return;
-  }
-
   gpio_install_isr_service(0);
   setup_gpio_interrupts((gpio_num_t) DIO0, &device, GPIO_INTR_POSEDGE);
   setup_gpio_interrupts((gpio_num_t) DIO1, &device, GPIO_INTR_NEGEDGE);
   setup_gpio_interrupts((gpio_num_t) DIO2, &device, GPIO_INTR_POSEDGE);
 
   tx_callback(&device);
+
+  TaskHandle_t handle_interrupt;
+  BaseType_t task_code = xTaskCreatePinnedToCore(handle_interrupt_task, "handle interrupt", 8196, &device, 2, &handle_interrupt, xPortGetCoreID());
+  if (task_code != pdPASS) {
+    ESP_LOGE(TAG, "can't create task %d", task_code);
+    return;
+  }
 }
diff --git a/examples/transmit_fsk_fixed/main/main.c b/examples/transmit_fsk_fixed/main/main.c
@@ -27,10 +27,13 @@ static const char *TAG = "sx127x";
 sx127x device;
 int messages_sent = 0;
 static SemaphoreHandle_t xBinarySemaphore;
-static BaseType_t xHigherPriorityTaskWoken = pdFALSE;
 
 void IRAM_ATTR handle_interrupt_fromisr(void *arg) {
+  BaseType_t xHigherPriorityTaskWoken = pdFALSE;
   xSemaphoreGiveFromISR(xBinarySemaphore, &xHigherPriorityTaskWoken);
+  if (xHigherPriorityTaskWoken == pdTRUE) {
+    portYIELD_FROM_ISR();
+  }
 }
 
 void handle_interrupt_task(void *arg) {
@@ -128,17 +131,17 @@ void app_main() {
     return;
   }
 
-  TaskHandle_t handle_interrupt;
-  BaseType_t task_code = xTaskCreatePinnedToCore(handle_interrupt_task, "handle interrupt", 8196 * 2, &device, 2, &handle_interrupt, xPortGetCoreID());
-  if (task_code != pdPASS) {
-    ESP_LOGE(TAG, "can't create task %d", task_code);
-    return;
-  }
-
   gpio_install_isr_service(0);
   setup_gpio_interrupts((gpio_num_t) DIO0, &device, GPIO_INTR_POSEDGE);
   setup_gpio_interrupts((gpio_num_t) DIO1, &device, GPIO_INTR_NEGEDGE);
   setup_gpio_interrupts((gpio_num_t) DIO2, &device, GPIO_INTR_POSEDGE);
 
   tx_callback(&device);
+
+  TaskHandle_t handle_interrupt;
+  BaseType_t task_code = xTaskCreatePinnedToCore(handle_interrupt_task, "handle interrupt", 8196 * 2, &device, 2, &handle_interrupt, xPortGetCoreID());
+  if (task_code != pdPASS) {
+    ESP_LOGE(TAG, "can't create task %d", task_code);
+    return;
+  }
 }