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adding menuconfig options for defining Task to core affinity as well as task priority

This commit is contained in:
flyinggorilla 2025-04-20 11:06:24 +02:00
parent 85ad14a030
commit 5ae72900bb
3 changed files with 96 additions and 8 deletions
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56
Kconfig.projbuild
View File

@ -101,6 +101,62 @@ menu "esp32_BNO08x"
Stack size of task responsible for calling shtp_service() when HINT is asserted,
to dispatch any sh2 HAL lib callbacks.
config ESP32_BNO08X_CB_TASK_AFFINITY
int "Callback task core affinity"
range -1 1
default -1
help
Core to which the callback task is pinned.
-1 = No specific core (tskNO_AFFINITY)
0 = Core 0
1 = Core 1
config ESP32_BNO08X_CB_TASK_PRIORITY
int "Callback task priority"
range 0 25
default 5
help
Priority of the callback task.
0 is lowest priority, 25 is highest priority.
config ESP32_BNO08X_DATA_PROC_TASK_AFFINITY
int "Data processing task core affinity"
range -1 1
default -1
help
Core to which the data processing task is pinned.
-1 = No specific core (tskNO_AFFINITY)
0 = Core 0
1 = Core 1
config ESP32_BNO08X_DATA_PROC_TASK_PRIORITY
int "Data processing task priority"
range 0 25
default 6
help
Priority of the data processing task.
0 is lowest priority, 25 is highest priority.
config ESP32_BNO08X_SH2_HAL_SERVICE_TASK_AFFINITY
int "SH2 HAL service task core affinity"
range -1 1
default -1
help
Core to which the SH2 HAL service task is pinned.
-1 = No specific core (tskNO_AFFINITY)
0 = Core 0
1 = Core 1
config ESP32_BNO08X_SH2_HAL_SERVICE_TASK_PRIORITY
int "SH2 HAL service task priority"
range 0 25
default 7
help
Priority of the SH2 HAL service task.
0 is lowest priority, 25 is highest priority.
endmenu #Tasks
menu "Callbacks"

16
include/BNO08x.hpp
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@ -150,6 +150,22 @@ class BNO08x
static void cb_task_trampoline(void* arg);
void cb_task();
//------------ addition flyinggorilla -----------
static const constexpr BaseType_t CB_TASK_AFFINITY =
CONFIG_ESP32_BNO08X_CB_TASK_AFFINITY < 1 ? tskNO_AFFINITY : CONFIG_ESP32_BNO08X_CB_TASK_AFFINITY ; /// tskNO_AFFINITY if not pinned to a core, 0 or 1
static const constexpr UBaseType_t CB_TASK_PRIORITY = CONFIG_ESP32_BNO08X_CB_TASK_PRIORITY; /// 5 per default, Priority of the callback task, 0-25, 0 is lowest priority, 25 is highest priority
static const constexpr BaseType_t DATA_PROC_TASK_AFFINITY =
CONFIG_ESP32_BNO08X_DATA_PROC_TASK_AFFINITY < 1 ? tskNO_AFFINITY : CONFIG_ESP32_BNO08X_DATA_PROC_TASK_AFFINITY; /// tskNO_AFFINITY if not pinned to a core, 0 or 1
static const constexpr UBaseType_t DATA_PROC_TASK_PRIORITY = CONFIG_ESP32_BNO08X_DATA_PROC_TASK_PRIORITY; /// 6 per default, Priority of the data processing task, 0-25, 0 is lowest priority, 25 is highest priority
static const constexpr BaseType_t SH2_HAL_SERVICE_TASK_AFFINITY =
CONFIG_ESP32_BNO08X_SH2_HAL_SERVICE_TASK_AFFINITY < 1 ? tskNO_AFFINITY : CONFIG_ESP32_BNO08X_SH2_HAL_SERVICE_TASK_AFFINITY; /// tskNO_AFFINITY if not pinned to a core, 0 or 1
static const constexpr UBaseType_t SH2_HAL_SERVICE_TASK_PRIORITY = CONFIG_ESP32_BNO08X_SH2_HAL_SERVICE_TASK_PRIORITY; /// 7 per default, Priority of the sh2 HAL service task, 0-25, 0 is lowest priority, 25 is highest priority
//-----------------------------------------------
SemaphoreHandle_t sem_kill_tasks; ///<Counting Semaphore to count amount of killed tasks.
void lock_sh2_HAL();

32
source/BNO08x.cpp
View File

@ -636,9 +636,14 @@ esp_err_t BNO08x::init_tasks()
xEventGroupSetBits(sync_ctx.evt_grp_task, EVT_GRP_BNO08x_TASKS_RUNNING);
// launch data processing task
task_created = xTaskCreate(
&data_proc_task_trampoline, "bno08x_data_processing_task", DATA_PROC_TASK_SZ, this, 6, &data_proc_task_hdl);
// launch data processing task 6
task_created = xTaskCreatePinnedToCore(
&data_proc_task_trampoline, "bno08x_data_processing_task",
DATA_PROC_TASK_SZ,
this,
DATA_PROC_TASK_PRIORITY,
&data_proc_task_hdl,
DATA_PROC_TASK_AFFINITY);
if (task_created != pdTRUE)
{
@ -655,8 +660,15 @@ esp_err_t BNO08x::init_tasks()
init_status.data_proc_task = true;
}
// launch cb task
task_created = xTaskCreate(&cb_task_trampoline, "bno08x_cb_task", CB_TASK_SZ, this, 5, &cb_task_hdl);
// launch cb task 5
task_created = xTaskCreatePinnedToCore(&cb_task_trampoline, "bno08x_cb_task",
CB_TASK_SZ,
this,
CB_TASK_PRIORITY,
&cb_task_hdl,
CB_TASK_AFFINITY);
ESP_LOGW(TAG, "cb_task affinity: %d", CB_TASK_AFFINITY);
if (task_created != pdTRUE)
{
@ -673,9 +685,13 @@ esp_err_t BNO08x::init_tasks()
init_status.cb_task = true;
}
// launch sh2 hal service task
task_created = xTaskCreate(&sh2_HAL_service_task_trampoline, "bno08x_sh2_HAL_service_task", SH2_HAL_SERVICE_TASK_SZ, this, 7,
&sh2_HAL_service_task_hdl);
// launch sh2 hal service task 7
task_created = xTaskCreatePinnedToCore(&sh2_HAL_service_task_trampoline, "bno08x_sh2_HAL_service_task",
SH2_HAL_SERVICE_TASK_SZ,
this,
SH2_HAL_SERVICE_TASK_PRIORITY,
&sh2_HAL_service_task_hdl,
SH2_HAL_SERVICE_TASK_AFFINITY);
if (task_created != pdTRUE)
{