Valentin V. Bartenev
eb2c6d0bb8
On dual-core ESP32-S3 (ARDUINO_RUNNING_CORE=1), the Arduino loop and LoRa processing run exclusively on core 1. ESP-IDF v4 creates mqtt_task with tskNO_AFFINITY, meaning FreeRTOS may schedule them on core 1 under load, preempting the LoRa loop. ESP-IDF v4 provides no public API to change a task's core affinity after creation (vTaskCoreAffinitySet is IDF v5+ only), and the esp_mqtt_client config struct has no task_core_id field. The precompiled Arduino-ESP32 framework cannot be patched via sdkconfig. Instead, use the GCC/LD --wrap linker mechanism to intercept every call to xTaskCreatePinnedToCore. Any task created with tskNO_AFFINITY is redirected to core 0. Tasks that are already explicitly pinned (Wi-Fi driver, LwIP, httpd, esp_timer, ipc0/ipc1) are passed through unchanged. We intentionally do not filter by task name. Pinning all unpinned tasks makes the approach robust against internal ESP-IDF task name changes and catches any future tasks that may be added with tskNO_AFFINITY. Verified task layout after the change: loopTask pri=1 core=1 (Arduino loop / LoRa — unchanged) mqtt_task pri=5 core=0 (was tskNO_AFFINITY, now pinned) httpd pri=2 core=0 (core_id set explicitly in WebPanelServer) tiT pri=18 core=0 (LwIP, already pinned by ESP-IDF) wifi pri=23 core=0 (Wi-Fi driver, already pinned) esp_timer pri=22 core=0 (already pinned) ipc0/ipc1 pri=24 core=0/1 (IPC, already pinned per-core) The -Wl,--wrap flag and arch/esp32/task_pinning.c are added only to [esp32_base] (IDF v4). The ESP32-C6 pioarduino target (IDF v5) is unaffected and can use vTaskCoreAffinitySet() if needed in the future.
68 righe
2.6 KiB
C
68 righe
2.6 KiB
C
/*
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* arch/esp32/task_pinning.c
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*
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* Pins all FreeRTOS tasks with no explicit core affinity (tskNO_AFFINITY) to
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* core 0, keeping core 1 exclusively for the Arduino loop (loopTask) where
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* LoRa packet processing runs.
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*
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* Background:
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* On ESP32-S3 (dual-core), ARDUINO_RUNNING_CORE=1 pins loopTask to core 1.
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* However, ESP-IDF v4 creates MQTT task with tskNO_AFFINITY, so FreeRTOS
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* may schedule them on core 1 under load, preempting LoRa processing.
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*
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* ESP-IDF v4 provides no public API to change a task's core affinity after
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* creation (vTaskCoreAffinitySet is IDF v5+ only), and esp_mqtt_client_config_t
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* has no core selection field in IDF v4. The linker --wrap mechanism is the
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* only way to intercept xTaskCreatePinnedToCore at the call site inside
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* precompiled library code.
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*
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* It's intentionally do not filtered by task name — this keeps the approach
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* robust against internal ESP-IDF task name changes and also catches any
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* other library tasks that may happen to be created with tskNO_AFFINITY.
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* Core 1 is reserved exclusively for loopTask (LoRa / application logic).
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*
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* Mechanism:
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* -Wl,--wrap=xTaskCreatePinnedToCore redirects every call to
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* xTaskCreatePinnedToCore (including the xTaskCreate macro which expands to
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* it with tskNO_AFFINITY) through __wrap_xTaskCreatePinnedToCore below.
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* Tasks that are already explicitly pinned to a core are passed through
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* unchanged.
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*
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* Verified task layout after this patch:
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* core 0: mqtt_task(5), httpd(2), tiT/LwIP(18), wifi(23), esp_timer(22), ipc0(24)
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* core 1: loopTask(1), ipc1(24), IDLE1(0)
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*
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* Note: this file is compiled only for [esp32_base] targets (IDF v4).
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* ESP32-C6 uses pioarduino (IDF v5) where vTaskCoreAffinitySet() is available.
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*/
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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/* The real function, renamed by the linker to __real_xTaskCreatePinnedToCore. */
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extern BaseType_t __real_xTaskCreatePinnedToCore(
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TaskFunction_t pvTaskCode,
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const char * const pcName,
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const uint32_t usStackDepth,
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void * const pvParameters,
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UBaseType_t uxPriority,
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TaskHandle_t * const pvCreatedTask,
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const BaseType_t xCoreID
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);
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BaseType_t __wrap_xTaskCreatePinnedToCore(
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TaskFunction_t pvTaskCode,
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const char * const pcName,
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const uint32_t usStackDepth,
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void * const pvParameters,
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UBaseType_t uxPriority,
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TaskHandle_t * const pvCreatedTask,
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const BaseType_t xCoreID
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) {
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/* Pin all tasks with no affinity to core 0. */
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BaseType_t core = (xCoreID == tskNO_AFFINITY) ? 0 : xCoreID;
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return __real_xTaskCreatePinnedToCore(
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pvTaskCode, pcName, usStackDepth, pvParameters, uxPriority, pvCreatedTask, core
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);
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}
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