Add task priority to the preempt driver (#4064)

esp-preempt/src/lib.rs

@@ -321,10 +321,16 @@ impl esp_radio_preempt_driver::Scheduler for Scheduler {
         timer::yield_task()
     }
 
+    fn max_task_priority(&self) -> u32 {
+        255
+    }
+
     fn task_create(
         &self,
         task: extern "C" fn(*mut c_void),
         param: *mut c_void,
+        _priority: u32,
+        _pin_to_core: Option<u32>,
         task_stack_size: usize,
     ) -> *mut c_void {
         let task = Box::new_in(Context::new(task, param, task_stack_size), InternalMemory);

esp-preempt/src/timer_queue.rs

@@ -284,7 +284,7 @@ register_timer_implementation!(Timer);
 /// Initializes the `timer` task for the Wi-Fi driver.
 pub(crate) fn create_timer_task() {
     // schedule the timer task
-    SCHEDULER.task_create(timer_task, core::ptr::null_mut(), 8192);
+    SCHEDULER.task_create(timer_task, core::ptr::null_mut(), 1, None, 8192);
 }
 
 /// Entry point for the timer task responsible for handling scheduled timer

esp-radio-preempt-driver/src/lib.rs

@@ -46,9 +46,12 @@ unsafe extern "Rust" {
     fn esp_preempt_disable();
     fn esp_preempt_yield_task();
     fn esp_preempt_current_task() -> *mut c_void;
+    fn esp_preempt_max_task_priority() -> u32;
     fn esp_preempt_task_create(
         task: extern "C" fn(*mut c_void),
         param: *mut c_void,
+        priority: u32,
+        pin_to_core: Option<u32>,
         task_stack_size: usize,
     ) -> *mut c_void;
     fn esp_preempt_schedule_task_deletion(task_handle: *mut c_void);
@@ -96,14 +99,29 @@ macro_rules! scheduler_impl {
             <$t as $crate::Scheduler>::current_task(&$name)
         }
 
+        #[unsafe(no_mangle)]
+        #[inline]
+        fn esp_preempt_max_task_priority() -> u32 {
+            <$t as $crate::Scheduler>::max_task_priority(&$name)
+        }
+
         #[unsafe(no_mangle)]
         #[inline]
         fn esp_preempt_task_create(
             task: extern "C" fn(*mut c_void),
             param: *mut c_void,
+            priority: u32,
+            core_id: Option<u32>,
             task_stack_size: usize,
         ) -> *mut c_void {
-            <$t as $crate::Scheduler>::task_create(&$name, task, param, task_stack_size)
+            <$t as $crate::Scheduler>::task_create(
+                &$name,
+                task,
+                param,
+                priority,
+                core_id,
+                task_stack_size,
+            )
         }
 
         #[unsafe(no_mangle)]
@@ -153,12 +171,18 @@ pub trait Scheduler: Send + Sync + 'static {
     /// This function is called by `esp_radio::init` to retrieve a pointer to the current task.
     fn current_task(&self) -> *mut c_void;
 
+    /// This function returns the maximum task priority level.
+    /// Higher number is considered to be higher priority.
+    fn max_task_priority(&self) -> u32;
+
     /// This function is used to create threads.
     /// It should allocate the stack.
     fn task_create(
         &self,
         task: extern "C" fn(*mut c_void),
         param: *mut c_void,
+        priority: u32,
+        core_id: Option<u32>,
         task_stack_size: usize,
     ) -> *mut c_void;
 
@@ -218,6 +242,14 @@ pub fn current_task() -> *mut c_void {
     unsafe { esp_preempt_current_task() }
 }
 
+/// Returns the maximum priority a task can have.
+///
+/// This function assumes that a bigger number means higher priority.
+#[inline]
+pub fn max_task_priority() -> u32 {
+    unsafe { esp_preempt_max_task_priority() }
+}
+
 /// Creates a new task with the given initial parameter and stack size.
 ///
 /// ## Safety
@@ -228,9 +260,11 @@ pub fn current_task() -> *mut c_void {
 pub unsafe fn task_create(
     task: extern "C" fn(*mut c_void),
     param: *mut c_void,
+    priority: u32,
+    pin_to_core: Option<u32>,
     task_stack_size: usize,
 ) -> *mut c_void {
-    unsafe { esp_preempt_task_create(task, param, task_stack_size) }
+    unsafe { esp_preempt_task_create(task, param, priority, pin_to_core, task_stack_size) }
 }
 
 /// Schedules the given task for deletion.

esp-radio/src/ble/btdm.rs

@@ -166,7 +166,13 @@ unsafe extern "C" fn task_create(
             extern "C" fn(*mut esp_wifi_sys::c_types::c_void),
         >(func);
 
-        let task = crate::preempt::task_create(task_func, param, stack_depth as usize);
+        let task = crate::preempt::task_create(
+            task_func,
+            param,
+            prio,
+            if core_id < 2 { Some(core_id) } else { None },
+            stack_depth as usize,
+        );
         *(handle as *mut usize) = task as usize;
     }
 

esp-radio/src/ble/npl.rs

@@ -395,7 +395,13 @@ unsafe extern "C" fn task_create(
     unsafe {
         let task_func = transmute::<*mut c_void, extern "C" fn(*mut c_void)>(task_func);
 
-        let task = crate::preempt::task_create(task_func, param, stack_depth as usize);
+        let task = crate::preempt::task_create(
+            task_func,
+            param,
+            prio,
+            if core_id < 2 { Some(core_id) } else { None },
+            stack_depth as usize,
+        );
         *(task_handle as *mut usize) = task as usize;
     }
 

esp-radio/src/wifi/os_adapter/mod.rs

@@ -456,7 +456,13 @@ pub unsafe extern "C" fn task_create_pinned_to_core(
             extern "C" fn(*mut esp_wifi_sys::c_types::c_void),
         >(task_func);
 
-        let task = crate::preempt::task_create(task_func, param, stack_depth as usize);
+        let task = crate::preempt::task_create(
+            task_func,
+            param,
+            prio,
+            if core_id < 2 { Some(core_id) } else { None },
+            stack_depth as usize,
+        );
         *(task_handle as *mut usize) = task as usize;
 
         1
@@ -583,7 +589,7 @@ pub unsafe extern "C" fn task_get_current_task() -> *mut c_void {
 /// *************************************************************************
 pub unsafe extern "C" fn task_get_max_priority() -> i32 {
     trace!("task_get_max_priority");
-    255
+    crate::preempt::max_task_priority() as i32
 }
 
 /// **************************************************************************