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freertos,esp32: automatic light sleep support

This commit is contained in:
Ivan Grokhotkov 2018-04-12 18:18:45 +08:00 committed by bot
parent 51aceaa030
commit 028fbb58e8
9 changed files with 404 additions and 8 deletions
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4
components/esp32/freertos_hooks.c
View File

@ -59,6 +59,10 @@ void esp_vApplicationIdleHook()
#ifdef CONFIG_PM_ENABLE
esp_pm_impl_idle_hook();
#endif
}
extern void esp_vApplicationWaitiHook( void )
{
asm("waiti 0");
}

69
components/esp32/pm_esp32.c
View File

@ -22,10 +22,12 @@
#include "esp_pm.h"
#include "esp_log.h"
#include "esp_crosscore_int.h"
#include "esp_clk.h"
#include "soc/rtc.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "freertos/xtensa_timer.h"
#include "xtensa/core-macros.h"
@ -39,6 +41,16 @@
*/
#define CCOMPARE_UPDATE_TIMEOUT 1000000
/* When changing CCOMPARE, don't allow changes if the difference is less
* than this. This is to prevent setting CCOMPARE below CCOUNT.
*/
#define CCOMPARE_MIN_CYCLES_IN_FUTURE 1000
/* When light sleep is used, wake this number of microseconds earlier than
* the next tick.
*/
#define LIGHT_SLEEP_EARLY_WAKEUP_US 100
#ifdef CONFIG_PM_PROFILING
#define WITH_PROFILING
#endif
@ -107,7 +119,7 @@ static const char* s_freq_names[] __attribute__((unused)) = {
[RTC_CPU_FREQ_2M] = "2"
};
/* Whether automatic light sleep is enabled. Currently always false */
/* Whether automatic light sleep is enabled */
static bool s_light_sleep_en = false;
/* When configuration is changed, current frequency may not match the
@ -177,9 +189,11 @@ esp_err_t esp_pm_configure(const void* vconfig)
#endif
const esp_pm_config_esp32_t* config = (const esp_pm_config_esp32_t*) vconfig;
#ifndef CONFIG_FREERTOS_USE_TICKLESS_IDLE
if (config->light_sleep_enable) {
return ESP_ERR_NOT_SUPPORTED;
}
#endif
if (config->min_cpu_freq == RTC_CPU_FREQ_2M) {
/* Minimal APB frequency to achieve 1MHz REF_TICK frequency is 5 MHz */
@ -401,10 +415,9 @@ static void IRAM_ATTR do_switch(pm_mode_t new_mode)
*/
static void IRAM_ATTR update_ccompare()
{
const uint32_t ccompare_min_cycles_in_future = 1000;
uint32_t ccount = XTHAL_GET_CCOUNT();
uint32_t ccompare = XTHAL_GET_CCOMPARE(XT_TIMER_INDEX);
if ((ccompare - ccompare_min_cycles_in_future) - ccount < UINT32_MAX / 2) {
if ((ccompare - CCOMPARE_MIN_CYCLES_IN_FUTURE) - ccount < UINT32_MAX / 2) {
uint32_t diff = ccompare - ccount;
uint32_t diff_scaled = (diff * s_ccount_mul + s_ccount_div - 1) / s_ccount_div;
if (diff_scaled < _xt_tick_divisor) {
@ -453,6 +466,56 @@ void IRAM_ATTR esp_pm_impl_isr_hook()
ESP_PM_TRACE_EXIT(ISR_HOOK, core_id);
}
#if CONFIG_FREERTOS_USE_TICKLESS_IDLE
bool IRAM_ATTR vApplicationSleep( TickType_t xExpectedIdleTime )
{
bool result = false;
portENTER_CRITICAL(&s_switch_lock);
if (s_mode == PM_MODE_LIGHT_SLEEP && !s_is_switching) {
/* Calculate how much we can sleep */
int64_t next_esp_timer_alarm = esp_timer_get_next_alarm();
int64_t now = esp_timer_get_time();
int64_t time_until_next_alarm = next_esp_timer_alarm - now;
int64_t wakeup_delay_us = portTICK_PERIOD_MS * 1000LL * xExpectedIdleTime;
int64_t sleep_time_us = MIN(wakeup_delay_us, time_until_next_alarm);
if (sleep_time_us >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP * portTICK_PERIOD_MS * 1000LL) {
esp_sleep_enable_timer_wakeup(sleep_time_us - LIGHT_SLEEP_EARLY_WAKEUP_US);
#ifdef CONFIG_PM_TRACE
/* to force tracing GPIOs to keep state */
esp_sleep_pd_config(ESP_PD_DOMAIN_RTC_PERIPH, ESP_PD_OPTION_ON);
#endif
/* Enter sleep */
int core_id = xPortGetCoreID();
ESP_PM_TRACE_ENTER(SLEEP, core_id);
int64_t sleep_start = esp_timer_get_time();
esp_light_sleep_start();
int64_t slept_us = esp_timer_get_time() - sleep_start;
ESP_PM_TRACE_EXIT(SLEEP, core_id);
uint32_t slept_ticks = slept_us / (portTICK_PERIOD_MS * 1000LL);
if (slept_ticks > 0) {
/* Adjust RTOS tick count based on the amount of time spent in sleep */
vTaskStepTick(slept_ticks);
/* Trigger tick interrupt, since sleep time was longer
* than portTICK_PERIOD_MS. Note that setting INTSET does not
* work for timer interrupt, and changing CCOMPARE would clear
* the interrupt flag.
*/
XTHAL_SET_CCOUNT(XTHAL_GET_CCOMPARE(XT_TIMER_INDEX) - 16);
while (!(XTHAL_GET_INTERRUPT() & BIT(XT_TIMER_INTNUM))) {
;
}
}
result = true;
}
}
portEXIT_CRITICAL(&s_switch_lock);
return result;
}
#endif //CONFIG_FREERTOS_USE_TICKLESS_IDLE
#ifdef WITH_PROFILING
void esp_pm_impl_dump_stats(FILE* out)
{

1
components/esp32/pm_trace.c
View File

@ -27,6 +27,7 @@ static const int DRAM_ATTR s_trace_io[] = {
BIT(18), BIT(18), // ESP_PM_TRACE_FREQ_SWITCH
BIT(19), BIT(19), // ESP_PM_TRACE_CCOMPARE_UPDATE
BIT(25), BIT(26), // ESP_PM_TRACE_ISR_HOOK
BIT(27), BIT(27), // ESP_PM_TRACE_SLEEP
};
void esp_pm_trace_init()

1
components/esp32/pm_trace.h
View File

@ -22,6 +22,7 @@ typedef enum {
ESP_PM_TRACE_FREQ_SWITCH,
ESP_PM_TRACE_CCOMPARE_UPDATE,
ESP_PM_TRACE_ISR_HOOK,
ESP_PM_TRACE_SLEEP,
ESP_PM_TRACE_TYPE_MAX
} esp_pm_trace_event_t;

259
components/esp32/test/test_pm.c
View File

@ -7,7 +7,14 @@
#include "esp_clk.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "freertos/semphr.h"
#include "esp_log.h"
#include "driver/timer.h"
#include "driver/rtc_io.h"
#include "esp32/ulp.h"
#include "soc/rtc_io_reg.h"
#include "soc/rtc_cntl_reg.h"
#include "soc/rtc_gpio_channel.h"
TEST_CASE("Can dump power management lock stats", "[pm]")
{
@ -48,4 +55,256 @@ TEST_CASE("Can switch frequency using esp_pm_configure", "[pm]")
switch_freq(orig_freq_mhz);
}
#if CONFIG_FREERTOS_USE_TICKLESS_IDLE
static void light_sleep_enable()
{
const esp_pm_config_esp32_t pm_config = {
.max_cpu_freq = rtc_clk_cpu_freq_get(),
.min_cpu_freq = RTC_CPU_FREQ_XTAL,
.light_sleep_enable = true
};
ESP_ERROR_CHECK( esp_pm_configure(&pm_config) );
}
static void light_sleep_disable()
{
const esp_pm_config_esp32_t pm_config = {
.max_cpu_freq = rtc_clk_cpu_freq_get(),
.min_cpu_freq = rtc_clk_cpu_freq_get(),
};
ESP_ERROR_CHECK( esp_pm_configure(&pm_config) );
}
TEST_CASE("Automatic light occurs when tasks are suspended", "[pm]")
{
/* To figure out if light sleep takes place, use Timer Group timer.
* It will stop working while in light sleep.
*/
timer_config_t config = {
.counter_dir = TIMER_COUNT_UP,
.divider = 80 /* 1 us per tick */
};
timer_init(TIMER_GROUP_0, TIMER_0, &config);
timer_set_counter_value(TIMER_GROUP_0, TIMER_0, 0);
timer_start(TIMER_GROUP_0, TIMER_0);
light_sleep_enable();
for (int ticks_to_delay = CONFIG_FREERTOS_IDLE_TIME_BEFORE_SLEEP;
ticks_to_delay < CONFIG_FREERTOS_IDLE_TIME_BEFORE_SLEEP * 10;
++ticks_to_delay) {
/* Wait until next tick */
vTaskDelay(1);
/* The following delay should cause light sleep to start */
uint64_t count_start;
timer_get_counter_value(TIMER_GROUP_0, TIMER_0, &count_start);
vTaskDelay(ticks_to_delay);
uint64_t count_end;
timer_get_counter_value(TIMER_GROUP_0, TIMER_0, &count_end);
int timer_diff_us = (int) (count_end - count_start);
const int us_per_tick = 1 * portTICK_PERIOD_MS * 1000;
printf("%d %d\n", ticks_to_delay * us_per_tick, timer_diff_us);
TEST_ASSERT(timer_diff_us < ticks_to_delay * us_per_tick);
}
light_sleep_disable();
}
TEST_CASE("Can wake up from automatic light sleep by GPIO", "[pm]")
{
assert(CONFIG_ULP_COPROC_RESERVE_MEM >= 16 && "this test needs ULP_COPROC_RESERVE_MEM option set in menuconfig");
/* Set up GPIO used to wake up RTC */
const int ext1_wakeup_gpio = 25;
const int ext_rtc_io = RTCIO_GPIO25_CHANNEL;
TEST_ESP_OK(rtc_gpio_init(ext1_wakeup_gpio));
rtc_gpio_set_direction(ext1_wakeup_gpio, RTC_GPIO_MODE_INPUT_OUTPUT);
rtc_gpio_set_level(ext1_wakeup_gpio, 0);
/* Enable wakeup */
TEST_ESP_OK(esp_sleep_enable_ext1_wakeup(1ULL << ext1_wakeup_gpio, ESP_EXT1_WAKEUP_ANY_HIGH));
/* To simplify test environment, we'll use a ULP program to set GPIO high */
ulp_insn_t ulp_code[] = {
I_DELAY(65535), /* about 8ms, given 8MHz ULP clock */
I_WR_REG_BIT(RTC_CNTL_HOLD_FORCE_REG, RTC_CNTL_PDAC1_HOLD_FORCE_S, 0),
I_WR_REG_BIT(RTC_GPIO_OUT_REG, ext_rtc_io + RTC_GPIO_OUT_DATA_S, 1),
I_DELAY(1000),
I_WR_REG_BIT(RTC_GPIO_OUT_REG, ext_rtc_io + RTC_GPIO_OUT_DATA_S, 0),
I_WR_REG_BIT(RTC_CNTL_HOLD_FORCE_REG, RTC_CNTL_PDAC1_HOLD_FORCE_S, 1),
I_END(),
I_HALT()
};
TEST_ESP_OK(ulp_set_wakeup_period(0, 1000 /* us */));
size_t size = sizeof(ulp_code)/sizeof(ulp_insn_t);
TEST_ESP_OK(ulp_process_macros_and_load(0, ulp_code, &size));
light_sleep_enable();
for (int i = 0; i < 10; ++i) {
/* Set GPIO low */
REG_CLR_BIT(rtc_gpio_desc[ext1_wakeup_gpio].reg, rtc_gpio_desc[ext1_wakeup_gpio].hold_force);
rtc_gpio_set_level(ext1_wakeup_gpio, 0);
REG_SET_BIT(rtc_gpio_desc[ext1_wakeup_gpio].reg, rtc_gpio_desc[ext1_wakeup_gpio].hold_force);
/* Wait for the next tick */
vTaskDelay(1);
/* Start ULP program */
ulp_run(0);
const int delay_ms = 200;
const int delay_ticks = delay_ms / portTICK_PERIOD_MS;
int64_t start_rtc = esp_clk_rtc_time();
int64_t start_hs = esp_timer_get_time();
uint32_t start_tick = xTaskGetTickCount();
/* Will enter sleep here */
vTaskDelay(delay_ticks);
int64_t end_rtc = esp_clk_rtc_time();
int64_t end_hs = esp_timer_get_time();
uint32_t end_tick = xTaskGetTickCount();
printf("%lld %lld %u\n", end_rtc - start_rtc, end_hs - start_hs, end_tick - start_tick);
TEST_ASSERT_INT32_WITHIN(3, delay_ticks, end_tick - start_tick);
TEST_ASSERT_INT32_WITHIN(2 * portTICK_PERIOD_MS * 1000, delay_ms * 1000, end_hs - start_hs);
TEST_ASSERT_INT32_WITHIN(2 * portTICK_PERIOD_MS * 1000, delay_ms * 1000, end_rtc - start_rtc);
}
REG_CLR_BIT(rtc_gpio_desc[ext1_wakeup_gpio].reg, rtc_gpio_desc[ext1_wakeup_gpio].hold_force);
rtc_gpio_deinit(ext1_wakeup_gpio);
light_sleep_disable();
}
typedef struct {
int delay_us;
int result;
SemaphoreHandle_t done;
} delay_test_arg_t;
static void test_delay_task(void* p)
{
delay_test_arg_t* arg = (delay_test_arg_t*) p;
vTaskDelay(1);
uint64_t start = esp_clk_rtc_time();
vTaskDelay(arg->delay_us / portTICK_PERIOD_MS / 1000);
uint64_t stop = esp_clk_rtc_time();
arg->result = (int) (stop - start);
xSemaphoreGive(arg->done);
vTaskDelete(NULL);
}
TEST_CASE("vTaskDelay duration is correct with light sleep enabled", "[pm]")
{
light_sleep_enable();
delay_test_arg_t args = {
.done = xSemaphoreCreateBinary()
};
const int delays[] = { 10, 20, 50, 100, 150, 200, 250 };
const int delays_count = sizeof(delays) / sizeof(delays[0]);
for (int i = 0; i < delays_count; ++i) {
int delay_ms = delays[i];
args.delay_us = delay_ms * 1000;
xTaskCreatePinnedToCore(test_delay_task, "", 2048, (void*) &args, 3, NULL, 0);
TEST_ASSERT( xSemaphoreTake(args.done, delay_ms * 10 / portTICK_PERIOD_MS) );
printf("CPU0: %d %d\n", args.delay_us, args.result);
TEST_ASSERT_INT32_WITHIN(1000 * portTICK_PERIOD_MS * 2, args.delay_us, args.result);
#if portNUM_PROCESSORS == 2
xTaskCreatePinnedToCore(test_delay_task, "", 2048, (void*) &args, 3, NULL, 1);
TEST_ASSERT( xSemaphoreTake(args.done, delay_ms * 10 / portTICK_PERIOD_MS) );
printf("CPU1: %d %d\n", args.delay_us, args.result);
TEST_ASSERT_INT32_WITHIN(1000 * portTICK_PERIOD_MS * 2, args.delay_us, args.result);
#endif
}
vSemaphoreDelete(args.done);
light_sleep_disable();
}
/* This test is similar to the one in test_esp_timer.c, but since we can't use
* ref_clock, this test uses RTC clock for timing. Also enables automatic
* light sleep.
*/
TEST_CASE("esp_timer produces correct delays with light sleep", "[pm]")
{
// no, we can't make this a const size_t (§6.7.5.2)
#define NUM_INTERVALS 16
typedef struct {
esp_timer_handle_t timer;
size_t cur_interval;
int intervals[NUM_INTERVALS];
int64_t t_start;
SemaphoreHandle_t done;
} test_args_t;
void timer_func(void* arg)
{
test_args_t* p_args = (test_args_t*) arg;
int64_t t_end = esp_clk_rtc_time();
int32_t ms_diff = (t_end - p_args->t_start) / 1000;
printf("timer #%d %dms\n", p_args->cur_interval, ms_diff);
p_args->intervals[p_args->cur_interval++] = ms_diff;
// Deliberately make timer handler run longer.
// We check that this doesn't affect the result.
ets_delay_us(10*1000);
if (p_args->cur_interval == NUM_INTERVALS) {
printf("done\n");
TEST_ESP_OK(esp_timer_stop(p_args->timer));
xSemaphoreGive(p_args->done);
}
}
light_sleep_enable();
const int delay_ms = 100;
test_args_t args = {0};
esp_timer_handle_t timer1;
esp_timer_create_args_t create_args = {
.callback = &timer_func,
.arg = &args,
.name = "timer1",
};
TEST_ESP_OK(esp_timer_create(&create_args, &timer1));
args.timer = timer1;
args.t_start = esp_clk_rtc_time();
args.done = xSemaphoreCreateBinary();
TEST_ESP_OK(esp_timer_start_periodic(timer1, delay_ms * 1000));
TEST_ASSERT(xSemaphoreTake(args.done, delay_ms * NUM_INTERVALS * 2));
TEST_ASSERT_EQUAL_UINT32(NUM_INTERVALS, args.cur_interval);
for (size_t i = 0; i < NUM_INTERVALS; ++i) {
TEST_ASSERT_INT32_WITHIN(portTICK_PERIOD_MS, (i + 1) * delay_ms, args.intervals[i]);
}
TEST_ESP_OK( esp_timer_dump(stdout) );
TEST_ESP_OK( esp_timer_delete(timer1) );
vSemaphoreDelete(args.done);
light_sleep_disable();
#undef NUM_INTERVALS
}
#endif // CONFIG_FREERTOS_USE_TICKLESS_IDLE
#endif // CONFIG_PM_ENABLE

25
components/freertos/Kconfig
View File

@ -357,6 +357,31 @@ config FREERTOS_RUN_TIME_STATS_USING_CPU_CLK
endchoice
config FREERTOS_USE_TICKLESS_IDLE
bool "Tickless idle support"
depends on PM_ENABLE
default n
help
If power management support is enabled, FreeRTOS will be able to put
the system into light sleep mode when no tasks need to run for a number
of ticks. This number can be set using FREERTOS_IDLE_TIME_BEFORE_SLEEP option.
This feature is also known as "automatic light sleep".
Note that timers created using esp_timer APIs may prevent the system from
entering sleep mode, even when no tasks need to run.
If disabled, automatic light sleep support will be disabled.
config FREERTOS_IDLE_TIME_BEFORE_SLEEP
int "Minimum number of ticks to enter sleep mode for"
depends on FREERTOS_USE_TICKLESS_IDLE
default 3
range 2 4294967295
# Minimal value is 2 because of a check in FreeRTOS.h (search configEXPECTED_IDLE_TIME_BEFORE_SLEEP)
help
FreeRTOS will enter light sleep mode if no tasks need to run for this number
of ticks.
menuconfig FREERTOS_DEBUG_INTERNALS
bool "Debug FreeRTOS internals"
default n

4
components/freertos/include/freertos/FreeRTOSConfig.h
View File

@ -289,6 +289,10 @@ extern void vPortCleanUpTCB ( void *pxTCB );
#define INCLUDE_eTaskGetState 1
#define configUSE_QUEUE_SETS 1
#define configUSE_TICKLESS_IDLE CONFIG_FREERTOS_USE_TICKLESS_IDLE
#if configUSE_TICKLESS_IDLE
#define configEXPECTED_IDLE_TIME_BEFORE_SLEEP CONFIG_FREERTOS_IDLE_TIME_BEFORE_SLEEP
#endif //configUSE_TICKLESS_IDLE
#define configXT_BOARD 1 /* Board mode */
#define configXT_SIMULATOR 0

4
components/freertos/include/freertos/portmacro.h
View File

@ -365,9 +365,13 @@ typedef struct {
#define PRIVILEGED_DATA
#endif
extern void esp_vApplicationIdleHook( void );
extern void esp_vApplicationWaitiHook( void );
void _xt_coproc_release(volatile void * coproc_sa_base);
bool vApplicationSleep( TickType_t xExpectedIdleTime );
#define portSUPPRESS_TICKS_AND_SLEEP( idleTime ) vApplicationSleep( idleTime )
// porttrace
#if configUSE_TRACE_FACILITY_2

45
components/freertos/tasks.c
View File

@ -2151,6 +2151,23 @@ void vTaskSuspendAll( void )
#if ( configUSE_TICKLESS_IDLE != 0 )
static BaseType_t xHaveReadyTasks()
{
for (int i = tskIDLE_PRIORITY + 1; i < configMAX_PRIORITIES; ++i)
{
if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ i ] ) ) > 0 )
{
return pdTRUE;
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
return pdFALSE;
}
static TickType_t prvGetExpectedIdleTime( void )
{
TickType_t xReturn;
@ -2161,7 +2178,18 @@ void vTaskSuspendAll( void )
{
xReturn = 0;
}
else if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > 1 )
#if portNUM_PROCESSORS > 1
/* This function is called from Idle task; in single core case this
* means that no higher priority tasks are ready to run, and we can
* enter sleep. In SMP case, there might be ready tasks waiting for
* the other CPU, so need to check all ready lists.
*/
else if( xHaveReadyTasks() )
{
xReturn = 0;
}
#endif // portNUM_PROCESSORS > 1
else if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > portNUM_PROCESSORS )
{
/* There are other idle priority tasks in the ready state. If
time slicing is used then the very next tick interrupt must be
@ -3405,7 +3433,6 @@ static portTASK_FUNCTION( prvIdleTask, pvParameters )
#endif /* configUSE_IDLE_HOOK */
{
/* Call the esp-idf hook system */
extern void esp_vApplicationIdleHook( void );
esp_vApplicationIdleHook();
}
@ -3417,6 +3444,7 @@ static portTASK_FUNCTION( prvIdleTask, pvParameters )
#if ( configUSE_TICKLESS_IDLE != 0 )
{
TickType_t xExpectedIdleTime;
BaseType_t xEnteredSleep = pdFALSE;
/* It is not desirable to suspend then resume the scheduler on
each iteration of the idle task. Therefore, a preliminary
@ -3427,7 +3455,6 @@ static portTASK_FUNCTION( prvIdleTask, pvParameters )
if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
{
// vTaskSuspendAll();
taskENTER_CRITICAL(&xTaskQueueMutex);
{
/* Now the scheduler is suspended, the expected idle
@ -3439,7 +3466,7 @@ static portTASK_FUNCTION( prvIdleTask, pvParameters )
if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
{
traceLOW_POWER_IDLE_BEGIN();
portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime );
xEnteredSleep = portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime );
traceLOW_POWER_IDLE_END();
}
else
@ -3448,13 +3475,21 @@ static portTASK_FUNCTION( prvIdleTask, pvParameters )
}
}
taskEXIT_CRITICAL(&xTaskQueueMutex);
// ( void ) xTaskResumeAll();
}
else
{
mtCOVERAGE_TEST_MARKER();
}
/* It might be possible to enter tickless idle again, so skip
* the fallback sleep hook if tickless idle was successful
*/
if ( !xEnteredSleep )
{
esp_vApplicationWaitiHook();
}
}
#else
esp_vApplicationWaitiHook();
#endif /* configUSE_TICKLESS_IDLE */
}
}