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runtime: pass the clock to a waiting core before running a task - #5919
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With the cores scheduler only one core watches the clock for sleeping tasks and timers, while the others wait. When that core resumed a task of its own, nobody watched the clock until the task paused, so a task sleeping on another core woke late by as much as the running task took. Before running a task or timer callback, wake a waiting core if tasks are sleeping or timers are pending and no core is watching the clock. On an ESP32-S3 with a task on core 0 busy for 5 ms every 10 ms, the worst wake delay of a task sleeping 2.5 ms on core 1 drops from 4955 us to 16 us. The new coreassign check fails without this change on riscv-qemu. On a Raspberry Pi Pico the delay was already about 13 us, since a core waiting in wfe also wakes on events from the other core. It stays the same with this change, and coreassign, timers and channel pass there.
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tinygo build -size short -o ./build/test.hex -target=arduino-nano33 ./examples/ndir/main_ndir.go 11400 11400 0 0.00% 6032 6032 0 0.00% tinygo build -size short -o ./build/test.uf2 -target=pico ./examples/mpu9150/main.go 13508 13508 0 0.00% 6100 6100 0 0.00% tinygo build -size short -o ./build/test.hex -target=macropad-rp2040 ./examples/sh1106/macropad_spi 10352 10352 0 0.00% 6472 6472 0 0.00% tinygo build -size short -o ./build/test.hex -target=macropad-rp2040 ./examples/encoders/quadrature-interrupt 68680 68680 0 0.00% 7488 7488 0 0.00% tinygo build -size short -o ./build/test.uf2 -target=pico ./examples/mcp9808/main.go 45984 45984 0 0.00% 8136 8136 0 0.00% tinygo build -size short -o ./build/test.uf2 -target=pico ./examples/tmc2209/main.go 14084 14084 0 0.00% 5988 5988 0 0.00% tinygo build -size short -o ./build/test.hex -target=pico ./examples/tmc5160/main.go 14720 14720 0 0.00% 5216 5216 0 0.00% tinygo build -size short -o ./build/test.uf2 -target=nicenano 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./build/test.hex -target=arduino-nano33 -stack-size 8kb ./examples/net/tcpclient/ 357764 357764 0 0.00% 13368 13368 0 0.00% tinygo build -size short -o ./build/test.hex -target=nano-rp2040 -stack-size 8kb ./examples/net/websocket/dial/ 108952 108952 0 0.00% 11060 11060 0 0.00% tinygo build -size short -o ./build/test.hex -target=metro-m4-airlift -stack-size 8kb ./examples/net/socket/ 426744 426744 0 0.00% 17564 17564 0 0.00% tinygo build -size short -o ./build/test.hex -target=matrixportal-m4 -stack-size 8kb ./examples/net/webstatic/ 172864 172864 0 0.00% 9248 9248 0 0.00% tinygo build -size short -o ./build/test.hex -target=arduino-mkrwifi1010 -stack-size 8kb ./examples/net/tlsclient/ 162996 162996 0 0.00% 9836 9836 0 0.00% tinygo build -size short -o ./build/test.hex -target=nano-rp2040 -stack-size 8kb ./examples/net/mqttclient/natiu/ 122932 122932 0 0.00% 14372 14372 0 0.00% tinygo build -size short -o ./build/test.hex -target=wioterminal -stack-size 8kb ./examples/net/webclient/ 375204 375204 0 0.00% 20020 20020 0 0.00% tinygo build -size short -o ./build/test.hex -target=wioterminal -stack-size 8kb ./examples/net/webserver/ 373812 373812 0 0.00% 19080 19080 0 0.00% tinygo build -size short -o ./build/test.hex -target=wioterminal -stack-size 8kb ./examples/net/mqttclient/paho/ 179832 179832 0 0.00% 12312 12312 0 0.00% tinygo build -size short -o ./build/test.hex -target=elecrow-rp2040 -stack-size 8kb ./examples/net/tlsclient/ 126196 126196 0 0.00% 12140 12140 0 0.00% tinygo build -size short -o ./build/test.hex -target=elecrow-rp2350 -stack-size 8kb ./examples/net/ntpclient/ 7012240 7012240 0 0.00% 1110458 1110458 0 0.00% |
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Thank you for review @davecheney now merging. |
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With the cores scheduler only one core watches the clock for sleeping tasks and timers, while the other cores wait. When that core resumed a task of its own, nobody watched the clock until that task paused. A task sleeping on another core then woke late, by as much as the running task took.
This change wakes a waiting core before a task or timer callback runs, when tasks are sleeping or timers are pending and no core is watching the clock. The woken core takes over the clock. It uses the existing
schedulerWake, so there is no platform specific code.Tested
A task on core 0 is busy for 5 ms every 10 ms, while a task on core 1 sleeps 2.5 ms in a loop. Worst wake delay of the sleeping task:
The Pico did not show the problem, since a core waiting in
wfealso wakes on events from the other core. The ESP32-S3 waits inwaiti, which only returns on an interrupt.A new check in
testdata/coreassign.gofails without this change on riscv-qemu, 5 out of 5 runs, and passes with it.These pass with the change:
-scheduler=cores