SPI : ESP32任务阻止其他任务(即使是在不同的内核上！)

Question

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我正在开发基于ESP32的高频数据采集器，freeRTOS.There将是2个任务，第一个任务将在内核0上运行，使用SPI总线与传感器通信以收集4000SPS的数据。任务2将在核心1上运行，从第一个任务接收数据并通过TCP异步发送。理想情况下，任务2应该在任务1收集最新数据的同时发送数据(双核，对吧？)当我做测试运行时，我让SPI总线尽可能快地运行，但它只是阻止任务2运行！！我不想使用vTaskDelay(1)，因为它会影响数据收集的速度。现在我应该怎么做，让两个任务同时运行？谢谢！！

   void inFromSensor(void *parameter)
{
    for (;;)
    {
        SPI.beginTransaction(SPISettings(500000, MSBFIRST, SPI_MODE0));
      //  digitalWrite(SS, LOW);
        SPI.write(0b000011100);
        SPI.write(0b000011100);
        SPI.write(0b000011100);
        SPI.endTransaction();
        // vTaskDelay(1000/portTICK_PERIOD_MS);
        // for (int i = 0; i < 88; i++)
        // {
        //     testBuffer1[i] = 8;
        //     itoa(testBuffer1[i], &buffer1[i], 10);
        // }
        // buffer1[0] = '1';
        // buffer1[87] = '\n';

        // UBaseType_t res = xRingbufferSend(buf_handle, buffer1, sizeof(buffer1), pdMS_TO_TICKS(1000));
        // if (res != pdTRUE)
        // {
        //     printf("Failed to send item\n");
        // }
        
        TIMERG0.wdt_wprotect = TIMG_WDT_WKEY_VALUE;
        TIMERG0.wdt_feed = 1;
        TIMERG0.wdt_wprotect = 0;
    }
    vTaskDelete(NULL);
}
void outToTCP(void *parameter)
{
    for (;;)
    {
        Serial.println("a");
        WiFiClient client = wifiServer.available();
        if (client)
        {
            Serial.println("client connected");
            while (client.connected())
            {
                unsigned long start = millis();
                while (millis() - start < 5000)
                {
                    size_t item_size;
                    char *item = (char *)xRingbufferReceive(buf_handle, &item_size, pdMS_TO_TICKS(1000));
                    if (item != NULL)
                    {
                        client.write(item);
                        //Return Item
                        vRingbufferReturnItem(buf_handle, (void *)item);
                    }
                    else
                    {
                        //Failed to receive item
                        printf("Failed to receive item\n");
                    }
                }
                Serial.println("done");
                return;
            }

            client.stop();
            Serial.println("Client disconnected");
        }
        
        TIMERG0.wdt_wprotect = TIMG_WDT_WKEY_VALUE;
        TIMERG0.wdt_feed = 1;
        TIMERG0.wdt_wprotect = 0;
    }
    vTaskDelete(NULL);
}
void setup()
{
    Serial.begin(112500);
    WiFi.begin(ssid, password);
    SPI.begin(SCK, MISO, MOSI, SS);
    pinMode(SS, OUTPUT);
    digitalWrite(SS, HIGH);
    while (WiFi.status() != WL_CONNECTED)
    {
        delay(1000);
        Serial.println("Connecting to WiFi..");
    }
    wifiServer.begin();

    buf_handle = xRingbufferCreate(50280, RINGBUF_TYPE_NOSPLIT);
    if (buf_handle == NULL)
    {
        printf("Failed to create ring buffer\n");
    }
    Serial.println("ready");
    xTaskCreatePinnedToCore(
        inFromSensor,      /* Task function. */
        "lowPriorityTask", /* name of task. */
        15000,             /* Stack size of task */
        NULL,              /* parameter of the task */
        4,                 /* priority of the task */
        NULL,              /* Task handle to keep track of created task */
        1);
    delay(500);



xTaskCreatePinnedToCore(
    outToTCP,           /* Task function. */
    "highPriorityTask", /* name of task. */
    15000,              /* Stack size of task */
    NULL,               /* parameter of the task */
    6,                  /* priority of the task */
    NULL,               /* Task handle to keep track of created task */
    0);
delay(500);

Serial.println("ready");}

Answer 1

请发布串行输出。

无论如何，我的猜测是Task1正在独占运行WiFi堆栈的核心，因此WiFi永远没有机会连接。然而，任务2依赖于要连接的WiFi。此外，任务2正在等待数据在环形缓冲区中可用，但您的代码没有在那里发布任何内容。

无论如何，这是从计时器中受益的东西。如果您需要以特定的间隔运行采样进程，请使用该间隔配置一个计时器，在中断中执行采样并将其发送到您的处理线程。这比在循环中旋转，占据整个核心要确定得多。另外，它将空闲的周期留给那些需要它们的任务(除了您的代码之外，还有相当多的任务)。

Answer 2

解决了！我刚刚改变了任务( xTaskCreatedPinnedToCore())的创建顺序，先创建任务2，然后创建任务1。看起来像第一种情况，任务1在创建后继续运行，因此任务2从未有机会创建！

Answer 3

void inFromSensor(void *parameter)
{
     VTaskDelay(NULL) // this will prevent task from running right after it is initialised, NULL parameter known that it is asking itself to delay.
    for (;;)
    {
    }
}

void setup()
{
xTaskCreatePinnedToCore(inFromSensor,"lowPriorityTask", 15000, NULL,4,Task1,1);// give task handle such as Task1 and you will have to declare this on top.

delay(500);
// You can then here control the order of resuming the task
vTaskResume(Task1);// this will start the task and you should do this ideally

}