Add goroutine core affinity support for RP2040/RP2350 systems

src/examples/core-pinning/main.go

@@ -0,0 +1,111 @@
+// This example demonstrates goroutine core pinning on multi-core systems (RP2040/RP2350).
+// It shows how to pin goroutines to specific CPU cores and verify their execution.
+
+//go:build rp2040 || rp2350
+
+package main
+
+import (
+	"machine"
+	"runtime"
+	"time"
+)
+
+func main() {
+	time.Sleep(5 * time.Second)
+	println("=== Core Pinning Example ===")
+	println("Number of CPU cores:", runtime.NumCPU())
+	println("[main] Main starting on core:", machine.CurrentCore())
+	println()
+
+	// Example 1: Pin using standard Go API (LockOSThread)
+	// This pins to whichever core this goroutine is currently running on
+	runtime.LockOSThread()
+	println("[main] Pinned using runtime.LockOSThread()")
+	println("[main] Running on core:", machine.CurrentCore())
+	runtime.UnlockOSThread()
+	println("[main] Unpinned using runtime.UnlockOSThread()")
+	println()
+
+	// Example 2: Pin to a specific core using machine package
+	machine.LockCore(0)
+	println("[main] Explicitly pinned to core 0 using machine.LockCore()")
+	println()
+
+	// Start a goroutine pinned to core 1
+	go core1Worker()
+
+	// Start a goroutine using standard LockOSThread
+	go standardLockWorker()
+
+	// Start an unpinned goroutine (can run on either core)
+	go unpinnedWorker()
+
+	// Main loop on core 0
+	for i := 0; i < 10; i++ {
+		println("[main] loop", i, "on CPU", machine.CurrentCore())
+		time.Sleep(500 * time.Millisecond)
+	}
+
+	// Unpin and let main run on any core
+	machine.UnlockCore()
+	println()
+	println("[main] Unpinned using machine.UnlockCore()")
+
+	// Continue running for a bit to show potential migration
+	for i := 0; i < 5; i++ {
+		println("[main] unpinned loop on CPU", machine.CurrentCore())
+		time.Sleep(500 * time.Millisecond)
+	}
+
+	println()
+	println("Example complete!")
+}
+
+// Worker function that pins to core 1 using explicit core selection
+func core1Worker() {
+	// Pin this goroutine to core 1 explicitly
+	machine.LockCore(1)
+	println("[core1-worker] Worker pinned to core 1 using machine.LockCore()")
+
+	for i := 0; i < 10; i++ {
+		println("[core1-worker] loop", i, "on CPU", machine.CurrentCore())
+		time.Sleep(500 * time.Millisecond)
+	}
+
+	println("[core1-worker] Finished")
+}
+
+// Worker function that uses standard Go LockOSThread()
+func standardLockWorker() {
+	// Pin this goroutine to whichever core it starts on
+	runtime.LockOSThread()
+	defer runtime.UnlockOSThread()
+
+	core := machine.CurrentCore()
+	println("[std-lock-worker] Worker locked using runtime.LockOSThread()")
+	println("[std-lock-worker] Running on core:", core)
+
+	for i := 0; i < 10; i++ {
+		println("[std-lock-worker] loop", i, "on CPU", machine.CurrentCore())
+		time.Sleep(600 * time.Millisecond)
+	}
+
+	println("[std-lock-worker] Finished")
+}
+
+// Worker function that is not pinned (can run on any core)
+func unpinnedWorker() {
+	println("[unpinned-worker] Starting")
+
+	for i := 0; i < 10; i++ {
+		cpu := machine.CurrentCore()
+		println("[unpinned-worker] loop", i, "on CPU", cpu)
+		time.Sleep(700 * time.Millisecond)
+
+		// Yield to potentially migrate to another core
+		runtime.Gosched()
+	}
+
+	println("[unpinned-worker] Finished")
+}

src/internal/task/task.go

@@ -29,6 +29,14 @@ type Task struct {
 	// since it falls into the padding of the FipsIndicator bit above.
 	RunState uint8
 
+	// Affinity specifies which CPU core this task should run on.
+	// -1 means no affinity (can run on any core)
+	// 0, 1, etc. means pinned to that specific core
+	// To be used ONLY with the "cores" scheduler.
+	// By default, all goroutines are unpinned (Affinity = -1)
+	// Pinning takes effect at the next scheduling point (e.g., after time.Sleep(), channel operations, or runtime.Gosched())
+	Affinity int8
+
 	// DeferFrame stores a pointer to the (stack allocated) defer frame of the
 	// goroutine that is used for the recover builtin.
 	DeferFrame unsafe.Pointer

src/machine/machine_rp2_cores.go

@@ -0,0 +1,26 @@
+//go:build (rp2040 || rp2350) && scheduler.cores
+
+package machine
+
+const numCPU = 2 // RP2040 and RP2350 both have 2 cores
+
+// LockCore implementation for the cores scheduler.
+func LockCore(core int) {
+	if core < 0 || core >= numCPU {
+		panic("machine: core out of range")
+	}
+	machineLockCore(core)
+}
+
+// UnlockCore implementation for the cores scheduler.
+func UnlockCore() {
+	machineUnlockCore()
+}
+
+// Internal functions implemented in runtime/scheduler_cores.go
+//
+//go:linkname machineLockCore runtime.machineLockCore
+func machineLockCore(core int)
+
+//go:linkname machineUnlockCore runtime.machineUnlockCore
+func machineUnlockCore()

src/machine/machine_rp2_nocores.go

@@ -0,0 +1,15 @@
+//go:build (rp2040 || rp2350) && !scheduler.cores
+
+package machine
+
+// LockCore is not available without the cores scheduler.
+// This is a stub that panics.
+func LockCore(core int) {
+	panic("machine.LockCore: not available without scheduler.cores")
+}
+
+// UnlockCore is not available without the cores scheduler.
+// This is a stub that panics.
+func UnlockCore() {
+	panic("machine.UnlockCore: not available without scheduler.cores")
+}

src/runtime/runtime.go

@@ -98,14 +98,18 @@ func os_sigpipe() {
 }
 
 // LockOSThread wires the calling goroutine to its current operating system thread.
-// Stub for now
+// On microcontrollers with multiple cores (e.g., RP2040/RP2350), this pins the
+// goroutine to the core it's currently running on.
 // Called by go1.18 standard library on windows, see https://github.com/golang/go/issues/49320
 func LockOSThread() {
+	lockOSThreadImpl()
 }
 
 // UnlockOSThread undoes an earlier call to LockOSThread.
-// Stub for now
+// On microcontrollers with multiple cores, this unpins the goroutine, allowing
+// it to run on any available core.
 func UnlockOSThread() {
+	unlockOSThreadImpl()
 }
 
 // KeepAlive makes sure the value in the interface is alive until at least the

src/runtime/scheduler_cooperative.go

@@ -261,6 +261,16 @@ func unlockAtomics(mask interrupt.State) {
 	interrupt.Restore(mask)
 }
 
+// lockOSThreadImpl is a no-op for the cooperative scheduler (single-threaded).
+func lockOSThreadImpl() {
+	// Single-threaded, nothing to do.
+}
+
+// unlockOSThreadImpl is a no-op for the cooperative scheduler (single-threaded).
+func unlockOSThreadImpl() {
+	// Single-threaded, nothing to do.
+}
+
 func printlock() {
 	// nothing to do
 }

src/runtime/scheduler_cores.go

@@ -22,8 +22,9 @@ var secondaryCoresStarted bool
 var cpuTasks [numCPU]*task.Task
 
 var (
-	sleepQueue *task.Task
-	runqueue   task.Queue
+	sleepQueue     *task.Task
+	runqueueShared task.Queue         // For unpinned tasks (affinity = -1)
+	runqueueCore   [numCPU]task.Queue // Per-core queues for pinned tasks
 )
 
 func deadlock() {
@@ -39,8 +40,14 @@ func scheduleTask(t *task.Task) {
 	switch t.RunState {
 	case task.RunStatePaused:
 		// Paused, state is saved on the stack.
-		// Add it to the runqueue...
-		runqueue.Push(t)
+		// Route to appropriate queue based on affinity.
+		if t.Affinity >= 0 && t.Affinity < numCPU {
+			// Pinned to specific core
+			runqueueCore[t.Affinity].Push(t)
+		} else {
+			// Not pinned, use shared queue
+			runqueueShared.Push(t)
+		}
 		// ...and wake up a sleeping core, if there is one.
 		// (If all cores are already busy, this is a no-op).
 		schedulerWake()
@@ -86,7 +93,15 @@ func addSleepTask(t *task.Task, wakeup timeUnit) {
 
 func Gosched() {
 	schedulerLock.Lock()
-	runqueue.Push(task.Current())
+	t := task.Current()
+
+	// Respect affinity when re-queueing.
+	if t.Affinity >= 0 && t.Affinity < numCPU {
+		runqueueCore[t.Affinity].Push(t)
+	} else {
+		runqueueShared.Push(t)
+	}
+
 	task.PauseLocked()
 }
 
@@ -95,6 +110,49 @@ func NumCPU() int {
 	return numCPU
 }
 
+//
+// Warning: Pinning goroutines can lead to load imbalance. The goroutine will
+// wait in the specified core's queue even if other cores are idle. Use this
+// feature carefully and only when you need explicit core affinity.
+//
+// Valid core values are 0 and 1. Panics if core is out of range.
+//
+
+// machineLockCore pins the current goroutine to the specified CPU core.
+// This is called by machine.LockCore() on RP2040/RP2350.
+// It does not validate the core number - validation is done in machine package.
+func machineLockCore(core int) {
+	schedulerLock.Lock()
+	t := task.Current()
+	if t != nil {
+		t.Affinity = int8(core)
+	}
+	schedulerLock.Unlock()
+}
+
+// machineUnlockCore unpins the current goroutine.
+// This is called by machine.UnlockCore() on RP2040/RP2350.
+func machineUnlockCore() {
+	schedulerLock.Lock()
+	t := task.Current()
+	if t != nil {
+		t.Affinity = -1
+	}
+	schedulerLock.Unlock()
+}
+
+// lockOSThreadImpl implements LockOSThread for the cores scheduler.
+// It pins the current goroutine to whichever core it's currently running on.
+func lockOSThreadImpl() {
+	core := int(currentCPU())
+	machineLockCore(core)
+}
+
+// unlockOSThreadImpl implements UnlockOSThread for the cores scheduler.
+func unlockOSThreadImpl() {
+	machineUnlockCore()
+}
+
 func addTimer(tn *timerNode) {
 	schedulerLock.Lock()
 	timerQueueAdd(tn)
@@ -110,7 +168,7 @@ func removeTimer(t *timer) *timerNode {
 }
 
 func schedulerRunQueue() *task.Queue {
-	return &runqueue
+	return &runqueueShared
 }
 
 // Pause the current task for a given time.
@@ -160,9 +218,33 @@ func run() {
 }
 
 func scheduler(_ bool) {
+	currentCore := int(currentCPU())
+
 	for mainExited.Load() == 0 {
 		// Check for ready-to-run tasks.
-		if runnable := runqueue.Pop(); runnable != nil {
+		// First, try to get a task pinned to this core.
+		var runnable *task.Task
+		if currentCore < numCPU {
+			runnable = runqueueCore[currentCore].Pop()
+		}
+
+		// If no pinned tasks, try the shared queue.
+		if runnable == nil {
+			runnable = runqueueShared.Pop()
+		}
+
+		if runnable != nil {
+			// Verify affinity constraint (sanity check).
+			if runnable.Affinity >= 0 && runnable.Affinity != int8(currentCore) {
+				// Shouldn't happen, but put it back on correct queue.
+				if runnable.Affinity < numCPU {
+					runqueueCore[runnable.Affinity].Push(runnable)
+				} else {
+					runqueueShared.Push(runnable)
+				}
+				continue
+			}
+
 			// Resume it now.
 			setCurrentTask(runnable)
 			runnable.RunState = task.RunStateRunning
@@ -183,6 +265,19 @@ func scheduler(_ bool) {
 				sleepQueue = sleepQueue.Next
 				sleepingTask.Next = nil
 
+				// Check affinity before running.
+				if sleepingTask.Affinity >= 0 && sleepingTask.Affinity != int8(currentCore) {
+					// Task is pinned to a different core, re-queue it.
+					sleepingTask.RunState = task.RunStatePaused
+					if sleepingTask.Affinity < numCPU {
+						runqueueCore[sleepingTask.Affinity].Push(sleepingTask)
+					} else {
+						runqueueShared.Push(sleepingTask)
+					}
+					schedulerWake()
+					continue
+				}
+
 				// Run it now.
 				setCurrentTask(sleepingTask)
 				sleepingTask.RunState = task.RunStateRunning

src/runtime/scheduler_none.go

@@ -85,6 +85,16 @@ func unlockAtomics(mask interrupt.State) {
 	interrupt.Restore(mask)
 }
 
+// lockOSThreadImpl is a no-op for the cooperative scheduler (single-threaded).
+func lockOSThreadImpl() {
+	// Single-threaded, nothing to do.
+}
+
+// unlockOSThreadImpl is a no-op for the cooperative scheduler (single-threaded).
+func unlockOSThreadImpl() {
+	// Single-threaded, nothing to do.
+}
+
 func printlock() {
 	// nothing to do
 }

src/runtime/scheduler_threads.go

@@ -157,3 +157,13 @@ func lockAtomics() interrupt.State {
 func unlockAtomics(mask interrupt.State) {
 	atomicsLock.Unlock()
 }
+
+// lockOSThreadImpl is a no-op for the cooperative scheduler (single-threaded).
+func lockOSThreadImpl() {
+	// Single-threaded, nothing to do.
+}
+
+// unlockOSThreadImpl is a no-op for the cooperative scheduler (single-threaded).
+func unlockOSThreadImpl() {
+	// Single-threaded, nothing to do.
+}