From 80cb2cf9c628df5e8d4ab62a996cbcd39d3e94c3 Mon Sep 17 00:00:00 2001
From: Jukka Laitinen <jukka.laitinen@tii.ae>
Date: Thu, 14 Aug 2025 08:23:06 +0300
Subject: [PATCH] arch/xtensa/esp32,esp32s3: Start the "spiflash_op" thread
 with correct affinity

Set the affinity of the task before activating it. There is no parameter
or other interface in "kthread_create" to set the affinity mask,
like in "pthread_create".

Signed-off-by: Jukka Laitinen <jukka.laitinen@tii.ae>
---
 arch/xtensa/src/esp32/esp32_spiflash.c     | 52 +++++++++++++---------
 arch/xtensa/src/esp32s3/esp32s3_spiflash.c | 52 +++++++++++++---------
 2 files changed, 64 insertions(+), 40 deletions(-)

diff --git a/arch/xtensa/src/esp32/esp32_spiflash.c b/arch/xtensa/src/esp32/esp32_spiflash.c
index f2763202c72..0c4d097450e 100644
--- a/arch/xtensa/src/esp32/esp32_spiflash.c
+++ b/arch/xtensa/src/esp32/esp32_spiflash.c
@@ -2560,8 +2560,8 @@ static int spi_flash_op_block_task(int argc, char *argv[])
 
 int spiflash_init_spi_flash_op_block_task(int cpu)
 {
-  int pid;
-  int ret = OK;
+  FAR struct tcb_s *tcb;
+  int ret;
   char *argv[2];
   char arg1[32];
   cpu_set_t cpuset;
@@ -2570,29 +2570,41 @@ int spiflash_init_spi_flash_op_block_task(int cpu)
   argv[0] = arg1;
   argv[1] = NULL;
 
-  pid = kthread_create("spiflash_op",
-                       SCHED_PRIORITY_MAX,
-                       CONFIG_ESP32_SPIFLASH_OP_TASK_STACKSIZE,
-                       spi_flash_op_block_task,
-                       argv);
-  if (pid > 0)
+  /* Allocate a TCB for the new task. */
+
+  tcb = kmm_zalloc(sizeof(struct tcb_s));
+  if (!tcb)
     {
-      if (cpu < CONFIG_SMP_NCPUS)
-        {
-          CPU_ZERO(&cpuset);
-          CPU_SET(cpu, &cpuset);
-          ret = nxsched_set_affinity(pid, sizeof(cpuset), &cpuset);
-          if (ret < 0)
-            {
-              return ret;
-            }
-        }
+      serr("ERROR: Failed to allocate TCB\n");
+      return -ENOMEM;
     }
-  else
+
+  /* Setup the task type */
+
+  tcb->flags = TCB_FLAG_TTYPE_KERNEL | TCB_FLAG_FREE_TCB;
+
+  /* Initialize the task */
+
+  ret = nxtask_init((FAR struct task_tcb_s *)tcb, "spiflash_op",
+                    SCHED_PRIORITY_MAX,
+                    NULL, CONFIG_ESP32_SPIFLASH_OP_TASK_STACKSIZE,
+                    spi_flash_op_block_task, argv, environ, NULL);
+  if (ret < OK)
     {
-      return -EPERM;
+      kmm_free(tcb);
+      return ret;
     }
 
+  /* Set the affinity */
+
+  CPU_ZERO(&cpuset);
+  CPU_SET(cpu, &cpuset);
+  tcb->affinity = cpuset;
+
+  /* Activate the task */
+
+  nxtask_activate(tcb);
+
   return ret;
 }
 #endif /* CONFIG_SMP */
diff --git a/arch/xtensa/src/esp32s3/esp32s3_spiflash.c b/arch/xtensa/src/esp32s3/esp32s3_spiflash.c
index 7440b7b26cf..4eb99822fc7 100644
--- a/arch/xtensa/src/esp32s3/esp32s3_spiflash.c
+++ b/arch/xtensa/src/esp32s3/esp32s3_spiflash.c
@@ -999,8 +999,8 @@ static int spi_flash_op_block_task(int argc, char *argv[])
 
 static int spiflash_init_spi_flash_op_block_task(int cpu)
 {
-  int pid;
-  int ret = OK;
+  FAR struct tcb_s *tcb;
+  int ret;
   char *argv[2];
   char arg1[32];
   cpu_set_t cpuset;
@@ -1009,29 +1009,41 @@ static int spiflash_init_spi_flash_op_block_task(int cpu)
   argv[0] = arg1;
   argv[1] = NULL;
 
-  pid = kthread_create("spiflash_op",
-                       SCHED_PRIORITY_MAX,
-                       CONFIG_ESP32S3_SPIFLASH_OP_TASK_STACKSIZE,
-                       spi_flash_op_block_task,
-                       argv);
-  if (pid > 0)
+  /* Allocate a TCB for the new task. */
+
+  tcb = kmm_zalloc(sizeof(struct tcb_s));
+  if (!tcb)
     {
-      if (cpu < CONFIG_SMP_NCPUS)
-        {
-          CPU_ZERO(&cpuset);
-          CPU_SET(cpu, &cpuset);
-          ret = nxsched_set_affinity(pid, sizeof(cpuset), &cpuset);
-          if (ret < 0)
-            {
-              return ret;
-            }
-        }
+      serr("ERROR: Failed to allocate TCB\n");
+      return -ENOMEM;
     }
-  else
+
+  /* Setup the task type */
+
+  tcb->flags = TCB_FLAG_TTYPE_KERNEL | TCB_FLAG_FREE_TCB;
+
+  /* Initialize the task */
+
+  ret = nxtask_init((FAR struct task_tcb_s *)tcb, "spiflash_op",
+                    SCHED_PRIORITY_MAX,
+                    NULL, CONFIG_ESP32S3_SPIFLASH_OP_TASK_STACKSIZE,
+                    spi_flash_op_block_task, argv, environ, NULL);
+  if (ret < OK)
     {
-      return -EPERM;
+      kmm_free(tcb);
+      return ret;
     }
 
+  /* Set the affinity */
+
+  CPU_ZERO(&cpuset);
+  CPU_SET(cpu, &cpuset);
+  tcb->affinity = cpuset;
+
+  /* Activate the task */
+
+  nxtask_activate(tcb);
+
   return ret;
 }
 #endif /* CONFIG_SMP */