OVMS3-idf/components/freertos/test/test_freertos.c

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/*
Test for multicore FreeRTOS. This test spins up threads, fiddles with queues etc.
*/
#include <esp_types.h>
#include <stdio.h>
#include "esp32/rom/ets_sys.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "freertos/semphr.h"
#include "freertos/queue.h"
#include "freertos/xtensa_api.h"
#include "unity.h"
#include "soc/uart_reg.h"
#include "soc/dport_reg.h"
#include "soc/io_mux_reg.h"
global: move the soc component out of the common list This MR removes the common dependency from every IDF components to the SOC component. Currently, in the ``idf_functions.cmake`` script, we include the header path of SOC component by default for all components. But for better code organization (or maybe also benifits to the compiling speed), we may remove the dependency to SOC components for most components except the driver and kernel related components. In CMAKE, we have two kinds of header visibilities (set by include path visibility): (Assume component A --(depends on)--> B, B is the current component) 1. public (``COMPONENT_ADD_INCLUDEDIRS``): means this path is visible to other depending components (A) (visible to A and B) 2. private (``COMPONENT_PRIV_INCLUDEDIRS``): means this path is only visible to source files inside the component (visible to B only) and we have two kinds of depending ways: (Assume component A --(depends on)--> B --(depends on)--> C, B is the current component) 1. public (```COMPONENT_REQUIRES```): means B can access to public include path of C. All other components rely on you (A) will also be available for the public headers. (visible to A, B) 2. private (``COMPONENT_PRIV_REQUIRES``): means B can access to public include path of C, but don't propagate this relation to other components (A). (visible to B) 1. remove the common requirement in ``idf_functions.cmake``, this makes the SOC components invisible to all other components by default. 2. if a component (for example, DRIVER) really needs the dependency to SOC, add a private dependency to SOC for it. 3. some other components that don't really depends on the SOC may still meet some errors saying "can't find header soc/...", this is because it's depended component (DRIVER) incorrectly include the header of SOC in its public headers. Moving all this kind of #include into source files, or private headers 4. Fix the include requirements for some file which miss sufficient #include directives. (Previously they include some headers by the long long long header include link) This is a breaking change. Previous code may depends on the long include chain. You may need to include the following headers for some files after this commit: - soc/soc.h - soc/soc_memory_layout.h - driver/gpio.h - esp_sleep.h The major broken include chain includes: 1. esp_system.h no longer includes esp_sleep.h. The latter includes driver/gpio.h and driver/touch_pad.h. 2. ets_sys.h no longer includes soc/soc.h 3. freertos/portmacro.h no longer includes soc/soc_memory_layout.h some peripheral headers no longer includes their hw related headers, e.g. rom/gpio.h no longer includes soc/gpio_pins.h and soc/gpio_reg.h BREAKING CHANGE
2019-04-03 05:17:38 +00:00
#include "driver/gpio.h"
void ets_isr_unmask(uint32_t unmask);
static xQueueHandle myQueue;
static xQueueHandle uartRxQueue;
int ctr;
#if 1
//Idle-loop for delay. Tests involuntary yielding
static void cvTaskDelay(int dummy)
{
volatile int i;
for (i = 0; i < (1 << 17); i++);
}
#else
//Delay task execution using FreeRTOS methods. Tests voluntary yielding.
#define cvTaskDelay(x) vTaskDelay(x)
#endif
#if 0
static void dosegfault3(int i)
{
volatile char *p = (volatile char *)0;
*p = i;
}
static void dosegfault2(int i)
{
if (i > 3) {
dosegfault3(i);
}
}
static void dosegfault(int i)
{
if (i < 5) {
dosegfault(i + 1);
}
dosegfault2(i);
}
#endif
static void queueSender(void *pvParameters)
{
int myCtr = xPortGetCoreID() * 100000;
while (1) {
printf("Core %d: Send to queue: %d\n", xPortGetCoreID(), myCtr);
xQueueSend(myQueue, (void *)(&myCtr), portMAX_DELAY);
printf("Send to queue done.\n");
cvTaskDelay(100);
myCtr++;
}
}
static void queueReceiver(void *pvParameters)
{
int theCtr;
while (1) {
xQueueReceive(myQueue, &theCtr, portMAX_DELAY);
printf("Core %d: Receive from queue: %d\n", xPortGetCoreID(), theCtr);
}
}
static void tskone(void *pvParameters)
{
// char *p=(char *)0;
while (1) {
ctr++;
// if (ctr>60) dosegfault(3);
printf("Task1, core %d, ctr=%d\n", xPortGetCoreID(), ctr);
cvTaskDelay(500);
}
}
static void tsktwo(void *pvParameters)
{
while (1) {
ctr++;
printf("Task2, core %d, ctr=%d\n", xPortGetCoreID(), ctr);
cvTaskDelay(500);
}
}
static void tskthree(void *pvParameters)
{
while (1) {
ctr++;
printf("Task3, core %d, ctr=%d\n", xPortGetCoreID(), ctr);
cvTaskDelay(500);
}
}
static void tskfour(void *pvParameters)
{
while (1) {
ctr++;
printf("Task4, core %d, ctr=%d\n", xPortGetCoreID(), ctr);
cvTaskDelay(500);
}
}
static void tskfive(void *pvParameters)
{
while (1) {
ctr++;
printf("Task5, core %d, ctr=%d\n", xPortGetCoreID(), ctr);
cvTaskDelay(500);
}
}
static void tskyield(void *pvParameters)
{
while (1) {
portYIELD();
}
}
static void tskUartRecv(void *pvParameters)
{
char c;
while (1) {
xQueueReceive(uartRxQueue, &c, portMAX_DELAY);
printf("Uart received %c!\n", c);
}
}
static void uartIsrHdl(void *arg)
{
char c;
BaseType_t xHigherPriorityTaskWoken;
SET_PERI_REG_MASK(UART_INT_CLR_REG(0), UART_RXFIFO_FULL_INT_CLR);
while (READ_PERI_REG(UART_STATUS_REG(0)) & (UART_RXFIFO_CNT << UART_RXFIFO_CNT_S)) {
c = READ_PERI_REG(UART_FIFO_REG(0));
xQueueSendFromISR(uartRxQueue, &c, &xHigherPriorityTaskWoken);
printf("ISR: %c\n", c);
}
if (xHigherPriorityTaskWoken) {
portYIELD_FROM_ISR();
}
}
static void uartRxInit(xQueueHandle q)
{
uint32_t reg_val;
gpio_pullup_dis(1);
PIN_FUNC_SELECT(PERIPHS_IO_MUX_U0RXD_U, FUNC_U0RXD_U0RXD);
PIN_FUNC_SELECT(PERIPHS_IO_MUX_U0TXD_U, FUNC_U0TXD_U0TXD);
PIN_FUNC_SELECT(PERIPHS_IO_MUX_U0RXD_U, FUNC_U0RXD_U0RXD);
// reg_val = READ_PERI_REG(UART_CONF1(0));
reg_val = (1 << UART_RXFIFO_FULL_THRHD_S);
WRITE_PERI_REG(UART_CONF1_REG(0), reg_val);
CLEAR_PERI_REG_MASK(UART_INT_ENA_REG(0), UART_TXFIFO_EMPTY_INT_ENA | UART_RXFIFO_TOUT_INT_ENA);
SET_PERI_REG_MASK(UART_INT_ENA_REG(0), UART_RXFIFO_FULL_INT_ENA);
printf("Enabling int %d\n", ETS_UART0_INUM);
DPORT_REG_SET_FIELD(DPORT_PRO_UART_INTR_MAP_REG, DPORT_PRO_UART_INTR_MAP, ETS_UART0_INUM);
DPORT_REG_SET_FIELD(DPORT_PRO_UART1_INTR_MAP_REG, DPORT_PRO_UART1_INTR_MAP, ETS_UART0_INUM);
xt_set_interrupt_handler(ETS_UART0_INUM, uartIsrHdl, NULL);
xt_ints_on(1 << ETS_UART0_INUM);
}
// TODO: split this thing into separate orthogonal tests
TEST_CASE("Bunch of FreeRTOS tests", "[freertos][ignore]")
{
char *tst;
TaskHandle_t th[12];
int i;
printf("%s\n", __FUNCTION__);
tst = pvPortMalloc(16);
printf("Test malloc returns addr %p\n", tst);
printf("Free heap: %u\n", xPortGetFreeHeapSize());
myQueue = xQueueCreate(10, sizeof(int));
uartRxQueue = xQueueCreate(256, sizeof(char));
printf("Free heap: %u\n", xPortGetFreeHeapSize());
printf("Creating tasks\n");
xTaskCreatePinnedToCore(tskyield , "tskyield1" , 2048, NULL, 3, &th[0], 0);
xTaskCreatePinnedToCore(tskyield , "tskyield2" , 2048, NULL, 3, &th[1], 1);
xTaskCreatePinnedToCore(tskone , "tskone" , 2048, NULL, 3, &th[2], 0);
xTaskCreatePinnedToCore(tsktwo , "tsktwo" , 2048, NULL, 3, &th[3], 1);
xTaskCreatePinnedToCore(tskthree, "tskthree", 2048, NULL, 3, &th[4], 0);
xTaskCreatePinnedToCore(tskfour , "tskfour" , 2048, NULL, 3, &th[5], tskNO_AFFINITY);
xTaskCreatePinnedToCore(tskfive , "tskfive" , 2048, NULL, 3, &th[6], tskNO_AFFINITY);
xTaskCreatePinnedToCore(queueSender , "qsend1" , 2048, NULL, 3, &th[7], 0);
xTaskCreatePinnedToCore(queueSender , "qsend2" , 2048, NULL, 3, &th[8], 1);
xTaskCreatePinnedToCore(queueReceiver , "qrecv1" , 2048, NULL, 3, &th[9], 1);
xTaskCreatePinnedToCore(queueReceiver , "qrecv2" , 2048, NULL, 3, &th[10], 0);
xTaskCreatePinnedToCore(tskUartRecv , "tskuart" , 2048, NULL, 4, &th[11], 1);
printf("Free heap: %u\n", xPortGetFreeHeapSize());
uartRxInit(uartRxQueue);
// Let stuff run for 20s
vTaskDelay(20000 / portTICK_PERIOD_MS);
//Shut down all the tasks
for (i = 0; i < 12; i++) {
vTaskDelete(th[i]);
}
xt_ints_off(1 << ETS_UART0_INUM);
}