/* Test of FreeRTOS task notifications. This test creates a sender and receiver task under different core permutations. For each permutation, the sender task will test the xTaskNotify(), xTaskNotifyGive(), xTaskNotifyFromISR(), and vTaskNotifyGiveFromISR(), whereas the receiver task will test xTaskNotifyWait() and ulTaskNotifyTake(). */ #include #include #include "freertos/FreeRTOS.h" #include "freertos/task.h" #include #include "driver/timer.h" #include "esp_ipc.h" #include "unity.h" #define NO_OF_NOTIFS 4 #define NO_OF_TASKS 2 //Sender and receiver #define TIMER_DIVIDER 10000 #define TIMER_COUNT 100 #define MESSAGE 0xFF static uint32_t send_core_message = 0; static TaskHandle_t rec_task_handle; static bool isr_give = false; static SemaphoreHandle_t trigger_send_semphr; static SemaphoreHandle_t task_delete_semphr; //Test tracking vars static volatile uint32_t notifs_sent = 0; static volatile uint32_t notifs_rec = 0; static bool wrong_core = false; static void sender_task (void* arg){ int curcore = xPortGetCoreID(); //Test xTaskNotify xSemaphoreTake(trigger_send_semphr, portMAX_DELAY); notifs_sent++; xTaskNotify(rec_task_handle, (MESSAGE << curcore), eSetValueWithOverwrite); //Test xTaskNotifyGive xSemaphoreTake(trigger_send_semphr, portMAX_DELAY); notifs_sent++; xTaskNotifyGive(rec_task_handle); //Test xTaskNotifyFromISR xSemaphoreTake(trigger_send_semphr, portMAX_DELAY); isr_give = false; timer_start(TIMER_GROUP_0, curcore); //Test vTaskNotifyGiveFromISR xSemaphoreTake(trigger_send_semphr, portMAX_DELAY); isr_give = true; timer_start(TIMER_GROUP_0, curcore); //Delete Task and Semaphores xSemaphoreGive(task_delete_semphr); vTaskDelete(NULL); } static void receiver_task (void* arg){ uint32_t notify_value; //Test xTaskNotifyWait from task xTaskNotifyWait(0, 0xFFFFFFFF, ¬ify_value, portMAX_DELAY); if(notify_value != send_core_message){ wrong_core = true; } notifs_rec++; //Test ulTaskNotifyTake from task xSemaphoreGive(trigger_send_semphr); ulTaskNotifyTake(pdTRUE, portMAX_DELAY); notifs_rec++; //Test xTaskNotifyWait from ISR xSemaphoreGive(trigger_send_semphr); xTaskNotifyWait(0, 0xFFFFFFFF, ¬ify_value, portMAX_DELAY); if(notify_value != send_core_message){ wrong_core = true; } notifs_rec++; //Test ulTaskNotifyTake from ISR xSemaphoreGive(trigger_send_semphr); ulTaskNotifyTake(pdTRUE, portMAX_DELAY); notifs_rec++; //Test complete, stop timer and delete task xSemaphoreGive(task_delete_semphr); vTaskDelete(NULL); } static void IRAM_ATTR sender_ISR () { int curcore = xPortGetCoreID(); if(curcore == 0){ //Clear timer interrupt //Clear intr and pause via direct reg access as IRAM ISR cannot access timer APIs TIMERG0.int_clr_timers.t0 = 1; TIMERG0.hw_timer[0].config.enable = 0; }else{ TIMERG0.int_clr_timers.t1 = 1; TIMERG0.hw_timer[1].config.enable = 0; } //Re-enable alarm TIMERG0.hw_timer[curcore].config.alarm_en = 1; if(isr_give){ //Test vTaskNotifyGiveFromISR() on same core notifs_sent++; vTaskNotifyGiveFromISR(rec_task_handle, NULL); } else { //Test xTaskNotifyFromISR() notifs_sent++; xTaskNotifyFromISR(rec_task_handle, (MESSAGE << curcore), eSetValueWithOverwrite, NULL); } portYIELD_FROM_ISR(); return; } static void timerg0_init(void *isr_handle) { int timer_group = TIMER_GROUP_0; int timer_idx = xPortGetCoreID(); timer_config_t config; config.alarm_en = 1; config.auto_reload = 1; config.counter_dir = TIMER_COUNT_UP; config.divider = TIMER_DIVIDER; config.intr_type = TIMER_INTR_LEVEL; config.counter_en = TIMER_PAUSE; /*Configure timer*/ timer_init(timer_group, timer_idx, &config); /*Stop timer counter*/ timer_pause(timer_group, timer_idx); /*Load counter value */ timer_set_counter_value(timer_group, timer_idx, 0x00000000ULL); /*Set alarm value*/ timer_set_alarm_value(timer_group, timer_idx, TIMER_COUNT); /*Enable timer interrupt*/ timer_enable_intr(timer_group, timer_idx); //Auto Reload timer_set_auto_reload(timer_group, timer_idx, 1); /*Set ISR handler*/ timer_isr_register(timer_group, timer_idx, sender_ISR, NULL, ESP_INTR_FLAG_IRAM, (intr_handle_t *)isr_handle); } static void timerg0_deinit(void* isr_handle) { int timer_group = TIMER_GROUP_0; int timer_idx = xPortGetCoreID(); intr_handle_t handle = *((intr_handle_t *) isr_handle); //Pause timer then free registered ISR timer_pause(timer_group, timer_idx); esp_intr_free(handle); } TEST_CASE("Test Task_Notify", "[freertos]") { //Initialize and pause timers. Used to trigger ISR intr_handle_t isr_handle_0 = NULL; timerg0_init(&isr_handle_0); //Core 0 timer #ifndef CONFIG_FREERTOS_UNICORE intr_handle_t isr_handle_1 = NULL; esp_ipc_call(1, timerg0_init, &isr_handle_1); //Core 1 timer #endif trigger_send_semphr = xSemaphoreCreateBinary(); task_delete_semphr = xQueueCreateCountingSemaphore(NO_OF_TASKS, 0); for(int i = 0; i < portNUM_PROCESSORS; i++){ //Sending Core for(int j = 0; j < portNUM_PROCESSORS; j++){ //Receiving Core //Reset Values notifs_sent = 0; notifs_rec = 0; wrong_core = false; send_core_message = (0xFF << i); //0xFF if core 0, 0xFF0 if core 1 xTaskCreatePinnedToCore(receiver_task, "rec task", 1000, NULL, UNITY_FREERTOS_PRIORITY + 2, &rec_task_handle, j); xTaskCreatePinnedToCore(sender_task, "send task", 1000, NULL, UNITY_FREERTOS_PRIORITY + 1, NULL, i); vTaskDelay(5); //Wait for task creation to complete xSemaphoreGive(trigger_send_semphr); //Trigger sender task for(int k = 0; k < NO_OF_TASKS; k++){ //Wait for sender and receiver task deletion xSemaphoreTake(task_delete_semphr, portMAX_DELAY); } vTaskDelay(5); //Give time tasks to delete TEST_ASSERT(notifs_sent == NO_OF_NOTIFS); TEST_ASSERT(notifs_rec == NO_OF_NOTIFS); TEST_ASSERT(wrong_core == false); } } //Delete Semaphroes and timer ISRs vSemaphoreDelete(trigger_send_semphr); vSemaphoreDelete(task_delete_semphr); timerg0_deinit(&isr_handle_0); isr_handle_0 = NULL; #ifndef CONFIG_FREERTOS_UNICORE esp_ipc_call(1, timerg0_deinit, &isr_handle_1); isr_handle_1 = NULL; #endif }