127 lines
4.1 KiB
C
127 lines
4.1 KiB
C
#include <stdio.h>
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#include "sdkconfig.h"
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "freertos/semphr.h"
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#include "unity.h"
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#if !CONFIG_FREERTOS_UNICORE
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#include "esp_ipc.h"
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#endif
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#include "esp_log.h"
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#if !CONFIG_FREERTOS_UNICORE
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static void test_func_ipc_cb(void *arg)
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{
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vTaskDelay(50);
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int *val = (int *)arg;
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*val = 0xa5a5;
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}
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TEST_CASE("Test blocking IPC function call", "[ipc]")
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{
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int val = 0x5a5a;
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esp_ipc_call_blocking(!xPortGetCoreID(), test_func_ipc_cb, &val);
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TEST_ASSERT_EQUAL_HEX(val, 0xa5a5);
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}
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#ifdef CONFIG_ESP_IPC_USES_CALLERS_PRIORITY
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static volatile bool exit_flag;
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static void task1(void *sema)
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{
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ESP_LOGI("task1", "start");
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ets_delay_us(3000000);
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vTaskDelay(1);
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while (exit_flag == false) {
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}
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ESP_LOGI("task1", "finish");
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vTaskDelete(NULL);
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}
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static UBaseType_t func_ipc_priority;
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static void test_func_ipc(void *sema)
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{
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ets_delay_us(1000000 + xPortGetCoreID() * 100);
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func_ipc_priority = uxTaskPriorityGet(NULL);
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xSemaphoreGive(*(xSemaphoreHandle *)sema);
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ets_printf("test_func_ipc: [%d, %d]\n", func_ipc_priority, xPortGetCoreID());
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}
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TEST_CASE("Test ipc_task works with the priority of the caller's task", "[ipc]")
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{
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UBaseType_t priority = 18;
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func_ipc_priority = 0;
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vTaskPrioritySet(NULL, priority);
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xSemaphoreHandle sema_ipc_done = xSemaphoreCreateBinary();
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exit_flag = false;
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xTaskCreatePinnedToCore(task1, "task1", 4096, NULL, priority + 2, NULL, 1);
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vTaskDelay(100 / portTICK_PERIOD_MS);
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ESP_LOGI("test", "Start IPC call in IPC_WAIT_FOR_START mode");
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esp_ipc_call(1, test_func_ipc, &sema_ipc_done);
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ESP_LOGI("test", "Waiting for IPC finish");
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xSemaphoreTake(sema_ipc_done, 4000 / portTICK_PERIOD_MS);
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ESP_LOGI("test", "Stop task1");
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exit_flag = true;
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xSemaphoreTake(sema_ipc_done, portMAX_DELAY);
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vSemaphoreDelete(sema_ipc_done);
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ESP_LOGI("test", "Check ipc_priority with priority caller's task. Should be the same");
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vTaskPrioritySet(NULL, 5);
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TEST_ASSERT_EQUAL(priority, func_ipc_priority);
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}
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static void test_func2_ipc(void *arg)
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{
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int callers_priority = *(int *)arg;
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ets_delay_us(1000000 + xPortGetCoreID() * 100);
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UBaseType_t priority = uxTaskPriorityGet(NULL);
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ets_printf("test_func2_ipc: [callers_priority = %d, priority = %d, cpu = %d]\n", callers_priority, priority, xPortGetCoreID());
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}
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static void task(void *sema)
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{
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int priority = uxTaskPriorityGet(NULL);
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ESP_LOGI("task", "start [priority = %d, cpu = %d]", priority, xPortGetCoreID());
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xSemaphoreTake(*(xSemaphoreHandle *)sema, portMAX_DELAY);
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esp_ipc_call_blocking(!xPortGetCoreID(), test_func2_ipc, &priority);
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xSemaphoreGive(*(xSemaphoreHandle *)sema);
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ESP_LOGI("task", "finish [priority = %d, cpu = %d]", priority, xPortGetCoreID());
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vTaskDelete(NULL);
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}
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TEST_CASE("Test multiple ipc_calls", "[ipc]")
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{
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const int max_tasks = 5;
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UBaseType_t priority = uxTaskPriorityGet(NULL);
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ESP_LOGI("test", "priority = %d, cpu = %d", priority, xPortGetCoreID());
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xSemaphoreHandle sema_ipc_done[max_tasks * portNUM_PROCESSORS];
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for (int task_num = 0; task_num < max_tasks; ++task_num) {
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++priority;
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ESP_LOGI("test", "task prio = %d", priority);
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for (int cpu_num = 0; cpu_num < portNUM_PROCESSORS; ++cpu_num) {
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sema_ipc_done[task_num * 2 + cpu_num] = xSemaphoreCreateBinary();
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xTaskCreatePinnedToCore(task, "task", 4096, &sema_ipc_done[task_num * 2 + cpu_num], priority, NULL, cpu_num);
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}
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}
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for (int task_num = 0; task_num < max_tasks; ++task_num) {
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for (int cpu_num = 0; cpu_num < portNUM_PROCESSORS; ++cpu_num) {
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xSemaphoreGive(sema_ipc_done[task_num * 2 + cpu_num]);
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}
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}
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for (int task_num = 0; task_num < max_tasks; ++task_num) {
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for (int cpu_num = 0; cpu_num < portNUM_PROCESSORS; ++cpu_num) {
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xSemaphoreTake(sema_ipc_done[task_num * 2 + cpu_num], portMAX_DELAY);
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vSemaphoreDelete(sema_ipc_done[task_num * 2 + cpu_num]);
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}
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}
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}
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#endif /* CONFIG_ESP_IPC_USE_CALLERS_PRIORITY */
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#endif /* !CONFIG_FREERTOS_UNICORE */
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