Using xxx_periph.h in whole IDF instead of xxx_reg.h, xxx_struct.h, xxx_channel.h ... . Cleaned up header files from unnecessary headers (releated to soc/... headers).
229 lines
5.9 KiB
C
229 lines
5.9 KiB
C
/*
|
|
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_periph.h"
|
|
#include "soc/dport_reg.h"
|
|
#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);
|
|
}
|
|
|