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