mirror of
https://github.com/espressif/esp-idf.git
synced 2025-11-04 09:01:40 +01:00
128 lines
4.1 KiB
C
128 lines
4.1 KiB
C
#include <stdio.h>
|
|
#include "sdkconfig.h"
|
|
#include "freertos/FreeRTOS.h"
|
|
#include "freertos/task.h"
|
|
#include "freertos/semphr.h"
|
|
#include "unity.h"
|
|
#if !CONFIG_FREERTOS_UNICORE
|
|
#include "esp_ipc.h"
|
|
#endif
|
|
#include "esp_log.h"
|
|
|
|
#if !CONFIG_FREERTOS_UNICORE
|
|
static void test_func_ipc_cb(void *arg)
|
|
{
|
|
vTaskDelay(50);
|
|
int *val = (int *)arg;
|
|
*val = 0xa5a5;
|
|
}
|
|
|
|
TEST_CASE("Test blocking IPC function call", "[ipc]")
|
|
{
|
|
int val = 0x5a5a;
|
|
esp_ipc_call_blocking(!xPortGetCoreID(), test_func_ipc_cb, &val);
|
|
TEST_ASSERT_EQUAL_HEX(val, 0xa5a5);
|
|
}
|
|
|
|
#ifdef CONFIG_ESP_IPC_USES_CALLERS_PRIORITY
|
|
static volatile bool exit_flag;
|
|
|
|
static void task1(void *sema)
|
|
{
|
|
ESP_LOGI("task1", "start");
|
|
ets_delay_us(3000000);
|
|
vTaskDelay(1);
|
|
while (exit_flag == false) {
|
|
|
|
}
|
|
ESP_LOGI("task1", "finish");
|
|
vTaskDelete(NULL);
|
|
}
|
|
|
|
static UBaseType_t func_ipc_priority;
|
|
|
|
static void test_func_ipc(void *sema)
|
|
{
|
|
ets_delay_us(1000000 + xPortGetCoreID() * 100);
|
|
func_ipc_priority = uxTaskPriorityGet(NULL);
|
|
xSemaphoreGive(*(xSemaphoreHandle *)sema);
|
|
ets_printf("test_func_ipc: [%d, %d]\n", func_ipc_priority, xPortGetCoreID());
|
|
}
|
|
|
|
TEST_CASE("Test ipc_task works with the priority of the caller's task", "[ipc]")
|
|
{
|
|
UBaseType_t priority = 18;
|
|
func_ipc_priority = 0;
|
|
vTaskPrioritySet(NULL, priority);
|
|
|
|
xSemaphoreHandle sema_ipc_done = xSemaphoreCreateBinary();
|
|
|
|
exit_flag = false;
|
|
xTaskCreatePinnedToCore(task1, "task1", 4096, NULL, priority + 2, NULL, 1);
|
|
vTaskDelay(100 / portTICK_PERIOD_MS);
|
|
|
|
ESP_LOGI("test", "Start IPC call in IPC_WAIT_FOR_START mode");
|
|
esp_ipc_call(1, test_func_ipc, &sema_ipc_done);
|
|
ESP_LOGI("test", "Waiting for IPC finish");
|
|
xSemaphoreTake(sema_ipc_done, 4000 / portTICK_PERIOD_MS);
|
|
ESP_LOGI("test", "Stop task1");
|
|
exit_flag = true;
|
|
xSemaphoreTake(sema_ipc_done, portMAX_DELAY);
|
|
vSemaphoreDelete(sema_ipc_done);
|
|
ESP_LOGI("test", "Check ipc_priority with priority caller's task. Should be the same");
|
|
vTaskPrioritySet(NULL, 5);
|
|
TEST_ASSERT_EQUAL(priority, func_ipc_priority);
|
|
}
|
|
|
|
static void test_func2_ipc(void *arg)
|
|
{
|
|
int callers_priority = *(int *)arg;
|
|
ets_delay_us(1000000 + xPortGetCoreID() * 100);
|
|
UBaseType_t priority = uxTaskPriorityGet(NULL);
|
|
ets_printf("test_func2_ipc: [callers_priority = %d, priority = %d, cpu = %d]\n", callers_priority, priority, xPortGetCoreID());
|
|
}
|
|
|
|
static void task(void *sema)
|
|
{
|
|
int priority = uxTaskPriorityGet(NULL);
|
|
ESP_LOGI("task", "start [priority = %d, cpu = %d]", priority, xPortGetCoreID());
|
|
xSemaphoreTake(*(xSemaphoreHandle *)sema, portMAX_DELAY);
|
|
esp_ipc_call_blocking(!xPortGetCoreID(), test_func2_ipc, &priority);
|
|
xSemaphoreGive(*(xSemaphoreHandle *)sema);
|
|
ESP_LOGI("task", "finish [priority = %d, cpu = %d]", priority, xPortGetCoreID());
|
|
vTaskDelete(NULL);
|
|
}
|
|
|
|
TEST_CASE("Test multiple ipc_calls", "[ipc]")
|
|
{
|
|
const int max_tasks = 5;
|
|
UBaseType_t priority = uxTaskPriorityGet(NULL);
|
|
ESP_LOGI("test", "priority = %d, cpu = %d", priority, xPortGetCoreID());
|
|
xSemaphoreHandle sema_ipc_done[max_tasks * portNUM_PROCESSORS];
|
|
|
|
for (int task_num = 0; task_num < max_tasks; ++task_num) {
|
|
++priority;
|
|
ESP_LOGI("test", "task prio = %d", priority);
|
|
for (int cpu_num = 0; cpu_num < portNUM_PROCESSORS; ++cpu_num) {
|
|
sema_ipc_done[task_num * 2 + cpu_num] = xSemaphoreCreateBinary();
|
|
xTaskCreatePinnedToCore(task, "task", 4096, &sema_ipc_done[task_num * 2 + cpu_num], priority, NULL, cpu_num);
|
|
}
|
|
}
|
|
|
|
for (int task_num = 0; task_num < max_tasks; ++task_num) {
|
|
for (int cpu_num = 0; cpu_num < portNUM_PROCESSORS; ++cpu_num) {
|
|
xSemaphoreGive(sema_ipc_done[task_num * 2 + cpu_num]);
|
|
}
|
|
}
|
|
|
|
for (int task_num = 0; task_num < max_tasks; ++task_num) {
|
|
for (int cpu_num = 0; cpu_num < portNUM_PROCESSORS; ++cpu_num) {
|
|
xSemaphoreTake(sema_ipc_done[task_num * 2 + cpu_num], portMAX_DELAY);
|
|
vSemaphoreDelete(sema_ipc_done[task_num * 2 + cpu_num]);
|
|
}
|
|
}
|
|
}
|
|
#endif /* CONFIG_ESP_IPC_USE_CALLERS_PRIORITY */
|
|
|
|
#endif /* !CONFIG_FREERTOS_UNICORE */
|