esp-idf/components/freertos/test/test_spinlocks.c

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/*
Combined unit tests & benchmarking for spinlock "portMUX" functionality
*/
#include <esp_types.h>
#include <stdio.h>
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "freertos/semphr.h"
#include "freertos/queue.h"
#include "unity.h"
#include "soc/cpu.h"
#include "hal/cpu_hal.h"
#include "test_utils.h"
#define REPEAT_OPS 10000
static uint32_t start, end;
#define BENCHMARK_START() do { \
start = cpu_hal_get_cycle_count(); \
} while(0)
#define BENCHMARK_END(OPERATION) do { \
end = cpu_hal_get_cycle_count(); \
printf("%s took %d cycles/op (%d cycles for %d ops)\n", \
OPERATION, (end - start)/REPEAT_OPS, \
(end - start), REPEAT_OPS); \
} while(0)
TEST_CASE("portMUX spinlocks (no contention)", "[freertos]")
{
portMUX_TYPE mux = portMUX_INITIALIZER_UNLOCKED;
BENCHMARK_START();
for (int i = 0; i < REPEAT_OPS; i++) {
portENTER_CRITICAL_ISR(&mux);
portEXIT_CRITICAL_ISR(&mux);
}
BENCHMARK_END("no contention lock");
#ifdef CONFIG_FREERTOS_UNICORE
TEST_PERFORMANCE_LESS_THAN(FREERTOS_SPINLOCK_CYCLES_PER_OP_UNICORE, "%d cycles/op", ((end - start)/REPEAT_OPS));
#else
#if CONFIG_SPIRAM
TEST_PERFORMANCE_LESS_THAN(FREERTOS_SPINLOCK_CYCLES_PER_OP_PSRAM, "%d cycles/op", ((end - start)/REPEAT_OPS));
#else
TEST_PERFORMANCE_LESS_THAN(FREERTOS_SPINLOCK_CYCLES_PER_OP, "%d cycles/op", ((end - start)/REPEAT_OPS));
#endif
#endif
}
TEST_CASE("portMUX recursive locks (no contention)", "[freertos]")
{
portMUX_TYPE mux = portMUX_INITIALIZER_UNLOCKED;
BENCHMARK_START();
const int RECURSE_COUNT = 25;
for (int i = 0; i < REPEAT_OPS / RECURSE_COUNT; i++) {
for (int j = 0; j < RECURSE_COUNT; j++) {
portENTER_CRITICAL(&mux);
}
for (int j = 0; j < RECURSE_COUNT; j++) {
portEXIT_CRITICAL(&mux);
}
}
BENCHMARK_END("no contention recursive");
}
#if portNUM_PROCESSORS == 2
static volatile int shared_value;
static portMUX_TYPE *shared_mux;
static xSemaphoreHandle done_sem;
static void task_shared_value_increment(void *ignore)
{
for (int i = 0; i < REPEAT_OPS; i++) {
portENTER_CRITICAL(shared_mux);
shared_value++;
portEXIT_CRITICAL(shared_mux);
}
xSemaphoreGive(done_sem);
vTaskDelete(NULL);
}
TEST_CASE("portMUX cross-core locking", "[freertos]")
{
shared_mux = heap_caps_malloc(sizeof(portMUX_TYPE), MALLOC_CAP_8BIT | MALLOC_CAP_INTERNAL);
done_sem = xSemaphoreCreateCounting(2, 0);
portMUX_INITIALIZE(shared_mux);
shared_value = 0;
BENCHMARK_START();
xTaskCreatePinnedToCore(task_shared_value_increment, "INC0", 2048, NULL, UNITY_FREERTOS_PRIORITY + 1, NULL, UNITY_FREERTOS_CPU ? 0 : 1);
xTaskCreatePinnedToCore(task_shared_value_increment, "INC1", 2048, NULL, UNITY_FREERTOS_PRIORITY + 1, NULL, UNITY_FREERTOS_CPU);
for(int i = 0; i < 2; i++) {
if(!xSemaphoreTake(done_sem, 10000/portTICK_PERIOD_MS)) {
TEST_FAIL_MESSAGE("done_sem not released by test task");
}
}
BENCHMARK_END("cross-core incrementing");
vSemaphoreDelete(done_sem);
free(shared_mux);
TEST_ASSERT_EQUAL_INT(REPEAT_OPS * 2, shared_value);
}
void portmux_high_contention_test(uint32_t lock_malloc_caps)
{
const int TOTAL_TASKS = 8; /* half on each core */
shared_mux = heap_caps_malloc(sizeof(portMUX_TYPE), lock_malloc_caps);
done_sem = xSemaphoreCreateCounting(TOTAL_TASKS, 0);
portMUX_INITIALIZE(shared_mux);
shared_value = 0;
BENCHMARK_START();
for (int i = 0; i < TOTAL_TASKS / 2; i++) {
/* as each task has a higher priority than previous, expect
them to preempt the earlier created task, at least on the
other core (this core has the unity task, until that
blocks)... */
xTaskCreatePinnedToCore(task_shared_value_increment, "INC0", 2048, NULL, tskIDLE_PRIORITY + 1 + i, NULL, UNITY_FREERTOS_CPU ? 0 : 1);
xTaskCreatePinnedToCore(task_shared_value_increment, "INC1", 2048, NULL, tskIDLE_PRIORITY + 1 + i, NULL, UNITY_FREERTOS_CPU);
}
for(int i = 0; i < TOTAL_TASKS; i++) {
if(!xSemaphoreTake(done_sem, 10000/portTICK_PERIOD_MS)) {
TEST_FAIL_MESSAGE("done_sem not released by test task");
}
}
BENCHMARK_END("cross-core high contention");
vSemaphoreDelete(done_sem);
free(shared_mux);
TEST_ASSERT_EQUAL_INT(REPEAT_OPS * TOTAL_TASKS, shared_value);
}
TEST_CASE("portMUX high contention", "[freertos]")
{
portmux_high_contention_test(MALLOC_CAP_8BIT | MALLOC_CAP_INTERNAL);
}
#if CONFIG_SPIRAM_USE_MALLOC || CONFIG_SPIRAM_USE_CAPS_ALLOC
TEST_CASE("portMUX high contention, PSRAM", "[freertos]")
{
portmux_high_contention_test(MALLOC_CAP_8BIT | MALLOC_CAP_SPIRAM);
}
#endif// CONFIG_SPIRAM_USE_MALLOC || CONFIG_SPIRAM_USE_CAPS_ALLOC
#endif // portNUM_PROCESSORS == 2