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

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