alex/esp-idf
alex/esp-idf
1
0
Fork 0
mirror of https://github.com/espressif/esp-idf.git synced 2024-10-05 20:47:46 -04:00
Code Issues Actions 2 Packages Projects Releases Wiki Activity

esp_common: IPC works with the priority of the caller's task

Browse Source 
Closes: IDF-78
This commit is contained in:
KonstantinKondrashov 2019-09-25 00:09:30 +08:00
parent 1c1108d47b
commit b125bb50ea
2 changed files with 110 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

103
components/esp32/test/test_ipc.c
View File

@ -1,8 +1,10 @@
#include <stdio.h>
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "freertos/semphr.h"
#include "unity.h"
#include "esp_ipc.h"
#include "esp_log.h"
#include "sdkconfig.h"
#if !CONFIG_FREERTOS_UNICORE
@ -19,4 +21,105 @@ TEST_CASE("Test blocking IPC function call", "[ipc]")
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_FREERTOS_UNICORE */
#endif // CONFIG_ESP_IPC_USE_CALLERS_PRIORITY

9
components/esp_common/src/ipc.c
View File

@ -24,7 +24,7 @@
#include "freertos/task.h"
#include "freertos/semphr.h"
static TaskHandle_t s_ipc_task_handle[portNUM_PROCESSORS];
static SemaphoreHandle_t s_ipc_mutex; // This mutex is used as a global lock for esp_ipc_* APIs
static SemaphoreHandle_t s_ipc_sem[portNUM_PROCESSORS]; // Two semaphores used to wake each of ipc tasks
static SemaphoreHandle_t s_ipc_ack; // Semaphore used to acknowledge that task was woken up,
@ -93,7 +93,7 @@ static void esp_ipc_init(void)
snprintf(task_name, sizeof(task_name), "ipc%d", i);
s_ipc_sem[i] = xSemaphoreCreateBinary();
portBASE_TYPE res = xTaskCreatePinnedToCore(ipc_task, task_name, CONFIG_ESP_IPC_TASK_STACK_SIZE, (void*) i,
configMAX_PRIORITIES - 1, NULL, i);
configMAX_PRIORITIES - 1, &s_ipc_task_handle[i], i);
assert(res == pdTRUE);
}
}
@ -109,6 +109,11 @@ static esp_err_t esp_ipc_call_and_wait(uint32_t cpu_id, esp_ipc_func_t func, voi
xSemaphoreTake(s_ipc_mutex, portMAX_DELAY);
TaskHandle_t task_handler = xTaskGetCurrentTaskHandle();
UBaseType_t priority_of_current_task = uxTaskPriorityGet(task_handler);
// ipc_task will work with the priority of the caller's task.
vTaskPrioritySet(s_ipc_task_handle[cpu_id], priority_of_current_task);
s_func = func;
s_func_arg = arg;
s_ipc_wait = wait_for;