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esp_timer: Add ESP_TIMER_ISR dispatch method

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Using own spinlock for each list (TASK and ISR disp method)
Reduced the dependency of ISR on the TASK dispatch method
This commit is contained in:
KonstantinKondrashov
2020-02-10 21:45:09 +08:00
parent bcbee89030
commit 63d4911cdb
11 changed files with 551 additions and 159 deletions
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235
components/esp_timer/test/test_esp_timer.c
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@@ -15,6 +15,8 @@
#include "esp_freertos_hooks.h"
#include "esp_rom_sys.h"
#define SEC (1000000)
#if CONFIG_ESP_TIMER_IMPL_FRC2
#include "soc/frc_timer_reg.h"
#endif
@@ -916,3 +918,236 @@ TEST_CASE("Test a latency between a call of callback and real event", "[esp_time
TEST_ESP_OK(esp_timer_stop(periodic_timer));
TEST_ESP_OK(esp_timer_delete(periodic_timer));
}
#ifdef CONFIG_ESP_TIMER_SUPPORTS_ISR_DISPATCH_METHOD
static int64_t old_time[2];
static void timer_isr_callback(void* arg)
{
int num_timer = *((int*)arg);
int64_t now = esp_timer_get_time();
int64_t dt = now - old_time[num_timer];
old_time[num_timer] = now;
if (num_timer == 1) {
esp_rom_printf("(%lld): \t\t\t\t timer ISR, dt: %lld us\n", now, dt);
assert(xPortInIsrContext());
} else {
esp_rom_printf("(%lld): timer TASK, dt: %lld us\n", now, dt);
assert(!xPortInIsrContext());
}
}
TEST_CASE("Test ESP_TIMER_ISR dispatch method", "[esp_timer]")
{
TEST_ESP_OK(esp_timer_dump(stdout));
int timer[2]= {1, 2};
const esp_timer_create_args_t periodic_timer1_args = {
.callback = &timer_isr_callback,
.dispatch_method = ESP_TIMER_ISR,
.arg = &timer[0],
.name = "ISR",
};
esp_timer_handle_t periodic_timer1;
TEST_ESP_OK(esp_timer_create(&periodic_timer1_args, &periodic_timer1));
TEST_ESP_OK(esp_timer_start_periodic(periodic_timer1, 400000));
const esp_timer_create_args_t periodic_timer2_args = {
.callback = &timer_isr_callback,
.dispatch_method = ESP_TIMER_TASK,
.arg = &timer[1],
.name = "TASK",
};
esp_timer_handle_t periodic_timer2;
TEST_ESP_OK(esp_timer_create(&periodic_timer2_args, &periodic_timer2));
TEST_ESP_OK(esp_timer_start_periodic(periodic_timer2, 500000));
printf("timers created\n");
vTaskDelay(10 * 1000 / portTICK_PERIOD_MS);
TEST_ESP_OK(esp_timer_stop(periodic_timer1));
TEST_ESP_OK(esp_timer_stop(periodic_timer2));
TEST_ESP_OK(esp_timer_dump(stdout));
TEST_ESP_OK(esp_timer_delete(periodic_timer1));
TEST_ESP_OK(esp_timer_delete(periodic_timer2));
printf("timers deleted\n");
TEST_ESP_OK(esp_timer_dump(stdout));
}
static void dump_task(void* arg)
{
bool* stop_dump_task = (bool*) arg;
while (*stop_dump_task == false) {
TEST_ESP_OK(esp_timer_dump(NULL));
}
vTaskDelete(NULL);
}
static void isr_callback(void* arg)
{
assert(xPortInIsrContext());
}
static void task_callback(void* arg)
{
assert(!xPortInIsrContext());
}
TEST_CASE("Test ESP_TIMER_ISR dispatch method is not blocked", "[esp_timer]")
{
const esp_timer_create_args_t periodic_timer1_args = {
.callback = &isr_callback,
.dispatch_method = ESP_TIMER_ISR,
.arg = NULL,
.name = "ISR",
};
esp_timer_handle_t periodic_timer1;
TEST_ESP_OK(esp_timer_create(&periodic_timer1_args, &periodic_timer1));
TEST_ESP_OK(esp_timer_start_periodic(periodic_timer1, 500));
const esp_timer_create_args_t periodic_timer2_args = {
.callback = &task_callback,
.dispatch_method = ESP_TIMER_TASK,
.arg = NULL,
.name = "TASK",
};
esp_timer_handle_t periodic_timer2;
TEST_ESP_OK(esp_timer_create(&periodic_timer2_args, &periodic_timer2));
TEST_ESP_OK(esp_timer_start_periodic(periodic_timer2, 5000));
printf("timers created\n");
bool stop_dump_task = false;
xTaskCreatePinnedToCore(&dump_task, "dump", 4096, &stop_dump_task, UNITY_FREERTOS_PRIORITY, NULL, 0);
vTaskDelay(10 * 1000 / portTICK_PERIOD_MS);
stop_dump_task = true;
vTaskDelay(100 / portTICK_PERIOD_MS);
TEST_ESP_OK(esp_timer_stop(periodic_timer1));
TEST_ESP_OK(esp_timer_stop(periodic_timer2));
TEST_ESP_OK(esp_timer_dump(stdout));
TEST_ESP_OK(esp_timer_delete(periodic_timer1));
TEST_ESP_OK(esp_timer_delete(periodic_timer2));
printf("timer deleted\n");
}
static void isr_callback1(void* arg)
{
assert(xPortInIsrContext());
BaseType_t xHigherPriorityTaskWoken = pdFALSE;
esp_rom_printf("isr_callback1: timer ISR\n");
SemaphoreHandle_t done = *(SemaphoreHandle_t*) arg;
xSemaphoreGiveFromISR(done, &xHigherPriorityTaskWoken);
if (xHigherPriorityTaskWoken) {
esp_timer_isr_dispatch_need_yield();
}
}
static void task_callback1(void* arg)
{
assert(0);
}
TEST_CASE("Test ESP_TIMER_ISR, stop API cleans alarm reg if TASK timer list is empty", "[esp_timer]")
{
SemaphoreHandle_t done = xSemaphoreCreateBinary();
const esp_timer_create_args_t timer1_args = {
.callback = &isr_callback1,
.dispatch_method = ESP_TIMER_ISR,
.arg = &done,
.name = "ISR",
};
esp_timer_handle_t timer1;
TEST_ESP_OK(esp_timer_create(&timer1_args, &timer1));
TEST_ESP_OK(esp_timer_start_periodic(timer1, 5 * SEC));
const esp_timer_create_args_t timer2_args = {
.callback = &task_callback1,
.dispatch_method = ESP_TIMER_TASK,
.arg = NULL,
.name = "TASK",
};
esp_timer_handle_t timer2;
TEST_ESP_OK(esp_timer_create(&timer2_args, &timer2));
TEST_ESP_OK(esp_timer_start_once(timer2, 3 * SEC));
printf("timers created\n");
printf("stop timer2\n");
TEST_ESP_OK(esp_timer_stop(timer2));
TEST_ASSERT(xSemaphoreTake(done, 6 * 1000 / portTICK_PERIOD_MS));
printf("stop timer1\n");
TEST_ESP_OK(esp_timer_stop(timer1));
TEST_ESP_OK(esp_timer_dump(stdout));
TEST_ESP_OK(esp_timer_delete(timer1));
TEST_ESP_OK(esp_timer_delete(timer2));
vSemaphoreDelete(done);
printf("timer deleted\n");
}
static void isr_callback2(void* arg)
{
assert(0);
}
static void task_callback2(void* arg)
{
assert(!xPortInIsrContext());
esp_rom_printf("task_callback2: timer TASK\n");
SemaphoreHandle_t done = *(SemaphoreHandle_t*) arg;
xSemaphoreGive(done);
}
TEST_CASE("Test ESP_TIMER_ISR, stop API cleans alarm reg if ISR timer list is empty", "[esp_timer]")
{
SemaphoreHandle_t done = xSemaphoreCreateBinary();
const esp_timer_create_args_t timer1_args = {
.callback = &isr_callback2,
.dispatch_method = ESP_TIMER_ISR,
.arg = NULL,
.name = "ISR",
};
esp_timer_handle_t timer1;
TEST_ESP_OK(esp_timer_create(&timer1_args, &timer1));
TEST_ESP_OK(esp_timer_start_once(timer1, 3 * SEC));
const esp_timer_create_args_t timer2_args = {
.callback = &task_callback2,
.dispatch_method = ESP_TIMER_TASK,
.arg = &done,
.name = "TASK",
};
esp_timer_handle_t timer2;
TEST_ESP_OK(esp_timer_create(&timer2_args, &timer2));
TEST_ESP_OK(esp_timer_start_periodic(timer2, 5 * SEC));
printf("timers created\n");
printf("stop timer1\n");
TEST_ESP_OK(esp_timer_stop(timer1));
TEST_ASSERT(xSemaphoreTake(done, 6 * 1000 / portTICK_PERIOD_MS));
printf("stop timer2\n");
TEST_ESP_OK(esp_timer_stop(timer2));
TEST_ESP_OK(esp_timer_dump(stdout));
TEST_ESP_OK(esp_timer_delete(timer1));
TEST_ESP_OK(esp_timer_delete(timer2));
vSemaphoreDelete(done);
printf("timer deleted\n");
}
#endif // CONFIG_ESP_TIMER_SUPPORTS_ISR_DISPATCH_METHOD