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unit_tests: replace legacy timer group with gptimer

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This commit is contained in:
morris
2022-01-02 16:19:49 +08:00
parent 6bf3af7c8e
commit 705788a13f
18 changed files with 415 additions and 663 deletions
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82
components/freertos/test/test_suspend_scheduler.c
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@@ -7,33 +7,24 @@
#include "freertos/queue.h"
#include "unity.h"
#include "test_utils.h"
#include "driver/timer.h"
#include "esp_intr_alloc.h"
#include "driver/gptimer.h"
#include "esp_private/gptimer.h"
#include "sdkconfig.h"
#include "esp_rom_sys.h"
#ifdef CONFIG_IDF_TARGET_ESP32S2
#define int_clr_timers int_clr
#define update update.update
#define int_st_timers int_st
#endif
static SemaphoreHandle_t isr_semaphore;
static volatile unsigned isr_count;
/* Timer ISR increments an ISR counter, and signals a
mutex semaphore to wake up another counter task */
static void timer_group0_isr(void *vp_arg)
static bool on_timer_alarm_cb(gptimer_handle_t timer, const gptimer_alarm_event_data_t *edata, void *user_ctx)
{
timer_group_clr_intr_status_in_isr(TIMER_GROUP_0, TIMER_0);
timer_group_enable_alarm_in_isr(TIMER_GROUP_0, TIMER_0);
portBASE_TYPE higher_awoken = pdFALSE;
isr_count++;
xSemaphoreGiveFromISR(isr_semaphore, &higher_awoken);
if (higher_awoken == pdTRUE) {
portYIELD_FROM_ISR();
}
return higher_awoken == pdTRUE;
}
typedef struct {
@@ -45,7 +36,7 @@ static void counter_task_fn(void *vp_config)
{
counter_config_t *config = (counter_config_t *)vp_config;
printf("counter_task running...\n");
while(1) {
while (1) {
xSemaphoreTake(config->trigger_sem, portMAX_DELAY);
config->counter++;
}
@@ -59,9 +50,11 @@ static void counter_task_fn(void *vp_config)
TEST_CASE("Scheduler disabled can handle a pending context switch on resume", "[freertos]")
{
isr_count = 0;
isr_semaphore = xSemaphoreCreateBinary();
TaskHandle_t counter_task;
intr_handle_t isr_handle = NULL;
gptimer_handle_t gptimer = NULL;
intr_handle_t intr_handle = NULL;
isr_semaphore = xSemaphoreCreateBinary();
TEST_ASSERT_NOT_NULL(isr_semaphore);
counter_config_t count_config = {
.trigger_sem = isr_semaphore,
@@ -71,25 +64,26 @@ TEST_CASE("Scheduler disabled can handle a pending context switch on resume", "[
&count_config, UNITY_FREERTOS_PRIORITY + 1,
&counter_task, UNITY_FREERTOS_CPU);
/* Configure timer ISR */
const timer_config_t timer_config = {
.alarm_en = 1,
.auto_reload = 1,
.counter_dir = TIMER_COUNT_UP,
.divider = 2, //Range is 2 to 65536
.intr_type = TIMER_INTR_LEVEL,
.counter_en = TIMER_PAUSE,
gptimer_config_t timer_config = {
.clk_src = GPTIMER_CLK_SRC_APB,
.direction = GPTIMER_COUNT_UP,
.resolution_hz = 1000000, // 1MHz, 1 tick=1us
};
/* Configure timer */
timer_init(TIMER_GROUP_0, TIMER_0, &timer_config);
timer_pause(TIMER_GROUP_0, TIMER_0);
timer_set_counter_value(TIMER_GROUP_0, TIMER_0, 0);
timer_set_alarm_value(TIMER_GROUP_0, TIMER_0, 1000);
timer_enable_intr(TIMER_GROUP_0, TIMER_0);
timer_isr_register(TIMER_GROUP_0, TIMER_0, timer_group0_isr, NULL, 0, &isr_handle);
timer_start(TIMER_GROUP_0, TIMER_0);
TEST_ESP_OK(gptimer_new_timer(&timer_config, &gptimer));
gptimer_alarm_config_t alarm_config = {
.reload_count = 0,
.alarm_count = 1000, // alarm period 1ms
.flags.auto_reload_on_alarm = true,
};
gptimer_event_callbacks_t cbs = {
.on_alarm = on_timer_alarm_cb,
};
TEST_ESP_OK(gptimer_register_event_callbacks(gptimer, &cbs, NULL));
TEST_ESP_OK(gptimer_set_alarm_action(gptimer, &alarm_config));
TEST_ESP_OK(gptimer_start(gptimer));
TEST_ESP_OK(gptimer_get_intr_handle(gptimer, &intr_handle));
vTaskDelay(5);
vTaskDelay(pdMS_TO_TICKS(20));
// Check some counts have been triggered via the ISR
TEST_ASSERT(count_config.counter > 10);
@@ -104,24 +98,22 @@ TEST_CASE("Scheduler disabled can handle a pending context switch on resume", "[
// scheduler off on this CPU...
esp_rom_delay_us(20 * 1000);
//TEST_ASSERT_NOT_EQUAL(no_sched_isr, isr_count);
TEST_ASSERT_EQUAL(count_config.counter, no_sched_task);
// disable timer interrupts
timer_disable_intr(TIMER_GROUP_0, TIMER_0);
esp_intr_disable(intr_handle);
// When we resume scheduler, we expect the counter task
// will preempt and count at least one more item
esp_intr_noniram_enable();
timer_enable_intr(TIMER_GROUP_0, TIMER_0);
esp_intr_enable(intr_handle);
xTaskResumeAll();
TEST_ASSERT_NOT_EQUAL(count_config.counter, no_sched_task);
}
esp_intr_free(isr_handle);
timer_disable_intr(TIMER_GROUP_0, TIMER_0);
TEST_ESP_OK(gptimer_stop(gptimer));
TEST_ESP_OK(gptimer_del_timer(gptimer));
vTaskDelete(counter_task);
vSemaphoreDelete(isr_semaphore);
}
@@ -132,7 +124,7 @@ TEST_CASE("Scheduler disabled can handle a pending context switch on resume", "[
*/
TEST_CASE("Scheduler disabled can wake multiple tasks on resume", "[freertos]")
{
#define TASKS_PER_PROC 4
#define TASKS_PER_PROC 4
TaskHandle_t tasks[portNUM_PROCESSORS][TASKS_PER_PROC] = { 0 };
counter_config_t counters[portNUM_PROCESSORS][TASKS_PER_PROC] = { 0 };
@@ -169,7 +161,7 @@ TEST_CASE("Scheduler disabled can wake multiple tasks on resume", "[freertos]")
for (int t = 0; t < TASKS_PER_PROC; t++) {
xSemaphoreGive(counters[p][t].trigger_sem);
}
}
}
esp_rom_delay_us(200); /* Let the other CPU do some things */
@@ -207,7 +199,7 @@ static void suspend_scheduler_5ms_task_fn(void *ignore)
{
vTaskSuspendAll();
sched_suspended = true;
for (int i = 0; i <5; i++) {
for (int i = 0; i < 5; i++) {
esp_rom_delay_us(1000);
}
xTaskResumeAll();
@@ -237,7 +229,7 @@ TEST_CASE("Scheduler disabled on CPU B, tasks on A can wake", "[freertos]")
/* counter task is now blocked on other CPU, waiting for wake_sem, and we expect
that this CPU's scheduler will be suspended for 5ms shortly... */
while(!sched_suspended) { }
while (!sched_suspended) { }
xSemaphoreGive(wake_sem);
esp_rom_delay_us(1000);
@@ -247,7 +239,7 @@ TEST_CASE("Scheduler disabled on CPU B, tasks on A can wake", "[freertos]")
TEST_ASSERT(sched_suspended);
/* wait for the rest of the 5ms... */
while(sched_suspended) { }
while (sched_suspended) { }
esp_rom_delay_us(100);
TEST_ASSERT_EQUAL(1, count_config.counter); // when scheduler resumes, counter task should immediately count