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

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2.1 KiB
C
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#include <esp_types.h>
#include <stdio.h>
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "freertos/semphr.h"
#include "freertos/queue.h"
#include "freertos/xtensa_api.h"
#include "esp_intr_alloc.h"
#include "xtensa/hal.h"
#include "unity.h"
#include "soc/cpu.h"
#include "test_utils.h"
#define SW_ISR_LEVEL_1 7
static SemaphoreHandle_t sync;
static SemaphoreHandle_t end_sema;
static uint32_t cycle_before_trigger;
static uint32_t cycle_before_exit;
static uint32_t delta_enter_cycles = 0;
static uint32_t delta_exit_cycles = 0;
static void software_isr(void *arg) {
(void)arg;
BaseType_t yield;
delta_enter_cycles += portGET_RUN_TIME_COUNTER_VALUE() - cycle_before_trigger;
xt_set_intclear(1 << SW_ISR_LEVEL_1);
xSemaphoreGiveFromISR(sync, &yield);
if(yield) {
portYIELD_FROM_ISR();
}
cycle_before_exit = portGET_RUN_TIME_COUNTER_VALUE();
}
static void test_task(void *arg) {
(void)arg;
intr_handle_t handle;
esp_err_t err = esp_intr_alloc(ETS_INTERNAL_SW0_INTR_SOURCE, ESP_INTR_FLAG_LEVEL1, &software_isr, NULL, &handle);
TEST_ASSERT_EQUAL_HEX32(ESP_OK, err);
for(int i = 0;i < 10000; i++) {
cycle_before_trigger = portGET_RUN_TIME_COUNTER_VALUE();
xt_set_intset(1 << SW_ISR_LEVEL_1);
xSemaphoreTake(sync, portMAX_DELAY);
delta_exit_cycles += portGET_RUN_TIME_COUNTER_VALUE() - cycle_before_exit;
}
delta_enter_cycles /= 10000;
delta_exit_cycles /= 10000;
esp_intr_free(handle);
xSemaphoreGive(end_sema);
vTaskDelete(NULL);
}
TEST_CASE("isr latency test", "[freertos] [ignore]")
{
sync = xSemaphoreCreateBinary();
TEST_ASSERT(sync != NULL);
end_sema = xSemaphoreCreateBinary();
TEST_ASSERT(end_sema != NULL);
xTaskCreatePinnedToCore(test_task, "tst" , 4096, NULL, configMAX_PRIORITIES - 1, NULL, 0);
BaseType_t result = xSemaphoreTake(end_sema, portMAX_DELAY);
TEST_ASSERT_EQUAL_HEX32(pdTRUE, result);
TEST_PERFORMANCE_LESS_THAN(ISR_ENTER_CYCLES, "%d cycles" ,delta_enter_cycles);
TEST_PERFORMANCE_LESS_THAN(ISR_EXIT_CYCLES, "%d cycles" ,delta_exit_cycles);
}