331 lines
7.8 KiB
C
331 lines
7.8 KiB
C
/*
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ChibiOS/RT - Copyright (C) 2006-2013 Giovanni Di Sirio
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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*/
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#include <stdlib.h>
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#include "ch.h"
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#include "hal.h"
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/*===========================================================================*/
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/* Configurable settings. */
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/*===========================================================================*/
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#ifndef RANDOMIZE
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#define RANDOMIZE FALSE
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#endif
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#ifndef ITERATIONS
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#define ITERATIONS 100
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#endif
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#ifndef NUM_THREADS
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#define NUM_THREADS 4
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#endif
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#ifndef MAILBOX_SIZE
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#define MAILBOX_SIZE 4
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#endif
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/*===========================================================================*/
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/* Test related code. */
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/*===========================================================================*/
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#define MSG_SEND_LEFT 0
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#define MSG_SEND_RIGHT 1
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static bool_t saturated;
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/*
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* Mailboxes and buffers.
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*/
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static mailbox_t mb[NUM_THREADS];
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static msg_t b[NUM_THREADS][MAILBOX_SIZE];
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/*
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* Test worker threads.
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*/
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static WORKING_AREA(waWorkerThread[NUM_THREADS], 128);
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static msg_t WorkerThread(void *arg) {
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static volatile unsigned x = 0;
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static unsigned cnt = 0;
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unsigned me = (unsigned)arg;
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unsigned target;
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unsigned r;
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msg_t msg;
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chRegSetThreadName("worker");
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/* Work loop.*/
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while (TRUE) {
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/* Waiting for a message.*/
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chMBFetch(&mb[me], &msg, TIME_INFINITE);
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#if RANDOMIZE
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/* Pseudo-random delay.*/
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{
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chSysLock();
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r = rand() & 15;
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chSysUnlock();
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while (r--)
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x++;
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}
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#else
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/* Fixed delay.*/
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{
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r = me >> 4;
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while (r--)
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x++;
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}
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#endif
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/* Deciding in which direction to re-send the message.*/
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if (msg == MSG_SEND_LEFT)
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target = me - 1;
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else
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target = me + 1;
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if (target < NUM_THREADS) {
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/* If this thread is not at the end of a chain re-sending the message,
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note this check works because the variable target is unsigned.*/
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msg = chMBPost(&mb[target], msg, TIME_IMMEDIATE);
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if (msg != MSG_OK)
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saturated = TRUE;
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}
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else {
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/* Provides a visual feedback about the system.*/
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if (++cnt >= 500) {
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cnt = 0;
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palTogglePad(GPIOC, GPIOC_LED4);
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}
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}
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}
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}
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/*
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* GPT2 callback.
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*/
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static void gpt2cb(GPTDriver *gptp) {
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msg_t msg;
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(void)gptp;
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chSysLockFromISR();
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msg = chMBPostI(&mb[0], MSG_SEND_RIGHT);
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if (msg != MSG_OK)
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saturated = TRUE;
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chSysUnlockFromISR();
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}
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/*
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* GPT3 callback.
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*/
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static void gpt3cb(GPTDriver *gptp) {
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msg_t msg;
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(void)gptp;
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chSysLockFromISR();
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msg = chMBPostI(&mb[NUM_THREADS - 1], MSG_SEND_LEFT);
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if (msg != MSG_OK)
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saturated = TRUE;
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chSysUnlockFromISR();
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}
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/*
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* GPT2 configuration.
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*/
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static const GPTConfig gpt2cfg = {
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1000000, /* 1MHz timer clock.*/
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gpt2cb, /* Timer callback.*/
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0
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};
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/*
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* GPT3 configuration.
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*/
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static const GPTConfig gpt3cfg = {
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1000000, /* 1MHz timer clock.*/
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gpt3cb, /* Timer callback.*/
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0
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};
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/*===========================================================================*/
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/* Generic demo code. */
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/*===========================================================================*/
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static void print(char *p) {
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while (*p) {
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chSequentialStreamPut(&SD1, *p++);
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}
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}
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static void println(char *p) {
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while (*p) {
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chSequentialStreamPut(&SD1, *p++);
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}
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chSequentialStreamWrite(&SD1, (uint8_t *)"\r\n", 2);
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}
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static void printn(uint32_t n) {
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char buf[16], *p;
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if (!n)
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chSequentialStreamPut(&SD1, '0');
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else {
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p = buf;
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while (n)
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*p++ = (n % 10) + '0', n /= 10;
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while (p > buf)
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chSequentialStreamPut(&SD1, *--p);
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}
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}
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/*
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* Application entry point.
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*/
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int main(void) {
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unsigned i;
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gptcnt_t interval, threshold, worst;
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/*
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* System initializations.
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* - HAL initialization, this also initializes the configured device drivers
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* and performs the board-specific initializations.
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* - Kernel initialization, the main() function becomes a thread and the
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* RTOS is active.
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*/
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halInit();
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chSysInit();
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/*
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* Prepares the Serial driver 1 and GPT drivers 2 and 3.
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*/
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sdStart(&SD1, NULL);
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palSetPadMode(GPIOA, 9, PAL_MODE_ALTERNATE(1)); /* USART1 TX. */
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palSetPadMode(GPIOA, 10, PAL_MODE_ALTERNATE(1)); /* USART1 RX. */
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gptStart(&GPTD1, &gpt2cfg);
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gptStart(&GPTD3, &gpt3cfg);
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/*
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* Initializes the mailboxes and creates the worker threads.
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*/
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for (i = 0; i < NUM_THREADS; i++) {
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chMBObjectInit(&mb[i], b[i], MAILBOX_SIZE);
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chThdCreateStatic(waWorkerThread[i], sizeof waWorkerThread[i],
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NORMALPRIO - 20, WorkerThread, (void *)i);
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}
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/*
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* Test procedure.
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*/
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println("");
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println("*** ChibiOS/RT IRQ-STORM long duration test");
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println("***");
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print("*** Kernel: ");
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println(CH_KERNEL_VERSION);
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print("*** Compiled: ");
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println(__DATE__ " - " __TIME__);
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#ifdef CH_COMPILER_NAME
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print("*** Compiler: ");
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println(CH_COMPILER_NAME);
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#endif
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print("*** Architecture: ");
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println(CH_ARCHITECTURE_NAME);
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#ifdef CH_CORE_VARIANT_NAME
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print("*** Core Variant: ");
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println(CH_CORE_VARIANT_NAME);
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#endif
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#ifdef CH_PORT_INFO
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print("*** Port Info: ");
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println(CH_PORT_INFO);
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#endif
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#ifdef PLATFORM_NAME
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print("*** Platform: ");
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println(PLATFORM_NAME);
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#endif
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#ifdef BOARD_NAME
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print("*** Test Board: ");
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println(BOARD_NAME);
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#endif
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println("***");
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print("*** System Clock: ");
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printn(STM32_SYSCLK);
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println("");
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print("*** Iterations: ");
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printn(ITERATIONS);
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println("");
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print("*** Randomize: ");
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printn(RANDOMIZE);
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println("");
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print("*** Threads: ");
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printn(NUM_THREADS);
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println("");
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print("*** Mailbox size: ");
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printn(MAILBOX_SIZE);
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println("");
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println("");
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worst = 0;
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for (i = 1; i <= ITERATIONS; i++){
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print("Iteration ");
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printn(i);
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println("");
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saturated = FALSE;
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threshold = 0;
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for (interval = 2000; interval >= 20; interval -= interval / 10) {
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gptStartContinuous(&GPTD1, interval - 1); /* Slightly out of phase.*/
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gptStartContinuous(&GPTD3, interval + 1); /* Slightly out of phase.*/
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chThdSleepMilliseconds(1000);
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gptStopTimer(&GPTD1);
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gptStopTimer(&GPTD3);
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if (!saturated)
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print(".");
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else {
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print("#");
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if (threshold == 0)
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threshold = interval;
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}
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}
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/* Gives the worker threads a chance to empty the mailboxes before next
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cycle.*/
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chThdSleepMilliseconds(20);
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println("");
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print("Saturated at ");
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printn(threshold);
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println(" uS");
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println("");
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if (threshold > worst)
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worst = threshold;
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}
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gptStopTimer(&GPTD1);
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gptStopTimer(&GPTD3);
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print("Worst case at ");
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printn(worst);
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println(" uS");
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println("");
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println("Test Complete");
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/*
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* Normal main() thread activity, nothing in this test.
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*/
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while (TRUE) {
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chThdSleepMilliseconds(5000);
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}
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return 0;
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}
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