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feat(ipc_isr): adds IPC ISR safe API for other CPU stall API

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This commit is contained in:
Konstantin Kondrashov
2026-07-20 11:20:23 +03:00
parent 6e1dc59ed9
commit 6b95e00788
10 changed files with 499 additions and 64 deletions
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components/esp_system/test_apps/esp_system_unity_tests/main/test_ipc_isr.c
+131 -1
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@@ -1,5 +1,5 @@
/*
* SPDX-FileCopyrightText: 2015-2024 Espressif Systems (Shanghai) CO LTD
* SPDX-FileCopyrightText: 2015-2026 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0
*/
@@ -66,6 +66,7 @@ TEST_CASE("Test ipc_isr blocking IPC function calls get_cycle_count_other_cpu",
}
static bool volatile s_stop;
static bool volatile s_other_cpu_in_critical_section;
static void task_asm(void *arg)
{
@@ -103,4 +104,133 @@ TEST_CASE("Test ipc_isr two tasks use IPC function calls", "[ipc]")
vSemaphoreDelete(exit_sema[0]);
vSemaphoreDelete(exit_sema[1]);
}
static bool volatile s_cmd_other_cpu_exit_critical_section;
static void other_cpu_task_spinlock(void *arg)
{
printf("other_cpu_task_spinlock start, taking critical section...\n");
portMUX_TYPE spinlock = portMUX_INITIALIZER_UNLOCKED;
portENTER_CRITICAL(&spinlock);
s_other_cpu_in_critical_section = true;
while (s_cmd_other_cpu_exit_critical_section == false) { }
s_other_cpu_in_critical_section = false;
portEXIT_CRITICAL(&spinlock);
printf("other_cpu_task_spinlock end, exited critical section.\n");
xSemaphoreGive(*(SemaphoreHandle_t *) arg);
vTaskDelete(NULL);
}
static void other_cpu_task_task_critical(void *arg)
{
printf("other_cpu_task_task_critical start, taking critical section...\n");
#if CONFIG_FREERTOS_SMP
taskENTER_CRITICAL();
#else
portMUX_TYPE spinlock = portMUX_INITIALIZER_UNLOCKED;
taskENTER_CRITICAL(&spinlock);
#endif
s_other_cpu_in_critical_section = true;
while (s_cmd_other_cpu_exit_critical_section == false) { }
s_other_cpu_in_critical_section = false;
#if CONFIG_FREERTOS_SMP
taskEXIT_CRITICAL();
#else
taskEXIT_CRITICAL(&spinlock);
#endif
printf("other_cpu_task_task_critical end, exited critical section.\n");
xSemaphoreGive(*(SemaphoreHandle_t *) arg);
vTaskDelete(NULL);
}
TEST_CASE("Test stall other CPU safe", "[ipc]")
{
SemaphoreHandle_t other_cpu_task_finished = xSemaphoreCreateBinary();
printf("Test start\n");
s_cmd_other_cpu_exit_critical_section = false;
s_other_cpu_in_critical_section = false;
xTaskCreatePinnedToCore(other_cpu_task_spinlock, "other_cpu_task", 4096, &other_cpu_task_finished, UNITY_FREERTOS_PRIORITY - 1, NULL, 1);
while (!s_other_cpu_in_critical_section) {
vTaskDelay(1);
}
TEST_ASSERT_EQUAL(ESP_ERR_NOT_ALLOWED, esp_ipc_isr_stall_other_cpu_safe());
s_cmd_other_cpu_exit_critical_section = true;
while (esp_ipc_isr_stall_other_cpu_safe() != ESP_OK) {
vTaskDelay(1);
}
TEST_ASSERT_TRUE(esp_ipc_isr_is_other_cpu_stalled());
int stalled_core_id = -1;
esp_ipc_isr_call_blocking(esp_test_ipc_isr_get_other_core_id, &stalled_core_id);
TEST_ASSERT_EQUAL(1, stalled_core_id);
esp_ipc_isr_release_other_cpu();
xSemaphoreTake(other_cpu_task_finished, portMAX_DELAY);
printf("Test end\n");
vSemaphoreDelete(other_cpu_task_finished);
}
TEST_CASE("Test nested stall other CPU release", "[ipc]")
{
printf("Test start\n");
esp_ipc_isr_stall_other_cpu();
TEST_ASSERT_TRUE(esp_ipc_isr_is_other_cpu_stalled());
esp_ipc_isr_stall_other_cpu();
TEST_ASSERT_TRUE(esp_ipc_isr_is_other_cpu_stalled());
esp_ipc_isr_release_other_cpu();
TEST_ASSERT_TRUE(esp_ipc_isr_is_other_cpu_stalled());
int stalled_core_id = -1;
esp_ipc_isr_call_blocking(esp_test_ipc_isr_get_other_core_id, &stalled_core_id);
TEST_ASSERT_EQUAL(1, stalled_core_id);
esp_ipc_isr_release_other_cpu();
TEST_ASSERT_FALSE(esp_ipc_isr_is_other_cpu_stalled());
printf("Test end\n");
}
TEST_CASE("Test stall other CPU safe with callbacks", "[ipc]")
{
SemaphoreHandle_t other_cpu_task_finished = xSemaphoreCreateBinary();
printf("Test start\n");
s_cmd_other_cpu_exit_critical_section = false;
s_other_cpu_in_critical_section = false;
xTaskCreatePinnedToCore(other_cpu_task_task_critical, "other_cpu_task", 4096, &other_cpu_task_finished, UNITY_FREERTOS_PRIORITY - 1, NULL, 1);
while (!s_other_cpu_in_critical_section) {
vTaskDelay(1);
}
TEST_ASSERT_EQUAL(ESP_ERR_NOT_ALLOWED, esp_ipc_isr_stall_other_cpu_safe());
s_cmd_other_cpu_exit_critical_section = true;
while (esp_ipc_isr_stall_other_cpu_safe() != ESP_OK) {
vTaskDelay(1);
}
TEST_ASSERT_TRUE(esp_ipc_isr_is_other_cpu_stalled());
int original_val = 0x12345678;
int expected_val = 0xa5a5;
int val = original_val;
esp_ipc_isr_call(esp_test_ipc_isr_callback, &val);
while (val != expected_val) {}
val = original_val;
esp_ipc_isr_call_blocking(esp_test_ipc_isr_callback, &val);
TEST_ASSERT_EQUAL_HEX(expected_val, val);
esp_ipc_isr_release_other_cpu();
xSemaphoreTake(other_cpu_task_finished, portMAX_DELAY);
printf("Test end\n");
vSemaphoreDelete(other_cpu_task_finished);
}
#endif /* CONFIG_ESP_IPC_ISR_ENABLE */