/* ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010, 2011 Giovanni Di Sirio. This file is part of ChibiOS/RT. ChibiOS/RT is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation; either version 3 of the License, or (at your option) any later version. ChibiOS/RT is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with this program. If not, see . */ #include #include "ch.h" #include "hal.h" /*===========================================================================*/ /* Configurable settings. */ /*===========================================================================*/ #ifndef RANDOMIZE #define RANDOMIZE FALSE #endif #ifndef ITERATIONS #define ITERATIONS 100 #endif #ifndef NUM_THREADS #define NUM_THREADS 4 #endif #ifndef MAILBOX_SIZE #define MAILBOX_SIZE 4 #endif /*===========================================================================*/ /* Test related code. */ /*===========================================================================*/ #define MSG_SEND_LEFT 0 #define MSG_SEND_RIGHT 1 static bool_t saturated; /* * Mailboxes and buffers. */ static Mailbox mb[NUM_THREADS]; static msg_t b[NUM_THREADS][MAILBOX_SIZE]; /* * Test worker threads. */ static WORKING_AREA(waWorkerThread[NUM_THREADS], 128); static msg_t WorkerThread(void *arg) { static volatile unsigned x = 0; static unsigned cnt = 0; unsigned me = (unsigned)arg; unsigned target; unsigned r; msg_t msg; chRegSetThreadName("worker"); /* Work loop.*/ while (TRUE) { /* Waiting for a message.*/ chMBFetch(&mb[me], &msg, TIME_INFINITE); #if RANDOMIZE /* Pseudo-random delay.*/ { chSysLock(); r = rand() & 15; chSysUnlock(); while (r--) x++; } #else /* Fixed delay.*/ { r = me >> 4; while (r--) x++; } #endif /* Deciding in which direction to re-send the message.*/ if (msg == MSG_SEND_LEFT) target = me - 1; else target = me + 1; if (target < NUM_THREADS) { /* If this thread is not at the end of a chain re-sending the message, note this check works because the variable target is unsigned.*/ msg = chMBPost(&mb[target], msg, TIME_IMMEDIATE); if (msg != RDY_OK) saturated = TRUE; } else { /* Provides a visual feedback about the system.*/ if (++cnt >= 500) { cnt = 0; palTogglePad(GPIOB, GPIOB_LED4); } } } } /* * GPT2 callback. */ static void gpt2cb(GPTDriver *gptp) { msg_t msg; (void)gptp; chSysLockFromIsr(); msg = chMBPostI(&mb[0], MSG_SEND_RIGHT); if (msg != RDY_OK) saturated = TRUE; chSysUnlockFromIsr(); } /* * GPT3 callback. */ static void gpt3cb(GPTDriver *gptp) { msg_t msg; (void)gptp; chSysLockFromIsr(); msg = chMBPostI(&mb[NUM_THREADS - 1], MSG_SEND_LEFT); if (msg != RDY_OK) saturated = TRUE; chSysUnlockFromIsr(); } /* * GPT2 configuration. */ static const GPTConfig gpt2cfg = { 1000000, /* 1MHz timer clock.*/ gpt2cb /* Timer callback.*/ }; /* * GPT3 configuration. */ static const GPTConfig gpt3cfg = { 1000000, /* 1MHz timer clock.*/ gpt3cb /* Timer callback.*/ }; /*===========================================================================*/ /* Generic demo code. */ /*===========================================================================*/ static void print(char *p) { while (*p) { chIOPut(&SD1, *p++); } } static void println(char *p) { while (*p) { chIOPut(&SD1, *p++); } chIOWriteTimeout(&SD1, (uint8_t *)"\r\n", 2, TIME_INFINITE); } static void printn(uint32_t n) { char buf[16], *p; if (!n) chIOPut(&SD1, '0'); else { p = buf; while (n) *p++ = (n % 10) + '0', n /= 10; while (p > buf) chIOPut(&SD1, *--p); } } /* * Application entry point. */ int main(void) { unsigned i; gptcnt_t interval, threshold, worst; /* * System initializations. * - HAL initialization, this also initializes the configured device drivers * and performs the board-specific initializations. * - Kernel initialization, the main() function becomes a thread and the * RTOS is active. */ halInit(); chSysInit(); /* * Prepares the Serial driver 1 and GPT drivers 2 and 3. */ sdStart(&SD1, NULL); /* Default is 38400-8-N-1.*/ palSetPadMode(GPIOA, 9, PAL_MODE_ALTERNATE(7)); palSetPadMode(GPIOA, 10, PAL_MODE_ALTERNATE(7)); gptStart(&GPTD2, &gpt2cfg); gptStart(&GPTD3, &gpt3cfg); /* * Initializes the mailboxes and creates the worker threads. */ for (i = 0; i < NUM_THREADS; i++) { chMBInit(&mb[i], b[i], MAILBOX_SIZE); chThdCreateStatic(waWorkerThread[i], sizeof waWorkerThread[i], NORMALPRIO - 20, WorkerThread, (void *)i); } /* * Test procedure. */ println(""); println("*** ChibiOS/RT IRQ-STORM long duration test"); println("***"); print("*** Kernel: "); println(CH_KERNEL_VERSION); print("*** Compiled: "); println(__DATE__ " - " __TIME__); #ifdef CH_COMPILER_NAME print("*** Compiler: "); println(CH_COMPILER_NAME); #endif print("*** Architecture: "); println(CH_ARCHITECTURE_NAME); #ifdef CH_CORE_VARIANT_NAME print("*** Core Variant: "); println(CH_CORE_VARIANT_NAME); #endif #ifdef CH_PORT_INFO print("*** Port Info: "); println(CH_PORT_INFO); #endif #ifdef PLATFORM_NAME print("*** Platform: "); println(PLATFORM_NAME); #endif #ifdef BOARD_NAME print("*** Test Board: "); println(BOARD_NAME); #endif println("***"); print("*** System Clock: "); printn(STM32_SYSCLK); println(""); print("*** Iterations: "); printn(ITERATIONS); println(""); print("*** Randomize: "); printn(RANDOMIZE); println(""); print("*** Threads: "); printn(NUM_THREADS); println(""); print("*** Mailbox size: "); printn(MAILBOX_SIZE); println(""); println(""); worst = 0; for (i = 1; i <= ITERATIONS; i++){ print("Iteration "); printn(i); println(""); saturated = FALSE; threshold = 0; for (interval = 2000; interval >= 20; interval -= interval / 10) { gptStartContinuous(&GPTD2, interval - 1); /* Slightly out of phase.*/ gptStartContinuous(&GPTD3, interval + 1); /* Slightly out of phase.*/ chThdSleepMilliseconds(1000); gptStopTimer(&GPTD2); gptStopTimer(&GPTD3); if (!saturated) print("."); else { print("#"); if (threshold == 0) threshold = interval; } } /* Gives the worker threads a chance to empty the mailboxes before next cycle.*/ chThdSleepMilliseconds(20); println(""); print("Saturated at "); printn(threshold); println(" uS"); println(""); if (threshold > worst) worst = threshold; } gptStopTimer(&GPTD2); gptStopTimer(&GPTD3); print("Worst case at "); printn(worst); println(" uS"); println(""); println("Test Complete"); /* * Normal main() thread activity, nothing in this test. */ while (TRUE) { chThdSleepMilliseconds(5000); } return 0; } > 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280