282 lines
9.9 KiB
C
282 lines
9.9 KiB
C
/**
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* Copyright (c) 2020 Raspberry Pi (Trading) Ltd.
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*
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* SPDX-License-Identifier: BSD-3-Clause
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*/
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#include <stdio.h>
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#include <stdarg.h>
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#include "pico/stdlib.h"
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#include "pico/test.h"
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#include "pico/time.h"
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#include "hardware/irq.h"
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#include "hardware/dma.h"
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#include "hardware/structs/scb.h"
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PICOTEST_MODULE_NAME("IRQ", "IRQ Handler test");
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extern void __unhandled_user_irq(void);
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static bool remove_handler1_in_dma;
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static bool remove_handler2_in_dma;
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static bool remove_handler3_in_dma;
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static dma_channel_config config;
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#define MAX_FIRE_COUNT 4
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static int fire_count;
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static int fired[MAX_FIRE_COUNT];
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static uint32_t dma_to = 0;
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static uint32_t dma_from = 0xaaaa5555;
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int record_fire(int which) {
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PICOTEST_CHECK(fire_count < MAX_FIRE_COUNT, "too many firings");
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fired[fire_count++] = which;
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return 0;
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}
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void __isr handler1(void) {
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record_fire(1);
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dma_channel_acknowledge_irq0(0);
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if (remove_handler1_in_dma) {
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irq_remove_handler(DMA_IRQ_0, handler1);
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remove_handler1_in_dma = false;
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}
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}
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void __isr handler2(void) {
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record_fire(2);
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dma_channel_acknowledge_irq0(0);
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if (remove_handler2_in_dma) {
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irq_remove_handler(DMA_IRQ_0, handler2);
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remove_handler2_in_dma = false;
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}
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}
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void __isr handler3(void) {
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record_fire(3);
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dma_channel_acknowledge_irq0(0);
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if (remove_handler3_in_dma) {
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irq_remove_handler(DMA_IRQ_0, handler3);
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remove_handler3_in_dma = false;
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}
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}
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static inline irq_handler_t *get_vtable(void) {
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return (irq_handler_t *) scb_hw->vtor;
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}
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int dma_check(int expected, ...) {
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if (expected == 0) {
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// doing the DMA if there are no IRQ handlers will cause a hard fault, so we just check we are pointing at the handler which does this.
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PICOTEST_CHECK_AND_ABORT(get_vtable()[16 + DMA_IRQ_0] == __unhandled_user_irq, "Expected there to be no IRQ handlers");
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return 0;
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}
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fire_count = 0;
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dma_channel_configure(0, &config, &dma_to, &dma_from, 1, true);
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sleep_ms(100);
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va_list args;
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va_start(args, expected);
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bool ok = expected == fire_count;
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for(int i=0;ok && i<expected;i++) {
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if (fired[i] != va_arg(args, int)) {
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ok = false;
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break;
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}
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}
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va_end(args);
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if (!ok) {
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PICOTEST_CHECK(ok, "DMA handlers were not called in the order expected");
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printf(" EXPECTED handlers: ");
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va_start(args, expected);
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for(int i=0;i<expected;i++) {
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if (i) printf(", ");
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printf("%d", va_arg(args, int));
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}
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printf("\n");
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va_end(args);
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printf(" CALLED handlers: ");
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for(int i=0;i<fire_count;i++) {
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if (i) printf(", ");
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printf("%d", fired[i]);
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}
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printf("\n");
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return -1;
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}
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return 0;
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}
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int main() {
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stdio_init_all();
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PICOTEST_START();
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config = dma_channel_get_default_config(0);
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dma_channel_set_irq0_enabled(0, true);
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irq_set_enabled(DMA_IRQ_0, true);
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// part I, just add/remove two handlers
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PICOTEST_START_SECTION("I: Add handler1 default priority");
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irq_add_shared_handler(DMA_IRQ_0, handler1, PICO_SHARED_IRQ_HANDLER_DEFAULT_ORDER_PRIORITY);
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dma_check(1, 1);
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PICOTEST_END_SECTION();
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PICOTEST_START_SECTION("I: Add handler2 default priority");
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irq_add_shared_handler(DMA_IRQ_0, handler2, PICO_SHARED_IRQ_HANDLER_DEFAULT_ORDER_PRIORITY);
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dma_check(2, 2, 1);
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PICOTEST_END_SECTION();
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PICOTEST_START_SECTION("I: Remove handler1");
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irq_remove_handler(DMA_IRQ_0, handler1);
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dma_check(1, 2);
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PICOTEST_END_SECTION();
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PICOTEST_START_SECTION("I: Remove handler2");
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irq_remove_handler(DMA_IRQ_0, handler2);
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dma_check(0);
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PICOTEST_END_SECTION();
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// part II, add/remove three handlers including one in the middle
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PICOTEST_START_SECTION("II: Add handler3 default priority");
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irq_add_shared_handler(DMA_IRQ_0, handler3, PICO_SHARED_IRQ_HANDLER_DEFAULT_ORDER_PRIORITY);
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dma_check(1, 3);
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PICOTEST_END_SECTION();
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PICOTEST_START_SECTION("II: Add handler2 default priority");
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irq_add_shared_handler(DMA_IRQ_0, handler2, PICO_SHARED_IRQ_HANDLER_DEFAULT_ORDER_PRIORITY);
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dma_check(2, 2, 3);
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PICOTEST_END_SECTION();
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PICOTEST_START_SECTION("II: Add handler1 default priority");
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irq_add_shared_handler(DMA_IRQ_0, handler1, PICO_SHARED_IRQ_HANDLER_DEFAULT_ORDER_PRIORITY);
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dma_check(3, 1, 2, 3);
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PICOTEST_END_SECTION();
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PICOTEST_START_SECTION("II: Remove handler2");
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irq_remove_handler(DMA_IRQ_0, handler2);
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dma_check(2, 1, 3);
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PICOTEST_END_SECTION();
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PICOTEST_START_SECTION("II: Remove handler3");
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irq_remove_handler(DMA_IRQ_0, handler3);
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dma_check(1, 1);
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PICOTEST_END_SECTION();
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PICOTEST_START_SECTION("II: Remove handler1");
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irq_remove_handler(DMA_IRQ_0, handler1);
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dma_check(0);
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PICOTEST_END_SECTION();
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// part III, the same as part II, but removing the handlers during the IRQ
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PICOTEST_START_SECTION("III: Add handler3 default priority");
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irq_add_shared_handler(DMA_IRQ_0, handler3, PICO_SHARED_IRQ_HANDLER_DEFAULT_ORDER_PRIORITY);
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dma_check(1, 3);
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PICOTEST_END_SECTION();
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PICOTEST_START_SECTION("III: Add handler2 default priority");
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irq_add_shared_handler(DMA_IRQ_0, handler2, PICO_SHARED_IRQ_HANDLER_DEFAULT_ORDER_PRIORITY);
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dma_check(2, 2, 3);
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PICOTEST_END_SECTION();
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PICOTEST_START_SECTION("III: Add handler1 default priority");
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irq_add_shared_handler(DMA_IRQ_0, handler1, PICO_SHARED_IRQ_HANDLER_DEFAULT_ORDER_PRIORITY);
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dma_check(3, 1, 2, 3);
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PICOTEST_END_SECTION();
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PICOTEST_START_SECTION("III: Remove handler2");
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remove_handler2_in_dma = true;
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// note that this is the defined behavior, that any handlers after the removed handler are not called. the
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// reasoning is that the same IRQ will immediately be re-entered, as we have missed clearing an interrupt (in whichever
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// handlers were not called), and we will call any remaining handlers then. Because each IRQ handler is clearing the same
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// interrupt handler in our case, this does not happen.
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dma_check(2, 1, 2);
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// but we call again to check
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dma_check(2, 1, 3);
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PICOTEST_END_SECTION();
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PICOTEST_START_SECTION("III: Remove handler3");
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remove_handler3_in_dma = true;
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// note that this is the defined behavior, that any handlers after the removed handler are not called. the
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// reasoning is that the same IRQ will immediately be re-entered, as we have missed clearing an interrupt (in whichever
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// handlers were not called), and we will call any remaining handlers then. Because each IRQ handler is clearing the same
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// interrupt handler in our case, this does not happen.
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dma_check(2, 1, 3);
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// but we call again to check
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dma_check(1, 1);
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PICOTEST_END_SECTION();
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PICOTEST_START_SECTION("III: Remove handler3");
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remove_handler1_in_dma = true;
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// note that this is the defined behavior, that any handlers after the removed handler are not called. the
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// reasoning is that the same IRQ will immediately be re-entered, as we have missed clearing an interrupt (in whichever
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// handlers were not called), and we will call any remaining handlers then. Because each IRQ handler is clearing the same
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// interrupt handler in our case, this does not happen.
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dma_check(1, 1);
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// but we call again to check
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dma_check(0);
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PICOTEST_END_SECTION();
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// part IV, checking priorities
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PICOTEST_START_SECTION("IV: Add handler1 high priority");
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irq_add_shared_handler(DMA_IRQ_0, handler1, PICO_SHARED_IRQ_HANDLER_HIGHEST_ORDER_PRIORITY);
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dma_check(1, 1);
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PICOTEST_END_SECTION();
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PICOTEST_START_SECTION("IV: Add handler2 normal priority");
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irq_add_shared_handler(DMA_IRQ_0, handler2, PICO_SHARED_IRQ_HANDLER_DEFAULT_ORDER_PRIORITY);
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dma_check(2, 1, 2);
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PICOTEST_END_SECTION();
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PICOTEST_START_SECTION("IV: Add handler3 lowest priority");
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irq_add_shared_handler(DMA_IRQ_0, handler3, PICO_SHARED_IRQ_HANDLER_LOWEST_ORDER_PRIORITY);
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dma_check(3, 1, 2, 3);
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PICOTEST_END_SECTION();
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PICOTEST_START_SECTION("IV: Remove handler3");
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irq_remove_handler(DMA_IRQ_0, handler3);
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dma_check(2, 1, 2);
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PICOTEST_END_SECTION();
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PICOTEST_START_SECTION("IV: Add handler3 normal priority");
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irq_add_shared_handler(DMA_IRQ_0, handler3, PICO_SHARED_IRQ_HANDLER_DEFAULT_ORDER_PRIORITY);
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dma_check(3, 1, 3, 2);
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PICOTEST_END_SECTION();
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PICOTEST_START_SECTION("IV: Remove handler2");
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irq_remove_handler(DMA_IRQ_0, handler2);
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dma_check(2, 1, 3);
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PICOTEST_END_SECTION();
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PICOTEST_START_SECTION("IV: Add handler2 normal priority - 2");
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irq_add_shared_handler(DMA_IRQ_0, handler2, PICO_SHARED_IRQ_HANDLER_DEFAULT_ORDER_PRIORITY - 2);
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dma_check(3, 1, 3, 2);
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PICOTEST_END_SECTION();
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PICOTEST_START_SECTION("IV: Remove handler1");
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irq_remove_handler(DMA_IRQ_0, handler1);
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dma_check(2, 3, 2);
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PICOTEST_END_SECTION();
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PICOTEST_START_SECTION("IV: Add handler1 normal priority - 1");
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irq_add_shared_handler(DMA_IRQ_0, handler1, PICO_SHARED_IRQ_HANDLER_DEFAULT_ORDER_PRIORITY - 1);
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dma_check(3, 3, 1, 2);
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PICOTEST_END_SECTION();
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PICOTEST_START_SECTION("IV: Remove handler2 again");
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irq_remove_handler(DMA_IRQ_0, handler2);
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dma_check(2, 3, 1);
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PICOTEST_END_SECTION();
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PICOTEST_START_SECTION("IV: Remove handler3 again");
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irq_remove_handler(DMA_IRQ_0, handler3);
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dma_check(1, 1);
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PICOTEST_END_SECTION();
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PICOTEST_START_SECTION("IV: Remove handler1 again");
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irq_remove_handler(DMA_IRQ_0, handler1);
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dma_check(0);
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PICOTEST_END_SECTION();
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PICOTEST_END_TEST();
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}
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