lab2-4_single_msg_queue_interrupt

part3_freertos/lab2-1_single_msg_queue/main/CMakeLists.txt

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+idf_component_register(
+            SRC_DIRS "." 
+            INCLUDE_DIRS ".")

part3_freertos/lab2-1_single_msg_queue/main/component.mk

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+COMPONENT_SRCDIRS := .
+COMPONENT_ADD_INCLUDEDIRS := .

part3_freertos/lab2-1_single_msg_queue/main/main.c

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+/****************************************************************************
+ * Copyright (C) 2020 by Fabrice Muller                                     *
+ *                                                                          *
+ * This file is useful for ESP32 Design course.                             *
+ *                                                                          *
+ ****************************************************************************/
+
+/**
+ * @file lab1-2_main.c
+ * @author Fabrice Muller
+ * @date 12 Oct. 2020
+ * @brief File containing the lab1-2 of Part 3.
+ *
+ * @see https://github.com/fmuller-pns/esp32-vscode-project-template
+ */
+ 
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <unistd.h>
+#include "esp_log.h"
+#include "soc/rtc_wdt.h"
+
+/* FreeRTOS.org includes. */
+#include "freertos/FreeRTOSConfig.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "freertos/semphr.h"
+#include "esp_freertos_hooks.h"
+
+#include "my_helper_fct.h"
+QueueHandle_t xQueue1;
+
+/**************************************/
+/**************************************/
+/* Scenarios                          */
+
+#define DIFF_PRIORITY
+
+#define PINNED_TO_CORE 0x00
+//   0x00: Task 1: Core 0, Task 2: Core 0
+//   0x01: Task 1: Core 0, Task 2: Core 1
+//   0x10: Task 1: Core 1, Task 2: Core 0
+//   0x11: Task 1: Core 1, Task 2: Core 1
+
+//#define IDLE_HOOKS
+
+//#define TASK_DELAY
+
+//#define PERIODIC_TASK_DELAY
+
+/**************************************/
+/**************************************/
+
+/* Default stack size for tasks */
+static const uint32_t STACK_SIZE = 4000;
+
+#ifdef DIFF_PRIORITY
+
+static const uint32_t T1_PRIO = 2;
+static const uint32_t T2_PRIO = 2;
+static const uint32_t T3_PRIO = 3;
+#else
+
+static const uint32_t T1_PRIO = 5;
+static const uint32_t T2_PRIO = 5;
+
+#endif
+
+#ifdef IDLE_HOOKS
+
+volatile uint32_t countIdle0 = 0;
+volatile uint32_t countIdle1 = 0;
+
+bool vApplicationIdleHook_0 ( void ){
+    countIdle0++;
+    return true;
+}
+
+bool vApplicationIdleHook_1 ( void ){
+    countIdle1++;
+    return true;
+}
+
+#ifndef PERIODIC_TASK_DELAY
+/* Buffer to extract trace information */
+static char buffer[40*12];
+#endif
+
+#endif
+
+/* Used as a loop counter to create a very crude delay. */
+#define mainDELAY_LOOP_COUNT        (0x1FFFFF)
+
+/* The task function. */
+void vTaskFunction1(void *pvParameters);
+void vTaskFunction2(void *pvParameters);
+void vTaskFunction3(void *pvParameters);
+
+
+void app_main(void) {
+
+    xQueue1 = xQueueCreate(5, sizeof(uint32_t));
+    DISPLAY("Start of app_main task, priority = %d",uxTaskPriorityGet(NULL));
+    vTaskSuspendAll();
+
+    xTaskCreatePinnedToCore(vTaskFunction1, "Task 1", STACK_SIZE,   (void*)"Task 1", T1_PRIO,   NULL,CORE_1);                  
+    xTaskCreatePinnedToCore(vTaskFunction2, "Task 2", STACK_SIZE, (void*)"Task 2", T2_PRIO, NULL,CORE_0);
+    xTaskCreatePinnedToCore(vTaskFunction3, "Task 3", STACK_SIZE, (void*)"Task 3", T3_PRIO, NULL,CORE_0);
+
+    xTaskResumeAll();
+
+    /*for (;;) {
+        vTaskDelay(100 / portTICK_PERIOD_MS);    // 100 ms
+        DISPLAY("Hello app_main task!");
+    }*/
+
+    /* to ensure its exit is clean */
+    vTaskDelete(NULL);  
+}
+/*-----------------------------------------------------------*/
+
+void vTaskFunction1(void *pvParameters) {
+    int32_t lSentValue;
+    TickType_t xLastWakeTime;
+	xLastWakeTime= xTaskGetTickCount();
+    const TickType_t xDelay500ms = pdMS_TO_TICKS(500UL);
+    for(;;){
+        DISPLAY("Task 1 started , sending message");
+        lSentValue= 50;
+        xQueueSend(xQueue1, &lSentValue, 0);
+        // Compute time : 40 ms
+        COMPUTE_IN_TIME_MS(40) ;
+        // block periodically : 500 ms
+        vTaskDelayUntil(&xLastWakeTime, xDelay500ms);
+        DISPLAY("Task 1 done");
+    }
+
+
+}
+
+void vTaskFunction2(void *pvParameters) {
+    // Wait for message
+    int32_t lReceivedValue;
+
+    for(;;){
+        DISPLAY("Task 2 started, wait for message");
+        if(xQueueReceive(xQueue1,&lReceivedValue,portMAX_DELAY==pdTRUE)){
+        // display task number and message
+        DISPLAY("Task 2 : Received value : %d", lReceivedValue);
+        }
+        // Compute time : 30 ms
+        COMPUTE_IN_TIME_MS(30) ;
+    }
+
+}
+
+void vTaskFunction3(void *pvParameters) {
+    for(;;){
+        // Task blocked during 100 ms
+        DISPLAY("Task 3 started");
+        vTaskDelay(pdMS_TO_TICKS(100));
+        // Compute time : 20 ms
+        COMPUTE_IN_TIME_MS(20);
+        DISPLAY ("Task 3 done");
+    }
+
+}
+
+

part3_freertos/lab2-1_single_msg_queue/main/my_helper_fct.h

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+#ifndef _MY_HELPER_FCT_
+#define _MY_HELPER_FCT_
+
+#include <unistd.h>
+#include "esp_log.h"
+
+
+/* Core constants fot xTaskCreatePinnedToCore() function */
+const uint32_t CORE_0 = 0;
+const uint32_t CORE_1 = 1;
+const uint32_t PRO_CPU = 0;
+const uint32_t APP_CPU = 1;
+
+/**
+ * @brief Macro to display the buffer with arguments. msg is a formatted string as printf() function.
+ * 
+ */
+#define DISPLAY(msg, ...) printf("%d:%d>\t"msg"\r\n", xTaskGetTickCount(), xPortGetCoreID(), ##__VA_ARGS__);
+
+
+/**
+ * @brief Macro to display error/warning/info for the buffer with arguments. msg is a formatted string as printf() function.
+ * 
+ */
+#define DISPLAYE(tag, msg, ...) ESP_LOGE(tag, "%d:%d>\t"msg"", xTaskGetTickCount(), xPortGetCoreID(), ##__VA_ARGS__);
+
+#define DISPLAYW(tag, msg, ...) ESP_LOGW(tag, "%d:%d>\t"msg"", xTaskGetTickCount(), xPortGetCoreID(), ##__VA_ARGS__);
+
+#define DISPLAYI(tag, msg, ...) ESP_LOGI(tag, "%d:%d>\t"msg"", xTaskGetTickCount(), xPortGetCoreID(), ##__VA_ARGS__);
+
+/**
+ * @brief Macro to display the buffer without argument
+ * 
+ */
+#define DISPLAYB(msg) printf("%d:%d>\t", xTaskGetTickCount(), xPortGetCoreID());\
+	printf(msg);\
+	printf("\r\n");
+
+
+/* Consume CPU cycles. Time parameter is for the default frequency: 160MHz (ESP32_DEFAULT_CPU_FREQ_MHZ=160) */
+#define COMPUTE_IN_TIME_US(time_us) {register uint32_t i=(uint32_t)time_us*5.02*100/22; while (i-- > 0) {asm(" nop");}}
+
+#define COMPUTE_IN_TIME_MS(time_ms) {register uint32_t i=(uint32_t)time_ms*1000*5.02*100/22; while (i-- > 0) {asm(" nop");}} 
+
+#define COMPUTE_IN_TICK(tick) {register uint32_t i=(uint32_t)(tick*1000/configTICK_RATE_HZ)*1000*5.02*100/22; while (i-- > 0) {asm(" nop");}} 
+
+#endif