esp-hal/hil-test/tests/embassy_interrupt_spi_dma.rs

//! Reproduction and regression test for a sneaky issue.

//% CHIPS: esp32 esp32s2 esp32s3
//% FEATURES: integrated-timers
//% FEATURES: generic-queue

#![no_std]
#![no_main]

use embassy_time::{Duration, Instant, Ticker};
use esp_hal::{
    dma::{Dma, DmaPriority, DmaRxBuf, DmaTxBuf},
    dma_buffers,
    interrupt::{software::SoftwareInterruptControl, Priority},
    prelude::*,
    spi::{
        master::{Spi, SpiDma},
        SpiMode,
    },
    timer::{timg::TimerGroup, AnyTimer},
    Async,
};
use esp_hal_embassy::InterruptExecutor;
use hil_test as _;

macro_rules! mk_static {
    ($t:ty,$val:expr) => {{
        static STATIC_CELL: static_cell::StaticCell<$t> = static_cell::StaticCell::new();
        #[deny(unused_attributes)]
        let x = STATIC_CELL.uninit().write(($val));
        x
    }};
}

#[embassy_executor::task]
async fn interrupt_driven_task(spi: SpiDma<'static, Async>) {
    let mut ticker = Ticker::every(Duration::from_millis(1));

    let (rx_buffer, rx_descriptors, tx_buffer, tx_descriptors) = dma_buffers!(128);
    let dma_rx_buf = DmaRxBuf::new(rx_descriptors, rx_buffer).unwrap();
    let dma_tx_buf = DmaTxBuf::new(tx_descriptors, tx_buffer).unwrap();

    let mut spi = spi.with_buffers(dma_rx_buf, dma_tx_buf);

    loop {
        let mut buffer: [u8; 8] = [0; 8];

        spi.transfer_in_place_async(&mut buffer).await.unwrap();

        ticker.next().await;
    }
}

#[cfg(test)]
#[embedded_test::tests(executor = esp_hal_embassy::Executor::new())]
mod test {
    use super::*;

    #[test]
    #[timeout(3)]
    async fn dma_does_not_lock_up_when_used_in_different_executors() {
        let peripherals = esp_hal::init(esp_hal::Config::default());

        let timg0 = TimerGroup::new(peripherals.TIMG0);
        esp_hal_embassy::init([AnyTimer::from(timg0.timer0), AnyTimer::from(timg0.timer1)]);

        let dma = Dma::new(peripherals.DMA);

        cfg_if::cfg_if! {
            if #[cfg(pdma)] {
                let dma_channel1 = dma.spi2channel;
                let dma_channel2 = dma.spi3channel;
            } else {
                let dma_channel1 = dma.channel0;
                let dma_channel2 = dma.channel1;
            }
        }

        let (rx_buffer, rx_descriptors, tx_buffer, tx_descriptors) = dma_buffers!(1024);
        let dma_rx_buf = DmaRxBuf::new(rx_descriptors, rx_buffer).unwrap();
        let dma_tx_buf = DmaTxBuf::new(tx_descriptors, tx_buffer).unwrap();

        let mut spi = Spi::new(peripherals.SPI2, 100.kHz(), SpiMode::Mode0)
            .with_dma(dma_channel1.configure(false, DmaPriority::Priority0))
            .with_buffers(dma_rx_buf, dma_tx_buf)
            .into_async();

        let spi2 = Spi::new(peripherals.SPI3, 100.kHz(), SpiMode::Mode0)
            .with_dma(dma_channel2.configure(false, DmaPriority::Priority0))
            .into_async();

        let sw_ints = SoftwareInterruptControl::new(peripherals.SW_INTERRUPT);

        let interrupt_executor = mk_static!(
            InterruptExecutor<1>,
            InterruptExecutor::new(sw_ints.software_interrupt1)
        );

        let spawner = interrupt_executor.start(Priority::Priority3);

        spawner.spawn(interrupt_driven_task(spi2)).unwrap();

        let start = Instant::now();
        let mut buffer: [u8; 1024] = [0; 1024];
        loop {
            spi.transfer_in_place_async(&mut buffer).await.unwrap();

            if start.elapsed() > Duration::from_secs(1) {
                break;
            }
        }
    }

    // Reproducer of https://github.com/esp-rs/esp-hal/issues/2369
    #[cfg(multi_core)]
    #[test]
    #[timeout(3)]
    async fn dma_does_not_lock_up_on_core_1() {
        use embassy_time::Timer;
        use esp_hal::peripherals::SPI2;
        use portable_atomic::{AtomicU32, Ordering};

        cfg_if::cfg_if! {
            if #[cfg(pdma)] {
                use esp_hal::dma::Spi2DmaChannelCreator as DmaChannelCreator;
            } else {
                type DmaChannelCreator = esp_hal::dma::ChannelCreator<0>;
            }
        }

        const BUFFER_SIZE: usize = 256;
        static LOOP_COUNT: AtomicU32 = AtomicU32::new(0);

        pub struct SpiPeripherals {
            pub spi: SPI2,
            pub dma_channel: DmaChannelCreator,
        }

        #[embassy_executor::task]
        async fn run_spi(peripherals: SpiPeripherals) {
            let (rx_buffer, rx_descriptors, tx_buffer, tx_descriptors) = dma_buffers!(3200);
            let dma_rx_buf = DmaRxBuf::new(rx_descriptors, rx_buffer).unwrap();
            let dma_tx_buf = DmaTxBuf::new(tx_descriptors, tx_buffer).unwrap();

            let mut spi = Spi::new(peripherals.spi, 100.kHz(), SpiMode::Mode0)
                .with_dma(
                    peripherals
                        .dma_channel
                        .configure(false, DmaPriority::Priority0),
                )
                .with_buffers(dma_rx_buf, dma_tx_buf)
                .into_async();

            let send_buffer = mk_static!([u8; BUFFER_SIZE], [0u8; BUFFER_SIZE]);
            loop {
                let mut buffer = [0; 8];
                embedded_hal_async::spi::SpiBus::transfer(&mut spi, &mut buffer, send_buffer)
                    .await
                    .unwrap();
                LOOP_COUNT.fetch_add(1, Ordering::Relaxed);
            }
        }

        let peripherals = esp_hal::init(esp_hal::Config::default());
        let dma = Dma::new(peripherals.DMA);

        let timg0 = TimerGroup::new(peripherals.TIMG0);
        esp_hal_embassy::init(timg0.timer0);

        cfg_if::cfg_if! {
            if #[cfg(pdma)] {
                let dma_channel = dma.spi2channel;
            } else {
                let dma_channel = dma.channel0;
            }
        }

        let spi_peripherals = SpiPeripherals {
            spi: peripherals.SPI2,
            dma_channel,
        };

        let cpu1_fnctn = {
            move || {
                use esp_hal::interrupt::Priority;
                use esp_hal_embassy::InterruptExecutor;
                let sw_ints = esp_hal::interrupt::software::SoftwareInterruptControl::new(
                    peripherals.SW_INTERRUPT,
                );
                let software_interrupt = sw_ints.software_interrupt2;
                let hp_executor = mk_static!(
                    InterruptExecutor<2>,
                    InterruptExecutor::new(software_interrupt)
                );
                let high_pri_spawner = hp_executor.start(Priority::Priority2);

                // hub75 runs as high priority task
                high_pri_spawner.spawn(run_spi(spi_peripherals)).ok();

                // This loop is necessary to avoid parking the core after creating the interrupt
                // executor.
                loop {}
            }
        };

        use esp_hal::cpu_control::{CpuControl, Stack};
        const DISPLAY_STACK_SIZE: usize = 8192;
        let app_core_stack = mk_static!(Stack<DISPLAY_STACK_SIZE>, Stack::new());
        let cpu_control = CpuControl::new(peripherals.CPU_CTRL);
        let mut _cpu_control = cpu_control;

        #[allow(static_mut_refs)]
        let _guard = _cpu_control
            .start_app_core(app_core_stack, cpu1_fnctn)
            .unwrap();

        let mut last = 0u32;
        for _ in 0..5 {
            Timer::after(Duration::from_millis(200)).await;

            let next = LOOP_COUNT.load(Ordering::Relaxed);
            assert_ne!(next, last, "stuck");
            last = next;
        }
    }
}