esp-idf/components/freertos/test/test_suspend_resume.c

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/* Tests for FreeRTOS task suspend & resume */
#include <stdio.h>
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "freertos/semphr.h"
#include "freertos/queue.h"
#include "freertos/xtensa_api.h"
#include "unity.h"
#include "soc/cpu.h"
#include "driver/timer.h"
/* Counter task counts a target variable forever */
static void task_count(void *vp_counter)
{
volatile unsigned *counter = (volatile unsigned *)vp_counter;
*counter = 0;
while (1) {
(*counter)++;
vTaskDelay(1);
}
}
static void test_suspend_resume(int target_core)
{
volatile unsigned counter = 0;
TaskHandle_t counter_task;
xTaskCreatePinnedToCore(task_count, "Count", 2048,
(void *)&counter, UNITY_FREERTOS_PRIORITY + 1,
&counter_task, target_core);
vTaskDelay(10);
/* check some counting has happened */
TEST_ASSERT_NOT_EQUAL(0, counter);
// Do the next part a few times, just to be sure multiple suspends & resumes
// work as expected...
const int TEST_ITERATIONS = 5;
for (int i = 0; i < TEST_ITERATIONS; i++) {
vTaskSuspend(counter_task);
unsigned suspend_count = counter;
printf("Suspending @ %d\n", suspend_count);
vTaskDelay(2);
printf("Still suspended @ %d\n", counter);
/* check the counter hasn't gone up while the task is suspended */
TEST_ASSERT_EQUAL(suspend_count, counter);
vTaskResume(counter_task);
vTaskDelay(2);
printf("Resumed @ %d\n", counter);
/* check the counter is going up again now the task is resumed */
TEST_ASSERT_NOT_EQUAL(suspend_count, counter);
}
vTaskDelete(counter_task);
}
TEST_CASE("Suspend/resume task on same core", "[freertos]")
{
test_suspend_resume(UNITY_FREERTOS_CPU);
}
#ifndef CONFIG_FREERTOS_UNICORE
TEST_CASE("Suspend/resume task on other core", "[freertos]")
{
test_suspend_resume(!UNITY_FREERTOS_CPU);
}
#endif
/* Task suspends itself, then sets a flag and deletes itself */
static void task_suspend_self(void *vp_resumed)
{
volatile bool *resumed = (volatile bool *)vp_resumed;
*resumed = false;
vTaskSuspend(NULL);
*resumed = true;
vTaskDelete(NULL);
}
TEST_CASE("Suspend the current running task", "[freertos]")
{
volatile bool resumed = false;
TaskHandle_t suspend_task;
xTaskCreatePinnedToCore(task_suspend_self, "suspend_self", 2048,
(void *)&resumed, UNITY_FREERTOS_PRIORITY + 1,
&suspend_task, UNITY_FREERTOS_CPU);
vTaskDelay(1);
TEST_ASSERT_FALSE(resumed);
vTaskResume(suspend_task);
// Shouldn't need any delay here, as task should resume on this CPU immediately
TEST_ASSERT_TRUE(resumed);
}
volatile bool timer_isr_fired;
/* Timer ISR clears interrupt, sets flag, then resumes the task supplied in the
* callback argument.
*/
void IRAM_ATTR timer_group0_isr(void *vp_arg)
{
// Clear interrupt
TIMERG0.int_clr_timers.val = TIMERG0.int_st_timers.val;
timer_isr_fired = true;
TaskHandle_t handle = vp_arg;
BaseType_t higherPriorityTaskWoken = pdFALSE;
higherPriorityTaskWoken = xTaskResumeFromISR(handle);
if (higherPriorityTaskWoken == pdTRUE) {
portYIELD_FROM_ISR();
}
}
/* Create a task which suspends itself, then resume it from a timer
* interrupt. */
static void test_resume_task_from_isr(int target_core)
{
volatile bool resumed = false;
TaskHandle_t suspend_task;
xTaskCreatePinnedToCore(task_suspend_self, "suspend_self", 2048,
(void *)&resumed, UNITY_FREERTOS_PRIORITY + 1,
&suspend_task, target_core);
vTaskDelay(1);
TEST_ASSERT_FALSE(resumed);
/* Configure timer ISR */
const timer_config_t config = {
.alarm_en = 1,
.auto_reload = 0,
.counter_dir = TIMER_COUNT_UP,
.divider = 1,
.intr_type = TIMER_INTR_LEVEL,
.counter_en = TIMER_PAUSE,
};
/*Configure timer*/
timer_init(TIMER_GROUP_0, TIMER_0, &config);
timer_pause(TIMER_GROUP_0, TIMER_0);
timer_set_counter_value(TIMER_GROUP_0, TIMER_0, 0);
timer_set_alarm_value(TIMER_GROUP_0, TIMER_0, 1000);
timer_enable_intr(TIMER_GROUP_0, TIMER_0);
timer_isr_register(TIMER_GROUP_0, TIMER_0, timer_group0_isr, (void*)suspend_task, ESP_INTR_FLAG_IRAM, NULL);
timer_isr_fired = false;
timer_start(TIMER_GROUP_0, TIMER_0);
vTaskDelay(1);
TEST_ASSERT_TRUE(timer_isr_fired);
TEST_ASSERT_TRUE(resumed);
}
TEST_CASE("Resume task from ISR (same core)", "[freertos]")
{
test_resume_task_from_isr(UNITY_FREERTOS_CPU);
}
#ifndef CONFIG_FREERTOS_UNICORE
TEST_CASE("Resume task from ISR (other core)", "[freertos]")
{
test_resume_task_from_isr(!UNITY_FREERTOS_CPU);
}
#endif