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

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/* Tests for FreeRTOS task suspend & resume */
#include <stdio.h>
#include <string.h>
#include "sdkconfig.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "freertos/semphr.h"
#include "freertos/timers.h"
#include "freertos/queue.h"
#include "freertos/xtensa_api.h"
#include "unity.h"
#include "soc/cpu.h"
#include "test_utils.h"
#include "driver/timer.h"
#ifndef CONFIG_FREERTOS_UNICORE
#include "esp_ipc.h"
#endif
#include "esp_freertos_hooks.h"
#include "esp_rom_sys.h"
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#ifdef CONFIG_IDF_TARGET_ESP32S2
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#define int_clr_timers int_clr
#define update update.update
#define int_st_timers int_st
#endif
/* 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
timer_group_clr_intr_status_in_isr(TIMER_GROUP_0, TIMER_0);
timer_isr_fired = true;
TaskHandle_t handle = vp_arg;
BaseType_t higherPriorityTaskWoken = pdFALSE;
higherPriorityTaskWoken = xTaskResumeFromISR(handle);
if (higherPriorityTaskWoken == pdTRUE) {
portYIELD_FROM_ISR();
}
}
/* Task suspends itself, then sets parameter value to the current timer group counter and deletes itself */
static void task_suspend_self_with_timer(void *vp_resumed)
{
volatile uint64_t *resumed_counter = vp_resumed;
*resumed_counter = 0;
vTaskSuspend(NULL);
timer_get_counter_value(TIMER_GROUP_0, TIMER_0, vp_resumed);
vTaskDelete(NULL);
}
/* Create a task which suspends itself, then resume it from a timer
* interrupt. */
static void test_resume_task_from_isr(int target_core)
{
volatile uint64_t resumed_counter = 99;
TaskHandle_t suspend_task;
xTaskCreatePinnedToCore(task_suspend_self_with_timer, "suspend_self", 2048,
(void *)&resumed_counter, UNITY_FREERTOS_PRIORITY + 1,
&suspend_task, target_core);
vTaskDelay(1);
TEST_ASSERT_EQUAL(0, resumed_counter);
const unsigned APB_CYCLES_PER_TICK = TIMER_BASE_CLK / configTICK_RATE_HZ;
const unsigned TEST_TIMER_DIV = 2;
const unsigned TEST_TIMER_CYCLES_PER_TICK = APB_CYCLES_PER_TICK / TEST_TIMER_DIV;
const unsigned TEST_TIMER_CYCLES_PER_MS = TIMER_BASE_CLK / 1000 / TEST_TIMER_DIV;
const unsigned TEST_TIMER_ALARM = TEST_TIMER_CYCLES_PER_TICK / 2; // half an RTOS tick
/* Configure timer ISR */
timer_isr_handle_t isr_handle;
const timer_config_t config = {
.alarm_en = 1,
.auto_reload = 0,
.counter_dir = TIMER_COUNT_UP,
.divider = TEST_TIMER_DIV,
.intr_type = TIMER_INTR_LEVEL,
.counter_en = TIMER_PAUSE,
};
/*Configure timer*/
ESP_ERROR_CHECK( timer_init(TIMER_GROUP_0, TIMER_0, &config) );
ESP_ERROR_CHECK( timer_pause(TIMER_GROUP_0, TIMER_0) );
ESP_ERROR_CHECK( timer_set_counter_value(TIMER_GROUP_0, TIMER_0, 0) );
ESP_ERROR_CHECK( timer_set_alarm_value(TIMER_GROUP_0, TIMER_0, TEST_TIMER_ALARM) );
ESP_ERROR_CHECK( timer_enable_intr(TIMER_GROUP_0, TIMER_0) );
ESP_ERROR_CHECK( timer_isr_register(TIMER_GROUP_0, TIMER_0, timer_group0_isr, (void*)suspend_task, ESP_INTR_FLAG_IRAM, &isr_handle) );
timer_isr_fired = false;
vTaskDelay(1); // Make sure we're at the start of a new tick
ESP_ERROR_CHECK( timer_start(TIMER_GROUP_0, TIMER_0) );
vTaskDelay(1); // We expect timer group will fire half-way through this delay
TEST_ASSERT_TRUE(timer_isr_fired);
TEST_ASSERT_NOT_EQUAL(0, resumed_counter);
// The task should have woken within 500us of the timer interrupt event (note: task may be a flash cache miss)
printf("alarm value %u task resumed at %u\n", TEST_TIMER_ALARM, (unsigned)resumed_counter);
TEST_ASSERT_UINT32_WITHIN(TEST_TIMER_CYCLES_PER_MS/2, TEST_TIMER_ALARM, (unsigned)resumed_counter);
// clean up
timer_deinit(TIMER_GROUP_0, TIMER_0);
ESP_ERROR_CHECK( esp_intr_free(isr_handle) );
}
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);
}
static volatile bool block;
static bool suspend_both_cpus;
static void IRAM_ATTR suspend_scheduler_while_block_set(void* arg)
{
vTaskSuspendAll();
while (block) { };
esp_rom_delay_us(1);
xTaskResumeAll();
}
static void IRAM_ATTR suspend_scheduler_on_both_cpus(void)
{
block = true;
if (suspend_both_cpus) {
TEST_ESP_OK(esp_ipc_call((xPortGetCoreID() == 0) ? 1 : 0, &suspend_scheduler_while_block_set, NULL));
}
vTaskSuspendAll();
}
static void IRAM_ATTR resume_scheduler_on_both_cpus(void)
{
block = false;
xTaskResumeAll();
}
static const int waiting_ms = 2000;
static const int delta_ms = 100;
static int duration_wait_task_ms;
static int duration_ctrl_task_ms;
static void waiting_task(void *pvParameters)
{
int cpu_id = xPortGetCoreID();
int64_t start_time = esp_timer_get_time();
printf("Start waiting_task cpu=%d\n", cpu_id);
vTaskDelay(waiting_ms / portTICK_PERIOD_MS);
duration_wait_task_ms = (esp_timer_get_time() - start_time) / 1000;
printf("Finish waiting_task cpu=%d, time=%d ms\n", cpu_id, duration_wait_task_ms);
vTaskDelete(NULL);
}
static void control_task(void *pvParameters)
{
int cpu_id = xPortGetCoreID();
esp_rom_delay_us(2000); // let to start the waiting_task first
printf("Start control_task cpu=%d\n", cpu_id);
int64_t start_time = esp_timer_get_time();
suspend_scheduler_on_both_cpus();
esp_rom_delay_us(waiting_ms * 1000 + delta_ms * 1000);
resume_scheduler_on_both_cpus();
duration_ctrl_task_ms = (esp_timer_get_time() - start_time) / 1000;
printf("Finish control_task cpu=%d, time=%d ms\n", cpu_id, duration_ctrl_task_ms);
vTaskDelete(NULL);
}
static void test_scheduler_suspend1(int cpu)
{
/* This test tests a case then both CPUs were in suspend state and then resume CPUs back.
* A task for which a wait time has been set and this time has elapsed in the suspended state should in any case be ready to start.
* (In an old implementation of xTaskIncrementTick function the counting for waiting_task() will be continued
* (excluding time in suspended) after control_task() is finished.)
*/
duration_wait_task_ms = 0;
duration_ctrl_task_ms = 0;
printf("Test for CPU%d\n", cpu);
int other_cpu = (cpu == 0) ? 1 : 0;
xTaskCreatePinnedToCore(&waiting_task, "waiting_task", 8192, NULL, 5, NULL, other_cpu);
xTaskCreatePinnedToCore(&control_task, "control_task", 8192, NULL, 5, NULL, cpu);
vTaskDelay(waiting_ms * 2 / portTICK_PERIOD_MS);
TEST_ASSERT_INT_WITHIN(4, waiting_ms + delta_ms + 4, duration_ctrl_task_ms);
if (suspend_both_cpus == false && cpu == 1) {
// CPU0 continues to increase the TickCount and the wait_task does not depend on Suspended Scheduler on CPU1
TEST_ASSERT_INT_WITHIN(2, waiting_ms, duration_wait_task_ms);
} else {
TEST_ASSERT_INT_WITHIN(4, waiting_ms + delta_ms + 4, duration_wait_task_ms);
}
printf("\n");
}
TEST_CASE("Test the waiting task not missed due to scheduler suspension on both CPUs", "[freertos]")
{
printf("Suspend both CPUs:\n");
suspend_both_cpus = true;
test_scheduler_suspend1(0);
test_scheduler_suspend1(1);
}
TEST_CASE("Test the waiting task not missed due to scheduler suspension on one CPU", "[freertos]")
{
printf("Suspend only one CPU:\n");
suspend_both_cpus = false;
test_scheduler_suspend1(0);
test_scheduler_suspend1(1);
}
static uint32_t tick_hook_ms[2];
static void IRAM_ATTR tick_hook(void)
{
tick_hook_ms[xPortGetCoreID()] += portTICK_PERIOD_MS;
}
static void test_scheduler_suspend2(int cpu)
{
esp_register_freertos_tick_hook_for_cpu(tick_hook, 0);
esp_register_freertos_tick_hook_for_cpu(tick_hook, 1);
memset(tick_hook_ms, 0, sizeof(tick_hook_ms));
printf("Test for CPU%d\n", cpu);
xTaskCreatePinnedToCore(&control_task, "control_task", 8192, NULL, 5, NULL, cpu);
vTaskDelay(waiting_ms * 2 / portTICK_PERIOD_MS);
esp_deregister_freertos_tick_hook(tick_hook);
printf("tick_hook_ms[cpu0] = %d, tick_hook_ms[cpu1] = %d\n", tick_hook_ms[0], tick_hook_ms[1]);
TEST_ASSERT_INT_WITHIN(portTICK_PERIOD_MS, waiting_ms * 2, tick_hook_ms[0]);
TEST_ASSERT_INT_WITHIN(portTICK_PERIOD_MS, waiting_ms * 2, tick_hook_ms[1]);
printf("\n");
}
TEST_CASE("Test suspend-resume CPU. The number of tick_hook should be the same for both CPUs", "[freertos]")
{
printf("Suspend both CPUs:\n");
suspend_both_cpus = true;
test_scheduler_suspend2(0);
test_scheduler_suspend2(1);
printf("Suspend only one CPU:\n");
suspend_both_cpus = false;
test_scheduler_suspend2(0);
test_scheduler_suspend2(1);
}
static int duration_timer_ms;
static void timer_callback(void *arg)
{
duration_timer_ms += portTICK_PERIOD_MS;
}
static void test_scheduler_suspend3(int cpu)
{
duration_timer_ms = 0;
duration_ctrl_task_ms = 0;
printf("Test for CPU%d\n", cpu);
TimerHandle_t count_time = xTimerCreate("count_time", 1, pdTRUE, NULL, timer_callback);
xTimerStart( count_time, portMAX_DELAY);
xTaskCreatePinnedToCore(&control_task, "control_task", 8192, NULL, 5, NULL, cpu);
vTaskDelay(waiting_ms * 2 / portTICK_PERIOD_MS);
xTimerDelete(count_time, portMAX_DELAY);
printf("Finish duration_timer_ms=%d ms\n", duration_timer_ms);
TEST_ASSERT_INT_WITHIN(2, waiting_ms * 2, duration_timer_ms);
TEST_ASSERT_INT_WITHIN(5, waiting_ms + delta_ms, duration_ctrl_task_ms);
printf("\n");
}
TEST_CASE("Test suspend-resume CPU works with xTimer", "[freertos]")
{
printf("Suspend both CPUs:\n");
suspend_both_cpus = true;
test_scheduler_suspend3(0);
test_scheduler_suspend3(1);
printf("Suspend only one CPU:\n");
suspend_both_cpus = false;
test_scheduler_suspend3(0);
test_scheduler_suspend3(1);
}
#endif // CONFIG_FREERTOS_UNICORE