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Merge branch 'bugfix/xTaskIncrementTick_v3.3' into 'release/v3.3'

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freertos: Fix xTaskIncrementTick for unwind the Tick for CPU1 (v3.3)

See merge request espressif/esp-idf!5034
This commit is contained in:
Angus Gratton 2019-08-13 13:42:26 +08:00
commit 07735424a2
2 changed files with 202 additions and 40 deletions
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48
components/freertos/tasks.c
View File

@ -2464,12 +2464,11 @@ BaseType_t xSwitchRequired = pdFALSE;
Increments the tick then checks to see if the new tick value will cause any
tasks to be unblocked. */
/* Only let core 0 increase the tick count, to keep accurate track of time. */
/* ToDo: This doesn't really play nice with the logic below: it means when core 1 is
running a low-priority task, it will keep running it until there is a context
switch, even when this routine (running on core 0) unblocks a bunch of high-priority
tasks... this is less than optimal -- JD. */
if ( xPortGetCoreID()!=0 ) {
/* Only allow core 0 increase the tick count in the case of xPortSysTickHandler processing. */
/* And allow core 0 and core 1 to unwind uxPendedTicks during xTaskResumeAll. */
if ( xPortInIsrContext() )
{
#if ( configUSE_TICK_HOOK == 1 )
vApplicationTickHook();
#endif /* configUSE_TICK_HOOK */
@ -2477,11 +2476,10 @@ BaseType_t xSwitchRequired = pdFALSE;
esp_vApplicationTickHook();
#endif /* CONFIG_FREERTOS_LEGACY_HOOKS */
/*
We can't really calculate what we need, that's done on core 0... just assume we need a switch.
ToDo: Make this more intelligent? -- JD
*/
return pdTRUE;
if (xPortGetCoreID() == 1 )
{
return pdTRUE;
}
}
@ -2606,39 +2604,11 @@ BaseType_t xSwitchRequired = pdFALSE;
}
#endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) */
{
/* Guard against the tick hook being called when the pended tick
count is being unwound (when the scheduler is being unlocked). */
if( uxPendedTicks == ( UBaseType_t ) 0U )
{
#if ( configUSE_TICK_HOOK == 1 )
vApplicationTickHook();
#endif /* configUSE_TICK_HOOK */
#if ( CONFIG_FREERTOS_LEGACY_HOOKS == 1 )
esp_vApplicationTickHook();
#endif /* CONFIG_FREERTOS_LEGACY_HOOKS */
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
taskEXIT_CRITICAL_ISR(&xTaskQueueMutex);
}
else
{
++uxPendedTicks;
/* The tick hook gets called at regular intervals, even if the
scheduler is locked. */
#if ( configUSE_TICK_HOOK == 1 )
{
vApplicationTickHook();
}
#endif
#if ( CONFIG_FREERTOS_LEGACY_HOOKS == 1 )
esp_vApplicationTickHook();
#endif /* CONFIG_FREERTOS_LEGACY_HOOKS */
}
#if ( configUSE_PREEMPTION == 1 )

194
components/freertos/test/test_task_suspend_resume.c
View File

@ -1,9 +1,11 @@
/* Tests for FreeRTOS task suspend & resume */
#include <stdio.h>
#include <string.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"
@ -12,6 +14,11 @@
#include "driver/timer.h"
#include "esp_ipc.h"
#include "esp_freertos_hooks.h"
#include "sdkconfig.h"
/* Counter task counts a target variable forever */
static void task_count(void *vp_counter)
{
@ -171,4 +178,189 @@ TEST_CASE("Resume task from ISR (other core)", "[freertos]")
{
test_resume_task_from_isr(!UNITY_FREERTOS_CPU);
}
#endif
static volatile bool block;
static bool suspend_both_cpus;
static void IRAM_ATTR suspend_scheduler_while_block_set(void* arg)
{
vTaskSuspendAll();
while (block) { };
ets_delay_us(1);
xTaskResumeAll();
}
static void IRAM_ATTR suspend_scheduler_on_both_cpus()
{
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()
{
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();
ets_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();
ets_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 count_tick[2];
static void IRAM_ATTR tick_hook()
{
++count_tick[xPortGetCoreID()];
}
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(count_tick, 0, sizeof(count_tick));
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("count_tick[cpu0] = %d, count_tick[cpu1] = %d\n", count_tick[0], count_tick[1]);
TEST_ASSERT_INT_WITHIN(1, waiting_ms * 2, count_tick[0]);
TEST_ASSERT_INT_WITHIN(1, waiting_ms * 2, count_tick[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;
}
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