diff --git a/components/freertos/test/test_task_suspend_resume.c b/components/freertos/test/test_task_suspend_resume.c index d66e4af528..eb32e27ff3 100644 --- a/components/freertos/test/test_task_suspend_resume.c +++ b/components/freertos/test/test_task_suspend_resume.c @@ -1,9 +1,11 @@ /* Tests for FreeRTOS task suspend & resume */ #include +#include #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" @@ -11,6 +13,11 @@ #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) { @@ -170,4 +177,189 @@ 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