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freertos: Enable vTaskSuspend()/vTaskResume() API

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Adds relevant unit tests.

TW11878
This commit is contained in:
Angus Gratton 2017-04-26 12:45:24 +10:00 committed by Angus Gratton
parent b540322dc1
commit 66726ec166
3 changed files with 223 additions and 15 deletions
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11
components/freertos/tasks.c
View File

@ -488,6 +488,8 @@ extern void esp_vApplicationTickHook( void );
* Utility task that simply returns pdTRUE if the task referenced by xTask is
* currently in the Suspended state, or pdFALSE if the task referenced by xTask
* is in any other state.
*
* Caller must hold xTaskQueueMutex before calling this function.
*/
#if ( INCLUDE_vTaskSuspend == 1 )
static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
@ -1716,13 +1718,11 @@ static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB, TaskFunction_t pxTaskCode
/*-----------------------------------------------------------*/
#if ( INCLUDE_vTaskSuspend == 1 )
/* ToDo: Make this multicore-compatible. */
void vTaskSuspend( TaskHandle_t xTaskToSuspend )
{
TCB_t *pxTCB;
TCB_t *curTCB;
UNTESTED_FUNCTION();
taskENTER_CRITICAL(&xTaskQueueMutex);
{
/* If null is passed in here then it is the running task that is
@ -1810,15 +1810,13 @@ static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB, TaskFunction_t pxTaskCode
/*-----------------------------------------------------------*/
#if ( INCLUDE_vTaskSuspend == 1 )
static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask )
{
BaseType_t xReturn = pdFALSE;
const TCB_t * const pxTCB = ( TCB_t * ) xTask;
/* Accesses xPendingReadyList so must be called from a critical
section. */
taskENTER_CRITICAL(&xTaskQueueMutex);
section (caller is required to hold xTaskQueueMutex). */
/* It does not make sense to check if the calling task is suspended. */
configASSERT( xTask );
@ -1849,7 +1847,6 @@ static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB, TaskFunction_t pxTaskCode
{
mtCOVERAGE_TEST_MARKER();
}
taskEXIT_CRITICAL(&xTaskQueueMutex);
return xReturn;
} /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
@ -1859,12 +1856,10 @@ static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB, TaskFunction_t pxTaskCode
#if ( INCLUDE_vTaskSuspend == 1 )
/* ToDo: Make this multicore-compatible. */
void vTaskResume( TaskHandle_t xTaskToResume )
{
TCB_t * const pxTCB = ( TCB_t * ) xTaskToResume;
UNTESTED_FUNCTION();
/* It does not make sense to resume the calling task. */
configASSERT( xTaskToResume );

173
components/freertos/test/test_suspend_resume.c Normal file
View File

@ -0,0 +1,173 @@
/* 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

54
tools/unit-test-app/sdkconfig
View File

@ -81,19 +81,13 @@ CONFIG_PARTITION_TABLE_CUSTOM_FILENAME="partition_table_unit_test_app.csv"
CONFIG_PARTITION_TABLE_CUSTOM_APP_BIN_OFFSET=0x10000
CONFIG_PARTITION_TABLE_FILENAME="partition_table_unit_test_app.csv"
CONFIG_APP_OFFSET=0x10000
CONFIG_PHY_DATA_OFFSET=
CONFIG_OPTIMIZATION_LEVEL_DEBUG=y
# CONFIG_OPTIMIZATION_LEVEL_RELEASE is not set
#
# Component config
#
#
# Amazon Web Service IoT Config
#
CONFIG_AWS_IOT_MQTT_HOST=""
CONFIG_AWS_IOT_MQTT_PORT=8883
# CONFIG_AWS_IOT_SDK is not set
# CONFIG_BT_ENABLED is not set
CONFIG_BT_RESERVE_DRAM=0
@ -117,6 +111,9 @@ CONFIG_ESP32_ENABLE_COREDUMP_TO_NONE=y
# CONFIG_ESP32_APPTRACE_DEST_UART is not set
CONFIG_ESP32_APPTRACE_DEST_NONE=y
# CONFIG_ESP32_APPTRACE_ENABLE is not set
CONFIG_BASE_MAC_STORED_DEFAULT_EFUSE=y
# CONFIG_BASE_MAC_STORED_CUSTOMER_DEFINED_EFUSE is not set
# CONFIG_BASE_MAC_STORED_OTHER_CUSTOMER_DEFINED_PLACE is not set
# CONFIG_TWO_MAC_ADDRESS_FROM_EFUSE is not set
CONFIG_FOUR_MAC_ADDRESS_FROM_EFUSE=y
CONFIG_NUMBER_OF_MAC_ADDRESS_GENERATED_FROM_EFUSE=4
@ -146,10 +143,18 @@ CONFIG_ESP32_TIME_SYSCALL_USE_RTC_FRC1=y
# CONFIG_ESP32_TIME_SYSCALL_USE_FRC1 is not set
# CONFIG_ESP32_TIME_SYSCALL_USE_NONE is not set
CONFIG_ESP32_RTC_CLOCK_SOURCE_INTERNAL_RC=y
# CONFIG_ESP32_RTC_CLOCK_SOURCE_EXTERNAL_CRYSTAL is not set
CONFIG_ESP32_DEEP_SLEEP_WAKEUP_DELAY=0
# CONFIG_ESP32_XTAL_FREQ_40 is not set
# CONFIG_ESP32_XTAL_FREQ_26 is not set
CONFIG_ESP32_XTAL_FREQ_AUTO=y
CONFIG_ESP32_XTAL_FREQ=0
CONFIG_WIFI_ENABLED=y
CONFIG_ESP32_WIFI_STATIC_RX_BUFFER_NUM=10
CONFIG_ESP32_WIFI_DYNAMIC_RX_BUFFER_NUM=0
# CONFIG_ESP32_WIFI_STATIC_TX_BUFFER is not set
CONFIG_ESP32_WIFI_DYNAMIC_TX_BUFFER=y
CONFIG_ESP32_WIFI_TX_BUFFER_TYPE=1
CONFIG_ESP32_WIFI_DYNAMIC_TX_BUFFER_NUM=32
CONFIG_ESP32_WIFI_AMPDU_ENABLED=y
CONFIG_ESP32_WIFI_NVS_ENABLED=y
@ -164,6 +169,34 @@ CONFIG_ESP32_PHY_MAX_WIFI_TX_POWER=20
CONFIG_ESP32_PHY_MAX_TX_POWER=20
# CONFIG_ETHERNET is not set
#
# FAT Filesystem support
#
CONFIG_FATFS_CODEPAGE_ASCII=y
# CONFIG_FATFS_CODEPAGE_437 is not set
# CONFIG_FATFS_CODEPAGE_720 is not set
# CONFIG_FATFS_CODEPAGE_737 is not set
# CONFIG_FATFS_CODEPAGE_771 is not set
# CONFIG_FATFS_CODEPAGE_775 is not set
# CONFIG_FATFS_CODEPAGE_850 is not set
# CONFIG_FATFS_CODEPAGE_852 is not set
# CONFIG_FATFS_CODEPAGE_855 is not set
# CONFIG_FATFS_CODEPAGE_857 is not set
# CONFIG_FATFS_CODEPAGE_860 is not set
# CONFIG_FATFS_CODEPAGE_861 is not set
# CONFIG_FATFS_CODEPAGE_862 is not set
# CONFIG_FATFS_CODEPAGE_863 is not set
# CONFIG_FATFS_CODEPAGE_864 is not set
# CONFIG_FATFS_CODEPAGE_865 is not set
# CONFIG_FATFS_CODEPAGE_866 is not set
# CONFIG_FATFS_CODEPAGE_869 is not set
# CONFIG_FATFS_CODEPAGE_932 is not set
# CONFIG_FATFS_CODEPAGE_936 is not set
# CONFIG_FATFS_CODEPAGE_949 is not set
# CONFIG_FATFS_CODEPAGE_950 is not set
CONFIG_FATFS_CODEPAGE=1
CONFIG_FATFS_MAX_LFN=255
#
# FreeRTOS
#
@ -185,6 +218,10 @@ CONFIG_FREERTOS_BREAK_ON_SCHEDULER_START_JTAG=y
CONFIG_FREERTOS_ISR_STACKSIZE=1536
# CONFIG_FREERTOS_LEGACY_HOOKS is not set
CONFIG_FREERTOS_MAX_TASK_NAME_LEN=16
# CONFIG_SUPPORT_STATIC_ALLOCATION is not set
CONFIG_TIMER_TASK_PRIORITY=1
CONFIG_TIMER_TASK_STACK_DEPTH=2048
CONFIG_TIMER_QUEUE_LENGTH=10
# CONFIG_FREERTOS_DEBUG_INTERNALS is not set
#
@ -213,6 +250,8 @@ CONFIG_LWIP_DHCP_MAX_NTP_SERVERS=1
CONFIG_TCP_MAXRTX=12
CONFIG_TCP_SYNMAXRTX=6
# CONFIG_LWIP_DHCP_DOES_ARP_CHECK is not set
CONFIG_TCPIP_TASK_STACK_SIZE=2048
# CONFIG_PPP_SUPPORT is not set
#
# mbedTLS
@ -237,3 +276,4 @@ CONFIG_OPENSSL_ASSERT_DO_NOTHING=y
# SPI Flash driver
#
# CONFIG_SPI_FLASH_ENABLE_COUNTERS is not set
CONFIG_SPI_FLASH_ROM_DRIVER_PATCH=y