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

/* 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 "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"

#ifdef CONFIG_IDF_TARGET_ESP32S2
#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