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366 lines
10 KiB
C
366 lines
10 KiB
C
/* Tests for FreeRTOS task suspend & resume */
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#include <stdio.h>
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#include <string.h>
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "freertos/semphr.h"
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#include "freertos/timers.h"
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#include "freertos/queue.h"
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#include "freertos/xtensa_api.h"
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#include "unity.h"
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#include "soc/cpu.h"
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#include "driver/timer.h"
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#include "esp_ipc.h"
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#include "esp_freertos_hooks.h"
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#include "sdkconfig.h"
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/* Counter task counts a target variable forever */
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static void task_count(void *vp_counter)
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{
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volatile unsigned *counter = (volatile unsigned *)vp_counter;
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*counter = 0;
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while (1) {
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(*counter)++;
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vTaskDelay(1);
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}
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}
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static void test_suspend_resume(int target_core)
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{
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volatile unsigned counter = 0;
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TaskHandle_t counter_task;
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xTaskCreatePinnedToCore(task_count, "Count", 2048,
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(void *)&counter, UNITY_FREERTOS_PRIORITY + 1,
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&counter_task, target_core);
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vTaskDelay(10);
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/* check some counting has happened */
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TEST_ASSERT_NOT_EQUAL(0, counter);
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// Do the next part a few times, just to be sure multiple suspends & resumes
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// work as expected...
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const int TEST_ITERATIONS = 5;
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for (int i = 0; i < TEST_ITERATIONS; i++) {
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vTaskSuspend(counter_task);
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unsigned suspend_count = counter;
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printf("Suspending @ %d\n", suspend_count);
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vTaskDelay(2);
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printf("Still suspended @ %d\n", counter);
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/* check the counter hasn't gone up while the task is suspended */
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TEST_ASSERT_EQUAL(suspend_count, counter);
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vTaskResume(counter_task);
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vTaskDelay(2);
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printf("Resumed @ %d\n", counter);
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/* check the counter is going up again now the task is resumed */
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TEST_ASSERT_NOT_EQUAL(suspend_count, counter);
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}
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vTaskDelete(counter_task);
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}
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TEST_CASE("Suspend/resume task on same core", "[freertos]")
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{
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test_suspend_resume(UNITY_FREERTOS_CPU);
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}
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#ifndef CONFIG_FREERTOS_UNICORE
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TEST_CASE("Suspend/resume task on other core", "[freertos]")
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{
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test_suspend_resume(!UNITY_FREERTOS_CPU);
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}
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#endif
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/* Task suspends itself, then sets a flag and deletes itself */
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static void task_suspend_self(void *vp_resumed)
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{
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volatile bool *resumed = (volatile bool *)vp_resumed;
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*resumed = false;
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vTaskSuspend(NULL);
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*resumed = true;
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vTaskDelete(NULL);
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}
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TEST_CASE("Suspend the current running task", "[freertos]")
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{
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volatile bool resumed = false;
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TaskHandle_t suspend_task;
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xTaskCreatePinnedToCore(task_suspend_self, "suspend_self", 2048,
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(void *)&resumed, UNITY_FREERTOS_PRIORITY + 1,
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&suspend_task, UNITY_FREERTOS_CPU);
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vTaskDelay(1);
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TEST_ASSERT_FALSE(resumed);
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vTaskResume(suspend_task);
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// Shouldn't need any delay here, as task should resume on this CPU immediately
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TEST_ASSERT_TRUE(resumed);
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}
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volatile bool timer_isr_fired;
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/* Timer ISR clears interrupt, sets flag, then resumes the task supplied in the
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* callback argument.
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*/
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void IRAM_ATTR timer_group0_isr(void *vp_arg)
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{
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// Clear interrupt
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TIMERG0.int_clr_timers.val = TIMERG0.int_st_timers.val;
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timer_isr_fired = true;
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TaskHandle_t handle = vp_arg;
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BaseType_t higherPriorityTaskWoken = pdFALSE;
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higherPriorityTaskWoken = xTaskResumeFromISR(handle);
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if (higherPriorityTaskWoken == pdTRUE) {
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portYIELD_FROM_ISR();
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}
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}
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/* Create a task which suspends itself, then resume it from a timer
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* interrupt. */
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static void test_resume_task_from_isr(int target_core)
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{
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volatile bool resumed = false;
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TaskHandle_t suspend_task;
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xTaskCreatePinnedToCore(task_suspend_self, "suspend_self", 2048,
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(void *)&resumed, UNITY_FREERTOS_PRIORITY + 1,
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&suspend_task, target_core);
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vTaskDelay(1);
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TEST_ASSERT_FALSE(resumed);
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/* Configure timer ISR */
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const timer_config_t config = {
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.alarm_en = 1,
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.auto_reload = 0,
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.counter_dir = TIMER_COUNT_UP,
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.divider = 2, //Range is 2 to 65536
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.intr_type = TIMER_INTR_LEVEL,
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.counter_en = TIMER_PAUSE,
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};
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/*Configure timer*/
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timer_init(TIMER_GROUP_0, TIMER_0, &config);
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timer_pause(TIMER_GROUP_0, TIMER_0);
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timer_set_counter_value(TIMER_GROUP_0, TIMER_0, 0);
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timer_set_alarm_value(TIMER_GROUP_0, TIMER_0, 1000);
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timer_enable_intr(TIMER_GROUP_0, TIMER_0);
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timer_isr_register(TIMER_GROUP_0, TIMER_0, timer_group0_isr, (void*)suspend_task, ESP_INTR_FLAG_IRAM, NULL);
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timer_isr_fired = false;
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timer_start(TIMER_GROUP_0, TIMER_0);
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vTaskDelay(1);
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TEST_ASSERT_TRUE(timer_isr_fired);
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TEST_ASSERT_TRUE(resumed);
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}
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TEST_CASE("Resume task from ISR (same core)", "[freertos]")
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{
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test_resume_task_from_isr(UNITY_FREERTOS_CPU);
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}
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#ifndef CONFIG_FREERTOS_UNICORE
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TEST_CASE("Resume task from ISR (other core)", "[freertos]")
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{
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test_resume_task_from_isr(!UNITY_FREERTOS_CPU);
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}
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static volatile bool block;
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static bool suspend_both_cpus;
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static void IRAM_ATTR suspend_scheduler_while_block_set(void* arg)
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{
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vTaskSuspendAll();
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while (block) { };
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ets_delay_us(1);
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xTaskResumeAll();
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}
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static void IRAM_ATTR suspend_scheduler_on_both_cpus()
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{
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block = true;
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if (suspend_both_cpus) {
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TEST_ESP_OK(esp_ipc_call((xPortGetCoreID() == 0) ? 1 : 0, &suspend_scheduler_while_block_set, NULL));
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}
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vTaskSuspendAll();
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}
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static void IRAM_ATTR resume_scheduler_on_both_cpus()
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{
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block = false;
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xTaskResumeAll();
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}
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static const int waiting_ms = 2000;
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static const int delta_ms = 100;
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static int duration_wait_task_ms;
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static int duration_ctrl_task_ms;
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static void waiting_task(void *pvParameters)
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{
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int cpu_id = xPortGetCoreID();
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int64_t start_time = esp_timer_get_time();
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printf("Start waiting_task cpu=%d\n", cpu_id);
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vTaskDelay(waiting_ms / portTICK_PERIOD_MS);
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duration_wait_task_ms = (esp_timer_get_time() - start_time) / 1000;
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printf("Finish waiting_task cpu=%d, time=%d ms\n", cpu_id, duration_wait_task_ms);
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vTaskDelete(NULL);
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}
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static void control_task(void *pvParameters)
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{
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int cpu_id = xPortGetCoreID();
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ets_delay_us(2000); // let to start the waiting_task first
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printf("Start control_task cpu=%d\n", cpu_id);
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int64_t start_time = esp_timer_get_time();
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suspend_scheduler_on_both_cpus();
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ets_delay_us(waiting_ms * 1000 + delta_ms * 1000);
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resume_scheduler_on_both_cpus();
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duration_ctrl_task_ms = (esp_timer_get_time() - start_time) / 1000;
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printf("Finish control_task cpu=%d, time=%d ms\n", cpu_id, duration_ctrl_task_ms);
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vTaskDelete(NULL);
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}
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static void test_scheduler_suspend1(int cpu)
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{
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/* This test tests a case then both CPUs were in suspend state and then resume CPUs back.
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* 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.
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* (In an old implementation of xTaskIncrementTick function the counting for waiting_task() will be continued
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* (excluding time in suspended) after control_task() is finished.)
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*/
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duration_wait_task_ms = 0;
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duration_ctrl_task_ms = 0;
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printf("Test for CPU%d\n", cpu);
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int other_cpu = (cpu == 0) ? 1 : 0;
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xTaskCreatePinnedToCore(&waiting_task, "waiting_task", 8192, NULL, 5, NULL, other_cpu);
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xTaskCreatePinnedToCore(&control_task, "control_task", 8192, NULL, 5, NULL, cpu);
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vTaskDelay(waiting_ms * 2 / portTICK_PERIOD_MS);
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TEST_ASSERT_INT_WITHIN(4, waiting_ms + delta_ms + 4, duration_ctrl_task_ms);
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if (suspend_both_cpus == false && cpu == 1) {
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// CPU0 continues to increase the TickCount and the wait_task does not depend on Suspended Scheduler on CPU1
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TEST_ASSERT_INT_WITHIN(2, waiting_ms, duration_wait_task_ms);
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} else {
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TEST_ASSERT_INT_WITHIN(4, waiting_ms + delta_ms + 4, duration_wait_task_ms);
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}
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printf("\n");
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}
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TEST_CASE("Test the waiting task not missed due to scheduler suspension on both CPUs", "[freertos]")
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{
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printf("Suspend both CPUs:\n");
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suspend_both_cpus = true;
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test_scheduler_suspend1(0);
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test_scheduler_suspend1(1);
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}
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TEST_CASE("Test the waiting task not missed due to scheduler suspension on one CPU", "[freertos]")
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{
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printf("Suspend only one CPU:\n");
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suspend_both_cpus = false;
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test_scheduler_suspend1(0);
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test_scheduler_suspend1(1);
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}
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static uint32_t count_tick[2];
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static void IRAM_ATTR tick_hook()
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{
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++count_tick[xPortGetCoreID()];
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}
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static void test_scheduler_suspend2(int cpu)
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{
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esp_register_freertos_tick_hook_for_cpu(tick_hook, 0);
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esp_register_freertos_tick_hook_for_cpu(tick_hook, 1);
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memset(count_tick, 0, sizeof(count_tick));
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printf("Test for CPU%d\n", cpu);
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xTaskCreatePinnedToCore(&control_task, "control_task", 8192, NULL, 5, NULL, cpu);
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vTaskDelay(waiting_ms * 2 / portTICK_PERIOD_MS);
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esp_deregister_freertos_tick_hook(tick_hook);
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printf("count_tick[cpu0] = %d, count_tick[cpu1] = %d\n", count_tick[0], count_tick[1]);
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TEST_ASSERT_INT_WITHIN(1, waiting_ms * 2, count_tick[0]);
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TEST_ASSERT_INT_WITHIN(1, waiting_ms * 2, count_tick[1]);
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printf("\n");
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}
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TEST_CASE("Test suspend-resume CPU. The number of tick_hook should be the same for both CPUs", "[freertos]")
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{
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printf("Suspend both CPUs:\n");
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suspend_both_cpus = true;
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test_scheduler_suspend2(0);
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test_scheduler_suspend2(1);
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printf("Suspend only one CPU:\n");
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suspend_both_cpus = false;
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test_scheduler_suspend2(0);
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test_scheduler_suspend2(1);
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}
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static int duration_timer_ms;
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static void timer_callback(void *arg)
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{
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++duration_timer_ms;
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}
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static void test_scheduler_suspend3(int cpu)
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{
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duration_timer_ms = 0;
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duration_ctrl_task_ms = 0;
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printf("Test for CPU%d\n", cpu);
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TimerHandle_t count_time = xTimerCreate("count_time", 1, pdTRUE, NULL, timer_callback);
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xTimerStart( count_time, portMAX_DELAY);
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xTaskCreatePinnedToCore(&control_task, "control_task", 8192, NULL, 5, NULL, cpu);
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vTaskDelay(waiting_ms * 2 / portTICK_PERIOD_MS);
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xTimerDelete(count_time, portMAX_DELAY);
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printf("Finish duration_timer_ms=%d ms\n", duration_timer_ms);
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TEST_ASSERT_INT_WITHIN(2, waiting_ms * 2, duration_timer_ms);
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TEST_ASSERT_INT_WITHIN(5, waiting_ms + delta_ms, duration_ctrl_task_ms);
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printf("\n");
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}
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TEST_CASE("Test suspend-resume CPU works with xTimer", "[freertos]")
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{
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printf("Suspend both CPUs:\n");
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suspend_both_cpus = true;
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test_scheduler_suspend3(0);
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test_scheduler_suspend3(1);
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printf("Suspend only one CPU:\n");
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suspend_both_cpus = false;
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test_scheduler_suspend3(0);
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test_scheduler_suspend3(1);
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}
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#endif // CONFIG_FREERTOS_UNICORE
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