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107 lines
3.1 KiB
C
107 lines
3.1 KiB
C
/* Tests for FreeRTOS scheduler suspend & resume all tasks */
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#include <stdio.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/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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static SemaphoreHandle_t isr_semaphore;
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static volatile unsigned isr_count, task_count;
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/* Timer ISR increments an ISR counter, and signals a
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mutex semaphore to wake up another counter task */
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static void timer_group0_isr(void *vp_arg)
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{
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TIMERG0.int_clr_timers.t0 = 1;
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TIMERG0.hw_timer[TIMER_0].update = 1;
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TIMERG0.hw_timer[TIMER_0].config.alarm_en = 1;
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portBASE_TYPE higher_awoken = pdFALSE;
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isr_count++;
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xSemaphoreGiveFromISR(isr_semaphore, &higher_awoken);
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if (higher_awoken == pdTRUE) {
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portYIELD_FROM_ISR();
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}
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}
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static void counter_task_fn(void *ignore)
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{
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printf("counter_task running...\n");
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while(1) {
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xSemaphoreTake(isr_semaphore, portMAX_DELAY);
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task_count++;
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}
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}
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/* This test verifies that an interrupt can wake up a task while the scheduler is disabled.
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In the FreeRTOS implementation, this exercises the xPendingReadyList for that core.
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*/
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TEST_CASE("Handle pending context switch while scheduler disabled", "[freertos]")
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{
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task_count = 0;
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isr_count = 0;
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isr_semaphore = xSemaphoreCreateMutex();
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TaskHandle_t counter_task;
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xTaskCreatePinnedToCore(counter_task_fn, "counter", 2048,
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NULL, UNITY_FREERTOS_PRIORITY + 1,
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&counter_task, UNITY_FREERTOS_CPU);
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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 = 1,
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.counter_dir = TIMER_COUNT_UP,
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.divider = 1,
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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, NULL, 0, NULL);
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timer_start(TIMER_GROUP_0, TIMER_0);
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vTaskDelay(5);
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// Check some counts have been triggered via the ISR
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TEST_ASSERT(task_count > 10);
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TEST_ASSERT(isr_count > 10);
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for (int i = 0; i < 20; i++) {
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vTaskSuspendAll();
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esp_intr_noniram_disable();
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unsigned no_sched_task = task_count;
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// scheduler off on this CPU...
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ets_delay_us(20 * 1000);
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//TEST_ASSERT_NOT_EQUAL(no_sched_isr, isr_count);
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TEST_ASSERT_EQUAL(task_count, no_sched_task);
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// disable timer interrupts
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timer_disable_intr(TIMER_GROUP_0, TIMER_0);
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// When we resume scheduler, we expect the counter task
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// will preempt and count at least one more item
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esp_intr_noniram_enable();
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xTaskResumeAll();
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TEST_ASSERT_NOT_EQUAL(task_count, no_sched_task);
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}
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vTaskDelete(counter_task);
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vSemaphoreDelete(isr_semaphore);
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}
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