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

107 lines
3.1 KiB
C

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