kopia lustrzana https://github.com/espressif/esp-idf
107 wiersze
3.1 KiB
C
107 wiersze
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);
|
|
}
|