kopia lustrzana https://github.com/espressif/esp-idf
286 wiersze
9.6 KiB
C
286 wiersze
9.6 KiB
C
/*
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* SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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/* Tests for FreeRTOS scheduler suspend & resume all tasks */
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#include "sdkconfig.h"
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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 "unity.h"
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#include "test_utils.h"
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#include "esp_intr_alloc.h"
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#include "driver/gptimer.h"
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#include "esp_private/gptimer.h"
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#include "sdkconfig.h"
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#include "esp_rom_sys.h"
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static SemaphoreHandle_t isr_semaphore;
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static volatile unsigned isr_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 bool on_timer_alarm_cb(gptimer_handle_t timer, const gptimer_alarm_event_data_t *edata, void *user_ctx)
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{
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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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return higher_awoken == pdTRUE;
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}
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typedef struct {
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SemaphoreHandle_t trigger_sem;
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volatile unsigned counter;
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} counter_config_t;
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static void counter_task_fn(void *vp_config)
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{
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counter_config_t *config = (counter_config_t *)vp_config;
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printf("counter_task running...\n");
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while (1) {
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xSemaphoreTake(config->trigger_sem, portMAX_DELAY);
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config->counter++;
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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("Scheduler disabled can handle a pending context switch on resume", "[freertos]")
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{
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isr_count = 0;
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TaskHandle_t counter_task;
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gptimer_handle_t gptimer = NULL;
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intr_handle_t intr_handle = NULL;
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isr_semaphore = xSemaphoreCreateBinary();
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TEST_ASSERT_NOT_NULL(isr_semaphore);
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counter_config_t count_config = {
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.trigger_sem = isr_semaphore,
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.counter = 0,
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};
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xTaskCreatePinnedToCore(counter_task_fn, "counter", 2048,
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&count_config, UNITY_FREERTOS_PRIORITY + 1,
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&counter_task, UNITY_FREERTOS_CPU);
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gptimer_config_t timer_config = {
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.clk_src = GPTIMER_CLK_SRC_APB,
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.direction = GPTIMER_COUNT_UP,
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.resolution_hz = 1000000, // 1MHz, 1 tick=1us
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};
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TEST_ESP_OK(gptimer_new_timer(&timer_config, &gptimer));
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gptimer_alarm_config_t alarm_config = {
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.reload_count = 0,
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.alarm_count = 1000, // alarm period 1ms
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.flags.auto_reload_on_alarm = true,
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};
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gptimer_event_callbacks_t cbs = {
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.on_alarm = on_timer_alarm_cb,
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};
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TEST_ESP_OK(gptimer_register_event_callbacks(gptimer, &cbs, NULL));
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TEST_ESP_OK(gptimer_set_alarm_action(gptimer, &alarm_config));
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TEST_ESP_OK(gptimer_start(gptimer));
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TEST_ESP_OK(gptimer_get_intr_handle(gptimer, &intr_handle));
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vTaskDelay(pdMS_TO_TICKS(20));
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// Check some counts have been triggered via the ISR
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TEST_ASSERT(count_config.counter > 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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#ifdef CONFIG_FREERTOS_SMP
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//Note: Scheduler suspension behavior changed in FreeRTOS SMP
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vTaskPreemptionDisable(NULL);
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#else
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vTaskSuspendAll();
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#endif // CONFIG_FREERTOS_SMP
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esp_intr_noniram_disable();
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unsigned no_sched_task = count_config.counter;
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// scheduler off on this CPU...
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esp_rom_delay_us(20 * 1000);
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TEST_ASSERT_EQUAL(count_config.counter, no_sched_task);
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// disable timer interrupts
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esp_intr_disable(intr_handle);
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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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esp_intr_enable(intr_handle);
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#ifdef CONFIG_FREERTOS_SMP
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//Note: Scheduler suspension behavior changed in FreeRTOS SMP
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vTaskPreemptionEnable(NULL);
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#else
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xTaskResumeAll();
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#endif // CONFIG_FREERTOS_SMP
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TEST_ASSERT_NOT_EQUAL(count_config.counter, no_sched_task);
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}
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TEST_ESP_OK(gptimer_stop(gptimer));
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TEST_ESP_OK(gptimer_del_timer(gptimer));
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vTaskDelete(counter_task);
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vSemaphoreDelete(isr_semaphore);
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}
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/* Multiple tasks on different cores can be added to the pending ready list
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while scheduler is suspended, and should be started once the scheduler
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resumes.
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*/
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TEST_CASE("Scheduler disabled can wake multiple tasks on resume", "[freertos]")
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{
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#define TASKS_PER_PROC 4
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TaskHandle_t tasks[portNUM_PROCESSORS][TASKS_PER_PROC] = { 0 };
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counter_config_t counters[portNUM_PROCESSORS][TASKS_PER_PROC] = { 0 };
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/* Start all the tasks, they will block on isr_semaphore */
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for (int p = 0; p < portNUM_PROCESSORS; p++) {
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for (int t = 0; t < TASKS_PER_PROC; t++) {
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counters[p][t].trigger_sem = xSemaphoreCreateMutex();
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TEST_ASSERT_NOT_NULL( counters[p][t].trigger_sem );
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TEST_ASSERT( xSemaphoreTake(counters[p][t].trigger_sem, 0) );
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xTaskCreatePinnedToCore(counter_task_fn, "counter", 2048,
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&counters[p][t], UNITY_FREERTOS_PRIORITY + 1,
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&tasks[p][t], p);
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TEST_ASSERT_NOT_NULL( tasks[p][t] );
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}
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}
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/* takes a while to initialize tasks on both cores, sometimes... */
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vTaskDelay(TASKS_PER_PROC * portNUM_PROCESSORS * 3);
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/* Check nothing is counting, each counter should be blocked on its trigger_sem */
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for (int p = 0; p < portNUM_PROCESSORS; p++) {
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for (int t = 0; t < TASKS_PER_PROC; t++) {
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TEST_ASSERT_EQUAL(0, counters[p][t].counter);
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}
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}
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/* Suspend scheduler on this CPU */
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#ifdef CONFIG_FREERTOS_SMP
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//Note: Scheduler suspension behavior changed in FreeRTOS SMP
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vTaskPreemptionDisable(NULL);
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#else
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vTaskSuspendAll();
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#endif // CONFIG_FREERTOS_SMP
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/* Give all the semaphores once. This will wake tasks immediately on the other
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CPU, but they are deferred here until the scheduler resumes.
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*/
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for (int p = 0; p < portNUM_PROCESSORS; p++) {
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for (int t = 0; t < TASKS_PER_PROC; t++) {
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xSemaphoreGive(counters[p][t].trigger_sem);
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}
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}
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esp_rom_delay_us(200); /* Let the other CPU do some things */
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for (int p = 0; p < portNUM_PROCESSORS; p++) {
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for (int t = 0; t < TASKS_PER_PROC; t++) {
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int expected = (p == UNITY_FREERTOS_CPU) ? 0 : 1; // Has run if it was on the other CPU
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esp_rom_printf("Checking CPU %d task %d (expected %d actual %d)\n", p, t, expected, counters[p][t].counter);
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TEST_ASSERT_EQUAL(expected, counters[p][t].counter);
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}
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}
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/* Resume scheduler */
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#ifdef CONFIG_FREERTOS_SMP
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//Note: Scheduler suspension behavior changed in FreeRTOS SMP
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vTaskPreemptionEnable(NULL);
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#else
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xTaskResumeAll();
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#endif // CONFIG_FREERTOS_SMP
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/* Now the tasks on both CPUs should have been woken once and counted once. */
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for (int p = 0; p < portNUM_PROCESSORS; p++) {
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for (int t = 0; t < TASKS_PER_PROC; t++) {
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esp_rom_printf("Checking CPU %d task %d (expected 1 actual %d)\n", p, t, counters[p][t].counter);
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TEST_ASSERT_EQUAL(1, counters[p][t].counter);
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}
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}
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/* Clean up */
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for (int p = 0; p < portNUM_PROCESSORS; p++) {
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for (int t = 0; t < TASKS_PER_PROC; t++) {
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vTaskDelete(tasks[p][t]);
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vSemaphoreDelete(counters[p][t].trigger_sem);
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}
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}
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}
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#ifndef CONFIG_FREERTOS_UNICORE
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static volatile bool sched_suspended;
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static void suspend_scheduler_5ms_task_fn(void *ignore)
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{
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#ifdef CONFIG_FREERTOS_SMP
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//Note: Scheduler suspension behavior changed in FreeRTOS SMP
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vTaskPreemptionDisable(NULL);
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#else
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vTaskSuspendAll();
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#endif // CONFIG_FREERTOS_SMP
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sched_suspended = true;
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for (int i = 0; i < 5; i++) {
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esp_rom_delay_us(1000);
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}
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#ifdef CONFIG_FREERTOS_SMP
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//Note: Scheduler suspension behavior changed in FreeRTOS SMP
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vTaskPreemptionEnable(NULL);
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#else
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xTaskResumeAll();
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#endif // CONFIG_FREERTOS_SMP
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sched_suspended = false;
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vTaskDelete(NULL);
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}
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/* If the scheduler is disabled on one CPU (A) with a task blocked on something, and a task
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on B (where scheduler is running) wakes it, then the task on A should be woken on resume.
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*/
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TEST_CASE("Scheduler disabled on CPU B, tasks on A can wake", "[freertos]")
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{
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TaskHandle_t counter_task;
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SemaphoreHandle_t wake_sem = xSemaphoreCreateMutex();
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xSemaphoreTake(wake_sem, 0);
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counter_config_t count_config = {
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.trigger_sem = wake_sem,
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.counter = 0,
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};
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xTaskCreatePinnedToCore(counter_task_fn, "counter", 2048,
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&count_config, UNITY_FREERTOS_PRIORITY + 1,
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&counter_task, !UNITY_FREERTOS_CPU);
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xTaskCreatePinnedToCore(suspend_scheduler_5ms_task_fn, "suspender", 2048,
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NULL, UNITY_FREERTOS_PRIORITY - 1,
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NULL, !UNITY_FREERTOS_CPU);
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/* counter task is now blocked on other CPU, waiting for wake_sem, and we expect
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that this CPU's scheduler will be suspended for 5ms shortly... */
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while (!sched_suspended) { }
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xSemaphoreGive(wake_sem);
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esp_rom_delay_us(1000);
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// Bit of a race here if the other CPU resumes its scheduler, but 5ms is a long time... */
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TEST_ASSERT(sched_suspended);
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TEST_ASSERT_EQUAL(0, count_config.counter); // the other task hasn't woken yet, because scheduler is off
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TEST_ASSERT(sched_suspended);
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/* wait for the rest of the 5ms... */
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while (sched_suspended) { }
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esp_rom_delay_us(100);
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TEST_ASSERT_EQUAL(1, count_config.counter); // when scheduler resumes, counter task should immediately count
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vTaskDelete(counter_task);
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}
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#endif
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