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

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8.5 KiB
C
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/* 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 "unity.h"
#include "test_utils.h"
#include "esp_intr_alloc.h"
#include "driver/gptimer.h"
#include "esp_private/gptimer.h"
#include "sdkconfig.h"
#include "esp_rom_sys.h"
static SemaphoreHandle_t isr_semaphore;
static volatile unsigned isr_count;
/* Timer ISR increments an ISR counter, and signals a
mutex semaphore to wake up another counter task */
static bool on_timer_alarm_cb(gptimer_handle_t timer, const gptimer_alarm_event_data_t *edata, void *user_ctx)
{
portBASE_TYPE higher_awoken = pdFALSE;
isr_count++;
xSemaphoreGiveFromISR(isr_semaphore, &higher_awoken);
return higher_awoken == pdTRUE;
}
typedef struct {
SemaphoreHandle_t trigger_sem;
volatile unsigned counter;
} counter_config_t;
static void counter_task_fn(void *vp_config)
{
counter_config_t *config = (counter_config_t *)vp_config;
printf("counter_task running...\n");
while (1) {
xSemaphoreTake(config->trigger_sem, portMAX_DELAY);
config->counter++;
}
}
/* 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("Scheduler disabled can handle a pending context switch on resume", "[freertos]")
{
isr_count = 0;
TaskHandle_t counter_task;
gptimer_handle_t gptimer = NULL;
intr_handle_t intr_handle = NULL;
isr_semaphore = xSemaphoreCreateBinary();
TEST_ASSERT_NOT_NULL(isr_semaphore);
counter_config_t count_config = {
.trigger_sem = isr_semaphore,
.counter = 0,
};
xTaskCreatePinnedToCore(counter_task_fn, "counter", 2048,
&count_config, UNITY_FREERTOS_PRIORITY + 1,
&counter_task, UNITY_FREERTOS_CPU);
gptimer_config_t timer_config = {
.clk_src = GPTIMER_CLK_SRC_APB,
.direction = GPTIMER_COUNT_UP,
.resolution_hz = 1000000, // 1MHz, 1 tick=1us
};
TEST_ESP_OK(gptimer_new_timer(&timer_config, &gptimer));
gptimer_alarm_config_t alarm_config = {
.reload_count = 0,
.alarm_count = 1000, // alarm period 1ms
.flags.auto_reload_on_alarm = true,
};
gptimer_event_callbacks_t cbs = {
.on_alarm = on_timer_alarm_cb,
};
TEST_ESP_OK(gptimer_register_event_callbacks(gptimer, &cbs, NULL));
TEST_ESP_OK(gptimer_set_alarm_action(gptimer, &alarm_config));
TEST_ESP_OK(gptimer_start(gptimer));
TEST_ESP_OK(gptimer_get_intr_handle(gptimer, &intr_handle));
vTaskDelay(pdMS_TO_TICKS(20));
// Check some counts have been triggered via the ISR
TEST_ASSERT(count_config.counter > 10);
TEST_ASSERT(isr_count > 10);
for (int i = 0; i < 20; i++) {
vTaskSuspendAll();
esp_intr_noniram_disable();
unsigned no_sched_task = count_config.counter;
// scheduler off on this CPU...
esp_rom_delay_us(20 * 1000);
TEST_ASSERT_EQUAL(count_config.counter, no_sched_task);
// disable timer interrupts
esp_intr_disable(intr_handle);
// When we resume scheduler, we expect the counter task
// will preempt and count at least one more item
esp_intr_noniram_enable();
esp_intr_enable(intr_handle);
xTaskResumeAll();
TEST_ASSERT_NOT_EQUAL(count_config.counter, no_sched_task);
}
TEST_ESP_OK(gptimer_stop(gptimer));
TEST_ESP_OK(gptimer_del_timer(gptimer));
vTaskDelete(counter_task);
vSemaphoreDelete(isr_semaphore);
}
/* Multiple tasks on different cores can be added to the pending ready list
while scheduler is suspended, and should be started once the scheduler
resumes.
*/
TEST_CASE("Scheduler disabled can wake multiple tasks on resume", "[freertos]")
{
#define TASKS_PER_PROC 4
TaskHandle_t tasks[portNUM_PROCESSORS][TASKS_PER_PROC] = { 0 };
counter_config_t counters[portNUM_PROCESSORS][TASKS_PER_PROC] = { 0 };
/* Start all the tasks, they will block on isr_semaphore */
for (int p = 0; p < portNUM_PROCESSORS; p++) {
for (int t = 0; t < TASKS_PER_PROC; t++) {
counters[p][t].trigger_sem = xSemaphoreCreateMutex();
TEST_ASSERT_NOT_NULL( counters[p][t].trigger_sem );
TEST_ASSERT( xSemaphoreTake(counters[p][t].trigger_sem, 0) );
xTaskCreatePinnedToCore(counter_task_fn, "counter", 2048,
&counters[p][t], UNITY_FREERTOS_PRIORITY + 1,
&tasks[p][t], p);
TEST_ASSERT_NOT_NULL( tasks[p][t] );
}
}
/* takes a while to initialize tasks on both cores, sometimes... */
vTaskDelay(TASKS_PER_PROC * portNUM_PROCESSORS * 3);
/* Check nothing is counting, each counter should be blocked on its trigger_sem */
for (int p = 0; p < portNUM_PROCESSORS; p++) {
for (int t = 0; t < TASKS_PER_PROC; t++) {
TEST_ASSERT_EQUAL(0, counters[p][t].counter);
}
}
/* Suspend scheduler on this CPU */
vTaskSuspendAll();
/* Give all the semaphores once. This will wake tasks immediately on the other
CPU, but they are deferred here until the scheduler resumes.
*/
for (int p = 0; p < portNUM_PROCESSORS; p++) {
for (int t = 0; t < TASKS_PER_PROC; t++) {
xSemaphoreGive(counters[p][t].trigger_sem);
}
}
esp_rom_delay_us(200); /* Let the other CPU do some things */
for (int p = 0; p < portNUM_PROCESSORS; p++) {
for (int t = 0; t < TASKS_PER_PROC; t++) {
int expected = (p == UNITY_FREERTOS_CPU) ? 0 : 1; // Has run if it was on the other CPU
esp_rom_printf("Checking CPU %d task %d (expected %d actual %d)\n", p, t, expected, counters[p][t].counter);
TEST_ASSERT_EQUAL(expected, counters[p][t].counter);
}
}
/* Resume scheduler */
xTaskResumeAll();
/* Now the tasks on both CPUs should have been woken once and counted once. */
for (int p = 0; p < portNUM_PROCESSORS; p++) {
for (int t = 0; t < TASKS_PER_PROC; t++) {
esp_rom_printf("Checking CPU %d task %d (expected 1 actual %d)\n", p, t, counters[p][t].counter);
TEST_ASSERT_EQUAL(1, counters[p][t].counter);
}
}
/* Clean up */
for (int p = 0; p < portNUM_PROCESSORS; p++) {
for (int t = 0; t < TASKS_PER_PROC; t++) {
vTaskDelete(tasks[p][t]);
vSemaphoreDelete(counters[p][t].trigger_sem);
}
}
}
#ifndef CONFIG_FREERTOS_UNICORE
static volatile bool sched_suspended;
static void suspend_scheduler_5ms_task_fn(void *ignore)
{
vTaskSuspendAll();
sched_suspended = true;
for (int i = 0; i < 5; i++) {
esp_rom_delay_us(1000);
}
xTaskResumeAll();
sched_suspended = false;
vTaskDelete(NULL);
}
/* If the scheduler is disabled on one CPU (A) with a task blocked on something, and a task
on B (where scheduler is running) wakes it, then the task on A should be woken on resume.
*/
TEST_CASE("Scheduler disabled on CPU B, tasks on A can wake", "[freertos]")
{
TaskHandle_t counter_task;
SemaphoreHandle_t wake_sem = xSemaphoreCreateMutex();
xSemaphoreTake(wake_sem, 0);
counter_config_t count_config = {
.trigger_sem = wake_sem,
.counter = 0,
};
xTaskCreatePinnedToCore(counter_task_fn, "counter", 2048,
&count_config, UNITY_FREERTOS_PRIORITY + 1,
&counter_task, !UNITY_FREERTOS_CPU);
xTaskCreatePinnedToCore(suspend_scheduler_5ms_task_fn, "suspender", 2048,
NULL, UNITY_FREERTOS_PRIORITY - 1,
NULL, !UNITY_FREERTOS_CPU);
/* counter task is now blocked on other CPU, waiting for wake_sem, and we expect
that this CPU's scheduler will be suspended for 5ms shortly... */
while (!sched_suspended) { }
xSemaphoreGive(wake_sem);
esp_rom_delay_us(1000);
// Bit of a race here if the other CPU resumes its scheduler, but 5ms is a long time... */
TEST_ASSERT(sched_suspended);
TEST_ASSERT_EQUAL(0, count_config.counter); // the other task hasn't woken yet, because scheduler is off
TEST_ASSERT(sched_suspended);
/* wait for the rest of the 5ms... */
while (sched_suspended) { }
esp_rom_delay_us(100);
TEST_ASSERT_EQUAL(1, count_config.counter); // when scheduler resumes, counter task should immediately count
vTaskDelete(counter_task);
}
#endif
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