Merge branch 'bugfix/xTaskIncrementTick_v3.3' into 'release/v3.3'
freertos: Fix xTaskIncrementTick for unwind the Tick for CPU1 (v3.3) See merge request espressif/esp-idf!5034
This commit is contained in:
Angus Gratton
commit
07735424a2
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@ -2464,12 +2464,11 @@ BaseType_t xSwitchRequired = pdFALSE;
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Increments the tick then checks to see if the new tick value will cause any
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tasks to be unblocked. */
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/* Only let core 0 increase the tick count, to keep accurate track of time. */
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/* ToDo: This doesn't really play nice with the logic below: it means when core 1 is
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running a low-priority task, it will keep running it until there is a context
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switch, even when this routine (running on core 0) unblocks a bunch of high-priority
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tasks... this is less than optimal -- JD. */
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if ( xPortGetCoreID()!=0 ) {
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/* Only allow core 0 increase the tick count in the case of xPortSysTickHandler processing. */
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/* And allow core 0 and core 1 to unwind uxPendedTicks during xTaskResumeAll. */
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if ( xPortInIsrContext() )
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{
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#if ( configUSE_TICK_HOOK == 1 )
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vApplicationTickHook();
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#endif /* configUSE_TICK_HOOK */
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@ -2477,11 +2476,10 @@ BaseType_t xSwitchRequired = pdFALSE;
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esp_vApplicationTickHook();
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#endif /* CONFIG_FREERTOS_LEGACY_HOOKS */
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/*
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We can't really calculate what we need, that's done on core 0... just assume we need a switch.
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ToDo: Make this more intelligent? -- JD
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*/
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return pdTRUE;
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if (xPortGetCoreID() == 1 )
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{
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return pdTRUE;
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}
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}
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@ -2606,39 +2604,11 @@ BaseType_t xSwitchRequired = pdFALSE;
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}
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#endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) */
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{
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/* Guard against the tick hook being called when the pended tick
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count is being unwound (when the scheduler is being unlocked). */
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if( uxPendedTicks == ( UBaseType_t ) 0U )
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{
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#if ( configUSE_TICK_HOOK == 1 )
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vApplicationTickHook();
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#endif /* configUSE_TICK_HOOK */
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#if ( CONFIG_FREERTOS_LEGACY_HOOKS == 1 )
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esp_vApplicationTickHook();
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#endif /* CONFIG_FREERTOS_LEGACY_HOOKS */
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}
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else
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{
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mtCOVERAGE_TEST_MARKER();
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}
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}
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taskEXIT_CRITICAL_ISR(&xTaskQueueMutex);
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}
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else
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{
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++uxPendedTicks;
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/* The tick hook gets called at regular intervals, even if the
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scheduler is locked. */
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#if ( configUSE_TICK_HOOK == 1 )
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{
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vApplicationTickHook();
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}
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#endif
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#if ( CONFIG_FREERTOS_LEGACY_HOOKS == 1 )
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esp_vApplicationTickHook();
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#endif /* CONFIG_FREERTOS_LEGACY_HOOKS */
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}
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#if ( configUSE_PREEMPTION == 1 )
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@ -1,9 +1,11 @@
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/* Tests for FreeRTOS task suspend & resume */
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#include <stdio.h>
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#include <string.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/timers.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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@ -12,6 +14,11 @@
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#include "driver/timer.h"
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#include "esp_ipc.h"
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#include "esp_freertos_hooks.h"
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#include "sdkconfig.h"
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/* Counter task counts a target variable forever */
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static void task_count(void *vp_counter)
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{
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@ -171,4 +178,189 @@ TEST_CASE("Resume task from ISR (other core)", "[freertos]")
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{
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test_resume_task_from_isr(!UNITY_FREERTOS_CPU);
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}
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#endif
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static volatile bool block;
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static bool suspend_both_cpus;
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static void IRAM_ATTR suspend_scheduler_while_block_set(void* arg)
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{
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vTaskSuspendAll();
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while (block) { };
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ets_delay_us(1);
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xTaskResumeAll();
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}
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static void IRAM_ATTR suspend_scheduler_on_both_cpus()
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{
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block = true;
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if (suspend_both_cpus) {
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TEST_ESP_OK(esp_ipc_call((xPortGetCoreID() == 0) ? 1 : 0, &suspend_scheduler_while_block_set, NULL));
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}
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vTaskSuspendAll();
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}
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static void IRAM_ATTR resume_scheduler_on_both_cpus()
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{
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block = false;
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xTaskResumeAll();
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}
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static const int waiting_ms = 2000;
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static const int delta_ms = 100;
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static int duration_wait_task_ms;
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static int duration_ctrl_task_ms;
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static void waiting_task(void *pvParameters)
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{
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int cpu_id = xPortGetCoreID();
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int64_t start_time = esp_timer_get_time();
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printf("Start waiting_task cpu=%d\n", cpu_id);
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vTaskDelay(waiting_ms / portTICK_PERIOD_MS);
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duration_wait_task_ms = (esp_timer_get_time() - start_time) / 1000;
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printf("Finish waiting_task cpu=%d, time=%d ms\n", cpu_id, duration_wait_task_ms);
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vTaskDelete(NULL);
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}
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static void control_task(void *pvParameters)
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{
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int cpu_id = xPortGetCoreID();
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ets_delay_us(2000); // let to start the waiting_task first
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printf("Start control_task cpu=%d\n", cpu_id);
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int64_t start_time = esp_timer_get_time();
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suspend_scheduler_on_both_cpus();
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ets_delay_us(waiting_ms * 1000 + delta_ms * 1000);
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resume_scheduler_on_both_cpus();
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duration_ctrl_task_ms = (esp_timer_get_time() - start_time) / 1000;
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printf("Finish control_task cpu=%d, time=%d ms\n", cpu_id, duration_ctrl_task_ms);
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vTaskDelete(NULL);
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}
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static void test_scheduler_suspend1(int cpu)
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{
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/* This test tests a case then both CPUs were in suspend state and then resume CPUs back.
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* A task for which a wait time has been set and this time has elapsed in the suspended state should in any case be ready to start.
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* (In an old implementation of xTaskIncrementTick function the counting for waiting_task() will be continued
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* (excluding time in suspended) after control_task() is finished.)
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*/
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duration_wait_task_ms = 0;
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duration_ctrl_task_ms = 0;
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printf("Test for CPU%d\n", cpu);
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int other_cpu = (cpu == 0) ? 1 : 0;
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xTaskCreatePinnedToCore(&waiting_task, "waiting_task", 8192, NULL, 5, NULL, other_cpu);
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xTaskCreatePinnedToCore(&control_task, "control_task", 8192, NULL, 5, NULL, cpu);
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vTaskDelay(waiting_ms * 2 / portTICK_PERIOD_MS);
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TEST_ASSERT_INT_WITHIN(4, waiting_ms + delta_ms + 4, duration_ctrl_task_ms);
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if (suspend_both_cpus == false && cpu == 1) {
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// CPU0 continues to increase the TickCount and the wait_task does not depend on Suspended Scheduler on CPU1
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TEST_ASSERT_INT_WITHIN(2, waiting_ms, duration_wait_task_ms);
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} else {
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TEST_ASSERT_INT_WITHIN(4, waiting_ms + delta_ms + 4, duration_wait_task_ms);
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}
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printf("\n");
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}
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TEST_CASE("Test the waiting task not missed due to scheduler suspension on both CPUs", "[freertos]")
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{
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printf("Suspend both CPUs:\n");
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suspend_both_cpus = true;
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test_scheduler_suspend1(0);
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test_scheduler_suspend1(1);
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}
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TEST_CASE("Test the waiting task not missed due to scheduler suspension on one CPU", "[freertos]")
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{
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printf("Suspend only one CPU:\n");
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suspend_both_cpus = false;
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test_scheduler_suspend1(0);
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test_scheduler_suspend1(1);
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}
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static uint32_t count_tick[2];
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static void IRAM_ATTR tick_hook()
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{
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++count_tick[xPortGetCoreID()];
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}
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static void test_scheduler_suspend2(int cpu)
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{
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esp_register_freertos_tick_hook_for_cpu(tick_hook, 0);
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esp_register_freertos_tick_hook_for_cpu(tick_hook, 1);
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memset(count_tick, 0, sizeof(count_tick));
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printf("Test for CPU%d\n", cpu);
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xTaskCreatePinnedToCore(&control_task, "control_task", 8192, NULL, 5, NULL, cpu);
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vTaskDelay(waiting_ms * 2 / portTICK_PERIOD_MS);
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esp_deregister_freertos_tick_hook(tick_hook);
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printf("count_tick[cpu0] = %d, count_tick[cpu1] = %d\n", count_tick[0], count_tick[1]);
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TEST_ASSERT_INT_WITHIN(1, waiting_ms * 2, count_tick[0]);
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TEST_ASSERT_INT_WITHIN(1, waiting_ms * 2, count_tick[1]);
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printf("\n");
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}
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TEST_CASE("Test suspend-resume CPU. The number of tick_hook should be the same for both CPUs", "[freertos]")
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{
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printf("Suspend both CPUs:\n");
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suspend_both_cpus = true;
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test_scheduler_suspend2(0);
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test_scheduler_suspend2(1);
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printf("Suspend only one CPU:\n");
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suspend_both_cpus = false;
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test_scheduler_suspend2(0);
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test_scheduler_suspend2(1);
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}
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static int duration_timer_ms;
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static void timer_callback(void *arg)
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{
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++duration_timer_ms;
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}
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static void test_scheduler_suspend3(int cpu)
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{
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duration_timer_ms = 0;
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duration_ctrl_task_ms = 0;
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printf("Test for CPU%d\n", cpu);
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TimerHandle_t count_time = xTimerCreate("count_time", 1, pdTRUE, NULL, timer_callback);
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xTimerStart( count_time, portMAX_DELAY);
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xTaskCreatePinnedToCore(&control_task, "control_task", 8192, NULL, 5, NULL, cpu);
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vTaskDelay(waiting_ms * 2 / portTICK_PERIOD_MS);
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xTimerDelete(count_time, portMAX_DELAY);
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printf("Finish duration_timer_ms=%d ms\n", duration_timer_ms);
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TEST_ASSERT_INT_WITHIN(2, waiting_ms * 2, duration_timer_ms);
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TEST_ASSERT_INT_WITHIN(5, waiting_ms + delta_ms, duration_ctrl_task_ms);
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printf("\n");
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}
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TEST_CASE("Test suspend-resume CPU works with xTimer", "[freertos]")
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{
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printf("Suspend both CPUs:\n");
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suspend_both_cpus = true;
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test_scheduler_suspend3(0);
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test_scheduler_suspend3(1);
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printf("Suspend only one CPU:\n");
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suspend_both_cpus = false;
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test_scheduler_suspend3(0);
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test_scheduler_suspend3(1);
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}
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#endif // CONFIG_FREERTOS_UNICORE
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