bdbeaf97d6
Was a slight race condition where tasks on other CPU may not have finished waking up on BIT_CALL when the unity task polled the event group state.
119 lines
3.7 KiB
C
119 lines
3.7 KiB
C
#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 "freertos/event_groups.h"
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#include "unity.h"
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#define BIT_CALL (1 << 0)
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#define BIT_RESPONSE(TASK) (1 << (TASK+1))
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#define ALL_RESPONSE_BITS (((1 << NUM_TASKS) - 1) << 1)
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static const int NUM_TASKS = 8;
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static const int COUNT = 1000;
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static EventGroupHandle_t eg;
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static SemaphoreHandle_t done_sem;
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static void task_event_group_call_response(void *param)
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{
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int task_num = (int)param;
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printf("Started %d\n", task_num);
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for (int i = 0; i < COUNT; i++) {
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/* Wait until the common "call" bit is set, starts off all tasks
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(clear on return) */
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TEST_ASSERT( xEventGroupWaitBits(eg, BIT_CALL, true, false, portMAX_DELAY) );
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/* Set our individual "response" bit */
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xEventGroupSetBits(eg, BIT_RESPONSE(task_num));
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}
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printf("Task %d done\n", task_num);
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xSemaphoreGive(done_sem);
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vTaskDelete(NULL);
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}
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TEST_CASE("FreeRTOS Event Groups", "[freertos]")
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{
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eg = xEventGroupCreate();
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done_sem = xSemaphoreCreateCounting(NUM_TASKS, 0);
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/* Note: task_event_group_call_response all have higher priority than this task, so on this core
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they will always preempt this task.
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This is important because we need to know all tasks have blocked on BIT_CALL each time we signal it,
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or they get out of sync.
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*/
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for (int c = 0; c < NUM_TASKS; c++) {
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xTaskCreatePinnedToCore(task_event_group_call_response, "tsk_call_resp", 4096, (void *)c, configMAX_PRIORITIES - 1, NULL, c % portNUM_PROCESSORS);
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}
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/* Tasks all start instantly, but this task will resume running at the same time as the higher priority tasks on the
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other processor may still be setting up, so allow time for them to also block on BIT_CALL... */
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vTaskDelay(10);
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for (int i = 0; i < COUNT; i++) {
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/* signal all tasks with "CALL" bit... */
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xEventGroupSetBits(eg, BIT_CALL);
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/* Only wait for 1 tick, the wakeup should be immediate... */
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TEST_ASSERT_EQUAL_HEX16(ALL_RESPONSE_BITS, xEventGroupWaitBits(eg, ALL_RESPONSE_BITS, true, true, 1));
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}
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/* Ensure all tasks cleaned up correctly */
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for (int c = 0; c < NUM_TASKS; c++) {
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TEST_ASSERT( xSemaphoreTake(done_sem, 100/portTICK_PERIOD_MS) );
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}
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vSemaphoreDelete(done_sem);
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vEventGroupDelete(eg);
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}
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#define BIT_DONE(X) (1<<(NUM_TASKS+1+X))
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static void task_test_sync(void *param)
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{
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int task_num = (int)param;
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printf("Started %d\n", task_num);
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for (int i = 0; i < COUNT; i++) {
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/* set our bit, and wait on all tasks to set their bits */
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xEventGroupSync(eg, BIT_RESPONSE(task_num), ALL_RESPONSE_BITS, portMAX_DELAY);
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/* clear our bit */
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xEventGroupClearBits(eg, BIT_RESPONSE(task_num));
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}
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int after_done = xEventGroupSetBits(eg, BIT_DONE(task_num));
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printf("Done %d = 0x%08x\n", task_num, after_done);
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xSemaphoreGive(done_sem);
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vTaskDelete(NULL);
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}
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TEST_CASE("FreeRTOS Event Group Sync", "[freertos]")
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{
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eg = xEventGroupCreate();
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done_sem = xSemaphoreCreateCounting(NUM_TASKS, 0);
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for (int c = 0; c < NUM_TASKS; c++) {
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xTaskCreatePinnedToCore(task_test_sync, "task_test_sync", 4096, (void *)c, configMAX_PRIORITIES - 1, NULL, c % portNUM_PROCESSORS);
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}
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for (int c = 0; c < NUM_TASKS; c++) {
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printf("Waiting on %d (0x%08x)\n", c, BIT_DONE(c));
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TEST_ASSERT( xEventGroupWaitBits(eg, BIT_DONE(c), false, false, portMAX_DELAY) );
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}
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/* Ensure all tasks cleaned up correctly */
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for (int c = 0; c < NUM_TASKS; c++) {
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TEST_ASSERT( xSemaphoreTake(done_sem, 100/portTICK_PERIOD_MS) );
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}
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vSemaphoreDelete(done_sem);
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vEventGroupDelete(eg);
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}
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