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refactor(freertos): Updated FreeRTOS component files to astyle format

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This commit updates the FreeRTOS component source files (excluding
upstream source files) to the astyle coding format.
This commit is contained in:
Sudeep Mohanty
2024-01-26 15:07:54 +01:00
committed by BOT
parent b2b84f9b5c
commit 061da98124
34 changed files with 384 additions and 402 deletions
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2
components/freertos/app_startup.c
View File

@@ -51,7 +51,7 @@ For now, AMP is not supported (i.e., running FreeRTOS on one core and a bare met
CONFIG_FREERTOS_UNICORE and CONFIG_ESP_SYSTEM_SINGLE_CORE_MODE should be identical. We add a check for this here. CONFIG_FREERTOS_UNICORE and CONFIG_ESP_SYSTEM_SINGLE_CORE_MODE should be identical. We add a check for this here.
*/ */
#if CONFIG_FREERTOS_UNICORE != CONFIG_ESP_SYSTEM_SINGLE_CORE_MODE #if CONFIG_FREERTOS_UNICORE != CONFIG_ESP_SYSTEM_SINGLE_CORE_MODE
#error "AMP not supported. FreeRTOS number of cores and system number of cores must be identical" #error "AMP not supported. FreeRTOS number of cores and system number of cores must be identical"
#endif #endif
// -------------------- Declarations ----------------------- // -------------------- Declarations -----------------------

68
components/freertos/heap_idf.c
View File

@@ -1,5 +1,5 @@
/* /*
* SPDX-FileCopyrightText: 2023 Espressif Systems (Shanghai) CO LTD * SPDX-FileCopyrightText: 2023-2024 Espressif Systems (Shanghai) CO LTD
* *
* SPDX-License-Identifier: Apache-2.0 * SPDX-License-Identifier: Apache-2.0
*/ */
@@ -30,21 +30,21 @@
#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
#if ( configSUPPORT_DYNAMIC_ALLOCATION == 0 ) #if ( configSUPPORT_DYNAMIC_ALLOCATION == 0 )
#error This file must not be used if configSUPPORT_DYNAMIC_ALLOCATION is 0 #error This file must not be used if configSUPPORT_DYNAMIC_ALLOCATION is 0
#endif #endif
#include "esp_heap_caps.h" #include "esp_heap_caps.h"
#if !CONFIG_IDF_TARGET_LINUX #if !CONFIG_IDF_TARGET_LINUX
/* Memory util functions are not implemented in the Linux simulator */ /* Memory util functions are not implemented in the Linux simulator */
#include "esp_memory_utils.h" #include "esp_memory_utils.h"
#endif /* CONFIG_IDF_TARGET_LINUX */ #endif /* CONFIG_IDF_TARGET_LINUX */
#define portFREERTOS_HEAP_CAPS ( MALLOC_CAP_INTERNAL | MALLOC_CAP_8BIT ) #define portFREERTOS_HEAP_CAPS ( MALLOC_CAP_INTERNAL | MALLOC_CAP_8BIT )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void * pvPortMalloc( size_t xWantedSize ) void * pvPortMalloc(size_t xWantedSize)
{ {
void * pvReturn = NULL; void * pvReturn = NULL;
@@ -52,57 +52,57 @@ void * pvPortMalloc( size_t xWantedSize )
* users need to allocate FreeRTOS objects into external RAM, they should * users need to allocate FreeRTOS objects into external RAM, they should
* use the "static" equivalents of FreeRTOS API to create FreeRTOS objects * use the "static" equivalents of FreeRTOS API to create FreeRTOS objects
* (e.g., queues). */ * (e.g., queues). */
pvReturn = heap_caps_malloc( xWantedSize, portFREERTOS_HEAP_CAPS ); pvReturn = heap_caps_malloc(xWantedSize, portFREERTOS_HEAP_CAPS);
return pvReturn; return pvReturn;
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void vPortFree( void * pv ) void vPortFree(void * pv)
{ {
heap_caps_free( pv ); heap_caps_free(pv);
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
size_t xPortGetFreeHeapSize( void ) size_t xPortGetFreeHeapSize(void)
{ {
return heap_caps_get_free_size( portFREERTOS_HEAP_CAPS ); return heap_caps_get_free_size(portFREERTOS_HEAP_CAPS);
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
size_t xPortGetMinimumEverFreeHeapSize( void ) size_t xPortGetMinimumEverFreeHeapSize(void)
{ {
return heap_caps_get_minimum_free_size( portFREERTOS_HEAP_CAPS ); return heap_caps_get_minimum_free_size(portFREERTOS_HEAP_CAPS);
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
bool xPortCheckValidListMem( const void * ptr ) bool xPortCheckValidListMem(const void * ptr)
{ {
#if CONFIG_IDF_TARGET_LINUX #if CONFIG_IDF_TARGET_LINUX
return true; return true;
#else /* CONFIG_IDF_TARGET_LINUX */ #else /* CONFIG_IDF_TARGET_LINUX */
return esp_ptr_internal( ptr ) && esp_ptr_byte_accessible( ptr ); return esp_ptr_internal(ptr) && esp_ptr_byte_accessible(ptr);
#endif /* CONFIG_IDF_TARGET_LINUX */ #endif /* CONFIG_IDF_TARGET_LINUX */
} }
bool xPortCheckValidTCBMem( const void * ptr ) bool xPortCheckValidTCBMem(const void * ptr)
{ {
#if CONFIG_IDF_TARGET_LINUX #if CONFIG_IDF_TARGET_LINUX
return true; return true;
#else /* CONFIG_IDF_TARGET_LINUX */ #else /* CONFIG_IDF_TARGET_LINUX */
return esp_ptr_internal( ptr ) && esp_ptr_byte_accessible( ptr ); return esp_ptr_internal(ptr) && esp_ptr_byte_accessible(ptr);
#endif /* CONFIG_IDF_TARGET_LINUX */ #endif /* CONFIG_IDF_TARGET_LINUX */
} }
bool xPortcheckValidStackMem( const void * ptr ) bool xPortcheckValidStackMem(const void * ptr)
{ {
#if CONFIG_IDF_TARGET_LINUX #if CONFIG_IDF_TARGET_LINUX
return true; return true;
#else /* CONFIG_IDF_TARGET_LINUX */ #else /* CONFIG_IDF_TARGET_LINUX */
#ifdef CONFIG_SPIRAM_ALLOW_STACK_EXTERNAL_MEMORY #ifdef CONFIG_SPIRAM_ALLOW_STACK_EXTERNAL_MEMORY
return esp_ptr_byte_accessible( ptr ); return esp_ptr_byte_accessible(ptr);
#else #else
return esp_ptr_internal( ptr ) && esp_ptr_byte_accessible( ptr ); return esp_ptr_internal(ptr) && esp_ptr_byte_accessible(ptr);
#endif #endif
#endif /* CONFIG_IDF_TARGET_LINUX */ #endif /* CONFIG_IDF_TARGET_LINUX */
} }

18
components/freertos/port_common.c
View File

@@ -1,5 +1,5 @@
/* /*
* SPDX-FileCopyrightText: 2021-2022 Espressif Systems (Shanghai) CO LTD * SPDX-FileCopyrightText: 2021-2024 Espressif Systems (Shanghai) CO LTD
* *
* SPDX-License-Identifier: Apache-2.0 * SPDX-License-Identifier: Apache-2.0
*/ */
@@ -27,7 +27,7 @@ We simply allocate the IDLE/Timer tasks memory from the FreeRTOS heap.
#if ( configSUPPORT_STATIC_ALLOCATION == 1 ) #if ( configSUPPORT_STATIC_ALLOCATION == 1 )
void vApplicationGetIdleTaskMemory(StaticTask_t **ppxIdleTaskTCBBuffer, void vApplicationGetIdleTaskMemory(StaticTask_t **ppxIdleTaskTCBBuffer,
StackType_t **ppxIdleTaskStackBuffer, StackType_t **ppxIdleTaskStackBuffer,
uint32_t *pulIdleTaskStackSize ) uint32_t *pulIdleTaskStackSize)
{ {
StaticTask_t *pxTCBBufferTemp; StaticTask_t *pxTCBBufferTemp;
StackType_t *pxStackBufferTemp; StackType_t *pxStackBufferTemp;
@@ -37,17 +37,17 @@ void vApplicationGetIdleTaskMemory(StaticTask_t **ppxIdleTaskTCBBuffer,
* If the stack grows down then allocate the stack then the TCB so the stack * If the stack grows down then allocate the stack then the TCB so the stack
* does not grow into the TCB. Likewise if the stack grows up then allocate * does not grow into the TCB. Likewise if the stack grows up then allocate
* the TCB then the stack. */ * the TCB then the stack. */
#if (portSTACK_GROWTH > 0) #if (portSTACK_GROWTH > 0)
{ {
pxTCBBufferTemp = pvPortMalloc(sizeof(StaticTask_t)); pxTCBBufferTemp = pvPortMalloc(sizeof(StaticTask_t));
pxStackBufferTemp = pvPortMalloc(configMINIMAL_STACK_SIZE); pxStackBufferTemp = pvPortMalloc(configMINIMAL_STACK_SIZE);
} }
#else /* portSTACK_GROWTH */ #else /* portSTACK_GROWTH */
{ {
pxStackBufferTemp = pvPortMalloc(configMINIMAL_STACK_SIZE); pxStackBufferTemp = pvPortMalloc(configMINIMAL_STACK_SIZE);
pxTCBBufferTemp = pvPortMalloc(sizeof(StaticTask_t)); pxTCBBufferTemp = pvPortMalloc(sizeof(StaticTask_t));
} }
#endif /* portSTACK_GROWTH */ #endif /* portSTACK_GROWTH */
assert(pxTCBBufferTemp != NULL); assert(pxTCBBufferTemp != NULL);
assert(pxStackBufferTemp != NULL); assert(pxStackBufferTemp != NULL);
@@ -59,7 +59,7 @@ void vApplicationGetIdleTaskMemory(StaticTask_t **ppxIdleTaskTCBBuffer,
void vApplicationGetTimerTaskMemory(StaticTask_t **ppxTimerTaskTCBBuffer, void vApplicationGetTimerTaskMemory(StaticTask_t **ppxTimerTaskTCBBuffer,
StackType_t **ppxTimerTaskStackBuffer, StackType_t **ppxTimerTaskStackBuffer,
uint32_t *pulTimerTaskStackSize ) uint32_t *pulTimerTaskStackSize)
{ {
StaticTask_t *pxTCBBufferTemp; StaticTask_t *pxTCBBufferTemp;
StackType_t *pxStackBufferTemp; StackType_t *pxStackBufferTemp;
@@ -69,17 +69,17 @@ void vApplicationGetTimerTaskMemory(StaticTask_t **ppxTimerTaskTCBBuffer,
* If the stack grows down then allocate the stack then the TCB so the stack * If the stack grows down then allocate the stack then the TCB so the stack
* does not grow into the TCB. Likewise if the stack grows up then allocate * does not grow into the TCB. Likewise if the stack grows up then allocate
* the TCB then the stack. */ * the TCB then the stack. */
#if (portSTACK_GROWTH > 0) #if (portSTACK_GROWTH > 0)
{ {
pxTCBBufferTemp = pvPortMalloc(sizeof(StaticTask_t)); pxTCBBufferTemp = pvPortMalloc(sizeof(StaticTask_t));
pxStackBufferTemp = pvPortMalloc(configTIMER_TASK_STACK_DEPTH); pxStackBufferTemp = pvPortMalloc(configTIMER_TASK_STACK_DEPTH);
} }
#else /* portSTACK_GROWTH */ #else /* portSTACK_GROWTH */
{ {
pxStackBufferTemp = pvPortMalloc(configTIMER_TASK_STACK_DEPTH); pxStackBufferTemp = pvPortMalloc(configTIMER_TASK_STACK_DEPTH);
pxTCBBufferTemp = pvPortMalloc(sizeof(StaticTask_t)); pxTCBBufferTemp = pvPortMalloc(sizeof(StaticTask_t));
} }
#endif /* portSTACK_GROWTH */ #endif /* portSTACK_GROWTH */
assert(pxTCBBufferTemp != NULL); assert(pxTCBBufferTemp != NULL);
assert(pxStackBufferTemp != NULL); assert(pxStackBufferTemp != NULL);

102
components/freertos/port_systick.c
View File

@@ -1,5 +1,5 @@
/* /*
* SPDX-FileCopyrightText: 2017-2023 Espressif Systems (Shanghai) CO LTD * SPDX-FileCopyrightText: 2017-2024 Espressif Systems (Shanghai) CO LTD
* *
* SPDX-License-Identifier: Apache-2.0 * SPDX-License-Identifier: Apache-2.0
*/ */
@@ -10,18 +10,18 @@
#include "FreeRTOS.h" #include "FreeRTOS.h"
#include "task.h" #include "task.h"
#if ( !CONFIG_FREERTOS_SMP && ( configNUM_CORES > 1 ) ) #if ( !CONFIG_FREERTOS_SMP && ( configNUM_CORES > 1 ) )
/* Required for xTaskIncrementTickOtherCores() */ /* Required for xTaskIncrementTickOtherCores() */
#include "esp_private/freertos_idf_additions_priv.h" #include "esp_private/freertos_idf_additions_priv.h"
#endif /* ( !CONFIG_FREERTOS_SMP && ( configNUM_CORES > 1 ) ) */ #endif /* ( !CONFIG_FREERTOS_SMP && ( configNUM_CORES > 1 ) ) */
#if CONFIG_FREERTOS_SYSTICK_USES_CCOUNT #if CONFIG_FREERTOS_SYSTICK_USES_CCOUNT
#if CONFIG_FREERTOS_CORETIMER_0 #if CONFIG_FREERTOS_CORETIMER_0
#define SYSTICK_INTR_ID (ETS_INTERNAL_TIMER0_INTR_SOURCE + ETS_INTERNAL_INTR_SOURCE_OFF) #define SYSTICK_INTR_ID (ETS_INTERNAL_TIMER0_INTR_SOURCE + ETS_INTERNAL_INTR_SOURCE_OFF)
#else /* CONFIG_FREERTOS_CORETIMER_1 */ #else /* CONFIG_FREERTOS_CORETIMER_1 */
#define SYSTICK_INTR_ID (ETS_INTERNAL_TIMER1_INTR_SOURCE + ETS_INTERNAL_INTR_SOURCE_OFF) #define SYSTICK_INTR_ID (ETS_INTERNAL_TIMER1_INTR_SOURCE + ETS_INTERNAL_INTR_SOURCE_OFF)
#endif #endif
#else /* CONFIG_FREERTOS_SYSTICK_USES_SYSTIMER */ #else /* CONFIG_FREERTOS_SYSTICK_USES_SYSTIMER */
#define SYSTICK_INTR_ID (ETS_SYSTIMER_TARGET0_INTR_SOURCE) #define SYSTICK_INTR_ID (ETS_SYSTIMER_TARGET0_INTR_SOURCE)
#endif /* CONFIG_FREERTOS_SYSTICK_USES_CCOUNT */ #endif /* CONFIG_FREERTOS_SYSTICK_USES_CCOUNT */
BaseType_t xPortSysTickHandler(void); BaseType_t xPortSysTickHandler(void);
@@ -168,15 +168,15 @@ void SysTickIsrHandler(void *arg)
*/ */
void vPortSetupTimer(void) void vPortSetupTimer(void)
{ {
#if CONFIG_FREERTOS_SYSTICK_USES_CCOUNT #if CONFIG_FREERTOS_SYSTICK_USES_CCOUNT
extern void _frxt_tick_timer_init(void); extern void _frxt_tick_timer_init(void);
extern void _xt_tick_divisor_init(void); extern void _xt_tick_divisor_init(void);
/* Init the tick divisor value */ /* Init the tick divisor value */
_xt_tick_divisor_init(); _xt_tick_divisor_init();
_frxt_tick_timer_init(); _frxt_tick_timer_init();
#else /* CONFIG_FREERTOS_SYSTICK_USES_SYSTIMER */ #else /* CONFIG_FREERTOS_SYSTICK_USES_SYSTIMER */
vSystimerSetup(); vSystimerSetup();
#endif /* CONFIG_FREERTOS_SYSTICK_USES_SYSTIMER */ #endif /* CONFIG_FREERTOS_SYSTICK_USES_SYSTIMER */
} }
/** /**
@@ -200,39 +200,39 @@ BaseType_t xPortSysTickHandler(void)
// Call FreeRTOS Increment tick function // Call FreeRTOS Increment tick function
BaseType_t xSwitchRequired; BaseType_t xSwitchRequired;
#if CONFIG_FREERTOS_SMP #if CONFIG_FREERTOS_SMP
// Amazon SMP FreeRTOS requires that only core 0 calls xTaskIncrementTick() // Amazon SMP FreeRTOS requires that only core 0 calls xTaskIncrementTick()
#if ( configNUM_CORES > 1 ) #if ( configNUM_CORES > 1 )
if (portGET_CORE_ID() == 0) { if (portGET_CORE_ID() == 0) {
xSwitchRequired = xTaskIncrementTick(); xSwitchRequired = xTaskIncrementTick();
} else { } else {
xSwitchRequired = pdFALSE; xSwitchRequired = pdFALSE;
} }
#else /* configNUM_CORES > 1 */ #else /* configNUM_CORES > 1 */
xSwitchRequired = xTaskIncrementTick(); xSwitchRequired = xTaskIncrementTick();
#endif /* configNUM_CORES > 1 */ #endif /* configNUM_CORES > 1 */
#else /* !CONFIG_FREERTOS_SMP */ #else /* !CONFIG_FREERTOS_SMP */
#if ( configNUM_CORES > 1 ) #if ( configNUM_CORES > 1 )
/* /*
Multi-core IDF FreeRTOS requires that... Multi-core IDF FreeRTOS requires that...
- core 0 calls xTaskIncrementTick() - core 0 calls xTaskIncrementTick()
- core 1 calls xTaskIncrementTickOtherCores() - core 1 calls xTaskIncrementTickOtherCores()
*/ */
if (xPortGetCoreID() == 0) { if (xPortGetCoreID() == 0) {
xSwitchRequired = xTaskIncrementTick(); xSwitchRequired = xTaskIncrementTick();
} else { } else {
xSwitchRequired = xTaskIncrementTickOtherCores(); xSwitchRequired = xTaskIncrementTickOtherCores();
} }
#else /* configNUM_CORES > 1 */ #else /* configNUM_CORES > 1 */
/* /*
Vanilla (single core) FreeRTOS expects that xTaskIncrementTick() cannot be interrupted (i.e., no nested Vanilla (single core) FreeRTOS expects that xTaskIncrementTick() cannot be interrupted (i.e., no nested
interrupts). Thus we have to disable interrupts before calling it. interrupts). Thus we have to disable interrupts before calling it.
*/ */
UBaseType_t uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR(); UBaseType_t uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
xSwitchRequired = xTaskIncrementTick(); xSwitchRequired = xTaskIncrementTick();
portCLEAR_INTERRUPT_MASK_FROM_ISR(uxSavedInterruptStatus); portCLEAR_INTERRUPT_MASK_FROM_ISR(uxSavedInterruptStatus);
#endif /* configNUM_CORES > 1 */ #endif /* configNUM_CORES > 1 */
#endif /* !CONFIG_FREERTOS_SMP */ #endif /* !CONFIG_FREERTOS_SMP */
// Check if yield is required // Check if yield is required
if (xSwitchRequired != pdFALSE) { if (xSwitchRequired != pdFALSE) {

10
components/freertos/test_apps/freertos/kernel/event_groups/test_freertos_eventgroups.c
View File

@@ -1,5 +1,5 @@
/* /*
* SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD * SPDX-FileCopyrightText: 2022-2024 Espressif Systems (Shanghai) CO LTD
* *
* SPDX-License-Identifier: Apache-2.0 * SPDX-License-Identifier: Apache-2.0
*/ */
@@ -35,7 +35,7 @@ static void task_event_group_call_response(void *param)
for (int i = 0; i < COUNT; i++) { for (int i = 0; i < COUNT; i++) {
/* Wait until the common "call" bit is set, starts off all tasks /* Wait until the common "call" bit is set, starts off all tasks
(clear on return) */ (clear on return) */
TEST_ASSERT( xEventGroupWaitBits(eg, BIT_CALL(task_num), true, false, portMAX_DELAY) ); TEST_ASSERT(xEventGroupWaitBits(eg, BIT_CALL(task_num), true, false, portMAX_DELAY));
/* Set our individual "response" bit */ /* Set our individual "response" bit */
xEventGroupSetBits(eg, BIT_RESPONSE(task_num)); xEventGroupSetBits(eg, BIT_RESPONSE(task_num));
@@ -78,7 +78,7 @@ TEST_CASE("FreeRTOS Event Groups", "[freertos]")
/* Ensure all tasks have suspend themselves */ /* Ensure all tasks have suspend themselves */
for (int c = 0; c < NUM_TASKS; c++) { for (int c = 0; c < NUM_TASKS; c++) {
TEST_ASSERT( xSemaphoreTake(done_sem, 100 / portTICK_PERIOD_MS) ); TEST_ASSERT(xSemaphoreTake(done_sem, 100 / portTICK_PERIOD_MS));
} }
for (int c = 0; c < NUM_TASKS; c++) { for (int c = 0; c < NUM_TASKS; c++) {
@@ -120,12 +120,12 @@ TEST_CASE("FreeRTOS Event Group Sync", "[freertos]")
for (int c = 0; c < NUM_TASKS; c++) { for (int c = 0; c < NUM_TASKS; c++) {
printf("Waiting on %d (0x%08x)\n", c, BIT_RESPONSE(c)); printf("Waiting on %d (0x%08x)\n", c, BIT_RESPONSE(c));
TEST_ASSERT( xEventGroupWaitBits(eg, BIT_RESPONSE(c), false, false, portMAX_DELAY) ); TEST_ASSERT(xEventGroupWaitBits(eg, BIT_RESPONSE(c), false, false, portMAX_DELAY));
} }
/* Ensure all tasks cleaned up correctly */ /* Ensure all tasks cleaned up correctly */
for (int c = 0; c < NUM_TASKS; c++) { for (int c = 0; c < NUM_TASKS; c++) {
TEST_ASSERT( xSemaphoreTake(done_sem, 100 / portTICK_PERIOD_MS) ); TEST_ASSERT(xSemaphoreTake(done_sem, 100 / portTICK_PERIOD_MS));
} }
vSemaphoreDelete(done_sem); vSemaphoreDelete(done_sem);

110
components/freertos/test_apps/freertos/kernel/freertos_test_utils.c
View File

@@ -1,5 +1,5 @@
/* /*
* SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD * SPDX-FileCopyrightText: 2022-2024 Espressif Systems (Shanghai) CO LTD
* *
* SPDX-License-Identifier: Apache-2.0 * SPDX-License-Identifier: Apache-2.0
*/ */
@@ -10,63 +10,63 @@
#if ( configNUM_CORES > 1 ) #if ( configNUM_CORES > 1 )
typedef struct { typedef struct {
const TestFunction_t pxTestCode; const TestFunction_t pxTestCode;
void * const pvTestCodeArg; void * const pvTestCodeArg;
const SemaphoreHandle_t xTaskDoneSem; const SemaphoreHandle_t xTaskDoneSem;
} TestArgs_t; } TestArgs_t;
static void test_func_task( void * pvParameters ) static void test_func_task(void * pvParameters)
{ {
TestArgs_t * pxTestArgs = ( TestArgs_t * ) pvParameters; TestArgs_t * pxTestArgs = (TestArgs_t *) pvParameters;
/* Call the test function */ /* Call the test function */
pxTestArgs->pxTestCode( pxTestArgs->pvTestCodeArg ); pxTestArgs->pxTestCode(pxTestArgs->pvTestCodeArg);
/* Indicate completion to the creation task and wait to be deleted. */ /* Indicate completion to the creation task and wait to be deleted. */
xSemaphoreGive( pxTestArgs->xTaskDoneSem ); xSemaphoreGive(pxTestArgs->xTaskDoneSem);
vTaskSuspend( NULL ); vTaskSuspend(NULL);
}
void vTestOnAllCores(TestFunction_t pxTestCode, void * pvTestCodeArg, uint32_t ulStackDepth, UBaseType_t uxPriority)
{
SemaphoreHandle_t xTaskDoneSem = xSemaphoreCreateCounting(configNUM_CORES, 0);
TaskHandle_t xTaskHandles[ configNUM_CORES ];
TestArgs_t xTestArgs = {
.pxTestCode = pxTestCode,
.pvTestCodeArg = pvTestCodeArg,
.xTaskDoneSem = xTaskDoneSem,
};
/* Create a separate task on each core to run the test function */
for (BaseType_t xCoreID = 0; xCoreID < configNUM_CORES; xCoreID++) {
#if ( CONFIG_FREERTOS_SMP == 1 )
xTaskCreateAffinitySet(test_func_task,
"task",
ulStackDepth,
(void *) &xTestArgs,
uxPriority,
(UBaseType_t)(1 << xCoreID),
&(xTaskHandles[ xCoreID ]));
#else
xTaskCreatePinnedToCore(test_func_task,
"task",
ulStackDepth,
(void *) &xTestArgs,
uxPriority,
&(xTaskHandles[ xCoreID ]),
xCoreID);
#endif
} }
void vTestOnAllCores( TestFunction_t pxTestCode, void * pvTestCodeArg, uint32_t ulStackDepth, UBaseType_t uxPriority ) /* Wait for each tasks to complete test */
{ for (BaseType_t xCoreID = 0; xCoreID < configNUM_CORES; xCoreID++) {
SemaphoreHandle_t xTaskDoneSem = xSemaphoreCreateCounting( configNUM_CORES, 0 ); xSemaphoreTake(xTaskDoneSem, portMAX_DELAY);
TaskHandle_t xTaskHandles[ configNUM_CORES ];
TestArgs_t xTestArgs = {
.pxTestCode = pxTestCode,
.pvTestCodeArg = pvTestCodeArg,
.xTaskDoneSem = xTaskDoneSem,
};
/* Create a separate task on each core to run the test function */
for( BaseType_t xCoreID = 0; xCoreID < configNUM_CORES; xCoreID++ ) {
#if ( CONFIG_FREERTOS_SMP == 1 )
xTaskCreateAffinitySet( test_func_task,
"task",
ulStackDepth,
( void * ) &xTestArgs,
uxPriority,
( UBaseType_t ) ( 1 << xCoreID ),
&( xTaskHandles[ xCoreID ] ) );
#else
xTaskCreatePinnedToCore( test_func_task,
"task",
ulStackDepth,
( void * ) &xTestArgs,
uxPriority,
&( xTaskHandles[ xCoreID ] ),
xCoreID );
#endif
}
/* Wait for each tasks to complete test */
for( BaseType_t xCoreID = 0; xCoreID < configNUM_CORES; xCoreID++ ) {
xSemaphoreTake( xTaskDoneSem, portMAX_DELAY );
}
/* Cleanup */
for( BaseType_t xCoreID = 0; xCoreID < configNUM_CORES; xCoreID++ ) {
vTaskDelete( xTaskHandles[ xCoreID ] );
}
vSemaphoreDelete( xTaskDoneSem );
} }
/* Cleanup */
for (BaseType_t xCoreID = 0; xCoreID < configNUM_CORES; xCoreID++) {
vTaskDelete(xTaskHandles[ xCoreID ]);
}
vSemaphoreDelete(xTaskDoneSem);
}
#endif /* ( configNUM_CORES > 1 ) */ #endif /* ( configNUM_CORES > 1 ) */

38
components/freertos/test_apps/freertos/kernel/freertos_test_utils.h
View File

@@ -1,5 +1,5 @@
/* /*
* SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD * SPDX-FileCopyrightText: 2022-2024 Espressif Systems (Shanghai) CO LTD
* *
* SPDX-License-Identifier: Apache-2.0 * SPDX-License-Identifier: Apache-2.0
*/ */
@@ -9,24 +9,24 @@
#if ( configNUM_CORES > 1 ) #if ( configNUM_CORES > 1 )
/** /**
* @brief Prototype for test function. * @brief Prototype for test function.
* *
* A test function can be passed to vTestOnAllCores() which will run the test function from a task on each core. * A test function can be passed to vTestOnAllCores() which will run the test function from a task on each core.
*/ */
typedef void (* TestFunction_t)( void * ); typedef void (* TestFunction_t)(void *);
/** /**
* @brief Run a test function on each core * @brief Run a test function on each core
* *
* This function will internally create a task pinned to each core, where each task will call the provided test * This function will internally create a task pinned to each core, where each task will call the provided test
* function. This function will block until all cores finish executing the test function. * function. This function will block until all cores finish executing the test function.
* *
* @param pxTestCode Test function * @param pxTestCode Test function
* @param pvTestCodeArg Argument provided to test function * @param pvTestCodeArg Argument provided to test function
* @param ulStackDepth Stack depth of the created tasks * @param ulStackDepth Stack depth of the created tasks
* @param uxPriority Priority of the created tasks * @param uxPriority Priority of the created tasks
*/ */
void vTestOnAllCores( TestFunction_t pxTestCode, void * pvTestCodeArg, uint32_t ulStackDepth, UBaseType_t uxPriority ); void vTestOnAllCores(TestFunction_t pxTestCode, void * pvTestCodeArg, uint32_t ulStackDepth, UBaseType_t uxPriority);
#endif /* ( configNUM_CORES > 1 ) */ #endif /* ( configNUM_CORES > 1 ) */

22
components/freertos/test_apps/freertos/kernel/queue/test_freertos_backported_functions.c
View File

@@ -1,5 +1,5 @@
/* /*
* SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD * SPDX-FileCopyrightText: 2022-2024 Espressif Systems (Shanghai) CO LTD
* *
* SPDX-License-Identifier: Apache-2.0 * SPDX-License-Identifier: Apache-2.0
*/ */
@@ -70,7 +70,7 @@ TEST_CASE("Test FreeRTOS backported timer functions", "[freertos]")
TEST_ASSERT_UINT32_WITHIN(TICK_DELTA, tmr_ideal_exp, xTimerGetExpiryTime(tmr_handle)); //Test xTimerGetExpiryTime() TEST_ASSERT_UINT32_WITHIN(TICK_DELTA, tmr_ideal_exp, xTimerGetExpiryTime(tmr_handle)); //Test xTimerGetExpiryTime()
vTaskDelay(2*TMR_PERIOD_TICKS); //Delay until one shot timer has triggered vTaskDelay(2 * TMR_PERIOD_TICKS); //Delay until one shot timer has triggered
TEST_ASSERT_EQUAL(pdPASS, xTimerDelete(tmr_handle, portMAX_DELAY)); //Clean up TEST_ASSERT_EQUAL(pdPASS, xTimerDelete(tmr_handle, portMAX_DELAY)); //Clean up
} }
@@ -90,22 +90,22 @@ TEST_CASE("Test FreeRTOS backported timer functions", "[freertos]")
#define DELAY_TICKS 2 #define DELAY_TICKS 2
static StaticQueue_t queue_buffer; //Queues, Semaphores, and Mutex use the same queue structure static StaticQueue_t queue_buffer; //Queues, Semaphores, and Mutex use the same queue structure
static uint8_t queue_storage_area[(ITEM_SIZE*NO_OF_ITEMS)]; //Queue storage provided in separate buffer to queue struct static uint8_t queue_storage_area[(ITEM_SIZE * NO_OF_ITEMS)]; //Queue storage provided in separate buffer to queue struct
TEST_CASE("Test FreeRTOS backported Queue and Semphr functions", "[freertos]") TEST_CASE("Test FreeRTOS backported Queue and Semphr functions", "[freertos]")
{ {
//Test static queue //Test static queue
uint8_t queue_item_to_send[ITEM_SIZE]; uint8_t queue_item_to_send[ITEM_SIZE];
uint8_t queue_item_received[ITEM_SIZE]; uint8_t queue_item_received[ITEM_SIZE];
for(int i = 0; i < ITEM_SIZE; i++){ for (int i = 0; i < ITEM_SIZE; i++) {
queue_item_to_send[i] = (0xF << i); queue_item_to_send[i] = (0xF << i);
} }
QueueHandle_t handle = xQueueCreateStatic(NO_OF_ITEMS, ITEM_SIZE,(uint8_t*) &queue_storage_area, &queue_buffer); QueueHandle_t handle = xQueueCreateStatic(NO_OF_ITEMS, ITEM_SIZE, (uint8_t*) &queue_storage_area, &queue_buffer);
TEST_ASSERT_EQUAL(pdTRUE, xQueueSendToBack(handle, &queue_item_to_send, DELAY_TICKS)); TEST_ASSERT_EQUAL(pdTRUE, xQueueSendToBack(handle, &queue_item_to_send, DELAY_TICKS));
vTaskDelay(1); vTaskDelay(1);
TEST_ASSERT_EQUAL(pdTRUE, xQueueReceive(handle, queue_item_received, DELAY_TICKS)); TEST_ASSERT_EQUAL(pdTRUE, xQueueReceive(handle, queue_item_received, DELAY_TICKS));
vTaskDelay(1); vTaskDelay(1);
for(int i = 0; i < ITEM_SIZE; i++){ for (int i = 0; i < ITEM_SIZE; i++) {
TEST_ASSERT_EQUAL(queue_item_to_send[i], queue_item_received[i]); //Check received contents are correct TEST_ASSERT_EQUAL(queue_item_to_send[i], queue_item_received[i]); //Check received contents are correct
} }
vQueueDelete(handle); //Technically not needed as deleting static queue/semphr doesn't clear static memory vQueueDelete(handle); //Technically not needed as deleting static queue/semphr doesn't clear static memory
@@ -120,12 +120,12 @@ TEST_CASE("Test FreeRTOS backported Queue and Semphr functions", "[freertos]")
//Test static counting semaphore and uxSemaphoreGetCount() //Test static counting semaphore and uxSemaphoreGetCount()
handle = xSemaphoreCreateCountingStatic(NO_OF_ITEMS, 0, &queue_buffer); handle = xSemaphoreCreateCountingStatic(NO_OF_ITEMS, 0, &queue_buffer);
for(int i = 0; i < NO_OF_ITEMS; i++){ for (int i = 0; i < NO_OF_ITEMS; i++) {
TEST_ASSERT_EQUAL(pdTRUE, xSemaphoreGive(handle)); TEST_ASSERT_EQUAL(pdTRUE, xSemaphoreGive(handle));
} }
vTaskDelay(1); vTaskDelay(1);
TEST_ASSERT_EQUAL(NO_OF_ITEMS, uxSemaphoreGetCount(handle)); //Test uxSemaphoreGetCount() TEST_ASSERT_EQUAL(NO_OF_ITEMS, uxSemaphoreGetCount(handle)); //Test uxSemaphoreGetCount()
for(int i = 0; i < NO_OF_ITEMS; i++){ for (int i = 0; i < NO_OF_ITEMS; i++) {
TEST_ASSERT_EQUAL(pdTRUE, xSemaphoreTake(handle, DELAY_TICKS)); TEST_ASSERT_EQUAL(pdTRUE, xSemaphoreTake(handle, DELAY_TICKS));
} }
vTaskDelay(1); vTaskDelay(1);
@@ -144,12 +144,12 @@ TEST_CASE("Test FreeRTOS backported Queue and Semphr functions", "[freertos]")
//Test static mutex recursive //Test static mutex recursive
handle = xSemaphoreCreateRecursiveMutexStatic(&queue_buffer); handle = xSemaphoreCreateRecursiveMutexStatic(&queue_buffer);
for(int i = 0; i < NO_OF_ITEMS; i++){ for (int i = 0; i < NO_OF_ITEMS; i++) {
TEST_ASSERT_EQUAL(pdTRUE, xSemaphoreTakeRecursive(handle, DELAY_TICKS)); TEST_ASSERT_EQUAL(pdTRUE, xSemaphoreTakeRecursive(handle, DELAY_TICKS));
} }
vTaskDelay(1); vTaskDelay(1);
TEST_ASSERT_EQUAL_PTR((void *)xTaskGetCurrentTaskHandle(), xSemaphoreGetMutexHolder(handle)); //Current task should hold mutex TEST_ASSERT_EQUAL_PTR((void *)xTaskGetCurrentTaskHandle(), xSemaphoreGetMutexHolder(handle)); //Current task should hold mutex
for(int i = 0; i < NO_OF_ITEMS; i++){ for (int i = 0; i < NO_OF_ITEMS; i++) {
TEST_ASSERT_EQUAL(pdTRUE, xSemaphoreGiveRecursive(handle)); TEST_ASSERT_EQUAL(pdTRUE, xSemaphoreGiveRecursive(handle));
} }
vTaskDelay(1); vTaskDelay(1);
@@ -177,7 +177,7 @@ static void task(void *arg)
TEST_CASE("Test FreeRTOS static task allocation", "[freertos]") TEST_CASE("Test FreeRTOS static task allocation", "[freertos]")
{ {
for(int core = 0; core < portNUM_PROCESSORS; core++){ for (int core = 0; core < portNUM_PROCESSORS; core++) {
has_run[core] = false; //Clear has_run flag has_run[core] = false; //Clear has_run flag
TaskHandle_t handle = xTaskCreateStaticPinnedToCore(task, "static task", STACK_SIZE, NULL, TaskHandle_t handle = xTaskCreateStaticPinnedToCore(task, "static task", STACK_SIZE, NULL,
UNITY_FREERTOS_PRIORITY + 1, (StackType_t *)&task_stack, UNITY_FREERTOS_PRIORITY + 1, (StackType_t *)&task_stack,

32
components/freertos/test_apps/freertos/kernel/queue/test_freertos_debug_functions.c
View File

@@ -1,5 +1,5 @@
/* /*
* SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD * SPDX-FileCopyrightText: 2022-2024 Espressif Systems (Shanghai) CO LTD
* *
* SPDX-License-Identifier: Apache-2.0 * SPDX-License-Identifier: Apache-2.0
*/ */
@@ -35,22 +35,22 @@ void test_queue_registry_task(void *arg)
int core = xPortGetCoreID(); int core = xPortGetCoreID();
int offset = core * NO_OF_QUEUES_PER_CORE; int offset = core * NO_OF_QUEUES_PER_CORE;
//Create queues and accompanying queue names //Create queues and accompanying queue names
for(int i = 0; i < NO_OF_QUEUES_PER_CORE; i++){ for (int i = 0; i < NO_OF_QUEUES_PER_CORE; i++) {
handles[i + offset] = xQueueCreate(1,1); //Create queues handles[i + offset] = xQueueCreate(1, 1); //Create queues
names[i + offset] = calloc(QUEUE_NAME_MAX_LENGTH, sizeof(char)); names[i + offset] = calloc(QUEUE_NAME_MAX_LENGTH, sizeof(char));
sprintf(names[i + offset], "Queue%d%d", core, i); sprintf(names[i + offset], "Queue%d%d", core, i);
} }
xSemaphoreTake(start_sem[core], portMAX_DELAY); //Wait for start vQueueAddToRegistry() xSemaphoreTake(start_sem[core], portMAX_DELAY); //Wait for start vQueueAddToRegistry()
for(int i = 0; i < NO_OF_QUEUES_PER_CORE; i++){ for (int i = 0; i < NO_OF_QUEUES_PER_CORE; i++) {
vQueueAddToRegistry(handles[i + offset] , names[i + offset]); //Register queues to queue registry vQueueAddToRegistry(handles[i + offset], names[i + offset]); //Register queues to queue registry
} }
xSemaphoreGive(done_sem); //Signal that vQueueAddToRegistry() has completed xSemaphoreGive(done_sem); //Signal that vQueueAddToRegistry() has completed
vTaskDelay(1); vTaskDelay(1);
xSemaphoreTake(start_sem[core], portMAX_DELAY); //Wait to start vQueueUnregisterQueue() xSemaphoreTake(start_sem[core], portMAX_DELAY); //Wait to start vQueueUnregisterQueue()
for(int i = 0; i < NO_OF_QUEUES_PER_CORE; i++){ for (int i = 0; i < NO_OF_QUEUES_PER_CORE; i++) {
vQueueDelete(handles[i + offset]); //Internally calls vQueueUnregisterQueue vQueueDelete(handles[i + offset]); //Internally calls vQueueUnregisterQueue
} }
xSemaphoreGive(done_sem); //Signal done xSemaphoreGive(done_sem); //Signal done
@@ -62,44 +62,44 @@ TEST_CASE("Test FreeRTOS Queue Registry", "[freertos]")
{ {
//Create synchronization semaphores and tasks to test queue registry //Create synchronization semaphores and tasks to test queue registry
done_sem = xSemaphoreCreateCounting(portNUM_PROCESSORS, 0); done_sem = xSemaphoreCreateCounting(portNUM_PROCESSORS, 0);
for(int i = 0; i < portNUM_PROCESSORS; i++){ for (int i = 0; i < portNUM_PROCESSORS; i++) {
start_sem[i] = xSemaphoreCreateBinary(); start_sem[i] = xSemaphoreCreateBinary();
xTaskCreatePinnedToCore(test_queue_registry_task, "testing task", 4096, NULL, UNITY_FREERTOS_PRIORITY+1, NULL, i); xTaskCreatePinnedToCore(test_queue_registry_task, "testing task", 4096, NULL, UNITY_FREERTOS_PRIORITY + 1, NULL, i);
} }
portDISABLE_INTERRUPTS(); portDISABLE_INTERRUPTS();
for(int i = 0; i < portNUM_PROCESSORS; i++){ for (int i = 0; i < portNUM_PROCESSORS; i++) {
xSemaphoreGive(start_sem[i]); //Trigger start xSemaphoreGive(start_sem[i]); //Trigger start
} }
portENABLE_INTERRUPTS(); portENABLE_INTERRUPTS();
for(int i = 0; i < portNUM_PROCESSORS; i++){ for (int i = 0; i < portNUM_PROCESSORS; i++) {
xSemaphoreTake(done_sem, portMAX_DELAY); //Wait for tasks to complete vQueueAddToRegistry xSemaphoreTake(done_sem, portMAX_DELAY); //Wait for tasks to complete vQueueAddToRegistry
} }
for(int i = 0; i < NO_OF_QUEUES_TOTAL; i++){ for (int i = 0; i < NO_OF_QUEUES_TOTAL; i++) {
const char *addr = pcQueueGetName(handles[i]); const char *addr = pcQueueGetName(handles[i]);
TEST_ASSERT(addr == names[i]); //Check vQueueAddToRegistry was successful TEST_ASSERT(addr == names[i]); //Check vQueueAddToRegistry was successful
} }
portDISABLE_INTERRUPTS(); portDISABLE_INTERRUPTS();
for(int i = 0; i < portNUM_PROCESSORS; i++){ for (int i = 0; i < portNUM_PROCESSORS; i++) {
xSemaphoreGive(start_sem[i]); //Trigger start xSemaphoreGive(start_sem[i]); //Trigger start
} }
portENABLE_INTERRUPTS(); portENABLE_INTERRUPTS();
for(int i = 0; i < portNUM_PROCESSORS; i++){ for (int i = 0; i < portNUM_PROCESSORS; i++) {
xSemaphoreTake(done_sem, portMAX_DELAY); //Wait for tasks to complete vQueueUnregisterQueue xSemaphoreTake(done_sem, portMAX_DELAY); //Wait for tasks to complete vQueueUnregisterQueue
} }
for(int i = 0; i < NO_OF_QUEUES_TOTAL; i++){ for (int i = 0; i < NO_OF_QUEUES_TOTAL; i++) {
const char *addr = pcQueueGetName(handles[i]); const char *addr = pcQueueGetName(handles[i]);
TEST_ASSERT(addr == NULL); //Check vQueueUnregisterQueue was successful TEST_ASSERT(addr == NULL); //Check vQueueUnregisterQueue was successful
handles[i] = NULL; handles[i] = NULL;
} }
//Cleanup //Cleanup
for(int i = 0; i < NO_OF_QUEUES_TOTAL; i++){ for (int i = 0; i < NO_OF_QUEUES_TOTAL; i++) {
free(names[i]); free(names[i]);
names[i] = NULL; names[i] = NULL;
} }
for(int i = 0; i < portNUM_PROCESSORS; i++){ for (int i = 0; i < portNUM_PROCESSORS; i++) {
vSemaphoreDelete(start_sem[i]); vSemaphoreDelete(start_sem[i]);
start_sem[i] = NULL; start_sem[i] = NULL;
} }

12
components/freertos/test_apps/freertos/kernel/stream_buffer/test_stream_buffers.c
View File

@@ -1,5 +1,5 @@
/* /*
* SPDX-FileCopyrightText: 2022-2023 Espressif Systems (Shanghai) CO LTD * SPDX-FileCopyrightText: 2022-2024 Espressif Systems (Shanghai) CO LTD
* *
* SPDX-License-Identifier: Apache-2.0 * SPDX-License-Identifier: Apache-2.0
*/ */
@@ -64,11 +64,11 @@ TEST_CASE("Stream Buffer: Send-receive tasks", "[freertos]")
BaseType_t sender_core_id; BaseType_t sender_core_id;
BaseType_t receiver_core_id; BaseType_t receiver_core_id;
sender_core_id = 0; sender_core_id = 0;
#if CONFIG_FREERTOS_UNICORE #if CONFIG_FREERTOS_UNICORE
receiver_core_id = 0; receiver_core_id = 0;
#else #else
receiver_core_id = 1; receiver_core_id = 1;
#endif #endif
TEST_ASSERT_EQUAL(pdTRUE, xTaskCreatePinnedToCore(sender_task, "sender", 4096, &test_args, UNITY_FREERTOS_PRIORITY + 2, NULL, sender_core_id)); TEST_ASSERT_EQUAL(pdTRUE, xTaskCreatePinnedToCore(sender_task, "sender", 4096, &test_args, UNITY_FREERTOS_PRIORITY + 2, NULL, sender_core_id));
TEST_ASSERT_EQUAL(pdTRUE, xTaskCreatePinnedToCore(receiver_task, "receiver", 4096, &test_args, UNITY_FREERTOS_PRIORITY + 1, NULL, receiver_core_id)); TEST_ASSERT_EQUAL(pdTRUE, xTaskCreatePinnedToCore(receiver_task, "receiver", 4096, &test_args, UNITY_FREERTOS_PRIORITY + 1, NULL, receiver_core_id));

2
components/freertos/test_apps/freertos/kernel/tasks/test_eTaskGetState.c
View File

@@ -26,7 +26,7 @@ Expected:
static void blocked_task(void *arg) static void blocked_task(void *arg)
{ {
vTaskDelay(portMAX_DELAY-1); vTaskDelay(portMAX_DELAY - 1);
// Shouldn't need to self delete, but added for extra safety // Shouldn't need to self delete, but added for extra safety
vTaskDelete(NULL); vTaskDelete(NULL);
} }

2
components/freertos/test_apps/freertos/kernel/tasks/test_freertos_hooks.c
View File

@@ -81,7 +81,7 @@ void vTaskPreDeletionHook(void *pxTCB)
TEST_CASE("static task cleanup hook is called based on config", "[freertos]") TEST_CASE("static task cleanup hook is called based on config", "[freertos]")
{ {
for(int i = 0; i < portNUM_PROCESSORS; i++) { for (int i = 0; i < portNUM_PROCESSORS; i++) {
printf("Creating task CPU %d\n", i); printf("Creating task CPU %d\n", i);
TaskHandle_t new_task = NULL; TaskHandle_t new_task = NULL;
deleted_tcb = NULL; deleted_tcb = NULL;

70
components/freertos/test_apps/freertos/kernel/tasks/test_freertos_psram.c
View File

@@ -1,5 +1,5 @@
/* /*
* SPDX-FileCopyrightText: 2023 Espressif Systems (Shanghai) CO LTD * SPDX-FileCopyrightText: 2023-2024 Espressif Systems (Shanghai) CO LTD
* *
* SPDX-License-Identifier: Apache-2.0 * SPDX-License-Identifier: Apache-2.0
*/ */
@@ -33,32 +33,32 @@ static void task_should_never_run(void *arg)
} }
static BaseType_t create_task(TaskFunction_t function, static BaseType_t create_task(TaskFunction_t function,
size_t stack_size, size_t stack_size,
void *task_arg, void *task_arg,
int core_num, int core_num,
UBaseType_t heap_caps, UBaseType_t heap_caps,
TaskHandle_t *task_handle) TaskHandle_t *task_handle)
{ {
#if CONFIG_FREERTOS_SMP #if CONFIG_FREERTOS_SMP
UBaseType_t core_affinity_mask = (core_num == -1) ? tskNO_AFFINITY : 1 << core_num; UBaseType_t core_affinity_mask = (core_num == -1) ? tskNO_AFFINITY : 1 << core_num;
return prvTaskCreateDynamicAffinitySetWithCaps(function, return prvTaskCreateDynamicAffinitySetWithCaps(function,
"self_delete", "self_delete",
stack_size, stack_size,
task_arg, task_arg,
UNITY_FREERTOS_PRIORITY + 1, UNITY_FREERTOS_PRIORITY + 1,
core_affinity_mask, core_affinity_mask,
heap_caps, heap_caps,
task_handle); task_handle);
#else #else
const BaseType_t task_core_num = (core_num == -1) ? tskNO_AFFINITY : core_num; const BaseType_t task_core_num = (core_num == -1) ? tskNO_AFFINITY : core_num;
return prvTaskCreateDynamicPinnedToCoreWithCaps(function, return prvTaskCreateDynamicPinnedToCoreWithCaps(function,
"self_delete", "self_delete",
stack_size, stack_size,
task_arg, task_arg,
UNITY_FREERTOS_PRIORITY + 1, UNITY_FREERTOS_PRIORITY + 1,
task_core_num, task_core_num,
heap_caps, heap_caps,
task_handle); task_handle);
#endif #endif
} }
@@ -69,11 +69,11 @@ TEST_CASE("Out of memory failure", "[freertos][psram]")
UBaseType_t HEAP_CAPS = (MALLOC_CAP_SPIRAM | MALLOC_CAP_8BIT); UBaseType_t HEAP_CAPS = (MALLOC_CAP_SPIRAM | MALLOC_CAP_8BIT);
BaseType_t result = create_task(task_should_never_run, BaseType_t result = create_task(task_should_never_run,
STACK_SIZE, STACK_SIZE,
(void *)xTaskGetCurrentTaskHandle(), (void *)xTaskGetCurrentTaskHandle(),
-1, -1,
HEAP_CAPS, HEAP_CAPS,
&task_handle); &task_handle);
TEST_ASSERT_EQUAL(errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY, result); TEST_ASSERT_EQUAL(errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY, result);
(void)task_handle; (void)task_handle;
} }
@@ -85,11 +85,11 @@ TEST_CASE("Task with stack memory in PSRAM", "[freertos][psram]")
UBaseType_t HEAP_CAPS = (MALLOC_CAP_SPIRAM | MALLOC_CAP_8BIT); UBaseType_t HEAP_CAPS = (MALLOC_CAP_SPIRAM | MALLOC_CAP_8BIT);
BaseType_t result = create_task(task_delete_itself, BaseType_t result = create_task(task_delete_itself,
STACK_SIZE, STACK_SIZE,
(void *)xTaskGetCurrentTaskHandle(), (void *)xTaskGetCurrentTaskHandle(),
-1, -1,
HEAP_CAPS, HEAP_CAPS,
&task_handle); &task_handle);
TEST_ASSERT_EQUAL(pdPASS, result); TEST_ASSERT_EQUAL(pdPASS, result);
// synchronize with the task to make sure we don't return too early, thus giving it enough time // synchronize with the task to make sure we don't return too early, thus giving it enough time
@@ -126,11 +126,11 @@ TEST_CASE("Task on specific core works", "[freertos][psram]")
corenum_info.parent_handle = xTaskGetCurrentTaskHandle(); corenum_info.parent_handle = xTaskGetCurrentTaskHandle();
UBaseType_t HEAP_CAPS = (MALLOC_CAP_SPIRAM | MALLOC_CAP_8BIT); UBaseType_t HEAP_CAPS = (MALLOC_CAP_SPIRAM | MALLOC_CAP_8BIT);
BaseType_t result = create_task(task_report_corenum, BaseType_t result = create_task(task_report_corenum,
STACK_SIZE, STACK_SIZE,
(void *) &(corenum_info), (void *) & (corenum_info),
corenum, corenum,
HEAP_CAPS, HEAP_CAPS,
&task_handle); &task_handle);
TEST_ASSERT_EQUAL(pdPASS, result); TEST_ASSERT_EQUAL(pdPASS, result);

2
components/freertos/test_apps/freertos/kernel/tasks/test_freertos_scheduling_round_robin.c
View File

@@ -70,7 +70,7 @@ static void spin_task(void *arg)
//Last iteration of the last spin task on this core. Reenable this core's tick interrupt //Last iteration of the last spin task on this core. Reenable this core's tick interrupt
if (total_iter_count[xPortGetCoreID()] == (NUM_PINNED_SPIN_TASK_PER_CORE * SPIN_TASK_NUM_ITER)) { if (total_iter_count[xPortGetCoreID()] == (NUM_PINNED_SPIN_TASK_PER_CORE * SPIN_TASK_NUM_ITER)) {
esp_cpu_intr_enable(1 <<TICK_INTR_IDX); esp_cpu_intr_enable(1 << TICK_INTR_IDX);
} }
vTaskDelete(NULL); vTaskDelete(NULL);
} }

28
components/freertos/test_apps/freertos/kernel/tasks/test_freertos_task_delete.c
View File

@@ -1,5 +1,5 @@
/* /*
* SPDX-FileCopyrightText: 2023 Espressif Systems (Shanghai) CO LTD * SPDX-FileCopyrightText: 2023-2024 Espressif Systems (Shanghai) CO LTD
* *
* SPDX-License-Identifier: Apache-2.0 * SPDX-License-Identifier: Apache-2.0
*/ */
@@ -33,8 +33,7 @@
/* Caps of all memory which is allocated from when a task is created */ /* Caps of all memory which is allocated from when a task is created */
#define HEAP_CAPS (MALLOC_CAP_INTERNAL | MALLOC_CAP_8BIT) #define HEAP_CAPS (MALLOC_CAP_INTERNAL | MALLOC_CAP_8BIT)
#define DELAY_US_ITERATIONS 1000 #define DELAY_US_ITERATIONS 1000
static void tsk_self_del(void *param) static void tsk_self_del(void *param)
{ {
@@ -55,11 +54,11 @@ static void tsk_self_del_us_delay(void *param)
TEST_CASE("FreeRTOS Delete Tasks", "[freertos]") TEST_CASE("FreeRTOS Delete Tasks", "[freertos]")
{ {
/* -------------- Test vTaskDelete() on currently running tasks ----------------*/ /* -------------- Test vTaskDelete() on currently running tasks ----------------*/
uint32_t before_count = uxTaskGetNumberOfTasks(); uint32_t before_count = uxTaskGetNumberOfTasks();
uint32_t before_heap = heap_caps_get_free_size(HEAP_CAPS); uint32_t before_heap = heap_caps_get_free_size(HEAP_CAPS);
for(int i = 0; i < portNUM_PROCESSORS; i++){ for (int i = 0; i < portNUM_PROCESSORS; i++) {
for(int j = 0; j < NO_OF_TSKS; j++){ for (int j = 0; j < NO_OF_TSKS; j++) {
TEST_ASSERT_EQUAL(pdTRUE, xTaskCreatePinnedToCore(tsk_self_del, "tsk_self", 1024, NULL, configMAX_PRIORITIES - 1, NULL, i)); TEST_ASSERT_EQUAL(pdTRUE, xTaskCreatePinnedToCore(tsk_self_del, "tsk_self", 1024, NULL, configMAX_PRIORITIES - 1, NULL, i));
} }
} }
@@ -67,22 +66,22 @@ TEST_CASE("FreeRTOS Delete Tasks", "[freertos]")
TEST_ASSERT_EQUAL(before_count, uxTaskGetNumberOfTasks()); TEST_ASSERT_EQUAL(before_count, uxTaskGetNumberOfTasks());
TEST_ASSERT_EQUAL(before_heap, heap_caps_get_free_size(HEAP_CAPS)); TEST_ASSERT_EQUAL(before_heap, heap_caps_get_free_size(HEAP_CAPS));
/* ------------- Test vTaskDelete() on not currently running tasks ------------ */ /* ------------- Test vTaskDelete() on not currently running tasks ------------ */
TaskHandle_t handles[NO_OF_TSKS]; TaskHandle_t handles[NO_OF_TSKS];
before_heap = heap_caps_get_free_size(HEAP_CAPS); before_heap = heap_caps_get_free_size(HEAP_CAPS);
//Create task pinned to the same core that will not run during task deletion //Create task pinned to the same core that will not run during task deletion
for(int j = 0 ; j < NO_OF_TSKS; j++){ for (int j = 0 ; j < NO_OF_TSKS; j++) {
TEST_ASSERT_EQUAL(pdTRUE, xTaskCreatePinnedToCore(tsk_extern_del, "tsk_extern", 4096, NULL, configMAX_PRIORITIES - 1, &handles[j], xPortGetCoreID())); TEST_ASSERT_EQUAL(pdTRUE, xTaskCreatePinnedToCore(tsk_extern_del, "tsk_extern", 4096, NULL, configMAX_PRIORITIES - 1, &handles[j], xPortGetCoreID()));
} }
TEST_ASSERT_NOT_EQUAL(before_heap, heap_caps_get_free_size(HEAP_CAPS)); //Check tasks have been created TEST_ASSERT_NOT_EQUAL(before_heap, heap_caps_get_free_size(HEAP_CAPS)); //Check tasks have been created
//Delete the tasks, memory should be freed immediately //Delete the tasks, memory should be freed immediately
for(int j = 0; j < NO_OF_TSKS; j++){ for (int j = 0; j < NO_OF_TSKS; j++) {
vTaskDelete(handles[j]); vTaskDelete(handles[j]);
} }
TEST_ASSERT_EQUAL(before_heap, heap_caps_get_free_size(HEAP_CAPS)); TEST_ASSERT_EQUAL(before_heap, heap_caps_get_free_size(HEAP_CAPS));
/* Test self deleting no affinity task is not removed by idle task of other core before context switch */ /* Test self deleting no affinity task is not removed by idle task of other core before context switch */
for(int i = 0; i < DELAY_US_ITERATIONS; i+= 10){ for (int i = 0; i < DELAY_US_ITERATIONS; i += 10) {
vTaskDelay(1); //Sync to next tick interrupt vTaskDelay(1); //Sync to next tick interrupt
xTaskCreatePinnedToCore(tsk_self_del_us_delay, "delay", 1024, (void *)i, UNITY_FREERTOS_PRIORITY - 1, NULL, tskNO_AFFINITY); xTaskCreatePinnedToCore(tsk_self_del_us_delay, "delay", 1024, (void *)i, UNITY_FREERTOS_PRIORITY - 1, NULL, tskNO_AFFINITY);
esp_rom_delay_us(10); //Busy wait to ensure no affinity task runs on opposite core esp_rom_delay_us(10); //Busy wait to ensure no affinity task runs on opposite core
@@ -90,7 +89,6 @@ TEST_CASE("FreeRTOS Delete Tasks", "[freertos]")
} }
typedef struct { typedef struct {
SemaphoreHandle_t sem; SemaphoreHandle_t sem;
volatile bool deleted; // Check the deleted task doesn't keep running after being deleted volatile bool deleted; // Check the deleted task doesn't keep running after being deleted
@@ -130,10 +128,10 @@ TEST_CASE("FreeRTOS Delete Blocked Tasks", "[freertos]")
(1000 iterations takes about 9 seconds on ESP32 dual core) (1000 iterations takes about 9 seconds on ESP32 dual core)
*/ */
for(unsigned iter = 0; iter < 1000; iter++) { for (unsigned iter = 0; iter < 1000; iter++) {
// Create everything // Create everything
SemaphoreHandle_t sem = xSemaphoreCreateMutex(); SemaphoreHandle_t sem = xSemaphoreCreateMutex();
for(unsigned i = 0; i < portNUM_PROCESSORS + 1; i++) { for (unsigned i = 0; i < portNUM_PROCESSORS + 1; i++) {
params[i].deleted = false; params[i].deleted = false;
params[i].sem = sem; params[i].sem = sem;
@@ -145,7 +143,7 @@ TEST_CASE("FreeRTOS Delete Blocked Tasks", "[freertos]")
vTaskDelay(5); // Let the tasks juggle the mutex for a bit vTaskDelay(5); // Let the tasks juggle the mutex for a bit
for(unsigned i = 0; i < portNUM_PROCESSORS + 1; i++) { for (unsigned i = 0; i < portNUM_PROCESSORS + 1; i++) {
vTaskDelete(blocking_tasks[i]); vTaskDelete(blocking_tasks[i]);
params[i].deleted = true; params[i].deleted = true;
} }

23
components/freertos/test_apps/freertos/kernel/tasks/test_freertos_trace_utilities.c
View File

@@ -1,5 +1,5 @@
/* /*
* SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD * SPDX-FileCopyrightText: 2022-2024 Espressif Systems (Shanghai) CO LTD
* *
* SPDX-License-Identifier: Apache-2.0 * SPDX-License-Identifier: Apache-2.0
*/ */
@@ -62,7 +62,7 @@ void task_test_trace_utilities(void *arg)
TEST_CASE("Test freertos trace facility functions", "[freertos]") TEST_CASE("Test freertos trace facility functions", "[freertos]")
{ {
for(int i = 0; i < NO_OF_CORES; i++){ for (int i = 0; i < NO_OF_CORES; i++) {
test_queues[i] = xSemaphoreCreateBinary(); //Create a queue as binary semaphore for each core test_queues[i] = xSemaphoreCreateBinary(); //Create a queue as binary semaphore for each core
xTaskCreatePinnedToCore(task_test_trace_utilities, "Test Task", 4096, (void *)(0x0F << i), TSK_PRIORITY, &task_handles[i], i); xTaskCreatePinnedToCore(task_test_trace_utilities, "Test Task", 4096, (void *)(0x0F << i), TSK_PRIORITY, &task_handles[i], i);
} }
@@ -70,14 +70,14 @@ TEST_CASE("Test freertos trace facility functions", "[freertos]")
vTaskDelay(10); vTaskDelay(10);
//Start the tasks //Start the tasks
for(int i = NO_OF_CORES - 1; i >= 0; i--){ for (int i = NO_OF_CORES - 1; i >= 0; i--) {
xSemaphoreGive(test_queues[i]); xSemaphoreGive(test_queues[i]);
} }
vTaskDelay(10); //Small delay to ensure semaphores are taken vTaskDelay(10); //Small delay to ensure semaphores are taken
//Wait for done //Wait for done
for(int i = 0; i < NO_OF_CORES; i++){ for (int i = 0; i < NO_OF_CORES; i++) {
xSemaphoreTake(test_queues[i], portMAX_DELAY); xSemaphoreTake(test_queues[i], portMAX_DELAY);
vSemaphoreDelete(test_queues[i]); vSemaphoreDelete(test_queues[i]);
} }
@@ -85,7 +85,6 @@ TEST_CASE("Test freertos trace facility functions", "[freertos]")
vTaskDelay(10); //Give time for idle task to clean up vTaskDelay(10); //Give time for idle task to clean up
} }
#define MAX_TASKS 15 #define MAX_TASKS 15
#define TASKS_TO_CREATE 5 #define TASKS_TO_CREATE 5
@@ -94,7 +93,7 @@ static TaskStatus_t *tsk_status_array;
void created_task(void* arg) void created_task(void* arg)
{ {
while(1){ while (1) {
vTaskDelay(100); vTaskDelay(100);
} }
} }
@@ -102,7 +101,7 @@ void created_task(void* arg)
TEST_CASE("Test freertos uxTaskGetSystemState", "[freertos]") TEST_CASE("Test freertos uxTaskGetSystemState", "[freertos]")
{ {
tsk_status_array = calloc(MAX_TASKS, sizeof(TaskStatus_t)); tsk_status_array = calloc(MAX_TASKS, sizeof(TaskStatus_t));
for(int i = 0; i < TASKS_TO_CREATE; i++){ for (int i = 0; i < TASKS_TO_CREATE; i++) {
xTaskCreatePinnedToCore(created_task, "Created Task", 1024, NULL, TSK_PRIORITY, &created_handles[i], 0); xTaskCreatePinnedToCore(created_task, "Created Task", 1024, NULL, TSK_PRIORITY, &created_handles[i], 0);
} }
@@ -112,15 +111,15 @@ TEST_CASE("Test freertos uxTaskGetSystemState", "[freertos]")
//Check if get system state has got all created tasks //Check if get system state has got all created tasks
bool not_found = false; bool not_found = false;
for(int i = 0; i < TASKS_TO_CREATE; i++){ for (int i = 0; i < TASKS_TO_CREATE; i++) {
bool found = false; bool found = false;
for(int j = 0; j < MAX_TASKS; j++){ for (int j = 0; j < MAX_TASKS; j++) {
if(tsk_status_array[j].xHandle == created_handles[i]){ if (tsk_status_array[j].xHandle == created_handles[i]) {
found = true; found = true;
break; break;
} }
} }
if(!found){ if (!found) {
not_found = true; not_found = true;
break; break;
} }
@@ -128,7 +127,7 @@ TEST_CASE("Test freertos uxTaskGetSystemState", "[freertos]")
TEST_ASSERT(not_found == false); TEST_ASSERT(not_found == false);
//Cleanup //Cleanup
for(int i = 0; i < TASKS_TO_CREATE; i++){ for (int i = 0; i < TASKS_TO_CREATE; i++) {
vTaskDelete(created_handles[i]); vTaskDelete(created_handles[i]);
} }
free(tsk_status_array); free(tsk_status_array);

16
components/freertos/test_apps/freertos/kernel/tasks/test_preemption.c
View File

@@ -1,5 +1,5 @@
/* /*
* SPDX-FileCopyrightText: 2022-2023 Espressif Systems (Shanghai) CO LTD * SPDX-FileCopyrightText: 2022-2024 Espressif Systems (Shanghai) CO LTD
* *
* SPDX-License-Identifier: Apache-2.0 * SPDX-License-Identifier: Apache-2.0
*/ */
@@ -31,7 +31,6 @@ static volatile bool flag;
#define MAX_YIELD_COUNT 17000 #define MAX_YIELD_COUNT 17000
#endif // CONFIG_FREERTOS_SMP #endif // CONFIG_FREERTOS_SMP
/* Task: /* Task:
- Waits for 'trigger' variable to be set - Waits for 'trigger' variable to be set
- Reads the cycle count on this CPU - Reads the cycle count on this CPU
@@ -43,7 +42,7 @@ static void task_send_to_queue(void *param)
QueueHandle_t queue = (QueueHandle_t) param; QueueHandle_t queue = (QueueHandle_t) param;
uint32_t ccount; uint32_t ccount;
while(!trigger) {} while (!trigger) {}
ccount = esp_cpu_get_cycle_count(); ccount = esp_cpu_get_cycle_count();
flag = true; flag = true;
@@ -53,7 +52,7 @@ static void task_send_to_queue(void *param)
The task runs until terminated by the main task. The task runs until terminated by the main task.
*/ */
while(1) {} while (1) {}
} }
TEST_CASE("Yield from lower priority task, same CPU", "[freertos]") TEST_CASE("Yield from lower priority task, same CPU", "[freertos]")
@@ -73,9 +72,9 @@ TEST_CASE("Yield from lower priority task, same CPU", "[freertos]")
trigger = true; trigger = true;
uint32_t yield_ccount, now_ccount, delta; uint32_t yield_ccount, now_ccount, delta;
TEST_ASSERT( xQueueReceive(queue, &yield_ccount, 100 / portTICK_PERIOD_MS) ); TEST_ASSERT(xQueueReceive(queue, &yield_ccount, 100 / portTICK_PERIOD_MS));
now_ccount = esp_cpu_get_cycle_count(); now_ccount = esp_cpu_get_cycle_count();
TEST_ASSERT( flag ); TEST_ASSERT(flag);
delta = now_ccount - yield_ccount; delta = now_ccount - yield_ccount;
printf("Yielding from lower priority task took %"PRIu32" cycles\n", delta); printf("Yielding from lower priority task took %"PRIu32" cycles\n", delta);
@@ -86,7 +85,6 @@ TEST_CASE("Yield from lower priority task, same CPU", "[freertos]")
} }
} }
#if (portNUM_PROCESSORS == 2) && !CONFIG_FREERTOS_PLACE_FUNCTIONS_INTO_FLASH #if (portNUM_PROCESSORS == 2) && !CONFIG_FREERTOS_PLACE_FUNCTIONS_INTO_FLASH
TEST_CASE("Yield from lower priority task, other CPU", "[freertos]") TEST_CASE("Yield from lower priority task, other CPU", "[freertos]")
{ {
@@ -110,9 +108,9 @@ TEST_CASE("Yield from lower priority task, other CPU", "[freertos]")
// yield_ccount is not useful in this test as it's the other core's CCOUNT // yield_ccount is not useful in this test as it's the other core's CCOUNT
// so we use trigger_ccount instead // so we use trigger_ccount instead
TEST_ASSERT( xQueueReceive(queue, &yield_ccount, 100 / portTICK_PERIOD_MS) ); TEST_ASSERT(xQueueReceive(queue, &yield_ccount, 100 / portTICK_PERIOD_MS));
now_ccount = esp_cpu_get_cycle_count(); now_ccount = esp_cpu_get_cycle_count();
TEST_ASSERT( flag ); TEST_ASSERT(flag);
delta = now_ccount - trigger_ccount; delta = now_ccount - trigger_ccount;
printf("Yielding from task on other core took %"PRIu32" cycles\n", delta); printf("Yielding from task on other core took %"PRIu32" cycles\n", delta);

51
components/freertos/test_apps/freertos/kernel/tasks/test_task_delay.c
View File

@@ -1,5 +1,5 @@
/* /*
* SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD * SPDX-FileCopyrightText: 2022-2024 Espressif Systems (Shanghai) CO LTD
* *
* SPDX-License-Identifier: Apache-2.0 * SPDX-License-Identifier: Apache-2.0
*/ */
@@ -64,11 +64,11 @@ static void test_vTaskDelay(void *arg)
/* Check that elapsed ticks and ref clock is accurate. We allow TEST_VTASKDELAY_DELTA_TICKS of error in case /* Check that elapsed ticks and ref clock is accurate. We allow TEST_VTASKDELAY_DELTA_TICKS of error in case
* vTaskDelay() or portTEST_REF_CLOCK_GET_TIME() last long enough to cross a tick boundary */ * vTaskDelay() or portTEST_REF_CLOCK_GET_TIME() last long enough to cross a tick boundary */
#if ( configUSE_16_BIT_TICKS == 1 ) #if ( configUSE_16_BIT_TICKS == 1 )
TEST_ASSERT_UINT16_WITHIN(TEST_VTASKDELAY_DELTA_TICKS, TEST_VTASKDELAY_TICKS, tick_end - tick_start); TEST_ASSERT_UINT16_WITHIN(TEST_VTASKDELAY_DELTA_TICKS, TEST_VTASKDELAY_TICKS, tick_end - tick_start);
#else #else
TEST_ASSERT_UINT32_WITHIN(TEST_VTASKDELAY_DELTA_TICKS, TEST_VTASKDELAY_TICKS, tick_end - tick_start); TEST_ASSERT_UINT32_WITHIN(TEST_VTASKDELAY_DELTA_TICKS, TEST_VTASKDELAY_TICKS, tick_end - tick_start);
#endif #endif
TEST_ASSERT_UINT32_WITHIN(portTEST_TICKS_TO_REF_CLOCK(TEST_VTASKDELAY_DELTA_TICKS), TEST_ASSERT_UINT32_WITHIN(portTEST_TICKS_TO_REF_CLOCK(TEST_VTASKDELAY_DELTA_TICKS),
portTEST_TICKS_TO_REF_CLOCK(TEST_VTASKDELAY_TICKS), portTEST_TICKS_TO_REF_CLOCK(TEST_VTASKDELAY_TICKS),
ref_clock_end - ref_clock_start); ref_clock_end - ref_clock_start);
@@ -79,12 +79,12 @@ TEST_CASE("Tasks: Test vTaskDelay", "[freertos]")
{ {
portTEST_REF_CLOCK_INIT(); portTEST_REF_CLOCK_INIT();
#if ( configNUM_CORES > 1 ) #if ( configNUM_CORES > 1 )
vTestOnAllCores(test_vTaskDelay, NULL, configTEST_DEFAULT_STACK_SIZE, configTEST_UNITY_TASK_PRIORITY - 1); vTestOnAllCores(test_vTaskDelay, NULL, configTEST_DEFAULT_STACK_SIZE, configTEST_UNITY_TASK_PRIORITY - 1);
#else #else
/* Test vTaskDelay directly on the current core */ /* Test vTaskDelay directly on the current core */
test_vTaskDelay(NULL); test_vTaskDelay(NULL);
#endif #endif
portTEST_REF_CLOCK_DEINIT(); portTEST_REF_CLOCK_DEINIT();
} }
@@ -144,16 +144,15 @@ static void test_vTaskDelayUntil(void *arg)
tick_end = xTaskGetTickCount(); tick_end = xTaskGetTickCount();
ref_clock_end = portTEST_REF_CLOCK_GET_TIME(); ref_clock_end = portTEST_REF_CLOCK_GET_TIME();
/* Check that elapsed ticks and ref clock is accurate. We allow TEST_VTASKDELAYUNTIL_DELTA_TICKS of error in /* Check that elapsed ticks and ref clock is accurate. We allow TEST_VTASKDELAYUNTIL_DELTA_TICKS of error in
* case vTaskDelayUntil() or portTEST_REF_CLOCK_GET_TIME() last long enough to cross a tick boundary */ * case vTaskDelayUntil() or portTEST_REF_CLOCK_GET_TIME() last long enough to cross a tick boundary */
#if ( configUSE_16_BIT_TICKS == 1 ) #if ( configUSE_16_BIT_TICKS == 1 )
TEST_ASSERT_UINT16_WITHIN(TEST_VTASKDELAYUNTIL_DELTA_TICKS, TEST_VTASKDELAYUNTIL_TICKS, tick_end - tick_start); TEST_ASSERT_UINT16_WITHIN(TEST_VTASKDELAYUNTIL_DELTA_TICKS, TEST_VTASKDELAYUNTIL_TICKS, tick_end - tick_start);
TEST_ASSERT_UINT16_WITHIN(TEST_VTASKDELAYUNTIL_DELTA_TICKS, tick_end, last_wake_tick); TEST_ASSERT_UINT16_WITHIN(TEST_VTASKDELAYUNTIL_DELTA_TICKS, tick_end, last_wake_tick);
#else #else
TEST_ASSERT_UINT32_WITHIN(TEST_VTASKDELAYUNTIL_DELTA_TICKS, TEST_VTASKDELAYUNTIL_TICKS, tick_end - tick_start); TEST_ASSERT_UINT32_WITHIN(TEST_VTASKDELAYUNTIL_DELTA_TICKS, TEST_VTASKDELAYUNTIL_TICKS, tick_end - tick_start);
TEST_ASSERT_UINT32_WITHIN(TEST_VTASKDELAYUNTIL_DELTA_TICKS, tick_end, last_wake_tick); TEST_ASSERT_UINT32_WITHIN(TEST_VTASKDELAYUNTIL_DELTA_TICKS, tick_end, last_wake_tick);
#endif #endif
/* Check that the elapsed ref clock time is accurate. We allow TEST_VTASKDELAYUNTIL_DELTA_TICKS time worth of /* Check that the elapsed ref clock time is accurate. We allow TEST_VTASKDELAYUNTIL_DELTA_TICKS time worth of
* error to account for the execution time of the ref clock functions. */ * error to account for the execution time of the ref clock functions. */
@@ -167,12 +166,12 @@ TEST_CASE("Tasks: Test vTaskDelayUntil", "[freertos]")
{ {
portTEST_REF_CLOCK_INIT(); portTEST_REF_CLOCK_INIT();
#if ( configNUM_CORES > 1 ) #if ( configNUM_CORES > 1 )
vTestOnAllCores(test_vTaskDelayUntil, NULL, configTEST_DEFAULT_STACK_SIZE, configTEST_UNITY_TASK_PRIORITY - 1); vTestOnAllCores(test_vTaskDelayUntil, NULL, configTEST_DEFAULT_STACK_SIZE, configTEST_UNITY_TASK_PRIORITY - 1);
#else #else
/* Test vTaskDelay directly on the current core */ /* Test vTaskDelay directly on the current core */
test_vTaskDelayUntil(NULL); test_vTaskDelayUntil(NULL);
#endif #endif
portTEST_REF_CLOCK_DEINIT(); portTEST_REF_CLOCK_DEINIT();
} }

8
components/freertos/test_apps/freertos/kernel/tasks/test_task_priorities.c
View File

@@ -1,5 +1,5 @@
/* /*
* SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD * SPDX-FileCopyrightText: 2022-2024 Espressif Systems (Shanghai) CO LTD
* *
* SPDX-License-Identifier: Apache-2.0 * SPDX-License-Identifier: Apache-2.0
*/ */
@@ -17,7 +17,6 @@
#include "unity.h" #include "unity.h"
#include "test_utils.h" #include "test_utils.h"
static void counter_task(void *param) static void counter_task(void *param)
{ {
volatile uint32_t *counter = (volatile uint32_t *)param; volatile uint32_t *counter = (volatile uint32_t *)param;
@@ -26,7 +25,6 @@ static void counter_task(void *param)
} }
} }
TEST_CASE("Get/Set Priorities", "[freertos]") TEST_CASE("Get/Set Priorities", "[freertos]")
{ {
/* Two tasks per processor */ /* Two tasks per processor */
@@ -38,7 +36,7 @@ TEST_CASE("Get/Set Priorities", "[freertos]")
/* create a matrix of counter tasks on each core */ /* create a matrix of counter tasks on each core */
for (int cpu = 0; cpu < portNUM_PROCESSORS; cpu++) { for (int cpu = 0; cpu < portNUM_PROCESSORS; cpu++) {
for (int task = 0; task < 2; task++) { for (int task = 0; task < 2; task++) {
xTaskCreatePinnedToCore(counter_task, "count", 2048, (void *)&(counters[cpu][task]), UNITY_FREERTOS_PRIORITY - task, &(tasks[cpu][task]), cpu); xTaskCreatePinnedToCore(counter_task, "count", 2048, (void *) & (counters[cpu][task]), UNITY_FREERTOS_PRIORITY - task, &(tasks[cpu][task]), cpu);
} }
} }
@@ -65,7 +63,7 @@ TEST_CASE("Get/Set Priorities", "[freertos]")
/* check priorities have swapped... */ /* check priorities have swapped... */
for (int cpu = 0; cpu < portNUM_PROCESSORS; cpu++) { for (int cpu = 0; cpu < portNUM_PROCESSORS; cpu++) {
TEST_ASSERT_EQUAL(UNITY_FREERTOS_PRIORITY -1, uxTaskPriorityGet(tasks[cpu][0])); TEST_ASSERT_EQUAL(UNITY_FREERTOS_PRIORITY - 1, uxTaskPriorityGet(tasks[cpu][0]));
TEST_ASSERT_EQUAL(UNITY_FREERTOS_PRIORITY, uxTaskPriorityGet(tasks[cpu][1])); TEST_ASSERT_EQUAL(UNITY_FREERTOS_PRIORITY, uxTaskPriorityGet(tasks[cpu][1]));
} }

3
components/freertos/test_apps/freertos/kernel/tasks/test_task_suspend_resume.c
View File

@@ -69,7 +69,6 @@ static void test_suspend_resume(int target_core)
vTaskDelete(counter_task); vTaskDelete(counter_task);
} }
TEST_CASE("Suspend/resume task on same core", "[freertos]") TEST_CASE("Suspend/resume task on same core", "[freertos]")
{ {
test_suspend_resume(UNITY_FREERTOS_CPU); test_suspend_resume(UNITY_FREERTOS_CPU);
@@ -119,7 +118,6 @@ TEST_CASE("Suspend the current running task", "[freertos]")
TEST_ASSERT_TRUE(resumed); TEST_ASSERT_TRUE(resumed);
} }
static volatile bool timer_isr_fired; static volatile bool timer_isr_fired;
static gptimer_handle_t gptimer = NULL; static gptimer_handle_t gptimer = NULL;
@@ -146,7 +144,6 @@ static IRAM_ATTR void task_suspend_self_with_timer(void *vp_resumed)
vTaskDelete(NULL); vTaskDelete(NULL);
} }
/* Create a task which suspends itself, then resume it from a timer /* Create a task which suspends itself, then resume it from a timer
* interrupt. */ * interrupt. */
static void test_resume_task_from_isr(int target_core) static void test_resume_task_from_isr(int target_core)

3
components/freertos/test_apps/freertos/kernel/tasks/test_vTaskSuspendAll_xTaskResumeAll.c
View File

@@ -637,7 +637,6 @@ TEST_CASE("Test xTaskResumeAll resumes pended tasks", "[freertos]")
vTaskDelay(10); vTaskDelay(10);
} }
/* --------------------------------------------------------------------------------------------------------------------- /* ---------------------------------------------------------------------------------------------------------------------
Test xTaskSuspendAll on both cores pends all tasks and xTaskResumeAll on both cores resumes all tasks Test xTaskSuspendAll on both cores pends all tasks and xTaskResumeAll on both cores resumes all tasks
@@ -790,7 +789,7 @@ void test_blocked_task(void *arg)
has_run = false; has_run = false;
// Got to blocked state // Got to blocked state
vTaskDelay( TEST_BLOCKED_TASK_DELAY_MS / portTICK_PERIOD_MS ); vTaskDelay(TEST_BLOCKED_TASK_DELAY_MS / portTICK_PERIOD_MS);
// Mark when this task runs // Mark when this task runs
has_run = true; has_run = true;

25
components/freertos/test_apps/freertos/kernel/timers/test_timers.c
View File

@@ -1,5 +1,5 @@
/* /*
* SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD * SPDX-FileCopyrightText: 2022-2024 Espressif Systems (Shanghai) CO LTD
* *
* SPDX-License-Identifier: Apache-2.0 * SPDX-License-Identifier: Apache-2.0
*/ */
@@ -16,7 +16,7 @@
static void timer_callback(TimerHandle_t timer) static void timer_callback(TimerHandle_t timer)
{ {
volatile int *count; volatile int *count;
count = (volatile int *)pvTimerGetTimerID( timer ); count = (volatile int *)pvTimerGetTimerID(timer);
(*count)++; (*count)++;
printf("Callback timer %p count %p = %d\n", timer, count, *count); printf("Callback timer %p count %p = %d\n", timer, count, *count);
} }
@@ -30,7 +30,7 @@ TEST_CASE("Oneshot FreeRTOS timers", "[freertos]")
TEST_ASSERT_EQUAL(pdFALSE, xTimerIsTimerActive(oneshot)); TEST_ASSERT_EQUAL(pdFALSE, xTimerIsTimerActive(oneshot));
TEST_ASSERT_EQUAL(0, count); TEST_ASSERT_EQUAL(0, count);
TEST_ASSERT( xTimerStart(oneshot, 1) ); TEST_ASSERT(xTimerStart(oneshot, 1));
vTaskDelay(2); /* give the timer task a chance to process the message */ vTaskDelay(2); /* give the timer task a chance to process the message */
TEST_ASSERT_EQUAL(pdTRUE, xTimerIsTimerActive(oneshot)); TEST_ASSERT_EQUAL(pdTRUE, xTimerIsTimerActive(oneshot));
@@ -41,20 +41,19 @@ TEST_CASE("Oneshot FreeRTOS timers", "[freertos]")
TEST_ASSERT_EQUAL(1, count); TEST_ASSERT_EQUAL(1, count);
TEST_ASSERT_EQUAL(pdFALSE, xTimerIsTimerActive(oneshot)); TEST_ASSERT_EQUAL(pdFALSE, xTimerIsTimerActive(oneshot));
TEST_ASSERT( xTimerDelete(oneshot, 1) ); TEST_ASSERT(xTimerDelete(oneshot, 1));
} }
TEST_CASE("Recurring FreeRTOS timers", "[freertos]") TEST_CASE("Recurring FreeRTOS timers", "[freertos]")
{ {
volatile int count = 0; volatile int count = 0;
TimerHandle_t recurring = xTimerCreate("oneshot", 100 / portTICK_PERIOD_MS, pdTRUE, TimerHandle_t recurring = xTimerCreate("oneshot", 100 / portTICK_PERIOD_MS, pdTRUE,
(void *)&count, timer_callback); (void *)&count, timer_callback);
TEST_ASSERT(recurring); TEST_ASSERT(recurring);
TEST_ASSERT_EQUAL(pdFALSE, xTimerIsTimerActive(recurring)); TEST_ASSERT_EQUAL(pdFALSE, xTimerIsTimerActive(recurring));
TEST_ASSERT_EQUAL(0, count); TEST_ASSERT_EQUAL(0, count);
TEST_ASSERT( xTimerStart(recurring, 1) ); TEST_ASSERT(xTimerStart(recurring, 1));
vTaskDelay(2); // let timer task process the queue vTaskDelay(2); // let timer task process the queue
TEST_ASSERT_EQUAL(pdTRUE, xTimerIsTimerActive(recurring)); TEST_ASSERT_EQUAL(pdTRUE, xTimerIsTimerActive(recurring));
@@ -65,7 +64,7 @@ TEST_CASE("Recurring FreeRTOS timers", "[freertos]")
TEST_ASSERT_EQUAL(2, count); TEST_ASSERT_EQUAL(2, count);
TEST_ASSERT_EQUAL(pdTRUE, xTimerIsTimerActive(recurring)); TEST_ASSERT_EQUAL(pdTRUE, xTimerIsTimerActive(recurring));
TEST_ASSERT( xTimerStop(recurring, 1) ); TEST_ASSERT(xTimerStop(recurring, 1));
TEST_ASSERT_EQUAL(2, count); TEST_ASSERT_EQUAL(2, count);
@@ -73,7 +72,7 @@ TEST_CASE("Recurring FreeRTOS timers", "[freertos]")
TEST_ASSERT_EQUAL(2, count); // hasn't gone up TEST_ASSERT_EQUAL(2, count); // hasn't gone up
TEST_ASSERT_EQUAL(pdFALSE, xTimerIsTimerActive(recurring)); TEST_ASSERT_EQUAL(pdFALSE, xTimerIsTimerActive(recurring));
TEST_ASSERT( xTimerDelete(recurring, 1) ); TEST_ASSERT(xTimerDelete(recurring, 1));
} }
TEST_CASE("Static timer creation", "[freertos]") TEST_CASE("Static timer creation", "[freertos]")
@@ -83,10 +82,10 @@ TEST_CASE("Static timer creation", "[freertos]")
volatile int count = 0; volatile int count = 0;
created_timer = xTimerCreateStatic("oneshot", 100 / portTICK_PERIOD_MS, created_timer = xTimerCreateStatic("oneshot", 100 / portTICK_PERIOD_MS,
pdTRUE, pdTRUE,
(void *)&count, (void *)&count,
timer_callback, timer_callback,
&static_timer); &static_timer);
TEST_ASSERT_NOT_NULL(created_timer); TEST_ASSERT_NOT_NULL(created_timer);
} }

2
components/freertos/test_apps/freertos/misc/test_idf_additions.c
View File

@@ -202,7 +202,7 @@ static void IRAM_ATTR tick_hook(void)
static void suspend_task(void *arg) static void suspend_task(void *arg)
{ {
TaskHandle_t main_task_hdl = ( TaskHandle_t )arg; TaskHandle_t main_task_hdl = (TaskHandle_t)arg;
/* Fetch the current core ID */ /* Fetch the current core ID */
BaseType_t xCoreID = portGET_CORE_ID(); BaseType_t xCoreID = portGET_CORE_ID();

2
components/freertos/test_apps/freertos/misc/test_newlib_reent.c
View File

@@ -42,8 +42,6 @@ static void tskTestRand(void *pvParameters)
vTaskDelete(NULL); vTaskDelete(NULL);
} }
// TODO: split this thing into separate orthogonal tests // TODO: split this thing into separate orthogonal tests
TEST_CASE("Test for per-task non-reentrant tasks", "[freertos]") TEST_CASE("Test for per-task non-reentrant tasks", "[freertos]")
{ {

22
components/freertos/test_apps/freertos/performance/test_freertos_scheduling_time.c
View File

@@ -1,5 +1,5 @@
/* /*
* SPDX-FileCopyrightText: 2022-2023 Espressif Systems (Shanghai) CO LTD * SPDX-FileCopyrightText: 2022-2024 Espressif Systems (Shanghai) CO LTD
* *
* SPDX-License-Identifier: Apache-2.0 * SPDX-License-Identifier: Apache-2.0
*/ */
@@ -25,10 +25,11 @@ typedef struct {
TaskHandle_t t1_handle; TaskHandle_t t1_handle;
} test_context_t; } test_context_t;
static void test_task_1(void *arg) { static void test_task_1(void *arg)
{
test_context_t *context = (test_context_t *)arg; test_context_t *context = (test_context_t *)arg;
for( ;; ) { for (;;) {
context->before_sched = esp_cpu_get_cycle_count(); context->before_sched = esp_cpu_get_cycle_count();
vPortYield(); vPortYield();
} }
@@ -36,7 +37,8 @@ static void test_task_1(void *arg) {
vTaskDelete(NULL); vTaskDelete(NULL);
} }
static void test_task_2(void *arg) { static void test_task_2(void *arg)
{
test_context_t *context = (test_context_t *)arg; test_context_t *context = (test_context_t *)arg;
uint64_t accumulator = 0; uint64_t accumulator = 0;
@@ -44,7 +46,7 @@ static void test_task_2(void *arg) {
vTaskPrioritySet(context->t1_handle, CONFIG_UNITY_FREERTOS_PRIORITY + 1); vTaskPrioritySet(context->t1_handle, CONFIG_UNITY_FREERTOS_PRIORITY + 1);
vPortYield(); vPortYield();
for(int i = 0; i < NUMBER_OF_ITERATIONS; i++) { for (int i = 0; i < NUMBER_OF_ITERATIONS; i++) {
accumulator += (esp_cpu_get_cycle_count() - context->before_sched); accumulator += (esp_cpu_get_cycle_count() - context->before_sched);
vPortYield(); vPortYield();
} }
@@ -63,14 +65,14 @@ TEST_CASE("scheduling time test", "[freertos]")
TEST_ASSERT(context.end_sema != NULL); TEST_ASSERT(context.end_sema != NULL);
#if !CONFIG_FREERTOS_UNICORE #if !CONFIG_FREERTOS_UNICORE
xTaskCreatePinnedToCore(test_task_1, "test1" , 4096, &context, 1, &context.t1_handle,1); xTaskCreatePinnedToCore(test_task_1, "test1", 4096, &context, 1, &context.t1_handle, 1);
xTaskCreatePinnedToCore(test_task_2, "test2" , 4096, &context, 1, NULL,1); xTaskCreatePinnedToCore(test_task_2, "test2", 4096, &context, 1, NULL, 1);
#else #else
xTaskCreatePinnedToCore(test_task_1, "test1" , 4096, &context, CONFIG_UNITY_FREERTOS_PRIORITY - 1, &context.t1_handle,0); xTaskCreatePinnedToCore(test_task_1, "test1", 4096, &context, CONFIG_UNITY_FREERTOS_PRIORITY - 1, &context.t1_handle, 0);
xTaskCreatePinnedToCore(test_task_2, "test2" , 4096, &context, CONFIG_UNITY_FREERTOS_PRIORITY - 1, NULL,0); xTaskCreatePinnedToCore(test_task_2, "test2", 4096, &context, CONFIG_UNITY_FREERTOS_PRIORITY - 1, NULL, 0);
#endif #endif
BaseType_t result = xSemaphoreTake(context.end_sema, portMAX_DELAY); BaseType_t result = xSemaphoreTake(context.end_sema, portMAX_DELAY);
TEST_ASSERT_EQUAL_HEX32(pdTRUE, result); TEST_ASSERT_EQUAL_HEX32(pdTRUE, result);
TEST_PERFORMANCE_LESS_THAN(SCHEDULING_TIME , "%"PRIu32" cycles" ,context.cycles_to_sched); TEST_PERFORMANCE_LESS_THAN(SCHEDULING_TIME, "%"PRIu32" cycles", context.cycles_to_sched);
} }

27
components/freertos/test_apps/freertos/performance/test_isr_latency.c
View File

@@ -1,5 +1,5 @@
/* /*
* SPDX-FileCopyrightText: 2022-2023 Espressif Systems (Shanghai) CO LTD * SPDX-FileCopyrightText: 2022-2024 Espressif Systems (Shanghai) CO LTD
* *
* SPDX-License-Identifier: Apache-2.0 * SPDX-License-Identifier: Apache-2.0
*/ */
@@ -38,7 +38,8 @@ static uint32_t cycle_before_exit;
static uint32_t delta_enter_cycles = 0; static uint32_t delta_enter_cycles = 0;
static uint32_t delta_exit_cycles = 0; static uint32_t delta_exit_cycles = 0;
static void software_isr_using_parameter_vportyield(void *arg) { static void software_isr_using_parameter_vportyield(void *arg)
{
(void)arg; (void)arg;
BaseType_t yield; BaseType_t yield;
delta_enter_cycles += esp_cpu_get_cycle_count() - cycle_before_trigger; delta_enter_cycles += esp_cpu_get_cycle_count() - cycle_before_trigger;
@@ -50,7 +51,8 @@ static void software_isr_using_parameter_vportyield(void *arg) {
cycle_before_exit = esp_cpu_get_cycle_count(); cycle_before_exit = esp_cpu_get_cycle_count();
} }
static void software_isr_using_no_argument_vportyield(void *arg) { static void software_isr_using_no_argument_vportyield(void *arg)
{
(void)arg; (void)arg;
BaseType_t yield; BaseType_t yield;
delta_enter_cycles += esp_cpu_get_cycle_count() - cycle_before_trigger; delta_enter_cycles += esp_cpu_get_cycle_count() - cycle_before_trigger;
@@ -58,16 +60,17 @@ static void software_isr_using_no_argument_vportyield(void *arg) {
TEST_CLR_INT_MASK(1 << SW_ISR_LEVEL_1); TEST_CLR_INT_MASK(1 << SW_ISR_LEVEL_1);
xSemaphoreGiveFromISR(sync, &yield); xSemaphoreGiveFromISR(sync, &yield);
if(yield) { if (yield) {
portYIELD_FROM_ISR(); portYIELD_FROM_ISR();
} }
cycle_before_exit = esp_cpu_get_cycle_count(); cycle_before_exit = esp_cpu_get_cycle_count();
} }
static void test_task(void *arg) { static void test_task(void *arg)
{
(void) arg; (void) arg;
for(int i = 0;i < 10000; i++) { for (int i = 0; i < 10000; i++) {
cycle_before_trigger = esp_cpu_get_cycle_count(); cycle_before_trigger = esp_cpu_get_cycle_count();
TEST_SET_INT_MASK(1 << SW_ISR_LEVEL_1); TEST_SET_INT_MASK(1 << SW_ISR_LEVEL_1);
xSemaphoreTake(sync, portMAX_DELAY); xSemaphoreTake(sync, portMAX_DELAY);
@@ -91,12 +94,12 @@ TEST_CASE("isr latency test vport-yield-from-isr with no parameter", "[freertos]
TEST_ASSERT(sync != NULL); TEST_ASSERT(sync != NULL);
end_sema = xSemaphoreCreateBinary(); end_sema = xSemaphoreCreateBinary();
TEST_ASSERT(end_sema != NULL); TEST_ASSERT(end_sema != NULL);
xTaskCreatePinnedToCore(test_task, "tst" , 4096, NULL, configMAX_PRIORITIES - 1, NULL, 0); xTaskCreatePinnedToCore(test_task, "tst", 4096, NULL, configMAX_PRIORITIES - 1, NULL, 0);
vTaskDelay(100); vTaskDelay(100);
BaseType_t result = xSemaphoreTake(end_sema, portMAX_DELAY); BaseType_t result = xSemaphoreTake(end_sema, portMAX_DELAY);
TEST_ASSERT_EQUAL_HEX32(pdTRUE, result); TEST_ASSERT_EQUAL_HEX32(pdTRUE, result);
TEST_PERFORMANCE_LESS_THAN(ISR_ENTER_CYCLES, "%"PRIu32" cycles" ,delta_enter_cycles); TEST_PERFORMANCE_LESS_THAN(ISR_ENTER_CYCLES, "%"PRIu32" cycles", delta_enter_cycles);
TEST_PERFORMANCE_LESS_THAN(ISR_EXIT_CYCLES, "%"PRIu32" cycles" ,delta_exit_cycles); TEST_PERFORMANCE_LESS_THAN(ISR_EXIT_CYCLES, "%"PRIu32" cycles", delta_exit_cycles);
esp_intr_free(handle); esp_intr_free(handle);
} }
@@ -111,11 +114,11 @@ TEST_CASE("isr latency test vport-yield-from-isr with parameter", "[freertos][ig
TEST_ASSERT(sync != NULL); TEST_ASSERT(sync != NULL);
end_sema = xSemaphoreCreateBinary(); end_sema = xSemaphoreCreateBinary();
TEST_ASSERT(end_sema != NULL); TEST_ASSERT(end_sema != NULL);
xTaskCreatePinnedToCore(test_task, "tst" , 4096, NULL, configMAX_PRIORITIES - 1, NULL, 0); xTaskCreatePinnedToCore(test_task, "tst", 4096, NULL, configMAX_PRIORITIES - 1, NULL, 0);
BaseType_t result = xSemaphoreTake(end_sema, portMAX_DELAY); BaseType_t result = xSemaphoreTake(end_sema, portMAX_DELAY);
TEST_ASSERT_EQUAL_HEX32(pdTRUE, result); TEST_ASSERT_EQUAL_HEX32(pdTRUE, result);
TEST_PERFORMANCE_LESS_THAN(ISR_ENTER_CYCLES, "%"PRIu32" cycles" ,delta_enter_cycles); TEST_PERFORMANCE_LESS_THAN(ISR_ENTER_CYCLES, "%"PRIu32" cycles", delta_enter_cycles);
TEST_PERFORMANCE_LESS_THAN(ISR_EXIT_CYCLES, "%"PRIu32" cycles" ,delta_exit_cycles); TEST_PERFORMANCE_LESS_THAN(ISR_EXIT_CYCLES, "%"PRIu32" cycles", delta_exit_cycles);
esp_intr_free(handle); esp_intr_free(handle);
} }

1
components/freertos/test_apps/freertos/port/test_context_save_clobber.c
View File

@@ -21,7 +21,6 @@
* when the recursive function returns. * when the recursive function returns.
*/ */
/* See test_context_save_clober_func.S */ /* See test_context_save_clober_func.S */
extern void test_context_save_clober_func(void); extern void test_context_save_clober_func(void);

10
components/freertos/test_apps/freertos/port/test_fpu_in_task.c
View File

@@ -1,5 +1,5 @@
/* /*
* SPDX-FileCopyrightText: 2022-2023 Espressif Systems (Shanghai) CO LTD * SPDX-FileCopyrightText: 2022-2024 Espressif Systems (Shanghai) CO LTD
* *
* SPDX-License-Identifier: Apache-2.0 * SPDX-License-Identifier: Apache-2.0
*/ */
@@ -194,7 +194,6 @@ typedef struct {
TaskHandle_t main; TaskHandle_t main;
} ParamsFPU; } ParamsFPU;
/** /**
* @brief Function performing some simple calculation using several FPU registers. * @brief Function performing some simple calculation using several FPU registers.
* The goal is to be preempted by a task that also uses the FPU on the same core. * The goal is to be preempted by a task that also uses the FPU on the same core.
@@ -206,8 +205,7 @@ void fpu_calculation(void* arg)
const float init = negative ? -1.f : 1.f; const float init = negative ? -1.f : 1.f;
float f = init; float f = init;
for(int i = 0; i < 10; i++) for (int i = 0; i < 10; i++) {
{
/* The following calculation doesn't really have any meaning, we try to use several FPU registers and operations */ /* The following calculation doesn't really have any meaning, we try to use several FPU registers and operations */
float delta = negative ? -1.1f : 1.1f; float delta = negative ? -1.1f : 1.1f;
for (int i = 0; i < 1000; i++) { for (int i = 0; i < 1000; i++) {
@@ -222,7 +220,7 @@ void fpu_calculation(void* arg)
* It'll have the sign of the other tasks' `f` value. * It'll have the sign of the other tasks' `f` value.
* Use assert to make sure the sign is correct. Using TEST_ASSERT_TRUE triggers a stack overflow. * Use assert to make sure the sign is correct. Using TEST_ASSERT_TRUE triggers a stack overflow.
*/ */
assert( (negative && f < 0.0f) || (!negative && f > 0.0f) ); assert((negative && f < 0.0f) || (!negative && f > 0.0f));
f = init; f = init;
/* Give the hand back to FreeRTOS to avoid any watchdog */ /* Give the hand back to FreeRTOS to avoid any watchdog */
@@ -233,8 +231,6 @@ void fpu_calculation(void* arg)
vTaskDelete(NULL); vTaskDelete(NULL);
} }
TEST_CASE("FPU: Unsolicited context switch between tasks using FPU", "[freertos]") TEST_CASE("FPU: Unsolicited context switch between tasks using FPU", "[freertos]")
{ {
/* Create two tasks that are on the same core and use the same FPU */ /* Create two tasks that are on the same core and use the same FPU */

15
components/freertos/test_apps/freertos/port/test_fpu_watermark.c
View File

@@ -41,7 +41,6 @@ static void other_task(void* arg)
vTaskDelete(NULL); vTaskDelete(NULL);
} }
TEST_CASE("FPU: Context save does not affect stack watermark", "[freertos]") TEST_CASE("FPU: Context save does not affect stack watermark", "[freertos]")
{ {
TaskHandle_t pvCreatedTask; TaskHandle_t pvCreatedTask;
@@ -56,13 +55,13 @@ TEST_CASE("FPU: Context save does not affect stack watermark", "[freertos]")
/* Use the FPU unit, the context will NOT be flushed until another task starts using it */ /* Use the FPU unit, the context will NOT be flushed until another task starts using it */
add_floats(s_float, s_float); add_floats(s_float, s_float);
xTaskCreatePinnedToCore( other_task, xTaskCreatePinnedToCore(other_task,
"OtherTask", "OtherTask",
2048, 2048,
(void*) current_handle, (void*) current_handle,
CONFIG_UNITY_FREERTOS_PRIORITY - 1, CONFIG_UNITY_FREERTOS_PRIORITY - 1,
&pvCreatedTask, &pvCreatedTask,
core_id); core_id);
vTaskDelay(10); vTaskDelay(10);

4
components/freertos/test_apps/freertos/port/test_freertos_isinisrcontext.c
View File

@@ -24,7 +24,6 @@
static volatile int in_int_context, int_handled; static volatile int in_int_context, int_handled;
static void testint(void) static void testint(void)
{ {
esp_rom_printf("INT!\n"); esp_rom_printf("INT!\n");
@@ -34,7 +33,6 @@ static void testint(void)
int_handled++; int_handled++;
} }
static void testthread(void *arg) static void testthread(void *arg)
{ {
in_int_context = 0; in_int_context = 0;
@@ -49,7 +47,6 @@ static void testthread(void *arg)
vTaskDelete(NULL); vTaskDelete(NULL);
} }
TEST_CASE("xPortInIsrContext test", "[freertos]") TEST_CASE("xPortInIsrContext test", "[freertos]")
{ {
xTaskCreatePinnedToCore(testthread, "tst", 4096, NULL, 3, NULL, 0); xTaskCreatePinnedToCore(testthread, "tst", 4096, NULL, 3, NULL, 0);
@@ -60,5 +57,4 @@ TEST_CASE("xPortInIsrContext test", "[freertos]")
#endif #endif
} }
#endif #endif

16
components/freertos/test_apps/freertos/port/test_spinlocks.c
View File

@@ -1,5 +1,5 @@
/* /*
* SPDX-FileCopyrightText: 2022-2023 Espressif Systems (Shanghai) CO LTD * SPDX-FileCopyrightText: 2022-2024 Espressif Systems (Shanghai) CO LTD
* *
* SPDX-License-Identifier: Apache-2.0 * SPDX-License-Identifier: Apache-2.0
*/ */
@@ -50,12 +50,12 @@ TEST_CASE("portMUX spinlocks (no contention)", "[freertos]")
BENCHMARK_END("no contention lock"); BENCHMARK_END("no contention lock");
#ifdef CONFIG_FREERTOS_UNICORE #ifdef CONFIG_FREERTOS_UNICORE
TEST_PERFORMANCE_LESS_THAN(FREERTOS_SPINLOCK_CYCLES_PER_OP_UNICORE, "%"PRIu32" cycles/op", ((end - start)/REPEAT_OPS)); TEST_PERFORMANCE_LESS_THAN(FREERTOS_SPINLOCK_CYCLES_PER_OP_UNICORE, "%"PRIu32" cycles/op", ((end - start) / REPEAT_OPS));
#else #else
#if CONFIG_SPIRAM #if CONFIG_SPIRAM
TEST_PERFORMANCE_LESS_THAN(FREERTOS_SPINLOCK_CYCLES_PER_OP_PSRAM, "%"PRIu32" cycles/op", ((end - start)/REPEAT_OPS)); TEST_PERFORMANCE_LESS_THAN(FREERTOS_SPINLOCK_CYCLES_PER_OP_PSRAM, "%"PRIu32" cycles/op", ((end - start) / REPEAT_OPS));
#else #else
TEST_PERFORMANCE_LESS_THAN(FREERTOS_SPINLOCK_CYCLES_PER_OP, "%"PRIu32" cycles/op", ((end - start)/REPEAT_OPS)); TEST_PERFORMANCE_LESS_THAN(FREERTOS_SPINLOCK_CYCLES_PER_OP, "%"PRIu32" cycles/op", ((end - start) / REPEAT_OPS));
#endif #endif
#endif #endif
} }
@@ -107,8 +107,8 @@ TEST_CASE("portMUX cross-core locking", "[freertos]")
xTaskCreatePinnedToCore(task_shared_value_increment, "INC0", 2048, NULL, UNITY_FREERTOS_PRIORITY + 1, NULL, UNITY_FREERTOS_CPU ? 0 : 1); xTaskCreatePinnedToCore(task_shared_value_increment, "INC0", 2048, NULL, UNITY_FREERTOS_PRIORITY + 1, NULL, UNITY_FREERTOS_CPU ? 0 : 1);
xTaskCreatePinnedToCore(task_shared_value_increment, "INC1", 2048, NULL, UNITY_FREERTOS_PRIORITY + 1, NULL, UNITY_FREERTOS_CPU); xTaskCreatePinnedToCore(task_shared_value_increment, "INC1", 2048, NULL, UNITY_FREERTOS_PRIORITY + 1, NULL, UNITY_FREERTOS_CPU);
for(int i = 0; i < 2; i++) { for (int i = 0; i < 2; i++) {
if(!xSemaphoreTake(done_sem, 10000/portTICK_PERIOD_MS)) { if (!xSemaphoreTake(done_sem, 10000 / portTICK_PERIOD_MS)) {
TEST_FAIL_MESSAGE("done_sem not released by test task"); TEST_FAIL_MESSAGE("done_sem not released by test task");
} }
} }
@@ -139,8 +139,8 @@ void portmux_high_contention_test(uint32_t lock_malloc_caps)
xTaskCreatePinnedToCore(task_shared_value_increment, "INC1", 2048, NULL, tskIDLE_PRIORITY + 1 + i, NULL, UNITY_FREERTOS_CPU); xTaskCreatePinnedToCore(task_shared_value_increment, "INC1", 2048, NULL, tskIDLE_PRIORITY + 1 + i, NULL, UNITY_FREERTOS_CPU);
} }
for(int i = 0; i < TOTAL_TASKS; i++) { for (int i = 0; i < TOTAL_TASKS; i++) {
if(!xSemaphoreTake(done_sem, 10000/portTICK_PERIOD_MS)) { if (!xSemaphoreTake(done_sem, 10000 / portTICK_PERIOD_MS)) {
TEST_FAIL_MESSAGE("done_sem not released by test task"); TEST_FAIL_MESSAGE("done_sem not released by test task");
} }
} }

1
components/freertos/test_apps/freertos/port/test_thread_local.c
View File

@@ -25,7 +25,6 @@
#define GET_THREADPTR(tp_dest) do { register uint32_t _tp asm("tp"); tp_dest = _tp; } while(0) #define GET_THREADPTR(tp_dest) do { register uint32_t _tp asm("tp"); tp_dest = _tp; } while(0)
#endif #endif
static __thread int tl_test_var1; static __thread int tl_test_var1;
static __thread uint8_t tl_test_var2 = 55; static __thread uint8_t tl_test_var2 = 55;
static __thread uint16_t tl_test_var3 = 44; static __thread uint16_t tl_test_var3 = 44;

28
components/freertos/test_apps/freertos/port/test_xtensa_loadstore_handler.c
View File

@@ -1,5 +1,5 @@
/* /*
* SPDX-FileCopyrightText: 2022-2023 Espressif Systems (Shanghai) CO LTD * SPDX-FileCopyrightText: 2022-2024 Espressif Systems (Shanghai) CO LTD
* *
* SPDX-License-Identifier: Apache-2.0 * SPDX-License-Identifier: Apache-2.0
*/ */
@@ -55,28 +55,28 @@ TEST_CASE("LoadStore Exception handler", "[freertos]")
offset32 = offset8 / 4; offset32 = offset8 / 4;
arr8[offset8] = val8_0; arr8[offset8] = val8_0;
arr8[offset8+1] = val8_1; arr8[offset8 + 1] = val8_1;
arr8[offset8+2] = val8_2; arr8[offset8 + 2] = val8_2;
arr8[offset8+3] = val8_3; arr8[offset8 + 3] = val8_3;
// Just to make sure compiler doesn't read stale data // Just to make sure compiler doesn't read stale data
asm volatile("memw\n"); asm volatile("memw\n");
TEST_ASSERT_EQUAL(val8_0, arr8[offset8]); TEST_ASSERT_EQUAL(val8_0, arr8[offset8]);
TEST_ASSERT_EQUAL(val8_1, arr8[offset8+1]); TEST_ASSERT_EQUAL(val8_1, arr8[offset8 + 1]);
TEST_ASSERT_EQUAL(val8_2, arr8[offset8+2]); TEST_ASSERT_EQUAL(val8_2, arr8[offset8 + 2]);
TEST_ASSERT_EQUAL(val8_3, arr8[offset8+3]); TEST_ASSERT_EQUAL(val8_3, arr8[offset8 + 3]);
arr16[offset16] = val16_0; arr16[offset16] = val16_0;
arr16[offset16+1] = val16_1; arr16[offset16 + 1] = val16_1;
arr16[offset16+2] = val16_2; arr16[offset16 + 2] = val16_2;
arr16[offset16+3] = val16_3; arr16[offset16 + 3] = val16_3;
// Just to make sure compiler doesn't read stale data // Just to make sure compiler doesn't read stale data
asm volatile("memw\n"); asm volatile("memw\n");
TEST_ASSERT_EQUAL(val16_0, arr16[offset16]); TEST_ASSERT_EQUAL(val16_0, arr16[offset16]);
TEST_ASSERT_EQUAL(val16_1, arr16[offset16+1]); TEST_ASSERT_EQUAL(val16_1, arr16[offset16 + 1]);
TEST_ASSERT_EQUAL(val16_2, arr16[offset16+2]); TEST_ASSERT_EQUAL(val16_2, arr16[offset16 + 2]);
TEST_ASSERT_EQUAL(val16_3, arr16[offset16+3]); TEST_ASSERT_EQUAL(val16_3, arr16[offset16 + 3]);
// LoadStoreAlignement Error // LoadStoreAlignement Error
@@ -112,7 +112,7 @@ TEST_CASE("LoadStore Exception handler", "[freertos]")
*ptr32_2 = val2; *ptr32_2 = val2;
// Just to make sure compiler doesn't read stale data // Just to make sure compiler doesn't read stale data
asm volatile ("memw"); asm volatile("memw");
TEST_ASSERT_EQUAL(0x73, *ptr8_0); TEST_ASSERT_EQUAL(0x73, *ptr8_0);
TEST_ASSERT_EQUAL(val0, *ptr32_0); TEST_ASSERT_EQUAL(val0, *ptr32_0);
TEST_ASSERT_EQUAL(0x73, *ptr8_1); TEST_ASSERT_EQUAL(0x73, *ptr8_1);

11
tools/ci/astyle-rules.yml
View File

@@ -38,7 +38,8 @@ components_not_formatted_temporary:
# To reformat the files: # To reformat the files:
# - Remove the directory from this exclude list # - Remove the directory from this exclude list
# - Run 'git add .astyle-rules.yml' # - Run 'git add .astyle-rules.yml'
# - Run 'pre-commit run --all-files' # - Run 'pre-commit run --all-files' to run all pre-commit hooks
# - Run 'pre-commit run astyle_py --all-files' to run only the astyle_py hook
# 2. If no, move it to 'components_not_formatted_permanent' section below. # 2. If no, move it to 'components_not_formatted_permanent' section below.
check: false check: false
include: include:
@@ -74,7 +75,6 @@ components_not_formatted_temporary:
- "/components/espcoredump/" - "/components/espcoredump/"
- "/components/esptool_py/" - "/components/esptool_py/"
- "/components/fatfs/" - "/components/fatfs/"
- "/components/freertos/"
- "/components/hal/" - "/components/hal/"
- "/components/heap/" - "/components/heap/"
- "/components/idf_test/" - "/components/idf_test/"
@@ -152,10 +152,13 @@ components_not_formatted_permanent:
- "/components/console/linenoise/" - "/components/console/linenoise/"
# Catch (upstream source code) # Catch (upstream source code)
- "/tools/catch/catch.hpp" - "/tools/catch/catch.hpp"
# FreeRTOS kernel files (upstream source code). # FreeRTOS kernel files (upstream source code)
- "/components/freertos/FreeRTOS-Kernel/" - "/components/freertos/FreeRTOS-Kernel/"
- "/components/freertos/FreeRTOS-Kernel-SMP/" - "/components/freertos/FreeRTOS-Kernel-SMP/"
- "/components/freertos/FreeRTOS-Kernel-V10.5.1/" # FreeRTOS additions to the upstream source code
- "/components/freertos/esp_additions/"
# FreeRTOS config files maintained in upstream format
- "/components/freertos/config/"
# Segger SystemView (upstream source code). # Segger SystemView (upstream source code).
# Could also try to find suitable astyle options, instead. # Could also try to find suitable astyle options, instead.
- "/components/app_trace/sys_view/Config/" - "/components/app_trace/sys_view/Config/"