mirror of
https://github.com/espressif/esp-idf.git
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87 lines
3.4 KiB
C
87 lines
3.4 KiB
C
/*
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* Test backported deletion behavior by creating tasks of various affinities and
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* check if the task memory is freed immediately under the correct conditions.
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*
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* The behavior of vTaskDelete() has been backported form FreeRTOS v9.0.0. This
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* results in the immediate freeing of task memory and the immediate execution
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* of deletion callbacks under the following conditions...
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* - When deleting a task that is not currently running on either core
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* - When deleting a task that is pinned to the same core (with respect to
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* the core that calls vTaskDelete()
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*
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* If the two conditions are not met, freeing of task memory and execution of
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* deletion callbacks will still be carried out by the Idle Task.
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*/
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#include <stdio.h>
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "esp_heap_caps.h"
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#include "unity.h"
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#include "test_utils.h"
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#include "esp_rom_sys.h"
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#define NO_OF_TSKS 3
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#define DELAY_TICKS 2
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/* Caps of all memory which is allocated from when a task is created */
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#define HEAP_CAPS (portTcbMemoryCaps | portStackMemoryCaps)
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#define DELAY_US_ITERATIONS 1000
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static void tsk_self_del(void *param)
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{
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vTaskDelete(NULL); //Deleting self means deleting currently running task
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}
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static void tsk_extern_del(void *param)
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{
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vTaskDelay(portMAX_DELAY); //Await external deletion
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}
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static void tsk_self_del_us_delay(void *param)
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{
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uint32_t delay = (uint32_t)param;
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esp_rom_delay_us(delay);
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vTaskDelete(NULL);
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}
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TEST_CASE("FreeRTOS Delete Tasks", "[freertos]")
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{
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/* -------------- Test vTaskDelete() on currently running tasks ----------------*/
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uint32_t before_count = uxTaskGetNumberOfTasks();
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uint32_t before_heap = heap_caps_get_free_size(HEAP_CAPS);
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for(int i = 0; i < portNUM_PROCESSORS; i++){
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for(int j = 0; j < NO_OF_TSKS; j++){
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TEST_ASSERT_EQUAL(pdTRUE, xTaskCreatePinnedToCore(tsk_self_del, "tsk_self", 1024, NULL, configMAX_PRIORITIES - 1, NULL, i));
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}
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}
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vTaskDelay(DELAY_TICKS); //Minimal delay to see if Idle task cleans up all tasks awaiting deletion in a single tick
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TEST_ASSERT_EQUAL(before_count, uxTaskGetNumberOfTasks());
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TEST_ASSERT_EQUAL(before_heap, heap_caps_get_free_size(HEAP_CAPS));
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/* ------------- Test vTaskDelete() on not currently running tasks ------------ */
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TaskHandle_t handles[NO_OF_TSKS];
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before_heap = heap_caps_get_free_size(HEAP_CAPS);
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//Create task pinned to the same core that will not run during task deletion
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for(int j = 0 ; j < NO_OF_TSKS; j++){
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TEST_ASSERT_EQUAL(pdTRUE, xTaskCreatePinnedToCore(tsk_extern_del, "tsk_extern", 4096, NULL, configMAX_PRIORITIES - 1, &handles[j], xPortGetCoreID()));
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}
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TEST_ASSERT_NOT_EQUAL(before_heap, heap_caps_get_free_size(HEAP_CAPS)); //Check tasks have been created
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//Delete the tasks, memory should be freed immediately
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for(int j = 0; j < NO_OF_TSKS; j++){
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vTaskDelete(handles[j]);
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}
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TEST_ASSERT_EQUAL(before_heap, heap_caps_get_free_size(HEAP_CAPS));
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/* Test self deleting no affinity task is not removed by idle task of other core before context switch */
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for(int i = 0; i < DELAY_US_ITERATIONS; i+= 10){
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vTaskDelay(1); //Sync to next tick interrupt
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xTaskCreatePinnedToCore(tsk_self_del_us_delay, "delay", 1024, (void *)i, UNITY_FREERTOS_PRIORITY - 1, NULL, tskNO_AFFINITY);
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esp_rom_delay_us(10); //Busy wait to ensure no affinity task runs on opposite core
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}
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}
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