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Merge branch 'feature/freertos_get_priority' into 'master'

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freertos: Mark uxTaskPriorityGet() as tested, add SMP task priority unit tests

See merge request !794
This commit is contained in:
Angus Gratton 2017-06-14 08:31:00 +08:00
commit 8bf675786a
2 changed files with 81 additions and 3 deletions
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3
components/freertos/tasks.c
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@ -1515,13 +1515,11 @@ static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB, TaskFunction_t pxTaskCode
/*-----------------------------------------------------------*/
#if ( INCLUDE_uxTaskPriorityGet == 1 )
/* ToDo: Make this multicore-compatible. */
UBaseType_t uxTaskPriorityGet( TaskHandle_t xTask )
{
TCB_t *pxTCB;
UBaseType_t uxReturn;
UNTESTED_FUNCTION();
taskENTER_CRITICAL(&xTaskQueueMutex);
{
/* If null is passed in here then we are changing the
@ -1538,7 +1536,6 @@ static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB, TaskFunction_t pxTaskCode
/*-----------------------------------------------------------*/
#if ( INCLUDE_uxTaskPriorityGet == 1 )
/* ToDo: Make this multicore-compatible. */
UBaseType_t uxTaskPriorityGetFromISR( TaskHandle_t xTask )
{
TCB_t *pxTCB;

81
components/freertos/test/test_task_priorities.c Normal file
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@ -0,0 +1,81 @@
/*
Unit tests for FreeRTOS task priority get/set
*/
#include <esp_types.h>
#include <stdio.h>
#include <strings.h>
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "unity.h"
static void counter_task(void *param)
{
volatile uint32_t *counter = (volatile uint32_t *)param;
while (1) {
(*counter)++;
}
}
TEST_CASE("Get/Set Priorities", "[freertos]")
{
/* Two tasks per processor */
TaskHandle_t tasks[portNUM_PROCESSORS][2] = { 0 };
unsigned volatile counters[portNUM_PROCESSORS][2] = { 0 };
TEST_ASSERT_EQUAL(UNITY_FREERTOS_PRIORITY, uxTaskPriorityGet(NULL));
/* create a matrix of counter tasks on each core */
for (int cpu = 0; cpu < portNUM_PROCESSORS; cpu++) {
for (int task = 0; task < 2; task++) {
xTaskCreatePinnedToCore(counter_task, "count", 2048, (void *)&(counters[cpu][task]), UNITY_FREERTOS_PRIORITY - task, &(tasks[cpu][task]), cpu);
}
}
/* check they were created with the expected priorities */
for (int cpu = 0; cpu < portNUM_PROCESSORS; cpu++) {
for (int task = 0; task < 2; task++) {
TEST_ASSERT_EQUAL(UNITY_FREERTOS_PRIORITY - task, uxTaskPriorityGet(tasks[cpu][task]));
}
}
vTaskDelay(10);
/* at this point, only the higher priority tasks (first index) should be counting */
for (int cpu = 0; cpu < portNUM_PROCESSORS; cpu++) {
TEST_ASSERT_NOT_EQUAL(0, counters[cpu][0]);
TEST_ASSERT_EQUAL(0, counters[cpu][1]);
}
/* swap priorities! */
for (int cpu = 0; cpu < portNUM_PROCESSORS; cpu++) {
vTaskPrioritySet(tasks[cpu][0], UNITY_FREERTOS_PRIORITY - 1);
vTaskPrioritySet(tasks[cpu][1], UNITY_FREERTOS_PRIORITY);
}
/* check priorities have swapped... */
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, uxTaskPriorityGet(tasks[cpu][1]));
}
/* check the tasks which are counting have also swapped now... */
for (int cpu = 0; cpu < portNUM_PROCESSORS; cpu++) {
unsigned old_counters[2];
old_counters[0] = counters[cpu][0];
old_counters[1] = counters[cpu][1];
vTaskDelay(10);
TEST_ASSERT_EQUAL(old_counters[0], counters[cpu][0]);
TEST_ASSERT_NOT_EQUAL(old_counters[1], counters[cpu][1]);
}
/* clean up */
for (int cpu = 0; cpu < portNUM_PROCESSORS; cpu++) {
for (int task = 0; task < 2; task++) {
vTaskDelete(tasks[cpu][task]);
}
}
}