75 lines
2.4 KiB
C
75 lines
2.4 KiB
C
|
/*
|
||
|
|
Test for FreeRTOS vTaskDelayUntil() function by comparing the delay period of
|
||
|
|
the function to comparing it to ref clock.
|
||
|
|
*/
|
||
|
|
|
||
|
|
#include <stdio.h>
|
||
|
|
#include <stdlib.h>
|
||
|
|
#include "freertos/FreeRTOS.h"
|
||
|
|
#include "freertos/task.h"
|
||
|
|
#include "freertos/semphr.h"
|
||
|
|
#include "freertos/FreeRTOSConfig.h"
|
||
|
|
#include "unity.h"
|
||
|
|
#include "test_utils.h"
|
||
|
|
|
||
|
|
#define TSK_PRIORITY (UNITY_FREERTOS_PRIORITY + 1)
|
||
|
|
|
||
|
|
#define NO_OF_CYCLES 5
|
||
|
|
#define NO_OF_TASKS_PER_CORE 2
|
||
|
|
#define TICKS_TO_DELAY 10
|
||
|
|
#define TICK_RATE configTICK_RATE_HZ
|
||
|
|
#define TICK_PERIOD_US (1000000/TICK_RATE)
|
||
|
|
#define IDEAL_DELAY_PERIOD_MS ((1000*TICKS_TO_DELAY)/TICK_RATE)
|
||
|
|
#define IDEAL_DELAY_PERIOD_US (IDEAL_DELAY_PERIOD_MS*1000)
|
||
|
|
|
||
|
|
#define TICKS_TO_MS(x) (((x)*1000)/TICK_RATE)
|
||
|
|
#define REF_TO_ROUND_MS(x) (((x)+500)/1000)
|
||
|
|
|
||
|
|
static SemaphoreHandle_t task_delete_semphr;
|
||
|
|
|
||
|
|
static void delaying_task(void* arg)
|
||
|
|
{
|
||
|
|
uint64_t ref_prev, ref_current;
|
||
|
|
TickType_t last_wake_time;
|
||
|
|
TickType_t ticks_before_delay;
|
||
|
|
|
||
|
|
vTaskDelay(1); //Delay until next tick to synchronize operations to tick boundaries
|
||
|
|
|
||
|
|
last_wake_time = xTaskGetTickCount();
|
||
|
|
ticks_before_delay = last_wake_time;
|
||
|
|
ref_prev = ref_clock_get();
|
||
|
|
|
||
|
|
for(int i = 0; i < NO_OF_CYCLES; i++){
|
||
|
|
//Delay of TICKS_TO_DELAY
|
||
|
|
vTaskDelayUntil(&last_wake_time, TICKS_TO_DELAY);
|
||
|
|
//Get current ref clock
|
||
|
|
TEST_ASSERT_EQUAL(IDEAL_DELAY_PERIOD_MS, TICKS_TO_MS(xTaskGetTickCount() - ticks_before_delay));
|
||
|
|
ref_current = ref_clock_get();
|
||
|
|
TEST_ASSERT_UINT32_WITHIN(TICK_PERIOD_US, IDEAL_DELAY_PERIOD_US, (uint32_t)(ref_current - ref_prev));
|
||
|
|
ref_prev = ref_current;
|
||
|
|
ticks_before_delay = last_wake_time;
|
||
|
|
}
|
||
|
|
|
||
|
|
//Delete Task after prescribed number of cycles
|
||
|
|
xSemaphoreGive(task_delete_semphr);
|
||
|
|
vTaskDelete(NULL);
|
||
|
|
}
|
||
|
|
|
||
|
|
TEST_CASE("Test vTaskDelayUntil", "[freertos]")
|
||
|
|
{
|
||
|
|
task_delete_semphr = xQueueCreateCountingSemaphore(NO_OF_TASKS_PER_CORE*portNUM_PROCESSORS, 0);
|
||
|
|
ref_clock_init();
|
||
|
|
|
||
|
|
for(int i = 0; i < portNUM_PROCESSORS; i++){
|
||
|
|
xTaskCreatePinnedToCore(delaying_task, "delay_pinned", 1024, NULL, TSK_PRIORITY, NULL, i);
|
||
|
|
xTaskCreatePinnedToCore(delaying_task, "delay_no_aff", 1024, NULL, TSK_PRIORITY, NULL, tskNO_AFFINITY);
|
||
|
|
}
|
||
|
|
|
||
|
|
for(int i = 0; i < NO_OF_TASKS_PER_CORE*portNUM_PROCESSORS; i++){
|
||
|
|
xSemaphoreTake(task_delete_semphr, portMAX_DELAY);
|
||
|
|
}
|
||
|
|
//Cleanup
|
||
|
|
vSemaphoreDelete(task_delete_semphr);
|
||
|
|
ref_clock_deinit();
|
||
|
|
}
|