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freertos tests: Extend preemption test cases to cross-core wakeup

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This commit is contained in:
Angus Gratton 2017-04-03 11:59:30 +10:00
parent bdbeaf97d6
commit 0b57054ed3
1 changed files with 57 additions and 7 deletions
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64
components/freertos/test/test_preemption.c
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@ -14,23 +14,31 @@
#include "unity.h"
#include "soc/cpu.h"
static volatile bool trigger;
static volatile bool flag;
static void task_yield(void *param)
/* Task:
- Waits for 'trigger' variable to be set
- Reads the cycle count on this CPU
- Pushes it into a queue supplied as a param
- Busy-waits until the main task terminates it
*/
static void task_send_to_queue(void *param)
{
QueueHandle_t queue = (QueueHandle_t) param;
uint32_t ccount;
while(!trigger) {}
RSR(CCOUNT, ccount);
flag = true;
xQueueSendToBack(queue, &ccount, 0);
/* This is to ensure that higher priority task
won't wake anyhow, due to this task terminating.
The task runs until terminated by the main task.
*/
for (int i = 0; i < 1000; i++) {
ets_delay_us(1000);
}
vTaskDelete(NULL);
while(1) {}
}
TEST_CASE("Yield from lower priority task, same CPU", "[freertos]")
@ -38,11 +46,16 @@ TEST_CASE("Yield from lower priority task, same CPU", "[freertos]")
/* Do this 3 times, mostly for the benchmark value - the first
run includes a cache miss so uses more cycles than it should. */
for (int i = 0; i < 3; i++) {
TaskHandle_t sender_task;
QueueHandle_t queue = xQueueCreate(1, sizeof(uint32_t));
flag = false;
trigger = false;
/* "yield" task sits on our CPU, lower priority to us */
xTaskCreatePinnedToCore(task_yield, "YIELD", 2048, (void *)queue, UNITY_FREERTOS_PRIORITY - 1, NULL, UNITY_FREERTOS_CPU);
xTaskCreatePinnedToCore(task_send_to_queue, "YIELD", 2048, (void *)queue, UNITY_FREERTOS_PRIORITY - 1, &sender_task, UNITY_FREERTOS_CPU);
vTaskDelay(1); /* make sure everything is set up */
trigger = true;
uint32_t yield_ccount, now_ccount, delta;
TEST_ASSERT( xQueueReceive(queue, &yield_ccount, 100 / portTICK_PERIOD_MS) );
@ -54,5 +67,42 @@ TEST_CASE("Yield from lower priority task, same CPU", "[freertos]")
TEST_ASSERT(delta < 10000);
vQueueDelete(queue);
vTaskDelete(sender_task);
}
}
TEST_CASE("Yield from lower priority task, other CPU", "[freertos]")
{
uint32_t trigger_ccount, yield_ccount, now_ccount, delta;
/* Do this 3 times, mostly for the benchmark value - the first
run includes a cache miss so uses more cycles than it should. */
for (int i = 0; i < 3; i++) {
TaskHandle_t sender_task;
QueueHandle_t queue = xQueueCreate(1, sizeof(uint32_t));
trigger = false;
flag = false;
/* "send_to_queue" task sits on the other CPU, lower priority to us */
xTaskCreatePinnedToCore(task_send_to_queue, "YIELD", 2048, (void *)queue, UNITY_FREERTOS_PRIORITY - 1,
&sender_task, !UNITY_FREERTOS_CPU);
vTaskDelay(2); /* make sure everything is set up */
trigger = true;
RSR(CCOUNT, trigger_ccount);
// yield_ccount is not useful in this test as it's the other core's CCOUNT
// so we use trigger_ccount instead
TEST_ASSERT( xQueueReceive(queue, &yield_ccount, 100 / portTICK_PERIOD_MS) );
RSR(CCOUNT, now_ccount);
TEST_ASSERT( flag );
delta = now_ccount - trigger_ccount;
printf("Yielding from task on other core took %u cycles\n", delta);
TEST_ASSERT(delta < 10000);
vQueueDelete(queue);
vTaskDelete(sender_task);
}
}