86 lines
2.5 KiB
C
86 lines
2.5 KiB
C
#include <stdio.h>
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#include <stdlib.h>
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#include <time.h>
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#include <sys/time.h>
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#include "unity.h"
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#include "rom/ets_sys.h"
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "freertos/semphr.h"
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#include "test_utils.h"
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typedef struct {
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int delay_us;
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int method;
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int result;
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SemaphoreHandle_t done;
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} delay_test_arg_t;
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static void test_delay_task(void* p)
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{
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delay_test_arg_t* arg = (delay_test_arg_t*) p;
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vTaskDelay(1);
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uint64_t start = ref_clock_get();
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switch (arg->method) {
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case 0:
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ets_delay_us(arg->delay_us);
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break;
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case 1:
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vTaskDelay(arg->delay_us / portTICK_PERIOD_MS / 1000);
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break;
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default:
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TEST_FAIL();
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}
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uint64_t stop = ref_clock_get();
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arg->result = (int) (stop - start);
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xSemaphoreGive(arg->done);
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vTaskDelete(NULL);
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}
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TEST_CASE("ets_delay produces correct delay on both CPUs", "[delay]")
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{
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int delay_ms = 50;
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const delay_test_arg_t args = {
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.delay_us = delay_ms * 1000,
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.method = 0,
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.done = xSemaphoreCreateBinary()
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};
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ref_clock_init();
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xTaskCreatePinnedToCore(test_delay_task, "", 2048, (void*) &args, 3, NULL, 0);
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TEST_ASSERT( xSemaphoreTake(args.done, delay_ms * 2 / portTICK_PERIOD_MS) );
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TEST_ASSERT_INT32_WITHIN(1000, args.delay_us, args.result);
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#if portNUM_PROCESSORS == 2
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xTaskCreatePinnedToCore(test_delay_task, "", 2048, (void*) &args, 3, NULL, 1);
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TEST_ASSERT( xSemaphoreTake(args.done, delay_ms * 2 / portTICK_PERIOD_MS) );
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TEST_ASSERT_INT32_WITHIN(1000, args.delay_us, args.result);
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#endif
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ref_clock_deinit();
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vSemaphoreDelete(args.done);
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}
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TEST_CASE("vTaskDelay produces correct delay on both CPUs", "[delay]")
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{
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int delay_ms = 50;
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const delay_test_arg_t args = {
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.delay_us = delay_ms * 1000,
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.method = 1,
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.done = xSemaphoreCreateBinary()
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};
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ref_clock_init();
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xTaskCreatePinnedToCore(test_delay_task, "", 2048, (void*) &args, 3, NULL, 0);
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TEST_ASSERT( xSemaphoreTake(args.done, delay_ms * 2 / portTICK_PERIOD_MS) );
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TEST_ASSERT_INT32_WITHIN(1000, args.delay_us, args.result);
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#if portNUM_PROCESSORS == 2
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xTaskCreatePinnedToCore(test_delay_task, "", 2048, (void*) &args, 3, NULL, 1);
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TEST_ASSERT( xSemaphoreTake(args.done, delay_ms * 2 / portTICK_PERIOD_MS) );
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TEST_ASSERT_INT32_WITHIN(1000, args.delay_us, args.result);
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#endif
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ref_clock_deinit();
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vSemaphoreDelete(args.done);
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}
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