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