637ba2e8bb
Test cases were added for the following functions - xTaskNotify(), xTaskNotifyGive(), xTaskNotifyFromISR(), vTaskNotifyGiveFromISR(), - xTaskNotifyWait(), ulTaskNotifyTake() - vTaskDelayUntil() The following function was made smp compatible and tested as well - eTaskGetState()
75 lines
2.4 KiB
C
75 lines
2.4 KiB
C
/*
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Test for FreeRTOS vTaskDelayUntil() function by comparing the delay period of
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the function to comparing it to ref clock.
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*/
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#include <stdio.h>
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#include <stdlib.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 "freertos/FreeRTOSConfig.h"
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#include "unity.h"
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#include "test_utils.h"
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#define TSK_PRIORITY (UNITY_FREERTOS_PRIORITY + 1)
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#define NO_OF_CYCLES 5
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#define NO_OF_TASKS_PER_CORE 2
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#define TICKS_TO_DELAY 10
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#define TICK_RATE configTICK_RATE_HZ
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#define TICK_PERIOD_US (1000000/TICK_RATE)
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#define IDEAL_DELAY_PERIOD_MS ((1000*TICKS_TO_DELAY)/TICK_RATE)
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#define IDEAL_DELAY_PERIOD_US (IDEAL_DELAY_PERIOD_MS*1000)
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#define TICKS_TO_MS(x) (((x)*1000)/TICK_RATE)
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#define REF_TO_ROUND_MS(x) (((x)+500)/1000)
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static SemaphoreHandle_t task_delete_semphr;
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static void delaying_task(void* arg)
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{
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uint64_t ref_prev, ref_current;
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TickType_t last_wake_time;
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TickType_t ticks_before_delay;
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vTaskDelay(1); //Delay until next tick to synchronize operations to tick boundaries
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last_wake_time = xTaskGetTickCount();
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ticks_before_delay = last_wake_time;
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ref_prev = ref_clock_get();
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for(int i = 0; i < NO_OF_CYCLES; i++){
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//Delay of TICKS_TO_DELAY
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vTaskDelayUntil(&last_wake_time, TICKS_TO_DELAY);
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//Get current ref clock
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TEST_ASSERT_EQUAL(IDEAL_DELAY_PERIOD_MS, TICKS_TO_MS(xTaskGetTickCount() - ticks_before_delay));
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ref_current = ref_clock_get();
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TEST_ASSERT_UINT32_WITHIN(TICK_PERIOD_US, IDEAL_DELAY_PERIOD_US, (uint32_t)(ref_current - ref_prev));
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ref_prev = ref_current;
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ticks_before_delay = last_wake_time;
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}
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//Delete Task after prescribed number of cycles
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xSemaphoreGive(task_delete_semphr);
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vTaskDelete(NULL);
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}
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TEST_CASE("Test vTaskDelayUntil", "[freertos]")
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{
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task_delete_semphr = xQueueCreateCountingSemaphore(NO_OF_TASKS_PER_CORE*portNUM_PROCESSORS, 0);
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ref_clock_init();
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for(int i = 0; i < portNUM_PROCESSORS; i++){
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xTaskCreatePinnedToCore(delaying_task, "delay_pinned", 1024, NULL, TSK_PRIORITY, NULL, i);
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xTaskCreatePinnedToCore(delaying_task, "delay_no_aff", 1024, NULL, TSK_PRIORITY, NULL, tskNO_AFFINITY);
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}
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for(int i = 0; i < NO_OF_TASKS_PER_CORE*portNUM_PROCESSORS; i++){
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xSemaphoreTake(task_delete_semphr, portMAX_DELAY);
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}
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//Cleanup
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vSemaphoreDelete(task_delete_semphr);
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ref_clock_deinit();
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}
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