esp-idf/components/freertos/test/test_freertos_scheduling_time.c

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#include <esp_types.h>
#include <stdio.h>
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "freertos/semphr.h"
#include "freertos/queue.h"
#include "esp_intr_alloc.h"
#include "unity.h"
#include "soc/cpu.h"
#include "test_utils.h"
#define NUMBER_OF_ITERATIONS 10
typedef struct {
SemaphoreHandle_t end_sema;
uint32_t before_sched;
uint32_t cycles_to_sched;
TaskHandle_t t1_handle;
} test_context_t;
static void test_task_1(void *arg) {
test_context_t *context = (test_context_t *)arg;
for( ;; ) {
context->before_sched = portGET_RUN_TIME_COUNTER_VALUE();
vPortYield();
}
vTaskDelete(NULL);
}
static void test_task_2(void *arg) {
test_context_t *context = (test_context_t *)arg;
uint64_t accumulator = 0;
vTaskPrioritySet(NULL, CONFIG_UNITY_FREERTOS_PRIORITY + 1);
vTaskPrioritySet(context->t1_handle, CONFIG_UNITY_FREERTOS_PRIORITY + 1);
vPortYield();
for(int i = 0; i < NUMBER_OF_ITERATIONS; i++) {
accumulator += (portGET_RUN_TIME_COUNTER_VALUE() - context->before_sched);
vPortYield();
}
context->cycles_to_sched = accumulator / NUMBER_OF_ITERATIONS;
vTaskDelete(context->t1_handle);
xSemaphoreGive(context->end_sema);
vTaskDelete(NULL);
}
TEST_CASE("scheduling time test", "[freertos]")
{
test_context_t context;
context.end_sema = xSemaphoreCreateBinary();
TEST_ASSERT(context.end_sema != NULL);
#if !CONFIG_FREERTOS_UNICORE
xTaskCreatePinnedToCore(test_task_1, "test1" , 4096, &context, 1, &context.t1_handle,1);
xTaskCreatePinnedToCore(test_task_2, "test2" , 4096, &context, 1, NULL,1);
#else
xTaskCreatePinnedToCore(test_task_1, "test1" , 4096, &context, CONFIG_UNITY_FREERTOS_PRIORITY - 1, &context.t1_handle,0);
xTaskCreatePinnedToCore(test_task_2, "test2" , 4096, &context, CONFIG_UNITY_FREERTOS_PRIORITY - 1, NULL,0);
#endif
BaseType_t result = xSemaphoreTake(context.end_sema, portMAX_DELAY);
TEST_ASSERT_EQUAL_HEX32(pdTRUE, result);
TEST_PERFORMANCE_LESS_THAN(SCHEDULING_TIME , "%d cycles" ,context.cycles_to_sched);
}