mirror of
https://github.com/espressif/esp-idf.git
synced 2024-10-05 20:47:46 -04:00
277 lines
11 KiB
C
277 lines
11 KiB
C
/*
|
|
* Test features that are backported from version FreeRTOS 9.0.0.
|
|
*
|
|
* 1) Test backported timer functions
|
|
* - xTimerCreateStatic(), vTimerSetTimerId(), xTimerGetPeriod(), xTimerGetExpiryTime()
|
|
* 2) Test backported queue/semaphore functions
|
|
* - xQueueCreateStatic()
|
|
* - xSemaphoreCreateBinaryStatic(), xSemaphoreCreateCountingStatic(), uxSemaphoreGetCount()
|
|
* - xSemaphoreCreateMutexStatic(), xSemaphoreCreateRecursiveMutexStatic()
|
|
* 3) Test static allocation of tasks
|
|
* - xTaskCreateStaticPinnedToCore()
|
|
* 4) Test static allocation of event group
|
|
* - xEventGroupCreateStatic()
|
|
* 5) Test Thread Local Storage Pointers and Deletion Callbacks
|
|
* - vTaskSetThreadLocalStoragePointerAndDelCallback()
|
|
* - pvTaskGetThreadLocalStoragePointer()
|
|
*
|
|
* Note: The *pcQueueGetName() function is also backported, but is not tested in
|
|
* the following test cases (see Queue Registry test cases instead)
|
|
* For more details please refer the the ESP-IDF FreeRTOS changes documentation
|
|
*/
|
|
#include <stdio.h>
|
|
#include "freertos/FreeRTOS.h"
|
|
#include "freertos/task.h"
|
|
#include "freertos/timers.h"
|
|
#include "freertos/queue.h"
|
|
#include "freertos/semphr.h"
|
|
#include "freertos/event_groups.h"
|
|
#include "unity.h"
|
|
#include "test_utils.h"
|
|
|
|
#ifdef CONFIG_FREERTOS_SUPPORT_STATIC_ALLOCATION
|
|
/* ---------------------Test 1: Backported Timer functions-----------------------
|
|
* Test xTimerCreateStatic(), vTimerSetTimerId(), xTimerGetPeriod(), xTimerGetExpiryTime()
|
|
*
|
|
* This test creates a one-shot static timer, sets/checks the timer's id and period. Then ensures
|
|
* the timer cb is executed in a timely fashion.
|
|
*/
|
|
#define TMR_PERIOD_TICKS 10
|
|
#define TIMER_ID 0xFF
|
|
#define TICK_DELTA 5
|
|
|
|
static StaticTimer_t timer_buffer;
|
|
static TickType_t tmr_ideal_exp;
|
|
|
|
static void tmr_cb(TimerHandle_t xtimer)
|
|
{
|
|
//Check cb is called in timely fashion
|
|
TEST_ASSERT_UINT32_WITHIN(TICK_DELTA, tmr_ideal_exp, xTaskGetTickCount());
|
|
}
|
|
|
|
//No need for smp test as Timer Task always runs on core 0
|
|
TEST_CASE("Test FreeRTOS backported timer functions", "[freertos]")
|
|
{
|
|
//Create one shot static timer with period TMR_PERIOD_TICKS
|
|
TimerHandle_t tmr_handle = xTimerCreateStatic("static_tmr", TMR_PERIOD_TICKS, pdFALSE, NULL, tmr_cb, &timer_buffer);
|
|
TEST_ASSERT_EQUAL(TMR_PERIOD_TICKS, xTimerGetPeriod(tmr_handle)); //Test xTimerGetPeriod()
|
|
|
|
vTimerSetTimerID(tmr_handle, (void *)TIMER_ID);
|
|
TEST_ASSERT_EQUAL(TIMER_ID, (uint32_t)pvTimerGetTimerID(tmr_handle)); //Test vTimerSetTimerID()
|
|
|
|
TEST_ASSERT_EQUAL(pdTRUE, xTimerStart(tmr_handle, 1)); //Start Timer
|
|
tmr_ideal_exp = xTaskGetTickCount() + TMR_PERIOD_TICKS; //Calculate ideal expiration time
|
|
vTaskDelay(2); //Need to yield to allow daemon task to process start command, or else expiration time will be NULL
|
|
|
|
TEST_ASSERT_UINT32_WITHIN(TICK_DELTA, tmr_ideal_exp, xTimerGetExpiryTime(tmr_handle)); //Test xTimerGetExpiryTime()
|
|
|
|
vTaskDelay(2*TMR_PERIOD_TICKS); //Delay until one shot timer has triggered
|
|
TEST_ASSERT_EQUAL(pdPASS, xTimerDelete(tmr_handle, portMAX_DELAY)); //Clean up
|
|
|
|
}
|
|
|
|
/* ---------------Test backported queue/semaphore functions-------------------
|
|
* xQueueCreateStatic()
|
|
* xSemaphoreCreateBinaryStatic(), xSemaphoreCreateCountingStatic()
|
|
* xSemaphoreCreateMutexStatic(), xSemaphoreCreateRecursiveMutexStatic()
|
|
* uxSemaphoreGetCount() is also tested on the static counting semaphore
|
|
*
|
|
* This test creates various static queue/semphrs listed above and tests them by
|
|
* doing a simple send/give and rec/take.
|
|
*/
|
|
|
|
#define ITEM_SIZE 3
|
|
#define NO_OF_ITEMS 3
|
|
#define DELAY_TICKS 2
|
|
|
|
static StaticQueue_t queue_buffer; //Queues, Semaphores, and Mutex use the same queue structure
|
|
static uint8_t queue_storage_area[(ITEM_SIZE*NO_OF_ITEMS)]; //Queue storage provided in separate buffer to queue struct
|
|
|
|
TEST_CASE("Test FreeRTOS backported Queue and Semphr functions", "[freertos]")
|
|
{
|
|
//Test static queue
|
|
uint8_t queue_item_to_send[ITEM_SIZE];
|
|
uint8_t queue_item_received[ITEM_SIZE];
|
|
for(int i = 0; i < ITEM_SIZE; i++){
|
|
queue_item_to_send[i] = (0xF << i);
|
|
}
|
|
QueueHandle_t handle = xQueueCreateStatic(NO_OF_ITEMS, ITEM_SIZE,(uint8_t*) &queue_storage_area, &queue_buffer);
|
|
TEST_ASSERT_EQUAL(pdTRUE, xQueueSendToBack(handle, &queue_item_to_send, DELAY_TICKS));
|
|
vTaskDelay(1);
|
|
TEST_ASSERT_EQUAL(pdTRUE, xQueueReceive(handle, queue_item_received, DELAY_TICKS));
|
|
vTaskDelay(1);
|
|
for(int i = 0; i < ITEM_SIZE; i++){
|
|
TEST_ASSERT_EQUAL(queue_item_to_send[i], queue_item_received[i]); //Check received contents are correct
|
|
}
|
|
vQueueDelete(handle); //Technically not needed as deleting static queue/semphr doesn't clear static memory
|
|
|
|
//Test static binary semaphore
|
|
handle = xSemaphoreCreateBinaryStatic(&queue_buffer); //Queue and Semphr handles are the same
|
|
TEST_ASSERT_EQUAL(pdTRUE, xSemaphoreGive(handle));
|
|
vTaskDelay(1);
|
|
TEST_ASSERT_EQUAL(pdTRUE, xSemaphoreTake(handle, DELAY_TICKS));
|
|
vTaskDelay(1);
|
|
vSemaphoreDelete(handle);
|
|
|
|
//Test static counting semaphore and uxSemaphoreGetCount()
|
|
handle = xSemaphoreCreateCountingStatic(NO_OF_ITEMS, 0, &queue_buffer);
|
|
for(int i = 0; i < NO_OF_ITEMS; i++){
|
|
TEST_ASSERT_EQUAL(pdTRUE, xSemaphoreGive(handle));
|
|
}
|
|
vTaskDelay(1);
|
|
TEST_ASSERT_EQUAL(NO_OF_ITEMS, uxSemaphoreGetCount(handle)); //Test uxSemaphoreGetCount()
|
|
for(int i = 0; i < NO_OF_ITEMS; i++){
|
|
TEST_ASSERT_EQUAL(pdTRUE, xSemaphoreTake(handle, DELAY_TICKS));
|
|
}
|
|
vTaskDelay(1);
|
|
TEST_ASSERT_EQUAL(0, uxSemaphoreGetCount(handle));
|
|
vSemaphoreDelete(handle);
|
|
|
|
//Test static mutex
|
|
handle = xSemaphoreCreateMutexStatic(&queue_buffer);
|
|
TEST_ASSERT_EQUAL(pdTRUE, xSemaphoreTake(handle, DELAY_TICKS));
|
|
vTaskDelay(1);
|
|
TEST_ASSERT_EQUAL_PTR((void *)xTaskGetCurrentTaskHandle(), xSemaphoreGetMutexHolder(handle)); //Current task should now hold mutex
|
|
TEST_ASSERT_EQUAL(pdTRUE, xSemaphoreGive(handle));
|
|
vTaskDelay(1);
|
|
TEST_ASSERT_EQUAL_PTR(NULL, xSemaphoreGetMutexHolder(handle)); //Mutex should have been released
|
|
vSemaphoreDelete(handle);
|
|
|
|
//Test static mutex recursive
|
|
handle = xSemaphoreCreateRecursiveMutexStatic(&queue_buffer);
|
|
for(int i = 0; i < NO_OF_ITEMS; i++){
|
|
TEST_ASSERT_EQUAL(pdTRUE, xSemaphoreTakeRecursive(handle, DELAY_TICKS));
|
|
}
|
|
vTaskDelay(1);
|
|
TEST_ASSERT_EQUAL_PTR((void *)xTaskGetCurrentTaskHandle(), xSemaphoreGetMutexHolder(handle)); //Current task should hold mutex
|
|
for(int i = 0; i < NO_OF_ITEMS; i++){
|
|
TEST_ASSERT_EQUAL(pdTRUE, xSemaphoreGiveRecursive(handle));
|
|
}
|
|
vTaskDelay(1);
|
|
TEST_ASSERT_EQUAL_PTR(NULL, xSemaphoreGetMutexHolder(handle)); //Mutex should have been released
|
|
vSemaphoreDelete(handle);
|
|
|
|
}
|
|
|
|
/* -----------------Test backported static task allocation -------------------
|
|
* Test xTaskCreateStaticPinnedToCore() but creating static task on each core
|
|
* and checking the task cb has run successfully.
|
|
*/
|
|
|
|
#define STACK_SIZE 2048 //Task stack size
|
|
|
|
static StackType_t task_stack[STACK_SIZE]; //Static buffer for task stack
|
|
static StaticTask_t task_buffer; //Static buffer for TCB
|
|
static bool has_run[portNUM_PROCESSORS];
|
|
|
|
static void task(void *arg)
|
|
{
|
|
has_run[xPortGetCoreID()] = true; //Signify static task cb has run
|
|
vTaskDelete(NULL);
|
|
}
|
|
|
|
TEST_CASE("Test FreeRTOS static task allocation", "[freertos]")
|
|
{
|
|
for(int core = 0; core < portNUM_PROCESSORS; core++){
|
|
has_run[core] = false; //Clear has_run flag
|
|
TaskHandle_t handle = xTaskCreateStaticPinnedToCore(task, "static task", STACK_SIZE, NULL,
|
|
UNITY_FREERTOS_PRIORITY + 1, (StackType_t *)&task_stack,
|
|
(StaticTask_t *)&task_buffer, core);
|
|
vTaskDelay(5); //Allow for static task to run, delete, and idle to clean up
|
|
TEST_ASSERT_NOT_EQUAL(NULL, handle); //Check static task was successfully allocated
|
|
TEST_ASSERT_TRUE(has_run[core]) //Check static task has run
|
|
}
|
|
}
|
|
|
|
/* ------------- Test backported static event group allocation -------------------
|
|
* Test xEventGroupCreateStatic() but creating static event group then waiting
|
|
* for an event.
|
|
*/
|
|
|
|
#define WAIT_BITS 0x01 //Wait for first bit
|
|
|
|
static StaticEventGroup_t event_group;
|
|
static EventGroupHandle_t eg_handle;
|
|
|
|
TEST_CASE("Test FreeRTOS backported eventgroup functions", "[freertos]")
|
|
{
|
|
eg_handle = xEventGroupCreateStatic((StaticEventGroup_t *)&event_group);
|
|
xEventGroupSetBits(eg_handle, WAIT_BITS);
|
|
TEST_ASSERT_EQUAL(WAIT_BITS, xEventGroupWaitBits(eg_handle, WAIT_BITS, pdTRUE, pdTRUE, portMAX_DELAY));
|
|
//Cleanup static event
|
|
vEventGroupDelete(eg_handle);
|
|
}
|
|
#endif
|
|
|
|
/* --------Test backported thread local storage pointer and deletion cb feature----------
|
|
* vTaskSetThreadLocalStoragePointerAndDelCallback()
|
|
* pvTaskGetThreadLocalStoragePointer(),
|
|
*
|
|
* This test creates a task and set's the task's TLSPs. The task is then deleted
|
|
* which should trigger the deletion cb.
|
|
*/
|
|
|
|
#define NO_OF_TLSP configNUM_THREAD_LOCAL_STORAGE_POINTERS
|
|
#define TLSP_SET_BASE 0x0F //0b1111 to be bit shifted by index
|
|
#define TLSP_DEL_BASE 0x05 //0b0101 to be bit shifted by index
|
|
|
|
//The variables pointed to by Thread Local Storage Pointer
|
|
static uint32_t task_storage[portNUM_PROCESSORS][NO_OF_TLSP] = {0};
|
|
|
|
/* If static task cleanup is defined, can't set index 0 even if the calling task is not a pthread,
|
|
as the cleanup is called for every task.
|
|
*/
|
|
#if defined(CONFIG_FREERTOS_ENABLE_STATIC_TASK_CLEAN_UP)
|
|
static const int skip_index = 0; /*PTHREAD_TLS_INDEX*/
|
|
#else
|
|
static const int skip_index = -1;
|
|
#endif
|
|
|
|
|
|
static void del_cb(int index, void *ptr)
|
|
{
|
|
*((uint32_t *)ptr) = (TLSP_DEL_BASE << index); //Indicate deletion by setting task storage element to a unique value
|
|
}
|
|
|
|
static void task_cb(void *arg)
|
|
{
|
|
int core = xPortGetCoreID();
|
|
for(int i = 0; i < NO_OF_TLSP; i++){
|
|
if (i == skip_index) {
|
|
continue;
|
|
}
|
|
|
|
task_storage[core][i] = (TLSP_SET_BASE << i); //Give each element of task_storage a unique number
|
|
vTaskSetThreadLocalStoragePointerAndDelCallback(NULL, i, (void *)&task_storage[core][i], del_cb); //Set each TLSP to point to a task storage element
|
|
}
|
|
|
|
for(int i = 0; i < NO_OF_TLSP; i++){
|
|
if (i == skip_index) {
|
|
continue;
|
|
}
|
|
|
|
uint32_t * tlsp = (uint32_t *)pvTaskGetThreadLocalStoragePointer(NULL, i);
|
|
TEST_ASSERT_EQUAL(*tlsp, (TLSP_SET_BASE << i)); //Check if TLSP points to the correct task storage element by checking unique value
|
|
}
|
|
|
|
vTaskDelete(NULL); //Delete Task to Trigger TSLP deletion callback
|
|
}
|
|
|
|
TEST_CASE("Test FreeRTOS thread local storage pointers and del cb", "[freertos]")
|
|
{
|
|
//Create Task
|
|
for(int core = 0; core < portNUM_PROCESSORS; core++){
|
|
xTaskCreatePinnedToCore(task_cb, "task", 1024, NULL, UNITY_FREERTOS_PRIORITY+1, NULL, core);
|
|
}
|
|
vTaskDelay(10); //Delay long enough for tasks to run to completion
|
|
|
|
for(int core = 0; core < portNUM_PROCESSORS; core++){
|
|
for(int i = 0; i < NO_OF_TLSP; i++){
|
|
if (i == skip_index) {
|
|
continue;
|
|
}
|
|
TEST_ASSERT_EQUAL((TLSP_DEL_BASE << i), task_storage[core][i]); //Check del_cb ran by checking task storage for unique value
|
|
}
|
|
}
|
|
}
|