freertos: Rename vTaskDelayUntil unit test file

components/freertos/test/integration/tasks/test_task_delay.c

@@ -0,0 +1,79 @@
+/*
+ * SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+/*
+ Test for FreeRTOS vTaskDelayUntil() function by comparing the delay period of
+ the function to comparing it to ref clock.
+*/
+
+#include <stdio.h>
+#include <stdlib.h>
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "freertos/semphr.h"
+#include "unity.h"
+#include "test_utils.h"
+
+#define TSK_PRIORITY    (UNITY_FREERTOS_PRIORITY + 1)
+
+#define NO_OF_CYCLES    5
+#define NO_OF_TASKS_PER_CORE 2
+#define TICKS_TO_DELAY 10
+#define TICK_RATE   configTICK_RATE_HZ
+#define TICK_PERIOD_US (1000000/TICK_RATE)
+#define IDEAL_DELAY_PERIOD_MS  ((1000*TICKS_TO_DELAY)/TICK_RATE)
+#define IDEAL_DELAY_PERIOD_US   (IDEAL_DELAY_PERIOD_MS*1000)
+
+#define TICKS_TO_MS(x)  (((x)*1000)/TICK_RATE)
+#define REF_TO_ROUND_MS(x)    (((x)+500)/1000)
+
+static SemaphoreHandle_t task_delete_semphr;
+
+static void delaying_task(void* arg)
+{
+    uint64_t ref_prev, ref_current;
+    TickType_t last_wake_time;
+    TickType_t ticks_before_delay;
+
+    vTaskDelay(1);  //Delay until next tick to synchronize operations to tick boundaries
+
+    last_wake_time = xTaskGetTickCount();
+    ticks_before_delay = last_wake_time;
+    ref_prev = ref_clock_get();
+
+    for(int i = 0; i < NO_OF_CYCLES; i++){
+        //Delay of TICKS_TO_DELAY
+        vTaskDelayUntil(&last_wake_time, TICKS_TO_DELAY);
+        //Get current ref clock
+        TEST_ASSERT_EQUAL(IDEAL_DELAY_PERIOD_MS, TICKS_TO_MS(xTaskGetTickCount() - ticks_before_delay));
+        ref_current = ref_clock_get();
+        TEST_ASSERT_UINT32_WITHIN(TICK_PERIOD_US, IDEAL_DELAY_PERIOD_US, (uint32_t)(ref_current - ref_prev));
+        ref_prev = ref_current;
+        ticks_before_delay = last_wake_time;
+    }
+
+    //Delete Task after prescribed number of cycles
+    xSemaphoreGive(task_delete_semphr);
+    vTaskDelete(NULL);
+}
+
+TEST_CASE("Test vTaskDelayUntil", "[freertos]")
+{
+    task_delete_semphr = xQueueCreateCountingSemaphore(NO_OF_TASKS_PER_CORE*portNUM_PROCESSORS, 0);
+    ref_clock_init();
+
+    for(int i = 0; i < portNUM_PROCESSORS; i++){
+        xTaskCreatePinnedToCore(delaying_task, "delay_pinned", 1024, NULL, TSK_PRIORITY, NULL, i);
+        xTaskCreatePinnedToCore(delaying_task, "delay_no_aff", 1024, NULL, TSK_PRIORITY, NULL, tskNO_AFFINITY);
+    }
+
+    for(int i = 0; i < NO_OF_TASKS_PER_CORE*portNUM_PROCESSORS; i++){
+        xSemaphoreTake(task_delete_semphr, portMAX_DELAY);
+    }
+    //Cleanup
+    vSemaphoreDelete(task_delete_semphr);
+    ref_clock_deinit();
+}