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