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112 lines
3.5 KiB
C
112 lines
3.5 KiB
C
/*
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Unit tests for FreeRTOS preemption
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*/
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#include <esp_types.h>
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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/semphr.h"
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#include "freertos/queue.h"
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#include "unity.h"
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#include "soc/cpu.h"
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#include "hal/cpu_hal.h"
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#include "test_utils.h"
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#include "sdkconfig.h"
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static volatile bool trigger;
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static volatile bool flag;
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/* Task:
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- Waits for 'trigger' variable to be set
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- Reads the cycle count on this CPU
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- Pushes it into a queue supplied as a param
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- Busy-waits until the main task terminates it
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*/
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static void task_send_to_queue(void *param)
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{
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QueueHandle_t queue = (QueueHandle_t) param;
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uint32_t ccount;
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while(!trigger) {}
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ccount = cpu_hal_get_cycle_count();
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flag = true;
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xQueueSendToBack(queue, &ccount, 0);
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/* This is to ensure that higher priority task
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won't wake anyhow, due to this task terminating.
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The task runs until terminated by the main task.
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*/
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while(1) {}
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}
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TEST_CASE("Yield from lower priority task, same CPU", "[freertos]")
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{
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/* Do this 3 times, mostly for the benchmark value - the first
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run includes a cache miss so uses more cycles than it should. */
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for (int i = 0; i < 3; i++) {
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TaskHandle_t sender_task;
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QueueHandle_t queue = xQueueCreate(1, sizeof(uint32_t));
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flag = false;
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trigger = false;
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/* "yield" task sits on our CPU, lower priority to us */
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xTaskCreatePinnedToCore(task_send_to_queue, "YIELD", 2048, (void *)queue, UNITY_FREERTOS_PRIORITY - 1, &sender_task, UNITY_FREERTOS_CPU);
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vTaskDelay(1); /* make sure everything is set up */
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trigger = true;
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uint32_t yield_ccount, now_ccount, delta;
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TEST_ASSERT( xQueueReceive(queue, &yield_ccount, 100 / portTICK_PERIOD_MS) );
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now_ccount = cpu_hal_get_cycle_count();
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TEST_ASSERT( flag );
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delta = now_ccount - yield_ccount;
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printf("Yielding from lower priority task took %u cycles\n", delta);
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TEST_ASSERT(delta < 10000);
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vTaskDelete(sender_task);
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vQueueDelete(queue);
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}
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}
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#if (portNUM_PROCESSORS == 2) && !CONFIG_FREERTOS_TASK_FUNCTIONS_INTO_FLASH
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TEST_CASE("Yield from lower priority task, other CPU", "[freertos]")
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{
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uint32_t trigger_ccount, yield_ccount, now_ccount, delta;
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/* Do this 3 times, mostly for the benchmark value - the first
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run includes a cache miss so uses more cycles than it should. */
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for (int i = 0; i < 3; i++) {
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TaskHandle_t sender_task;
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QueueHandle_t queue = xQueueCreate(1, sizeof(uint32_t));
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trigger = false;
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flag = false;
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/* "send_to_queue" task sits on the other CPU, lower priority to us */
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xTaskCreatePinnedToCore(task_send_to_queue, "YIELD", 2048, (void *)queue, UNITY_FREERTOS_PRIORITY - 1,
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&sender_task, !UNITY_FREERTOS_CPU);
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vTaskDelay(2); /* make sure everything is set up */
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trigger = true;
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trigger_ccount = cpu_hal_get_cycle_count();
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// yield_ccount is not useful in this test as it's the other core's CCOUNT
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// so we use trigger_ccount instead
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TEST_ASSERT( xQueueReceive(queue, &yield_ccount, 100 / portTICK_PERIOD_MS) );
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now_ccount = cpu_hal_get_cycle_count();
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TEST_ASSERT( flag );
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delta = now_ccount - trigger_ccount;
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printf("Yielding from task on other core took %u cycles\n", delta);
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TEST_ASSERT(delta < 10000);
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vQueueDelete(queue);
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vTaskDelete(sender_task);
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}
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}
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#endif
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