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