kopia lustrzana https://github.com/espressif/esp-idf
210 wiersze
8.8 KiB
C
210 wiersze
8.8 KiB
C
/*
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* SPDX-FileCopyrightText: 2022-2024 Espressif Systems (Shanghai) CO LTD
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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/*
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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 "sdkconfig.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/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[CONFIG_FREERTOS_NUMBER_OF_CORES];
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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 < CONFIG_FREERTOS_NUMBER_OF_CORES; 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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