esp-idf/components/freertos/test/test_freertos_task_delay_un...

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C
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/*
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 "freertos/FreeRTOSConfig.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();
}