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https://github.com/FreeRTOS/FreeRTOS-Kernel.git
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Add SMP schedule affinity on target test (#1172)
* Add SMP schedule affinity on target test --------- Signed-off-by: Gaurav Aggarwal <aggarg@amazon.com> Co-authored-by: Gaurav Aggarwal <aggarg@amazon.com> Co-authored-by: Gaurav-Aggarwal-AWS <33462878+aggarg@users.noreply.github.com>
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chinglee-iot
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4 changed files with 400 additions and 0 deletions
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cmake_minimum_required(VERSION 3.13)
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project(example C CXX ASM)
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set(CMAKE_C_STANDARD 11)
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set(CMAKE_CXX_STANDARD 17)
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set(TEST_INCLUDE_PATHS ${CMAKE_CURRENT_LIST_DIR}/../../../../../tests/smp/schedule_affinity)
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set(TEST_SOURCE_DIR ${CMAKE_CURRENT_LIST_DIR}/../../../../../tests/smp/schedule_affinity)
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add_library(schedule_affinity INTERFACE)
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target_sources(schedule_affinity INTERFACE
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${BOARD_LIBRARY_DIR}/main.c
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${CMAKE_CURRENT_LIST_DIR}/schedule_affinity_test_runner.c
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${TEST_SOURCE_DIR}/schedule_affinity.c)
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target_include_directories(schedule_affinity INTERFACE
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${CMAKE_CURRENT_LIST_DIR}/../../..
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${TEST_INCLUDE_PATHS}
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)
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target_link_libraries(schedule_affinity INTERFACE
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FreeRTOS-Kernel
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FreeRTOS-Kernel-Heap4
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${BOARD_LINK_LIBRARIES})
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add_executable(test_schedule_affinity)
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enable_board_functions(test_schedule_affinity)
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target_link_libraries(test_schedule_affinity schedule_affinity)
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target_include_directories(test_schedule_affinity PUBLIC
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${BOARD_INCLUDE_PATHS})
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target_compile_definitions(test_schedule_affinity PRIVATE
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${BOARD_DEFINES}
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)
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/*
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* FreeRTOS V202212.00
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* Copyright (C) 2022 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy of
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* this software and associated documentation files (the "Software"), to deal in
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* the Software without restriction, including without limitation the rights to
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* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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* the Software, and to permit persons to whom the Software is furnished to do so,
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* subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in all
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* copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*
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* https://www.FreeRTOS.org
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* https://github.com/FreeRTOS
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*
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*/
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/**
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* @file schedule_affinity_test_runner.c
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* @brief The implementation of main function to start test runner task.
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*
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* Procedure:
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* - Initialize environment.
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* - Run the test case.
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*/
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/* Kernel includes. */
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#include "FreeRTOS.h"
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#include "task.h"
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/* Unit testing support functions. */
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#include "unity.h"
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/* Pico includes. */
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#include "pico/multicore.h"
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#include "pico/stdlib.h"
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/*-----------------------------------------------------------*/
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static void prvTestRunnerTask( void * pvParameters );
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/*-----------------------------------------------------------*/
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static void prvTestRunnerTask( void * pvParameters )
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{
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( void ) pvParameters;
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/* Run test case. */
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vRunScheduleAffinityTest();
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vTaskDelete( NULL );
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}
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/*-----------------------------------------------------------*/
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void vRunTest( void )
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{
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xTaskCreate( prvTestRunnerTask,
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"testRunner",
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configMINIMAL_STACK_SIZE,
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NULL,
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configMAX_PRIORITIES - 1,
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NULL );
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}
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/*-----------------------------------------------------------*/
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/*
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* FreeRTOS V202212.00
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* Copyright (C) 2022 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy of
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* this software and associated documentation files (the "Software"), to deal in
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* the Software without restriction, including without limitation the rights to
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* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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* the Software, and to permit persons to whom the Software is furnished to do so,
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* subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in all
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* copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*
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* https://www.FreeRTOS.org
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* https://github.com/FreeRTOS
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*
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*/
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/**
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* @file schedule_affinity.c
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* @brief The scheduler shall not schedule a task that is pinned to a specific core on any other core.
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*
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* Procedure:
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* - Create 2 * ( num of cores ) tasks ( T0, ..., Tn-1, Tn, ..., T2n-1 ).
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* - Pin T0 to core 0, T1 to core 1, and so on.
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* - Pin Tn to core 0, Tn+1 to core 1, and so on. Note that this way Tx and
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* Tn+x are pinned to the same core.
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* - Verify the following conditions:
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* - Tx+n is not running when Tx is running.
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* - Tx is not running when Tx+n is running.
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* - Both Tx and Tx+n can only run on core x.
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* Expected:
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* - All tasks will only run on the cores that they were pinned to.
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*/
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/* Standard includes. */
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#include <stdint.h>
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/* Kernel includes. */
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#include "FreeRTOS.h"
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#include "task.h"
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/* Unit testing support functions. */
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#include "unity.h"
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/*-----------------------------------------------------------*/
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/**
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* @brief Timeout value to stop test.
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*/
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#define TEST_TIMEOUT_MS ( 1000 )
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/*-----------------------------------------------------------*/
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#if ( configNUMBER_OF_CORES < 2 )
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#error This test is for FreeRTOS SMP and therefore, requires at least 2 cores.
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#endif /* if configNUMBER_OF_CORES != 2 */
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#if ( configMAX_PRIORITIES <= ( configNUMBER_OF_CORES + 2 ) )
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#error configMAX_PRIORITIES must be larger than ( configNUMBER_OF_CORES + 2 ) to avoid scheduling idle tasks unexpectedly.
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#endif /* if ( configMAX_PRIORITIES <= ( configNUMBER_OF_CORES + 2 ) ) */
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/*-----------------------------------------------------------*/
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/**
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* @brief Test case "Schedule Affinity".
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*/
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void Test_ScheduleAffinity( void );
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/**
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* @brief The task function that verifies that tasks are pinned to correct core.
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*/
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static void prvTaskCheckPinCore( void * pvParameters );
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/*-----------------------------------------------------------*/
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/**
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* @brief Handles of the tasks created in this test.
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*/
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static TaskHandle_t xTaskHandles[ configNUMBER_OF_CORES * 2 ];
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/**
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* @brief Indexes of the tasks created in this test.
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*/
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static uint32_t xTaskIndexes[ configNUMBER_OF_CORES * 2 ];
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/**
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* @brief Test results for tasks T0~T2n-1.
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*/
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static BaseType_t xTestResults[ configNUMBER_OF_CORES * 2 ] = { pdFAIL };
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/**
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* @brief Flag to indicate that all tasks in this test are created.
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*/
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static volatile BaseType_t xAllTasksCreated = pdFALSE;
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/*-----------------------------------------------------------*/
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static void prvTaskCheckPinCore( void * pvParameters )
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{
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uint32_t currentTaskIdx = *( ( uint32_t * ) pvParameters );
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uint32_t pinToSameCoreTaskIdx;
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eTaskState taskState;
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BaseType_t testResult = pdPASS;
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BaseType_t xCore;
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/* Busy looping here to wait for test runner to create all the test tasks.
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* Test runner has timeout to prevent infinite blocking here. */
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while( xAllTasksCreated == pdFALSE )
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{
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}
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/* Find out the task index which is pinned to the same core. */
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if( currentTaskIdx >= configNUMBER_OF_CORES )
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{
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pinToSameCoreTaskIdx = currentTaskIdx - configNUMBER_OF_CORES;
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xCore = pinToSameCoreTaskIdx;
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}
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else
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{
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pinToSameCoreTaskIdx = currentTaskIdx + configNUMBER_OF_CORES;
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xCore = currentTaskIdx;
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}
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/* Verify that the task is running on the core it is pinned to. */
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taskState = eTaskGetState( xTaskHandles[ currentTaskIdx ] );
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if( taskState != eRunning )
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{
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testResult = pdFAIL;
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}
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if( xCore != portGET_CORE_ID() )
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{
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testResult = pdFAIL;
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}
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/* Verify that the other task pinned to the same core is not running. */
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taskState = eTaskGetState( xTaskHandles[ pinToSameCoreTaskIdx ] );
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if( taskState == eRunning )
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{
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testResult = pdFAIL;
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}
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xTestResults[ currentTaskIdx ] = testResult;
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/* Suspend the test task. */
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vTaskSuspend( NULL );
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}
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/*-----------------------------------------------------------*/
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void Test_ScheduleAffinity( void )
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{
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uint32_t i;
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BaseType_t xTaskCreationResult;
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/* Create ( configNUMBER_OF_CORES * 2 ) low priority tasks. */
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for( i = 0; i < ( configNUMBER_OF_CORES * 2 ); i++ )
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{
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xTaskCreationResult = xTaskCreateAffinitySet( prvTaskCheckPinCore,
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"CheckPinCore",
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configMINIMAL_STACK_SIZE,
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&( xTaskIndexes[ i ] ),
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configMAX_PRIORITIES - 2 - ( i % configNUMBER_OF_CORES ),
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( 1U << ( i % configNUMBER_OF_CORES ) ),
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&( xTaskHandles[ i ] ) );
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TEST_ASSERT_EQUAL_MESSAGE( pdPASS, xTaskCreationResult, "Task creation failed." );
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}
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/* Wait for test tasks finish test. */
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xAllTasksCreated = pdTRUE;
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vTaskDelay( pdMS_TO_TICKS( TEST_TIMEOUT_MS ) );
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/* Verify the test result. */
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for( i = 0; i < ( configNUMBER_OF_CORES * 2 ); i++ )
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{
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TEST_ASSERT_TRUE( xTestResults[ i ] == pdPASS );
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}
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}
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/*-----------------------------------------------------------*/
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/* Runs before every test, put init calls here. */
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void setUp( void )
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{
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uint32_t i;
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xAllTasksCreated = pdFALSE;
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for( i = 0; i < ( configNUMBER_OF_CORES * 2 ); i++ )
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{
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xTaskIndexes[ i ] = i;
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xTaskHandles[ i ] = NULL;
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xTestResults[ i ] = pdFAIL;
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}
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}
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/*-----------------------------------------------------------*/
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/* Runs after every test, put clean-up calls here. */
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void tearDown( void )
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{
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uint32_t i;
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/* Delete all the tasks created in the test. */
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for( i = 0; i < ( configNUMBER_OF_CORES * 2 ); i++ )
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{
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if( xTaskHandles[ i ] != NULL )
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{
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vTaskDelete( xTaskHandles[ i ] );
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xTaskHandles[ i ] = NULL;
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}
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}
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}
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/*-----------------------------------------------------------*/
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/**
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* @brief Entry point for test runner to run schedule affinity test.
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*/
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void vRunScheduleAffinityTest( void )
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{
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UNITY_BEGIN();
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RUN_TEST( Test_ScheduleAffinity );
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UNITY_END();
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}
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/*-----------------------------------------------------------*/
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/*
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* FreeRTOS V202212.00
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* Copyright (C) 2022 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy of
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* this software and associated documentation files (the "Software"), to deal in
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* the Software without restriction, including without limitation the rights to
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* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
|
||||
* the Software, and to permit persons to whom the Software is furnished to do so,
|
||||
* subject to the following conditions:
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||||
*
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||||
* The above copyright notice and this permission notice shall be included in all
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* copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*
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* https://www.FreeRTOS.org
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* https://github.com/FreeRTOS
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*
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*/
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#ifndef TEST_CONFIG_H
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#define TEST_CONFIG_H
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/* This file must be included at the end of the FreeRTOSConfig.h. It contains
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* any FreeRTOS specific configurations that the test requires. */
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#ifdef configRUN_MULTIPLE_PRIORITIES
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#undef configRUN_MULTIPLE_PRIORITIES
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#endif /* ifdef configRUN_MULTIPLE_PRIORITIES */
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#ifdef configUSE_CORE_AFFINITY
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#undef configUSE_CORE_AFFINITY
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#endif /* ifdef configUSE_CORE_AFFINITY */
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#ifdef configUSE_TIME_SLICING
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#undef configUSE_TIME_SLICING
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#endif /* ifdef configUSE_TIME_SLICING */
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#ifdef configUSE_PREEMPTION
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#undef configUSE_PREEMPTION
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#endif /* ifdef configUSE_PREEMPTION */
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#define configRUN_MULTIPLE_PRIORITIES 1
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#define configUSE_CORE_AFFINITY 1
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#define configUSE_TIME_SLICING 1
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#define configUSE_PREEMPTION 1
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/*-----------------------------------------------------------*/
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/**
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* @brief Entry point for test runner to run schedule affinity test.
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*/
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void vRunScheduleAffinityTest( void );
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/*-----------------------------------------------------------*/
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#endif /* ifndef TEST_CONFIG_H */
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