1  #include <esp_types.h>
 2  #include <stdio.h>
 3  #include "freertos/FreeRTOS.h"
 4  #include "freertos/task.h"
 5  #include "freertos/semphr.h"
 6  #include "freertos/queue.h"
 7  #include "freertos/xtensa_api.h"
 8  #include "esp_intr_alloc.h"
 9  #include "xtensa/hal.h"
10  #include "unity.h"
11  #include "soc/cpu.h"
12  #include "test_utils.h"
13  
14  #define NUMBER_OF_ITERATIONS 10
15  
16  typedef struct {
17      SemaphoreHandle_t end_sema;
18      uint32_t before_sched;
19      uint32_t cycles_to_sched;
20      TaskHandle_t t1_handle;
21  } test_context_t;
22  
23  static void test_task_1(void *arg) {
24      test_context_t *context = (test_context_t *)arg;
25  
26      for( ;; ) {
27          context->before_sched = portGET_RUN_TIME_COUNTER_VALUE();
28          vPortYield();
29      }
30  
31      vTaskDelete(NULL); 
32  }
33  
34  static void test_task_2(void *arg) {
35      test_context_t *context = (test_context_t *)arg;
36      uint64_t accumulator = 0;
37  
38      vTaskPrioritySet(NULL, CONFIG_UNITY_FREERTOS_PRIORITY + 1);
39      vTaskPrioritySet(context->t1_handle, CONFIG_UNITY_FREERTOS_PRIORITY + 1);
40      vPortYield();
41  
42      for(int i = 0; i < NUMBER_OF_ITERATIONS; i++) {
43          accumulator += (portGET_RUN_TIME_COUNTER_VALUE() - context->before_sched);
44          vPortYield();
45      }
46  
47      context->cycles_to_sched = accumulator / NUMBER_OF_ITERATIONS;
48      vTaskDelete(context->t1_handle);
49      xSemaphoreGive(context->end_sema);
50      vTaskDelete(NULL);
51  }
52  
53  TEST_CASE("scheduling time test", "[freertos]")
54  {
55      test_context_t context; 
56  
57      context.end_sema = xSemaphoreCreateBinary();
58      TEST_ASSERT(context.end_sema != NULL);
59  
60  #if !CONFIG_FREERTOS_UNICORE
61      xTaskCreatePinnedToCore(test_task_1, "test1" , 4096, &context, 1, &context.t1_handle,1);
62      xTaskCreatePinnedToCore(test_task_2, "test2" , 4096, &context, 1, NULL,1);
63  #else
64      xTaskCreatePinnedToCore(test_task_1, "test1" , 4096, &context, CONFIG_UNITY_FREERTOS_PRIORITY - 1, &context.t1_handle,0);
65      xTaskCreatePinnedToCore(test_task_2, "test2" , 4096, &context, CONFIG_UNITY_FREERTOS_PRIORITY - 1, NULL,0);
66  #endif
67  
68      BaseType_t result = xSemaphoreTake(context.end_sema, portMAX_DELAY);    
69      TEST_ASSERT_EQUAL_HEX32(pdTRUE, result);
70      TEST_PERFORMANCE_LESS_THAN(SCHEDULING_TIME , "scheduling time %d cycles" ,context.cycles_to_sched);
71  }