Tests for SysTimer (the idle loop timer for tickless mode)

TESTS/mbedmicro-rtos-mbed/systimer/main.cpp

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+/* mbed Microcontroller Library
+ * Copyright (c) 2017 ARM Limited
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+#if !MBED_TICKLESS
+#error [NOT_SUPPORTED] Tickless mode not supported for this target.
+#endif
+
+#if !DEVICE_LOWPOWERTIMER
+#error [NOT_SUPPORTED] Current SysTimer implementation requires lp ticker support.
+#endif
+
+#include "mbed.h"
+#include "greentea-client/test_env.h"
+#include "unity.h"
+#include "utest.h"
+
+extern "C" {
+#include "rtx_lib.h"
+}
+#include "rtos/TARGET_CORTEX/SysTimer.h"
+
+#define TEST_TICKS 42UL
+#define DELAY_DELTA_US 2500ULL
+
+using namespace utest::v1;
+
+const us_timestamp_t DELAY_US = 1000000ULL * TEST_TICKS / OS_TICK_FREQ;
+
+// Override the handler() -- the SysTick interrupt must not be set as pending by the test code.
+class SysTimerTest: public rtos::internal::SysTimer {
+private:
+    Semaphore _sem;
+    virtual void handler()
+    {
+        increment_tick();
+        _sem.release();
+    }
+
+public:
+    SysTimerTest() :
+            SysTimer(), _sem(0, 1)
+    {
+    }
+
+    virtual ~SysTimerTest()
+    {
+    }
+
+    int32_t sem_wait(uint32_t millisec)
+    {
+        return _sem.wait(millisec);
+    }
+};
+
+/** Test tick count is zero upon creation
+ *
+ * Given a SysTimer
+ * When the timer is created
+ * Then tick count is zero
+ */
+void test_created_with_zero_tick_count(void)
+{
+    SysTimerTest st;
+    TEST_ASSERT_EQUAL_UINT32(0, st.get_tick());
+}
+
+/** Test tick count is updated correctly
+ *
+ * Given a SysTimer
+ * When @a update_tick method is called immediately after creation
+ * Then the tick count is not updated
+ * When @a update_tick is called again after a delay
+ * Then the tick count is updated
+ *     and the number of ticks incremented is equal TEST_TICKS - 1
+ * When @a update_tick is called again without a delay
+ * Then the tick count is not updated
+ */
+void test_update_tick(void)
+{
+    SysTimerTest st;
+    TEST_ASSERT_EQUAL_UINT32(0, st.update_tick());
+    TEST_ASSERT_EQUAL_UINT32(0, st.get_tick());
+    us_timestamp_t test_ticks_elapsed_ts = st.get_time() + DELAY_US;
+
+    while (st.get_time() <= test_ticks_elapsed_ts) {}
+    TEST_ASSERT_EQUAL_UINT32(TEST_TICKS - 1, st.update_tick());
+    TEST_ASSERT_EQUAL_UINT32(TEST_TICKS - 1, st.get_tick());
+
+    TEST_ASSERT_EQUAL_UINT32(0, st.update_tick());
+    TEST_ASSERT_EQUAL_UINT32(TEST_TICKS - 1, st.get_tick());
+}
+
+/** Test get_time returns correct time
+ *
+ * Given a SysTimer
+ * When @a get_time method is called before and after a delay
+ * Then time difference is equal the delay
+ */
+void test_get_time(void)
+{
+    SysTimerTest st;
+    us_timestamp_t t1 = st.get_time();
+
+    wait_us(DELAY_US);
+    us_timestamp_t t2 = st.get_time();
+    TEST_ASSERT_UINT64_WITHIN(DELAY_DELTA_US, DELAY_US, t2 - t1);
+}
+
+/** Test cancel_tick
+ *
+ * Given a SysTimer with a scheduled tick
+ * When @a cancel_tick is called before the given number of ticks elapse
+ * Then the handler is never called
+ *     and the tick count is not incremented
+ */
+void test_cancel_tick(void)
+{
+    SysTimerTest st;
+    st.cancel_tick();
+    st.schedule_tick(TEST_TICKS);
+
+    st.cancel_tick();
+    int32_t sem_slots = st.sem_wait((DELAY_US + DELAY_DELTA_US) / 1000ULL);
+    TEST_ASSERT_EQUAL_INT32(0, sem_slots);
+    TEST_ASSERT_EQUAL_UINT32(0, st.get_tick());
+}
+
+/** Test schedule zero
+ *
+ * Given a SysTimer
+ * When a tick is scheduled with delta = 0 ticks
+ * Then the handler is called instantly
+ */
+void test_schedule_zero(void)
+{
+    SysTimerTest st;
+
+    st.schedule_tick(0UL);
+    int32_t sem_slots = st.sem_wait(0UL);
+    TEST_ASSERT_EQUAL_INT32(1, sem_slots);
+}
+
+/** Test handler called once
+ *
+ * Given a SysTimer with a tick scheduled with delta = TEST_TICKS
+ * When the handler is called
+ * Then the tick count is incremented by 1
+ *     and elapsed time is equal 1000000ULL * TEST_TICKS / OS_TICK_FREQ;
+ * When more time elapses
+ * Then the handler is not called again
+ */
+void test_handler_called_once(void)
+{
+    SysTimerTest st;
+    st.schedule_tick(TEST_TICKS);
+    us_timestamp_t t1 = st.get_time();
+    int32_t sem_slots = st.sem_wait(0);
+    TEST_ASSERT_EQUAL_INT32(0, sem_slots);
+
+    sem_slots = st.sem_wait(osWaitForever);
+    us_timestamp_t t2 = st.get_time();
+    TEST_ASSERT_EQUAL_INT32(1, sem_slots);
+    TEST_ASSERT_EQUAL_UINT32(1, st.get_tick());
+    TEST_ASSERT_UINT64_WITHIN(DELAY_DELTA_US, DELAY_US, t2 - t1);
+
+    sem_slots = st.sem_wait((DELAY_US + DELAY_DELTA_US) / 1000ULL);
+    TEST_ASSERT_EQUAL_INT32(0, sem_slots);
+    TEST_ASSERT_EQUAL_UINT32(1, st.get_tick());
+}
+
+/** Test wake up from sleep
+ *
+ * Given a SysTimer with a tick scheduled in the future
+ *     and a core in sleep mode
+ * When given time elapses
+ * Then the uC is woken up from sleep
+ *     and the tick handler is called
+ *     and measured time matches requested delay
+ */
+void test_sleep(void)
+{
+    Timer timer;
+    SysTimerTest st;
+
+    sleep_manager_lock_deep_sleep();
+    timer.start();
+    st.schedule_tick(TEST_TICKS);
+
+    TEST_ASSERT_FALSE_MESSAGE(sleep_manager_can_deep_sleep(), "Deep sleep should be disallowed");
+    while (st.sem_wait(0) != 1) {
+        sleep();
+    }
+    timer.stop();
+    sleep_manager_unlock_deep_sleep();
+
+    TEST_ASSERT_UINT64_WITHIN(DELAY_DELTA_US, DELAY_US, timer.read_high_resolution_us());
+}
+
+#if DEVICE_LOWPOWERTIMER
+/** Test wake up from deepsleep
+ *
+ * Given a SysTimer with a tick scheduled in the future
+ *     and a core in deepsleep mode
+ * When given time elapses
+ * Then the uC is woken up from deepsleep
+ *     and the tick handler is called
+ *     and measured time matches requested delay
+ */
+void test_deepsleep(void)
+{
+    /*
+     * Since deepsleep() may shut down the UART peripheral, we wait for 10ms
+     * to allow for hardware serial buffers to completely flush.
+
+     * This should be replaced with a better function that checks if the
+     * hardware buffers are empty. However, such an API does not exist now,
+     * so we'll use the wait_ms() function for now.
+     */
+    wait_ms(10);
+
+    // Regular Timer might be disabled during deepsleep.
+    LowPowerTimer lptimer;
+    SysTimerTest st;
+
+    lptimer.start();
+    st.schedule_tick(TEST_TICKS);
+    TEST_ASSERT_TRUE_MESSAGE(sleep_manager_can_deep_sleep(), "Deep sleep should be allowed");
+    while (st.sem_wait(0) != 1) {
+        sleep();
+    }
+    lptimer.stop();
+
+    TEST_ASSERT_UINT64_WITHIN(DELAY_DELTA_US, DELAY_US, lptimer.read_high_resolution_us());
+}
+#endif
+
+utest::v1::status_t test_setup(const size_t number_of_cases)
+{
+    GREENTEA_SETUP(5, "default_auto");
+    return verbose_test_setup_handler(number_of_cases);
+}
+
+Case cases[] = {
+    Case("Tick count is zero upon creation", test_created_with_zero_tick_count),
+    Case("Tick count is updated correctly", test_update_tick),
+    Case("Time is updated correctly", test_get_time),
+    Case("Tick can be cancelled", test_cancel_tick),
+    Case("Schedule zero ticks", test_schedule_zero),
+    Case("Handler called once", test_handler_called_once),
+    Case("Wake up from sleep", test_sleep),
+#if DEVICE_LOWPOWERTIMER
+    Case("Wake up from deep sleep", test_deepsleep),
+#endif
+
+};
+
+Specification specification(test_setup, cases);
+
+int main()
+{
+    return !Harness::run(specification);
+}