void main(void)
{
int rv; /* return value from tests */
TC_START("Test Nanokernel LIFO");
initNanoObjects();
/*
* Start the fiber. The fiber will be given a higher priority than the
* main task.
*/
task_fiber_start(fiberStack, FIBER_STACKSIZE, fiberEntry,
0, 0, FIBER_PRIORITY, 0);
rv = taskLifoWaitTest();
if (rv == TC_PASS) {
rv = taskLifoNonWaitTest();
}
if (rv == TC_PASS) {
rv = test_multiple_waiters();
}
/* test timeouts */
if (rv == TC_PASS) {
rv = test_timeout();
}
TC_END_RESULT(rv);
TC_END_REPORT(rv);
}
void main(void)
{
int rv; /* return value from tests */
TC_START("Test Nanokernel Semaphores");
initNanoObjects();
rv = testSemTaskNoWait();
if (rv != TC_PASS) {
goto doneTests;
}
rv = testSemIsrNoWait();
if (rv != TC_PASS) {
goto doneTests;
}
semTestState = STS_INIT;
/*
* Start the fiber. The fiber will be given a higher priority than the
* main task.
*/
task_fiber_start(fiberStack, FIBER_STACKSIZE, fiberEntry,
0, 0, FIBER_PRIORITY, 0);
rv = testSemWait();
if (rv != TC_PASS) {
goto doneTests;
}
rv = test_multiple_waiters();
if (rv != TC_PASS) {
goto doneTests;
}
rv = test_timeout();
if (rv != TC_PASS) {
goto doneTests;
}
doneTests:
TC_END_RESULT(rv);
TC_END_REPORT(rv);
}
void main(void)
{
int count = 0; /* counter */
uint32_t data; /* data used to put and get from the stack queue */
int rc; /* return code */
TC_START("Test Nanokernel STACK");
/* Initialize data */
initData();
/* Initialize the queues and semaphore */
initNanoObjects();
/* Start fiber3 */
task_fiber_start(&fiberStack3[0], STACKSIZE, (nano_fiber_entry_t) fiber3,
0, 0, 7, 0);
/*
* While fiber3 blocks (for one second), wait for an item to be pushed
* onto the stack so that it can be popped. This will put the nanokernel
* into an idle state.
*/
rc = nano_task_stack_pop(&nanoStackObj, &data, TICKS_UNLIMITED);
if ((rc == 0) || (data != myData[0])) {
TC_ERROR("nano_task_stack_pop(TICKS_UNLIMITED) expected 0x%x, but got 0x%x\n",
myData[0], data);
retCode = TC_FAIL;
goto exit;
}
/* Put data */
TC_PRINT("Test Task STACK Push\n");
TC_PRINT("\nTASK STACK Put Order: ");
for (int i=0; i<NUM_STACK_ELEMENT; i++) {
nano_task_stack_push(&nanoStackObj, myData[i]);
TC_PRINT(" %d,", myData[i]);
}
TC_PRINT("\n");
PRINT_LINE;
/* Start fiber */
task_fiber_start(&fiberStack1[0], STACKSIZE,
(nano_fiber_entry_t) fiber1, 0, 0, 7, 0);
if (retCode == TC_FAIL) {
goto exit;
}
/*
* Wait for fiber1 to complete execution. (Using a semaphore gives
* the fiber the freedom to do blocking-type operations if it wants to.)
*
*/
nano_task_sem_take(&nanoSemObj, TICKS_UNLIMITED);
TC_PRINT("Test Task STACK Pop\n");
/* Get all data */
while (nano_task_stack_pop(&nanoStackObj, &data, TICKS_NONE) != 0) {
TC_PRINT("TASK STACK Pop: count = %d, data is %d\n", count, data);
if ((count >= NUM_STACK_ELEMENT) || (data != myData[count])) {
TCERR1(count);
retCode = TC_FAIL;
goto exit;
}
count++;
}
/* Test Task Stack Pop Wait interfaces*/
testTaskStackPopW();
if (retCode == TC_FAIL) {
goto exit;
}
PRINT_LINE;
/* Test ISR interfaces */
testIsrStackFromTask();
PRINT_LINE;
exit:
TC_END_RESULT(retCode);
TC_END_REPORT(retCode);
}
void main(void)
{
int rv; /* return value from tests */
TC_START("Test Nanokernel CPU and thread routines");
TC_PRINT("Initializing nanokernel objects\n");
rv = initNanoObjects();
if (rv != TC_PASS) {
goto doneTests;
}
TC_PRINT("Testing nano_cpu_idle()\n");
rv = nano_cpu_idleTest();
if (rv != TC_PASS) {
goto doneTests;
}
TC_PRINT("Testing interrupt locking and unlocking\n");
rv = nanoCpuDisableInterruptsTest(irq_lockWrapper,
irq_unlockWrapper, -1);
if (rv != TC_PASS) {
goto doneTests;
}
/*
* The Cortex-M3/M4 use the SYSTICK exception for the system timer, which is
* not considered an IRQ by the irq_enable/Disable APIs.
*/
#if !defined(CONFIG_CPU_CORTEX_M3_M4)
/* Disable interrupts coming from the timer. */
TC_PRINT("Testing irq_disable() and irq_enable()\n");
rv = nanoCpuDisableInterruptsTest(irq_disableWrapper,
irq_enableWrapper, TICK_IRQ);
if (rv != TC_PASS) {
goto doneTests;
}
#endif
rv = nanoCtxTaskTest();
if (rv != TC_PASS) {
goto doneTests;
}
TC_PRINT("Spawning a fiber from a task\n");
fiberEvidence = 0;
task_fiber_start(fiberStack1, FIBER_STACKSIZE, fiberEntry,
(int) sys_thread_self_get(), 0, FIBER_PRIORITY, 0);
if (fiberEvidence != 1) {
rv = TC_FAIL;
TC_ERROR(" - fiber did not execute as expected!\n");
goto doneTests;
}
/*
* The fiber ran, now wake it so it can test sys_thread_self_get and
* sys_execution_context_type_get.
*/
TC_PRINT("Fiber to test sys_thread_self_get() and sys_execution_context_type_get\n");
nano_task_sem_give(&wakeFiber);
if (fiberDetectedError != 0) {
rv = TC_FAIL;
TC_ERROR(" - failure detected in fiber; fiberDetectedError = %d\n",
fiberDetectedError);
goto doneTests;
}
TC_PRINT("Fiber to test fiber_yield()\n");
nano_task_sem_give(&wakeFiber);
if (fiberDetectedError != 0) {
rv = TC_FAIL;
TC_ERROR(" - failure detected in fiber; fiberDetectedError = %d\n",
fiberDetectedError);
goto doneTests;
}
nano_task_sem_give(&wakeFiber);
rv = test_timeout();
if (rv != TC_PASS) {
goto doneTests;
}
/* Cortex-M3/M4 does not implement connecting non-IRQ exception handlers */
#if !defined(CONFIG_CPU_CORTEX_M3_M4)
/*
* Test divide by zero exception handler.
*
* WARNING: This code has been very carefully crafted so that it does
* what it is supposed to. Both "error" and "excHandlerExecuted" must be
* volatile to prevent the compiler from issuing a "divide by zero"
* warning (since otherwise in knows "excHandlerExecuted" is zero),
* and to ensure the compiler issues the two byte "idiv" instruction
* that the exception handler is designed to deal with.
*/
volatile int error; /* used to create a divide by zero error */
TC_PRINT("Verifying exception handler installed\n");
excHandlerExecuted = 0;
error = error / excHandlerExecuted;
TC_PRINT("excHandlerExecuted: %d\n", excHandlerExecuted);
rv = (excHandlerExecuted == 1) ? TC_PASS : TC_FAIL;
#endif
doneTests:
TC_END_RESULT(rv);
TC_END_REPORT(rv);
}
void main(void)
{
void *pData; /* pointer to FIFO object get from the queue */
int count = 0; /* counter */
TC_START("Test Nanokernel FIFO");
/* Initialize the FIFO queues and semaphore */
initNanoObjects();
/* Create and start the three (3) fibers. */
task_fiber_start(&fiberStack1[0], FIBER_STACKSIZE, (nano_fiber_entry_t) fiber1,
0, 0, 7, 0);
task_fiber_start(&fiberStack2[0], FIBER_STACKSIZE, (nano_fiber_entry_t) fiber2,
0, 0, 7, 0);
task_fiber_start(&fiberStack3[0], FIBER_STACKSIZE, (nano_fiber_entry_t) fiber3,
0, 0, 7, 0);
/*
* The three fibers have each blocked on a different semaphore. Giving
* the semaphore nanoSemObjX will unblock fiberX (where X = {1, 2, 3}).
*
* Activate fibers #1 and #2. They will each block on nanoFifoObj.
*/
nano_task_sem_give(&nanoSemObj1);
nano_task_sem_give(&nanoSemObj2);
/* Put two items into <nanoFifoObj> to unblock fibers #1 and #2. */
nano_task_fifo_put(&nanoFifoObj, pPutList1[0]); /* Wake fiber1 */
nano_task_fifo_put(&nanoFifoObj, pPutList1[1]); /* Wake fiber2 */
/* Activate fiber #3 */
nano_task_sem_give(&nanoSemObj3);
/*
* All three fibers should be blocked on their semaphores. Put data into
* <nanoFifoObj2>. Fiber #3 will read it after it is reactivated.
*/
nano_task_fifo_put(&nanoFifoObj2, pPutList2[0]);
nano_task_sem_give(&nanoSemObj3); /* Reactivate fiber #3 */
for (int i = 0; i < 4; i++) {
pData = nano_task_fifo_get(&nanoFifoObj2, TICKS_UNLIMITED);
if (pData != pPutList2[i]) {
TC_ERROR("nano_task_fifo_get() expected 0x%x, got 0x%x\n",
pPutList2[i], pData);
goto exit;
}
}
/* Add items to <nanoFifoObj> for fiber #2 */
for (int i = 0; i < 4; i++) {
nano_task_fifo_put(&nanoFifoObj, pPutList1[i]);
}
nano_task_sem_give(&nanoSemObj2); /* Activate fiber #2 */
/* Wait for fibers to finish */
nano_task_sem_take(&nanoSemObjTask, TICKS_UNLIMITED);
if (retCode == TC_FAIL) {
goto exit;
}
/*
* Entries in the FIFO queue have to be unique.
* Put data to queue.
*/
TC_PRINT("Test Task FIFO Put\n");
TC_PRINT("\nTASK FIFO Put Order: ");
for (int i = 0; i < NUM_FIFO_ELEMENT; i++) {
nano_task_fifo_put(&nanoFifoObj, pPutList1[i]);
TC_PRINT(" %p,", pPutList1[i]);
}
TC_PRINT("\n");
PRINT_LINE;
nano_task_sem_give(&nanoSemObj1); /* Activate fiber1 */
if (retCode == TC_FAIL) {
goto exit;
}
/*
* Wait for fiber1 to complete execution. (Using a semaphore gives
* the fiber the freedom to do blocking-type operations if it wants to.)
*/
nano_task_sem_take(&nanoSemObjTask, TICKS_UNLIMITED);
TC_PRINT("Test Task FIFO Get\n");
/* Get all FIFOs */
while ((pData = nano_task_fifo_get(&nanoFifoObj, TICKS_NONE)) != NULL) {
TC_PRINT("TASK FIFO Get: count = %d, ptr is %p\n", count, pData);
if ((count >= NUM_FIFO_ELEMENT) || (pData != pPutList2[count])) {
TCERR1(count);
retCode = TC_FAIL;
goto exit;
}
count++;
}
/* Test FIFO Get Wait interfaces*/
testTaskFifoGetW();
PRINT_LINE;
testIsrFifoFromTask();
PRINT_LINE;
/* test timeouts */
if (test_fifo_timeout() != TC_PASS) {
retCode = TC_FAIL;
goto exit;
}
PRINT_LINE;
exit:
TC_END_RESULT(retCode);
TC_END_REPORT(retCode);
}
