/**
* \b main
*
* Initialize atomthreads and start a test_thread to run the Atomthreads test suite.
*
*/
int
main (void)
{
uint32_t failures ;
printf ("atomthreads starting %s... ", ATOMTHREADS_TEST) ;
atomOSInit(&idle_stack[0], IDLE_STACK_BYTE_SIZE, TRUE) ;
atomThreadCreate ((ATOM_TCB *)&test_tcb, TEST_THREAD_PRIO, test_thread, 0, &test_stack[0], TEST_STACK_BYTE_SIZE, TRUE);
atomOSStart() ;
return 0 ;
}
/**
* \b main
*
* Program entry point.
*
* Sets up the MicroBlaze hardware resources (system tick timer interrupt) necessary
* for the OS to be started. Creates an application thread and starts the OS.
*/
int main ( void )
{
int8_t status;
ATOMLOG("\n\nAtomThreads MicroBlaze Starting\n\n");
/**
* Initialise the OS before creating our threads.
*/
status = atomOSInit(&idle_thread_stack[0], IDLE_STACK_SIZE_BYTES, TRUE);
if (status == ATOM_OK)
{
/* Enable the system tick timer */
microblazeInitSystemTickTimer();
/* Create an application thread */
status = atomThreadCreate(&main_tcb,
TEST_THREAD_PRIO, main_thread_func, 0,
&main_thread_stack[0],
MAIN_STACK_SIZE_BYTES,
TRUE);
if (status == ATOM_OK)
{
/**
* First application thread successfully created. It is
* now possible to start the OS. Execution will not return
* from atomOSStart(), which will restore the context of
* our application thread and start executing it.
*
* Note that interrupts are still disabled at this point.
* They will be enabled as we restore and execute our first
* thread in archFirstThreadRestore().
*/
atomOSStart();
}
}
while (1)
;
/* There was an error starting the OS if we reach here */
return (0);
}
/**
* \b atomOSInit
*
* Initialise the atomthreads OS.
*
* Must be called before any application code uses the atomthreads APIs. No
* threads are actually started until the application calls atomOSStart().
*
* Callers must provide a pointer to some storage for the idle thread stack.
* The caller is responsible for calculating the appropriate space required
* for their particular architecture.
*
* Applications should use the following initialisation sequence:
*
* \li Call atomOSInit() before calling any atomthreads APIs
* \li Arrange for a timer to call atomTimerTick() periodically
* \li Create one or more application threads using atomThreadCreate()
* \li Start the OS using atomOSStart(). At this point the highest
* priority application thread created will be started.
*
* Interrupts should be disabled until the first thread restore is complete,
* to avoid any complications due to interrupts occurring while crucial
* operating system facilities are being initialised. They are normally
* enabled by the archFirstThreadRestore() routine in the architecture port.
*
* @param[in] idle_thread_stack_top Ptr to top of stack area for idle thread
* @param[in] idle_thread_stack_size Size of idle thread stack in bytes
*
* @retval ATOM_OK Success
* @retval ATOM_ERROR Initialisation error
*/
uint8_t atomOSInit (void *idle_thread_stack_top, uint32_t idle_thread_stack_size)
{
uint8_t status;
/* Initialise data */
curr_tcb = NULL;
tcbReadyQ = NULL;
atomOSStarted = FALSE;
/* Create the idle thread */
status = atomThreadCreate(&idle_tcb,
IDLE_THREAD_PRIORITY,
atomIdleThread,
0,
idle_thread_stack_top,
idle_thread_stack_size);
/* Return status */
return (status);
}
int Sensordrv::start_thread()
{
uint8_t status;
if(is_running)
{
return -EBUSY;
}
status = atomThreadCreate(&(this -> tcb), DEFAULT_THREAD_PRIO,
this -> thread_func, 0,
thread_stack,
SENSORDRV_STACK_SIZE_BYTES, TRUE);
if(ATOM_OK == status)
{
is_running = true;
return 0;
}
else
{
return atom_err_to_errno(status);
}
}
/**
* \b test_start
*
* Start mutex test.
*
* Stress-tests mutex Get and Put operations. Four threads are created which are
* continually Getting and Putting the same mutex, with no time delays between
* each Get/Put.
*
* @retval Number of g_failures
*/
uint32_t test_start (void)
{
CRITICAL_STORE;
int finish_cnt;
/* Default to zero g_failures */
g_failures = 0;
/* Create mutex to stress */
if (atomMutexCreate (&mutex1) != ATOM_OK)
{
ATOMLOG (_STR("Error creating mutex\n"));
g_failures++;
}
/* Create sem to receive thread-finished notification */
else if (atomSemCreate (&sem1, 0) != ATOM_OK)
{
ATOMLOG (_STR("Error creating sem\n"));
g_failures++;
}
else
{
/* Take ownership of the mutex to ensure all threads wait for now */
if (atomMutexGet (&mutex1, 0) != ATOM_OK)
{
ATOMLOG (_STR("Error taking mutex\n"));
g_failures++;
}
/* Create Thread 1 */
if (atomThreadCreate(&tcb[0], TEST_THREAD_PRIO, test_thread_func, 1,
&test_thread_stack[0][TEST_THREAD_STACK_SIZE - 1],
TEST_THREAD_STACK_SIZE) != ATOM_OK)
{
/* Fail */
ATOMLOG (_STR("Error creating test thread\n"));
CRITICAL_START ();
g_failures++;
CRITICAL_END ();
}
/* Create Thread 2 */
if (atomThreadCreate(&tcb[1], TEST_THREAD_PRIO, test_thread_func, 2,
&test_thread_stack[1][TEST_THREAD_STACK_SIZE - 1],
TEST_THREAD_STACK_SIZE) != ATOM_OK)
{
/* Fail */
ATOMLOG (_STR("Error creating test thread\n"));
CRITICAL_START ();
g_failures++;
CRITICAL_END ();
}
/* Create Thread 3 */
if (atomThreadCreate(&tcb[2], TEST_THREAD_PRIO, test_thread_func, 3,
&test_thread_stack[2][TEST_THREAD_STACK_SIZE - 1],
TEST_THREAD_STACK_SIZE) != ATOM_OK)
{
/* Fail */
ATOMLOG (_STR("Error creating test thread\n"));
CRITICAL_START ();
g_failures++;
CRITICAL_END ();
}
/* Create Thread 4 */
if (atomThreadCreate(&tcb[3], TEST_THREAD_PRIO, test_thread_func, 4,
&test_thread_stack[3][TEST_THREAD_STACK_SIZE - 1],
TEST_THREAD_STACK_SIZE) != ATOM_OK)
{
/* Fail */
ATOMLOG (_STR("Error creating test thread\n"));
CRITICAL_START ();
g_failures++;
CRITICAL_END ();
}
/* Release ownership of the mutex to kick the threads off */
if (atomMutexPut (&mutex1) != ATOM_OK)
{
ATOMLOG (_STR("Error putting mutex\n"));
g_failures++;
}
/*
* All four threads will now be performing Gets/Puts on mutex1.
* When they have finished they will post sem1, so we wait
* until sem1 is posted four times.
*/
finish_cnt = 0;
while (1)
{
/*
* Attempt to Get sem1. When we have managed to get
* the semaphore four times, it must have been posted
* by all four threads.
*/
if (atomSemGet (&sem1, 0) == ATOM_OK)
{
/* Increment our count of finished threads */
finish_cnt++;
/* Check if all four threads have now posted sem1 */
if (finish_cnt == 4)
{
break;
}
}
}
/* Delete OS objects, test finished */
if (atomMutexDelete (&mutex1) != ATOM_OK)
{
ATOMLOG (_STR("Delete failed\n"));
CRITICAL_START ();
g_failures++;
CRITICAL_END ();
}
if (atomSemDelete (&sem1) != ATOM_OK)
{
ATOMLOG (_STR("Delete failed\n"));
CRITICAL_START ();
g_failures++;
CRITICAL_END ();
}
}
/* Check thread stack usage (if enabled) */
#ifdef ATOM_STACK_CHECKING
{
uint32_t used_bytes, free_bytes;
int thread;
/* Check all threads */
for (thread = 0; thread < NUM_TEST_THREADS; thread++)
{
/* Check thread stack usage */
if (atomThreadStackCheck (&tcb[thread], &used_bytes, &free_bytes) != ATOM_OK)
{
ATOMLOG (_STR("StackCheck\n"));
g_failures++;
}
else
{
/* Check the thread did not use up to the end of stack */
if (free_bytes == 0)
{
ATOMLOG (_STR("StackOverflow %d\n"), thread);
g_failures++;
}
/* Log the stack usage */
#ifdef TESTS_LOG_STACK_USAGE
ATOMLOG (_STR("StackUse:%d\n"), (int)used_bytes);
#endif
}
}
}
#endif
/* Quit */
return g_failures;
}
/**
* \b test_start
*
* Start queue test.
*
* With multiple threads blocking on a single queue, this test confirms that
* they are woken in order when the queue is posted. The correct order for
* waking is that the higher priority threads are woken first, followed by the
* lower priority threads. Where multiple threads of the same priority are
* waiting, the threads are woken in FIFO order (the order in which they started
* waiting on the queue).
*
* To test this we create four threads which all wait on a single queue.
* One pair of threads are running at high priority, with the other pair at a
* lower priority:
*
* Thread 1: low prio thread A
* Thread 2: low prio thread B
* Thread 3: high prio thread A
* Thread 4: high prio thread B
*
* The threads are forced to start blocking on the same queue in the
* above order.
*
* We expect to see them woken up in the following order:
* 3, 4, 1, 2
*
* This proves the multiple blocking thread ordering in terms of both
* the priority-queueing and same-priority-FIFO-queueing.
*
* @retval Number of failures
*/
uint32_t test_start (void)
{
int failures, count;
uint8_t msg;
/* Default to zero failures */
failures = 0;
/* Create empty queue */
if (atomQueueCreate (&queue1, &queue1_storage[0], sizeof(uint8_t), QUEUE_ENTRIES) != ATOM_OK)
{
ATOMLOG (_STR("Error creating test q1\n"));
failures++;
}
/* Start the threads */
else
{
/*
* The test threads all start by calling atomQueueGet() to receive
* a message from the queue. Because the queue is empty, all test
* threads should immediately block on the queue (until a message
* is posted to it).
*/
/* Create Thread 1 (lower priority thread A) */
if (atomThreadCreate(&tcb[0], TEST_THREAD_PRIO+1, test_thread_func, 1,
&test_thread_stack[0][0],
TEST_THREAD_STACK_SIZE, TRUE) != ATOM_OK)
{
/* Fail */
ATOMLOG (_STR("Error creating test thread\n"));
failures++;
}
/* Delay to ensure the thread will start blocking on the queue */
atomTimerDelay (SYSTEM_TICKS_PER_SEC/4);
/* Create Thread 2 (lower priority thread B) */
if (atomThreadCreate(&tcb[1], TEST_THREAD_PRIO+1, test_thread_func, 2,
&test_thread_stack[1][0],
TEST_THREAD_STACK_SIZE, TRUE) != ATOM_OK)
{
/* Fail */
ATOMLOG (_STR("Error creating test thread\n"));
failures++;
}
/* Delay to ensure the thread will start blocking on the queue */
atomTimerDelay (SYSTEM_TICKS_PER_SEC/4);
/* Create Thread 3 (higher priority thread A) */
if (atomThreadCreate(&tcb[2], TEST_THREAD_PRIO, test_thread_func, 3,
&test_thread_stack[2][0],
TEST_THREAD_STACK_SIZE, TRUE) != ATOM_OK)
{
/* Fail */
ATOMLOG (_STR("Error creating test thread\n"));
failures++;
}
/* Delay to ensure the thread will start blocking on the queue */
atomTimerDelay (SYSTEM_TICKS_PER_SEC/4);
/* Create Thread 4 (higher priority thread B) */
if (atomThreadCreate(&tcb[3], TEST_THREAD_PRIO, test_thread_func, 4,
&test_thread_stack[3][0],
TEST_THREAD_STACK_SIZE, TRUE) != ATOM_OK)
{
/* Fail */
ATOMLOG (_STR("Error creating test thread\n"));
failures++;
}
/* Delay to ensure the thread will start blocking on the queue */
atomTimerDelay (SYSTEM_TICKS_PER_SEC/4);
/* All four threads will now be blocking on queue1 */
/*
* Initialise wake count, used by threads to determine
* what order they were woken in.
*/
wake_cnt = 0;
/* Loop waking all four threads */
for (count = 0; count < 4; count++)
{
/*
* Post a message to the queue. This will wake up one of the threads
* blocking on it (because it is currently empty). That thread will
* wake up, note the order at which it was woken, then go to sleep
* forever leaving the queue empty again. This is done four times so
* that all four threads are woken, noting their wake order.
*/
msg = 0x66;
if (atomQueuePut (&queue1, 0, &msg) != ATOM_OK)
{
ATOMLOG (_STR("Post fail\n"));
failures++;
}
/*
* Sleep to give the thread time to wake up and modify the shared
* global data wake_cnt and wake_order[]. We deliberately do not
* use a mutex for protecting access to this shared data, as we
* are testing the queue module in isolation here.
*/
atomTimerDelay (SYSTEM_TICKS_PER_SEC / 4);
}
/* All four threads now woken up, check they woke in correct order */
if ((wake_order[0] != 3) && (wake_order[1] != 4)
&& (wake_order[2] != 1) && (wake_order[3] != 2))
{
ATOMLOG (_STR("Bad order %d,%d,%d,%d\n"),
wake_order[0], wake_order[1], wake_order[2], wake_order[3]);
failures++;
}
/* Delete queue, test finished */
if (atomQueueDelete (&queue1) != ATOM_OK)
{
ATOMLOG (_STR("Delete failed\n"));
failures++;
}
}
/* Check thread stack usage (if enabled) */
#ifdef ATOM_STACK_CHECKING
{
uint32_t used_bytes, free_bytes;
int thread;
/* Check all threads */
for (thread = 0; thread < NUM_TEST_THREADS; thread++)
{
/* Check thread stack usage */
if (atomThreadStackCheck (&tcb[thread], &used_bytes, &free_bytes) != ATOM_OK)
{
ATOMLOG (_STR("StackCheck\n"));
failures++;
}
else
{
/* Check the thread did not use up to the end of stack */
if (free_bytes == 0)
{
ATOMLOG (_STR("StackOverflow %d\n"), thread);
failures++;
}
/* Log the stack usage */
#ifdef TESTS_LOG_STACK_USAGE
ATOMLOG (_STR("StackUse:%d\n"), (int)used_bytes);
#endif
}
}
}
#endif
/* Quit */
return failures;
}
int main ( void )
{
int8_t status;
/**
* Reuse part of the idle thread's stack for the stack required
* during this startup function.
*/
SP = (int)&idle_thread_stack[(IDLE_STACK_SIZE_BYTES/2) - 1];
/**
* Note: to protect OS structures and data during initialisation,
* interrupts must remain disabled until the first thread
* has been restored. They are reenabled at the very end of
* the first thread restore, at which point it is safe for a
* reschedule to take place.
*/
/**
* Initialise the OS before creating our threads.
*
* Note that we tell the OS that the idle stack is half its actual
* size. This prevents it prefilling the bottom half with known
* values for stack-checkig purposes, which we cannot allow because
* we are temporarily using it for our own stack. The remainder will
* still be available once the OS is started, this only prevents the
* OS from prefilling it.
*
* If you are not reusing the idle thread's stack during startup then
* you should pass in the correct size here.
*/
status = atomOSInit(&idle_thread_stack[IDLE_STACK_SIZE_BYTES - 1], (IDLE_STACK_SIZE_BYTES/2));
if (status == ATOM_OK)
{
/* Enable the system tick timer */
avrInitSystemTickTimer();
/* Create an application thread */
status = atomThreadCreate(&main_tcb,
16, main_thread_func, 0,
&main_thread_stack[MAIN_STACK_SIZE_BYTES - 1],
MAIN_STACK_SIZE_BYTES);
if (status == ATOM_OK)
{
/**
* First application thread successfully created. It is
* now possible to start the OS. Execution will not return
* from atomOSStart(), which will restore the context of
* our application thread and start executing it.
*
* Note that interrupts are still disabled at this point.
* They will be enabled as we restore and execute our first
* thread in archFirstThreadRestore().
*/
atomOSStart();
}
}
while (1)
;
/* There was an error starting the OS if we reach here */
return (0);
}
/**
* \b test_start
*
* Start queue test.
*
* This test exercises queue deletion, waking threads blocking on a queue
* in atomQueuePut() if the queue is deleted.
*
* Deletion wakeups are tested twice: once for a thread which is blocking
* in atomQueuePut() with a timeout and once for a thread which is
* blocking in atomQueuePut() with no timeout.
*
* Deletion of threads blocking in atomQueueGet() are tested in queue2.c.
*
* @retval Number of failures
*/
uint32_t test_start (void)
{
int failures, i;
uint8_t msg;
/* Default to zero failures */
failures = 0;
/* Set a test value for posting to the queue */
msg = 0x66;
/* Test wakeup of threads on queue deletion (thread blocking with no timeout) */
g_result = 0;
if (atomQueueCreate (&queue1, &queue1_storage[0], sizeof(uint8_t), QUEUE_ENTRIES) != ATOM_OK)
{
ATOMLOG (_STR("Error creating test queue\n"));
failures++;
}
/* Successful queue creation */
else
{
/* Fill up all entries */
for (i = 0; i < QUEUE_ENTRIES; i++)
{
if (atomQueuePut (&queue1, 0, &msg) != ATOM_OK)
{
ATOMLOG (_STR("Error filling queue\n"));
failures++;
}
}
/* Create a test thread that will block because the queue is full */
if (atomThreadCreate(&tcb[0], TEST_THREAD_PRIO, test1_thread_func, 0,
&test_thread_stack[0][TEST_THREAD_STACK_SIZE - 1],
TEST_THREAD_STACK_SIZE) != ATOM_OK)
{
/* Fail */
ATOMLOG (_STR("Error creating test thread 1\n"));
failures++;
}
else
{
/*
* We have created and filled a queue. We want to see that the other
* thread is woken up if its queue is deleted. This is indicated
* through g_result being set.
*/
/* Wait for the other thread to start blocking on queue1 */
if (atomTimerDelay(SYSTEM_TICKS_PER_SEC) != ATOM_OK)
{
ATOMLOG (_STR("Failed timer delay\n"));
failures++;
}
else
{
/* The other thread will be blocking on queue1 now, delete queue1 */
if (atomQueueDelete(&queue1) != ATOM_OK)
{
ATOMLOG (_STR("Failed queue1 delete\n"));
failures++;
}
else
{
/* Queue1 deleted. The thread should now wake up and set g_result. */
atomTimerDelay (SYSTEM_TICKS_PER_SEC);
if (g_result == 0)
{
ATOMLOG (_STR("Notify fail\n"));
failures++;
}
else
{
/* Success */
}
}
}
}
}
/* Test wakeup of threads on semaphore deletion (thread blocking with timeout) */
g_result = 0;
if (atomQueueCreate (&queue1, &queue1_storage[0], sizeof(uint8_t), QUEUE_ENTRIES) != ATOM_OK)
{
ATOMLOG (_STR("Error creating test queue\n"));
failures++;
}
/* Successful queue creation */
else
{
/* Fill up all entries */
for (i = 0; i < QUEUE_ENTRIES; i++)
{
if (atomQueuePut (&queue1, 0, &msg) != ATOM_OK)
{
ATOMLOG (_STR("Error filling queue\n"));
failures++;
}
}
/* Create a test thread that will block because the queue is full */
if (atomThreadCreate(&tcb[1], TEST_THREAD_PRIO, test2_thread_func, 0,
&test_thread_stack[1][TEST_THREAD_STACK_SIZE - 1],
TEST_THREAD_STACK_SIZE) != ATOM_OK)
{
/* Fail */
ATOMLOG (_STR("Error creating test thread 2\n"));
failures++;
}
else
{
/*
* We have created and filled a queue. We want to see that the other
* thread is woken up if its queue is deleted. This is indicated
* through g_result being set.
*/
/* Wait for the other thread to start blocking on queue1 */
if (atomTimerDelay(SYSTEM_TICKS_PER_SEC) != ATOM_OK)
{
ATOMLOG (_STR("Failed timer delay\n"));
failures++;
}
else
{
/* The other thread will be blocking on queue1 now, delete queue1 */
if (atomQueueDelete(&queue1) != ATOM_OK)
{
ATOMLOG (_STR("Failed queue1 delete\n"));
failures++;
}
else
{
/* Queue1 deleted. The thread should now wake up and set g_result. */
atomTimerDelay (SYSTEM_TICKS_PER_SEC);
if (g_result == 0)
{
ATOMLOG (_STR("Notify fail\n"));
failures++;
}
else
{
/* Success */
}
}
}
}
}
/* Check thread stack usage (if enabled) */
#ifdef ATOM_STACK_CHECKING
{
uint32_t used_bytes, free_bytes;
int thread;
/* Check all threads */
for (thread = 0; thread < NUM_TEST_THREADS; thread++)
{
/* Check thread stack usage */
if (atomThreadStackCheck (&tcb[thread], &used_bytes, &free_bytes) != ATOM_OK)
{
ATOMLOG (_STR("StackCheck\n"));
failures++;
}
else
{
/* Check the thread did not use up to the end of stack */
if (free_bytes == 0)
{
ATOMLOG (_STR("StackOverflow %d\n"), thread);
failures++;
}
/* Log the stack usage */
#ifdef TESTS_LOG_STACK_USAGE
ATOMLOG (_STR("StackUse:%d\n"), (int)used_bytes);
#endif
}
}
}
#endif
/* Quit */
return failures;
}
/**
* \b test_start
*
* Start mutex test.
*
* This tests the lock count of a mutex. The mutex object should
* count the number of times a thread has locked the mutex and
* not fully release it for use by another thread until it has
* been released the same number of times it was locked.
*
* @retval Number of failures
*/
uint32_t test_start (void)
{
int failures;
int i;
/* Default to zero failures */
failures = 0;
/* Create mutex */
if (atomMutexCreate (&mutex1) != ATOM_OK)
{
ATOMLOG (_STR("Error creating mutex\n"));
failures++;
}
else
{
/* Initialise the shared_data to zero */
shared_data = 0;
/* Take the mutex several times */
for (i = 0; i < TEST_LOCK_CNT; i++)
{
if (atomMutexGet (&mutex1, 0) != ATOM_OK)
{
ATOMLOG (_STR("Error taking mutex\n"));
failures++;
break;
}
}
/* Create second thread */
if (atomThreadCreate(&tcb[0], TEST_THREAD_PRIO, test_thread_func, 1,
&test_thread_stack[0][0],
TEST_THREAD_STACK_SIZE, TRUE) != ATOM_OK)
{
/* Fail */
ATOMLOG (_STR("Error creating test thread\n"));
failures++;
}
/*
* The second thread has now been created and should block on
* the mutex until we release it. We wait a while and check that
* shared_data has not been modified.
*/
for (i = 0; i < 4; i++)
{
/*
* Sleep for a while to give the second thread a chance to
* modify shared_data, thought it shouldn't until we
* release the mutex enough times.
*/
atomTimerDelay (SYSTEM_TICKS_PER_SEC/4);
/* Check shared data. The second thread always sets it to one. */
if (shared_data != 0)
{
ATOMLOG (_STR("Shared data modified\n"));
failures++;
break;
}
}
/* Check successful so far */
if (failures == 0)
{
/*
* Release the mutex TEST_LOCK_CNT-1 times, after which we
* should still own the mutex (until we release one more time).
*/
for (i = 0; i < TEST_LOCK_CNT-1; i++)
{
if (atomMutexPut (&mutex1) != ATOM_OK)
{
ATOMLOG (_STR("Failed release\n"));
failures++;
}
}
/*
* Wait a little while then check that shared_data has
* not been modified (we should still own the mutex).
*/
atomTimerDelay (SYSTEM_TICKS_PER_SEC/4);
if (shared_data != 0)
{
ATOMLOG (_STR("Expected unmodified\n"));
failures++;
}
/*
* Release the mutex one more time, after which we should no
* longer own the mutex (and wake up the second thread).
*/
if (atomMutexPut (&mutex1) != ATOM_OK)
{
ATOMLOG (_STR("Failed release\n"));
failures++;
}
/*
* Wait a little while then check that shared_data has
* been modified by the second thread.
*/
atomTimerDelay (SYSTEM_TICKS_PER_SEC/4);
if (shared_data != 1)
{
ATOMLOG (_STR("Expected modified\n"));
failures++;
}
}
/*
* Finally attempt to release the mutex one more time, while
* we no longer own the mutex. Either the second thread will
* have ownership of it, or no thread will have ownership.
* In both cases we expect to get an ownership error when we
* attempt to release it.
*/
if (atomMutexPut (&mutex1) != ATOM_ERR_OWNERSHIP)
{
ATOMLOG (_STR("Failed locked+1 release\n"));
failures++;
}
/* Delete mutex, test finished */
if (atomMutexDelete (&mutex1) != ATOM_OK)
{
ATOMLOG (_STR("Delete failed\n"));
failures++;
}
}
/* Check thread stack usage (if enabled) */
#ifdef ATOM_STACK_CHECKING
{
uint32_t used_bytes, free_bytes;
int thread;
/* Check all threads */
for (thread = 0; thread < NUM_TEST_THREADS; thread++)
{
/* Check thread stack usage */
if (atomThreadStackCheck (&tcb[thread], &used_bytes, &free_bytes) != ATOM_OK)
{
ATOMLOG (_STR("StackCheck\n"));
failures++;
}
else
{
/* Check the thread did not use up to the end of stack */
if (free_bytes == 0)
{
ATOMLOG (_STR("StackOverflow %d\n"), thread);
failures++;
}
/* Log the stack usage */
#ifdef TESTS_LOG_STACK_USAGE
ATOMLOG (_STR("StackUse:%d\n"), (int)used_bytes);
#endif
}
}
}
#endif
/* Quit */
return failures;
}
/**
* \b test_start
*
* Start timer test.
*
* Tests that atomTimerDelay() delays for the correct time
* period when used by three threads simultanously.
*
* @retval Number of failures
*/
uint32_t test_start (void)
{
int failures;
/* Default to zero failures */
failures = 0;
g_failure_cnt[0] = g_failure_cnt[1] = g_failure_cnt[2] = 0;
/* Create Thread 1 */
if (atomThreadCreate(&tcb[0], TEST_THREAD_PRIO, test_thread_func, 1,
&test_thread_stack[0][0],
TEST_THREAD_STACK_SIZE, TRUE) != ATOM_OK)
{
/* Fail */
ATOMLOG (_STR("Thread1\n"));
failures++;
}
/* Create Thread 2 */
if (atomThreadCreate(&tcb[1], TEST_THREAD_PRIO, test_thread_func, 2,
&test_thread_stack[1][0],
TEST_THREAD_STACK_SIZE, TRUE) != ATOM_OK)
{
/* Fail */
ATOMLOG (_STR("Thread2\n"));
failures++;
}
/* Create Thread 3 */
if (atomThreadCreate(&tcb[2], TEST_THREAD_PRIO, test_thread_func, 3,
&test_thread_stack[2][0],
TEST_THREAD_STACK_SIZE, TRUE) != ATOM_OK)
{
/* Fail */
ATOMLOG (_STR("Thread3\n"));
failures++;
}
/* Sleep for 10 seconds allowing the three threads to run tests */
if (atomTimerDelay(TEST_PERIOD_SECS * SYSTEM_TICKS_PER_SEC) != ATOM_OK)
{
ATOMLOG (_STR("Period\n"));
failures++;
}
/* Add the per-thread failure count to the main count */
failures += g_failure_cnt[0] + g_failure_cnt[1] + g_failure_cnt[2];
/* Check thread stack usage (if enabled) */
#ifdef ATOM_STACK_CHECKING
{
uint32_t used_bytes, free_bytes;
int thread;
/* Check all threads */
for (thread = 0; thread < NUM_TEST_THREADS; thread++)
{
/* Check thread stack usage */
if (atomThreadStackCheck (&tcb[thread], &used_bytes, &free_bytes) != ATOM_OK)
{
ATOMLOG (_STR("StackCheck\n"));
failures++;
}
else
{
/* Check the thread did not use up to the end of stack */
if (free_bytes == 0)
{
ATOMLOG (_STR("StackOverflow %d\n"), thread);
failures++;
}
/* Log the stack usage */
#ifdef TESTS_LOG_STACK_USAGE
ATOMLOG (_STR("StackUse:%d\n"), (int)used_bytes);
#endif
}
}
}
#endif
/* Quit */
return failures;
}
/**
* \b test_start
*
* Start kernel test.
*
* This tests the scheduling of threads at different priorities, and
* preemption of lower priority threads by higher priority threads.
*
* Much of this functionality is already tested implicitly by the
* semaphore, mutex tests etc but we repeat it here within the kernel
* tests for completeness.
*
* Two threads are created at different priorities, with each thread
* setting a running flag whenever it runs. We check that when the
* higher priority thread is ready to run, only the higher priority
* thread's running flag is set (even though the lower priority
* thread should also be setting it at this time). This checks that
* the scheduler is correctly prioritising thread execution.
*
* The test also exercises preemption, by disabling setting of the
* running flag in the higher priority thread for a period. During
* this time the higher priority thread repeatedly sleeps for one
* system tick then wakes up to check the sleep-request flag again.
* Every time the higher priority thread wakes up, it has preempted
* the lower priority thread (which is always running). By ensuring
* that the higher priority thread is able to start running again
* after one of these periods (through checking the running flag)
* we prove that the preemption has worked.
*
* @retval Number of failures
*/
uint32_t test_start (void)
{
int failures;
int i;
/* Default to zero failures */
failures = 0;
/* Initialise global data */
running_flag[0] = running_flag[1] = FALSE;
sleep_request[0] = sleep_request[1] = FALSE;
/* Create low priority thread */
if (atomThreadCreate (&tcb[0], 253, test_thread_func, 0,
&test_thread_stack[0][0],
TEST_THREAD_STACK_SIZE, TRUE) != ATOM_OK)
{
ATOMLOG (_STR("Bad thread create\n"));
failures++;
}
/* Create high priority thread */
else if (atomThreadCreate (&tcb[1], 252, test_thread_func, 1,
&test_thread_stack[1][0],
TEST_THREAD_STACK_SIZE, TRUE) != ATOM_OK)
{
ATOMLOG (_STR("Bad thread create\n"));
failures++;
}
/* Repeat test a few times */
for (i = 0; i < 8; i++)
{
/* Make the higher priority thread sleep */
sleep_request[1] = TRUE;
/* Sleep a little to make sure the thread sees the sleep request */
atomTimerDelay (SYSTEM_TICKS_PER_SEC/4);
/* Reset the running flag for both threads */
running_flag[0] = running_flag[1] = FALSE;
/* Sleep a little to give any running threads time to set their flag */
atomTimerDelay (SYSTEM_TICKS_PER_SEC/4);
/* Check only the low priority thread has run since we reset the flags */
if ((running_flag[0] != TRUE) || (running_flag[1] != FALSE))
{
ATOMLOG (_STR("Lo%d %d/%d\n"), i, running_flag[0], running_flag[1]);
failures++;
break;
}
else
{
/*
* We have confirmed that only the ready thread has been running.
* Now check that if we wake up the high priority thread, the
* low priority one stops running and only the high priority one
* does.
*/
/* Tell the higher priority thread to stop sleeping */
sleep_request[1] = FALSE;
/* Reset the running flag for both threads */
running_flag[0] = running_flag[1] = FALSE;
/* Sleep a little to give any running threads time to set their flag */
atomTimerDelay (SYSTEM_TICKS_PER_SEC/4);
/* Check only the high priority thread has run since we reset the flags */
if ((running_flag[1] != TRUE) || (running_flag[0] != FALSE))
{
ATOMLOG (_STR("Hi%d/%d\n"), running_flag[0], running_flag[1]);
failures++;
break;
}
else
{
/*
* We have confirmed that the high priority thread has preempted the
* low priority thread, and remain running while never scheduling
* the lower one back in.
*/
}
}
}
/* Check thread stack usage (if enabled) */
#ifdef ATOM_STACK_CHECKING
{
uint32_t used_bytes, free_bytes;
int thread;
/* Check all threads */
for (thread = 0; thread < NUM_TEST_THREADS; thread++)
{
/* Check thread stack usage */
if (atomThreadStackCheck (&tcb[thread], &used_bytes, &free_bytes) != ATOM_OK)
{
ATOMLOG (_STR("StackCheck\n"));
failures++;
}
else
{
/* Check the thread did not use up to the end of stack */
if (free_bytes == 0)
{
ATOMLOG (_STR("StackOverflow %d\n"), thread);
failures++;
}
/* Log the stack usage */
#ifdef TESTS_LOG_STACK_USAGE
ATOMLOG (_STR("StackUse:%d\n"), (int)used_bytes);
#endif
}
}
}
#endif
/* Quit */
return failures;
}
/**
* \b test_start
*
* Start kernel test.
*
* This tests the round-robin timeslicing of same priority threads.
*
* Four threads are created (over and above the main test thread).
* The main test thread sleeps for the duration of the entire test.
* While the test is ongoing, all four threads are running
* continuously at the same priority. They each check that whenever
* the system tick (atomTimeGet()) changes, it has moved on 1 tick
* since the last time the tick was checked, and that the previous
* thread is the one created before itself. In the case of the first
* thread created, the previous thread should be the last thread
* created. This proves that on every tick the four threads get a
* schedule timeslice equally, and in the same order throughout the
* duration of the test.
*
* @retval Number of failures
*/
uint32_t test_start (void)
{
int failures;
/* Default to zero failures */
failures = 0;
/* Initialise global data */
last_time = 0;
last_thread_id = -1;
failure_cnt[0] = failure_cnt[1] = failure_cnt[2] = failure_cnt[3] = 0;
/* Set test as not started until all threads are ready to go */
test_started = FALSE;
/*
* Create all four threads at the same priority as each other.
* They are given a lower priority than this thread, however,
* to ensure that once this thread wakes up to stop the test it
* can do so without confusing the scheduling tests by having
* a spell in which this thread was run.
*/
if (atomThreadCreate (&tcb[0], TEST_THREAD_PRIO + 1, test_thread_func, 0,
&test_thread_stack[0][TEST_THREAD_STACK_SIZE - 1],
TEST_THREAD_STACK_SIZE) != ATOM_OK) {
ATOMLOG (_STR("Bad thread create\n"));
failures++;
} else if (atomThreadCreate (&tcb[1], TEST_THREAD_PRIO + 1, test_thread_func, 1,
&test_thread_stack[1][TEST_THREAD_STACK_SIZE - 1],
TEST_THREAD_STACK_SIZE) != ATOM_OK) {
ATOMLOG (_STR("Bad thread create\n"));
failures++;
} else if (atomThreadCreate (&tcb[2], TEST_THREAD_PRIO + 1, test_thread_func, 2,
&test_thread_stack[2][TEST_THREAD_STACK_SIZE - 1],
TEST_THREAD_STACK_SIZE) != ATOM_OK) {
ATOMLOG (_STR("Bad thread create\n"));
failures++;
} else if (atomThreadCreate (&tcb[3], TEST_THREAD_PRIO + 1, test_thread_func, 3,
&test_thread_stack[3][TEST_THREAD_STACK_SIZE - 1],
TEST_THREAD_STACK_SIZE) != ATOM_OK) {
ATOMLOG (_STR("Bad thread create\n"));
failures++;
}
/* Start the test */
test_started = TRUE;
/* Sleep for 5 seconds during test */
atomTimerDelay (5 * SYSTEM_TICKS_PER_SEC);
/* Stop the test */
test_started = FALSE;
/* Sleep for tests to complete */
atomTimerDelay (SYSTEM_TICKS_PER_SEC/4);
/* Count any failures from test threads */
failures += failure_cnt[0] + failure_cnt[1] + failure_cnt[2] + failure_cnt[3];
/* Check thread stack usage (if enabled) */
#ifdef ATOM_STACK_CHECKING
{
uint32_t used_bytes, free_bytes;
int thread;
/* Check all threads */
for (thread = 0; thread < NUM_TEST_THREADS; thread++) {
/* Check thread stack usage */
if (atomThreadStackCheck (&tcb[thread], &used_bytes, &free_bytes) != ATOM_OK) {
ATOMLOG (_STR("StackCheck\n"));
failures++;
} else {
/* Check the thread did not use up to the end of stack */
if (free_bytes == 0) {
ATOMLOG (_STR("StackOverflow %d\n"), thread);
failures++;
}
/* Log the stack usage */
#ifdef TESTS_LOG_STACK_USAGE
ATOMLOG (_STR("StackUse:%d\n"), (int)used_bytes);
#endif
}
}
}
#endif
/* Quit */
return failures;
}
int main ( void )
{
int8_t status;
uint32_t loop;
/**
* Brief delay to give the debugger a chance to stop the core before we
* muck around with the chip's configuration.
*/
for(loop = 0; loop < 1000000; ++loop){
__asm__("nop");
}
/**
* Note: to protect OS structures and data during initialisation,
* interrupts must remain disabled until the first thread
* has been restored. They are reenabled at the very end of
* the first thread restore, at which point it is safe for a
* reschedule to take place.
*/
board_setup();
/**
* Initialise the OS before creating our threads.
*
* Note that we cannot enable stack-checking on the idle thread on
* this platform because we are already using part of the idle
* thread's stack now as our startup stack. Prefilling for stack
* checking would overwrite our current stack.
*
* If you are not reusing the idle thread's stack during startup then
* you are free to enable stack-checking here.
*/
status = atomOSInit(&idle_thread_stack[0], IDLE_STACK_SIZE_BYTES, FALSE);
if (status == ATOM_OK)
{
/* Create an application thread */
status = atomThreadCreate(&main_tcb,
TEST_THREAD_PRIO, main_thread_func, 0,
&main_thread_stack[0],
MAIN_STACK_SIZE_BYTES,
TRUE);
if (status == ATOM_OK)
{
/**
* First application thread successfully created. It is
* now possible to start the OS. Execution will not return
* from atomOSStart(), which will restore the context of
* our application thread and start executing it.
*
* Note that interrupts are still disabled at this point.
* They will be enabled as we restore and execute our first
* thread in archFirstThreadRestore().
*/
atomOSStart();
}
}
while (1)
;
/* There was an error starting the OS if we reach here */
return (0);
}
/**
* \b test_start
*
* Start mutex test.
*
* This tests the ownership checks of the mutex library. Only threads
* which own a mutex can release it. It should not be possible to
* release a mutex if it is not owned by any thread, is owned by a
* different thread, or at interrupt context. We test here that all
* three cases are trapped.
*
* @retval Number of failures
*/
uint32_t test_start (void)
{
int failures;
ATOM_TIMER timer_cb;
/* Default to zero failures */
failures = 0;
/* Create mutex */
if (atomMutexCreate (&mutex1) != ATOM_OK)
{
ATOMLOG (_STR("Error creating mutex\n"));
failures++;
}
else
{
/* Initialise the shared_data to zero */
shared_data = 0;
/* Attempt to release the mutex when not owned by any thread */
if (atomMutexPut (&mutex1) != ATOM_ERR_OWNERSHIP)
{
ATOMLOG (_STR("Release error\n"));
failures++;
}
/* Create second thread */
else if (atomThreadCreate(&tcb[0], TEST_THREAD_PRIO, test_thread_func, 1,
&test_thread_stack[0][TEST_THREAD_STACK_SIZE - 1],
TEST_THREAD_STACK_SIZE) != ATOM_OK)
{
/* Fail */
ATOMLOG (_STR("Error creating test thread\n"));
failures++;
}
/*
* The second thread has now been created and should take ownership
* of the mutex. We wait a while and check that shared_data has been
* modified, which proves to us that the thread has taken the mutex.
*/
atomTimerDelay (SYSTEM_TICKS_PER_SEC/4);
if (shared_data != 1)
{
ATOMLOG (_STR("Shared data unmodified\n"));
failures++;
}
/* Check successful so far */
if (failures == 0)
{
/*
* Attempt to release the mutex again now that it is owned
* by another thread.
*/
if (atomMutexPut (&mutex1) != ATOM_ERR_OWNERSHIP)
{
ATOMLOG (_STR("Release error 2\n"));
failures++;
}
/* Finally check that the mutex cannot be released from an ISR */
/* Fill out the timer callback request structure */
timer_cb.cb_func = testCallback;
timer_cb.cb_data = NULL;
timer_cb.cb_ticks = SYSTEM_TICKS_PER_SEC;
/* Request the timer callback to run in one second */
if (atomTimerRegister (&timer_cb) != ATOM_OK)
{
ATOMLOG (_STR("Error registering timer\n"));
failures++;
}
/*
* Wait two seconds for shared_date to be set to 2
* indicating success. This happens if the timer
* callback received the expected ownership error
* when attempting to release the mutex.
*/
else
{
atomTimerDelay (2 * SYSTEM_TICKS_PER_SEC);
if (shared_data != 2)
{
ATOMLOG (_STR("Context check failed\n"));
failures++;
}
}
}
/* Delete mutex, test finished */
if (atomMutexDelete (&mutex1) != ATOM_OK)
{
ATOMLOG (_STR("Delete failed\n"));
failures++;
}
}
/* Check thread stack usage (if enabled) */
#ifdef ATOM_STACK_CHECKING
{
uint32_t used_bytes, free_bytes;
int thread;
/* Check all threads */
for (thread = 0; thread < NUM_TEST_THREADS; thread++)
{
/* Check thread stack usage */
if (atomThreadStackCheck (&tcb[thread], &used_bytes, &free_bytes) != ATOM_OK)
{
ATOMLOG (_STR("StackCheck\n"));
failures++;
}
else
{
/* Check the thread did not use up to the end of stack */
if (free_bytes == 0)
{
ATOMLOG (_STR("StackOverflow %d\n"), thread);
failures++;
}
/* Log the stack usage */
#ifdef TESTS_LOG_STACK_USAGE
ATOMLOG (_STR("StackUse:%d\n"), (int)used_bytes);
#endif
}
}
}
#endif
/* Quit */
return failures;
}
/**
* \b test_start
*
* Start mutex test.
*
* This tests timeouts on a mutex. We make a thread block with timeout
* on a mutex, and test that sufficient time has actually passed as
* was requested by the timeout parameter.
*
* The main thread creates a second thread which will immediately take
* ownership of the mutex. The test checks that the correct timeout
* occurs when the first thread blocks on the mutex which is already
* owned (by the second thread).
*
* @retval Number of failures
*/
uint32_t test_start (void)
{
int failures;
uint32_t start_time, end_time;
/* Default to zero failures */
failures = 0;
/* Create mutex */
if (atomMutexCreate (&mutex1) != ATOM_OK)
{
ATOMLOG (_STR("Error creating mutex\n"));
failures++;
}
else
{
/* Initialise the shared_data to zero */
shared_data = 0;
/* Create second thread */
if (atomThreadCreate(&tcb[0], TEST_THREAD_PRIO, test_thread_func, 1,
&test_thread_stack[0][0],
TEST_THREAD_STACK_SIZE, TRUE) != ATOM_OK)
{
/* Fail */
ATOMLOG (_STR("Error creating test thread\n"));
failures++;
}
/*
* The second thread has now been created and should take ownership
* of the mutex. We wait a while and check that shared_data has been
* modified, which proves to us that the thread has taken the mutex.
*/
atomTimerDelay (SYSTEM_TICKS_PER_SEC/4);
if (shared_data != 1)
{
ATOMLOG (_STR("Shared data unmodified\n"));
failures++;
}
/* Check successful so far */
if (failures == 0)
{
/* Take note of the start time */
start_time = atomTimeGet();
/* Block on the mutex with two second timeout */
if (atomMutexGet (&mutex1, 2 * SYSTEM_TICKS_PER_SEC) != ATOM_TIMEOUT)
{
ATOMLOG (_STR("Failed get\n"));
failures++;
}
/* Take note of the end time */
end_time = atomTimeGet();
/* Now check that two seconds have passed */
if ((end_time < (start_time + (2 * SYSTEM_TICKS_PER_SEC)))
|| (end_time > (start_time + (2 * SYSTEM_TICKS_PER_SEC) + 1)))
{
ATOMLOG (_STR("Bad time\n"));
failures++;
}
}
/* Delete mutex, test finished */
if (atomMutexDelete (&mutex1) != ATOM_OK)
{
ATOMLOG (_STR("Delete failed\n"));
failures++;
}
}
/* Check thread stack usage (if enabled) */
#ifdef ATOM_STACK_CHECKING
{
uint32_t used_bytes, free_bytes;
int thread;
/* Check all threads */
for (thread = 0; thread < NUM_TEST_THREADS; thread++)
{
/* Check thread stack usage */
if (atomThreadStackCheck (&tcb[thread], &used_bytes, &free_bytes) != ATOM_OK)
{
ATOMLOG (_STR("StackCheck\n"));
failures++;
}
else
{
/* Check the thread did not use up to the end of stack */
if (free_bytes == 0)
{
ATOMLOG (_STR("StackOverflow %d\n"), thread);
failures++;
}
/* Log the stack usage */
#ifdef TESTS_LOG_STACK_USAGE
ATOMLOG (_STR("StackUse:%d\n"), (int)used_bytes);
#endif
}
}
}
#endif
/* Quit */
return failures;
}
/**
* \b test_start
*
* Start queue test.
*
* This tests basic operation of queues.
*
* The main test thread creates a second thread and posts
* a series of messages to the second thread. The message
* values are checked against the expected values.
*
* We test using 4-byte messages.
*
* @retval Number of failures
*/
uint32_t test_start (void)
{
int failures, count;
int num_entries;
uint32_t msg;
/* Default to zero failures */
failures = 0;
g_result = 0;
/* Create test queue */
if (atomQueueCreate (&queue1, (uint8_t *)&queue1_storage[0], sizeof(queue1_storage[0]), QUEUE_ENTRIES) != ATOM_OK)
{
ATOMLOG (_STR("Error creating test queue\n"));
failures++;
}
/* Create a test thread that will block because the queue is empty */
else if (atomThreadCreate(&tcb[0], TEST_THREAD_PRIO + 1, test1_thread_func, 0,
&test_thread_stack[0][0],
TEST_THREAD_STACK_SIZE, TRUE) != ATOM_OK)
{
/* Fail */
ATOMLOG (_STR("Error creating test thread 1\n"));
failures++;
}
else
{
/*
* We have created an empty queue and a thread which should now
* be blocking on the queue. The test thread is lower priority
* than us.
*/
/* Wait for the other thread to start blocking on queue1 */
if (atomTimerDelay(SYSTEM_TICKS_PER_SEC) != ATOM_OK)
{
ATOMLOG (_STR("Failed timer delay\n"));
failures++;
}
else
{
/*
* Post all entries in the test array to the queue.
* Because the second thread is lower priority than
* us, we will post 8 messages until the queue is
* full without waking up the second thread at all.
* At that point, we will block and the second
* thread will remove one message from the queue.
* With a spare entry in the queue, this thread
* will wake up again and post another message.
* This will continue until this thread has posted
* all messages, at which point the second thread
* will drain all remaining messages from the
* queue.
*
* Through this scheme we are able to test posting
* to the queue at all possible fill levels.
*/
num_entries = sizeof(test_values) / sizeof(test_values[0]);
for (count = 0; count < num_entries; count++)
{
/* Increment through and post all test values to the queue */
msg = test_values[count];
if (atomQueuePut (&queue1, 0, (uint8_t *)&msg) != ATOM_OK)
{
ATOMLOG (_STR("Failed post\n"));
failures++;
}
}
/* Sleep a while for the second thread to finish */
atomTimerDelay (SYSTEM_TICKS_PER_SEC);
/* Check that the second thread has found all test values */
if (g_result != 1)
{
ATOMLOG (_STR("Bad test vals\n"));
failures++;
}
}
}
/* Check thread stack usage (if enabled) */
#ifdef ATOM_STACK_CHECKING
{
uint32_t used_bytes, free_bytes;
int thread;
/* Check all threads */
for (thread = 0; thread < NUM_TEST_THREADS; thread++)
{
/* Check thread stack usage */
if (atomThreadStackCheck (&tcb[thread], &used_bytes, &free_bytes) != ATOM_OK)
{
ATOMLOG (_STR("StackCheck\n"));
failures++;
}
else
{
/* Check the thread did not use up to the end of stack */
if (free_bytes == 0)
{
ATOMLOG (_STR("StackOverflow %d\n"), thread);
failures++;
}
/* Log the stack usage */
#ifdef TESTS_LOG_STACK_USAGE
ATOMLOG (_STR("StackUse:%d\n"), (int)used_bytes);
#endif
}
}
}
#endif
/* Quit */
return failures;
}
/**
* \b test_start
*
* Start semaphore test.
*
* This tests usage of a semaphore for basic mutual exclusion type
* operation. Note that Atomthreads has a more fully-featured real
* mutex implementation in the mutex module.
*
* The semaphore sem1 is initialised with a count of 1. Whichever
* thread holds this semaphore can then modify the global variable
* "shared_data".
*
* The main thread first takes the "mutex" sem1, then creates a
* second thread. The second thread should block on the sem1 mutex
* until the main thread releases it. The test checks that the
* global "shared_data" is not modified by the second thread
* until the main thread releases the mutex.
*
* @retval Number of failures
*/
uint32_t test_start (void)
{
int failures;
int i;
/* Default to zero failures */
failures = 0;
/* Create sem with count one for mutex purposes */
if (atomSemCreate (&sem1, 1) != ATOM_OK)
{
ATOMLOG (_STR("Error creating test semaphore 1\n"));
failures++;
}
else
{
/* Initialise the shared_data to zero */
shared_data = 0;
/* Take the mutex to ensure only this thread can modify shared_data */
if (atomSemGet (&sem1, 0) != ATOM_OK)
{
ATOMLOG (_STR("Error taking mutex\n"));
failures++;
}
/* Create second thread */
else if (atomThreadCreate(&tcb[0], TEST_THREAD_PRIO, test_thread_func, 1,
&test_thread_stack[0][0],
TEST_THREAD_STACK_SIZE, TRUE) != ATOM_OK)
{
/* Fail */
ATOMLOG (_STR("Error creating test thread\n"));
failures++;
}
/*
* The second thread has now been created and should block on
* the "mutex" sem1 (which now has count zero) until we release
* it. We wait a while and check that shared_data has not been
* modified.
*/
for (i = 0; i < 4; i++)
{
/*
* Sleep for a while to give the second thread a chance to
* modify shared_data, thought it shouldn't until we
* release the mutex.
*/
atomTimerDelay (SYSTEM_TICKS_PER_SEC/4);
/* Check shared data. The second thread always sets it to one. */
if (shared_data != 0)
{
ATOMLOG (_STR("Shared data modified\n"));
failures++;
break;
}
}
/* Check successful so far */
if (failures == 0)
{
/*
* Release the mutex, which will allow the second thread to
* wake and start modifying shared_data.
*/
if (atomSemPut (&sem1) != ATOM_OK)
{
ATOMLOG (_STR("Failed release\n"));
failures++;
}
/*
* Wait a little while then check that shared_data has
* been modified.
*/
atomTimerDelay (SYSTEM_TICKS_PER_SEC/4);
if (shared_data != 1)
{
ATOMLOG (_STR("Expected modify\n"));
failures++;
}
/*
* Release and take the mutex again a few times to ensure
* that the mutex continues to protect shared_data.
*/
for (i = 0; i < 4; i++)
{
/*
* Take the mutex again, to prevent second thread accessing
* shared_data.
*/
if (atomSemGet (&sem1, SYSTEM_TICKS_PER_SEC) != ATOM_OK)
{
ATOMLOG (_STR("Retake %d\n"), i);
failures++;
break;
}
else
{
/*
* Set shared_data to 0 and wait to ensure that the
* second thread doesn't modify it while we have the
* mutex again.
*/
shared_data = 0;
/* Wait a while to give second thread potential to run */
atomTimerDelay(SYSTEM_TICKS_PER_SEC/4);
/*
* Check that shared_data has not been modified while we
* own the mutex.
*/
if (shared_data != 0)
{
/* Thread is still modifying the data */
ATOMLOG (_STR("Still modifying\n"));
failures++;
break;
}
/*
* Release the mutex, which will allow the second thread to
* wake and start modifying shared_data again.
*/
if (atomSemPut (&sem1) != ATOM_OK)
{
ATOMLOG (_STR("Failed release\n"));
failures++;
}
}
}
}
/* Delete semaphore, test finished */
if (atomSemDelete (&sem1) != ATOM_OK)
{
ATOMLOG (_STR("Delete failed\n"));
failures++;
}
}
/* Check thread stack usage (if enabled) */
#ifdef ATOM_STACK_CHECKING
{
uint32_t used_bytes, free_bytes;
int thread;
/* Check all threads */
for (thread = 0; thread < NUM_TEST_THREADS; thread++)
{
/* Check thread stack usage */
if (atomThreadStackCheck (&tcb[thread], &used_bytes, &free_bytes) != ATOM_OK)
{
ATOMLOG (_STR("StackCheck\n"));
failures++;
}
else
{
/* Check the thread did not use up to the end of stack */
if (free_bytes == 0)
{
ATOMLOG (_STR("StackOverflow %d\n"), thread);
failures++;
}
/* Log the stack usage */
#ifdef TESTS_LOG_STACK_USAGE
ATOMLOG (_STR("StackUse:%d\n"), (int)used_bytes);
#endif
}
}
}
#endif
/* Quit */
return failures;
}
/**
* \b test_start
*
* Start queue test.
*
* This test verifies the queue deletion API, by deleting a queue
* on which multiple threads are blocking, and checking that all three
* are woken up with an appropriate error code.
*
* @retval Number of failures
*/
uint32_t test_start (void)
{
int failures;
int i;
/* Default to zero failures */
failures = 0;
/* Initialise pass status for all three threads to FALSE */
for (i = 0; i < 3; i++) {
pass_flag[i] = FALSE;
}
/* Test wakeup of three threads on queue deletion */
if (atomQueueCreate (&queue1, &queue1_storage[0], sizeof(queue1_storage[0]), QUEUE_ENTRIES) != ATOM_OK) {
ATOMLOG (_STR("Error creating Q\n"));
failures++;
}
else {
/* The queue is empty so all three test threads will block */
/* Create test thread 1 */
if (atomThreadCreate(&tcb[0], TEST_THREAD_PRIO, test_thread_func, 0,
&test_thread_stack[0][TEST_THREAD_STACK_SIZE - 1],
TEST_THREAD_STACK_SIZE) != ATOM_OK) {
/* Fail */
ATOMLOG (_STR("Error creating test thread 1\n"));
failures++;
}
/* Create test thread 2 */
else if (atomThreadCreate(&tcb[1], TEST_THREAD_PRIO, test_thread_func, 1,
&test_thread_stack[1][TEST_THREAD_STACK_SIZE - 1],
TEST_THREAD_STACK_SIZE) != ATOM_OK) {
/* Fail */
ATOMLOG (_STR("Error creating test thread 2\n"));
failures++;
}
/* Create test thread 3 */
else if (atomThreadCreate(&tcb[2], TEST_THREAD_PRIO, test_thread_func, 2,
&test_thread_stack[2][TEST_THREAD_STACK_SIZE - 1],
TEST_THREAD_STACK_SIZE) != ATOM_OK) {
/* Fail */
ATOMLOG (_STR("Error creating test thread 3\n"));
failures++;
}
/* Test threads now created */
else {
/* Wait a while for threads to start blocking on queue1 */
atomTimerDelay (SYSTEM_TICKS_PER_SEC/4);
/* Delete queue1 now that all three threads should be blocking */
if (atomQueueDelete (&queue1) != ATOM_OK) {
ATOMLOG (_STR("Delete fail\n"));
failures++;
} else {
/* Wait a while for all three threads to wake up */
atomTimerDelay (SYSTEM_TICKS_PER_SEC/4);
/* Check that all three threads have passed */
if ((pass_flag[0] != TRUE) || (pass_flag[1] != TRUE) || (pass_flag[2] != TRUE)) {
ATOMLOG (_STR("Thread fail\n"));
failures++;
}
}
}
}
/* Check thread stack usage (if enabled) */
#ifdef ATOM_STACK_CHECKING
{
uint32_t used_bytes, free_bytes;
int thread;
/* Check all threads */
for (thread = 0; thread < NUM_TEST_THREADS; thread++) {
/* Check thread stack usage */
if (atomThreadStackCheck (&tcb[thread], &used_bytes, &free_bytes) != ATOM_OK) {
ATOMLOG (_STR("StackCheck\n"));
failures++;
} else {
/* Check the thread did not use up to the end of stack */
if (free_bytes == 0) {
ATOMLOG (_STR("StackOverflow %d\n"), thread);
failures++;
}
/* Log the stack usage */
#ifdef TESTS_LOG_STACK_USAGE
ATOMLOG (_STR("StackUse:%d\n"), (int)used_bytes);
#endif
}
}
}
#endif
/* Quit */
return failures;
}
int main ( void )
{
int8_t status;
sei();
SerialInit(MYUBRR);
InitWatch();
/**
* Reuse part of the idle thread's stack for the stack required
* during this startup function.
*/
SP = (int)&idle_thread_stack[(IDLE_STACK_SIZE_BYTES/2) - 1];
/**
* Note: to protect OS structures and data during initialisation,
* interrupts must remain disabled until the first thread
* has been restored. They are reenabled at the very end of
* the first thread restore, at which point it is safe for a
* reschedule to take place.
*/
/**
* Initialise the OS before creating our threads.
*
* Note that we cannot enable stack-checking on the idle thread on
* this platform because we are already using part of the idle
* thread's stack now as our startup stack. Prefilling for stack
* checking would overwrite our current stack.
*
* If you are not reusing the idle thread's stack during startup then
* you are free to enable stack-checking here.
*/
status = atomOSInit(&idle_thread_stack[0], IDLE_STACK_SIZE_BYTES, FALSE);
if (status == ATOM_OK)
{
/* Enable the system tick timer */
avrInitSystemTickTimer();
/* Create the main thread */
status = atomThreadCreate(&main_tcb,
MAIN_THREAD_PRIO, main_thread_func, 0,
&main_thread_stack[0],
MAIN_STACK_SIZE_BYTES,
FALSE);
if (status == ATOM_OK)
{
/**
* Application threads successfully created. It is
* now possible to start the OS. Execution will not return
* from atomOSStart(), which will restore the context of
* our application thread and start executing it.
*
* Note that interrupts are still disabled at this point.
* They will be enabled as we restore and execute our first
* thread in archFirstThreadRestore().
*/
atomOSStart();
}
}
while (1)
{
atomTimerDelay (2 * SYSTEM_TICKS_PER_SEC); // wait 2 sec
}
/* There was an error starting the OS if we reach here */
return (0);
}
/**
* \b test_start
*
* Start semaphore test.
*
* With multiple threads blocking on a single semaphore, this test confirms that
* they are woken in order when the semaphore is posted. The correct order for
* waking is that the higher priority threads are woken first, followed by the
* lower priority threads. Where multiple threads of the same priority are
* waiting, the threads are woken in FIFO order (the order in which they started
* waiting on the semaphore).
*
* To test this we create four threads which all wait on a single semaphore.
* One pair of threads are running at high priority, with the other pair at a
* lower priority:
*
* Thread 1: low prio thread A
* Thread 2: low prio thread B
* Thread 3: high prio thread A
* Thread 4: high prio thread B
*
* The threads are forced to start blocking on the same semaphore in the
* above order (the semaphore is initialised with count 0 to ensure any
* threads calling atomSemGet() will block).
*
* We expect to see them woken up in the following order:
* 3, 4, 1, 2
*
* This proves the multiple blocking thread ordering in terms of both
* the priority-queueing and same-priority-FIFO-queueing.
*
* @retval Number of failures
*/
uint32_t test_start (void)
{
int failures;
int i;
/* Default to zero failures */
failures = 0;
/* Create sem with count zero (so that all threads will block) */
if (atomSemCreate (&sem1, 0) != ATOM_OK) {
ATOMLOG (_STR("Error creating test semaphore 1\n"));
failures++;
} else {
/* Create Thread 1 (lower priority thread A) */
if (atomThreadCreate(&tcb[0], TEST_THREAD_PRIO+1, test_thread_func, 1,
&test_thread_stack[0][TEST_THREAD_STACK_SIZE - 1],
TEST_THREAD_STACK_SIZE) != ATOM_OK) {
/* Fail */
ATOMLOG (_STR("Error creating test thread\n"));
failures++;
}
/* Delay to ensure the thread will start blocking on the semaphore */
atomTimerDelay (SYSTEM_TICKS_PER_SEC/4);
/* Create Thread 2 (lower priority thread B) */
if (atomThreadCreate(&tcb[1], TEST_THREAD_PRIO+1, test_thread_func, 2,
&test_thread_stack[1][TEST_THREAD_STACK_SIZE - 1],
TEST_THREAD_STACK_SIZE) != ATOM_OK) {
/* Fail */
ATOMLOG (_STR("Error creating test thread\n"));
failures++;
}
/* Delay to ensure the thread will start blocking on the semaphore */
atomTimerDelay (SYSTEM_TICKS_PER_SEC/4);
/* Create Thread 3 (higher priority thread A) */
if (atomThreadCreate(&tcb[2], TEST_THREAD_PRIO, test_thread_func, 3,
&test_thread_stack[2][TEST_THREAD_STACK_SIZE - 1],
TEST_THREAD_STACK_SIZE) != ATOM_OK) {
/* Fail */
ATOMLOG (_STR("Error creating test thread\n"));
failures++;
}
/* Delay to ensure the thread will start blocking on the semaphore */
atomTimerDelay (SYSTEM_TICKS_PER_SEC/4);
/* Create Thread 4 (higher priority thread B) */
if (atomThreadCreate(&tcb[3], TEST_THREAD_PRIO, test_thread_func, 4,
&test_thread_stack[3][TEST_THREAD_STACK_SIZE - 1],
TEST_THREAD_STACK_SIZE) != ATOM_OK) {
/* Fail */
ATOMLOG (_STR("Error creating test thread\n"));
failures++;
}
/* Delay to ensure the thread will start blocking on the semaphore */
atomTimerDelay (SYSTEM_TICKS_PER_SEC/4);
/* All four threads will now be blocking on sem1 */
/*
* Initialise wake count, used by threads to determine
* what order they were woken in.
*/
wake_cnt = 0;
/*
* Wake the four threads up in order, leaving some time between
* each wake up for them to deal with global data in a
* thread-safe fashion.
*/
for (i = 0; i < 4; i++) {
/* Post semaphore to wake one of the threads up */
if (atomSemPut (&sem1) != ATOM_OK) {
ATOMLOG (_STR("Post fail\n"));
failures++;
}
/* Sleep to give the thread time to manipulate global data */
atomTimerDelay (SYSTEM_TICKS_PER_SEC / 4);
}
/* All four threads now woken up, check they woke in correct order */
if ((wake_order[0] != 3) || (wake_order[1] != 4)
|| (wake_order[2] != 1) || (wake_order[3] != 2)) {
ATOMLOG (_STR("Bad order %d,%d,%d,%d\n"),
wake_order[0], wake_order[1], wake_order[2], wake_order[3]);
failures++;
}
/* Delete semaphore, test finished */
if (atomSemDelete (&sem1) != ATOM_OK) {
ATOMLOG (_STR("Delete failed\n"));
failures++;
}
}
/* Check thread stack usage (if enabled) */
#ifdef ATOM_STACK_CHECKING
{
uint32_t used_bytes, free_bytes;
int thread;
/* Check all threads */
for (thread = 0; thread < NUM_TEST_THREADS; thread++) {
/* Check thread stack usage */
if (atomThreadStackCheck (&tcb[thread], &used_bytes, &free_bytes) != ATOM_OK) {
ATOMLOG (_STR("StackCheck\n"));
failures++;
} else {
/* Check the thread did not use up to the end of stack */
if (free_bytes == 0) {
ATOMLOG (_STR("StackOverflow %d\n"), thread);
failures++;
}
/* Log the stack usage */
#ifdef TESTS_LOG_STACK_USAGE
ATOMLOG (_STR("StackUse:%d\n"), (int)used_bytes);
#endif
}
}
}
#endif
/* Quit */
return failures;
}
/**
* \b test_start
*
* Start semaphore test.
*
* This test exercises the semaphore creation and deletion APIs, including
* waking threads blocking on a semaphore if the semaphore is deleted.
* Deletion wakeups are tested twice: once for a thread which is blocking
* with a timeout and once for a thread which is blocking with no timeout.
*
* @retval Number of failures
*/
uint32_t test_start (void)
{
int failures;
uint32_t i;
uint8_t status;
/* Default to zero failures */
failures = 0;
/* Test creation and deletion of semaphores: good values */
for (i = 0; i < 1000; i++)
{
if (atomSemCreate (&sem1, 0) == ATOM_OK)
{
if (atomSemDelete (&sem1) == ATOM_OK)
{
/* Success */
}
else
{
/* Fail */
ATOMLOG (_STR("Error deleting semaphore\n"));
failures++;
break;
}
}
else
{
/* Fail */
ATOMLOG (_STR("Error creating semaphore\n"));
failures++;
break;
}
}
/* Test creation and deletion of semaphores: creation checks */
if (atomSemCreate (NULL, 0) != ATOM_OK)
{
/* Success */
}
else
{
/* Fail */
ATOMLOG (_STR("Bad semaphore creation checks\n"));
failures++;
}
/* Test creation and deletion of semaphores: deletion checks */
if (atomSemDelete (NULL) != ATOM_OK)
{
/* Success */
}
else
{
/* Fail */
ATOMLOG (_STR("Bad semaphore deletion checks\n"));
failures++;
}
/* Test wakeup of threads on semaphore deletion (thread blocking with no timeout) */
if (atomSemCreate (&sem1, 0) != ATOM_OK)
{
ATOMLOG (_STR("Error creating test semaphore 1\n"));
failures++;
}
else if (atomSemCreate (&sem2, 0) != ATOM_OK)
{
ATOMLOG (_STR("Error creating test semaphore 2\n"));
failures++;
}
else if (atomThreadCreate(&tcb[0], TEST_THREAD_PRIO, test1_thread_func, 0,
&test_thread_stack[0][TEST_THREAD_STACK_SIZE - 1],
TEST_THREAD_STACK_SIZE) != ATOM_OK)
{
/* Fail */
ATOMLOG (_STR("Error creating test thread 1\n"));
failures++;
}
else
{
/*
* We have created two semaphores. sem1 is for the other thread
* to wait on, which we will delete from this thread. We want
* to see that the other thread is woken up if its semaphore
* is deleted. This is indicated through sem2 being posted
* back to us.
*/
/* Wait for the other thread to start blocking on sem1 */
if (atomTimerDelay(SYSTEM_TICKS_PER_SEC) != ATOM_OK)
{
ATOMLOG (_STR("Failed timer delay\n"));
failures++;
}
else
{
/* The other thread will be blocking on sem1 now, delete sem1 */
if (atomSemDelete(&sem1) != ATOM_OK)
{
ATOMLOG (_STR("Failed sem1 delete\n"));
failures++;
}
else
{
/* Sem1 deleted. The thread should now wake up and post sem2. */
if ((status = atomSemGet (&sem2, (5*SYSTEM_TICKS_PER_SEC))) != ATOM_OK)
{
ATOMLOG (_STR("Notify fail (%d)\n"), status);
failures++;
}
else
{
/* Success */
/* Clean up the last remaining semaphore */
if (atomSemDelete (&sem2) != ATOM_OK)
{
ATOMLOG (_STR("Failed sem2 delete\n"));
failures++;
}
}
}
}
}
/* Test wakeup of threads on semaphore deletion (thread blocking with timeout) */
if (atomSemCreate (&sem1, 0) != ATOM_OK)
{
ATOMLOG (_STR("Error creating test semaphore 1\n"));
failures++;
}
else if (atomSemCreate (&sem2, 0) != ATOM_OK)
{
ATOMLOG (_STR("Error creating test semaphore 2\n"));
failures++;
}
else if (atomThreadCreate(&tcb[1], TEST_THREAD_PRIO, test2_thread_func, 0,
&test_thread_stack[1][TEST_THREAD_STACK_SIZE - 1],
TEST_THREAD_STACK_SIZE) != ATOM_OK)
{
/* Fail */
ATOMLOG (_STR("Error creating test thread 2\n"));
failures++;
}
else
{
/*
* We have created two semaphores. sem1 is for the other thread
* to wait on, which we will delete from this thread. We want
* to see that the other thread is woken up if its semaphore
* is deleted. This is indicated through sem2 being posted
* back to us.
*/
/* Wait for the other thread to start blocking on sem1 */
if (atomTimerDelay(SYSTEM_TICKS_PER_SEC) != ATOM_OK)
{
ATOMLOG (_STR("Failed timer delay\n"));
failures++;
}
else
{
/* The other thread will be blocking on sem1 now, delete sem1 */
if (atomSemDelete(&sem1) != ATOM_OK)
{
ATOMLOG (_STR("Failed sem1 delete\n"));
failures++;
}
else
{
/* Sem1 deleted. The thread should now wake up and post sem2. */
if ((status = atomSemGet (&sem2, (5*SYSTEM_TICKS_PER_SEC))) != ATOM_OK)
{
ATOMLOG (_STR("Notify fail (%d)\n"), status);
failures++;
}
else
{
/* Success */
/* Clean up the last remaining semaphore */
if (atomSemDelete (&sem2) != ATOM_OK)
{
ATOMLOG (_STR("Failed sem2 delete\n"));
failures++;
}
}
}
}
}
/* Check thread stack usage (if enabled) */
#ifdef ATOM_STACK_CHECKING
{
uint32_t used_bytes, free_bytes;
int thread;
/* Check all threads */
for (thread = 0; thread < NUM_TEST_THREADS; thread++)
{
/* Check thread stack usage */
if (atomThreadStackCheck (&tcb[thread], &used_bytes, &free_bytes) != ATOM_OK)
{
ATOMLOG (_STR("StackCheck\n"));
failures++;
}
else
{
/* Check the thread did not use up to the end of stack */
if (free_bytes == 0)
{
ATOMLOG (_STR("StackOverflow %d\n"), thread);
failures++;
}
/* Log the stack usage */
#ifdef TESTS_LOG_STACK_USAGE
ATOMLOG (_STR("StackUse:%d\n"), (int)used_bytes);
#endif
}
}
}
#endif
/* Quit */
return failures;
}
/**
* \b test_start
*
* Start mutex test.
*
* This test exercises the atomMutexGet() and atomMutexPut() APIs including
* forcing the various error indications which can be returned from the
* APIs to ensure that handling for these corner cases have been correctly
* implemented.
*
* @retval Number of failures
*/
uint32_t test_start (void)
{
int failures;
uint8_t status;
ATOM_TIMER timer_cb;
int count;
/* Default to zero failures */
failures = 0;
/* Test parameter checks */
if (atomMutexGet (NULL, 0) != ATOM_ERR_PARAM)
{
ATOMLOG (_STR("Get param failed\n"));
failures++;
}
if (atomMutexPut (NULL) != ATOM_ERR_PARAM)
{
ATOMLOG (_STR("Put param failed\n"));
failures++;
}
/* Test atomMutexGet() can not be called from interrupt context */
g_result = 0;
if (atomMutexCreate (&mutex1) != ATOM_OK)
{
ATOMLOG (_STR("Error creating test mutex1\n"));
failures++;
}
else
{
/* Fill out the timer callback request structure */
timer_cb.cb_func = testCallback;
timer_cb.cb_data = NULL;
timer_cb.cb_ticks = SYSTEM_TICKS_PER_SEC;
/* Request the timer callback to run in one second */
if (atomTimerRegister (&timer_cb) != ATOM_OK)
{
ATOMLOG (_STR("Error registering timer\n"));
failures++;
}
/* Wait two seconds for g_result to be set indicating success */
else
{
atomTimerDelay (2 * SYSTEM_TICKS_PER_SEC);
if (g_result != 1)
{
ATOMLOG (_STR("Context check failed\n"));
failures++;
}
}
/* Delete the test mutex */
if (atomMutexDelete (&mutex1) != ATOM_OK)
{
ATOMLOG (_STR("Mutex1 delete failed\n"));
failures++;
}
}
/* Create mutex1 which will be owned by us */
if (atomMutexCreate (&mutex1) != ATOM_OK)
{
ATOMLOG (_STR("Error creating test mutex 1\n"));
failures++;
}
/* Create mutex2 which will be owned by another thread */
else if (atomMutexCreate (&mutex2) != ATOM_OK)
{
ATOMLOG (_STR("Error creating test mutex 2\n"));
failures++;
}
/* Create a test thread, the sole purpose of which is to own mutex2 */
g_owned = 0;
if (atomThreadCreate(&tcb[0], TEST_THREAD_PRIO, test_thread_func, 0,
&test_thread_stack[0][TEST_THREAD_STACK_SIZE - 1],
TEST_THREAD_STACK_SIZE) != ATOM_OK)
{
/* Fail */
ATOMLOG (_STR("Error creating test thread 1\n"));
failures++;
}
/* Sleep until the test thread owns mutex2 */
atomTimerDelay (SYSTEM_TICKS_PER_SEC);
if (g_owned == 0)
{
ATOMLOG (_STR("Thread own fail\n"));
failures++;
}
/* Test wait on mutex with timeout - should timeout while owned by another thread */
if ((status = atomMutexGet (&mutex2, SYSTEM_TICKS_PER_SEC)) != ATOM_TIMEOUT)
{
ATOMLOG (_STR("Get %d\n"), status);
failures++;
}
else
{
/* Success */
}
/* Test wait on mutex with no blocking - should return that owned by another thread */
if ((status = atomMutexGet (&mutex2, -1)) != ATOM_WOULDBLOCK)
{
ATOMLOG (_STR("Wouldblock err %d\n"), status);
failures++;
}
/* Test wait on mutex with no blocking when mutex is available */
if (atomMutexGet (&mutex1, -1) != ATOM_OK)
{
ATOMLOG (_STR("Error taking mutex1\n"));
failures++;
}
else
{
/* Relinquish ownership of mutex1 */
if (atomMutexPut (&mutex1) != ATOM_OK)
{
ATOMLOG (_STR("Error posting mutex\n"));
failures++;
}
}
/* Test for lock count overflows with too many gets */
count = 255;
while (count--)
{
if (atomMutexGet (&mutex1, 0) != ATOM_OK)
{
ATOMLOG (_STR("Error getting mutex1\n"));
failures++;
break;
}
}
/* The lock count should overflow this time */
if (atomMutexGet (&mutex1, 0) != ATOM_ERR_OVF)
{
ATOMLOG (_STR("Error tracking overflow\n"));
failures++;
}
else
{
/* Success */
}
/* Delete the test mutexes */
if (atomMutexDelete (&mutex1) != ATOM_OK)
{
ATOMLOG (_STR("Error deleting mutex1\n"));
failures++;
}
if (atomMutexDelete (&mutex2) != ATOM_OK)
{
ATOMLOG (_STR("Error deleting mutex2\n"));
failures++;
}
/* Check thread stack usage (if enabled) */
#ifdef ATOM_STACK_CHECKING
{
uint32_t used_bytes, free_bytes;
int thread;
/* Check all threads */
for (thread = 0; thread < NUM_TEST_THREADS; thread++)
{
/* Check thread stack usage */
if (atomThreadStackCheck (&tcb[thread], &used_bytes, &free_bytes) != ATOM_OK)
{
ATOMLOG (_STR("StackCheck\n"));
failures++;
}
else
{
/* Check the thread did not use up to the end of stack */
if (free_bytes == 0)
{
ATOMLOG (_STR("StackOverflow %d\n"), thread);
failures++;
}
/* Log the stack usage */
#ifdef TESTS_LOG_STACK_USAGE
ATOMLOG (_STR("StackUse:%d\n"), (int)used_bytes);
#endif
}
}
}
#endif
/* Quit */
return failures;
}
/**
* \b test_start
*
* Start semaphore test.
*
* This tests basic counting semaphore operation between two threads.
*
* A semaphore is created with a count of 10. A second thread then
* ensures that it can decrement the semaphore 10 times before
* it can no longer be decremented.
*
* @retval Number of failures
*/
uint32_t test_start (void)
{
int failures;
/* Default to zero failures */
failures = 0;
/* Create sem with count ten for second thread to decrement */
if (atomSemCreate (&sem1, INITIAL_SEM_COUNT) != ATOM_OK) {
ATOMLOG (_STR("Error creating test semaphore 1\n"));
failures++;
}
/* Create sem to receive test-passed notification */
else if (atomSemCreate (&sem2, 0) != ATOM_OK) {
ATOMLOG (_STR("Error creating test semaphore 1\n"));
failures++;
} else {
/* Check that sem2 doesn't already have a positive count */
if (atomSemGet (&sem2, -1) != ATOM_WOULDBLOCK) {
ATOMLOG (_STR("Sem2 already put\n"));
failures++;
}
/* Create second thread */
else if (atomThreadCreate(&tcb[0], TEST_THREAD_PRIO, test_thread_func, 1,
&test_thread_stack[0][TEST_THREAD_STACK_SIZE - 1],
TEST_THREAD_STACK_SIZE) != ATOM_OK) {
/* Fail */
ATOMLOG (_STR("Error creating test thread\n"));
failures++;
}
/*
* The second thread has now been created and will attempt to
* decrement sem1 ten times, then finally check that it cannot
* decrement it any further. If this passes then the second
* thread will post sem2 to notify us that the test has passed.
*/
else {
/* Give the second thread one second to post sem2 */
if (atomSemGet (&sem2, SYSTEM_TICKS_PER_SEC) != ATOM_OK) {
ATOMLOG (_STR("Sem2 not posted\n"));
failures++;
}
}
/* Delete semaphores, test finished */
if (atomSemDelete (&sem1) != ATOM_OK) {
ATOMLOG (_STR("Delete failed\n"));
failures++;
}
if (atomSemDelete (&sem2) != ATOM_OK) {
ATOMLOG (_STR("Delete failed\n"));
failures++;
}
}
/* Check thread stack usage (if enabled) */
#ifdef ATOM_STACK_CHECKING
{
uint32_t used_bytes, free_bytes;
int thread;
/* Check all threads */
for (thread = 0; thread < NUM_TEST_THREADS; thread++) {
/* Check thread stack usage */
if (atomThreadStackCheck (&tcb[thread], &used_bytes, &free_bytes) != ATOM_OK) {
ATOMLOG (_STR("StackCheck\n"));
failures++;
} else {
/* Check the thread did not use up to the end of stack */
if (free_bytes == 0) {
ATOMLOG (_STR("StackOverflow %d\n"), thread);
failures++;
}
/* Log the stack usage */
#ifdef TESTS_LOG_STACK_USAGE
ATOMLOG (_STR("StackUse:%d\n"), (int)used_bytes);
#endif
}
}
}
#endif
/* Quit */
return failures;
}
/**
* \b test_start
*
* Start mutex test.
*
* With multiple threads blocking on a single mutex, this test confirms that
* they are woken in order when the mutex is released. The correct order for
* waking is that the higher priority threads are woken first, followed by the
* lower priority threads. Where multiple threads of the same priority are
* waiting, the threads are woken in FIFO order (the order in which they started
* waiting on the mutex).
*
* To test this we create four threads which all wait on a single mutex.
* One pair of threads are running at high priority, with the other pair at a
* lower priority:
*
* Thread 1: low prio thread A
* Thread 2: low prio thread B
* Thread 3: high prio thread A
* Thread 4: high prio thread B
*
* The threads are forced to start blocking on the same mutex in the
* above order.
*
* We expect to see them woken up in the following order:
* 3, 4, 1, 2
*
* This proves the multiple blocking thread ordering in terms of both
* the priority-queueing and same-priority-FIFO-queueing.
*
* @retval Number of failures
*/
uint32_t test_start (void)
{
int failures;
/* Default to zero failures */
failures = 0;
/* Create mutex */
if (atomMutexCreate (&mutex1) != ATOM_OK)
{
ATOMLOG (_STR("Error creating test mutex 1\n"));
failures++;
}
/* Take ownership of the mutex so all threads will block to begin with */
else if (atomMutexGet (&mutex1, 0) != ATOM_OK)
{
ATOMLOG (_STR("Get error\n"));
failures++;
}
/* Start the threads */
else
{
/* Create Thread 1 (lower priority thread A) */
if (atomThreadCreate(&tcb[0], TEST_THREAD_PRIO+1, test_thread_func, 1,
&test_thread_stack[0][0],
TEST_THREAD_STACK_SIZE, TRUE) != ATOM_OK)
{
/* Fail */
ATOMLOG (_STR("Error creating test thread\n"));
failures++;
}
/* Delay to ensure the thread will start blocking on the mutex */
atomTimerDelay (SYSTEM_TICKS_PER_SEC/4);
/* Create Thread 2 (lower priority thread B) */
if (atomThreadCreate(&tcb[1], TEST_THREAD_PRIO+1, test_thread_func, 2,
&test_thread_stack[1][0],
TEST_THREAD_STACK_SIZE, TRUE) != ATOM_OK)
{
/* Fail */
ATOMLOG (_STR("Error creating test thread\n"));
failures++;
}
/* Delay to ensure the thread will start blocking on the mutex */
atomTimerDelay (SYSTEM_TICKS_PER_SEC/4);
/* Create Thread 3 (higher priority thread A) */
if (atomThreadCreate(&tcb[2], TEST_THREAD_PRIO, test_thread_func, 3,
&test_thread_stack[2][0],
TEST_THREAD_STACK_SIZE, TRUE) != ATOM_OK)
{
/* Fail */
ATOMLOG (_STR("Error creating test thread\n"));
failures++;
}
/* Delay to ensure the thread will start blocking on the mutex */
atomTimerDelay (SYSTEM_TICKS_PER_SEC/4);
/* Create Thread 4 (higher priority thread B) */
if (atomThreadCreate(&tcb[3], TEST_THREAD_PRIO, test_thread_func, 4,
&test_thread_stack[3][0],
TEST_THREAD_STACK_SIZE, TRUE) != ATOM_OK)
{
/* Fail */
ATOMLOG (_STR("Error creating test thread\n"));
failures++;
}
/* Delay to ensure the thread will start blocking on the mutex */
atomTimerDelay (SYSTEM_TICKS_PER_SEC/4);
/* All four threads will now be blocking on mutex1 */
/*
* Initialise wake count, used by threads to determine
* what order they were woken in.
*/
wake_cnt = 0;
/*
* Release the mutex. This will wake up one of the threads blocking
* on it. That thread will take ownership of the mutex, and note the
* order at which it was woken, before releasing the mutex. This in
* turn will wake up the next thread blocking on the mutex until all
* four test threads have taken and released the mutex, noting their
* wake order.
*/
if (atomMutexPut (&mutex1) != ATOM_OK)
{
ATOMLOG (_STR("Post fail\n"));
failures++;
}
/* Sleep to give all four threads time to complete */
atomTimerDelay (SYSTEM_TICKS_PER_SEC / 4);
/* All four threads now woken up, check they woke in correct order */
if ((wake_order[0] != 3) && (wake_order[1] != 4)
&& (wake_order[2] != 1) && (wake_order[3] != 2))
{
ATOMLOG (_STR("Bad order %d,%d,%d,%d\n"),
wake_order[0], wake_order[1], wake_order[2], wake_order[3]);
failures++;
}
/* Delete mutex, test finished */
if (atomMutexDelete (&mutex1) != ATOM_OK)
{
ATOMLOG (_STR("Delete failed\n"));
failures++;
}
}
/* Check thread stack usage (if enabled) */
#ifdef ATOM_STACK_CHECKING
{
uint32_t used_bytes, free_bytes;
int thread;
/* Check all threads */
for (thread = 0; thread < NUM_TEST_THREADS; thread++)
{
/* Check thread stack usage */
if (atomThreadStackCheck (&tcb[thread], &used_bytes, &free_bytes) != ATOM_OK)
{
ATOMLOG (_STR("StackCheck\n"));
failures++;
}
else
{
/* Check the thread did not use up to the end of stack */
if (free_bytes == 0)
{
ATOMLOG (_STR("StackOverflow %d\n"), thread);
failures++;
}
/* Log the stack usage */
#ifdef TESTS_LOG_STACK_USAGE
ATOMLOG (_STR("StackUse:%d\n"), (int)used_bytes);
#endif
}
}
}
#endif
/* Quit */
return failures;
}
