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ca13734bf0
Add kernel (Cortex-M0/M3/M4, Tricore, S32K, RISC-V ports), drivers, middleware (CAN stack, diagnostics, safety), applications, board support, build/test tooling, and documentation.
148 lines
3.3 KiB
C
148 lines
3.3 KiB
C
/**
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* @file test_timing.c
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* @brief Integration tests for timing accuracy
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*/
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#include "unity.h"
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#include "kernel.h"
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#include "task.h"
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#include <string.h>
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#include <math.h>
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/* Timing test variables */
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static volatile uint32_t periodic_count = 0;
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static volatile uint32_t first_period_time = 0;
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static volatile uint32_t last_period_time = 0;
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static volatile uint32_t max_period_jitter = 0;
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/* Periodic test task */
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static void periodic_task(void* params) {
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(void)params;
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uint32_t current_time = kernel_get_tick_count();
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if (periodic_count == 0) {
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first_period_time = current_time;
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} else {
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uint32_t period = current_time - last_period_time;
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if (period > max_period_jitter) {
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max_period_jitter = period;
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}
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}
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last_period_time = current_time;
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periodic_count++;
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while (1) {
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kernel_delay(10);
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}
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}
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/* Setup */
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void setUp(void) {
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kernel_init();
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periodic_count = 0;
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max_period_jitter = 0;
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}
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/* Teardown */
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void tearDown(void) {
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kernel_stop();
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}
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/* ============================================================================
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* Test Cases
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* ============================================================================ */
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/**
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* @brief Test periodic task timing
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*/
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void test_periodic_timing(void) {
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TaskConfig_t config = {
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.name = "periodic",
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.function = periodic_task,
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.parameters = NULL,
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.stack_size = 1024,
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.priority = 1,
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.period_ticks = 10
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};
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TaskHandle_t task = task_create(&config);
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kernel_start();
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kernel_delay(1000); /* Run for 1 second */
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/* Verify task executed */
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TEST_ASSERT_GREATER_THAN(90, periodic_count);
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TEST_ASSERT_LESS_THAN(110, periodic_count);
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/* Verify timing accuracy */
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TEST_ASSERT_LESS_OR_EQUAL(2, max_period_jitter); /* Max 2ms jitter */
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}
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/**
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* @brief Test delay accuracy
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*/
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void test_delay_accuracy(void) {
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kernel_start();
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uint32_t start = kernel_get_tick_count();
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kernel_delay(100);
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uint32_t end = kernel_get_tick_count();
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uint32_t elapsed = end - start;
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TEST_ASSERT_GREATER_OR_EQUAL(99, elapsed);
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TEST_ASSERT_LESS_OR_EQUAL(102, elapsed);
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}
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/**
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* @brief Test tick count
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*/
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void test_tick_count(void) {
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kernel_start();
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uint32_t start = kernel_get_tick_count();
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kernel_delay(50);
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uint32_t end = kernel_get_tick_count();
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TEST_ASSERT_EQUAL(50, end - start);
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}
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/**
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* @brief Test high-frequency task
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*/
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void test_high_frequency_task(void) {
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TaskConfig_t config = {
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.name = "fast_task",
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.function = periodic_task,
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.parameters = NULL,
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.stack_size = 1024,
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.priority = 0,
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.period_ticks = 1
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};
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TaskHandle_t task = task_create(&config);
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kernel_start();
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kernel_delay(100);
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/* 1ms task should execute approximately 100 times */
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TEST_ASSERT_GREATER_THAN(90, periodic_count);
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TEST_ASSERT_LESS_THAN(110, periodic_count);
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}
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/* ============================================================================
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* Test Runner
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* ============================================================================ */
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int main(void) {
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UNITY_BEGIN();
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RUN_TEST(test_periodic_timing);
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RUN_TEST(test_delay_accuracy);
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RUN_TEST(test_tick_count);
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RUN_TEST(test_high_frequency_task);
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return UNITY_END();
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}
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