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Fork of OmniWheels by Gustav Atmel

mbed-os/TESTS/events/timing/main.cpp@2:798925c9e4a8, 2018-05-01 (annotated)

Committer:
gustavatmel
Date:
Tue May 01 15:55:34 2018 +0000
Revision:
2:798925c9e4a8
Parent:
1:9c5af431a1f1 
bluetooth

Who changed what in which revision?

UserRevisionLine numberNew contents of line
gustavatmel 1:9c5af431a1f1 1 /* mbed Microcontroller Library
gustavatmel 1:9c5af431a1f1 2 * Copyright (c) 2017 ARM Limited
gustavatmel 1:9c5af431a1f1 3 *
gustavatmel 1:9c5af431a1f1 4 * Licensed under the Apache License, Version 2.0 (the "License");
gustavatmel 1:9c5af431a1f1 5 * you may not use this file except in compliance with the License.
gustavatmel 1:9c5af431a1f1 6 * You may obtain a copy of the License at
gustavatmel 1:9c5af431a1f1 7 *
gustavatmel 1:9c5af431a1f1 8 * http://www.apache.org/licenses/LICENSE-2.0
gustavatmel 1:9c5af431a1f1 9 *
gustavatmel 1:9c5af431a1f1 10 * Unless required by applicable law or agreed to in writing, software
gustavatmel 1:9c5af431a1f1 11 * distributed under the License is distributed on an "AS IS" BASIS,
gustavatmel 1:9c5af431a1f1 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
gustavatmel 1:9c5af431a1f1 13 * See the License for the specific language governing permissions and
gustavatmel 1:9c5af431a1f1 14 * limitations under the License.
gustavatmel 1:9c5af431a1f1 15 */
gustavatmel 1:9c5af431a1f1 16 #include "mbed_events.h"
gustavatmel 1:9c5af431a1f1 17 #include "mbed.h"
gustavatmel 1:9c5af431a1f1 18 #include "rtos.h"
gustavatmel 1:9c5af431a1f1 19 #include "greentea-client/test_env.h"
gustavatmel 1:9c5af431a1f1 20 #include "unity.h"
gustavatmel 1:9c5af431a1f1 21 #include "utest.h"
gustavatmel 1:9c5af431a1f1 22 #include <cstdlib>
gustavatmel 1:9c5af431a1f1 23 #include <cmath>
gustavatmel 1:9c5af431a1f1 24
gustavatmel 1:9c5af431a1f1 25 using namespace utest::v1;
gustavatmel 1:9c5af431a1f1 26
gustavatmel 1:9c5af431a1f1 27
gustavatmel 1:9c5af431a1f1 28 // Test delay
gustavatmel 1:9c5af431a1f1 29 #ifndef TEST_EVENTS_TIMING_TIME
gustavatmel 1:9c5af431a1f1 30 #define TEST_EVENTS_TIMING_TIME 20000
gustavatmel 1:9c5af431a1f1 31 #endif
gustavatmel 1:9c5af431a1f1 32
gustavatmel 1:9c5af431a1f1 33 #ifndef TEST_EVENTS_TIMING_MEAN
gustavatmel 1:9c5af431a1f1 34 #define TEST_EVENTS_TIMING_MEAN 25
gustavatmel 1:9c5af431a1f1 35 #endif
gustavatmel 1:9c5af431a1f1 36
gustavatmel 1:9c5af431a1f1 37 #ifndef M_PI
gustavatmel 1:9c5af431a1f1 38 #define M_PI 3.14159265358979323846264338327950288
gustavatmel 1:9c5af431a1f1 39 #endif
gustavatmel 1:9c5af431a1f1 40
gustavatmel 1:9c5af431a1f1 41 // Random number generation to skew timing values
gustavatmel 1:9c5af431a1f1 42 float gauss(float mu, float sigma) {
gustavatmel 1:9c5af431a1f1 43 float x = (float)rand() / ((float)RAND_MAX+1);
gustavatmel 1:9c5af431a1f1 44 float y = (float)rand() / ((float)RAND_MAX+1);
gustavatmel 1:9c5af431a1f1 45 float x2pi = x*2.0*M_PI;
gustavatmel 1:9c5af431a1f1 46 float g2rad = sqrt(-2.0 * log(1.0-y));
gustavatmel 1:9c5af431a1f1 47 float z = cos(x2pi) * g2rad;
gustavatmel 1:9c5af431a1f1 48 return mu + z*sigma;
gustavatmel 1:9c5af431a1f1 49 }
gustavatmel 1:9c5af431a1f1 50
gustavatmel 1:9c5af431a1f1 51 float chisq(float sigma) {
gustavatmel 1:9c5af431a1f1 52 return pow(gauss(0, sqrt(sigma)), 2);
gustavatmel 1:9c5af431a1f1 53 }
gustavatmel 1:9c5af431a1f1 54
gustavatmel 1:9c5af431a1f1 55
gustavatmel 1:9c5af431a1f1 56 Timer timer;
gustavatmel 1:9c5af431a1f1 57 DigitalOut led(LED1);
gustavatmel 1:9c5af431a1f1 58
gustavatmel 1:9c5af431a1f1 59 equeue_sema_t sema;
gustavatmel 1:9c5af431a1f1 60
gustavatmel 1:9c5af431a1f1 61 // Timer timing test
gustavatmel 1:9c5af431a1f1 62 void timer_timing_test() {
gustavatmel 1:9c5af431a1f1 63 timer.reset();
gustavatmel 1:9c5af431a1f1 64 timer.start();
gustavatmel 1:9c5af431a1f1 65 int prev = timer.read_us();
gustavatmel 1:9c5af431a1f1 66
gustavatmel 1:9c5af431a1f1 67 while (prev < TEST_EVENTS_TIMING_TIME*1000) {
gustavatmel 1:9c5af431a1f1 68 int next = timer.read_us();
gustavatmel 1:9c5af431a1f1 69 if (next < prev) {
gustavatmel 1:9c5af431a1f1 70 printf("backwards drift %d -> %d (%08x -> %08x)\r\n",
gustavatmel 1:9c5af431a1f1 71 prev, next, prev, next);
gustavatmel 1:9c5af431a1f1 72 }
gustavatmel 1:9c5af431a1f1 73 TEST_ASSERT(next >= prev);
gustavatmel 1:9c5af431a1f1 74 prev = next;
gustavatmel 1:9c5af431a1f1 75 }
gustavatmel 1:9c5af431a1f1 76 }
gustavatmel 1:9c5af431a1f1 77
gustavatmel 1:9c5af431a1f1 78 // equeue tick timing test
gustavatmel 1:9c5af431a1f1 79 void tick_timing_test() {
gustavatmel 1:9c5af431a1f1 80 unsigned start = equeue_tick();
gustavatmel 1:9c5af431a1f1 81 int prev = 0;
gustavatmel 1:9c5af431a1f1 82
gustavatmel 1:9c5af431a1f1 83 while (prev < TEST_EVENTS_TIMING_TIME) {
gustavatmel 1:9c5af431a1f1 84 int next = equeue_tick() - start;
gustavatmel 1:9c5af431a1f1 85 if (next < prev) {
gustavatmel 1:9c5af431a1f1 86 printf("backwards drift %d -> %d (%08x -> %08x)\r\n",
gustavatmel 1:9c5af431a1f1 87 prev, next, prev, next);
gustavatmel 1:9c5af431a1f1 88 }
gustavatmel 1:9c5af431a1f1 89 TEST_ASSERT(next >= prev);
gustavatmel 1:9c5af431a1f1 90 prev = next;
gustavatmel 1:9c5af431a1f1 91 }
gustavatmel 1:9c5af431a1f1 92 }
gustavatmel 1:9c5af431a1f1 93
gustavatmel 1:9c5af431a1f1 94 // equeue semaphore timing test
gustavatmel 1:9c5af431a1f1 95 void semaphore_timing_test() {
gustavatmel 1:9c5af431a1f1 96 srand(0);
gustavatmel 1:9c5af431a1f1 97 timer.reset();
gustavatmel 1:9c5af431a1f1 98 timer.start();
gustavatmel 1:9c5af431a1f1 99
gustavatmel 1:9c5af431a1f1 100 int err = equeue_sema_create(&sema);
gustavatmel 1:9c5af431a1f1 101 TEST_ASSERT_EQUAL(0, err);
gustavatmel 1:9c5af431a1f1 102
gustavatmel 1:9c5af431a1f1 103 while (timer.read_ms() < TEST_EVENTS_TIMING_TIME) {
gustavatmel 1:9c5af431a1f1 104 int delay = chisq(TEST_EVENTS_TIMING_MEAN);
gustavatmel 1:9c5af431a1f1 105
gustavatmel 1:9c5af431a1f1 106 int start = timer.read_us();
gustavatmel 1:9c5af431a1f1 107 equeue_sema_wait(&sema, delay);
gustavatmel 1:9c5af431a1f1 108 int taken = timer.read_us() - start;
gustavatmel 1:9c5af431a1f1 109
gustavatmel 1:9c5af431a1f1 110 if (taken < (delay * 1000 - 5000) || taken > (delay * 1000 + 5000)) {
gustavatmel 1:9c5af431a1f1 111 printf("delay %dms => error %dus\r\n", delay, abs(1000 * delay - taken));
gustavatmel 1:9c5af431a1f1 112 }
gustavatmel 1:9c5af431a1f1 113
gustavatmel 1:9c5af431a1f1 114 TEST_ASSERT_INT_WITHIN(5000, taken, delay * 1000);
gustavatmel 1:9c5af431a1f1 115
gustavatmel 1:9c5af431a1f1 116 led = !led;
gustavatmel 1:9c5af431a1f1 117 }
gustavatmel 1:9c5af431a1f1 118
gustavatmel 1:9c5af431a1f1 119 equeue_sema_destroy(&sema);
gustavatmel 1:9c5af431a1f1 120 }
gustavatmel 1:9c5af431a1f1 121
gustavatmel 1:9c5af431a1f1 122
gustavatmel 1:9c5af431a1f1 123 // Test setup
gustavatmel 1:9c5af431a1f1 124 utest::v1::status_t test_setup(const size_t number_of_cases) {
gustavatmel 1:9c5af431a1f1 125 GREENTEA_SETUP((number_of_cases+1)*TEST_EVENTS_TIMING_TIME/1000, "default_auto");
gustavatmel 1:9c5af431a1f1 126 return verbose_test_setup_handler(number_of_cases);
gustavatmel 1:9c5af431a1f1 127 }
gustavatmel 1:9c5af431a1f1 128
gustavatmel 1:9c5af431a1f1 129 const Case cases[] = {
gustavatmel 1:9c5af431a1f1 130 Case("Testing accuracy of timer", timer_timing_test),
gustavatmel 1:9c5af431a1f1 131 Case("Testing accuracy of equeue tick", tick_timing_test),
gustavatmel 1:9c5af431a1f1 132 Case("Testing accuracy of equeue semaphore", semaphore_timing_test),
gustavatmel 1:9c5af431a1f1 133 };
gustavatmel 1:9c5af431a1f1 134
gustavatmel 1:9c5af431a1f1 135 Specification specification(test_setup, cases);
gustavatmel 1:9c5af431a1f1 136
gustavatmel 1:9c5af431a1f1 137 int main() {
gustavatmel 1:9c5af431a1f1 138 return !Harness::run(specification);
gustavatmel 1:9c5af431a1f1 139 }
gustavatmel 1:9c5af431a1f1 140