File content as of revision 0:225c1da086a1:

#include "mbed.h"
#include "test_env.h"
#include "rtos.h"

/********************
 * Switch test case
 ********************/
#define TEST_84_BASIC
//#define TEST_85_MUTEX
//#define TEST_86_SEMAPHORE
//#define TEST_87_SIGNALS
//#define TEST_88_QUEUE
//#define TEST_89_MAIL
//#define TEST_90_TIMER
//#define TEST_91_ISR

#if defined(TEST_84_BASIC)

/*
 * The stack size is defined in cmsis_os.h mainly dependent on the underlying toolchain and
 * the C standard library. For GCC, ARM_STD and IAR it is defined with a size of 2048 bytes
 * and for ARM_MICRO 512. Because of reduce RAM size some targets need a reduced stacksize.
 */
#if (defined(TARGET_STM32L053R8) || defined(TARGET_STM32L053C8)) && defined(TOOLCHAIN_GCC)
#define STACK_SIZE DEFAULT_STACK_SIZE/2
#elif (defined(TARGET_STM32F030R8) || defined(TARGET_STM32F070RB)) && defined(TOOLCHAIN_GCC)
#define STACK_SIZE DEFAULT_STACK_SIZE/2
#elif (defined(TARGET_STM32F030R8)) && defined(TOOLCHAIN_IAR)
#define STACK_SIZE DEFAULT_STACK_SIZE/2
#else
#define STACK_SIZE DEFAULT_STACK_SIZE
#endif

void print_char(char c = '*') {
    printf("%c", c);
    fflush(stdout);
}

DigitalOut led1(LED1);
DigitalOut led2(LED2);

void led2_thread(void const *argument) {
    while (true) {
        led2 = !led2;
        Thread::wait(1000);
        print_char();
    }
}

int main() {
    MBED_HOSTTEST_TIMEOUT(15);
    MBED_HOSTTEST_SELECT(wait_us_auto);
    MBED_HOSTTEST_DESCRIPTION(Basic thread);
    MBED_HOSTTEST_START("RTOS_1");

    Thread thread(led2_thread, NULL, osPriorityNormal, STACK_SIZE);

    while (true) {
        led1 = !led1;
        Thread::wait(500);
    }
}

#elif defined(TEST_85_MUTEX)

#define THREAD_DELAY     50
#define SIGNALS_TO_EMIT  100

/*
 * The stack size is defined in cmsis_os.h mainly dependent on the underlying toolchain and
 * the C standard library. For GCC, ARM_STD and IAR it is defined with a size of 2048 bytes
 * and for ARM_MICRO 512. Because of reduce RAM size some targets need a reduced stacksize.
 */
#if (defined(TARGET_STM32L053R8) || defined(TARGET_STM32L053C8)) && defined(TOOLCHAIN_GCC)
    #define STACK_SIZE DEFAULT_STACK_SIZE/4
#elif (defined(TARGET_STM32F030R8) || defined(TARGET_STM32F070RB)) && defined(TOOLCHAIN_GCC)
    #define STACK_SIZE DEFAULT_STACK_SIZE/4
#elif defined(TARGET_STM32F334R8) && defined(TOOLCHAIN_IAR)
    #define STACK_SIZE DEFAULT_STACK_SIZE/4
#elif defined(TARGET_STM32F030R8) && defined(TOOLCHAIN_IAR)
    #define STACK_SIZE DEFAULT_STACK_SIZE/4 
#elif defined(TARGET_STM32F070RB) && defined(TOOLCHAIN_IAR)
    #define STACK_SIZE DEFAULT_STACK_SIZE/2 
#elif defined(TARGET_STM32F072RB) && defined(TOOLCHAIN_IAR)
    #define STACK_SIZE DEFAULT_STACK_SIZE/2 
#elif defined(TARGET_STM32F302R8) && defined(TOOLCHAIN_IAR)
    #define STACK_SIZE DEFAULT_STACK_SIZE/2     
#else
    #define STACK_SIZE DEFAULT_STACK_SIZE
#endif

void print_char(char c = '*') {
    printf("%c", c);
    fflush(stdout);
}

Mutex stdio_mutex;
DigitalOut led(LED1);

volatile int change_counter = 0;
volatile bool changing_counter = false;
volatile bool mutex_defect = false;

bool manipulate_protected_zone(const int thread_delay) {
    bool result = true;

    stdio_mutex.lock(); // LOCK
    if (changing_counter == true) {
        // 'e' stands for error. If changing_counter is true access is not exclusively
        print_char('e');
        result = false;
        mutex_defect = true;
    }
    changing_counter = true;

    // Some action on protected
    led = !led;
    change_counter++;
    print_char('.');
    Thread::wait(thread_delay);

    changing_counter = false;
    stdio_mutex.unlock();   // UNLOCK
    return result;
}

void test_thread(void const *args) {
    const int thread_delay = int(args);
    while (true) {
        manipulate_protected_zone(thread_delay);
    }
}

int main() {
    MBED_HOSTTEST_TIMEOUT(20);
    MBED_HOSTTEST_SELECT(default);
    MBED_HOSTTEST_DESCRIPTION(Mutex resource lock);
    MBED_HOSTTEST_START("RTOS_2");

    const int t1_delay = THREAD_DELAY * 1;
    const int t2_delay = THREAD_DELAY * 2;
    const int t3_delay = THREAD_DELAY * 3;
    Thread t2(test_thread, (void *)t2_delay, osPriorityNormal, STACK_SIZE);
    Thread t3(test_thread, (void *)t3_delay, osPriorityNormal, STACK_SIZE);

    while (true) {
        // Thread 1 action
        Thread::wait(t1_delay);
        manipulate_protected_zone(t1_delay);
        if (change_counter >= SIGNALS_TO_EMIT or mutex_defect == true) {
            t2.terminate();
            t3.terminate();
            break;
        }
    }

    fflush(stdout);
    MBED_HOSTTEST_RESULT(!mutex_defect);
    return 0;
}

#elif defined(TEST_86_SEMAPHORE)

#define THREAD_DELAY     75
#define SEMAPHORE_SLOTS  2
#define SEM_CHANGES      100

/*
 * The stack size is defined in cmsis_os.h mainly dependent on the underlying toolchain and
 * the C standard library. For GCC, ARM_STD and IAR it is defined with a size of 2048 bytes
 * and for ARM_MICRO 512. Because of reduce RAM size some targets need a reduced stacksize.
 */
#if (defined(TARGET_STM32L053R8) || defined(TARGET_STM32L053C8)) && defined(TOOLCHAIN_GCC)
    #define STACK_SIZE DEFAULT_STACK_SIZE/16
#elif (defined(TARGET_STM32F030R8) || defined(TARGET_STM32F070RB)) && defined(TOOLCHAIN_GCC)
    #define STACK_SIZE DEFAULT_STACK_SIZE/8
#elif defined(TARGET_STM32F334R8) && (defined(TOOLCHAIN_GCC) || defined(TOOLCHAIN_IAR))
    #define STACK_SIZE DEFAULT_STACK_SIZE/4
#elif defined(TARGET_STM32F103RB) && defined(TOOLCHAIN_IAR)
    #define STACK_SIZE DEFAULT_STACK_SIZE/4
#elif defined(TARGET_STM32F030R8) && defined(TOOLCHAIN_IAR)
    #define STACK_SIZE DEFAULT_STACK_SIZE/4 
#elif defined(TARGET_STM32F070RB) && defined(TOOLCHAIN_IAR)
    #define STACK_SIZE DEFAULT_STACK_SIZE/2 
#elif defined(TARGET_STM32F072RB) && defined(TOOLCHAIN_IAR)
    #define STACK_SIZE DEFAULT_STACK_SIZE/2 
#elif defined(TARGET_STM32F302R8) && defined(TOOLCHAIN_IAR)
    #define STACK_SIZE DEFAULT_STACK_SIZE/2     
#else
    #define STACK_SIZE DEFAULT_STACK_SIZE
#endif

void print_char(char c = '*') {
    printf("%c", c);
    fflush(stdout);
}

#define ORIGINAL 1
#undef ORIGINAL

#if ORIGINAL
Semaphore two_slots(SEMAPHORE_SLOTS);
#else
Semaphore *two_slots;
#endif

volatile int change_counter = 0;
volatile int sem_counter = 0;
volatile bool sem_defect = false;

void test_thread(void const *delay) {
    const int thread_delay = int(delay);
    while (true) {
#if ORIGINAL
        two_slots.wait();
#else
        two_slots->wait();
#endif
        sem_counter++;
        const bool sem_lock_failed = sem_counter > SEMAPHORE_SLOTS;
        const char msg = sem_lock_failed ? 'e' : sem_counter + '0';
        print_char(msg);
        if (sem_lock_failed) {
            sem_defect = true;
        }
        Thread::wait(thread_delay);
        print_char('.');
        sem_counter--;
        change_counter++;
#if ORIGINAL
        two_slots.release();
#else
        two_slots->release();
#endif
    }
}

int main (void) {

#ifndef ORIGINAL
    two_slots = new Semaphore(SEMAPHORE_SLOTS);
#endif

    MBED_HOSTTEST_TIMEOUT(20);
    MBED_HOSTTEST_SELECT(default_auto);
    MBED_HOSTTEST_DESCRIPTION(Semaphore resource lock);
    MBED_HOSTTEST_START("RTOS_3");

    const int t1_delay = THREAD_DELAY * 1;
    const int t2_delay = THREAD_DELAY * 2;
    const int t3_delay = THREAD_DELAY * 3;
    Thread t1(test_thread, (void *)t1_delay, osPriorityNormal, STACK_SIZE);
    Thread t2(test_thread, (void *)t2_delay, osPriorityNormal, STACK_SIZE);
    Thread t3(test_thread, (void *)t3_delay, osPriorityNormal, STACK_SIZE);

    while (true) {
        if (change_counter >= SEM_CHANGES or sem_defect == true) {
            t1.terminate();
            t2.terminate();
            t3.terminate();
            break;
        }
    }

    fflush(stdout);
    MBED_HOSTTEST_RESULT(!sem_defect);
    return 0;
}

#elif defined(TEST_87_SIGNALS)

#define SIGNALS_TO_EMIT     100
#define SIGNAL_HANDLE_DELEY 25
#define SIGNAL_SET_VALUE    0x01

/*
 * The stack size is defined in cmsis_os.h mainly dependent on the underlying toolchain and
 * the C standard library. For GCC, ARM_STD and IAR it is defined with a size of 2048 bytes
 * and for ARM_MICRO 512. Because of reduce RAM size some targets need a reduced stacksize.
 */
#if defined(TARGET_STM32L053R8) || defined(TARGET_STM32L053C8)
    #define STACK_SIZE DEFAULT_STACK_SIZE/4
#elif (defined(TARGET_STM32F030R8)) && defined(TOOLCHAIN_IAR)
    #define STACK_SIZE DEFAULT_STACK_SIZE/2
#else
    #define STACK_SIZE DEFAULT_STACK_SIZE
#endif

DigitalOut led(LED1);
volatile int signal_counter = 0;

void led_thread(void const *argument) {
    while (true) {
        // Signal flags that are reported as event are automatically cleared.
        Thread::signal_wait(SIGNAL_SET_VALUE);
        led = !led;
        signal_counter++;
    }
}

int main (void) {
    MBED_HOSTTEST_TIMEOUT(20);
    MBED_HOSTTEST_SELECT(default_auto);
    MBED_HOSTTEST_DESCRIPTION(Signals messaging);
    MBED_HOSTTEST_START("RTOS_4");

    Thread thread(led_thread, NULL, osPriorityNormal, STACK_SIZE);
    bool result = true;

    while (true) {
        Thread::wait(2 * SIGNAL_HANDLE_DELEY);
        thread.signal_set(SIGNAL_SET_VALUE);
        if (signal_counter == SIGNALS_TO_EMIT) {
            printf("Handled %d signals\r\n", signal_counter);
            break;
        }
    }
    MBED_HOSTTEST_RESULT(result);
    return 0;
}

#elif defined(TEST_88_QUEUE)

typedef struct {
    float    voltage;   /* AD result of measured voltage */
    float    current;   /* AD result of measured current */
    uint32_t counter;   /* A counter value               */
} message_t;

#define CREATE_VOLTAGE(COUNTER) (COUNTER * 0.1) * 33
#define CREATE_CURRENT(COUNTER) (COUNTER * 0.1) * 11
#define QUEUE_SIZE       16
#define QUEUE_PUT_DELAY  100

/*
 * The stack size is defined in cmsis_os.h mainly dependent on the underlying toolchain and
 * the C standard library. For GCC, ARM_STD and IAR it is defined with a size of 2048 bytes
 * and for ARM_MICRO 512. Because of reduce RAM size some targets need a reduced stacksize.
 */
#if (defined(TARGET_STM32L053R8) || defined(TARGET_STM32L053C8)) && defined(TOOLCHAIN_GCC)
    #define STACK_SIZE DEFAULT_STACK_SIZE/4
#elif (defined(TARGET_STM32F030R8)) && defined(TOOLCHAIN_GCC)
    #define STACK_SIZE DEFAULT_STACK_SIZE/4
#elif (defined(TARGET_STM32F030R8)) && defined(TOOLCHAIN_IAR)
    #define STACK_SIZE DEFAULT_STACK_SIZE/2
#else
    #define STACK_SIZE DEFAULT_STACK_SIZE
#endif

MemoryPool<message_t, QUEUE_SIZE> mpool;
Queue<message_t, QUEUE_SIZE> queue;

/* Send Thread */
void send_thread (void const *argument) {
    static uint32_t i = 10;
    while (true) {
        i++; // Fake data update
        message_t *message = mpool.alloc();
        message->voltage = CREATE_VOLTAGE(i);
        message->current = CREATE_CURRENT(i);
        message->counter = i;
        queue.put(message);
        Thread::wait(QUEUE_PUT_DELAY);
    }
}

int main (void) {
    MBED_HOSTTEST_TIMEOUT(20);
    MBED_HOSTTEST_SELECT(default_auto);
    MBED_HOSTTEST_DESCRIPTION(Queue messaging);
    MBED_HOSTTEST_START("RTOS_5");

    Thread thread(send_thread, NULL, osPriorityNormal, STACK_SIZE);
    bool result = true;
    int result_counter = 0;

    while (true) {
        osEvent evt = queue.get();
        if (evt.status == osEventMessage) {
            message_t *message = (message_t*)evt.value.p;
            const float expected_voltage = CREATE_VOLTAGE(message->counter);
            const float expected_current = CREATE_CURRENT(message->counter);
            // Check using macros if received values correspond to values sent via queue
            bool expected_values = (expected_voltage == message->voltage) &&
                                   (expected_current == message->current);
            result = result && expected_values;
            const char *result_msg = expected_values ? "OK" : "FAIL";
            printf("%3d %.2fV %.2fA ... [%s]\r\n", message->counter,
                                                   message->voltage,
                                                   message->current,
                                                   result_msg);
            mpool.free(message);
            if (result == false || ++result_counter == QUEUE_SIZE) {
                break;
            }
        }
    }
    MBED_HOSTTEST_RESULT(result);
    return 0;
}

#elif defined(TEST_89_MAIL)

typedef struct {
    float    voltage;   /* AD result of measured voltage */
    float    current;   /* AD result of measured current */
    uint32_t counter;   /* A counter value               */
} mail_t;

#define CREATE_VOLTAGE(COUNTER) (COUNTER * 0.1) * 33
#define CREATE_CURRENT(COUNTER) (COUNTER * 0.1) * 11
#define QUEUE_SIZE       16
#define QUEUE_PUT_DELAY  100

/*
 * The stack size is defined in cmsis_os.h mainly dependent on the underlying toolchain and
 * the C standard library. For GCC, ARM_STD and IAR it is defined with a size of 2048 bytes
 * and for ARM_MICRO 512. Because of reduce RAM size some targets need a reduced stacksize.
 */
#if (defined(TARGET_STM32L053R8) || defined(TARGET_STM32L053C8)) && defined(TOOLCHAIN_GCC)
    #define STACK_SIZE DEFAULT_STACK_SIZE/4
#elif (defined(TARGET_STM32F030R8)) && defined(TOOLCHAIN_GCC)
    #define STACK_SIZE DEFAULT_STACK_SIZE/2
#elif (defined(TARGET_STM32F030R8)) && defined(TOOLCHAIN_IAR)
    #define STACK_SIZE DEFAULT_STACK_SIZE/2
#else
    #define STACK_SIZE DEFAULT_STACK_SIZE
#endif

Mail<mail_t, QUEUE_SIZE> mail_box;

void send_thread (void const *argument) {
    static uint32_t i = 10;
    while (true) {
        i++; // fake data update
        mail_t *mail = mail_box.alloc();
        mail->voltage = CREATE_VOLTAGE(i);
        mail->current = CREATE_CURRENT(i);
        mail->counter = i;
        mail_box.put(mail);
        Thread::wait(QUEUE_PUT_DELAY);
    }
}

int main (void) {
    MBED_HOSTTEST_TIMEOUT(20);
    MBED_HOSTTEST_SELECT(default_auto);
    MBED_HOSTTEST_DESCRIPTION(Mail messaging);
    MBED_HOSTTEST_START("RTOS_6");

    Thread thread(send_thread, NULL, osPriorityNormal, STACK_SIZE);
    bool result = true;
    int result_counter = 0;

    while (true) {
        osEvent evt = mail_box.get();
        if (evt.status == osEventMail) {
            mail_t *mail = (mail_t*)evt.value.p;
            const float expected_voltage = CREATE_VOLTAGE(mail->counter);
            const float expected_current = CREATE_CURRENT(mail->counter);
            // Check using macros if received values correspond to values sent via queue
            bool expected_values = (expected_voltage == mail->voltage) &&
                                   (expected_current == mail->current);
            result = result && expected_values;
            const char *result_msg = expected_values ? "OK" : "FAIL";
            printf("%3d %.2fV %.2fA ... [%s]\r\n", mail->counter,
                                                   mail->voltage,
                                                   mail->current,
                                                   result_msg);
            mail_box.free(mail);
            if (result == false || ++result_counter == QUEUE_SIZE) {
                break;
            }
        }
    }
    MBED_HOSTTEST_RESULT(result);
    return 0;
}

#elif defined(TEST_90_TIMER)

DigitalOut LEDs[4] = {
    DigitalOut(LED1), DigitalOut(LED2), DigitalOut(LED3), DigitalOut(LED4)
};

void print_char(char c = '*')
{
    printf("%c", c);
    fflush(stdout);
}

void blink(void const *n) {
    static int counter = 0;
    const int led_id = int(n);
    LEDs[led_id] = !LEDs[led_id];
    if (++counter == 75) {
        print_char();
        counter = 0;
    }
}

int main(void) {
    MBED_HOSTTEST_TIMEOUT(15);
    MBED_HOSTTEST_SELECT(wait_us_auto);
    MBED_HOSTTEST_DESCRIPTION(Timer);
    MBED_HOSTTEST_START("RTOS_7");

    RtosTimer led_1_timer(blink, osTimerPeriodic, (void *)0);
    RtosTimer led_2_timer(blink, osTimerPeriodic, (void *)1);
    RtosTimer led_3_timer(blink, osTimerPeriodic, (void *)2);
    RtosTimer led_4_timer(blink, osTimerPeriodic, (void *)3);

    led_1_timer.start(200);
    led_2_timer.start(100);
    led_3_timer.start(50);
    led_4_timer.start(25);

    Thread::wait(osWaitForever);
}

#elif defined(TEST_91_ISR)

#define QUEUE_SIZE              5
#define THREAD_DELAY            250
#define QUEUE_PUT_ISR_VALUE     128
#define QUEUE_PUT_THREAD_VALUE  127

/*
 * The stack size is defined in cmsis_os.h mainly dependent on the underlying toolchain and
 * the C standard library. For GCC, ARM_STD and IAR it is defined with a size of 2048 bytes
 * and for ARM_MICRO 512. Because of reduce RAM size some targets need a reduced stacksize.
 */
#if defined(TARGET_STM32L053R8) || defined(TARGET_STM32L053C8)
    #define STACK_SIZE DEFAULT_STACK_SIZE/4
#elif (defined(TARGET_STM32F030R8)) && defined(TOOLCHAIN_IAR)
    #define STACK_SIZE DEFAULT_STACK_SIZE/2
#else
    #define STACK_SIZE DEFAULT_STACK_SIZE
#endif

Queue<uint32_t, QUEUE_SIZE> queue;

DigitalOut myled(LED1);

void queue_isr() {

    queue.put((uint32_t*)QUEUE_PUT_ISR_VALUE);
    myled = !myled;
}

void queue_thread(void const *argument) {
    while (true) {
        queue.put((uint32_t*)QUEUE_PUT_THREAD_VALUE);
        Thread::wait(THREAD_DELAY);
    }
}

int main (void) {
    MBED_HOSTTEST_TIMEOUT(20);
    MBED_HOSTTEST_SELECT(default_auto);
    MBED_HOSTTEST_DESCRIPTION(ISR (Queue));
    MBED_HOSTTEST_START("RTOS_8");

    Thread thread(queue_thread, NULL, osPriorityNormal, STACK_SIZE);
    Ticker ticker;
    ticker.attach(queue_isr, 1.0);
    int isr_puts_counter = 0;
    bool result = true;

    while (true) {
        osEvent evt = queue.get();
        if (evt.status != osEventMessage) {
            printf("QUEUE_GET: Status(0x%02X) ... [FAIL]\r\n", evt.status);
            result = false;
            break;
        } else {
            printf("QUEUE_GET: Value(%u) ... [OK]\r\n", evt.value.v);
            if (evt.value.v == QUEUE_PUT_ISR_VALUE) {
                isr_puts_counter++;
            }
            if (isr_puts_counter >= QUEUE_SIZE) {
                break;
            }
        }
    }

    MBED_HOSTTEST_RESULT(result);
    return 0;
}

#endif