| /* |
| * Copyright (c) 2019 Demant |
| * |
| * SPDX-License-Identifier: Apache-2.0 |
| */ |
| #include <ztest.h> |
| #include <zephyr/kernel.h> |
| |
| /* |
| * Test that meta-IRQs return to the cooperative thread they preempted. |
| * |
| * A meta-IRQ thread unblocks first a long-running low-priority |
| * cooperative thread, sleeps a little, and then unblocks a |
| * high-priority cooperative thread before the low-priority thread has |
| * finished. The correct behavior is to continue execution of the |
| * low-priority thread and schedule the high-priority thread |
| * afterwards. |
| */ |
| |
| #if defined(CONFIG_SMP) && CONFIG_MP_NUM_CPUS > 1 |
| #error Meta-IRQ test requires single-CPU operation |
| #endif |
| |
| #if CONFIG_NUM_METAIRQ_PRIORITIES < 1 |
| #error Need one metairq priority |
| #endif |
| |
| #if CONFIG_NUM_COOP_PRIORITIES < 2 |
| #error Need two cooperative priorities |
| #endif |
| |
| K_SEM_DEFINE(metairq_sem, 0, 1); |
| K_SEM_DEFINE(coop_sem1, 0, 1); |
| K_SEM_DEFINE(coop_sem2, 0, 1); |
| |
| /* Variables to track progress of cooperative threads */ |
| volatile int coop_cnt1; |
| volatile int coop_cnt2; |
| |
| #define WAIT_MS 10 /* Time to wait/sleep between actions */ |
| #define LOOP_CNT 4 /* Number of times low priority thread waits */ |
| |
| /* Meta-IRQ thread */ |
| void metairq_thread(void) |
| { |
| k_sem_take(&metairq_sem, K_FOREVER); |
| |
| printk("metairq start\n"); |
| |
| coop_cnt1 = 0; |
| coop_cnt2 = 0; |
| |
| printk("give sem2\n"); |
| k_sem_give(&coop_sem2); |
| |
| k_msleep(WAIT_MS); |
| |
| printk("give sem1\n"); |
| k_sem_give(&coop_sem1); |
| |
| printk("metairq end, should switch back to co-op thread2\n"); |
| |
| k_sem_give(&metairq_sem); |
| } |
| |
| /* High-priority cooperative thread */ |
| void coop_thread1(void) |
| { |
| int cnt1, cnt2; |
| |
| printk("thread1 take sem\n"); |
| k_sem_take(&coop_sem1, K_FOREVER); |
| printk("thread1 got sem\n"); |
| |
| /* Expect that low-priority thread has run to completion */ |
| cnt1 = coop_cnt1; |
| zassert_equal(cnt1, 0, "Unexpected cnt1 at start: %d", cnt1); |
| cnt2 = coop_cnt2; |
| zassert_equal(cnt2, LOOP_CNT, "Unexpected cnt2 at start: %d", cnt2); |
| |
| printk("thread1 increments coop_cnt1\n"); |
| coop_cnt1++; |
| |
| /* Expect that both threads have run to completion */ |
| cnt1 = coop_cnt1; |
| zassert_equal(cnt1, 1, "Unexpected cnt1 at end: %d", cnt1); |
| cnt2 = coop_cnt2; |
| zassert_equal(cnt2, LOOP_CNT, "Unexpected cnt2 at end: %d", cnt2); |
| |
| k_sem_give(&coop_sem1); |
| } |
| |
| /* Low-priority cooperative thread */ |
| void coop_thread2(void) |
| { |
| int cnt1, cnt2; |
| |
| printk("thread2 take sem\n"); |
| k_sem_take(&coop_sem2, K_FOREVER); |
| printk("thread2 got sem\n"); |
| |
| /* Expect that this is run first */ |
| cnt1 = coop_cnt1; |
| zassert_equal(cnt1, 0, "Unexpected cnt1 at start: %d", cnt1); |
| cnt2 = coop_cnt2; |
| zassert_equal(cnt2, 0, "Unexpected cnt2 at start: %d", cnt2); |
| |
| /* At some point before this loop has finished, the meta-irq thread |
| * will have woken up and given the semaphore which thread1 was |
| * waiting on. It then exits. We need to ensure that this thread |
| * continues to run after that instead of scheduling thread 1 |
| * when the meta-irq exits. |
| */ |
| for (int i = 0; i < LOOP_CNT; i++) { |
| printk("thread2 loop iteration %d\n", i); |
| coop_cnt2++; |
| k_busy_wait(WAIT_MS * 1000); |
| } |
| |
| /* Expect that this runs to completion before high-priority |
| * thread is started |
| */ |
| cnt1 = coop_cnt1; |
| zassert_equal(cnt1, 0, "Unexpected cnt1 at end: %d", cnt1); |
| cnt2 = coop_cnt2; |
| zassert_equal(cnt2, LOOP_CNT, "Unexpected cnt2 at end: %d", cnt2); |
| |
| k_sem_give(&coop_sem2); |
| } |
| |
| K_THREAD_DEFINE(metairq_thread_id, 1024, |
| metairq_thread, 0, 0, 0, |
| K_PRIO_COOP(0), 0, 0); |
| K_THREAD_DEFINE(coop_thread1_id, 1024, |
| coop_thread1, 0, 0, 0, |
| K_PRIO_COOP(1), 0, 0); |
| K_THREAD_DEFINE(coop_thread2_id, 1024, |
| coop_thread2, 0, 0, 0, |
| K_PRIO_COOP(2), 0, 0); |
| |
| void test_preempt_metairq(void) |
| { |
| /* Kick off meta-IRQ */ |
| k_sem_give(&metairq_sem); |
| |
| /* Wait for all threads to finish */ |
| k_sem_take(&coop_sem2, K_FOREVER); |
| k_sem_take(&coop_sem1, K_FOREVER); |
| k_sem_take(&metairq_sem, K_FOREVER); |
| } |
| |
| void test_main(void) |
| { |
| ztest_test_suite(suite_preempt_metairq, |
| ztest_unit_test(test_preempt_metairq)); |
| ztest_run_test_suite(suite_preempt_metairq); |
| } |