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FreeRTOS unittests building (but not running)

This commit is contained in:
Ulrich Mohr 2023-01-13 11:09:32 +01:00
parent 654de0f586
commit 13639feec6
10 changed files with 127 additions and 18 deletions
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7
CMakeLists.txt
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@ -181,16 +181,19 @@ if(FSFW_BUILD_TESTS)
)
include(FetchContent)
set(FreeRTOS_PORT posix)
FetchContent_Declare(
FreeRTOS
GIT_REPOSITORY https://egit.irs.uni-stuttgart.de/fsfw/FreeRTOS-LTS
GIT_TAG develop
GIT_SUBMODULES FreeRTOS/FreeRTOS-Kernel)
list(APPEND FSFW_FETCH_CONTENT_TARGETS FreeRTOS)
FetchContent_MakeAvailable(FreeRTOS)
set(LIB_OS_NAME FreeRTOS)
target_include_directories(FreeRTOS PRIVATE unittests/FreeRTOS-Config)
target_include_directories(FreeRTOS PUBLIC unittests/testcfg/freertos)
endif()
project(${FSFW_TEST_TGT} CXX C)

4
src/fsfw/osal/freertos/BinSemaphUsingTask.h
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@ -40,7 +40,7 @@ class BinarySemaphoreUsingTask : public SemaphoreIF {
void refreshTaskHandle();
ReturnValue_t acquire(TimeoutType timeoutType = TimeoutType::BLOCKING,
uint32_t timeoutMs = portMAX_DELAY) override;
uint32_t timeoutMs = 0) override;
ReturnValue_t release() override;
uint8_t getSemaphoreCounter() const override;
static uint8_t getSemaphoreCounter(TaskHandle_t taskHandle);
@ -54,7 +54,7 @@ class BinarySemaphoreUsingTask : public SemaphoreIF {
* - @c returnvalue::FAILED on failure
*/
ReturnValue_t acquireWithTickTimeout(TimeoutType timeoutType = TimeoutType::BLOCKING,
TickType_t timeoutTicks = portMAX_DELAY);
TickType_t timeoutTicks = portMAX_DELAY);
/**
* Get handle to the task related to the semaphore.

2
src/fsfw/osal/freertos/BinarySemaphore.h
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@ -51,7 +51,7 @@ class BinarySemaphore : public SemaphoreIF {
* -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
*/
ReturnValue_t acquire(TimeoutType timeoutType = TimeoutType::BLOCKING,
uint32_t timeoutMs = portMAX_DELAY) override;
uint32_t timeoutMs = 0) override;
/**
* Same as lockBinarySemaphore() with timeout in FreeRTOS ticks.

2
src/fsfw/osal/freertos/CountingSemaphUsingTask.h
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@ -34,7 +34,7 @@ class CountingSemaphoreUsingTask : public SemaphoreIF {
* -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
*/
ReturnValue_t acquire(TimeoutType timeoutType = TimeoutType::BLOCKING,
uint32_t timeoutMs = portMAX_DELAY) override;
uint32_t timeoutMs = 0) override;
/**
* Release a semaphore, increasing the number of available counting

4
src/fsfw/osal/freertos/FixedTimeslotTask.cpp
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@ -56,7 +56,9 @@ ReturnValue_t FixedTimeslotTask::startTask() {
// start time for the first entry.
auto slotListIter = pollingSeqTable.current;
pollingSeqTable.intializeSequenceAfterTaskCreation();
ReturnValue_t result = pollingSeqTable.intializeSequenceAfterTaskCreation();
// Ignore returnvalue for now
static_cast<void>(result);
// The start time for the first entry is read.
uint32_t intervalMs = slotListIter->pollingTimeMs;

2
src/fsfw/osal/freertos/Mutex.cpp
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@ -22,7 +22,7 @@ ReturnValue_t Mutex::lockMutex(TimeoutType timeoutType, uint32_t timeoutMs) {
return MutexIF::MUTEX_NOT_FOUND;
}
// If the timeout type is BLOCKING, this will be the correct value.
uint32_t timeout = portMAX_DELAY;
TickType_t timeout = portMAX_DELAY;
if (timeoutType == TimeoutType::POLLING) {
timeout = 0;
} else if (timeoutType == TimeoutType::WAITING) {

16
src/fsfw/osal/freertos/TaskManagement.cpp
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@ -3,16 +3,16 @@
void TaskManagement::vRequestContextSwitchFromTask() { vTaskDelay(0); }
void TaskManagement::requestContextSwitch(CallContext callContext = CallContext::TASK) {
if (callContext == CallContext::ISR) {
// This function depends on the partmacro.h definition for the specific device
vRequestContextSwitchFromISR();
} else {
// if (callContext == CallContext::ISR) {
// // This function depends on the partmacro.h definition for the specific device
// vRequestContextSwitchFromISR();
// } else {
vRequestContextSwitchFromTask();
}
// }
}
TaskHandle_t TaskManagement::getCurrentTaskHandle() { return xTaskGetCurrentTaskHandle(); }
size_t TaskManagement::getTaskStackHighWatermark(TaskHandle_t task) {
return uxTaskGetStackHighWaterMark(task) * sizeof(StackType_t);
}
// size_t TaskManagement::getTaskStackHighWatermark(TaskHandle_t task) {
// return uxTaskGetStackHighWaterMark(task) * sizeof(StackType_t);
// }

4
src/fsfw/osal/freertos/TaskManagement.h
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@ -11,7 +11,7 @@
* Architecture dependant portmacro.h function call.
* Should be implemented in bsp.
*/
extern "C" void vRequestContextSwitchFromISR();
//extern "C" void vRequestContextSwitchFromISR();
/*!
* Used by functions to tell if they are being called from
@ -53,7 +53,7 @@ TaskHandle_t getCurrentTaskHandle();
* @return Smallest value of stack remaining since the task was started in
* words.
*/
size_t getTaskStackHighWatermark(TaskHandle_t task = nullptr);
//size_t getTaskStackHighWatermark(TaskHandle_t task = nullptr);
}; // namespace TaskManagement

0
unittests/FreeRTOS-Config/FreeRTOSConfig.h
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104
unittests/testcfg/freertos/FreeRTOSConfig.h Normal file
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@ -0,0 +1,104 @@
#ifndef FREERTOS_CONFIG_H
#define FREERTOS_CONFIG_H
#define configUSE_PREEMPTION 1
#define configUSE_PORT_OPTIMISED_TASK_SELECTION 0
#define configUSE_TICKLESS_IDLE 0
#define configCPU_CLOCK_HZ 60000000
#define configSYSTICK_CLOCK_HZ 1000000
#define configTICK_RATE_HZ 250
#define configMAX_PRIORITIES 5
#define configMINIMAL_STACK_SIZE 128
#define configMAX_TASK_NAME_LEN 16
#define configUSE_16_BIT_TICKS 0
#define configIDLE_SHOULD_YIELD 1
#define configUSE_TASK_NOTIFICATIONS 1
#define configTASK_NOTIFICATION_ARRAY_ENTRIES 3
#define configUSE_MUTEXES 1
#define configUSE_RECURSIVE_MUTEXES 0
#define configUSE_COUNTING_SEMAPHORES 0
#define configUSE_ALTERNATIVE_API 0 /* Deprecated! */
#define configQUEUE_REGISTRY_SIZE 10
#define configUSE_QUEUE_SETS 0
#define configUSE_TIME_SLICING 0
#define configUSE_NEWLIB_REENTRANT 0
#define configENABLE_BACKWARD_COMPATIBILITY 1
#define configNUM_THREAD_LOCAL_STORAGE_POINTERS 5
#define configUSE_MINI_LIST_ITEM 1
#define configSTACK_DEPTH_TYPE uint16_t
#define configMESSAGE_BUFFER_LENGTH_TYPE size_t
#define configHEAP_CLEAR_MEMORY_ON_FREE 1
/* Memory allocation related definitions. */
#define configSUPPORT_STATIC_ALLOCATION 0
#define configSUPPORT_DYNAMIC_ALLOCATION 1
#define configTOTAL_HEAP_SIZE 10240
#define configAPPLICATION_ALLOCATED_HEAP 1
#define configSTACK_ALLOCATION_FROM_SEPARATE_HEAP 0
/* Hook function related definitions. */
#define configUSE_IDLE_HOOK 0
#define configUSE_TICK_HOOK 0
#define configCHECK_FOR_STACK_OVERFLOW 0
#define configUSE_MALLOC_FAILED_HOOK 0
#define configUSE_DAEMON_TASK_STARTUP_HOOK 0
#define configUSE_SB_COMPLETED_CALLBACK 0
/* Run time and task stats gathering related definitions. */
#define configGENERATE_RUN_TIME_STATS 0
#define configUSE_TRACE_FACILITY 0
#define configUSE_STATS_FORMATTING_FUNCTIONS 0
/* Co-routine related definitions. */
#define configUSE_CO_ROUTINES 0
#define configMAX_CO_ROUTINE_PRIORITIES 1
/* Software timer related definitions. */
#define configUSE_TIMERS 1
#define configTIMER_TASK_PRIORITY 3
#define configTIMER_QUEUE_LENGTH 10
#define configTIMER_TASK_STACK_DEPTH configMINIMAL_STACK_SIZE
/* Interrupt nesting behaviour configuration. */
#define configKERNEL_INTERRUPT_PRIORITY [dependent of processor]
#define configMAX_SYSCALL_INTERRUPT_PRIORITY [dependent on processor and application]
#define configMAX_API_CALL_INTERRUPT_PRIORITY [dependent on processor and application]
/* Define to trap errors during development. */
//#define configASSERT( ( x ) ) if( ( x ) == 0 ) vAssertCalled( __FILE__, __LINE__ )
/* FreeRTOS MPU specific definitions. */
#define configINCLUDE_APPLICATION_DEFINED_PRIVILEGED_FUNCTIONS 0
#define configTOTAL_MPU_REGIONS 8 /* Default value. */
#define configTEX_S_C_B_FLASH 0x07UL /* Default value. */
#define configTEX_S_C_B_SRAM 0x07UL /* Default value. */
#define configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY 1
#define configALLOW_UNPRIVILEGED_CRITICAL_SECTIONS 1
#define configENABLE_ERRATA_837070_WORKAROUND 1
/* ARMv8-M secure side port related definitions. */
#define secureconfigMAX_SECURE_CONTEXTS 5
/* Optional functions - most linkers will remove unused functions anyway. */
#define INCLUDE_vTaskPrioritySet 1
#define INCLUDE_uxTaskPriorityGet 1
#define INCLUDE_vTaskDelete 1
#define INCLUDE_vTaskSuspend 1
#define INCLUDE_xResumeFromISR 1
#define INCLUDE_vTaskDelayUntil 1
#define INCLUDE_vTaskDelay 1
#define INCLUDE_xTaskGetSchedulerState 1
#define INCLUDE_xTaskGetCurrentTaskHandle 1
#define INCLUDE_uxTaskGetStackHighWaterMark 0
#define INCLUDE_uxTaskGetStackHighWaterMark2 0
#define INCLUDE_xTaskGetIdleTaskHandle 0
#define INCLUDE_eTaskGetState 0
#define INCLUDE_xEventGroupSetBitFromISR 1
#define INCLUDE_xTimerPendFunctionCall 0
#define INCLUDE_xTaskAbortDelay 0
#define INCLUDE_xTaskGetHandle 0
#define INCLUDE_xTaskResumeFromISR 1
/* A header file that defines trace macro can be included here. */
#endif /* FREERTOS_CONFIG_H */