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/*
* Copyright (C) 2015 Kaspar Schleiser <kaspar@schleiser.de>
* Copyright (C) 2015 Eistec AB
* 2013 INRIA
*
* This file is subject to the terms and conditions of the GNU Lesser
* General Public License v2.1. See the file LICENSE in the top level
* directory for more details.
*/
/**
* @ingroup tests
* @{
*
* @file
* @brief xtimer_drift test application
*
* @author Kaspar Schleiser <kaspar@schleiser.de>
* @author Oliver Hahm <oliver.hahm@inria.fr>
* @author Christian Mehlis <mehlis@inf.fu-berlin.de>
* @author Joakim Nohlgård <joakim.nohlgard@eistec.se>
*
* @}
*/
#include <stdio.h>
#include <time.h>
#include "xtimer.h"
#include "thread.h"
#include "msg.h"
/* We generate some context switching and IPC traffic by using multiple threads
* and generate some xtimer load by scheduling several messages to be called at
* different times. TEST_HZ is the frequency of messages being sent from the
* main thread to the worker, all other message frequencies are derived from
* TEST_HZ.
* TEST_MSG_RX_USLEEP is a tiny sleep inside the message reception thread to
* cause extra context switches.
*/
#define TEST_HZ (64)
#define TEST_INTERVAL (1000000 / TEST_HZ)
#define TEST_MSG_RX_USLEEP (200)
char slacker_stack1[THREAD_STACKSIZE_DEFAULT];
char slacker_stack2[THREAD_STACKSIZE_DEFAULT];
char worker_stack[THREAD_STACKSIZE_MAIN];
struct timer_msg {
xtimer_t timer;
uint32_t interval;
msg_t msg;
};
struct timer_msg msg_a = { .interval = (TEST_INTERVAL / 2) };
struct timer_msg msg_b = { .interval = (TEST_INTERVAL / 3) };
struct timer_msg msg_c = { .interval = (TEST_INTERVAL * 5) };
struct timer_msg msg_d = { .interval = (TEST_INTERVAL * 2) };
/* This thread is only here to give the kernel some extra load */
void *slacker_thread(void *arg)
{
(void) arg;
timex_t now;
printf("Starting thread %" PRIkernel_pid "\n", thread_getpid());
/* we need a queue if the second message arrives while the first is still processed */
/* without a queue, the message would get lost */
msg_t msgq[4];
msg_init_queue(msgq, 4);
while (1) {
msg_t m;
msg_receive(&m);
struct timer_msg *tmsg = (struct timer_msg *) m.content.ptr;
xtimer_now_timex(&now);
xtimer_usleep(TEST_MSG_RX_USLEEP);
tmsg->msg.type = 12345;
tmsg->msg.content.ptr = (void*)tmsg;
xtimer_set_msg(&tmsg->timer, tmsg->interval, &tmsg->msg, thread_getpid());
}
}
/* This thread will print the drift to stdout once per second */
void *worker_thread(void *arg)
{
(void) arg;
unsigned int loop_counter = 0;
uint32_t start = 0;
printf("Starting thread %" PRIkernel_pid "\n", thread_getpid());
while (1) {
msg_t m;
msg_receive(&m);
uint32_t now = xtimer_now();
if (start == 0) {
start = now;
}
uint32_t us, sec;
unsigned int min, hr;
us = now % 1000000;
sec = now / 1000000;
min = (sec / 60) % 60;
hr = sec / 3600;
if ((loop_counter % TEST_HZ) == 0) {
uint32_t expected = start + loop_counter * TEST_INTERVAL;
int32_t diff = now - expected;
printf("now=%" PRIu32 ".%06" PRIu32 " (%u hours %u min), diff=%" PRId32 "\n",
sec, us, hr, min, diff);
}
++loop_counter;
}
}
int main(void)
{
msg_t m;
puts("xtimer_drift test application");
puts("Make note of the PC clock when starting this test, let run for a while, "
"compare the printed time against the expected time from the PC clock.");
puts("The difference is the RIOT timer drift, this is likely caused by either: "
"Inaccurate hardware timer, or bugs in the software (xtimer or periph/timer).");
printf("This test will run a periodic timer every %lu microseconds (%lu Hz), ",
(unsigned long)TEST_INTERVAL, (unsigned long)TEST_HZ);
puts("The current time will be printed once per second, along with the "
"difference between the actual and expected xtimer_now value.");
puts("Two other threads are also running only to cause extra interrupts and context switches.");
puts(" <====== PC clock if running in pyterm.");
puts("");
puts(" =======================");
puts(" ===== Test begins =====");
puts(" =======================");
kernel_pid_t pid1 = thread_create(
slacker_stack1,
sizeof(slacker_stack1),
THREAD_PRIORITY_MAIN - 1,
THREAD_CREATE_STACKTEST,
slacker_thread,
NULL,
"slacker1");
puts("sending 1st msg");
m.content.ptr = (char *) &msg_a;
msg_try_send(&m, pid1);
puts("sending 2nd msg");
m.content.ptr = (char *) &msg_b;
msg_try_send(&m, pid1);
kernel_pid_t pid2 = thread_create(
slacker_stack2,
sizeof(slacker_stack2),
THREAD_PRIORITY_MAIN - 1,
THREAD_CREATE_STACKTEST,
slacker_thread,
NULL,
"slacker2");
puts("sending 3rd msg");
m.content.ptr = (char *) &msg_c;
msg_try_send(&m, pid2);
puts("sending 4th msg");
m.content.ptr = (char *) &msg_d;
msg_try_send(&m, pid2);
kernel_pid_t pid3 = thread_create(
worker_stack,
sizeof(worker_stack),
THREAD_PRIORITY_MAIN - 1,
THREAD_CREATE_STACKTEST,
worker_thread,
NULL,
"worker");
uint32_t last_wakeup = xtimer_now();
while (1) {
xtimer_usleep_until(&last_wakeup, TEST_INTERVAL);
msg_try_send(&m, pid3);
}
}