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@ -1,4 +1,5 @@
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/*
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* Copyright (C) 2017 HAW Hamburg
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* Copyright (C) 2015 Kaspar Schleiser <kaspar@schleiser.de>
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* Copyright (C) 2015 Eistec AB
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* 2013 INRIA
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@ -19,6 +20,7 @@
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* @author Oliver Hahm <oliver.hahm@inria.fr>
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* @author Christian Mehlis <mehlis@inf.fu-berlin.de>
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* @author Joakim Nohlgård <joakim.nohlgard@eistec.se>
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* @author Sebastian Meiling <s@mlng.net>
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*
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* @}
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*/
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@ -29,6 +31,7 @@
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#include "xtimer.h"
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#include "thread.h"
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#include "msg.h"
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#include "log.h"
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/* We generate some context switching and IPC traffic by using multiple threads
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* and generate some xtimer load by scheduling several messages to be called at
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@ -38,9 +41,10 @@
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* TEST_MSG_RX_USLEEP is a tiny sleep inside the message reception thread to
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* cause extra context switches.
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*/
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#define TEST_HZ (64LU)
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#define TEST_INTERVAL (1000000LU / TEST_HZ)
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#define TEST_MSG_RX_USLEEP (200LU)
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#define TEST_HZ (64LU)
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#define TEST_INTERVAL (1000000LU / TEST_HZ)
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#define TEST_MSG_RX_USLEEP (200LU)
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#define TEST_MSG_QUEUE_SIZE (4U)
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char slacker_stack1[THREAD_STACKSIZE_DEFAULT];
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char slacker_stack2[THREAD_STACKSIZE_DEFAULT];
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@ -63,12 +67,11 @@ void *slacker_thread(void *arg)
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(void) arg;
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timex_t now;
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printf("Starting thread %" PRIkernel_pid "\n", thread_getpid());
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LOG_DEBUG("run thread %" PRIkernel_pid "\n", thread_getpid());
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/* we need a queue if the second message arrives while the first is still processed */
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/* without a queue, the message would get lost */
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msg_t msgq[4];
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msg_init_queue(msgq, 4);
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/* we need a queue if a 2nd message arrives while the first is processed */
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msg_t msgq[TEST_MSG_QUEUE_SIZE];
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msg_init_queue(msgq, TEST_MSG_QUEUE_SIZE);
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while (1) {
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msg_t m;
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@ -87,35 +90,35 @@ void *slacker_thread(void *arg)
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void *worker_thread(void *arg)
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{
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(void) arg;
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uint32_t loop_counter = 0;
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uint32_t start = 0;
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uint32_t last = 0;
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printf("Starting thread %" PRIkernel_pid "\n", thread_getpid());
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LOG_DEBUG("run thread %" PRIkernel_pid "\n", thread_getpid());
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while (1) {
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msg_t m;
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msg_receive(&m);
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xtimer_ticks32_t ticks = xtimer_now();
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uint32_t now = xtimer_usec_from_ticks(ticks);
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if (start == 0) {
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start = now;
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last = start;
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++loop_counter;
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continue;
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}
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uint32_t us, sec;
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us = now % US_PER_SEC;
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sec = now / US_PER_SEC;
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if ((loop_counter % TEST_HZ) == 0) {
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else if ((loop_counter % TEST_HZ) == 0) {
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uint32_t us = now % US_PER_SEC;
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uint32_t sec = now / US_PER_SEC;
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uint32_t expected = start + loop_counter * TEST_INTERVAL;
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int32_t drift = now - expected;
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expected = last + TEST_HZ * TEST_INTERVAL;
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int32_t jitter = now - expected;
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printf("now=%" PRIu32 ".%06" PRIu32 " (0x%08" PRIx32 " ticks), ",
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sec, us, ticks.ticks32);
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printf("drift=%" PRId32 " us, jitter=%" PRId32 " us\n", drift, jitter);
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sec, us, ticks.ticks32);
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printf("drift=%" PRId32 " us, jitter=%" PRId32 " us\n",
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drift, jitter);
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last = now;
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}
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++loop_counter;
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@ -124,70 +127,43 @@ void *worker_thread(void *arg)
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int main(void)
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{
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LOG_DEBUG("[INIT]\n");
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msg_t m;
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/* create and trigger first background thread */
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kernel_pid_t pid1 = thread_create(slacker_stack1, sizeof(slacker_stack1),
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THREAD_PRIORITY_MAIN - 1,
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THREAD_CREATE_STACKTEST,
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slacker_thread, NULL, "slacker1");
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puts("xtimer_drift test application");
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puts("Make note of the PC clock when starting this test, let run for a while, "
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"compare the printed time against the expected time from the PC clock.");
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puts("The difference is the RIOT timer drift, this is likely caused by either: "
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"an inaccurate hardware timer, or bugs in the software (xtimer or periph/timer).");
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printf("This test will run a periodic timer every %lu microseconds (%lu Hz), ",
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(unsigned long)TEST_INTERVAL, (unsigned long)TEST_HZ);
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puts("The current time will be printed once per second, along with the "
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"difference between the actual and expected xtimer_now value.");
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puts("The first output variable, 'drift', represents the total offset since "
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"start between xtimer_now and the expected time.");
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puts("The second output variable, 'jitter', represents the difference in drift from the last printout.");
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puts("Two other threads are also running only to cause extra interrupts and context switches.");
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puts(" <====== PC clock if running in pyterm.");
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puts("");
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puts(" =======================");
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puts(" ===== Test begins =====");
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puts(" =======================");
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kernel_pid_t pid1 = thread_create(
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slacker_stack1,
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sizeof(slacker_stack1),
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THREAD_PRIORITY_MAIN - 1,
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THREAD_CREATE_STACKTEST,
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slacker_thread,
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NULL,
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"slacker1");
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puts("sending 1st msg");
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LOG_DEBUG("+ msg 1");
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m.content.ptr = &msg_a;
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msg_try_send(&m, pid1);
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puts("sending 2nd msg");
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LOG_DEBUG("+ msg 2");
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m.content.ptr = &msg_b;
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msg_try_send(&m, pid1);
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kernel_pid_t pid2 = thread_create(
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slacker_stack2,
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sizeof(slacker_stack2),
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THREAD_PRIORITY_MAIN - 1,
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THREAD_CREATE_STACKTEST,
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slacker_thread,
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NULL,
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"slacker2");
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/* create and trigger second background thread */
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kernel_pid_t pid2 = thread_create(slacker_stack2, sizeof(slacker_stack2),
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THREAD_PRIORITY_MAIN - 1,
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THREAD_CREATE_STACKTEST,
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slacker_thread, NULL, "slacker2");
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puts("sending 3rd msg");
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LOG_DEBUG("+ msg 3");
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m.content.ptr = &msg_c;
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msg_try_send(&m, pid2);
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puts("sending 4th msg");
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LOG_DEBUG("+ msg 4");
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m.content.ptr = &msg_d;
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msg_try_send(&m, pid2);
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kernel_pid_t pid3 = thread_create(
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worker_stack,
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sizeof(worker_stack),
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THREAD_PRIORITY_MAIN - 1,
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THREAD_CREATE_STACKTEST,
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worker_thread,
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NULL,
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"worker");
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/* create and trigger worker thread */
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kernel_pid_t pid3 = thread_create(worker_stack, sizeof(worker_stack),
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THREAD_PRIORITY_MAIN - 1,
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THREAD_CREATE_STACKTEST,
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worker_thread, NULL, "worker");
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puts("[START]\n");
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xtimer_ticks32_t last_wakeup = xtimer_now();
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while (1) {
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xtimer_periodic_wakeup(&last_wakeup, TEST_INTERVAL);
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