5 files changed, 541 insertions, 5 deletions
diff --git a/test/rt/source/test/test_root.c b/test/rt/source/test/test_root.c
index fe8f096c8..2c19a388c 100644
--- a/test/rt/source/test/test_root.c
+++ b/test/rt/source/test/test_root.c
@@ -32,6 +32,7 @@
  * - @subpage test_sequence_009
  * - @subpage test_sequence_010
  * - @subpage test_sequence_011
+ * - @subpage test_sequence_012
  * .
  */
 
@@ -65,6 +66,7 @@ const testcase_t * const *test_suite[] = {
   test_sequence_009,
   test_sequence_010,
   test_sequence_011,
+  test_sequence_012,
   NULL
 };
 
diff --git a/test/rt/source/test/test_root.h b/test/rt/source/test/test_root.h
index e0e439eff..ac3918734 100644
--- a/test/rt/source/test/test_root.h
+++ b/test/rt/source/test/test_root.h
@@ -33,6 +33,7 @@
 #include "test_sequence_009.h"
 #include "test_sequence_010.h"
 #include "test_sequence_011.h"
+#include "test_sequence_012.h"
 
 #if !defined(__DOXYGEN__)
 
diff --git a/test/rt/source/test/test_sequence_011.c b/test/rt/source/test/test_sequence_011.c
index 0f1ac7b21..064ff866f 100644
--- a/test/rt/source/test/test_sequence_011.c
+++ b/test/rt/source/test/test_sequence_011.c
@@ -67,9 +67,9 @@ static THD_FUNCTION(dyn_thread1, p) {
  *
  * <h2>Description</h2>
  * Two threads are started by allocating the memory from the Memory
- * Heap then the remaining heap space is arbitrarily allocated and a
- * third tread startup is attempted.<br> The test expects the first two
- * threads to successfully start and the last one to fail.
+ * Heap then a third thread is started with a huge stack
+ * requirement.<br> The test expects the first two threads to
+ * successfully start and the third one to fail.
  *
  * <h2>Conditions</h2>
  * This test is only executed if the following preprocessor condition
@@ -80,7 +80,7 @@ static THD_FUNCTION(dyn_thread1, p) {
  * <h2>Test Steps</h2>
  * - [11.1.1] Getting base priority for threads.
  * - [11.1.2] Getting heap info before the test.
- * - [11.1.3] Creating 1, it is expected to succeed.
+ * - [11.1.3] Creating thread 1, it is expected to succeed.
  * - [11.1.4] Creating thread 2, it is expected to succeed.
  * - [11.1.5] Creating thread 3, it is expected to fail.
  * - [11.1.6] Letting threads execute then checking the start order and
@@ -111,7 +111,7 @@ static void test_011_001_execute(void) {
     test_assert(n1 == 1, "heap fragmented");
   }
 
-  /* [11.1.3] Creating 1, it is expected to succeed.*/
+  /* [11.1.3] Creating thread 1, it is expected to succeed.*/
   test_set_step(3);
   {
     threads[0] = chThdCreateFromHeap(&heap1,
diff --git a/test/rt/source/test/test_sequence_012.c b/test/rt/source/test/test_sequence_012.c
new file mode 100644
index 000000000..8dde2e82c
--- /dev/null
+++ b/test/rt/source/test/test_sequence_012.c
@@ -0,0 +1,516 @@
+/*
+    ChibiOS - Copyright (C) 2006..2016 Giovanni Di Sirio
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+#include "hal.h"
+#include "ch_test.h"
+#include "test_root.h"
+
+/**
+ * @page test_sequence_012 [12] Benchmarks
+ *
+ * File: @ref test_sequence_012.c
+ *
+ * <h2>Description</h2>
+ * This module implements a series of system benchmarks. The benchmarks
+ * are useful as a stress test and as a reference when comparing
+ * ChibiOS/RT with similar systems.<br> Objective of the test sequence
+ * is to provide a performance index for the most critical system
+ * subsystems. The performance numbers allow to discover performance
+ * regressions between successive ChibiOS/RT releases.
+ *
+ * <h2>Test Cases</h2>
+ * - @subpage test_012_001
+ * - @subpage test_012_002
+ * - @subpage test_012_003
+ * - @subpage test_012_004
+ * - @subpage test_012_005
+ * - @subpage test_012_006
+ * .
+ */
+
+/****************************************************************************
+ * Shared code.
+ ****************************************************************************/
+
+#if CH_CFG_USE_SEMAPHORES || defined(__DOXYGEN__)
+static semaphore_t sem1;
+#endif
+#if CH_CFG_USE_MUTEXES || defined(__DOXYGEN__)
+static mutex_t mtx1;
+#endif
+
+#if CH_CFG_USE_MESSAGES
+static THD_FUNCTION(bmk_thread1, p) {
+  thread_t *tp;
+  msg_t msg;
+
+  (void)p;
+  do {
+    tp = chMsgWait();
+    msg = chMsgGet(tp);
+    chMsgRelease(tp, msg);
+  } while (msg);
+}
+
+NOINLINE static unsigned int msg_loop_test(thread_t *tp) {
+  systime_t start, end;
+  
+  uint32_t n = 0;
+  start = test_wait_tick();
+  end = start + MS2ST(1000);
+  do {
+    (void)chMsgSend(tp, 1);
+    n++;
+#if defined(SIMULATOR)
+    _sim_check_for_interrupts();
+#endif
+  } while (chVTIsSystemTimeWithinX(start, end));
+  (void)chMsgSend(tp, 0);
+  return n;
+}
+#endif
+
+static THD_FUNCTION(bmk_thread3, p) {
+
+  chThdExit((msg_t)p);
+}
+
+static THD_FUNCTION(bmk_thread4, p) {
+  msg_t msg;
+  thread_t *self = chThdGetSelfX();
+
+  (void)p;
+  chSysLock();
+  do {
+    chSchGoSleepS(CH_STATE_SUSPENDED);
+    msg = self->u.rdymsg;
+  } while (msg == MSG_OK);
+  chSysUnlock();
+}
+
+/****************************************************************************
+ * Test cases.
+ ****************************************************************************/
+
+#if (CH_CFG_USE_MESSAGES) || defined(__DOXYGEN__)
+/**
+ * @page test_012_001 [12.1] Messages performance #1
+ *
+ * <h2>Description</h2>
+ * A message server thread is created with a lower priority than the
+ * client thread, the messages throughput per second is measured and
+ * the result printed on the output log.
+ *
+ * <h2>Conditions</h2>
+ * This test is only executed if the following preprocessor condition
+ * evaluates to true:
+ * - CH_CFG_USE_MESSAGES
+ * .
+ *
+ * <h2>Test Steps</h2>
+ * - [12.1.1] The messenger thread is started at a lower priority than
+ *   the current thread.
+ * - [12.1.2] The number of messages exchanged is counted in a one
+ *   second time window.
+ * - [12.1.3] Score is printed.
+ * .
+ */
+
+static void test_012_001_execute(void) {
+  uint32_t n;
+
+  /* [12.1.1] The messenger thread is started at a lower priority than
+     the current thread.*/
+  test_set_step(1);
+  {
+    threads[0] = chThdCreateStatic(wa[0], WA_SIZE, chThdGetPriorityX()-1, bmk_thread1, NULL);
+  }
+
+  /* [12.1.2] The number of messages exchanged is counted in a one
+     second time window.*/
+  test_set_step(2);
+  {
+    n = msg_loop_test(threads[0]);
+    test_wait_threads();
+  }
+
+  /* [12.1.3] Score is printed.*/
+  test_set_step(3);
+  {
+    test_print("--- Score : ");
+    test_printn(n);
+    test_print(" msgs/S, ");
+    test_printn(n << 1);
+    test_println(" ctxswc/S");
+  }
+}
+
+static const testcase_t test_012_001 = {
+  "Messages performance #1",
+  NULL,
+  NULL,
+  test_012_001_execute
+};
+#endif /* CH_CFG_USE_MESSAGES */
+
+#if (CH_CFG_USE_MESSAGES) || defined(__DOXYGEN__)
+/**
+ * @page test_012_002 [12.2] Messages performance #2
+ *
+ * <h2>Description</h2>
+ * A message server thread is created with an higher priority than the
+ * client thread, the messages throughput per second is measured and
+ * the result printed on the output log.
+ *
+ * <h2>Conditions</h2>
+ * This test is only executed if the following preprocessor condition
+ * evaluates to true:
+ * - CH_CFG_USE_MESSAGES
+ * .
+ *
+ * <h2>Test Steps</h2>
+ * - [12.2.1] The messenger thread is started at an higher priority
+ *   than the current thread.
+ * - [12.2.2] The number of messages exchanged is counted in a one
+ *   second time window.
+ * - [12.2.3] Score is printed.
+ * .
+ */
+
+static void test_012_002_execute(void) {
+  uint32_t n;
+
+  /* [12.2.1] The messenger thread is started at an higher priority
+     than the current thread.*/
+  test_set_step(1);
+  {
+    threads[0] = chThdCreateStatic(wa[0], WA_SIZE, chThdGetPriorityX()+1, bmk_thread1, NULL);
+  }
+
+  /* [12.2.2] The number of messages exchanged is counted in a one
+     second time window.*/
+  test_set_step(2);
+  {
+    n = msg_loop_test(threads[0]);
+    test_wait_threads();
+  }
+
+  /* [12.2.3] Score is printed.*/
+  test_set_step(3);
+  {
+    test_print("--- Score : ");
+    test_printn(n);
+    test_print(" msgs/S, ");
+    test_printn(n << 1);
+    test_println(" ctxswc/S");
+  }
+}
+
+static const testcase_t test_012_002 = {
+  "Messages performance #2",
+  NULL,
+  NULL,
+  test_012_002_execute
+};
+#endif /* CH_CFG_USE_MESSAGES */
+
+#if (CH_CFG_USE_MESSAGES) || defined(__DOXYGEN__)
+/**
+ * @page test_012_003 [12.3] Messages performance #3
+ *
+ * <h2>Description</h2>
+ * A message server thread is created with an higher priority than the
+ * client thread, four lower priority threads crowd the ready list, the
+ * messages throughput per second is measured while the ready list and
+ * the result printed on the output log.
+ *
+ * <h2>Conditions</h2>
+ * This test is only executed if the following preprocessor condition
+ * evaluates to true:
+ * - CH_CFG_USE_MESSAGES
+ * .
+ *
+ * <h2>Test Steps</h2>
+ * - [12.3.1] The messenger thread is started at an higher priority
+ *   than the current thread.
+ * - [12.3.2] Four threads are started at a lower priority than the
+ *   current thread.
+ * - [12.3.3] The number of messages exchanged is counted in a one
+ *   second time window.
+ * - [12.3.4] Score is printed.
+ * .
+ */
+
+static void test_012_003_execute(void) {
+  uint32_t n;
+
+  /* [12.3.1] The messenger thread is started at an higher priority
+     than the current thread.*/
+  test_set_step(1);
+  {
+    threads[0] = chThdCreateStatic(wa[0], WA_SIZE, chThdGetPriorityX()+1, bmk_thread1, NULL);
+  }
+
+  /* [12.3.2] Four threads are started at a lower priority than the
+     current thread.*/
+  test_set_step(2);
+  {
+    threads[1] = chThdCreateStatic(wa[1], WA_SIZE, chThdGetPriorityX()-2, bmk_thread3, NULL);
+    threads[2] = chThdCreateStatic(wa[2], WA_SIZE, chThdGetPriorityX()-3, bmk_thread3, NULL);
+    threads[3] = chThdCreateStatic(wa[3], WA_SIZE, chThdGetPriorityX()-4, bmk_thread3, NULL);
+    threads[4] = chThdCreateStatic(wa[4], WA_SIZE, chThdGetPriorityX()-5, bmk_thread3, NULL);
+  }
+
+  /* [12.3.3] The number of messages exchanged is counted in a one
+     second time window.*/
+  test_set_step(3);
+  {
+    n = msg_loop_test(threads[0]);
+    test_wait_threads();
+  }
+
+  /* [12.3.4] Score is printed.*/
+  test_set_step(4);
+  {
+    test_print("--- Score : ");
+    test_printn(n);
+    test_print(" msgs/S, ");
+    test_printn(n << 1);
+    test_println(" ctxswc/S");
+  }
+}
+
+static const testcase_t test_012_003 = {
+  "Messages performance #3",
+  NULL,
+  NULL,
+  test_012_003_execute
+};
+#endif /* CH_CFG_USE_MESSAGES */
+
+/**
+ * @page test_012_004 [12.4] Context Switch performance
+ *
+ * <h2>Description</h2>
+ * A thread is created that just performs a @p chSchGoSleepS() into a
+ * loop, the thread is awakened as fast is possible by the tester
+ * thread.<br> The Context Switch performance is calculated by
+ * measuring the number of iterations after a second of continuous
+ * operations.
+ *
+ * <h2>Test Steps</h2>
+ * - [12.4.1] Starting the target thread at an higher priority level.
+ * - [12.4.2] Waking up the thread as fast as possible in a one second
+ *   time window.
+ * - [12.4.3] Stopping the target thread.
+ * - [12.4.4] Score is printed.
+ * .
+ */
+
+static void test_012_004_execute(void) {
+  thread_t *tp;
+  uint32_t n;
+
+  /* [12.4.1] Starting the target thread at an higher priority level.*/
+  test_set_step(1);
+  {
+    tp = threads[0] = chThdCreateStatic(wa[0], WA_SIZE, chThdGetPriorityX()+1,
+                                        bmk_thread4, NULL);
+  }
+
+  /* [12.4.2] Waking up the thread as fast as possible in a one second
+     time window.*/
+  test_set_step(2);
+  {
+    systime_t start, end;
+
+    n = 0;
+    start = test_wait_tick();
+    end = start + MS2ST(1000);
+    do {
+      chSysLock();
+      chSchWakeupS(tp, MSG_OK);
+      chSchWakeupS(tp, MSG_OK);
+      chSchWakeupS(tp, MSG_OK);
+      chSchWakeupS(tp, MSG_OK);
+      chSysUnlock();
+      n += 4;
+    #if defined(SIMULATOR)
+      _sim_check_for_interrupts();
+    #endif
+    } while (chVTIsSystemTimeWithinX(start, end));
+  }
+
+  /* [12.4.3] Stopping the target thread.*/
+  test_set_step(3);
+  {
+    chSysLock();
+    chSchWakeupS(tp, MSG_TIMEOUT);
+    chSysUnlock();
+    test_wait_threads();
+  }
+
+  /* [12.4.4] Score is printed.*/
+  test_set_step(4);
+  {
+    test_print("--- Score : ");
+    test_printn(n * 2);
+    test_println(" ctxswc/S");
+  }
+}
+
+static const testcase_t test_012_004 = {
+  "Context Switch performance",
+  NULL,
+  NULL,
+  test_012_004_execute
+};
+
+/**
+ * @page test_012_005 [12.5] Threads performance, full cycle
+ *
+ * <h2>Description</h2>
+ * Threads are continuously created and terminated into a loop. A full
+ * chThdCreateStatic() / @p chThdExit() / @p chThdWait() cycle is
+ * performed in each iteration.<br> The performance is calculated by
+ * measuring the number of iterations after a second of continuous
+ * operations.
+ *
+ * <h2>Test Steps</h2>
+ * - [12.5.1] A thread is created at a lower priority level and its
+ *   termination detected using @p chThdWait(). The operation is
+ *   repeated continuously in a one-second time window.
+ * - [12.5.2] Score is printed.
+ * .
+ */
+
+static void test_012_005_execute(void) {
+  uint32_t n;
+  tprio_t prio = chThdGetPriorityX() - 1;
+  systime_t start, end;
+
+  /* [12.5.1] A thread is created at a lower priority level and its
+     termination detected using @p chThdWait(). The operation is
+     repeated continuously in a one-second time window.*/
+  test_set_step(1);
+  {
+    n = 0;
+    start = test_wait_tick();
+    end = start + MS2ST(1000);
+    do {
+      chThdWait(chThdCreateStatic(wa[0], WA_SIZE, prio, bmk_thread3, NULL));
+      n++;
+    #if defined(SIMULATOR)
+      _sim_check_for_interrupts();
+    #endif
+    } while (chVTIsSystemTimeWithinX(start, end));
+  }
+
+  /* [12.5.2] Score is printed.*/
+  test_set_step(2);
+  {
+    test_print("--- Score : ");
+    test_printn(n);
+    test_println(" threads/S");
+  }
+}
+
+static const testcase_t test_012_005 = {
+  "Threads performance, full cycle",
+  NULL,
+  NULL,
+  test_012_005_execute
+};
+
+/**
+ * @page test_012_006 [12.6] Threads performance, create/exit only
+ *
+ * <h2>Description</h2>
+ * Threads are continuously created and terminated into a loop. A
+ * partial @p chThdCreateStatic() / @p chThdExit() cycle is performed
+ * in each iteration, the @p chThdWait() is not necessary because the
+ * thread is created at an higher priority so there is no need to wait
+ * for it to terminate.<br> The performance is calculated by measuring
+ * the number of iterations after a second of continuous operations.
+ *
+ * <h2>Test Steps</h2>
+ * - [12.6.1] A thread is created at an higher priority level and let
+ *   terminate immediately. The operation is repeated continuously in a
+ *   one-second time window.
+ * - [12.6.2] Score is printed.
+ * .
+ */
+
+static void test_012_006_execute(void) {
+  uint32_t n;
+  tprio_t prio = chThdGetPriorityX() + 1;
+  systime_t start, end;
+
+  /* [12.6.1] A thread is created at an higher priority level and let
+     terminate immediately. The operation is repeated continuously in a
+     one-second time window.*/
+  test_set_step(1);
+  {
+    n = 0;
+    start = test_wait_tick();
+    end = start + MS2ST(1000);
+    do {
+      chThdRelease(chThdCreateStatic(wa[0], WA_SIZE, prio, bmk_thread3, NULL));
+      n++;
+    #if defined(SIMULATOR)
+      _sim_check_for_interrupts();
+    #endif
+    } while (chVTIsSystemTimeWithinX(start, end));
+  }
+
+  /* [12.6.2] Score is printed.*/
+  test_set_step(2);
+  {
+    test_print("--- Score : ");
+    test_printn(n);
+    test_println(" threads/S");
+  }
+}
+
+static const testcase_t test_012_006 = {
+  "Threads performance, create/exit only",
+  NULL,
+  NULL,
+  test_012_006_execute
+};
+
+/****************************************************************************
+ * Exported data.
+ ****************************************************************************/
+
+/**
+ * @brief   Benchmarks.
+ */
+const testcase_t * const test_sequence_012[] = {
+#if (CH_CFG_USE_MESSAGES) || defined(__DOXYGEN__)
+  &test_012_001,
+#endif
+#if (CH_CFG_USE_MESSAGES) || defined(__DOXYGEN__)
+  &test_012_002,
+#endif
+#if (CH_CFG_USE_MESSAGES) || defined(__DOXYGEN__)
+  &test_012_003,
+#endif
+  &test_012_004,
+  &test_012_005,
+  &test_012_006,
+  NULL
+};
diff --git a/test/rt/source/test/test_sequence_012.h b/test/rt/source/test/test_sequence_012.h
new file mode 100644
index 000000000..e2286aaee
--- /dev/null
+++ b/test/rt/source/test/test_sequence_012.h
@@ -0,0 +1,17 @@
+/*
+    ChibiOS - Copyright (C) 2006..2016 Giovanni Di Sirio
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+extern const testcase_t * const test_sequence_012[];