Test specification for the NASA OSAL ChibiOS extension. Test suite for ChibiOS/NIL. The purpose of this suite is to perform unit tests on the NIL modules and to converge to 100% code coverage through successive improvements. Internal Tests Threads Functionality. This sequence tests the ChibiOS/NIL functionalities related to threading. System Tick Counter functionality. The functionality of the API @p chVTGetSystemTimeX() is tested. A System Tick Counter increment is expected, the test simply hangs if it does not happen. Thread Sleep functionality. The functionality of @p chThdSleep() and derivatives is tested. The current system time is read then a sleep is performed for 100 system ticks and on exit the system time is verified again. The current system time is read then a sleep is performed for 100000 microseconds and on exit the system time is verified again. The current system time is read then a sleep is performed for 100 milliseconds and on exit the system time is verified again. The current system time is read then a sleep is performed for 1 second and on exit the system time is verified again. Function chThdSleepUntil() is tested with a timeline of "now" + 100 ticks. Internal Tests Semaphores. This sequence tests the ChibiOS/NIL functionalities related to counter semaphores. Semaphore primitives, no state change. Wait, Signal and Reset primitives are tested. The testing thread does not trigger a state change. CH_CFG_USE_SEMAPHORES The function chSemWait() is invoked, after return the counter and the returned message are tested. The function chSemSignal() is invoked, after return the counter is tested. The function chSemReset() is invoked, after return the counter is tested. Semaphore primitives, with state change. Wait, Signal and Reset primitives are tested. The testing thread triggers a state change. CH_CFG_USE_SEMAPHORES The function chSemWait() is invoked, after return the counter and the returned message are tested. The semaphore is signaled by another thread. The function chSemWait() is invoked, after return the counter and the returned message are tested. The semaphore is reset by another thread. Semaphores timeout. Timeout on semaphores is tested. CH_CFG_USE_SEMAPHORES The function chSemWaitTimeout() is invoked a first time, after return the system time, the counter and the returned message are tested. The function chSemWaitTimeout() is invoked again, after return the system time, the counter and the returned message are tested. Internal Tests Suspend/Resume and Event Flags. This sequence tests the ChibiOS/NIL functionalities related to threads suspend/resume and event flags. Suspend and Resume functionality. The functionality of chThdSuspendTimeoutS() and chThdResumeI() is tested. The function chThdSuspendTimeoutS() is invoked, the thread is remotely resumed with message @p MSG_OK. On return the message and the state of the reference are tested. The function chThdSuspendTimeoutS() is invoked, the thread is not resumed so a timeout must occur. On return the message and the state of the reference are tested. Events Flags functionality. Event flags functionality is tested. CH_CFG_USE_EVENTS A set of event flags are set on the current thread then the function chEvtWaitAnyTimeout() is invoked, the function is supposed to return immediately because the event flags are already pending, after return the events mask is tested. The pending event flags mask is cleared then the function chEvtWaitAnyTimeout() is invoked, after return the events mask is tested. The thread is signaled by another thread. epmask = 0; events = chEvtWaitAnyTimeout(ALL_EVENTS, MS2ST(1000)); test_assert((eventmask_t)0 != events, "timed out"); test_assert((eventmask_t)0x55 == events, "wrong events mask");]]> The function chEvtWaitAnyTimeout() is invoked, no event can wakeup the thread, the function must return because timeout. Internal Tests Mailboxes. This sequence tests the ChibiOS/NIL functionalities related to mailboxes. Mailbox normal API, non-blocking tests. The mailbox normal API is tested without triggering blocking conditions. CH_CFG_USE_MAILBOXES Testing the mailbox size. Resetting the mailbox, conditions are checked, no errors expected. Filling the mailbox using chMBPost() and chMBPostAhead() once, no errors expected. Testing intermediate conditions. Data pointers must be aligned, semaphore counters are checked. Emptying the mailbox using chMBFetch(), no errors expected. Posting and then fetching one more message, no errors expected. Testing final conditions. Data pointers must be aligned to buffer start, semaphore counters are checked. Mailbox I-Class API, non-blocking tests. The mailbox I-Class API is tested without triggering blocking conditions. CH_CFG_USE_MAILBOXES Testing the mailbox size. Resetting the mailbox, conditions are checked, no errors expected. Filling the mailbox using chMBPostI() and chMBPostAheadI() once, no errors expected. Testing intermediate conditions. Data pointers must be aligned, semaphore counters are checked. Emptying the mailbox using chMBFetchI(), no errors expected. Posting and then fetching one more message, no errors expected. Testing final conditions. Data pointers must be aligned to buffer start, semaphore counters are checked. Mailbox timeouts. The mailbox API is tested for timeouts. CH_CFG_USE_MAILBOXES Filling the mailbox. Testing chMBPost(), chMBPostI(), chMBPostAhead() and chMBPostAheadI() timeout. Resetting the mailbox. Testing chMBFetch() and chMBFetchI() timeout.