esp-idf/components/freertos/test/test_fpu_in_task.c

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/*
* SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0
*/
#include "sdkconfig.h"
#include <math.h>
#include "soc/soc_caps.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "freertos/semphr.h"
#include "unity.h"
#include "test_utils.h"
#if SOC_CPU_HAS_FPU
/* ------------------------------------------------------------------------------------------------------------------ */
/*
Test FPU usage from a task context
Purpose:
- Test that the FPU can be used from a task context
- Test that FPU context is properly saved and restored
Procedure:
- Create TEST_PINNED_NUM_TASKS tasks pinned to each core
- Start each task
- Each task updates a float variable and then blocks (to allow other tasks to run thus forcing the an FPU context
save and restore).
Expected:
- Correct float value calculated by each task
*/
#define TEST_PINNED_NUM_TASKS 3
static void pinned_task(void *arg)
{
ulTaskNotifyTake(pdTRUE, portMAX_DELAY);
/*
Use the FPU
- We test using a calculation that will cause a change in mantissa and exponent for extra thoroughness
- cosf(0.0f) should return 1.0f, thus we are simply doubling test_float every iteration.
- Therefore, we should end up with (0.01) * (2^8) = 2.56 at the end of the loop
*/
volatile float test_float = 0.01f;
for (int i = 0; i < 8; i++) {
test_float = test_float * 2.0f * cosf(0.0f);
vTaskDelay(1); // Block to cause a context switch, forcing the FPU context to be saved
}
// We allow a 0.1% delta on the final result in case of any loss of precision from floating point calculations
TEST_ASSERT_FLOAT_WITHIN(0.00256f, 2.56f, test_float);
// Indicate done wand wait to be deleted
xSemaphoreGive((SemaphoreHandle_t)arg);
vTaskSuspend(NULL);
}
TEST_CASE("FPU: Usage in task", "[freertos]")
{
SemaphoreHandle_t done_sem = xSemaphoreCreateCounting(configNUM_CORES * TEST_PINNED_NUM_TASKS, 0);
TEST_ASSERT_NOT_EQUAL(NULL, done_sem);
TaskHandle_t task_handles[configNUM_CORES][TEST_PINNED_NUM_TASKS];
// Create test tasks for each core
for (int i = 0; i < configNUM_CORES; i++) {
for (int j = 0; j < TEST_PINNED_NUM_TASKS; j++) {
TEST_ASSERT_EQUAL(pdTRUE, xTaskCreatePinnedToCore(pinned_task, "task", 4096, (void *)done_sem, UNITY_FREERTOS_PRIORITY + 1, &task_handles[i][j], i));
}
}
// Start the created tasks simultaneously
for (int i = 0; i < configNUM_CORES; i++) {
for (int j = 0; j < TEST_PINNED_NUM_TASKS; j++) {
xTaskNotifyGive(task_handles[i][j]);
}
}
// Wait for the tasks to complete
for (int i = 0; i < configNUM_CORES * TEST_PINNED_NUM_TASKS; i++) {
xSemaphoreTake(done_sem, portMAX_DELAY);
}
// Delete the tasks
for (int i = 0; i < configNUM_CORES; i++) {
for (int j = 0; j < TEST_PINNED_NUM_TASKS; j++) {
vTaskDelete(task_handles[i][j]);
}
}
vTaskDelay(10); // Short delay to allow idle task to be free task memory and FPU contexts
vSemaphoreDelete(done_sem);
}
/* ------------------------------------------------------------------------------------------------------------------ */
/*
Test FPU usage will pin an unpinned task
Purpose:
- Test that unpinned tasks are automatically pinned to the current core on the task's first use of the FPU
Procedure:
- Create an unpinned task
- Task disables scheduling/preemption to ensure that it does not switch cores
- Task uses the FPU
- Task checks its core affinity after FPU usage
Expected:
- Task remains unpinned until its first usage of the FPU
- The task becomes pinned to the current core after first use of the FPU
*/
#if configNUM_CORES > 1
static void unpinned_task(void *arg)
{
// Disable scheduling to make sure current core ID doesn't change
vTaskSuspendAll();
BaseType_t cur_core_num = xPortGetCoreID();
// Check that the task is unpinned
TEST_ASSERT_EQUAL(tskNO_AFFINITY, xTaskGetAffinity(NULL));
/*
Use the FPU
- We test using a calculation that will cause a change in mantissa and exponent for extra thoroughness
- cosf(0.0f) should return 1.0f, thus we are simply doubling test_float every iteration.
- Therefore, we should end up with (0.01) * (2^8) = 2.56 at the end of the loop
*/
volatile float test_float = 0.01f;
for (int i = 0; i < 8; i++) {
test_float = test_float * 2.0f * cosf(0.0f);
}
// We allow a 0.1% delta on the final result in case of any loss of precision from floating point calculations
TEST_ASSERT_FLOAT_WITHIN(0.00256f, 2.56f, test_float);
TEST_ASSERT_EQUAL(cur_core_num, xTaskGetAffinity(NULL));
// Reenable scheduling
xTaskResumeAll();
// Indicate done and self delete
xTaskNotifyGive((TaskHandle_t)arg);
vTaskDelete(NULL);
}
TEST_CASE("FPU: Usage in unpinned task", "[freertos]")
{
TaskHandle_t unity_task_handle = xTaskGetCurrentTaskHandle();
// Create unpinned task
xTaskCreate(unpinned_task, "unpin", 4096, (void *)unity_task_handle, UNITY_FREERTOS_PRIORITY + 1, NULL);
// Wait for task to complete
ulTaskNotifyTake(pdTRUE, portMAX_DELAY);
vTaskDelay(10); // Short delay to allow task memory to be freed
}
#endif // configNUM_CORES > 1
#endif // SOC_CPU_HAS_FPU