mirror of
https://github.com/espressif/esp-idf.git
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132 lines
4.1 KiB
C
132 lines
4.1 KiB
C
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/*
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* SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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#include "sdkconfig.h"
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#include "soc/soc_caps.h"
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#if CONFIG_FREERTOS_SMP && SOC_CPU_HAS_FPU
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "xtensa/xtensa_api.h"
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#include "esp_intr_alloc.h"
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#include "unity.h"
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#include "test_utils.h"
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/*
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Note: We need to declare the float here to prevent compiler optimizing float
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operations into non-float instructions.
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*/
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static volatile float test_float;
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/*
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Test coprocessor (CP) usage in task
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Purpose:
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- Test that CP can be used in a task (e.g., the FPU)
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- Test that unpinned tasks are pinned when the CP is used
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- Test that CP is properly saved in restored
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- Test that CP context is properly cleaned up when task is deleted
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*/
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#define COPROC_TASK_TEST_ITER 10
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static void unpinned_task(void *arg)
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{
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// Test that task gets pinned to the current core when it uses the coprocessor
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vTaskPreemptionDisable(NULL); // Disable preemption to make current core ID doesn't change
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BaseType_t xCoreID = xPortGetCoreID();
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TEST_ASSERT_EQUAL(tskNO_AFFINITY, vTaskCoreAffinityGet(NULL));
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test_float = 1.1f;
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test_float *= 2.0f;
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TEST_ASSERT_EQUAL(2.2f, test_float);
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TEST_ASSERT_EQUAL(1 << xCoreID, vTaskCoreAffinityGet(NULL));
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vTaskPreemptionEnable(NULL);
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// Delay to trigger a solicited context switch
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vTaskDelay(1);
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// Test that CP context was saved and restored properly
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test_float *= 2.0f;
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TEST_ASSERT_EQUAL(4.4f, test_float);
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// Wait to be deleted
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xTaskNotifyGive((TaskHandle_t)arg);
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vTaskSuspend(NULL);
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}
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TEST_CASE("Test coproc usage in task", "[freertos]")
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{
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TaskHandle_t unity_task_handle = xTaskGetCurrentTaskHandle();
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for (int i = 0; i < COPROC_TASK_TEST_ITER; i++) {
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TaskHandle_t unpinned_task_handle;
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xTaskCreate(unpinned_task, "unpin", 2048, (void *)unity_task_handle, UNITY_FREERTOS_PRIORITY + 1, &unpinned_task_handle);
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ulTaskNotifyTake(pdTRUE, portMAX_DELAY);
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vTaskDelete(unpinned_task_handle);
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vTaskDelay(10); // Short delay to allow task memory to be freed
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}
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}
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#if CONFIG_FREERTOS_FPU_IN_ISR
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/*
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Test coprocessor (CP) usage in ISR
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Purpose:
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- Test that CP can be used in an ISR
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- Test that an interrupted unpinned task will not be pinned by the ISR using the CP
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*/
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#define SW_ISR_LEVEL_1 7
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static void software_isr(void *arg)
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{
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(void) arg;
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xt_set_intclear(1 << SW_ISR_LEVEL_1);
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test_float *= 2;
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}
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static void unpinned_task_isr(void *arg)
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{
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vTaskPreemptionDisable(NULL); // Disable preemption to make current core ID doesn't change
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TEST_ASSERT_EQUAL(tskNO_AFFINITY, vTaskCoreAffinityGet(NULL));
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// Allocate ISR on the current core
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intr_handle_t handle;
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esp_err_t err = esp_intr_alloc(ETS_INTERNAL_SW0_INTR_SOURCE, ESP_INTR_FLAG_LEVEL1, &software_isr, NULL, &handle);
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TEST_ASSERT_EQUAL_HEX32(ESP_OK, err);
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// Trigger the ISR
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xt_set_intset(1 << SW_ISR_LEVEL_1);
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// Test that task affinity hasn't changed
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TEST_ASSERT_EQUAL(tskNO_AFFINITY, vTaskCoreAffinityGet(NULL));
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// Free the ISR
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esp_intr_free(handle);
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// Wait to be deleted
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vTaskPreemptionEnable(NULL);
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xTaskNotifyGive((TaskHandle_t)arg);
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vTaskSuspend(NULL);
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}
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TEST_CASE("Test coproc usage in ISR", "[freertos]")
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{
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TaskHandle_t unity_task_handle = xTaskGetCurrentTaskHandle();
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for (int i = 0; i < COPROC_TASK_TEST_ITER; i++) {
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// Initialize the test float
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test_float = 1.1f;
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// Create an unpinned task to trigger the ISR
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TaskHandle_t unpinned_task_handle;
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xTaskCreate(unpinned_task_isr, "unpin", 2048, (void *)unity_task_handle, UNITY_FREERTOS_PRIORITY + 1, &unpinned_task_handle);
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ulTaskNotifyTake(pdTRUE, portMAX_DELAY);
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// Check that the test float value
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TEST_ASSERT_EQUAL(2.2f, test_float);
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// Delete the unpinned task. Short delay to allow task memory to be freed
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vTaskDelete(unpinned_task_handle);
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vTaskDelay(10);
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}
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}
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#endif // CONFIG_FREERTOS_FPU_IN_ISR
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#endif // CONFIG_FREERTOS_SMP && SOC_CPU_HAS_FPU
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