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freertos: Refactor FPU unit tests
This commit refactors the existing FPU unit tests as follows - Rename them from coproc to FPU - Reorganize test placement - Make existing tests work on both IDF and SMP FreeRTOS - Update test documentation - Remove old "test_float_in_isr.c"
This commit is contained in:
parent
2059fb885e
commit
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@ -1,70 +0,0 @@
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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 <esp_types.h>
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#include <stdio.h>
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "freertos/semphr.h"
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#include "freertos/queue.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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#include "math.h"
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#define SW_ISR_LEVEL_1 7
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#ifdef CONFIG_FREERTOS_FPU_IN_ISR
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struct fp_test_context {
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SemaphoreHandle_t sync;
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float expected;
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};
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static void software_isr(void *arg) {
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(void)arg;
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BaseType_t yield;
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xt_set_intclear(1 << SW_ISR_LEVEL_1);
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struct fp_test_context *ctx = (struct fp_test_context *)arg;
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for(int i = 0; i < 16; i++) {
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ctx->expected = ctx->expected * 2.0f * cosf(0.0f);
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}
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xSemaphoreGiveFromISR(ctx->sync, &yield);
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if(yield) {
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portYIELD_FROM_ISR();
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}
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}
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TEST_CASE("Floating point usage in ISR test", "[freertos]" "[fp]")
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{
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struct fp_test_context ctx;
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float fp_math_operation_result = 0.0f;
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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, &ctx, &handle);
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TEST_ASSERT_EQUAL_HEX32(ESP_OK, err);
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ctx.sync = xSemaphoreCreateBinary();
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TEST_ASSERT(ctx.sync != NULL);
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ctx.expected = 1.0f;
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fp_math_operation_result = cosf(0.0f);
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xt_set_intset(1 << SW_ISR_LEVEL_1);
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xSemaphoreTake(ctx.sync, portMAX_DELAY);
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esp_intr_free(handle);
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vSemaphoreDelete(ctx.sync);
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printf("FP math isr result: %f \n", ctx.expected);
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TEST_ASSERT_FLOAT_WITHIN(0.1f, ctx.expected, fp_math_operation_result * 65536.0f);
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}
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#endif
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164
components/freertos/test/port/test_fpu_in_isr.c
Normal file
164
components/freertos/test/port/test_fpu_in_isr.c
Normal file
@ -0,0 +1,164 @@
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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 <math.h>
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#include "soc/soc_caps.h"
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "freertos/semphr.h"
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#include "unity.h"
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#include "test_utils.h"
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#if SOC_CPU_HAS_FPU && CONFIG_FREERTOS_FPU_IN_ISR
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// We can use xtensa API here as currently, non of the RISC-V targets have an FPU
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#include "xtensa/xtensa_api.h"
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#include "esp_intr_alloc.h"
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#define SW_ISR_LEVEL_1 7
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static void fpu_isr(void *arg)
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{
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// Clear the interrupt
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xt_set_intclear(1 << SW_ISR_LEVEL_1);
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/*
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Use the FPU
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- We test using a calculation that will cause a change in mantissa and exponent for extra thoroughness
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- cosf(0.0f) should return 1.0f, thus we are simply doubling test_float every iteration.
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- Therefore, we should end up with (0.01) * (2^8) = 2.56 at the end of the loop
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*/
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volatile float test_float = 0.01f;
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for (int i = 0; i < 8; i++) {
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test_float = test_float * 2.0f * cosf(0.0f);
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}
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// We allow a 0.1% delta on the final result in case of any loss of precision from floating point calculations
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TEST_ASSERT_FLOAT_WITHIN(0.00256f, 2.56f, test_float);
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}
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/* ------------------------------------------------------------------------------------------------------------------ */
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/*
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Test FPU usage from a level 1 ISR
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Purpose:
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- Test that the FPU can be used from a level 1 ISR
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- Test that the ISR using the FPU does not corrupt the interrupted task's FPU context
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Procedure:
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- Allocate a level 1 ISR
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- Task uses the FPU then triggers the ISR
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- ISR uses the FPU as well (forcing the task's FPU context to be saved)
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- Task continues using the FPU (forcing its FPU context to be restored)
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Expected:
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- ISR should use the FPU without issue
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- The interrupted task can continue using the FPU without issue
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*/
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TEST_CASE("FPU: Usage in level 1 ISR", "[freertos]")
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{
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intr_handle_t isr_handle;
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TEST_ASSERT_EQUAL(ESP_OK, esp_intr_alloc(ETS_INTERNAL_SW0_INTR_SOURCE, ESP_INTR_FLAG_LEVEL1, &fpu_isr, NULL, &isr_handle));
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/*
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Use the FPU (calculate a different value than in the ISR)
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- We test using a calculation that will cause a change in mantissa and exponent for extra thoroughness
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- cosf(0.0f) should return 1.0f, thus we are simply dividing test_float every iteration.
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*/
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// We should end up with (2.56) / (2^4) = 0.16 at the end of the first loop
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volatile float test_float = 2.56f;
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for (int i = 0; i < 4; i++) {
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test_float = test_float / (2.0f * cosf(0.0f));
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}
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// We allow a 0.1% delta on the final result in case of any loss of precision from floating point calculations
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TEST_ASSERT_FLOAT_WITHIN(0.00016f, 0.16f, test_float);
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// Trigger the ISR
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xt_set_intset(1 << SW_ISR_LEVEL_1);
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// Continue using the FPU from a task context after the interrupt returns
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// We should end up with (0.16) / (2^4) = 0.01 at the end of the first loop
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for (int i = 0; i < 4; i++) {
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test_float = test_float / (2.0f * cosf(0.0f));
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}
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// We allow a 0.1% delta on the final result in case of any loss of precision from floating point calculations
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TEST_ASSERT_FLOAT_WITHIN(0.00001f, 0.01f, test_float);
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// Free the ISR
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esp_intr_free(isr_handle);
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}
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/* ------------------------------------------------------------------------------------------------------------------ */
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/*
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Test FPU usage in ISR does not affect an unpinned tasks
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Purpose:
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- Test that the ISR using the FPU will not affect the interrupted task's affinity
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Procedure:
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- Create an unpinned task
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- Unpinned task disables scheduling/preemption to ensure that it does not switch cores
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- Unpinned task allocates an ISR then triggers the ISR
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- The ISR interrupts the unpinned task then uses the FPU
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- Task reenables scheduling/preemption and cleans up
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Expected:
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- The ISR using the FPU will not affect the unpinned task's affinity
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*/
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// Known issue in IDF FreeRTOS (IDF-6068), already fixed in SMP FreeRTOS
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#if CONFIG_FREERTOS_SMP
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static void unpinned_task(void *arg)
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{
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// Disable scheduling/preemption to make sure the current task doesn't switch cores
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#if CONFIG_FREERTOS_SMP
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vTaskPreemptionDisable(NULL);
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#else
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vTaskSuspendAll();
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#endif
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// Check that the task is unpinned
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#if CONFIG_FREERTOS_SMP
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TEST_ASSERT_EQUAL(tskNO_AFFINITY, vTaskCoreAffinityGet(NULL));
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#else
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TEST_ASSERT_EQUAL(tskNO_AFFINITY, xTaskGetAffinity(NULL));
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#endif
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// Allocate an ISR to use the FPU
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intr_handle_t isr_handle;
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TEST_ASSERT_EQUAL(ESP_OK, esp_intr_alloc(ETS_INTERNAL_SW0_INTR_SOURCE, ESP_INTR_FLAG_LEVEL1, &fpu_isr, NULL, &isr_handle));
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// Trigger the ISR
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xt_set_intset(1 << SW_ISR_LEVEL_1);
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// Free the ISR
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esp_intr_free(isr_handle);
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// Task should remain unpinned after the ISR uses the FPU
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#if CONFIG_FREERTOS_SMP
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TEST_ASSERT_EQUAL(tskNO_AFFINITY, vTaskCoreAffinityGet(NULL));
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#else
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TEST_ASSERT_EQUAL(tskNO_AFFINITY, xTaskGetAffinity(NULL));
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#endif
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// Reenable scheduling/preemption
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#if CONFIG_FREERTOS_SMP
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vTaskPreemptionEnable(NULL);
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#else
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xTaskResumeAll();
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#endif
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// Indicate done and self delete
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xTaskNotifyGive((TaskHandle_t)arg);
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vTaskDelete(NULL);
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}
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TEST_CASE("FPU: Level 1 ISR does not affect unpinned task", "[freertos]")
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{
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TaskHandle_t unity_task_handle = xTaskGetCurrentTaskHandle();
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xTaskCreate(unpinned_task, "unpin", 2048, (void *)unity_task_handle, UNITY_FREERTOS_PRIORITY + 1, NULL);
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// Wait for task to complete
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ulTaskNotifyTake(pdTRUE, portMAX_DELAY);
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vTaskDelay(10); // Short delay to allow task memory to be freed
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}
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#endif // CONFIG_FREERTOS_SMP
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#endif // SOC_CPU_HAS_FPU && CONFIG_FREERTOS_FPU_IN_ISR
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@ -5,127 +5,169 @@
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*/
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*/
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#include "sdkconfig.h"
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#include "sdkconfig.h"
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#include <math.h>
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#include "soc/soc_caps.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/FreeRTOS.h"
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#include "freertos/task.h"
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#include "freertos/task.h"
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#include "xtensa/xtensa_api.h"
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#include "freertos/semphr.h"
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#include "esp_intr_alloc.h"
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#include "unity.h"
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#include "unity.h"
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#include "test_utils.h"
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#include "test_utils.h"
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/*
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#if SOC_CPU_HAS_FPU
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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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*/
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static volatile float test_float;
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/*
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/*
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Test coprocessor (CP) usage in task
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Test FPU usage from a task context
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Purpose:
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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 the FPU can be used from a task context
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- Test that unpinned tasks are pinned when the CP is used
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- Test that FPU context is properly saved and restored
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- Test that CP is properly saved in restored
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Procedure:
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- Test that CP context is properly cleaned up when task is deleted
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- Create TEST_PINNED_NUM_TASKS tasks pinned to each core
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- Start each task
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- Each task updates a float variable and then blocks (to allow other tasks to run thus forcing the an FPU context
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save and restore).
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Expected:
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- Correct float value calculated by each task
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*/
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*/
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#define COPROC_TASK_TEST_ITER 10
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#define TEST_PINNED_NUM_TASKS 3
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static void pinned_task(void *arg)
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{
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ulTaskNotifyTake(pdTRUE, portMAX_DELAY);
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/*
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Use the FPU
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- We test using a calculation that will cause a change in mantissa and exponent for extra thoroughness
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- cosf(0.0f) should return 1.0f, thus we are simply doubling test_float every iteration.
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- Therefore, we should end up with (0.01) * (2^8) = 2.56 at the end of the loop
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*/
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volatile float test_float = 0.01f;
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for (int i = 0; i < 8; i++) {
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test_float = test_float * 2.0f * cosf(0.0f);
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vTaskDelay(1); // Block to cause a context switch, forcing the FPU context to be saved
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}
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// We allow a 0.1% delta on the final result in case of any loss of precision from floating point calculations
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TEST_ASSERT_FLOAT_WITHIN(0.00256f, 2.56f, test_float);
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// Indicate done wand wait to be deleted
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xSemaphoreGive((SemaphoreHandle_t)arg);
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vTaskSuspend(NULL);
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}
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TEST_CASE("FPU: Usage in task", "[freertos]")
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{
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SemaphoreHandle_t done_sem = xSemaphoreCreateCounting(configNUM_CORES * TEST_PINNED_NUM_TASKS, 0);
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TEST_ASSERT_NOT_EQUAL(NULL, done_sem);
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TaskHandle_t task_handles[configNUM_CORES][TEST_PINNED_NUM_TASKS];
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// Create test tasks for each core
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for (int i = 0; i < configNUM_CORES; i++) {
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for (int j = 0; j < TEST_PINNED_NUM_TASKS; j++) {
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TEST_ASSERT_EQUAL(pdTRUE, xTaskCreatePinnedToCore(pinned_task, "task", 4096, (void *)done_sem, UNITY_FREERTOS_PRIORITY + 1, &task_handles[i][j], i));
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}
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}
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// Start the created tasks simultaneously
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for (int i = 0; i < configNUM_CORES; i++) {
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for (int j = 0; j < TEST_PINNED_NUM_TASKS; j++) {
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xTaskNotifyGive(task_handles[i][j]);
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}
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}
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// Wait for the tasks to complete
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for (int i = 0; i < configNUM_CORES * TEST_PINNED_NUM_TASKS; i++) {
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xSemaphoreTake(done_sem, portMAX_DELAY);
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}
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// Delete the tasks
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for (int i = 0; i < configNUM_CORES; i++) {
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for (int j = 0; j < TEST_PINNED_NUM_TASKS; j++) {
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vTaskDelete(task_handles[i][j]);
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}
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}
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vTaskDelay(10); // Short delay to allow idle task to be free task memory and FPU contexts
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vSemaphoreDelete(done_sem);
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}
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/* ------------------------------------------------------------------------------------------------------------------ */
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/*
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Test FPU usage will pin an unpinned task
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Purpose:
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- Test that unpinned tasks are automatically pinned to the current core on the task's first use of the FPU
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Procedure:
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- Create an unpinned task
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- Task disables scheduling/preemption to ensure that it does not switch cores
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- Task uses the FPU
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- Task checks its core affinity after FPU usage
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Expected:
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- Task remains unpinned until its first usage of the FPU
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- The task becomes pinned to the current core after first use of the FPU
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||||||
|
*/
|
||||||
|
|
||||||
|
#if configNUM_CORES > 1
|
||||||
|
|
||||||
static void unpinned_task(void *arg)
|
static void unpinned_task(void *arg)
|
||||||
{
|
{
|
||||||
// Test that task gets pinned to the current core when it uses the coprocessor
|
// Disable scheduling/preemption to make sure current core ID doesn't change
|
||||||
vTaskPreemptionDisable(NULL); // Disable preemption to make current core ID doesn't change
|
#if CONFIG_FREERTOS_SMP
|
||||||
BaseType_t xCoreID = xPortGetCoreID();
|
vTaskPreemptionDisable(NULL);
|
||||||
|
#else
|
||||||
|
vTaskSuspendAll();
|
||||||
|
#endif
|
||||||
|
BaseType_t cur_core_num = xPortGetCoreID();
|
||||||
|
// Check that the task is unpinned
|
||||||
|
#if CONFIG_FREERTOS_SMP
|
||||||
TEST_ASSERT_EQUAL(tskNO_AFFINITY, vTaskCoreAffinityGet(NULL));
|
TEST_ASSERT_EQUAL(tskNO_AFFINITY, vTaskCoreAffinityGet(NULL));
|
||||||
test_float = 1.1f;
|
#else
|
||||||
test_float *= 2.0f;
|
TEST_ASSERT_EQUAL(tskNO_AFFINITY, xTaskGetAffinity(NULL));
|
||||||
TEST_ASSERT_EQUAL(2.2f, test_float);
|
#endif
|
||||||
TEST_ASSERT_EQUAL(1 << xCoreID, vTaskCoreAffinityGet(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);
|
||||||
|
|
||||||
|
#if CONFIG_FREERTOS_SMP
|
||||||
|
TEST_ASSERT_EQUAL(1 << cur_core_num, vTaskCoreAffinityGet(NULL));
|
||||||
|
#else
|
||||||
|
TEST_ASSERT_EQUAL(cur_core_num, xTaskGetAffinity(NULL));
|
||||||
|
#endif
|
||||||
|
// Reenable scheduling/preemption
|
||||||
|
#if CONFIG_FREERTOS_SMP
|
||||||
vTaskPreemptionEnable(NULL);
|
vTaskPreemptionEnable(NULL);
|
||||||
|
#else
|
||||||
|
xTaskResumeAll();
|
||||||
|
#endif
|
||||||
|
|
||||||
// Delay to trigger a solicited context switch
|
// Indicate done and self delete
|
||||||
vTaskDelay(1);
|
|
||||||
// Test that CP context was saved and restored properly
|
|
||||||
test_float *= 2.0f;
|
|
||||||
TEST_ASSERT_EQUAL(4.4f, test_float);
|
|
||||||
|
|
||||||
// Wait to be deleted
|
|
||||||
xTaskNotifyGive((TaskHandle_t)arg);
|
xTaskNotifyGive((TaskHandle_t)arg);
|
||||||
vTaskSuspend(NULL);
|
vTaskDelete(NULL);
|
||||||
}
|
}
|
||||||
|
|
||||||
TEST_CASE("Test coproc usage in task", "[freertos]")
|
TEST_CASE("FPU: Usage in unpinned task", "[freertos]")
|
||||||
{
|
{
|
||||||
TaskHandle_t unity_task_handle = xTaskGetCurrentTaskHandle();
|
TaskHandle_t unity_task_handle = xTaskGetCurrentTaskHandle();
|
||||||
for (int i = 0; i < COPROC_TASK_TEST_ITER; i++) {
|
// Create unpinned task
|
||||||
TaskHandle_t unpinned_task_handle;
|
xTaskCreate(unpinned_task, "unpin", 4096, (void *)unity_task_handle, UNITY_FREERTOS_PRIORITY + 1, NULL);
|
||||||
xTaskCreate(unpinned_task, "unpin", 2048, (void *)unity_task_handle, UNITY_FREERTOS_PRIORITY + 1, &unpinned_task_handle);
|
// Wait for task to complete
|
||||||
ulTaskNotifyTake(pdTRUE, portMAX_DELAY);
|
ulTaskNotifyTake(pdTRUE, portMAX_DELAY);
|
||||||
vTaskDelete(unpinned_task_handle);
|
vTaskDelay(10); // Short delay to allow task memory to be freed
|
||||||
vTaskDelay(10); // Short delay to allow task memory to be freed
|
|
||||||
}
|
|
||||||
}
|
}
|
||||||
|
|
||||||
#if CONFIG_FREERTOS_FPU_IN_ISR
|
#endif // configNUM_CORES > 1
|
||||||
|
#endif // SOC_CPU_HAS_FPU
|
||||||
/*
|
|
||||||
Test coprocessor (CP) usage in ISR
|
|
||||||
|
|
||||||
Purpose:
|
|
||||||
- Test that CP can be used in an ISR
|
|
||||||
- Test that an interrupted unpinned task will not be pinned by the ISR using the CP
|
|
||||||
*/
|
|
||||||
|
|
||||||
#define SW_ISR_LEVEL_1 7
|
|
||||||
|
|
||||||
static void software_isr(void *arg)
|
|
||||||
{
|
|
||||||
(void) arg;
|
|
||||||
xt_set_intclear(1 << SW_ISR_LEVEL_1);
|
|
||||||
test_float *= 2;
|
|
||||||
}
|
|
||||||
|
|
||||||
static void unpinned_task_isr(void *arg)
|
|
||||||
{
|
|
||||||
vTaskPreemptionDisable(NULL); // Disable preemption to make current core ID doesn't change
|
|
||||||
TEST_ASSERT_EQUAL(tskNO_AFFINITY, vTaskCoreAffinityGet(NULL));
|
|
||||||
// Allocate ISR on the current core
|
|
||||||
intr_handle_t handle;
|
|
||||||
esp_err_t err = esp_intr_alloc(ETS_INTERNAL_SW0_INTR_SOURCE, ESP_INTR_FLAG_LEVEL1, &software_isr, NULL, &handle);
|
|
||||||
TEST_ASSERT_EQUAL_HEX32(ESP_OK, err);
|
|
||||||
// Trigger the ISR
|
|
||||||
xt_set_intset(1 << SW_ISR_LEVEL_1);
|
|
||||||
// Test that task affinity hasn't changed
|
|
||||||
TEST_ASSERT_EQUAL(tskNO_AFFINITY, vTaskCoreAffinityGet(NULL));
|
|
||||||
// Free the ISR
|
|
||||||
esp_intr_free(handle);
|
|
||||||
// Wait to be deleted
|
|
||||||
vTaskPreemptionEnable(NULL);
|
|
||||||
xTaskNotifyGive((TaskHandle_t)arg);
|
|
||||||
vTaskSuspend(NULL);
|
|
||||||
}
|
|
||||||
|
|
||||||
TEST_CASE("Test coproc usage in ISR", "[freertos]")
|
|
||||||
{
|
|
||||||
TaskHandle_t unity_task_handle = xTaskGetCurrentTaskHandle();
|
|
||||||
for (int i = 0; i < COPROC_TASK_TEST_ITER; i++) {
|
|
||||||
// Initialize the test float
|
|
||||||
test_float = 1.1f;
|
|
||||||
// Create an unpinned task to trigger the ISR
|
|
||||||
TaskHandle_t unpinned_task_handle;
|
|
||||||
xTaskCreate(unpinned_task_isr, "unpin", 2048, (void *)unity_task_handle, UNITY_FREERTOS_PRIORITY + 1, &unpinned_task_handle);
|
|
||||||
ulTaskNotifyTake(pdTRUE, portMAX_DELAY);
|
|
||||||
// Check that the test float value
|
|
||||||
TEST_ASSERT_EQUAL(2.2f, test_float);
|
|
||||||
// Delete the unpinned task. Short delay to allow task memory to be freed
|
|
||||||
vTaskDelete(unpinned_task_handle);
|
|
||||||
vTaskDelay(10);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
#endif // CONFIG_FREERTOS_FPU_IN_ISR
|
|
||||||
|
|
||||||
#endif // CONFIG_FREERTOS_SMP && SOC_CPU_HAS_FPU
|
|
||||||
|
Loading…
Reference in New Issue
Block a user