freertos: added fpu in isr test case

components/freertos/test/test_float_in_isr.c

@@ -0,0 +1,60 @@
+#include <esp_types.h>
+#include <stdio.h>
+
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "freertos/semphr.h"
+#include "freertos/queue.h"
+#include "freertos/xtensa_api.h"
+#include "esp_intr_alloc.h"
+#include "xtensa/hal.h"
+#include "unity.h"
+#include "soc/cpu.h"
+#include "test_utils.h"
+#include "math.h"
+  
+#define SW_ISR_LEVEL_1  7
+
+struct fp_test_context {
+    SemaphoreHandle_t sync;
+    float expected;
+};
+
+static void software_isr(void *arg) {
+    (void)arg;
+    BaseType_t yield;
+    xt_set_intclear(1 << SW_ISR_LEVEL_1);
+
+    struct fp_test_context *ctx = (struct fp_test_context *)arg;
+
+    for(int i = 0; i < 10; i++) {
+        ctx->expected = ctx->expected * 2.0f;
+    }
+
+    xSemaphoreGiveFromISR(ctx->sync, &yield);
+    if(yield) {
+        portYIELD_FROM_ISR();
+    }
+}
+
+
+TEST_CASE("Floating point usage in ISR test", "[freertos] [ignore]")
+{
+    struct fp_test_context ctx;
+
+    intr_handle_t handle;
+    esp_err_t err = esp_intr_alloc(ETS_INTERNAL_SW0_INTR_SOURCE, ESP_INTR_FLAG_LEVEL1, &software_isr, &ctx, &handle);
+    TEST_ASSERT_EQUAL_HEX32(ESP_OK, err);
+
+    ctx.sync = xSemaphoreCreateBinary();
+    TEST_ASSERT(ctx.sync != NULL);
+    ctx.expected = 1.0f;
+
+    xt_set_intset(1 << SW_ISR_LEVEL_1);
+    xSemaphoreTake(ctx.sync, portMAX_DELAY);
+
+    esp_intr_free(handle);
+    vSemaphoreDelete(ctx.sync);
+
+    TEST_ASSERT_FLOAT_WITHIN(0.1f, ctx.expected, 1024.0f);
+}