kopia lustrzana https://github.com/espressif/esp-idf
66 wiersze
1.5 KiB
C
66 wiersze
1.5 KiB
C
#include <esp_types.h>
|
|
#include <stdio.h>
|
|
|
|
#include "freertos/FreeRTOS.h"
|
|
#include "freertos/task.h"
|
|
#include "freertos/semphr.h"
|
|
#include "freertos/queue.h"
|
|
#include "esp_intr_alloc.h"
|
|
#include "unity.h"
|
|
#include "soc/cpu.h"
|
|
#include "test_utils.h"
|
|
#include "math.h"
|
|
|
|
#define SW_ISR_LEVEL_1 7
|
|
#ifdef CONFIG_FREERTOS_FPU_IN_ISR
|
|
|
|
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 < 16; i++) {
|
|
ctx->expected = ctx->expected * 2.0f * cosf(0.0f);
|
|
}
|
|
|
|
xSemaphoreGiveFromISR(ctx->sync, &yield);
|
|
if(yield) {
|
|
portYIELD_FROM_ISR();
|
|
}
|
|
}
|
|
|
|
|
|
TEST_CASE("Floating point usage in ISR test", "[freertos]" "[fp]")
|
|
{
|
|
struct fp_test_context ctx;
|
|
float fp_math_operation_result = 0.0f;
|
|
|
|
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;
|
|
|
|
fp_math_operation_result = cosf(0.0f);
|
|
|
|
xt_set_intset(1 << SW_ISR_LEVEL_1);
|
|
xSemaphoreTake(ctx.sync, portMAX_DELAY);
|
|
|
|
esp_intr_free(handle);
|
|
vSemaphoreDelete(ctx.sync);
|
|
|
|
printf("FP math isr result: %f \n", ctx.expected);
|
|
TEST_ASSERT_FLOAT_WITHIN(0.1f, ctx.expected, fp_math_operation_result * 65536.0f);
|
|
}
|
|
|
|
#endif
|