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

132 wiersze
4.1 KiB
C

/*
* SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0
*/
#include "sdkconfig.h"
#include "soc/soc_caps.h"
#if CONFIG_FREERTOS_SMP && SOC_CPU_HAS_FPU
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "xtensa/xtensa_api.h"
#include "esp_intr_alloc.h"
#include "unity.h"
#include "test_utils.h"
/*
Note: We need to declare the float here to prevent compiler optimizing float
operations into non-float instructions.
*/
static volatile float test_float;
/*
Test coprocessor (CP) usage in task
Purpose:
- Test that CP can be used in a task (e.g., the FPU)
- Test that unpinned tasks are pinned when the CP is used
- Test that CP is properly saved in restored
- Test that CP context is properly cleaned up when task is deleted
*/
#define COPROC_TASK_TEST_ITER 10
static void unpinned_task(void *arg)
{
// Test that task gets pinned to the current core when it uses the coprocessor
vTaskPreemptionDisable(NULL); // Disable preemption to make current core ID doesn't change
BaseType_t xCoreID = xPortGetCoreID();
TEST_ASSERT_EQUAL(tskNO_AFFINITY, vTaskCoreAffinityGet(NULL));
test_float = 1.1f;
test_float *= 2.0f;
TEST_ASSERT_EQUAL(2.2f, test_float);
TEST_ASSERT_EQUAL(1 << xCoreID, vTaskCoreAffinityGet(NULL));
vTaskPreemptionEnable(NULL);
// Delay to trigger a solicited context switch
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);
vTaskSuspend(NULL);
}
TEST_CASE("Test coproc usage in task", "[freertos]")
{
TaskHandle_t unity_task_handle = xTaskGetCurrentTaskHandle();
for (int i = 0; i < COPROC_TASK_TEST_ITER; i++) {
TaskHandle_t unpinned_task_handle;
xTaskCreate(unpinned_task, "unpin", 2048, (void *)unity_task_handle, UNITY_FREERTOS_PRIORITY + 1, &unpinned_task_handle);
ulTaskNotifyTake(pdTRUE, portMAX_DELAY);
vTaskDelete(unpinned_task_handle);
vTaskDelay(10); // Short delay to allow task memory to be freed
}
}
#if CONFIG_FREERTOS_FPU_IN_ISR
/*
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