67 lines
1.6 KiB
C
67 lines
1.6 KiB
C
#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 "freertos/xtensa_api.h"
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#include "esp_intr_alloc.h"
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#include "xtensa/hal.h"
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#include "unity.h"
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#include "soc/cpu.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 |