diff --git a/apps/examples/ostest/fpu.c b/apps/examples/ostest/fpu.c index ca61c0089e..56cee45eed 100644 --- a/apps/examples/ostest/fpu.c +++ b/apps/examples/ostest/fpu.c @@ -43,6 +43,7 @@ #include #include #include +#include #include #include "ostest.h" @@ -88,6 +89,11 @@ #endif /* Other defintions ****************************************************/ +/* We'll keep all data using 32-bit values only to force 32-bit alignment. + * This logic has not real notion of the underlying representation. + */ + +#define FPU_WORDSIZE ((CONFIG_EXAMPLES_OSTEST_FPUSIZE+3)>>2) #ifndef NULL # define NULL (void*)0 @@ -101,32 +107,18 @@ * to be provided: */ -/* Given a uint8_t array of size CONFIG_EXAMPLES_OSTEST_FPUSIZE, this - * function will return the current FPU registers. +/* Given an array of size CONFIG_EXAMPLES_OSTEST_FPUSIZE, this function + * will return the current FPU registers. */ -extern void arch_getfpu(FAR uint8_t *fpusave); +extern void arch_getfpu(FAR uint32_t *fpusave); -/* Given a uint8_t array of size CONFIG_EXAMPLES_OSTEST_FPUSIZE, this - * function will set the current FPU regisers to match the provided - * register save set. - */ - -extern void arch_setfpu(FAR const uint8_t *fpusave); - -/* Given a uint8_t array of size CONFIG_EXAMPLES_OSTEST_FPUSIZE and a - * seed value, this function will set the FPU registers to a known - * values for testing purposes. The contents of the FPU registers - * must be uniqe for each sed value. - */ - -extern void arch_initfpu(FAR uint8_t *fpusave, int seed); - -/* Given two uint8_t arrays of size CONFIG_EXAMPLES_OSTEST_FPUSIZE this +/* Given two arrays of size CONFIG_EXAMPLES_OSTEST_FPUSIZE this * function will compare then an return true if they are identical. */ -extern bool arch_cmpfpu(FAR const uint8_t *fpusave1, FAR const uint8_t *fpusave2); +extern bool arch_cmpfpu(FAR const uint32_t *fpusave1, + FAR const uint32_t *fpusave2); /*********************************************************************** * Private Data @@ -138,24 +130,25 @@ static uint8_t g_fpuno; * Private Functions ***********************************************************************/ -static void fpu_dump(FAR uint8_t *buffer, FAR const char *msg) +static void fpu_dump(FAR uint32_t *buffer, FAR const char *msg) { int i, j, k; printf("%s (%p):\n", msg, buffer); - for (i = 0; i < CONFIG_EXAMPLES_OSTEST_FPUSIZE; i += 32) + for (i = 0; i < FPU_WORDSIZE; i += 8) { - printf("%04x: ", i); - for (j = 0; j < 32; j++) + printf(" %04x: ", i); + for (j = 0; j < 8; j++) { k = i + j; - if (k < CONFIG_EXAMPLES_OSTEST_FPUSIZE) + if (k < FPU_WORDSIZE) { - printf("%02x ", buffer[k]); + printf("%08x ", buffer[k]); } else { + printf("\n"); break; } } @@ -165,11 +158,13 @@ static void fpu_dump(FAR uint8_t *buffer, FAR const char *msg) static int fpu_task(int argc, char *argv[]) { - uint8_t fpusave1[CONFIG_EXAMPLES_OSTEST_FPUSIZE]; - uint8_t fpusave2[CONFIG_EXAMPLES_OSTEST_FPUSIZE]; + uint32_t fpusave1[FPU_WORDSIZE]; + uint32_t fpusave2[FPU_WORDSIZE]; + double val1; + double val2; + double val3; + double val4; int id; - int seed; - int incr; int i; /* Which are we? */ @@ -178,30 +173,51 @@ static int fpu_task(int argc, char *argv[]) id = (int)(++g_fpuno); sched_unlock(); - seed = id << 24 | id << 16 | id << 8 | id; - incr = seed; + /* Seed the flowing point values */ + + val1 = (double)id; for (i = 0; i < CONFIG_EXAMPLES_OSTEST_FPULOOPS; i++) { - /* Initialize the FPU registers to a known value */ + printf("FPU#%d: pass %d\n", id, i+1); + fflush(stdout); + + /* Set the FPU register save arrays to a known-but-illogical values so + * that we can verify that reading of the registers actually occurs. + */ + + memset(fpusave1, 0xff, sizeof(fpusave1)); + memset(fpusave2, 0xff, sizeof(fpusave1)); + + /* Prevent context switches while we set up some stuff */ sched_lock(); - arch_initfpu(fpusave1, seed); - arch_setfpu(fpusave1); - /* Check that the FPU registers were set as we expected */ + /* Do some trivial floating point operations that should cause some + * changes to floating point resters + */ + + val4 = 3.1415926 * val1; /* Multiple by Pi */ + val3 = val4 + 1.61803398874; /* Add the golden ratio */ + val2 = val3 / 2.7182; /* Divide by Euler's constant */ + val1 = val2 + 1.0; /* Plus one */ + + /* Sample the floating point registers */ + + arch_getfpu(fpusave1); + + /* Re-read and verify the FPU registers consistently without corruption */ arch_getfpu(fpusave2); if (!arch_cmpfpu(fpusave1, fpusave2)) { - printf("ERROR FPU#%d: fpusave1 and fpusave2 do not match (BEFORE waiting)\n"); - fpu_dump(fpusave1, "Values written:"); - fpu_dump(fpusave2, "Values read:"); - sched_unlock(); + printf("ERROR FPU#%d: fpusave1 and fpusave2 do not match\n", id); + fpu_dump(fpusave1, "Values after math operations (fpusave1)"); + fpu_dump(fpusave2, "Values after verify re-read (fpusave2)"); return EXIT_FAILURE; } - /* Now unlock and sleep for a while */ + /* Now unlock and sleep for a while -- this should result in some context switches */ sched_unlock(); usleep(CONFIG_EXAMPLES_OSTEST_FPUMSDELAY * 1000); @@ -210,21 +226,18 @@ static int fpu_task(int argc, char *argv[]) * point registers are still correctly set. */ - sched_lock(); arch_getfpu(fpusave2); if (!arch_cmpfpu(fpusave1, fpusave2)) { - printf("ERROR FPU#%d: fpusave1 and fpusave2 do not match (AFTER waiting)\n"); - fpu_dump(fpusave1, "Values written:"); - fpu_dump(fpusave2, "Values read:"); - sched_unlock(); + printf("ERROR FPU#%d: fpusave1 and fpusave2 do not match\n", id); + fpu_dump(fpusave1, "Values before waiting (fpusave1)"); + fpu_dump(fpusave2, "Values after waiting (fpusave2)"); return EXIT_FAILURE; } - - seed += incr; } - printf("FPU#%d: Succeeded\n"); + printf("FPU#%d: Succeeded\n", id); + fflush(stdout); return EXIT_SUCCESS; } #endif /* HAVE_FPU */ @@ -253,6 +266,7 @@ void fpu_test(void) { printf("fpu_test: Started task FPU#1 at PID=%d\n", task1); } + fflush(stdout); usleep(250); printf("Starting task FPU#2\n"); @@ -268,6 +282,7 @@ void fpu_test(void) /* Wait for each task to complete */ + fflush(stdout); (void)waitpid(task1, &statloc, 0); (void)waitpid(task2, &statloc, 0); diff --git a/nuttx/arch/arm/src/armv7-m/up_blocktask.c b/nuttx/arch/arm/src/armv7-m/up_blocktask.c index e2a612a185..896476ed2e 100755 --- a/nuttx/arch/arm/src/armv7-m/up_blocktask.c +++ b/nuttx/arch/arm/src/armv7-m/up_blocktask.c @@ -1,8 +1,8 @@ /**************************************************************************** * arch/arm/src/armv7-m/up_blocktask.c * - * Copyright (C) 2007-2009 Gregory Nutt. All rights reserved. - * Author: Gregory Nutt + * Copyright (C) 2007-2009, 2012 Gregory Nutt. All rights reserved. + * Author: Gregory Nutt * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions diff --git a/nuttx/arch/arm/src/armv7-m/up_fpu.S b/nuttx/arch/arm/src/armv7-m/up_fpu.S index fd6449c2fe..707420f064 100644 --- a/nuttx/arch/arm/src/armv7-m/up_fpu.S +++ b/nuttx/arch/arm/src/armv7-m/up_fpu.S @@ -68,7 +68,7 @@ ************************************************************************************/ /************************************************************************************ - * Name: up_restorefpu + * Name: up_savefpu * * Description: * Given the pointer to a register save area (in R0), save the state of the diff --git a/nuttx/arch/arm/src/armv7-m/up_releasepending.c b/nuttx/arch/arm/src/armv7-m/up_releasepending.c index 20b9535437..2f0d4dc39b 100755 --- a/nuttx/arch/arm/src/armv7-m/up_releasepending.c +++ b/nuttx/arch/arm/src/armv7-m/up_releasepending.c @@ -1,8 +1,8 @@ /**************************************************************************** * arch/arm/src/armv7-m/up_releasepending.c * - * Copyright (C) 2007-2009 Gregory Nutt. All rights reserved. - * Author: Gregory Nutt + * Copyright (C) 2007-2009, 2012 Gregory Nutt. All rights reserved. + * Author: Gregory Nutt * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -84,15 +84,14 @@ void up_release_pending(void) /* sched_lock(); */ if (sched_mergepending()) { - /* The currently active task has changed! We will need to - * switch contexts. First check if we are operating in - * interrupt context: + /* The currently active task has changed! We will need to switch + * contexts. First check if we are operating in interrupt context. */ if (current_regs) { - /* Yes, then we have to do things differently. - * Just copy the current_regs into the OLD rtcb. + /* Yes, then we have to do things differently. Just copy the + * current_regs into the OLD rtcb. */ up_savestate(rtcb->xcp.regs); diff --git a/nuttx/arch/arm/src/armv7-m/up_reprioritizertr.c b/nuttx/arch/arm/src/armv7-m/up_reprioritizertr.c index 9ac2d11458..f1c961b15e 100755 --- a/nuttx/arch/arm/src/armv7-m/up_reprioritizertr.c +++ b/nuttx/arch/arm/src/armv7-m/up_reprioritizertr.c @@ -1,8 +1,8 @@ /**************************************************************************** * arch/arm/src/armv7-m/up_reprioritizertr.c * - * Copyright (C) 2007-2009 Gregory Nutt. All rights reserved. - * Author: Gregory Nutt + * Copyright (C) 2007-2009, 2012 Gregory Nutt. All rights reserved. + * Author: Gregory Nutt * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -103,8 +103,8 @@ void up_reprioritize_rtr(_TCB *tcb, uint8_t priority) slldbg("TCB=%p PRI=%d\n", tcb, priority); /* Remove the tcb task from the ready-to-run list. - * sched_removereadytorun will return true if we just - * remove the head of the ready to run list. + * sched_removereadytorun will return true if we just removed the head + * of the ready to run list. */ switch_needed = sched_removereadytorun(tcb); @@ -113,17 +113,18 @@ void up_reprioritize_rtr(_TCB *tcb, uint8_t priority) tcb->sched_priority = (uint8_t)priority; - /* Return the task to the specified blocked task list. - * sched_addreadytorun will return true if the task was - * added to the new list. We will need to perform a context - * switch only if the EXCLUSIVE or of the two calls is non-zero - * (i.e., one and only one the calls changes the head of the - * ready-to-run list). + /* Return the task to the ready-to-run task list. sched_addreadytorun + * will return true if the task was added to the head of ready-to-run + * list. We will need to perform a context switch only if the + * EXCLUSIVE or of the two calls is non-zero (i.e., one and only one + * the calls changes the head of the ready-to-run list). */ switch_needed ^= sched_addreadytorun(tcb); - /* Now, perform the context switch if one is needed */ + /* Now, perform the context switch if one is needed (i.e. if the head + * of the ready-to-run list is no longer the same). + */ if (switch_needed) { diff --git a/nuttx/arch/arm/src/armv7-m/up_schedulesigaction.c b/nuttx/arch/arm/src/armv7-m/up_schedulesigaction.c index f392a08d76..9e6dbd14b4 100644 --- a/nuttx/arch/arm/src/armv7-m/up_schedulesigaction.c +++ b/nuttx/arch/arm/src/armv7-m/up_schedulesigaction.c @@ -1,8 +1,8 @@ /**************************************************************************** * arch/arm/src/armv7-m/up_schedulesigaction.c * - * Copyright (C) 2009-2011 Gregory Nutt. All rights reserved. - * Author: Gregory Nutt + * Copyright (C) 2009-2012 Gregory Nutt. All rights reserved. + * Author: Gregory Nutt * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions diff --git a/nuttx/arch/arm/src/armv7-m/up_svcall.c b/nuttx/arch/arm/src/armv7-m/up_svcall.c index 949efb1af0..5a4d64fe20 100644 --- a/nuttx/arch/arm/src/armv7-m/up_svcall.c +++ b/nuttx/arch/arm/src/armv7-m/up_svcall.c @@ -320,6 +320,9 @@ int up_svcall(int irq, FAR void *context) { DEBUGASSERT(regs[REG_R1] != 0 && regs[REG_R2] != 0); memcpy((uint32_t*)regs[REG_R1], regs, XCPTCONTEXT_SIZE); +#if defined(CONFIG_ARCH_FPU) && !defined(CONFIG_ARMV7M_CMNVECTOR) + up_savefpu((uint32_t*)regs[REG_R1]); +#endif current_regs = (uint32_t*)regs[REG_R2]; } break; diff --git a/nuttx/configs/stm3240g-eval/src/up_ostest.c b/nuttx/configs/stm3240g-eval/src/up_ostest.c index 477b67cafc..a30999d09c 100644 --- a/nuttx/configs/stm3240g-eval/src/up_ostest.c +++ b/nuttx/configs/stm3240g-eval/src/up_ostest.c @@ -77,66 +77,29 @@ /************************************************************************************ * Public Functions ************************************************************************************/ -/* Given a uint8_t array of size CONFIG_EXAMPLES_OSTEST_FPUSIZE, this - * function will return the current FPU registers. +/* Given an array of size CONFIG_EXAMPLES_OSTEST_FPUSIZE, this function will return + * the current FPU registers. */ -void arch_getfpu(FAR uint8_t *fpusave) +void arch_getfpu(FAR uint32_t *fpusave) { irqstate_t flags; uint32_t regs[XCPTCONTEXT_REGS]; flags = irqsave(); - up_savefpu(regs); + up_savefpu(regs); /* Saves the context of the FPU registers to memory */ irqrestore(flags); memcpy(fpusave, ®s[REG_S0], (4*SW_FPU_REGS)); } -/* Given a uint8_t array of size CONFIG_EXAMPLES_OSTEST_FPUSIZE, this - * function will set the current FPU regisers to match the provided - * register save set. +/* Given two arrays of size CONFIG_EXAMPLES_OSTEST_FPUSIZE this function + * will compare then an return true if they are identical. */ -void arch_setfpu(FAR const uint8_t *fpusave) +bool arch_cmpfpu(FAR const uint32_t *fpusave1, FAR const uint32_t *fpusave2) { - irqstate_t flags; - uint32_t regs[XCPTCONTEXT_REGS]; - - memcpy(®s[REG_S0], fpusave, (4*SW_FPU_REGS)); - - flags = irqsave(); - up_restorefpu(regs); - irqrestore(flags); -} - -/* Given a uint8_t array of size CONFIG_EXAMPLES_OSTEST_FPUSIZE and a - * seed value, this function will set the FPU registers to a known - * values for testing purposes. The contents of the FPU registers - * must be uniqe for each sed value. - */ - -void arch_initfpu(FAR uint8_t *fpusave, int seed) -{ - FAR uint32_t *dest = (FAR uint32_t *)fpusave; - uint32_t mask = 0x01010101; - uint32_t incr = 0x01010101; - int i; - - for (i = 0; i < 32; i++) - { - *dest = (uint32_t)seed ^ mask; - mask += incr; - } -} - -/* Given two uint8_t arrays of size CONFIG_EXAMPLES_OSTEST_FPUSIZE this - * function will compare then an return true if they are identical. - */ - -bool arch_cmpfpu(FAR const uint8_t *fpusave1, FAR const uint8_t *fpusave2) -{ - return memcmp(fpusave1, fpusave2, (4*32)) == 0; + return memcmp(fpusave1, fpusave2, (4*SW_FPU_REGS)) == 0; } #endif /* HAVE_FPU */