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px4-firmware/apps/examples/ostest/fpu.c

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/***********************************************************************
* apps/examples/ostest/fpu.c
*
* Copyright (C) 2012 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
***********************************************************************/
/***********************************************************************
* Included Files
***********************************************************************/
#include <nuttx/config.h>
#include <sys/wait.h>
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <string.h>
#include <sched.h>
#include "ostest.h"
/***********************************************************************
* Pre-processor definitions
***********************************************************************/
/* Configuration *******************************************************/
#undef HAVE_FPU
#ifdef CONFIG_ARCH_FPU
# if defined(CONFIG_EXAMPLES_OSTEST_FPUSIZE) && defined(CONFIG_SCHED_WAITPID) && !defined(CONFIG_DISABLE_SIGNALS)
# define HAVE_FPU 1
# else
# ifndef CONFIG_EXAMPLES_OSTEST_FPUSIZE
# warning "FPU test not built; CONFIG_EXAMPLES_OSTEST_FPUSIZE not defined"
# endif
# ifndef CONFIG_SCHED_WAITPID
# warning "FPU test not built; CONFIG_SCHED_WAITPID not defined"
# endif
# ifdef CONFIG_DISABLE_SIGNALS
# warning "FPU test not built; CONFIG_DISABLE_SIGNALS defined"
# endif
# endif
#endif
#ifdef HAVE_FPU
#ifndef CONFIG_EXAMPLES_OSTEST_FPULOOPS
# define CONFIG_EXAMPLES_OSTEST_FPULOOPS 16
#endif
#ifndef CONFIG_EXAMPLES_OSTEST_FPUMSDELAY
# define CONFIG_EXAMPLES_OSTEST_FPUMSDELAY 750
#endif
#ifndef CONFIG_EXAMPLES_OSTEST_FPUPRIORITY
# define CONFIG_EXAMPLES_OSTEST_FPUPRIORITY SCHED_PRIORITY_DEFAULT
#endif
#ifndef CONFIG_EXAMPLES_OSTEST_FPUSTACKSIZE
# define CONFIG_EXAMPLES_OSTEST_FPUSTACKSIZE 2048
#endif
/* Other defintions ****************************************************/
/* We'll keep all data using 32-bit values only to force 32-bit alignment.
* This logic has no real notion of the underlying representation.
*/
#define FPU_WORDSIZE ((CONFIG_EXAMPLES_OSTEST_FPUSIZE+3)>>2)
#define FPU_NTHREADS 2
#ifndef NULL
# define NULL (void*)0
#endif
/***********************************************************************
* External Dependencies
***********************************************************************/
/* This test is very dependent on support provided by the chip/board-
* layer logic. In particular, it expects the following functions
* to be provided:
*/
/* Given an array of size CONFIG_EXAMPLES_OSTEST_FPUSIZE, this function
* will return the current FPU registers.
*/
extern void arch_getfpu(FAR uint32_t *fpusave);
/* Given two arrays of size CONFIG_EXAMPLES_OSTEST_FPUSIZE this
* function will compare them and return true if they are identical.
*/
extern bool arch_cmpfpu(FAR const uint32_t *fpusave1,
FAR const uint32_t *fpusave2);
/***********************************************************************
* Private Types
***********************************************************************/
struct fpu_threaddata_s
{
uint32_t save1[FPU_WORDSIZE];
uint32_t save2[FPU_WORDSIZE];
/* These are just dummy values to force the compiler to do the
* requested floating point computations without the nonsense
* computations being optimized away.
*/
volatile float sp1;
volatile float sp2;
volatile float sp3;
volatile float sp4;
volatile float dp1;
volatile float dp2;
volatile float dp3;
volatile float dp4;
};
/***********************************************************************
* Private Data
***********************************************************************/
static uint8_t g_fpuno;
/* static */ struct fpu_threaddata_s g_fputhread[FPU_NTHREADS];
/***********************************************************************
* Private Functions
***********************************************************************/
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 < FPU_WORDSIZE; i += 8)
{
printf(" %04x: ", i);
for (j = 0; j < 8; j++)
{
k = i + j;
if (k < FPU_WORDSIZE)
{
printf("%08x ", buffer[k]);
}
else
{
printf("\n");
break;
}
}
printf("\n");
}
}
static int fpu_task(int argc, char *argv[])
{
FAR struct fpu_threaddata_s *fpu;
register float sp1;
register float sp2;
register float sp3;
register float sp4;
register double dp1;
register double dp2;
register double dp3;
register double dp4;
int id;
int i;
/* Which are we? */
sched_lock();
fpu = &g_fputhread[g_fpuno];
id = (int)(++g_fpuno);
sched_unlock();
/* Seed the flowing point values */
sp1 = (float)id;
dp1 = (double)id;
for (i = 0; i < CONFIG_EXAMPLES_OSTEST_FPULOOPS; i++)
{
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(fpu->save1, 0xff, FPU_WORDSIZE * sizeof(uint32_t));
memset(fpu->save2, 0xff, FPU_WORDSIZE * sizeof(uint32_t));
/* Prevent context switches while we set up some stuff */
sched_lock();
/* Do some trivial floating point operations that should cause some
* changes to floating point registers. First, some single preceision
* nonsense.
*/
sp4 = (float)3.14159 * sp1; /* Multiple by Pi */
sp3 = sp4 + (float)1.61803; /* Add the golden ratio */
sp2 = sp3 / (float)2.71828; /* Divide by Euler's constant */
sp1 = sp2 + (float)1.0; /* Plus one */
fpu->sp1 = sp1; /* Make the compiler believe that somebody cares about the result */
fpu->sp2 = sp2;
fpu->sp3 = sp3;
fpu->sp4 = sp4;
/* Again using double precision */
dp4 = (double)3.14159 * dp1; /* Multiple by Pi */
dp3 = dp4 + (double)1.61803; /* Add the golden ratio */
dp2 = dp3 / (double)2.71828; /* Divide by Euler's constant */
dp1 = dp2 + (double)1.0; /* Plus one */
fpu->dp1 = dp1; /* Make the compiler believe that somebody cares about the result */
fpu->dp2 = dp2;
fpu->dp3 = dp3;
fpu->dp4 = dp4;
/* Sample the floating point registers */
arch_getfpu(fpu->save1);
/* Re-read and verify the FPU registers consistently without corruption */
arch_getfpu(fpu->save2);
if (!arch_cmpfpu(fpu->save1, fpu->save2))
{
printf("ERROR FPU#%d: save1 and save2 do not match\n", id);
fpu_dump(fpu->save1, "Values after math operations (save1)");
fpu_dump(fpu->save2, "Values after verify re-read (save2)");
return EXIT_FAILURE;
}
/* Now unlock and sleep for a while -- this should result in some context switches */
sched_unlock();
usleep(CONFIG_EXAMPLES_OSTEST_FPUMSDELAY * 1000);
/* Several context switches should have occurred. Now verify that the floating
* point registers are still correctly set.
*/
arch_getfpu(fpu->save2);
if (!arch_cmpfpu(fpu->save1, fpu->save2))
{
printf("ERROR FPU#%d: save1 and save2 do not match\n", id);
fpu_dump(fpu->save1, "Values before waiting (save1)");
fpu_dump(fpu->save2, "Values after waiting (save2)");
return EXIT_FAILURE;
}
}
printf("FPU#%d: Succeeded\n", id);
fflush(stdout);
return EXIT_SUCCESS;
}
#endif /* HAVE_FPU */
/***********************************************************************
* Private Functions
***********************************************************************/
void fpu_test(void)
{
#ifdef HAVE_FPU
pid_t task1;
pid_t task2;
int statloc;
/* Start two two tasks */
g_fpuno = 0;
printf("Starting task FPU#1\n");
task1 = TASK_CREATE("FPU#1", CONFIG_EXAMPLES_OSTEST_FPUPRIORITY, CONFIG_EXAMPLES_OSTEST_FPUSTACKSIZE, fpu_task, NULL);
if (task1 < 0)
{
printf("fpu_test: ERROR Failed to start task FPU#1\n");
}
else
{
printf("fpu_test: Started task FPU#1 at PID=%d\n", task1);
}
fflush(stdout);
usleep(250);
printf("Starting task FPU#2\n");
task2 = TASK_CREATE("FPU#2", CONFIG_EXAMPLES_OSTEST_FPUPRIORITY, CONFIG_EXAMPLES_OSTEST_FPUSTACKSIZE, fpu_task, NULL);
if (task2 < 0)
{
printf("fpu_test: ERROR Failed to start task FPU#1\n");
}
else
{
printf("fpu_test: Started task FPU#2 at PID=%d\n", task2);
}
/* Wait for each task to complete */
fflush(stdout);
(void)waitpid(task1, &statloc, 0);
(void)waitpid(task2, &statloc, 0);
#else
printf("fpu_test: ERROR: The FPU test is not properly configured\n");
#endif
printf("fpu_test: Returning\n");
}
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