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Add a test to verify that FPU registers are properly saved and restored on context switches.

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git-svn-id: https://nuttx.svn.sourceforge.net/svnroot/nuttx/trunk@4421 7fd9a85b-ad96-42d3-883c-3090e2eb8679
This commit is contained in:
patacongo
2012-02-24 21:34:55 +00:00
parent 4ffc124e0a
commit bdd5e8adcb
8 changed files with 474 additions and 32 deletions
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2
apps/ChangeLog.txt
View File

@@ -190,3 +190,5 @@
6.16 2012-xx-xx Gregory Nutt <gnutt@nuttx.org>
* apps/examples/qencoder: Add a quadrature driver test.
* apps/examples/ostest/fpu.c: Add a test to verify that FPU registers
are properly saved and restored on context switches.

8
apps/examples/ostest/Makefile
View File

@@ -1,8 +1,8 @@
############################################################################
# apps/examples/ostest/Makefile
#
# Copyright (C) 2007-2011 Gregory Nutt. All rights reserved.
# Author: Gregory Nutt <spudmonkey@racsa.co.cr>
# Copyright (C) 2007-2012 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
@@ -42,6 +42,10 @@ include $(APPDIR)/Make.defs
ASRCS =
CSRCS = main.c dev_null.c
ifeq ($(CONFIG_ARCH_FPU),y)
CSRCS += fpu.c
endif
ifneq ($(CONFIG_DISABLE_PTHREAD),y)
CSRCS += cancel.c cond.c mutex.c sem.c barrier.c
ifneq ($(CONFIG_RR_INTERVAL),0)

278
apps/examples/ostest/fpu.c Normal file
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@@ -0,0 +1,278 @@
/***********************************************************************
* 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 <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 ****************************************************/
#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 a uint8_t array of size CONFIG_EXAMPLES_OSTEST_FPUSIZE, this
* function will return the current FPU registers.
*/
extern void arch_getfpu(FAR uint8_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
* 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);
/***********************************************************************
* Private Data
***********************************************************************/
static uint8_t g_fpuno;
/***********************************************************************
* Private Functions
***********************************************************************/
static void fpu_dump(FAR uint8_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)
{
printf("%04x: ", i);
for (j = 0; j < 32; j++)
{
k = i + j;
if (k < CONFIG_EXAMPLES_OSTEST_FPUSIZE)
{
printf("%02x ", buffer[k]);
}
else
{
break;
}
}
printf("\n");
}
}
static int fpu_task(int argc, char *argv[])
{
uint8_t fpusave1[CONFIG_EXAMPLES_OSTEST_FPUSIZE];
uint8_t fpusave2[CONFIG_EXAMPLES_OSTEST_FPUSIZE];
int id;
int seed;
int incr;
int i;
/* Which are we? */
sched_lock();
id = (int)(++g_fpuno);
sched_unlock();
seed = id << 24 | id << 16 | id << 8 | id;
incr = seed;
for (i = 0; i < CONFIG_EXAMPLES_OSTEST_FPULOOPS; i++)
{
/* Initialize the FPU registers to a known value */
sched_lock();
arch_initfpu(fpusave1, seed);
arch_setfpu(fpusave1);
/* Check that the FPU registers were set as we expected */
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();
return EXIT_FAILURE;
}
/* Now unlock and sleep for a while */
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.
*/
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();
return EXIT_FAILURE;
}
seed += incr;
}
printf("FPU#%d: Succeeded\n");
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);
}
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 */
(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");
}

14
apps/examples/ostest/main.c
View File

@@ -1,8 +1,8 @@
/****************************************************************************
* examples/ostest/main.c
* apps/examples/ostest/main.c
*
* Copyright (C) 2007-2009, 2011 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <spudmonkey@racsa.co.cr>
* Copyright (C) 2007-2009, 2011-2012 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
@@ -293,6 +293,14 @@ static int user_main(int argc, char *argv[])
check_test_memory_usage();
#endif
#ifdef CONFIG_ARCH_FPU
/* Check that the FPU is properly supported during context switching */
printf("\nuser_main: FPU test\n");
fpu_test();
check_test_memory_usage();
#endif
#ifndef CONFIG_DISABLE_PTHREAD
/* Verify pthreads and pthread mutex */

16
apps/examples/ostest/ostest.h
View File

@@ -1,8 +1,8 @@
/****************************************************************************
* examples/ostest/ostest.h
* apps/examples/ostest/ostest.h
*
* Copyright (C) 2007-2009, 2011 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <spudmonkey@racsa.co.cr>
* Copyright (C) 2007-2009, 2011-2012 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
@@ -33,8 +33,8 @@
*
****************************************************************************/
#ifndef __OSTEST_H
#define __OSTEST_H
#ifndef __APPS_EXAMPLES_OSTEST_OSTEST_H
#define __APPS_EXAMPLES_OSTEST_OSTEST_H
/****************************************************************************
* Included Files
@@ -107,6 +107,10 @@
extern int dev_null(void);
/* fpu.c ********************************************************************/
extern void fpu_test(void);
/* mutex.c ******************************************************************/
extern void mutex_test(void);
@@ -171,4 +175,4 @@ extern int sem_nfreeholders(void);
# define sem_nfreeholders()
#endif
#endif /* __OSTEST_H */
#endif /* __APPS_EXAMPLES_OSTEST_OSTEST_H */

4
nuttx/configs/stm3240g-eval/src/Makefile
View File

@@ -68,6 +68,10 @@ ifeq ($(CONFIG_NSH_ARCHINIT),y)
CSRCS += up_nsh.c
endif
ifeq ($(CONFIG_ARCH_FPU),y)
CSRCS += up_ostest.c
endif
COBJS = $(CSRCS:.c=$(OBJEXT))
SRCS = $(ASRCS) $(CSRCS)

142
nuttx/configs/stm3240g-eval/src/up_ostest.c Normal file
View File

@@ -0,0 +1,142 @@
/************************************************************************************
* configs/stm3240g-eval/src/up_ostest.c
* arch/arm/src/board/up_ostest.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 <stdint.h>
#include <stdbool.h>
#include <string.h>
#include <debug.h>
#include <arch/irq.h>
#include <arch/board/board.h>
#include "up_arch.h"
#include "up_internal.h"
#include "stm3240g-internal.h"
/************************************************************************************
* Definitions
************************************************************************************/
/* Configuration ********************************************************************/
#undef HAVE_FPU
#if defined(CONFIG_ARCH_FPU) && defined(CONFIG_EXAMPLES_OSTEST_FPUSIZE) && \
defined(CONFIG_SCHED_WAITPID) && !defined(CONFIG_DISABLE_SIGNALS) && \
!defined(CONFIG_ARMV7M_CMNVECTOR)
# define HAVE_FPU 1
#endif
#ifdef HAVE_FPU
#if CONFIG_EXAMPLES_OSTEST_FPUSIZE != (4*SW_FPU_REGS)
# error "CONFIG_EXAMPLES_OSTEST_FPUSIZE has the wrong size"
#endif
/************************************************************************************
* Private Functions
************************************************************************************/
/************************************************************************************
* Public Functions
************************************************************************************/
/* Given a uint8_t array of size CONFIG_EXAMPLES_OSTEST_FPUSIZE, this
* function will return the current FPU registers.
*/
void arch_getfpu(FAR uint8_t *fpusave)
{
irqstate_t flags;
uint32_t regs[XCPTCONTEXT_REGS];
flags = irqsave();
up_savefpu(regs);
irqrestore(flags);
memcpy(fpusave, &regs[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.
*/
void arch_setfpu(FAR const uint8_t *fpusave)
{
irqstate_t flags;
uint32_t regs[XCPTCONTEXT_REGS];
memcpy(&regs[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;
}
#endif /* HAVE_FPU */

42
nuttx/sched/sched_waitpid.c
View File

@@ -1,8 +1,8 @@
/*****************************************************************************
* sched/sched_waitpid.c
*
* Copyright (C) 2011 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <spudmonkey@racsa.co.cr>
* Copyright (C) 2011-2012 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
@@ -188,18 +188,18 @@ pid_t waitpid(pid_t pid, int *stat_loc, int options)
sched_lock();
if (!tcb)
{
err = ECHILD;
goto errout_with_errno;
}
err = ECHILD;
goto errout_with_errno;
}
/* None of the options are supported */
#ifdef CONFIG_DEBUG
if (options != 0)
{
err = ENOSYS;
goto errout_with_errno;
}
err = ENOSYS;
goto errout_with_errno;
}
#endif
/* "If more than one thread is suspended in waitpid() awaiting termination of
@@ -210,26 +210,26 @@ pid_t waitpid(pid_t pid, int *stat_loc, int options)
if (stat_loc != NULL && tcb->stat_loc == NULL)
{
tcb->stat_loc = stat_loc;
mystat = true;
}
tcb->stat_loc = stat_loc;
mystat = true;
}
/* Then wait for the task to exit */
ret = sem_wait(&tcb->exitsem);
if (ret < 0)
{
/* Unlock pre-emption and return the ERROR (sem_wait has already set
* the errno). Handle the awkward case of whether or not we need to
* nullify the stat_loc value.
*/
/* Unlock pre-emption and return the ERROR (sem_wait has already set
* the errno). Handle the awkward case of whether or not we need to
* nullify the stat_loc value.
*/
if (mystat)
{
tcb->stat_loc = NULL;
}
goto errout;
}
if (mystat)
{
tcb->stat_loc = NULL;
}
goto errout;
}
/* On success, return the PID */