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

git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@4421 42af7a65-404d-4744-a932-0658087f49c3

1 files changed, 278 insertions, 0 deletions

diff --git a/apps/examples/ostest/fpu.c b/apps/examples/ostest/fpu.c
new file mode 100644
index 000000000..ca61c0089
--- /dev/null
+++ b/apps/examples/ostest/fpu.c
@@ -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");
+}