nuttx-apps/testing/ostest/fpu.c

/****************************************************************************
 * apps/testing/ostest/fpu.c
 *
 * Licensed to the Apache Software Foundation (ASF) under one or more
 * contributor license agreements.  See the NOTICE file distributed with
 * this work for additional information regarding copyright ownership.  The
 * ASF licenses this file to you under the Apache License, Version 2.0 (the
 * "License"); you may not use this file except in compliance with the
 * License.  You may obtain a copy of the License at
 *
 *   http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
 * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
 * License for the specific language governing permissions and limitations
 * under the License.
 *
 ****************************************************************************/

/****************************************************************************
 * Included Files
 ****************************************************************************/

#include <nuttx/config.h>
#include <nuttx/arch.h>
#include <sys/wait.h>

#include <assert.h>
#include <inttypes.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_SCHED_WAITPID) && \
      defined(CONFIG_BUILD_FLAT)
#    define HAVE_FPU 1
#  else
#    ifndef CONFIG_SCHED_WAITPID
#      warning "FPU test not built; CONFIG_SCHED_WAITPID not defined"
#    endif
#    ifndef CONFIG_BUILD_FLAT
#      warning "FPU test not built; Only available in the flat build (CONFIG_BUILD_FLAT)"
#    endif
#  endif
#endif

#ifdef HAVE_FPU

#ifndef CONFIG_TESTING_OSTEST_FPULOOPS
#  define CONFIG_TESTING_OSTEST_FPULOOPS 16
#endif

#ifndef CONFIG_TESTING_OSTEST_FPUMSDELAY
#  define CONFIG_TESTING_OSTEST_FPUMSDELAY 750
#endif

#ifndef CONFIG_TESTING_OSTEST_FPUPRIORITY
#  define CONFIG_TESTING_OSTEST_FPUPRIORITY SCHED_PRIORITY_DEFAULT
#endif

#ifndef CONFIG_TESTING_OSTEST_FPUSTACKSIZE
#  define CONFIG_TESTING_OSTEST_FPUSTACKSIZE 2048
#endif

/* Other definitions ********************************************************/

#define FPU_NTHREADS  2

/* Some architectures require XCPTCONTEXT to be aligned */

#ifndef XCPTCONTEXT_ALIGN
#  define XCPTCONTEXT_ALIGN 1
#endif

/****************************************************************************
 * Private Types
 ****************************************************************************/

#ifndef PRIxREG
typedef uintptr_t   uintreg_t;

#if UINTPTR_MAX <= UINT32_MAX
#  define PRIxREG   "08" PRIxPTR
#else
#  define PRIxREG   "016" PRIxPTR
#endif

#endif

struct fpu_threaddata_s
{
#if XCPTCONTEXT_ALIGN > 1
  uintreg_t save1[XCPTCONTEXT_REGS] aligned_data(XCPTCONTEXT_ALIGN);
  uintreg_t save2[XCPTCONTEXT_REGS] aligned_data(XCPTCONTEXT_ALIGN);
#else
  uintreg_t save1[XCPTCONTEXT_REGS];
  uintreg_t save2[XCPTCONTEXT_REGS];
#endif

  /* 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 uintreg_t *buffer, FAR const char *msg)
{
  int i;
  int j;
  int k;

  printf("%s (%p):\n", msg, buffer);
  for (i = 0; i < XCPTCONTEXT_REGS; i += 8)
    {
      printf("    %04x: ", i);
      for (j = 0; j < 8; j++)
        {
          k = i + j;

          if (k < XCPTCONTEXT_REGS)
            {
              printf("%" PRIxREG " ", 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_TESTING_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, XCPTCONTEXT_REGS * sizeof(uintreg_t));
      memset(fpu->save2, 0xff, XCPTCONTEXT_REGS * sizeof(uintreg_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 precision
       * 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 */

      up_saveusercontext(fpu->save1);

      /* Re-read and verify the FPU registers consistently without
       * corruption
       */

      up_saveusercontext(fpu->save2);
      if (!up_fpucmp(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)");
          ASSERT(false);
          return EXIT_FAILURE;
        }

      /* Now unlock and sleep for a while -- this should result in some
       * context switches
       */

      sched_unlock();
      usleep(CONFIG_TESTING_OSTEST_FPUMSDELAY * 1000);

      /* Several context switches should have occurred.  Now verify that
       * the floating point registers are still correctly set.
       */

      up_saveusercontext(fpu->save2);
      if (!up_fpucmp(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)");
          ASSERT(false);
          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_TESTING_OSTEST_FPUPRIORITY,
                      CONFIG_TESTING_OSTEST_FPUSTACKSIZE, fpu_task, NULL);
  if (task1 < 0)
    {
      printf("fpu_test: ERROR Failed to start task FPU#1\n");
      ASSERT(false);
    }
  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_TESTING_OSTEST_FPUPRIORITY,
                      CONFIG_TESTING_OSTEST_FPUSTACKSIZE, fpu_task, NULL);
  if (task2 < 0)
    {
      printf("fpu_test: ERROR Failed to start task FPU#1\n");
      ASSERT(false);
    }
  else
    {
      printf("fpu_test: Started task FPU#2 at PID=%d\n", task2);
    }

  /* Wait for each task to complete */

  fflush(stdout);
  waitpid(task1, &statloc, 0);
  waitpid(task2, &statloc, 0);

#else
  printf("fpu_test: ERROR: The FPU test is not properly configured\n");
  ASSERT(false);
#endif
  printf("fpu_test: Returning\n");
}