340 lines
7.3 KiB
C
340 lines
7.3 KiB
C
/*
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ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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*/
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#include <stdlib.h>
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#include "ch.h"
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#include "hal.h"
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float ff1(float par);
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float ff2(float par1, float par2, float par3, float par4);
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/*===========================================================================*/
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/* Configurable settings. */
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/*===========================================================================*/
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#ifndef RANDOMIZE
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#define RANDOMIZE FALSE
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#endif
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#ifndef ITERATIONS
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#define ITERATIONS 100
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#endif
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/*===========================================================================*/
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/* Test related code. */
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/*===========================================================================*/
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static bool saturated;
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/*
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* Test worker thread.
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*/
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static THD_WORKING_AREA(waWorkerThread, 128);
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static THD_FUNCTION(WorkerThread, arg) {
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(void)arg;
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while(1) {
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float f1, f2, f3, f4, f5;
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f1 = ff1(3.0f);
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f2 = ff1(4.0f);
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f3 = ff1(5.0f);
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f5 = f1 + f2 + f3;
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f4 = ff1(6.0f);
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f5 = ff2(f5, f4, f5, f4);
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if (f5 != 324.0f)
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chSysHalt("float corrupion #1");
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}
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}
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/*
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* Test periodic thread.
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*/
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static THD_WORKING_AREA(waPeriodicThread, 128);
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static THD_FUNCTION(PeriodicThread, arg) {
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(void)arg;
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while(1) {
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float f1, f2, f3, f4, f5;
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f1 = ff1(4.0f);
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f2 = ff1(5.0f);
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f3 = ff1(6.0f);
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f5 = f1 + f2 + f3;
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f4 = ff1(7.0f);
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f5 = ff2(f5, f4, f5, f4);
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if (f5 != 484.0f)
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chSysHalt("float corrupion #2");
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chThdSleepSeconds(1);
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}
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}
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/*
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* GPT2 callback.
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*/
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static void gpt4cb(GPTDriver *gptp) {
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float f1, f2, f3, f4, f5;
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(void)gptp;
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f1 = ff1(2.0f);
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f2 = ff1(3.0f);
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f3 = ff1(4.0f);
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f5 = f1 + f2 + f3;
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f4 = ff1(5.0f);
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f5 = ff2(f5, f4, f5, f4);
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if (f5 != 196.0f)
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chSysHalt("float corrupion #3");
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}
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/*
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* GPT3 callback.
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*/
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static void gpt3cb(GPTDriver *gptp) {
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float f1, f2, f3, f4, f5;
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(void)gptp;
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f1 = ff1(1.0f);
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f2 = ff1(2.0f);
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f3 = ff1(3.0f);
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f5 = f1 + f2 + f3;
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f4 = ff1(4.0f);
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f5 = ff2(f5, f4, f5, f4);
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if (f5 != 100.0f)
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chSysHalt("float corrupion #4");
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}
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/*
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* GPT4 configuration.
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*/
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static const GPTConfig gpt4cfg = {
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1000000, /* 1MHz timer clock.*/
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gpt4cb, /* Timer callback.*/
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0,
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0
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};
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/*
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* GPT3 configuration.
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*/
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static const GPTConfig gpt3cfg = {
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1000000, /* 1MHz timer clock.*/
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gpt3cb, /* Timer callback.*/
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0,
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0
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};
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CH_FAST_IRQ_HANDLER(STM32_TIM1_UP_HANDLER) {
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float f1, f2, f3, f4, f5;
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TIM1->SR = 0;
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f1 = ff1(3.0f);
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f2 = ff1(4.0f);
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f3 = ff1(5.0f);
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f5 = f1 + f2 + f3;
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f4 = ff1(4.0f);
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f5 = ff2(f5, f4, f5, f4);
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if (f5 != 256.0f) {
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chSysHalt("float corrupion #5");
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}
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}
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/*===========================================================================*/
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/* Generic demo code. */
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/*===========================================================================*/
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CH_FAST_IRQ_HANDLER(Vector184) {
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while (1)
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;
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}
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static void print(char *p) {
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while (*p) {
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streamPut(&SD2, *p++);
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}
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}
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static void println(char *p) {
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while (*p) {
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streamPut(&SD2, *p++);
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}
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streamWrite(&SD2, (uint8_t *)"\r\n", 2);
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}
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static void printn(uint32_t n) {
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char buf[16], *p;
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if (!n)
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streamPut(&SD2, '0');
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else {
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p = buf;
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while (n)
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*p++ = (n % 10) + '0', n /= 10;
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while (p > buf)
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streamPut(&SD2, *--p);
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}
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}
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/*
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* Application entry point.
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*/
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int main(void) {
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unsigned i;
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gptcnt_t interval, threshold, worst;
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/* Enables FPU exceptions.*/
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nvicEnableVector(FPU_IRQn, 1);
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/*
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* System initializations.
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* - HAL initialization, this also initializes the configured device drivers
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* and performs the board-specific initializations.
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* - Kernel initialization, the main() function becomes a thread and the
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* RTOS is active.
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*/
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halInit();
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chSysInit();
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/*
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* Prepares the Serial driver 2 and GPT drivers 4 and 3.
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*/
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sdStart(&SD2, NULL); /* Default is 38400-8-N-1.*/
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palSetPadMode(GPIOA, 2, PAL_MODE_ALTERNATE(7));
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palSetPadMode(GPIOA, 3, PAL_MODE_ALTERNATE(7));
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gptStart(&GPTD4, &gpt4cfg);
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gptStart(&GPTD3, &gpt3cfg);
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/*
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* Enabling TIM1 as a fast interrupts source.
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*/
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rccEnableTIM1(false);
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nvicEnableVector(STM32_TIM1_UP_NUMBER, 0);
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TIM1->ARR = 10000;
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TIM1->PSC = 0;
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TIM1->CNT = 0;
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TIM1->DIER = TIM_DIER_UIE;
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TIM1->CR1 = TIM_CR1_CEN;
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/*
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* Initializes the worker threads.
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*/
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chThdCreateStatic(waWorkerThread, sizeof waWorkerThread,
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NORMALPRIO - 20, WorkerThread, NULL);
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chThdCreateStatic(waPeriodicThread, sizeof waPeriodicThread,
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NORMALPRIO - 10, PeriodicThread, NULL);
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/*
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* Test procedure.
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*/
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println("");
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println("*** ChibiOS/RT IRQ-STORM-FPU long duration test");
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println("***");
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print("*** Kernel: ");
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println(CH_KERNEL_VERSION);
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print("*** Compiled: ");
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println(__DATE__ " - " __TIME__);
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#ifdef PORT_COMPILER_NAME
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print("*** Compiler: ");
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println(PORT_COMPILER_NAME);
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#endif
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print("*** Architecture: ");
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println(PORT_ARCHITECTURE_NAME);
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#ifdef PORT_CORE_VARIANT_NAME
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print("*** Core Variant: ");
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println(PORT_CORE_VARIANT_NAME);
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#endif
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#ifdef PORT_INFO
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print("*** Port Info: ");
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println(PORT_INFO);
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#endif
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#ifdef PLATFORM_NAME
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print("*** Platform: ");
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println(PLATFORM_NAME);
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#endif
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#ifdef BOARD_NAME
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print("*** Test Board: ");
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println(BOARD_NAME);
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#endif
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println("***");
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print("*** System Clock: ");
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printn(STM32_SYSCLK);
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println("");
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print("*** Iterations: ");
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printn(ITERATIONS);
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println("");
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print("*** Randomize: ");
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printn(RANDOMIZE);
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println("");
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println("");
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worst = 0;
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for (i = 1; i <= ITERATIONS; i++){
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print("Iteration ");
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printn(i);
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println("");
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saturated = FALSE;
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threshold = 0;
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for (interval = 2000; interval >= 10; interval -= interval / 10) {
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gptStartContinuous(&GPTD4, interval - 1); /* Slightly out of phase.*/
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gptStartContinuous(&GPTD3, interval + 1); /* Slightly out of phase.*/
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chThdSleepMilliseconds(1000);
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gptStopTimer(&GPTD4);
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gptStopTimer(&GPTD3);
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if (!saturated)
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print(".");
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else {
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print("#");
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if (threshold == 0)
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threshold = interval;
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}
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}
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/* Gives the worker threads a chance to empty the mailboxes before next
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cycle.*/
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chThdSleepMilliseconds(20);
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println("");
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print("Saturated at ");
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printn(threshold);
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println(" uS");
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println("");
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if (threshold > worst)
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worst = threshold;
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}
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gptStopTimer(&GPTD4);
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gptStopTimer(&GPTD3);
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print("Worst case at ");
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printn(worst);
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println(" uS");
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println("");
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println("Test Complete");
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/*
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* Normal main() thread activity, nothing in this test.
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*/
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while (true) {
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chThdSleepMilliseconds(5000);
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}
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}
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