aboutsummaryrefslogtreecommitdiffstats
path: root/testhal/STM32/STM32F4xx/IRQ_STORM_FPU/main.c
blob: 2d558d26acba90e436f72cffa88788bf42a00f87 (plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
/*
    ChibiOS - Copyright (C) 2006..2016 Giovanni Di Sirio

    Licensed 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.
*/

#include <stdlib.h>

#include "ch.h"
#include "hal.h"

float ff1(float par);

float ff2(float par1, float par2, float par3, float par4);

/*===========================================================================*/
/* Configurable settings.                                                    */
/*===========================================================================*/

#ifndef RANDOMIZE
#define RANDOMIZE       FALSE
#endif

#ifndef ITERATIONS
#define ITERATIONS      100
#endif

/*===========================================================================*/
/* Test related code.                                                        */
/*===========================================================================*/

static bool saturated;

/*
 * Test worker thread.
 */
static THD_WORKING_AREA(waWorkerThread, 128);
static THD_FUNCTION(WorkerThread, arg) {

  (void)arg;

  while(1) {
    float f1, f2, f3, f4, f5;

    f1 = ff1(3.0f);
    f2 = ff1(4.0f);
    f3 = ff1(5.0f);
    f5 = f1 + f2 + f3;
    f4 = ff1(6.0f);
    f5 = ff2(f5, f4, f5, f4);
    if (f5 != 324.0f)
      chSysHalt("float corrupion #1");
  }
}

/*
 * Test periodic thread.
 */
static THD_WORKING_AREA(waPeriodicThread, 128);
static THD_FUNCTION(PeriodicThread, arg) {

  (void)arg;

  while(1) {
    float f1, f2, f3, f4, f5;

    f1 = ff1(4.0f);
    f2 = ff1(5.0f);
    f3 = ff1(6.0f);
    f5 = f1 + f2 + f3;
    f4 = ff1(7.0f);
    f5 = ff2(f5, f4, f5, f4);
    if (f5 != 484.0f)
      chSysHalt("float corrupion #2");
    chThdSleepSeconds(1);
  }
}

/*
 * GPT2 callback.
 */
static void gpt4cb(GPTDriver *gptp) {
  float f1, f2, f3, f4, f5;

  (void)gptp;

  f1 = ff1(2.0f);
  f2 = ff1(3.0f);
  f3 = ff1(4.0f);
  f5 = f1 + f2 + f3;
  f4 = ff1(5.0f);
  f5 = ff2(f5, f4, f5, f4);
  if (f5 != 196.0f)
    chSysHalt("float corrupion #3");
}

/*
 * GPT3 callback.
 */
static void gpt3cb(GPTDriver *gptp) {
  float f1, f2, f3, f4, f5;

  (void)gptp;

  f1 = ff1(1.0f);
  f2 = ff1(2.0f);
  f3 = ff1(3.0f);
  f5 = f1 + f2 + f3;
  f4 = ff1(4.0f);
  f5 = ff2(f5, f4, f5, f4);
  if (f5 != 100.0f)
    chSysHalt("float corrupion #4");
}

/*
 * GPT4 configuration.
 */
static const GPTConfig gpt4cfg = {
  1000000,  /* 1MHz timer clock.*/
  gpt4cb,   /* Timer callback.*/
  0,
  0
};

/*
 * GPT3 configuration.
 */
static const GPTConfig gpt3cfg = {
  1000000,  /* 1MHz timer clock.*/
  gpt3cb,   /* Timer callback.*/
  0,
  0
};

CH_FAST_IRQ_HANDLER(STM32_TIM1_UP_HANDLER) {
  float f1, f2, f3, f4, f5;

  TIM1->SR = 0;

  f1 = ff1(3.0f);
  f2 = ff1(4.0f);
  f3 = ff1(5.0f);
  f5 = f1 + f2 + f3;
  f4 = ff1(4.0f);
  f5 = ff2(f5, f4, f5, f4);
  if (f5 != 256.0f) {
    chSysHalt("float corrupion #5");
  }
}

/*===========================================================================*/
/* Generic demo code.                                                        */
/*===========================================================================*/

CH_FAST_IRQ_HANDLER(Vector184) {

   while (1)
     ;
}

static void print(char *p) {

  while (*p) {
    streamPut(&SD2, *p++);
  }
}

static void println(char *p) {

  while (*p) {
    streamPut(&SD2, *p++);
  }
  streamWrite(&SD2, (uint8_t *)"\r\n", 2);
}

static void printn(uint32_t n) {
  char buf[16], *p;

  if (!n)
    streamPut(&SD2, '0');
  else {
    p = buf;
    while (n)
      *p++ = (n % 10) + '0', n /= 10;
    while (p > buf)
      streamPut(&SD2, *--p);
  }
}

/*
 * Application entry point.
 */
int main(void) {
  unsigned i;
  gptcnt_t interval, threshold, worst;

  /* Enables FPU exceptions.*/
  nvicEnableVector(FPU_IRQn, 1);

  /*
   * System initializations.
   * - HAL initialization, this also initializes the configured device drivers
   *   and performs the board-specific initializations.
   * - Kernel initialization, the main() function becomes a thread and the
   *   RTOS is active.
   */
  halInit();
  chSysInit();

  /*
   * Prepares the Serial driver 2 and GPT drivers 4 and 3.
   */
  sdStart(&SD2, NULL);          /* Default is 38400-8-N-1.*/
  palSetPadMode(GPIOA, 2, PAL_MODE_ALTERNATE(7));
  palSetPadMode(GPIOA, 3, PAL_MODE_ALTERNATE(7));
  gptStart(&GPTD4, &gpt4cfg);
  gptStart(&GPTD3, &gpt3cfg);

  /*
   * Enabling TIM1 as a fast interrupts source.
   */
  rccEnableTIM1(false);
  nvicEnableVector(STM32_TIM1_UP_NUMBER, 0);
  TIM1->ARR  = 10000;
  TIM1->PSC  = 0;
  TIM1->CNT  = 0;
  TIM1->DIER = TIM_DIER_UIE;
  TIM1->CR1  = TIM_CR1_CEN;

  /*
   * Initializes the worker threads.
   */
  chThdCreateStatic(waWorkerThread, sizeof waWorkerThread,
                    NORMALPRIO - 20, WorkerThread, NULL);
  chThdCreateStatic(waPeriodicThread, sizeof waPeriodicThread,
                    NORMALPRIO - 10, PeriodicThread, NULL);

  /*
   * Test procedure.
   */
  println("");
  println("*** ChibiOS/RT IRQ-STORM-FPU long duration test");
  println("***");
  print("*** Kernel:       ");
  println(CH_KERNEL_VERSION);
  print("*** Compiled:     ");
  println(__DATE__ " - " __TIME__);
#ifdef PORT_COMPILER_NAME
  print("*** Compiler:     ");
  println(PORT_COMPILER_NAME);
#endif
  print("*** Architecture: ");
  println(PORT_ARCHITECTURE_NAME);
#ifdef PORT_CORE_VARIANT_NAME
  print("*** Core Variant: ");
  println(PORT_CORE_VARIANT_NAME);
#endif
#ifdef PORT_INFO
  print("*** Port Info:    ");
  println(PORT_INFO);
#endif
#ifdef PLATFORM_NAME
  print("*** Platform:     ");
  println(PLATFORM_NAME);
#endif
#ifdef BOARD_NAME
  print("*** Test Board:   ");
  println(BOARD_NAME);
#endif
  println("***");
  print("*** System Clock: ");
  printn(STM32_SYSCLK);
  println("");
  print("*** Iterations:   ");
  printn(ITERATIONS);
  println("");
  print("*** Randomize:    ");
  printn(RANDOMIZE);
  println("");

  println("");
  worst = 0;
  for (i = 1; i <= ITERATIONS; i++){
    print("Iteration ");
    printn(i);
    println("");
    saturated = FALSE;
    threshold = 0;
    for (interval = 2000; interval >= 10; interval -= interval / 10) {
      gptStartContinuous(&GPTD4, interval - 1); /* Slightly out of phase.*/
      gptStartContinuous(&GPTD3, interval + 1); /* Slightly out of phase.*/
      chThdSleepMilliseconds(1000);
      gptStopTimer(&GPTD4);
      gptStopTimer(&GPTD3);
      if (!saturated)
        print(".");
      else {
        print("#");
        if (threshold == 0)
          threshold = interval;
      }
    }
    /* Gives the worker threads a chance to empty the mailboxes before next
       cycle.*/
    chThdSleepMilliseconds(20);
    println("");
    print("Saturated at ");
    printn(threshold);
    println(" uS");
    println("");
    if (threshold > worst)
      worst = threshold;
  }
  gptStopTimer(&GPTD4);
  gptStopTimer(&GPTD3);

  print("Worst case at ");
  printn(worst);
  println(" uS");
  println("");
  println("Test Complete");

  /*
   * Normal main() thread activity, nothing in this test.
   */
  while (true) {
    chThdSleepMilliseconds(5000);
  }
}