freertos: Add SMP FreeRTOS coprocessor unit tests

components/freertos/test/test_coproc.c

@@ -0,0 +1,131 @@
+/*
+ * SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include "sdkconfig.h"
+#include "soc/soc_caps.h"
+
+#if CONFIG_FREERTOS_SMP && SOC_CPU_HAS_FPU
+
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "xtensa/xtensa_api.h"
+#include "esp_intr_alloc.h"
+#include "unity.h"
+#include "test_utils.h"
+
+/*
+Note: We need to declare the float here to prevent compiler optimizing float
+operations into non-float instructions.
+*/
+static volatile float test_float;
+
+/*
+Test coprocessor (CP) usage in task
+
+Purpose:
+    - Test that CP can be used in a task (e.g., the FPU)
+    - Test that unpinned tasks are pinned when the CP is used
+    - Test that CP is properly saved in restored
+    - Test that CP context is properly cleaned up when task is deleted
+*/
+
+#define COPROC_TASK_TEST_ITER   10
+
+static void unpinned_task(void *arg)
+{
+    // Test that task gets pinned to the current core when it uses the coprocessor
+    vTaskPreemptionDisable(NULL);   // Disable preemption to make current core ID doesn't change
+    BaseType_t xCoreID = xPortGetCoreID();
+    TEST_ASSERT_EQUAL(tskNO_AFFINITY, vTaskCoreAffinityGet(NULL));
+    test_float = 1.1f;
+    test_float *= 2.0f;
+    TEST_ASSERT_EQUAL(2.2f, test_float);
+    TEST_ASSERT_EQUAL(1 << xCoreID, vTaskCoreAffinityGet(NULL));
+    vTaskPreemptionEnable(NULL);
+
+    // Delay to trigger a solicited context switch
+    vTaskDelay(1);
+    // Test that CP context was saved and restored properly
+    test_float *= 2.0f;
+    TEST_ASSERT_EQUAL(4.4f, test_float);
+
+    // Wait to be deleted
+    xTaskNotifyGive((TaskHandle_t)arg);
+    vTaskSuspend(NULL);
+}
+
+TEST_CASE("Test coproc usage in task", "[freertos]")
+{
+    TaskHandle_t unity_task_handle = xTaskGetCurrentTaskHandle();
+    for (int i = 0; i < COPROC_TASK_TEST_ITER; i++) {
+        TaskHandle_t unpinned_task_handle;
+        xTaskCreate(unpinned_task, "unpin", 2048, (void *)unity_task_handle, UNITY_FREERTOS_PRIORITY + 1, &unpinned_task_handle);
+        ulTaskNotifyTake(pdTRUE, portMAX_DELAY);
+        vTaskDelete(unpinned_task_handle);
+        vTaskDelay(10); // Short delay to allow task memory to be freed
+    }
+}
+
+#if CONFIG_FREERTOS_FPU_IN_ISR
+
+/*
+Test coprocessor (CP) usage in ISR
+
+Purpose:
+    - Test that CP can be used in an ISR
+    - Test that an interrupted unpinned task will not be pinned by the ISR using the CP
+*/
+
+#define SW_ISR_LEVEL_1  7
+
+static void software_isr(void *arg)
+{
+    (void) arg;
+    xt_set_intclear(1 << SW_ISR_LEVEL_1);
+    test_float *= 2;
+}
+
+static void unpinned_task_isr(void *arg)
+{
+    vTaskPreemptionDisable(NULL);   // Disable preemption to make current core ID doesn't change
+    TEST_ASSERT_EQUAL(tskNO_AFFINITY, vTaskCoreAffinityGet(NULL));
+    // Allocate ISR on the current core
+    intr_handle_t handle;
+    esp_err_t err = esp_intr_alloc(ETS_INTERNAL_SW0_INTR_SOURCE, ESP_INTR_FLAG_LEVEL1, &software_isr, NULL, &handle);
+    TEST_ASSERT_EQUAL_HEX32(ESP_OK, err);
+    // Trigger the ISR
+    xt_set_intset(1 << SW_ISR_LEVEL_1);
+    // Test that task affinity hasn't changed
+    TEST_ASSERT_EQUAL(tskNO_AFFINITY, vTaskCoreAffinityGet(NULL));
+    // Free the ISR
+    esp_intr_free(handle);
+    // Wait to be deleted
+    vTaskPreemptionEnable(NULL);
+    xTaskNotifyGive((TaskHandle_t)arg);
+    vTaskSuspend(NULL);
+}
+
+TEST_CASE("Test coproc usage in ISR", "[freertos]")
+{
+    TaskHandle_t unity_task_handle = xTaskGetCurrentTaskHandle();
+    for (int i = 0; i < COPROC_TASK_TEST_ITER; i++) {
+        // Initialize the test float
+        test_float = 1.1f;
+        // Create an unpinned task to trigger the ISR
+        TaskHandle_t unpinned_task_handle;
+        xTaskCreate(unpinned_task_isr, "unpin", 2048, (void *)unity_task_handle, UNITY_FREERTOS_PRIORITY + 1, &unpinned_task_handle);
+        ulTaskNotifyTake(pdTRUE, portMAX_DELAY);
+        // Check that the test float value
+        TEST_ASSERT_EQUAL(2.2f, test_float);
+        // Delete the unpinned task. Short delay to allow task memory to be freed
+        vTaskDelete(unpinned_task_handle);
+        vTaskDelay(10);
+    }
+}
+
+#endif // CONFIG_FREERTOS_FPU_IN_ISR
+
+#endif // CONFIG_FREERTOS_SMP && SOC_CPU_HAS_FPU