freertos: Update FPU unit tests to run for multiple iterations
This commit updates the FreeRTOS port FPU unit tests so that they run for
multiple iterations, thus checking that a task's FPU context is properly
cleaned up on deletion.
@@ -23,16 +23,21 @@ Test FPU usage from a task context
Purpose:
- Test that the FPU can be used from a task context
- Test that FPU context is properly saved and restored
+ - Test that FPU context is cleaned up on task deletion by running multiple iterations
Procedure:
- Create TEST_PINNED_NUM_TASKS tasks pinned to each core
- Start each task
- Each task updates a float variable and then blocks (to allow other tasks to run thus forcing the an FPU context
save and restore).
+ - Delete each task
+ - Repeat test for TEST_PINNED_NUM_ITERS iterations
Expected:
- Correct float value calculated by each task
+ - Each task cleans up its FPU context on deletion
*/
#define TEST_PINNED_NUM_TASKS 3
+#define TEST_PINNED_NUM_ITERS 5
static void pinned_task(void *arg)
{
@@ -62,6 +67,7 @@ TEST_CASE("FPU: Usage in task", "[freertos]")
SemaphoreHandle_t done_sem = xSemaphoreCreateCounting(configNUM_CORES * TEST_PINNED_NUM_TASKS, 0);
TEST_ASSERT_NOT_EQUAL(NULL, done_sem);
+ for (int iter = 0; iter < TEST_PINNED_NUM_ITERS; iter++) {
TaskHandle_t task_handles[configNUM_CORES][TEST_PINNED_NUM_TASKS];
// Create test tasks for each core
@@ -91,6 +97,8 @@ TEST_CASE("FPU: Usage in task", "[freertos]")
}
vTaskDelay(10); // Short delay to allow idle task to be free task memory and FPU contexts
+ }
+
vSemaphoreDelete(done_sem);
}
@@ -101,18 +109,24 @@ Test FPU usage will pin an unpinned task
Purpose:
- Test that unpinned tasks are automatically pinned to the current core on the task's first use of the FPU
+ - Test that FPU context is cleaned up on task deletion by running multiple iterations
Procedure:
- Create an unpinned task
- Task disables scheduling/preemption to ensure that it does not switch cores
- Task uses the FPU
- Task checks its core affinity after FPU usage
+ - Task deletes itself
+ - Repeat test for TEST_UNPINNED_NUM_ITERS iterations
Expected:
- Task remains unpinned until its first usage of the FPU
- The task becomes pinned to the current core after first use of the FPU
+ - Each task cleans up its FPU context on deletion
*/
#if configNUM_CORES > 1
+#define TEST_UNPINNED_NUM_ITERS 5
+
static void unpinned_task(void *arg)
{
// Disable scheduling/preemption to make sure current core ID doesn't change
@@ -162,12 +176,14 @@ static void unpinned_task(void *arg)
TEST_CASE("FPU: Usage in unpinned task", "[freertos]")
{
TaskHandle_t unity_task_handle = xTaskGetCurrentTaskHandle();
+ for (int iter = 0; iter < TEST_UNPINNED_NUM_ITERS; iter++) {
// Create unpinned task
xTaskCreate(unpinned_task, "unpin", 4096, (void *)unity_task_handle, UNITY_FREERTOS_PRIORITY + 1, NULL);
// Wait for task to complete
ulTaskNotifyTake(pdTRUE, portMAX_DELAY);
vTaskDelay(10); // Short delay to allow task memory to be freed
}
+}
#endif // configNUM_CORES > 1
#endif // SOC_CPU_HAS_FPU
