ChibiOS 2.6.8, until I can figure out where to get it from git.

firmware/chibios/testhal/STM32F4xx/IRQ_STORM_FPU/main.c

@@ -0,0 +1,311 @@
+/*
+    ChibiOS/RT - Copyright (C) 2006-2013 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_t saturated;
+
+/*
+ * Test worker thread.
+ */
+static WORKING_AREA(waWorkerThread, 128);
+static msg_t WorkerThread(void *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();
+  }
+}
+
+/*
+ * Test periodic thread.
+ */
+static WORKING_AREA(waPeriodicThread, 128);
+static msg_t PeriodicThread(void *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();
+    chThdSleepSeconds(1);
+  }
+}
+
+/*
+ * GPT2 callback.
+ */
+static void gpt2cb(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();
+}
+
+/*
+ * 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();
+}
+
+/*
+ * GPT2 configuration.
+ */
+static const GPTConfig gpt2cfg = {
+  1000000,  /* 1MHz timer clock.*/
+  gpt2cb,   /* Timer callback.*/
+  0
+};
+
+/*
+ * GPT3 configuration.
+ */
+static const GPTConfig gpt3cfg = {
+  1000000,  /* 1MHz timer clock.*/
+  gpt3cb,   /* Timer callback.*/
+  0
+};
+
+
+/*===========================================================================*/
+/* Generic demo code.                                                        */
+/*===========================================================================*/
+
+CH_FAST_IRQ_HANDLER(Vector184) {
+
+   while (1)
+     ;
+}
+
+static void print(char *p) {
+
+  while (*p) {
+    chSequentialStreamPut(&SD2, *p++);
+  }
+}
+
+static void println(char *p) {
+
+  while (*p) {
+    chSequentialStreamPut(&SD2, *p++);
+  }
+  chSequentialStreamWrite(&SD2, (uint8_t *)"\r\n", 2);
+}
+
+static void printn(uint32_t n) {
+  char buf[16], *p;
+
+  if (!n)
+    chSequentialStreamPut(&SD2, '0');
+  else {
+    p = buf;
+    while (n)
+      *p++ = (n % 10) + '0', n /= 10;
+    while (p > buf)
+      chSequentialStreamPut(&SD2, *--p);
+  }
+}
+
+/*
+ * Application entry point.
+ */
+int main(void) {
+  unsigned i;
+  gptcnt_t interval, threshold, worst;
+
+  /* Enables FPU exceptions.*/
+  nvicEnableVector(FPU_IRQn, CORTEX_PRIORITY_MASK(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 2 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(&GPTD2, &gpt2cfg);
+  gptStart(&GPTD3, &gpt3cfg);
+
+  /*
+   * 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 CH_COMPILER_NAME
+  print("*** Compiler:     ");
+  println(CH_COMPILER_NAME);
+#endif
+  print("*** Architecture: ");
+  println(CH_ARCHITECTURE_NAME);
+#ifdef CH_CORE_VARIANT_NAME
+  print("*** Core Variant: ");
+  println(CH_CORE_VARIANT_NAME);
+#endif
+#ifdef CH_PORT_INFO
+  print("*** Port Info:    ");
+  println(CH_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(&GPTD2, interval - 1); /* Slightly out of phase.*/
+      gptStartContinuous(&GPTD3, interval + 1); /* Slightly out of phase.*/
+      chThdSleepMilliseconds(1000);
+      gptStopTimer(&GPTD2);
+      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(&GPTD2);
+  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);
+  }
+}