1 /*
2 * Copyright (c) 2020 Raspberry Pi (Trading) Ltd.
3 *
4 * SPDX-License-Identifier: BSD-3-Clause
5 */
6
7 #include <stdio.h>
8 #include <stdlib.h>
9 #include <math.h>
10 #include "pico/stdlib.h"
11 #include "hardware/dma.h"
12 #include "hardware/irq.h"
13 #include "hardware/sync.h"
14
15 volatile bool failed;
16 volatile uint32_t count[3];
17 volatile bool done;
18
19 #define FAILED() ({ failed = true; })
20 //#define FAILED() ({ failed = true; __breakpoint(); })
21
22 //#define DOUBLE_ONLY 1
23
timer_callback(repeating_timer_t * t)24 bool timer_callback(repeating_timer_t *t) {
25 count[0]++;
26 static int z;
27 #if !DOUBLE_ONLY
28 for (int i=0; i<100;i++) {
29 z += 23;
30 int a = z / 7;
31 int b = z % 7;
32 if (z != a * 7 + b) {
33 FAILED();
34 }
35 a = z / -7;
36 b = z % -7;
37 if (z != a * -7 + b) {
38 FAILED();
39 }
40 }
41 #else
42 for(int i=0;i<10;i++) {
43 #endif
44 float fz = (float) z;
45 float fa = fz / 11.0f;
46 // float fb = fmodf(fz, 11.0f);
47 // if (fabs(fz - (fa * 11.0f + fb)) > 1e-9f) {
48 // FAILED();
49 // }
50 if (fabsf(fz - fa * 11.0f) > 1e-3f) {
51 FAILED();
52 }
53 double dz = z;
54 double da = dz / 11.0;
55 // double db = fmod(dz, 11.0);
56 // if (abs(dz - (da * 11.0 + db)) > 1e-9) {
57 // FAILED();
58 // }
59 if (fabs(dz - da * 11.0) > 1e-6f) {
60 FAILED();
61 }
62 #if DOUBLE_ONLY
63 }
64 #endif
65 return !done;
66 }
67
do_dma_start(uint ch)68 void do_dma_start(uint ch) {
69 static uint32_t word[2];
70 assert(ch < 2);
71 dma_channel_config c = dma_channel_get_default_config(ch);
72 // todo remove this; landing in a separate PR
73 #ifndef DREQ_DMA_TIMER0
74 #define DREQ_DMA_TIMER0 0x3b
75 #endif
76 channel_config_set_dreq(&c, DREQ_DMA_TIMER0);
77 dma_channel_configure(ch, &c, &word[ch], &word[ch], 513 + ch * 23, true);
78 }
79
80 double d0c, d0s, d0t, dz;
81 float f0c, f0s, f0t, fz;
82
83 double flarn = 25.5;
84 double zzd = 13.3;
85
test_irq_handler0()86 void test_irq_handler0() {
87 count[1]++;
88 dma_hw->ints0 |= 1u;
89 static uint z;
90 static uint dz;
91 for (int i=0; i<80;i++) {
92 #if !DOUBLE_ONLY
93 z += 31;
94 uint a = z / 11;
95 uint b = z % 11;
96 if (z != a * 11 + b) {
97 FAILED();
98 }
99 #else
100 zzd += flarn/(flarn + 1.35);
101 break;
102 #endif
103 }
104 if (done) dma_channel_abort(0);
105 else do_dma_start(0);
106 }
107
test_irq_handler1()108 void test_irq_handler1() {
109 static uint z;
110 dma_hw->ints1 |= 2u;
111 count[2]++;
112 for (int i=0; i<130;i++) {
113 #if !DOUBLE_ONLY
114 z += 47;
115 uint a = z / -13;
116 uint b = z % -13;
117 if (z != a * -13 + b) {
118 FAILED();
119 }
120 static uint64_t z64;
121 z64 -= 47;
122 uint64_t a64 = z64 / -13;
123 uint64_t b64 = z64 % -13;
124 if (z64 != a64 * -13 + b64) {
125 FAILED();
126 }
127 #else
128 zzd += flarn/123.3;
129 break;
130 #endif
131 }
132
133 if (done) dma_channel_abort(1);
134 else do_dma_start(1);
135 }
136
test_nesting()137 void test_nesting() {
138 uint z = 0;
139
140 // We have 3 different IRQ handlers, one for timer, two for DMA completion (on DMA_IRQ0/1)
141 // thus we expect re-entrancy even between IRQs
142 //
143 // They all busily make use of the dividers, to expose any issues with nested use
144
145 repeating_timer_t timer;
146 add_repeating_timer_us(929, timer_callback, NULL, &timer);
147 irq_set_exclusive_handler(DMA_IRQ_0, test_irq_handler0);
148 irq_set_exclusive_handler(DMA_IRQ_1, test_irq_handler1);
149
150 dma_set_irq0_channel_mask_enabled(1u, true);
151 dma_set_irq1_channel_mask_enabled(2u, true);
152 dma_hw->timer[0] = (1 << 16) | 32; // run at 1/32 system clock
153
154 irq_set_enabled(DMA_IRQ_0, 1);
155 irq_set_enabled(DMA_IRQ_1, 1);
156 do_dma_start(0);
157 do_dma_start(1);
158 absolute_time_t end = delayed_by_ms(get_absolute_time(), 10000);
159 int count_local=0;
160 while (!time_reached(end)) {
161 for(uint i=0;i<100;i++) {
162 z += 31;
163 uint a = z / 11;
164 uint b = z % 11;
165 if (z != a * 11 + b) {
166 FAILED();
167 }
168 int zz = (int)z;
169 int aa = zz / -11;
170 int bb = zz % -11;
171 if (zz != aa * -11 + bb) {
172 FAILED();
173 }
174 aa = -zz / -11;
175 bb = -zz % -11;
176 if (-zz != aa * -11 + bb) {
177 FAILED();
178 }
179 aa = -zz / 11;
180 bb = -zz % 11;
181 if (-zz != aa * 11 + bb) {
182 FAILED();
183 }
184 a = 0xffffffffu / 11;
185 b = 0xffffffffu % 11;
186 if (0xffffffffu != a * 11 + b) {
187 FAILED();
188 }
189 static uint64_t z64;
190 z64 -= 47;
191 uint64_t a64 = z64 / -13635;
192 uint64_t b64 = z64 % -13635;
193 if (z64 != a64 * -13635 + b64) {
194 FAILED();
195 }
196 // specifically check 64/32 divide
197 static uint64_t c64 = 0x13ffffffffull;
198 static uint32_t cd = 1;
199 a64 = c64 / cd;
200 b64 = c64 % cd;
201 if (c64 != a64 * cd + b64) {
202 FAILED();
203 }
204 cd++;
205 static float zf = 1.f;
206 float ff = zf / -13635.f;
207 if (fabsf(zf - ff * -13635.f) > 1e-2f) {
208 FAILED();
209 }
210 zf += 0.0331f;
211 z += (int)ff;
212 static double zd = 1.0;
213 double dd = zd / -13635.0;
214 if (fabs(zd - dd * -13635.0) > 1e-6) {
215 FAILED();
216 }
217 zd += 0.331;
218 z += (int)dd;
219
220 }
221 // todo this still seems broken on RP2350
222 #if PICO_RP2040
223 // these use the divider
224 for(uint i=0;i<=100;i+=20) {
225 // both in and out bootrom range (we perform mod in wrapper code if necessarry)
226 f0t = tanf(i * 50);
227 f0c = cosf(i * 50);
228 f0s = sinf(i * 50);
229 d0t = tan(i * 1000);
230 d0c = cos(i * 1000);
231 d0s = sin(i * 1000);
232 }
233 #endif
234 count_local++;
235 }
236 done = true;
237 cancel_repeating_timer(&timer);
238 printf("%d: %d %d %d\n", count_local, (int)count[0], (int)count[1], (int)count[2]);
239 printf("%d\n", z);
240 // make sure all the IRQs ran
241 if (!(count_local && count[0] && count[1] && count[2])) {
242 printf("DID NOT RUN\n");
243 exit(1);
244 }
245 if (failed) {
246 printf("FAILED\n");
247 exit(1);
248 }
249 }
250
main()251 int main() {
252 #ifndef uart_default
253 #warning test/pico_divider requires a default uart
254 #else
255 stdio_init_all();
256 #endif
257 test_nesting();
258 printf("PASSED\n");
259 return 0;
260 }
261
262
