From ba8daafb0b0a89ad5f32067171de60b718fa75fc Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?D=C3=A1niel=20Buga?= <bugadani@gmail.com>
Date: Thu, 10 Oct 2024 10:24:50 +0200
Subject: [PATCH] Require float-save-restore in esp-wifi (#2322)

* Add failing test case

* Make sure task contexts are properly initialised

* Require float-save-restore for esp-wifi
---
 esp-wifi/Cargo.toml                    |  5 +++++
 esp-wifi/src/preempt/mod.rs            |  4 ++--
 esp-wifi/src/preempt/preempt_riscv.rs  | 11 +++++++++++
 esp-wifi/src/preempt/preempt_xtensa.rs | 13 ++++++++++++-
 hil-test/Cargo.toml                    |  4 ++++
 hil-test/tests/esp_wifi_floats.rs      |  1 -
 6 files changed, 34 insertions(+), 4 deletions(-)

diff --git a/esp-wifi/Cargo.toml b/esp-wifi/Cargo.toml
index 12ce27517..60d9d1254 100644
--- a/esp-wifi/Cargo.toml
+++ b/esp-wifi/Cargo.toml
@@ -44,6 +44,8 @@ portable_atomic_enum = { version = "0.3.1", features = ["portable-atomic"] }
 bt-hci = { version = "0.1.1", optional = true }
 esp-config = { version = "0.1.0", path = "../esp-config" }
 
+xtensa-lx-rt = { version = "0.17.1", path = "../xtensa-lx-rt", optional = true }
+
 [build-dependencies]
 esp-build    = { version = "0.1.0", path = "../esp-build" }
 esp-config   = { version = "0.1.0", path = "../esp-config", features = ["build"] }
@@ -83,16 +85,19 @@ esp32h2 = [
 esp32 = [
   "esp-hal/esp32",
   "esp-wifi-sys/esp32",
+  "xtensa-lx-rt/float-save-restore",
 ]
 # Target the ESP32-S2.
 esp32s2 = [
   "esp-hal/esp32s2",
   "esp-wifi-sys/esp32s2",
+  "xtensa-lx-rt/float-save-restore",
 ]
 # Target the ESP32-S3.
 esp32s3 = [
   "esp-hal/esp32s3",
   "esp-wifi-sys/esp32s3",
+  "xtensa-lx-rt/float-save-restore",
 ]
 
 ## Enable Async support
diff --git a/esp-wifi/src/preempt/mod.rs b/esp-wifi/src/preempt/mod.rs
index be24112b8..e8d4fe16e 100644
--- a/esp-wifi/src/preempt/mod.rs
+++ b/esp-wifi/src/preempt/mod.rs
@@ -22,7 +22,7 @@ pub fn allocate_main_task() -> *mut Context {
         }
 
         let ptr = malloc(size_of::<Context>() as u32) as *mut Context;
-        core::ptr::write_bytes(ptr, 0, 1);
+        core::ptr::write(ptr, Context::new());
         (*ptr).next = ptr;
         *ctx_now = ptr;
         ptr
@@ -37,7 +37,7 @@ fn allocate_task() -> *mut Context {
         }
 
         let ptr = malloc(size_of::<Context>() as u32) as *mut Context;
-        core::ptr::write_bytes(ptr, 0, 1);
+        core::ptr::write(ptr, Context::new());
         (*ptr).next = (**ctx_now).next;
         (**ctx_now).next = ptr;
         ptr
diff --git a/esp-wifi/src/preempt/preempt_riscv.rs b/esp-wifi/src/preempt/preempt_riscv.rs
index a729fb0bf..cfed68cf9 100644
--- a/esp-wifi/src/preempt/preempt_riscv.rs
+++ b/esp-wifi/src/preempt/preempt_riscv.rs
@@ -11,6 +11,17 @@ pub struct Context {
     pub allocated_stack: *const u8,
 }
 
+impl Context {
+    pub fn new() -> Self {
+        Context {
+            trap_frame: TrapFrame::default(),
+            thread_semaphore: 0,
+            next: core::ptr::null_mut(),
+            allocated_stack: core::ptr::null(),
+        }
+    }
+}
+
 pub fn task_create(
     task: extern "C" fn(*mut c_types::c_void),
     param: *mut c_types::c_void,
diff --git a/esp-wifi/src/preempt/preempt_xtensa.rs b/esp-wifi/src/preempt/preempt_xtensa.rs
index eeb43f59b..1d5606b7c 100644
--- a/esp-wifi/src/preempt/preempt_xtensa.rs
+++ b/esp-wifi/src/preempt/preempt_xtensa.rs
@@ -11,6 +11,17 @@ pub struct Context {
     pub allocated_stack: *const u8,
 }
 
+impl Context {
+    pub fn new() -> Self {
+        Context {
+            trap_frame: TrapFrame::new(),
+            thread_semaphore: 0,
+            next: core::ptr::null_mut(),
+            allocated_stack: core::ptr::null(),
+        }
+    }
+}
+
 pub fn task_create(
     task: extern "C" fn(*mut c_types::c_void),
     param: *mut c_types::c_void,
@@ -28,7 +39,7 @@ pub fn task_create(
 
         // stack must be aligned by 16
         let task_stack_ptr = stack as usize + task_stack_size;
-        let stack_ptr = task_stack_ptr - (task_stack_ptr % 0x10);
+        let stack_ptr = task_stack_ptr - (task_stack_ptr % 16);
         (*ctx).trap_frame.A1 = stack_ptr as u32;
 
         (*ctx).trap_frame.PS = 0x00040000 | (1 & 3) << 16; // For windowed ABI set WOE and CALLINC (pretend task was 'call4'd).
diff --git a/hil-test/Cargo.toml b/hil-test/Cargo.toml
index a256e43b6..fd5d4f81c 100644
--- a/hil-test/Cargo.toml
+++ b/hil-test/Cargo.toml
@@ -249,18 +249,21 @@ esp32c3 = [
     "esp-hal/esp32c3",
     "esp-hal-embassy/esp32c3",
     "esp-wifi?/esp32c3",
+    "esp-wifi?/phy-enable-usb",
 ]
 esp32c6 = [
     "esp-backtrace/esp32c6",
     "esp-hal/esp32c6",
     "esp-hal-embassy/esp32c6",
     "esp-wifi?/esp32c6",
+    "esp-wifi?/phy-enable-usb",
 ]
 esp32h2 = [
     "esp-backtrace/esp32h2",
     "esp-hal/esp32h2",
     "esp-hal-embassy/esp32h2",
     "esp-wifi?/esp32h2",
+    "esp-wifi?/phy-enable-usb",
 ]
 esp32s2 = [
     "embedded-test/xtensa-semihosting",
@@ -275,6 +278,7 @@ esp32s3 = [
     "esp-hal/esp32s3",
     "esp-hal-embassy/esp32s3",
     "esp-wifi?/esp32s3",
+    "esp-wifi?/phy-enable-usb",
 ]
 # Async & Embassy:
 embassy = [
diff --git a/hil-test/tests/esp_wifi_floats.rs b/hil-test/tests/esp_wifi_floats.rs
index f509f3719..0b9a82c8a 100644
--- a/hil-test/tests/esp_wifi_floats.rs
+++ b/hil-test/tests/esp_wifi_floats.rs
@@ -2,7 +2,6 @@
 
 //% CHIPS: esp32 esp32s2 esp32s3
 //% FEATURES: esp-wifi esp-alloc
-//% FEATURES: esp-wifi esp-alloc xtensa-lx-rt/float-save-restore
 
 #![no_std]
 #![no_main]