Merge branch 'bugfix/jump_time_54_sec_v3.2' into 'release/v3.2'

esp_timer: Fix time jumps back ~ 54sec (v3.2)

See merge request espressif/esp-idf!6470

components/esp32/esp_timer.c

@@ -38,12 +38,17 @@
 #endif
 #include "rom/queue.h"
 
+#define EVENT_ID_DELETE_TIMER   0xF0DE1E1E
+
 #define TIMER_EVENT_QUEUE_SIZE      16
 
 struct esp_timer {
     uint64_t alarm;
     uint64_t period;
-    esp_timer_cb_t callback;
+    union {
+        esp_timer_cb_t callback;
+        uint32_t event_id;
+    };
     void* arg;
 #if WITH_PROFILING
     const char* name;
@@ -54,12 +59,12 @@ struct esp_timer {
     LIST_ENTRY(esp_timer) list_entry;
 };
 
-static bool is_initialized();
+static bool is_initialized(void);
 static esp_err_t timer_insert(esp_timer_handle_t timer);
 static esp_err_t timer_remove(esp_timer_handle_t timer);
 static bool timer_armed(esp_timer_handle_t timer);
-static void timer_list_lock();
+static void timer_list_lock(void);
-static void timer_list_unlock();
+static void timer_list_unlock(void);
 
 #if WITH_PROFILING
 static void timer_insert_inactive(esp_timer_handle_t timer);
@@ -76,23 +81,18 @@ static LIST_HEAD(esp_timer_list, esp_timer) s_timers =
 // all the timers
 static LIST_HEAD(esp_inactive_timer_list, esp_timer) s_inactive_timers =
         LIST_HEAD_INITIALIZER(s_timers);
-// used to keep track of the timer when executing the callback
-static esp_timer_handle_t s_timer_in_callback;
 #endif
 // task used to dispatch timer callbacks
 static TaskHandle_t s_timer_task;
 // counting semaphore used to notify the timer task from ISR
 static SemaphoreHandle_t s_timer_semaphore;
-// mutex which protects timers from deletion during callback execution
-static SemaphoreHandle_t s_timer_delete_mutex;
 
 #if CONFIG_SPIRAM_USE_MALLOC
-// memory for s_timer_semaphore and s_timer_delete_mutex
+// memory for s_timer_semaphore
 static StaticQueue_t s_timer_semaphore_memory;
-static StaticQueue_t s_timer_delete_mutex_memory;
 #endif
 
-// lock protecting s_timers, s_inactive_timers, s_timer_in_callback
+// lock protecting s_timers, s_inactive_timers
 static portMUX_TYPE s_timer_lock = portMUX_INITIALIZER_UNLOCKED;
 
 
@@ -103,7 +103,7 @@ esp_err_t esp_timer_create(const esp_timer_create_args_t* args,
     if (!is_initialized()) {
         return ESP_ERR_INVALID_STATE;
     }
-    if (args->callback == NULL) {
+    if (args == NULL || args->callback == NULL || out_handle == NULL) {
         return ESP_ERR_INVALID_ARG;
     }
     esp_timer_handle_t result = (esp_timer_handle_t) calloc(1, sizeof(*result));
@@ -122,33 +122,48 @@ esp_err_t esp_timer_create(const esp_timer_create_args_t* args,
 
 esp_err_t IRAM_ATTR esp_timer_start_once(esp_timer_handle_t timer, uint64_t timeout_us)
 {
+    if (timer == NULL) {
+        return ESP_ERR_INVALID_ARG;
+    }
     if (!is_initialized() || timer_armed(timer)) {
         return ESP_ERR_INVALID_STATE;
     }
+    timer_list_lock();
     timer->alarm = esp_timer_get_time() + timeout_us;
     timer->period = 0;
 #if WITH_PROFILING
     timer->times_armed++;
 #endif
-    return timer_insert(timer);
+    esp_err_t err = timer_insert(timer);
+    timer_list_unlock();
+    return err;
 }
 
 esp_err_t IRAM_ATTR esp_timer_start_periodic(esp_timer_handle_t timer, uint64_t period_us)
 {
+    if (timer == NULL) {
+        return ESP_ERR_INVALID_ARG;
+    }
     if (!is_initialized() || timer_armed(timer)) {
         return ESP_ERR_INVALID_STATE;
     }
+    timer_list_lock();
     period_us = MAX(period_us, esp_timer_impl_get_min_period_us());
     timer->alarm = esp_timer_get_time() + period_us;
     timer->period = period_us;
 #if WITH_PROFILING
     timer->times_armed++;
 #endif
-    return timer_insert(timer);
+    esp_err_t err = timer_insert(timer);
+    timer_list_unlock();
+    return err;
 }
 
 esp_err_t IRAM_ATTR esp_timer_stop(esp_timer_handle_t timer)
 {
+    if (timer == NULL) {
+        return ESP_ERR_INVALID_ARG;
+    }
     if (!is_initialized() || !timer_armed(timer)) {
         return ESP_ERR_INVALID_STATE;
     }
@@ -163,21 +178,17 @@ esp_err_t esp_timer_delete(esp_timer_handle_t timer)
     if (timer_armed(timer)) {
         return ESP_ERR_INVALID_STATE;
     }
-    xSemaphoreTakeRecursive(s_timer_delete_mutex, portMAX_DELAY);
+    timer_list_lock();
-#if WITH_PROFILING
+    timer->event_id = EVENT_ID_DELETE_TIMER;
-    if (timer == s_timer_in_callback) {
+    timer->alarm = esp_timer_get_time();
-        s_timer_in_callback = NULL;
+    timer->period = 0;
-    }
+    timer_insert(timer);
-    timer_remove_inactive(timer);
+    timer_list_unlock();
-#endif
-    free(timer);
-    xSemaphoreGiveRecursive(s_timer_delete_mutex);
     return ESP_OK;
 }
 
 static IRAM_ATTR esp_err_t timer_insert(esp_timer_handle_t timer)
 {
-    timer_list_lock();
 #if WITH_PROFILING
     timer_remove_inactive(timer);
 #endif
@@ -200,7 +211,6 @@ static IRAM_ATTR esp_err_t timer_insert(esp_timer_handle_t timer)
     if (timer == LIST_FIRST(&s_timers)) {
         esp_timer_impl_set_alarm(timer->alarm);
     }
-    timer_list_unlock();
     return ESP_OK;
 }
 
@@ -251,12 +261,12 @@ static IRAM_ATTR bool timer_armed(esp_timer_handle_t timer)
     return timer->alarm > 0;
 }
 
-static IRAM_ATTR void timer_list_lock()
+static IRAM_ATTR void timer_list_lock(void)
 {
     portENTER_CRITICAL(&s_timer_lock);
 }
 
-static IRAM_ATTR void timer_list_unlock()
+static IRAM_ATTR void timer_list_unlock(void)
 {
     portEXIT_CRITICAL(&s_timer_lock);
 }
@@ -266,13 +276,17 @@ static void timer_process_alarm(esp_timer_dispatch_t dispatch_method)
     /* unused, provision to allow running callbacks from ISR */
     (void) dispatch_method;
 
-    xSemaphoreTakeRecursive(s_timer_delete_mutex, portMAX_DELAY);
     timer_list_lock();
     uint64_t now = esp_timer_impl_get_time();
     esp_timer_handle_t it = LIST_FIRST(&s_timers);
     while (it != NULL &&
             it->alarm < now) {
         LIST_REMOVE(it, list_entry);
+        if (it->event_id == EVENT_ID_DELETE_TIMER) {
+            free(it);
+            it = LIST_FIRST(&s_timers);
+            continue;
+        }
         if (it->period > 0) {
             it->alarm += it->period;
             timer_insert(it);
@@ -284,7 +298,6 @@ static void timer_process_alarm(esp_timer_dispatch_t dispatch_method)
         }
 #if WITH_PROFILING
         uint64_t callback_start = now;
-        s_timer_in_callback = it;
 #endif
         esp_timer_cb_t callback = it->callback;
         void* arg = it->arg;
@@ -293,14 +306,8 @@ static void timer_process_alarm(esp_timer_dispatch_t dispatch_method)
         timer_list_lock();
         now = esp_timer_impl_get_time();
 #if WITH_PROFILING
-        /* The callback might have deleted the timer.
+        it->times_triggered++;
-         * If this happens, esp_timer_delete will set s_timer_in_callback
+        it->total_callback_run_time += now - callback_start;
-         * to NULL.
-         */
-        if (s_timer_in_callback) {
-            s_timer_in_callback->times_triggered++;
-            s_timer_in_callback->total_callback_run_time += now - callback_start;
-        }
 #endif
         it = LIST_FIRST(&s_timers);
     }
@@ -309,7 +316,6 @@ static void timer_process_alarm(esp_timer_dispatch_t dispatch_method)
         esp_timer_impl_set_alarm(first->alarm);
     }
     timer_list_unlock();
-    xSemaphoreGiveRecursive(s_timer_delete_mutex);
 }
 
 static void timer_task(void* arg)
@@ -333,7 +339,7 @@ static void IRAM_ATTR timer_alarm_handler(void* arg)
     }
 }
 
-static IRAM_ATTR bool is_initialized()
+static IRAM_ATTR bool is_initialized(void)
 {
     return s_timer_task != NULL;
 }
@@ -357,18 +363,6 @@ esp_err_t esp_timer_init(void)
         goto out;
     }
 
-#if CONFIG_SPIRAM_USE_MALLOC
-    memset(&s_timer_delete_mutex_memory, 0, sizeof(StaticQueue_t));
-    s_timer_delete_mutex = xSemaphoreCreateRecursiveMutexStatic(&s_timer_delete_mutex_memory);
-#else
-    s_timer_delete_mutex = xSemaphoreCreateRecursiveMutex();
-#endif
-    if (!s_timer_delete_mutex) {
-        err = ESP_ERR_NO_MEM;
-        goto out;
-    }
-
-
     int ret = xTaskCreatePinnedToCore(&timer_task, "esp_timer",
             ESP_TASK_TIMER_STACK, NULL, ESP_TASK_TIMER_PRIO, &s_timer_task, PRO_CPU_NUM);
     if (ret != pdPASS) {
@@ -392,10 +386,6 @@ out:
         vSemaphoreDelete(s_timer_semaphore);
         s_timer_semaphore = NULL;
     }
-    if (s_timer_delete_mutex) {
-        vSemaphoreDelete(s_timer_delete_mutex);
-        s_timer_delete_mutex = NULL;
-    }
     return ESP_ERR_NO_MEM;
 }
 
@@ -500,7 +490,7 @@ esp_err_t esp_timer_dump(FILE* stream)
     return ESP_OK;
 }
 
-int64_t IRAM_ATTR esp_timer_get_next_alarm()
+int64_t IRAM_ATTR esp_timer_get_next_alarm(void)
 {
     int64_t next_alarm = INT64_MAX;
     timer_list_lock();
@@ -512,7 +502,7 @@ int64_t IRAM_ATTR esp_timer_get_next_alarm()
     return next_alarm;
 }
 
-int64_t IRAM_ATTR esp_timer_get_time()
+int64_t IRAM_ATTR esp_timer_get_time(void)
 {
     return (int64_t) esp_timer_impl_get_time();
 }

components/esp32/esp_timer_esp32.c

@@ -12,6 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include "sys/param.h"
 #include "esp_err.h"
 #include "esp_timer.h"
 #include "esp_system.h"
@@ -127,13 +128,6 @@ static uint32_t s_timer_us_per_overflow;
 // will not increment s_time_base_us if this flag is set.
 static bool s_mask_overflow;
 
-//The timer_overflow_happened read alarm register to tell if overflow happened.
-//However, there is a monent that overflow happens, and before ISR function called
-//alarm register is set to another value, then you call timer_overflow_happened, 
-//it will return false.
-//So we store the overflow value when new alarm is to be set. 
-static bool s_overflow_happened;
-
 #ifdef CONFIG_PM_DFS_USE_RTC_TIMER_REF
 // If DFS is enabled, upon the first frequency change this value is set to the
 // difference between esp_timer value and RTC timer value. On every subsequent
@@ -152,10 +146,6 @@ portMUX_TYPE s_time_update_lock = portMUX_INITIALIZER_UNLOCKED;
 // Check if timer overflow has happened (but was not handled by ISR yet)
 static inline bool IRAM_ATTR timer_overflow_happened()
 {
-    if (s_overflow_happened) {
-        return true;
-    }
-
     return ((REG_READ(FRC_TIMER_CTRL_REG(1)) & FRC_TIMER_INT_STATUS) != 0 &&
               ((REG_READ(FRC_TIMER_ALARM_REG(1)) == ALARM_OVERFLOW_VAL && TIMER_IS_AFTER_OVERFLOW(REG_READ(FRC_TIMER_COUNT_REG(1))) && !s_mask_overflow) || 
                (!TIMER_IS_AFTER_OVERFLOW(REG_READ(FRC_TIMER_ALARM_REG(1))) && TIMER_IS_AFTER_OVERFLOW(REG_READ(FRC_TIMER_COUNT_REG(1))))));
@@ -222,35 +212,31 @@ uint64_t IRAM_ATTR esp_timer_impl_get_time()
 void IRAM_ATTR esp_timer_impl_set_alarm(uint64_t timestamp)
 {
     portENTER_CRITICAL(&s_time_update_lock);
-    // Alarm time relative to the moment when counter was 0
-    uint64_t time_after_timebase_us = timestamp - s_time_base_us;
-    // Adjust current time if overflow has happened
-    bool overflow = timer_overflow_happened();
-    uint64_t cur_count = REG_READ(FRC_TIMER_COUNT_REG(1));
-
-    if (overflow) {
-        assert(time_after_timebase_us > s_timer_us_per_overflow);
-        time_after_timebase_us -= s_timer_us_per_overflow;
-        s_overflow_happened = true;
-    }
-    // Calculate desired timer compare value (may exceed 2^32-1)
-    uint64_t compare_val = time_after_timebase_us * s_timer_ticks_per_us;
-    uint32_t alarm_reg_val = ALARM_OVERFLOW_VAL;
     // Use calculated alarm value if it is less than ALARM_OVERFLOW_VAL.
     // Note that if by the time we update ALARM_REG, COUNT_REG value is higher,
     // interrupt will not happen for another ALARM_OVERFLOW_VAL timer ticks,
     // so need to check if alarm value is too close in the future (e.g. <2 us away).
     const uint32_t offset = s_timer_ticks_per_us * 2;
-    if (compare_val < ALARM_OVERFLOW_VAL) {
+    do {
-        if (compare_val < cur_count + offset) {
+        // Adjust current time if overflow has happened
-            compare_val = cur_count + offset;
+        if (timer_overflow_happened()) {
-            if (compare_val > ALARM_OVERFLOW_VAL) {
+            timer_count_reload();
-                compare_val = ALARM_OVERFLOW_VAL;
+            s_time_base_us += s_timer_us_per_overflow;
-            }
         }
-        alarm_reg_val = (uint32_t) compare_val;
+        s_mask_overflow = false;
-    }
+        uint64_t cur_count = REG_READ(FRC_TIMER_COUNT_REG(1));
-    REG_WRITE(FRC_TIMER_ALARM_REG(1), alarm_reg_val);
+        // Alarm time relative to the moment when counter was 0
+        int64_t time_after_timebase_us = (int64_t)timestamp - s_time_base_us;
+        // Calculate desired timer compare value (may exceed 2^32-1)
+        int64_t compare_val = time_after_timebase_us * s_timer_ticks_per_us;
+
+        compare_val = MAX(compare_val, cur_count + offset);
+        uint32_t alarm_reg_val = ALARM_OVERFLOW_VAL;
+        if (compare_val < ALARM_OVERFLOW_VAL) {
+            alarm_reg_val = (uint32_t) compare_val;
+        }
+        REG_WRITE(FRC_TIMER_ALARM_REG(1), alarm_reg_val);
+    } while (REG_READ(FRC_TIMER_ALARM_REG(1)) <= REG_READ(FRC_TIMER_COUNT_REG(1)));
     portEXIT_CRITICAL(&s_time_update_lock);
 }
 
@@ -261,7 +247,6 @@ static void IRAM_ATTR timer_alarm_isr(void *arg)
     if (timer_overflow_happened()) {
         timer_count_reload();
         s_time_base_us += s_timer_us_per_overflow;
-        s_overflow_happened = false;
     }
     s_mask_overflow = false;
     // Clear interrupt status
@@ -336,7 +321,6 @@ void esp_timer_impl_advance(int64_t time_us)
     REG_WRITE(FRC_TIMER_ALARM_REG(1), 0);
     REG_WRITE(FRC_TIMER_LOAD_REG(1), 0);
     s_time_base_us += count / s_timer_ticks_per_us + time_us;
-    s_overflow_happened = false;
     portEXIT_CRITICAL(&s_time_update_lock);
 }
 

components/esp32/test/test_esp_timer.c

@@ -536,6 +536,61 @@ TEST_CASE("Can delete timer from callback", "[esp_timer]")
     vSemaphoreDelete(args.notify_from_timer_cb);
 }
 
+
+typedef struct {
+    SemaphoreHandle_t delete_start;
+    SemaphoreHandle_t delete_done;
+    SemaphoreHandle_t test_done;
+    esp_timer_handle_t timer;
+} timer_delete_test_args_t;
+
+static void timer_delete_task(void* arg)
+{
+    timer_delete_test_args_t* args = (timer_delete_test_args_t*) arg;
+    xSemaphoreTake(args->delete_start, portMAX_DELAY);
+    printf("Deleting the timer\n");
+    esp_timer_delete(args->timer);
+    printf("Timer deleted\n");
+    xSemaphoreGive(args->delete_done);
+    vTaskDelete(NULL);
+}
+
+static void timer_delete_test_callback(void* arg)
+{
+    timer_delete_test_args_t* args = (timer_delete_test_args_t*) arg;
+    printf("Timer callback called\n");
+    xSemaphoreGive(args->delete_start);
+    xSemaphoreTake(args->delete_done, portMAX_DELAY);
+    printf("Callback complete\n");
+    xSemaphoreGive(args->test_done);
+}
+
+TEST_CASE("Can delete timer from a separate task, triggered from callback", "[esp_timer]")
+{
+    timer_delete_test_args_t args = {
+        .delete_start = xSemaphoreCreateBinary(),
+        .delete_done = xSemaphoreCreateBinary(),
+        .test_done = xSemaphoreCreateBinary(),
+    };
+
+    esp_timer_create_args_t timer_args = {
+            .callback = &timer_delete_test_callback,
+            .arg = &args
+    };
+    esp_timer_handle_t timer;
+    TEST_ESP_OK(esp_timer_create(&timer_args, &timer));
+    args.timer = timer;
+
+    xTaskCreate(timer_delete_task, "deleter", 4096, &args, 5, NULL);
+
+    esp_timer_start_once(timer, 100);
+    TEST_ASSERT(xSemaphoreTake(args.test_done, pdMS_TO_TICKS(1000)));
+
+    vSemaphoreDelete(args.delete_done);
+    vSemaphoreDelete(args.delete_start);
+    vSemaphoreDelete(args.test_done);
+}
+
 TEST_CASE("esp_timer_impl_advance moves time base correctly", "[esp_timer]")
 {
     ref_clock_init();
@@ -594,3 +649,133 @@ TEST_CASE("after esp_timer_impl_advance, timers run when expected", "[esp_timer]
 
     ref_clock_deinit();
 }
+
+#if !defined(CONFIG_FREERTOS_UNICORE) && defined(CONFIG_ESP32_DPORT_WORKAROUND)
+
+#include "soc/dport_reg.h"
+#include "soc/frc_timer_reg.h"
+#include "esp_ipc.h"
+static bool task_stop;
+static bool time_jumped;
+
+static void task_check_time(void *p)
+{
+    int64_t  t1 = 0, t2 = 0;
+    while (task_stop == false) {
+
+        t1 = t2;
+        t2 = esp_timer_get_time();
+        if (t1 > t2) {
+            int64_t shift_us = t2 - t1;
+            time_jumped = true;
+            printf("System clock jumps back: %lli us\n", shift_us);
+        }
+
+        vTaskDelay(1);
+    }
+    vTaskDelete(NULL);
+}
+
+static void timer_callback(void* arg)
+{
+
+}
+
+static void dport_task(void *pvParameters)
+{
+    while (task_stop == false) {
+        DPORT_STALL_OTHER_CPU_START();
+        ets_delay_us(3);
+        DPORT_STALL_OTHER_CPU_END();
+    }
+    vTaskDelete(NULL);
+}
+
+TEST_CASE("esp_timer_impl_set_alarm does not set an alarm below the current time", "[esp_timer][timeout=62]")
+{
+    const int max_timers = 2;
+    time_jumped = false;
+    task_stop   = false;
+
+    xTaskCreatePinnedToCore(task_check_time, "task_check_time", 4096, NULL, 5, NULL, 0);
+    // dport_task is used here to interrupt the esp_timer_impl_set_alarm function.
+    // To interrupt it we can use an interrupt with 4 or 5 levels which will run on CPU0.
+    // Instead, an interrupt we use the dport workaround which has 4 interrupt level for stall CPU0.
+    xTaskCreatePinnedToCore(dport_task, "dport_task", 4096, NULL, 5, NULL, 1);
+
+    const esp_timer_create_args_t periodic_timer_args = {
+        .callback = &timer_callback,
+    };
+
+    esp_timer_handle_t periodic_timer[max_timers];
+    printf("timers created\n");
+
+    esp_timer_create(&periodic_timer_args, &periodic_timer[0]);
+    esp_timer_start_periodic(periodic_timer[0], 9000);
+
+    esp_timer_create(&periodic_timer_args, &periodic_timer[1]);
+    esp_timer_start_periodic(periodic_timer[1], 9000);
+
+    vTaskDelay(60 * 1000 / portTICK_PERIOD_MS);
+    task_stop = true;
+
+    esp_timer_stop(periodic_timer[0]);
+    esp_timer_delete(periodic_timer[0]);
+    esp_timer_stop(periodic_timer[1]);
+    esp_timer_delete(periodic_timer[1]);
+    printf("timers deleted\n");
+
+    vTaskDelay(1000 / portTICK_PERIOD_MS);
+
+    TEST_ASSERT(time_jumped == false);
+}
+
+
+static esp_timer_handle_t oneshot_timer;
+
+static void oneshot_timer_callback(void* arg)
+{
+    esp_timer_start_once(oneshot_timer, 5000);
+}
+
+static const esp_timer_create_args_t oneshot_timer_args = {
+    .callback = &oneshot_timer_callback,
+};
+
+TEST_CASE("esp_timer_impl_set_alarm and using start_once do not lead that the System time jumps back", "[esp_timer][timeout=62]")
+{
+    time_jumped = false;
+    task_stop   = false;
+
+    xTaskCreatePinnedToCore(task_check_time, "task_check_time", 4096, NULL, 5, NULL, 0);
+    // dport_task is used here to interrupt the esp_timer_impl_set_alarm function.
+    // To interrupt it we can use an interrupt with 4 or 5 levels which will run on CPU0.
+    // Instead, an interrupt we use the dport workaround which has 4 interrupt level for stall CPU0.
+    xTaskCreatePinnedToCore(dport_task, "dport_task", 4096, NULL, 5, NULL, 1);
+
+    const esp_timer_create_args_t periodic_timer_args = {
+        .callback = &timer_callback,
+    };
+
+    esp_timer_handle_t periodic_timer;
+
+    esp_timer_create(&periodic_timer_args, &periodic_timer);
+    esp_timer_start_periodic(periodic_timer, 5000);
+
+    esp_timer_create(&oneshot_timer_args, &oneshot_timer);
+    esp_timer_start_once(oneshot_timer, 9990);
+    printf("timers created\n");
+
+    vTaskDelay(60 * 1000 / portTICK_PERIOD_MS);
+    task_stop = true;
+
+    esp_timer_stop(oneshot_timer);
+    esp_timer_delete(oneshot_timer);
+    printf("timers deleted\n");
+
+    vTaskDelay(1000 / portTICK_PERIOD_MS);
+
+    TEST_ASSERT(time_jumped == false);
+}
+
+#endif // !defined(CONFIG_FREERTOS_UNICORE) && defined(CONFIG_ESP32_DPORT_WORKAROUND)