70a9e72e06
1. ref_clock used in unit tests occasionally produces time off by ~100 microseconds shortly after being started. Add a delay to let ref_clock stabilise, until the cause is found. 2. Reduce roundoff error accumulation which would occasionally cause the test to fail, by choosing an overflow value which can be divided by APB frequency. 3. Move time sampling part of the test into an IRAM function to reduce variations due to cache behavior. 4. Remove calculation of "standard deviation" in the test, as what was calculated was not actually standard deviation, and it did not add any useful information.
596 lines
18 KiB
C
596 lines
18 KiB
C
#include <stdio.h>
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#include <stdlib.h>
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#include <time.h>
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#include <sys/time.h>
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#include <sys/param.h>
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#include "unity.h"
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#include "esp_timer.h"
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#include "esp_heap_caps.h"
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "freertos/semphr.h"
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#include "test_utils.h"
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#include "../esp_timer_impl.h"
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#ifdef CONFIG_ESP_TIMER_PROFILING
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#define WITH_PROFILING 1
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#endif
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extern uint32_t esp_timer_impl_get_overflow_val();
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extern void esp_timer_impl_set_overflow_val(uint32_t overflow_val);
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static uint32_t s_old_overflow_val;
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static void setup_overflow()
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{
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s_old_overflow_val = esp_timer_impl_get_overflow_val();
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/* Overflow every 0.1 sec.
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* Chosen so that it is 0 modulo s_timer_ticks_per_us (which is 80),
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* to prevent roundoff error on each overflow.
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*/
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esp_timer_impl_set_overflow_val(8000000);
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}
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static void teardown_overflow()
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{
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esp_timer_impl_set_overflow_val(s_old_overflow_val);
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}
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TEST_CASE("esp_timer orders timers correctly", "[esp_timer]")
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{
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void dummy_cb(void* arg)
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{
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}
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uint64_t timeouts[] = { 10000, 1000, 10000, 5000, 20000, 1000 };
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size_t indices[] = { 3, 0, 4, 2, 5, 1 };
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const size_t num_timers = sizeof(timeouts)/sizeof(timeouts[0]);
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esp_timer_handle_t handles[num_timers];
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char* names[num_timers];
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setup_overflow();
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for (size_t i = 0; i < num_timers; ++i) {
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asprintf(&names[i], "timer%d", i);
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esp_timer_create_args_t args = {
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.callback = &dummy_cb,
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.name = names[i]
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};
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TEST_ESP_OK(esp_timer_create(&args, &handles[i]));
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TEST_ESP_OK(esp_timer_start_once(handles[i], timeouts[i] * 100));
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}
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teardown_overflow();
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char* stream_str[1024];
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FILE* stream = fmemopen(stream_str, sizeof(stream_str), "r+");
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TEST_ESP_OK(esp_timer_dump(stream));
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for (size_t i = 0; i < num_timers; ++i) {
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TEST_ESP_OK(esp_timer_stop(handles[i]));
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TEST_ESP_OK(esp_timer_delete(handles[i]));
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free(names[i]);
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}
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fflush(stream);
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fseek(stream, 0, SEEK_SET);
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for (size_t i = 0; i < num_timers; ++i) {
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char line[128];
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TEST_ASSERT_NOT_NULL(fgets(line, sizeof(line), stream));
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#if WITH_PROFILING
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int timer_id;
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sscanf(line, "timer%d", &timer_id);
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TEST_ASSERT_EQUAL(indices[timer_id], i);
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#else
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intptr_t timer_ptr;
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sscanf(line, "timer@0x%x", &timer_ptr);
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for (size_t j = 0; j < num_timers; ++j) {
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if (indices[j] == i) {
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TEST_ASSERT_EQUAL_PTR(handles[j], timer_ptr);
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break;
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}
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}
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#endif
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}
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fclose(stream);
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}
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TEST_CASE("esp_timer_impl_set_alarm stress test", "[esp_timer]")
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{
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const int test_time_sec = 10;
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void set_alarm_task(void* arg)
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{
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SemaphoreHandle_t done = (SemaphoreHandle_t) arg;
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uint64_t start = esp_timer_impl_get_time();
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uint64_t now = start;
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int count = 0;
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const int delays[] = {50, 5000, 10000000};
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const int delays_count = sizeof(delays)/sizeof(delays[0]);
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while (now - start < test_time_sec * 1000000) {
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now = esp_timer_impl_get_time();
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esp_timer_impl_set_alarm(now + delays[count % delays_count]);
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++count;
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}
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xSemaphoreGive(done);
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vTaskDelete(NULL);
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}
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SemaphoreHandle_t done = xSemaphoreCreateCounting(portNUM_PROCESSORS, 0);
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setup_overflow();
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xTaskCreatePinnedToCore(&set_alarm_task, "set_alarm_0", 4096, done, UNITY_FREERTOS_PRIORITY, NULL, 0);
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#if portNUM_PROCESSORS == 2
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xTaskCreatePinnedToCore(&set_alarm_task, "set_alarm_1", 4096, done, UNITY_FREERTOS_PRIORITY, NULL, 1);
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#endif
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TEST_ASSERT(xSemaphoreTake(done, test_time_sec * 2 * 1000 / portTICK_PERIOD_MS));
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#if portNUM_PROCESSORS == 2
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TEST_ASSERT(xSemaphoreTake(done, test_time_sec * 2 * 1000 / portTICK_PERIOD_MS));
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#endif
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teardown_overflow();
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vSemaphoreDelete(done);
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}
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TEST_CASE("esp_timer produces correct delay", "[esp_timer]")
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{
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void timer_func(void* arg)
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{
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int64_t* p_end = (int64_t*) arg;
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*p_end = ref_clock_get();
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}
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int64_t t_end;
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esp_timer_handle_t timer1;
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esp_timer_create_args_t args = {
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.callback = &timer_func,
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.arg = &t_end,
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.name = "timer1"
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};
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TEST_ESP_OK(esp_timer_create(&args, &timer1));
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const int delays_ms[] = {20, 100, 200, 250};
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const size_t delays_count = sizeof(delays_ms)/sizeof(delays_ms[0]);
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ref_clock_init();
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setup_overflow();
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for (size_t i = 0; i < delays_count; ++i) {
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t_end = 0;
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int64_t t_start = ref_clock_get();
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TEST_ESP_OK(esp_timer_start_once(timer1, delays_ms[i] * 1000));
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vTaskDelay(delays_ms[i] * 2 / portTICK_PERIOD_MS);
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TEST_ASSERT(t_end != 0);
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int32_t ms_diff = (t_end - t_start) / 1000;
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printf("%d %d\n", delays_ms[i], ms_diff);
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TEST_ASSERT_INT32_WITHIN(portTICK_PERIOD_MS, delays_ms[i], ms_diff);
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}
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teardown_overflow();
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ref_clock_deinit();
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TEST_ESP_OK( esp_timer_dump(stdout) );
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esp_timer_delete(timer1);
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}
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TEST_CASE("periodic esp_timer produces correct delays", "[esp_timer]")
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{
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// no, we can't make this a const size_t (§6.7.5.2)
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#define NUM_INTERVALS 16
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typedef struct {
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esp_timer_handle_t timer;
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size_t cur_interval;
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int intervals[NUM_INTERVALS];
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int64_t t_start;
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SemaphoreHandle_t done;
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} test_args_t;
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void timer_func(void* arg)
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{
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test_args_t* p_args = (test_args_t*) arg;
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int64_t t_end = ref_clock_get();
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int32_t ms_diff = (t_end - p_args->t_start) / 1000;
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printf("timer #%d %dms\n", p_args->cur_interval, ms_diff);
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p_args->intervals[p_args->cur_interval++] = ms_diff;
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// Deliberately make timer handler run longer.
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// We check that this doesn't affect the result.
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ets_delay_us(10*1000);
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if (p_args->cur_interval == NUM_INTERVALS) {
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printf("done\n");
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TEST_ESP_OK(esp_timer_stop(p_args->timer));
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xSemaphoreGive(p_args->done);
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}
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}
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const int delay_ms = 100;
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test_args_t args = {0};
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esp_timer_handle_t timer1;
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esp_timer_create_args_t create_args = {
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.callback = &timer_func,
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.arg = &args,
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.name = "timer1",
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};
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TEST_ESP_OK(esp_timer_create(&create_args, &timer1));
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ref_clock_init();
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setup_overflow();
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args.timer = timer1;
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args.t_start = ref_clock_get();
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args.done = xSemaphoreCreateBinary();
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TEST_ESP_OK(esp_timer_start_periodic(timer1, delay_ms * 1000));
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TEST_ASSERT(xSemaphoreTake(args.done, delay_ms * NUM_INTERVALS * 2));
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TEST_ASSERT_EQUAL_UINT32(NUM_INTERVALS, args.cur_interval);
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for (size_t i = 0; i < NUM_INTERVALS; ++i) {
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TEST_ASSERT_INT32_WITHIN(portTICK_PERIOD_MS, (i + 1) * delay_ms, args.intervals[i]);
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}
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teardown_overflow();
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ref_clock_deinit();
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TEST_ESP_OK( esp_timer_dump(stdout) );
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TEST_ESP_OK( esp_timer_delete(timer1) );
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vSemaphoreDelete(args.done);
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#undef NUM_INTERVALS
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}
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TEST_CASE("multiple timers are ordered correctly", "[esp_timer]")
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{
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#define N 5
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typedef struct {
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const int order[N * 3];
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size_t count;
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} test_common_t;
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typedef struct {
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int timer_index;
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const int intervals[N];
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size_t intervals_count;
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esp_timer_handle_t timer;
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test_common_t* common;
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bool pass;
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SemaphoreHandle_t done;
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int64_t t_start;
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} test_args_t;
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void timer_func(void* arg)
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{
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test_args_t* p_args = (test_args_t*) arg;
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// check order
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size_t count = p_args->common->count;
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int expected_index = p_args->common->order[count];
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int ms_since_start = (ref_clock_get() - p_args->t_start) / 1000;
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printf("Time %dms, at count %d, expected timer %d, got timer %d\n",
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ms_since_start, count, expected_index, p_args->timer_index);
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if (expected_index != p_args->timer_index) {
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p_args->pass = false;
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esp_timer_stop(p_args->timer);
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xSemaphoreGive(p_args->done);
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return;
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}
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p_args->common->count++;
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if (++p_args->intervals_count == N) {
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esp_timer_stop(p_args->timer);
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xSemaphoreGive(p_args->done);
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return;
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}
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int next_interval = p_args->intervals[p_args->intervals_count];
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printf("starting timer %d interval #%d, %d ms\n",
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p_args->timer_index, p_args->intervals_count, next_interval);
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esp_timer_start_once(p_args->timer, next_interval * 1000);
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}
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test_common_t common = {
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.order = {1, 2, 3, 2, 1, 3, 1, 2, 1, 3, 2, 1, 3, 3, 2},
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.count = 0
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};
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SemaphoreHandle_t done = xSemaphoreCreateCounting(3, 0);
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ref_clock_init();
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int64_t now = ref_clock_get();
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test_args_t args1 = {
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.timer_index = 1,
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.intervals = {10, 40, 20, 40, 30},
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.common = &common,
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.pass = true,
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.done = done,
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.t_start = now
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};
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test_args_t args2 = {
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.timer_index = 2,
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.intervals = {20, 20, 60, 30, 40},
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.common = &common,
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.pass = true,
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.done = done,
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.t_start = now
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};
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test_args_t args3 = {
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.timer_index = 3,
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.intervals = {30, 30, 60, 30, 10},
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.common = &common,
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.pass = true,
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.done = done,
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.t_start = now
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};
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esp_timer_create_args_t create_args = {
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.callback = &timer_func,
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.arg = &args1,
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.name = "1"
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};
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TEST_ESP_OK(esp_timer_create(&create_args, &args1.timer));
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create_args.name = "2";
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create_args.arg = &args2;
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TEST_ESP_OK(esp_timer_create(&create_args, &args2.timer));
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create_args.name = "3";
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create_args.arg = &args3;
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TEST_ESP_OK(esp_timer_create(&create_args, &args3.timer));
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esp_timer_start_once(args1.timer, args1.intervals[0] * 1000);
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esp_timer_start_once(args2.timer, args2.intervals[0] * 1000);
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esp_timer_start_once(args3.timer, args3.intervals[0] * 1000);
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for (int i = 0; i < 3; ++i) {
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int result = xSemaphoreTake(done, 1000 / portTICK_PERIOD_MS);
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TEST_ASSERT_TRUE(result == pdPASS);
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}
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TEST_ASSERT_TRUE(args1.pass);
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TEST_ASSERT_TRUE(args2.pass);
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TEST_ASSERT_TRUE(args3.pass);
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ref_clock_deinit();
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TEST_ESP_OK( esp_timer_dump(stdout) );
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TEST_ESP_OK( esp_timer_delete(args1.timer) );
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TEST_ESP_OK( esp_timer_delete(args2.timer) );
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TEST_ESP_OK( esp_timer_delete(args3.timer) );
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#undef N
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}
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/* Create two timers, start them around the same time, and search through
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* timeout delta values to reproduce the case when timeouts occur close to
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* each other, testing the "multiple timers triggered" code path in timer_process_alarm.
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*/
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TEST_CASE("esp_timer for very short intervals", "[esp_timer]")
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{
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SemaphoreHandle_t semaphore = xSemaphoreCreateCounting(2, 0);
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void timer_func(void* arg) {
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SemaphoreHandle_t done = (SemaphoreHandle_t) arg;
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xSemaphoreGive(done);
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printf(".");
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}
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esp_timer_create_args_t timer_args = {
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.callback = &timer_func,
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.arg = (void*) semaphore,
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.name = "foo"
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};
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esp_timer_handle_t timer1, timer2;
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ESP_ERROR_CHECK( esp_timer_create(&timer_args, &timer1) );
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ESP_ERROR_CHECK( esp_timer_create(&timer_args, &timer2) );
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setup_overflow();
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const int timeout_ms = 10;
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for (int timeout_delta_us = -150; timeout_delta_us < 150; timeout_delta_us++) {
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printf("delta=%d", timeout_delta_us);
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ESP_ERROR_CHECK( esp_timer_start_once(timer1, timeout_ms * 1000) );
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ESP_ERROR_CHECK( esp_timer_start_once(timer2, timeout_ms * 1000 + timeout_delta_us) );
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TEST_ASSERT_EQUAL(pdPASS, xSemaphoreTake(semaphore, timeout_ms * 2));
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TEST_ASSERT_EQUAL(pdPASS, xSemaphoreTake(semaphore, timeout_ms * 2));
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printf("\n");
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TEST_ESP_ERR(ESP_ERR_INVALID_STATE, esp_timer_stop(timer1));
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TEST_ESP_ERR(ESP_ERR_INVALID_STATE, esp_timer_stop(timer2));
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}
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teardown_overflow();
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vSemaphoreDelete(semaphore);
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}
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TEST_CASE("esp_timer_get_time call takes less than 1us", "[esp_timer]")
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{
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int64_t begin = esp_timer_get_time();
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volatile int64_t end;
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const int iter_count = 10000;
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for (int i = 0; i < iter_count; ++i) {
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end = esp_timer_get_time();
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}
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int ns_per_call = (int) ((end - begin) * 1000 / iter_count);
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TEST_PERFORMANCE_LESS_THAN(ESP_TIMER_GET_TIME_PER_CALL, "%dns", ns_per_call);
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}
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static int64_t IRAM_ATTR __attribute__((noinline)) get_clock_diff()
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{
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uint64_t hs_time = esp_timer_get_time();
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uint64_t ref_time = ref_clock_get();
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return hs_time - ref_time;
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}
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TEST_CASE("esp_timer_get_time returns monotonic values", "[esp_timer]")
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{
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typedef struct {
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SemaphoreHandle_t done;
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bool pass;
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int test_cnt;
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int error_cnt;
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int64_t max_error;
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int64_t avg_diff;
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int64_t dummy;
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} test_state_t;
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void timer_test_task(void* arg) {
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test_state_t* state = (test_state_t*) arg;
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state->pass = true;
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/* make sure both functions are in cache */
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state->dummy = get_clock_diff();
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/* calculate the difference between the two clocks */
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portDISABLE_INTERRUPTS();
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int64_t delta = get_clock_diff();
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portENABLE_INTERRUPTS();
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int64_t start_time = ref_clock_get();
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int error_repeat_cnt = 0;
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while (ref_clock_get() - start_time < 10000000) { /* 10 seconds */
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/* Get values of both clocks again, and check that they are close to 'delta'.
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* We don't disable interrupts here, because esp_timer_get_time doesn't lock
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* interrupts internally, so we check if it can get "broken" by a well placed
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* interrupt.
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*/
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int64_t diff = get_clock_diff() - delta;
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/* Allow some difference due to rtos tick interrupting task between
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* getting 'hs_now' and 'now'.
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*/
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if (abs(diff) > 100) {
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error_repeat_cnt++;
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state->error_cnt++;
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} else {
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error_repeat_cnt = 0;
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}
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if (error_repeat_cnt > 2) {
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printf("diff=%lld\n", diff);
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state->pass = false;
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}
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state->avg_diff += diff;
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state->max_error = MAX(state->max_error, abs(diff));
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state->test_cnt++;
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}
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state->avg_diff /= state->test_cnt;
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xSemaphoreGive(state->done);
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vTaskDelete(NULL);
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}
|
|
|
|
ref_clock_init();
|
|
setup_overflow();
|
|
|
|
test_state_t states[portNUM_PROCESSORS] = {0};
|
|
SemaphoreHandle_t done = xSemaphoreCreateCounting(portNUM_PROCESSORS, 0);
|
|
for (int i = 0; i < portNUM_PROCESSORS; ++i) {
|
|
states[i].done = done;
|
|
xTaskCreatePinnedToCore(&timer_test_task, "test", 4096, &states[i], 6, NULL, i);
|
|
}
|
|
|
|
for (int i = 0; i < portNUM_PROCESSORS; ++i) {
|
|
TEST_ASSERT_TRUE( xSemaphoreTake(done, portMAX_DELAY) );
|
|
printf("CPU%d: %s test_cnt=%d error_cnt=%d avg_diff=%d |max_error|=%d\n",
|
|
i, states[i].pass ? "PASS" : "FAIL",
|
|
states[i].test_cnt, states[i].error_cnt,
|
|
(int) states[i].avg_diff, (int) states[i].max_error);
|
|
}
|
|
|
|
vSemaphoreDelete(done);
|
|
teardown_overflow();
|
|
ref_clock_deinit();
|
|
|
|
for (int i = 0; i < portNUM_PROCESSORS; ++i) {
|
|
TEST_ASSERT(states[i].pass);
|
|
}
|
|
}
|
|
|
|
TEST_CASE("Can dump esp_timer stats", "[esp_timer]")
|
|
{
|
|
esp_timer_dump(stdout);
|
|
}
|
|
|
|
TEST_CASE("Can delete timer from callback", "[esp_timer]")
|
|
{
|
|
typedef struct {
|
|
SemaphoreHandle_t notify_from_timer_cb;
|
|
esp_timer_handle_t timer;
|
|
} test_arg_t;
|
|
|
|
void timer_func(void* varg)
|
|
{
|
|
test_arg_t arg = *(test_arg_t*) varg;
|
|
esp_timer_delete(arg.timer);
|
|
printf("Timer %p is deleted\n", arg.timer);
|
|
xSemaphoreGive(arg.notify_from_timer_cb);
|
|
}
|
|
|
|
test_arg_t args = {
|
|
.notify_from_timer_cb = xSemaphoreCreateBinary(),
|
|
};
|
|
|
|
esp_timer_create_args_t timer_args = {
|
|
.callback = &timer_func,
|
|
.arg = &args,
|
|
.name = "self_deleter"
|
|
};
|
|
esp_timer_create(&timer_args, &args.timer);
|
|
esp_timer_start_once(args.timer, 10000);
|
|
|
|
TEST_ASSERT_TRUE(xSemaphoreTake(args.notify_from_timer_cb, 1000 / portTICK_PERIOD_MS));
|
|
printf("Checking heap at %p\n", args.timer);
|
|
TEST_ASSERT_TRUE(heap_caps_check_integrity_addr((intptr_t) args.timer, true));
|
|
|
|
vSemaphoreDelete(args.notify_from_timer_cb);
|
|
}
|
|
|
|
TEST_CASE("esp_timer_impl_advance moves time base correctly", "[esp_timer]")
|
|
{
|
|
ref_clock_init();
|
|
int64_t t0 = esp_timer_get_time();
|
|
const int64_t diff_us = 1000000;
|
|
esp_timer_impl_advance(diff_us);
|
|
int64_t t1 = esp_timer_get_time();
|
|
int64_t t_delta = t1 - t0;
|
|
printf("diff_us=%lld t1-t0=%lld\n", diff_us, t_delta);
|
|
TEST_ASSERT_INT_WITHIN(1000, diff_us, (int) t_delta);
|
|
ref_clock_deinit();
|
|
}
|
|
|
|
|
|
TEST_CASE("after esp_timer_impl_advance, timers run when expected", "[esp_timer]")
|
|
{
|
|
typedef struct {
|
|
int64_t cb_time;
|
|
} test_state_t;
|
|
|
|
void timer_func(void* varg) {
|
|
test_state_t* arg = (test_state_t*) varg;
|
|
arg->cb_time = ref_clock_get();
|
|
}
|
|
|
|
ref_clock_init();
|
|
|
|
test_state_t state = { 0 };
|
|
|
|
esp_timer_create_args_t timer_args = {
|
|
.callback = &timer_func,
|
|
.arg = &state
|
|
};
|
|
esp_timer_handle_t timer;
|
|
TEST_ESP_OK(esp_timer_create(&timer_args, &timer));
|
|
|
|
const int64_t interval = 10000;
|
|
const int64_t advance = 2000;
|
|
|
|
printf("test 1\n");
|
|
int64_t t_start = ref_clock_get();
|
|
esp_timer_start_once(timer, interval);
|
|
esp_timer_impl_advance(advance);
|
|
vTaskDelay(2 * interval / 1000 / portTICK_PERIOD_MS);
|
|
|
|
TEST_ASSERT_INT_WITHIN(portTICK_PERIOD_MS * 1000, interval - advance, state.cb_time - t_start);
|
|
|
|
printf("test 2\n");
|
|
state.cb_time = 0;
|
|
t_start = ref_clock_get();
|
|
esp_timer_start_once(timer, interval);
|
|
esp_timer_impl_advance(interval);
|
|
vTaskDelay(1);
|
|
|
|
TEST_ASSERT(state.cb_time > t_start);
|
|
|
|
ref_clock_deinit();
|
|
}
|