437 lines
15 KiB
C
437 lines
15 KiB
C
#include <stdio.h>
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#include <math.h>
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#include "unity.h"
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#include "driver/adc.h"
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#include <time.h>
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#include <sys/time.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 "sdkconfig.h"
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#include "soc/rtc.h"
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#include "esp32/clk.h"
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#include "esp_system.h"
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#include "test_utils.h"
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#if portNUM_PROCESSORS == 2
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// https://github.com/espressif/arduino-esp32/issues/120
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TEST_CASE("Reading RTC registers on APP CPU doesn't affect clock", "[newlib]")
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{
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// This runs on APP CPU:
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void time_adc_test_task(void* arg)
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{
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for (int i = 0; i < 200000; ++i) {
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// wait for 20us, reading one of RTC registers
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uint32_t ccount = xthal_get_ccount();
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while (xthal_get_ccount() - ccount < 20 * CONFIG_ESP32_DEFAULT_CPU_FREQ_MHZ) {
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volatile uint32_t val = REG_READ(RTC_CNTL_STATE0_REG);
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(void) val;
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}
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}
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SemaphoreHandle_t * p_done = (SemaphoreHandle_t *) arg;
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xSemaphoreGive(*p_done);
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vTaskDelay(1);
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vTaskDelete(NULL);
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}
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SemaphoreHandle_t done = xSemaphoreCreateBinary();
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xTaskCreatePinnedToCore(&time_adc_test_task, "time_adc", 4096, &done, 5, NULL, 1);
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// This runs on PRO CPU:
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for (int i = 0; i < 4; ++i) {
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struct timeval tv_start;
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gettimeofday(&tv_start, NULL);
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vTaskDelay(1000/portTICK_PERIOD_MS);
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struct timeval tv_stop;
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gettimeofday(&tv_stop, NULL);
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float time_sec = tv_stop.tv_sec - tv_start.tv_sec + 1e-6f * (tv_stop.tv_usec - tv_start.tv_usec);
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printf("(0) time taken: %f sec\n", time_sec);
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TEST_ASSERT_TRUE(fabs(time_sec - 1.0f) < 0.1);
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}
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TEST_ASSERT_TRUE(xSemaphoreTake(done, 5000 / portTICK_RATE_MS));
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}
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#endif // portNUM_PROCESSORS == 2
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TEST_CASE("test adjtime function", "[newlib]")
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{
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struct timeval tv_time;
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struct timeval tv_delta;
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struct timeval tv_outdelta;
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TEST_ASSERT_EQUAL(adjtime(NULL, NULL), 0);
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tv_time.tv_sec = 5000;
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tv_time.tv_usec = 5000;
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TEST_ASSERT_EQUAL(settimeofday(&tv_time, NULL), 0);
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tv_outdelta.tv_sec = 5;
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tv_outdelta.tv_usec = 5;
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TEST_ASSERT_EQUAL(adjtime(NULL, &tv_outdelta), 0);
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TEST_ASSERT_EQUAL(tv_outdelta.tv_sec, 0);
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TEST_ASSERT_EQUAL(tv_outdelta.tv_usec, 0);
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tv_delta.tv_sec = INT_MAX / 1000000L;
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TEST_ASSERT_EQUAL(adjtime(&tv_delta, &tv_outdelta), -1);
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tv_delta.tv_sec = INT_MIN / 1000000L;
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TEST_ASSERT_EQUAL(adjtime(&tv_delta, &tv_outdelta), -1);
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tv_delta.tv_sec = 0;
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tv_delta.tv_usec = -900000;
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TEST_ASSERT_EQUAL(adjtime(&tv_delta, &tv_outdelta), 0);
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TEST_ASSERT_TRUE(tv_outdelta.tv_usec <= 0);
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tv_delta.tv_sec = 0;
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tv_delta.tv_usec = 900000;
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TEST_ASSERT_EQUAL(adjtime(&tv_delta, &tv_outdelta), 0);
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TEST_ASSERT_TRUE(tv_outdelta.tv_usec >= 0);
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tv_delta.tv_sec = -4;
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tv_delta.tv_usec = -900000;
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TEST_ASSERT_EQUAL(adjtime(&tv_delta, &tv_outdelta), 0);
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TEST_ASSERT_EQUAL(tv_outdelta.tv_sec, -4);
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TEST_ASSERT_TRUE(tv_outdelta.tv_usec <= 0);
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// after settimeofday() adjtime() is stopped
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tv_delta.tv_sec = 15;
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tv_delta.tv_usec = 900000;
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TEST_ASSERT_EQUAL(adjtime(&tv_delta, &tv_outdelta), 0);
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TEST_ASSERT_EQUAL(tv_outdelta.tv_sec, 15);
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TEST_ASSERT_TRUE(tv_outdelta.tv_usec >= 0);
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TEST_ASSERT_EQUAL(gettimeofday(&tv_time, NULL), 0);
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TEST_ASSERT_EQUAL(settimeofday(&tv_time, NULL), 0);
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TEST_ASSERT_EQUAL(adjtime(NULL, &tv_outdelta), 0);
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TEST_ASSERT_EQUAL(tv_outdelta.tv_sec, 0);
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TEST_ASSERT_EQUAL(tv_outdelta.tv_usec, 0);
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// after gettimeofday() adjtime() is not stopped
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tv_delta.tv_sec = 15;
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tv_delta.tv_usec = 900000;
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TEST_ASSERT_EQUAL(adjtime(&tv_delta, &tv_outdelta), 0);
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TEST_ASSERT_EQUAL(tv_outdelta.tv_sec, 15);
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TEST_ASSERT_TRUE(tv_outdelta.tv_usec >= 0);
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TEST_ASSERT_EQUAL(gettimeofday(&tv_time, NULL), 0);
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TEST_ASSERT_EQUAL(adjtime(NULL, &tv_outdelta), 0);
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TEST_ASSERT_EQUAL(tv_outdelta.tv_sec, 15);
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TEST_ASSERT_TRUE(tv_outdelta.tv_usec >= 0);
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tv_delta.tv_sec = 1;
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tv_delta.tv_usec = 0;
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TEST_ASSERT_EQUAL(adjtime(&tv_delta, NULL), 0);
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vTaskDelay(1000 / portTICK_PERIOD_MS);
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TEST_ASSERT_EQUAL(adjtime(NULL, &tv_outdelta), 0);
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TEST_ASSERT_TRUE(tv_outdelta.tv_sec == 0);
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// the correction will be equal to (1_000_000us >> 6) = 15_625 us.
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TEST_ASSERT_TRUE(1000000L - tv_outdelta.tv_usec >= 15600);
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TEST_ASSERT_TRUE(1000000L - tv_outdelta.tv_usec <= 15650);
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}
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static volatile bool exit_flag;
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static void adjtimeTask2(void *pvParameters)
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{
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xSemaphoreHandle *sema = (xSemaphoreHandle *) pvParameters;
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struct timeval delta = {.tv_sec = 0, .tv_usec = 0};
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struct timeval outdelta;
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// although exit flag is set in another task, checking (exit_flag == false) is safe
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while (exit_flag == false) {
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delta.tv_sec += 1;
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delta.tv_usec = 900000;
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if (delta.tv_sec >= 2146) delta.tv_sec = 1;
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adjtime(&delta, &outdelta);
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}
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xSemaphoreGive(*sema);
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vTaskDelete(NULL);
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}
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static void timeTask(void *pvParameters)
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{
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xSemaphoreHandle *sema = (xSemaphoreHandle *) pvParameters;
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struct timeval tv_time = { .tv_sec = 1520000000, .tv_usec = 900000 };
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// although exit flag is set in another task, checking (exit_flag == false) is safe
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while (exit_flag == false) {
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tv_time.tv_sec += 1;
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settimeofday(&tv_time, NULL);
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gettimeofday(&tv_time, NULL);
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}
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xSemaphoreGive(*sema);
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vTaskDelete(NULL);
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}
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TEST_CASE("test for no interlocking adjtime, gettimeofday and settimeofday functions", "[newlib]")
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{
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TaskHandle_t th[4];
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exit_flag = false;
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struct timeval tv_time = { .tv_sec = 1520000000, .tv_usec = 900000 };
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TEST_ASSERT_EQUAL(settimeofday(&tv_time, NULL), 0);
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const int max_tasks = 2;
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xSemaphoreHandle exit_sema[max_tasks];
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for (int i = 0; i < max_tasks; ++i) {
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exit_sema[i] = xSemaphoreCreateBinary();
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}
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#ifndef CONFIG_FREERTOS_UNICORE
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printf("CPU0 and CPU1. Tasks run: 1 - adjtimeTask, 2 - gettimeofdayTask, 3 - settimeofdayTask \n");
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xTaskCreatePinnedToCore(adjtimeTask2, "adjtimeTask2", 2048, &exit_sema[0], UNITY_FREERTOS_PRIORITY - 1, &th[0], 0);
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xTaskCreatePinnedToCore(timeTask, "timeTask", 2048, &exit_sema[1], UNITY_FREERTOS_PRIORITY - 1, &th[1], 1);
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#else
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printf("Only one CPU. Tasks run: 1 - adjtimeTask, 2 - gettimeofdayTask, 3 - settimeofdayTask\n");
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xTaskCreate(adjtimeTask2, "adjtimeTask2", 2048, &exit_sema[0], UNITY_FREERTOS_PRIORITY - 1, &th[0]);
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xTaskCreate(timeTask, "timeTask", 2048, &exit_sema[1], UNITY_FREERTOS_PRIORITY - 1, &th[1]);
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#endif
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printf("start wait for 5 seconds\n");
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vTaskDelay(5000 / portTICK_PERIOD_MS);
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// set exit flag to let thread exit
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exit_flag = true;
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for (int i = 0; i < max_tasks; ++i) {
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if (!xSemaphoreTake(exit_sema[i], 2000/portTICK_PERIOD_MS)) {
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TEST_FAIL_MESSAGE("exit_sema not released by test task");
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}
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vSemaphoreDelete(exit_sema[i]);
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}
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}
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#ifndef CONFIG_FREERTOS_UNICORE
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#define ADJTIME_CORRECTION_FACTOR 6
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static int64_t result_adjtime_correction_us[2];
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static void get_time_task(void *pvParameters)
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{
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xSemaphoreHandle *sema = (xSemaphoreHandle *) pvParameters;
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struct timeval tv_time;
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// although exit flag is set in another task, checking (exit_flag == false) is safe
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while (exit_flag == false) {
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gettimeofday(&tv_time, NULL);
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}
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xSemaphoreGive(*sema);
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vTaskDelete(NULL);
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}
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static void start_measure(int64_t* sys_time, int64_t* real_time)
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{
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struct timeval tv_time;
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int64_t t1, t2;
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do {
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t1 = esp_timer_get_time();
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gettimeofday(&tv_time, NULL);
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t2 = esp_timer_get_time();
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} while (t2 - t1 > 40);
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*real_time = t2;
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*sys_time = (int64_t)tv_time.tv_sec * 1000000L + tv_time.tv_usec;
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}
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static void end_measure(int64_t* sys_time, int64_t* real_time)
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{
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struct timeval tv_time;
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int64_t t1, t2;
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do {
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t1 = esp_timer_get_time();
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gettimeofday(&tv_time, NULL);
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t2 = esp_timer_get_time();
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} while (t2 - t1 > 40);
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*real_time = t2;
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*sys_time = (int64_t)tv_time.tv_sec * 1000000L + tv_time.tv_usec;
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}
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static int64_t calc_correction(const char* tag, int64_t* sys_time, int64_t* real_time)
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{
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int64_t dt_real_time_us = real_time[1] - real_time[0];
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int64_t dt_sys_time_us = sys_time[1] - sys_time[0];
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int64_t calc_correction_us = dt_real_time_us >> ADJTIME_CORRECTION_FACTOR;
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int64_t real_correction_us = dt_sys_time_us - dt_real_time_us;
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int64_t error_us = calc_correction_us - real_correction_us;
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printf("%s: dt_real_time = %lli us, dt_sys_time = %lli us, calc_correction = %lli us, error = %lli us\n",
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tag, dt_real_time_us, dt_sys_time_us, calc_correction_us, error_us);
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TEST_ASSERT_TRUE(dt_sys_time_us > 0 && dt_real_time_us > 0);
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TEST_ASSERT_INT_WITHIN(100, 0, error_us);
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return real_correction_us;
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}
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static void measure_time_task(void *pvParameters)
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{
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xSemaphoreHandle *sema = (xSemaphoreHandle *) pvParameters;
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int64_t main_real_time_us[2];
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int64_t main_sys_time_us[2];
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struct timeval tv_time = {.tv_sec = 1550000000, .tv_usec = 0};
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TEST_ASSERT_EQUAL(0, settimeofday(&tv_time, NULL));
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struct timeval delta = {.tv_sec = 2000, .tv_usec = 900000};
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adjtime(&delta, NULL);
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gettimeofday(&tv_time, NULL);
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start_measure(&main_sys_time_us[0], &main_real_time_us[0]);
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{
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int64_t real_time_us[2];
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int64_t sys_time_us[2];
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int64_t delay_us = 2 * 1000000; // 2 sec
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start_measure(&sys_time_us[0], &real_time_us[0]);
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// although exit flag is set in another task, checking (exit_flag == false) is safe
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while (exit_flag == false) {
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ets_delay_us(delay_us);
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end_measure(&sys_time_us[1], &real_time_us[1]);
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result_adjtime_correction_us[1] += calc_correction("measure", sys_time_us, real_time_us);
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sys_time_us[0] = sys_time_us[1];
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real_time_us[0] = real_time_us[1];
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}
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}
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end_measure(&main_sys_time_us[1], &main_real_time_us[1]);
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result_adjtime_correction_us[0] = calc_correction("main", main_sys_time_us, main_real_time_us);
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int64_t delta_us = result_adjtime_correction_us[0] - result_adjtime_correction_us[1];
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printf("\nresult of adjtime correction: %lli us, %lli us. delta = %lli us\n", result_adjtime_correction_us[0], result_adjtime_correction_us[1], delta_us);
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TEST_ASSERT_INT_WITHIN(100, 0, delta_us);
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xSemaphoreGive(*sema);
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vTaskDelete(NULL);
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}
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TEST_CASE("test time adjustment happens linearly", "[newlib][timeout=35]")
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{
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exit_flag = false;
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xSemaphoreHandle exit_sema[2];
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for (int i = 0; i < 2; ++i) {
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exit_sema[i] = xSemaphoreCreateBinary();
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result_adjtime_correction_us[i] = 0;
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}
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xTaskCreatePinnedToCore(get_time_task, "get_time_task", 4096, &exit_sema[0], UNITY_FREERTOS_PRIORITY - 1, NULL, 0);
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xTaskCreatePinnedToCore(measure_time_task, "measure_time_task", 4096, &exit_sema[1], UNITY_FREERTOS_PRIORITY - 1, NULL, 1);
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printf("start waiting for 30 seconds\n");
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vTaskDelay(30000 / portTICK_PERIOD_MS);
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// set exit flag to let thread exit
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exit_flag = true;
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for (int i = 0; i < 2; ++i) {
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if (!xSemaphoreTake(exit_sema[i], 2100/portTICK_PERIOD_MS)) {
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TEST_FAIL_MESSAGE("exit_sema not released by test task");
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}
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}
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for (int i = 0; i < 2; ++i) {
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vSemaphoreDelete(exit_sema[i]);
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}
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}
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#endif
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#if defined( CONFIG_ESP32_TIME_SYSCALL_USE_RTC ) || defined( CONFIG_ESP32_TIME_SYSCALL_USE_RTC_FRC1 )
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#define WITH_RTC 1
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#endif
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#if defined( CONFIG_ESP32_TIME_SYSCALL_USE_FRC1 ) || defined( CONFIG_ESP32_TIME_SYSCALL_USE_RTC_FRC1 )
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#define WITH_FRC 1
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#endif
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void test_posix_timers_clock (void)
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{
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#ifndef _POSIX_TIMERS
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TEST_ASSERT_MESSAGE(false, "_POSIX_TIMERS - is not defined");
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#endif
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#if defined( WITH_FRC )
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printf("WITH_FRC ");
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#endif
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#if defined( WITH_RTC )
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printf("WITH_RTC ");
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#endif
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#ifdef CONFIG_ESP32_RTC_CLK_SRC_EXT_CRYS
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printf("External (crystal) Frequency = %d Hz\n", rtc_clk_slow_freq_get_hz());
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#else
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printf("Internal Frequency = %d Hz\n", rtc_clk_slow_freq_get_hz());
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#endif
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TEST_ASSERT(clock_settime(CLOCK_REALTIME, NULL) == -1);
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TEST_ASSERT(clock_gettime(CLOCK_REALTIME, NULL) == -1);
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TEST_ASSERT(clock_getres(CLOCK_REALTIME, NULL) == -1);
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TEST_ASSERT(clock_settime(CLOCK_MONOTONIC, NULL) == -1);
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TEST_ASSERT(clock_gettime(CLOCK_MONOTONIC, NULL) == -1);
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TEST_ASSERT(clock_getres(CLOCK_MONOTONIC, NULL) == -1);
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#if defined( WITH_FRC ) || defined( WITH_RTC )
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struct timeval now = {0};
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now.tv_sec = 10L;
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now.tv_usec = 100000L;
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TEST_ASSERT(settimeofday(&now, NULL) == 0);
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TEST_ASSERT(gettimeofday(&now, NULL) == 0);
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struct timespec ts = {0};
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TEST_ASSERT(clock_settime(0xFFFFFFFF, &ts) == -1);
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TEST_ASSERT(clock_gettime(0xFFFFFFFF, &ts) == -1);
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TEST_ASSERT(clock_getres(0xFFFFFFFF, &ts) == 0);
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TEST_ASSERT(clock_gettime(CLOCK_REALTIME, &ts) == 0);
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TEST_ASSERT(now.tv_sec == ts.tv_sec);
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TEST_ASSERT_INT_WITHIN(5000000L, ts.tv_nsec, now.tv_usec * 1000L);
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ts.tv_sec = 20;
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ts.tv_nsec = 100000000L;
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TEST_ASSERT(clock_settime(CLOCK_REALTIME, &ts) == 0);
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TEST_ASSERT(gettimeofday(&now, NULL) == 0);
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TEST_ASSERT(now.tv_sec == ts.tv_sec);
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TEST_ASSERT_INT_WITHIN(5000L, now.tv_usec, ts.tv_nsec / 1000L);
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TEST_ASSERT(clock_settime(CLOCK_MONOTONIC, &ts) == -1);
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uint64_t delta_monotonic_us = 0;
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#if defined( WITH_FRC )
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TEST_ASSERT(clock_getres(CLOCK_REALTIME, &ts) == 0);
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TEST_ASSERT_EQUAL_INT(1000, ts.tv_nsec);
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TEST_ASSERT(clock_getres(CLOCK_MONOTONIC, &ts) == 0);
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TEST_ASSERT_EQUAL_INT(1000, ts.tv_nsec);
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TEST_ASSERT(clock_gettime(CLOCK_MONOTONIC, &ts) == 0);
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delta_monotonic_us = esp_timer_get_time() - (ts.tv_sec * 1000000L + ts.tv_nsec / 1000L);
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TEST_ASSERT(delta_monotonic_us > 0 || delta_monotonic_us == 0);
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TEST_ASSERT_INT_WITHIN(5000L, 0, delta_monotonic_us);
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#elif defined( WITH_RTC )
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TEST_ASSERT(clock_getres(CLOCK_REALTIME, &ts) == 0);
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TEST_ASSERT_EQUAL_INT(1000000000L / rtc_clk_slow_freq_get_hz(), ts.tv_nsec);
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TEST_ASSERT(clock_getres(CLOCK_MONOTONIC, &ts) == 0);
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TEST_ASSERT_EQUAL_INT(1000000000L / rtc_clk_slow_freq_get_hz(), ts.tv_nsec);
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TEST_ASSERT(clock_gettime(CLOCK_MONOTONIC, &ts) == 0);
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delta_monotonic_us = esp_clk_rtc_time() - (ts.tv_sec * 1000000L + ts.tv_nsec / 1000L);
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TEST_ASSERT(delta_monotonic_us > 0 || delta_monotonic_us == 0);
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TEST_ASSERT_INT_WITHIN(5000L, 0, delta_monotonic_us);
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|
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#endif // WITH_FRC
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|
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#else
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struct timespec ts = {0};
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TEST_ASSERT(clock_settime(CLOCK_REALTIME, &ts) == -1);
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TEST_ASSERT(clock_gettime(CLOCK_REALTIME, &ts) == -1);
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TEST_ASSERT(clock_getres(CLOCK_REALTIME, &ts) == -1);
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|
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TEST_ASSERT(clock_settime(CLOCK_MONOTONIC, &ts) == -1);
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TEST_ASSERT(clock_gettime(CLOCK_MONOTONIC, &ts) == -1);
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TEST_ASSERT(clock_getres(CLOCK_MONOTONIC, &ts) == -1);
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|
#endif // defined( WITH_FRC ) || defined( WITH_RTC )
|
|
}
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|
|
|
TEST_CASE("test posix_timers clock_... functions", "[newlib]")
|
|
{
|
|
test_posix_timers_clock();
|
|
}
|