esp-idf/components/driver/test_apps/gptimer/main/test_gptimer.c

/*
 * SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD
 *
 * SPDX-License-Identifier: Apache-2.0
 */

#include <stdio.h>
#include "sdkconfig.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "unity.h"
#include "driver/gptimer.h"
#include "soc/soc_caps.h"
#include "esp_attr.h"

#if CONFIG_GPTIMER_ISR_IRAM_SAFE
#define TEST_ALARM_CALLBACK_ATTR IRAM_ATTR
#else
#define TEST_ALARM_CALLBACK_ATTR
#endif // CONFIG_GPTIMER_ISR_IRAM_SAFE

TEST_CASE("gptimer_set_get_raw_count", "[gptimer]")
{
    gptimer_config_t config = {
        .clk_src = GPTIMER_CLK_SRC_DEFAULT,
        .direction = GPTIMER_COUNT_UP,
        .resolution_hz = 1 * 1000 * 1000,
    };
    gptimer_handle_t timers[SOC_TIMER_GROUP_TOTAL_TIMERS];
    for (int i = 0; i < SOC_TIMER_GROUP_TOTAL_TIMERS; i++) {
        TEST_ESP_OK(gptimer_new_timer(&config, &timers[i]));
    }

    TEST_ASSERT_EQUAL(ESP_ERR_NOT_FOUND, gptimer_new_timer(&config, &timers[0]));
    unsigned long long get_value = 0;
    printf("check gptimer initial count value\r\n");
    for (int i = 0; i < SOC_TIMER_GROUP_TOTAL_TIMERS; i++) {
        TEST_ESP_OK(gptimer_get_raw_count(timers[i], &get_value));
        TEST_ASSERT_EQUAL(0, get_value);
    }
    unsigned long long set_values[] = {100, 500, 666};
    for (size_t j = 0; j < sizeof(set_values) / sizeof(set_values[0]); j++) {
        for (int i = 0; i < SOC_TIMER_GROUP_TOTAL_TIMERS; i++) {
            printf("set raw count to %llu for gptimer %d\r\n", set_values[j], i);
            TEST_ESP_OK(gptimer_set_raw_count(timers[i], set_values[j]));
        }
        vTaskDelay(pdMS_TO_TICKS(10));
        for (int i = 0; i < SOC_TIMER_GROUP_TOTAL_TIMERS; i++) {
            TEST_ESP_OK(gptimer_get_raw_count(timers[i], &get_value));
            printf("get raw count of gptimer %d: %llu\r\n", i, get_value);
            TEST_ASSERT_EQUAL(set_values[j], get_value);
        }
    }

    for (int i = 0; i < SOC_TIMER_GROUP_TOTAL_TIMERS; i++) {
        TEST_ESP_OK(gptimer_del_timer(timers[i]));
    }
}

TEST_CASE("gptimer_wallclock_with_various_clock_sources", "[gptimer]")
{
    gptimer_clock_source_t test_clk_srcs[] = SOC_GPTIMER_CLKS;
    uint32_t timer_resolution_hz[SOC_TIMER_GROUP_TOTAL_TIMERS];

    // test with various clock sources
    for (size_t i = 0; i < sizeof(test_clk_srcs) / sizeof(test_clk_srcs[0]); i++) {
        gptimer_config_t timer_config = {
            .clk_src = test_clk_srcs[i],
            .direction = GPTIMER_COUNT_UP,
            .resolution_hz = 1 * 1000 * 1000,
        };
        gptimer_handle_t timers[SOC_TIMER_GROUP_TOTAL_TIMERS];
        for (int i = 0; i < SOC_TIMER_GROUP_TOTAL_TIMERS; i++) {
            TEST_ESP_OK(gptimer_new_timer(&timer_config, &timers[i]));
            TEST_ESP_OK(gptimer_get_resolution(timers[i], &timer_resolution_hz[i]));
        }
        // start timer before enable should fail
        TEST_ESP_ERR(ESP_ERR_INVALID_STATE, gptimer_start(timers[0]));
        printf("enable timers\r\n");
        for (int i = 0; i < SOC_TIMER_GROUP_TOTAL_TIMERS; i++) {
            TEST_ESP_OK(gptimer_enable(timers[i]));
        }
        printf("start timers\r\n");
        for (int i = 0; i < SOC_TIMER_GROUP_TOTAL_TIMERS; i++) {
            TEST_ESP_OK(gptimer_start(timers[i]));
        }
        vTaskDelay(pdMS_TO_TICKS(20)); // 20ms = 20_000 ticks
        uint64_t value = 0;
        for (int i = 0; i < SOC_TIMER_GROUP_TOTAL_TIMERS; i++) {
            TEST_ESP_OK(gptimer_get_raw_count(timers[i], &value));
            // convert the raw count to us
            value = value * 1000000 / timer_resolution_hz[i];
            TEST_ASSERT_UINT_WITHIN(1000, 20000, value);
        }
        printf("stop timers\r\n");
        for (int i = 0; i < SOC_TIMER_GROUP_TOTAL_TIMERS; i++) {
            TEST_ESP_OK(gptimer_stop(timers[i]));
        }
        printf("check whether timers have stopped\r\n");
        vTaskDelay(pdMS_TO_TICKS(20));
        for (int i = 0; i < SOC_TIMER_GROUP_TOTAL_TIMERS; i++) {
            TEST_ESP_OK(gptimer_get_raw_count(timers[i], &value));
            printf("get raw count of gptimer %d: %llu\r\n", i, value);
            // convert the raw count to us
            value = value * 1000000 / timer_resolution_hz[i];
            TEST_ASSERT_UINT_WITHIN(1000, 20000, value);
        }
        printf("restart timers\r\n");
        for (int i = 0; i < SOC_TIMER_GROUP_TOTAL_TIMERS; i++) {
            TEST_ESP_OK(gptimer_start(timers[i]));
        }
        vTaskDelay(pdMS_TO_TICKS(20));
        printf("stop timers again\r\n");
        for (int i = 0; i < SOC_TIMER_GROUP_TOTAL_TIMERS; i++) {
            TEST_ESP_OK(gptimer_stop(timers[i]));
        }
        printf("check whether timers have stopped\r\n");
        vTaskDelay(pdMS_TO_TICKS(20));
        for (int i = 0; i < SOC_TIMER_GROUP_TOTAL_TIMERS; i++) {
            TEST_ESP_OK(gptimer_get_raw_count(timers[i], &value));
            printf("get raw count of gptimer %d: %llu\r\n", i, value);
            // convert the raw count to us
            value = value * 1000000 / timer_resolution_hz[i];
            TEST_ASSERT_UINT_WITHIN(2000, 40000, value);
        }
        printf("disable timers\r\n");
        for (int i = 0; i < SOC_TIMER_GROUP_TOTAL_TIMERS; i++) {
            TEST_ESP_OK(gptimer_disable(timers[i]));
        }
        printf("delete timers\r\n");
        for (int i = 0; i < SOC_TIMER_GROUP_TOTAL_TIMERS; i++) {
            TEST_ESP_OK(gptimer_del_timer(timers[i]));
        }
    }
}

/*
Delta of the timer count after the triggering of the alarm. Delta must be sufficient large to account for the latency
between the alarm triggering and the execution of the callback that actually stops the gptimer.
*/
#define GPTIMER_STOP_ON_ALARM_COUNT_DELTA       50

TEST_ALARM_CALLBACK_ATTR static bool test_gptimer_alarm_stop_callback(gptimer_handle_t timer, const gptimer_alarm_event_data_t *edata, void *user_data)
{
    TaskHandle_t task_handle = (TaskHandle_t)user_data;
    BaseType_t high_task_wakeup;
    gptimer_stop(timer);
    esp_rom_printf("count=%lld @alarm\n", edata->count_value);
    vTaskNotifyGiveFromISR(task_handle, &high_task_wakeup);
    return high_task_wakeup == pdTRUE;
}

TEST_CASE("gptimer_stop_on_alarm", "[gptimer]")
{
    TaskHandle_t task_handle =  xTaskGetCurrentTaskHandle();

    gptimer_config_t timer_config = {
        .resolution_hz = 1 * 1000 * 1000,
        .clk_src = GPTIMER_CLK_SRC_DEFAULT,
        .direction = GPTIMER_COUNT_UP,
    };
    gptimer_handle_t timers[SOC_TIMER_GROUP_TOTAL_TIMERS];
    for (int i = 0; i < SOC_TIMER_GROUP_TOTAL_TIMERS; i++) {
        TEST_ESP_OK(gptimer_new_timer(&timer_config, &timers[i]));
    }

    gptimer_event_callbacks_t cbs = {
        .on_alarm = test_gptimer_alarm_stop_callback,
    };
    gptimer_alarm_config_t alarm_config = {};

    printf("start timers\r\n");
    for (int i = 0; i < SOC_TIMER_GROUP_TOTAL_TIMERS; i++) {
        alarm_config.alarm_count = 100000 * (i + 1);
        TEST_ESP_OK(gptimer_set_alarm_action(timers[i], &alarm_config));
        TEST_ESP_OK(gptimer_register_event_callbacks(timers[i], &cbs, task_handle));
        TEST_ESP_OK(gptimer_enable(timers[i]));
        TEST_ESP_OK(gptimer_start(timers[i]));
        printf("alarm value for gptimer %d: %llu\r\n", i, alarm_config.alarm_count);
    }
    for (int i = 0; i < SOC_TIMER_GROUP_TOTAL_TIMERS; i++) {
        TEST_ASSERT_NOT_EQUAL(0, ulTaskNotifyTake(pdFALSE, pdMS_TO_TICKS(1000)));
    }

    printf("check whether the timers have stopped in the ISR\r\n");
    vTaskDelay(pdMS_TO_TICKS(20));
    unsigned long long value = 0;
    for (int i = 0; i < SOC_TIMER_GROUP_TOTAL_TIMERS; i++) {
        TEST_ESP_OK(gptimer_get_raw_count(timers[i], &value));
        printf("get raw count of gptimer %d: %llu\r\n", i, value);
        TEST_ASSERT_UINT_WITHIN(GPTIMER_STOP_ON_ALARM_COUNT_DELTA, 100000 * (i + 1), value);
    }

    printf("restart timers\r\n");
    for (int i = 0; i < SOC_TIMER_GROUP_TOTAL_TIMERS; i++) {
        alarm_config.alarm_count = 100000 * (i + 1);
        // reset counter value to zero
        TEST_ESP_OK(gptimer_set_raw_count(timers[i], 0));
        TEST_ESP_OK(gptimer_start(timers[i]));
    }
    for (int i = 0; i < SOC_TIMER_GROUP_TOTAL_TIMERS; i++) {
        TEST_ASSERT_NOT_EQUAL(0, ulTaskNotifyTake(pdFALSE, pdMS_TO_TICKS(1000)));
    }
    printf("check whether the timers have stopped in the ISR\r\n");
    vTaskDelay(pdMS_TO_TICKS(20));
    for (int i = 0; i < SOC_TIMER_GROUP_TOTAL_TIMERS; i++) {
        TEST_ESP_OK(gptimer_get_raw_count(timers[i], &value));
        printf("get raw count of gptimer %d: %llu\r\n", i, value);
        TEST_ASSERT_UINT_WITHIN(GPTIMER_STOP_ON_ALARM_COUNT_DELTA, 100000 * (i + 1), value);
    }

    for (int i = 0; i < SOC_TIMER_GROUP_TOTAL_TIMERS; i++) {
        TEST_ESP_OK(gptimer_disable(timers[i]));
        TEST_ESP_OK(gptimer_del_timer(timers[i]));
    }
}

/*
Delta of the timer count after the triggering of the alarm. Delta must be sufficient large to account for the latency
between the alarm triggering and the capturing of the counter's value in the subsequent ISR.
*/
#define GPTIMER_AUTO_RELOAD_ON_ALARM_COUNT_DELTA        30

TEST_ALARM_CALLBACK_ATTR static bool test_gptimer_alarm_reload_callback(gptimer_handle_t timer, const gptimer_alarm_event_data_t *edata, void *user_data)
{
    TaskHandle_t task_handle = (TaskHandle_t)user_data;
    BaseType_t high_task_wakeup;
    esp_rom_printf("alarm isr count=%llu\r\n", edata->count_value);
    // check if the count value has been reloaded
    TEST_ASSERT_UINT_WITHIN(GPTIMER_AUTO_RELOAD_ON_ALARM_COUNT_DELTA, 100, edata->count_value);
    vTaskNotifyGiveFromISR(task_handle, &high_task_wakeup);
    return high_task_wakeup == pdTRUE;
}

TEST_CASE("gptimer_auto_reload_on_alarm", "[gptimer]")
{
    TaskHandle_t task_handle =  xTaskGetCurrentTaskHandle();

    gptimer_config_t timer_config = {
        .resolution_hz = 1 * 1000 * 1000,
        .clk_src = GPTIMER_CLK_SRC_DEFAULT,
        .direction = GPTIMER_COUNT_UP,
    };
    gptimer_handle_t timers[SOC_TIMER_GROUP_TOTAL_TIMERS];
    for (int i = 0; i < SOC_TIMER_GROUP_TOTAL_TIMERS; i++) {
        TEST_ESP_OK(gptimer_new_timer(&timer_config, &timers[i]));
    }

    gptimer_event_callbacks_t cbs = {
        .on_alarm = test_gptimer_alarm_reload_callback,
    };
    gptimer_alarm_config_t alarm_config = {
        .reload_count = 100,
        .alarm_count = 100000,
        .flags.auto_reload_on_alarm = true,
    };

    printf("start timers\r\n");
    for (int i = 0; i < SOC_TIMER_GROUP_TOTAL_TIMERS; i++) {
        TEST_ESP_OK(gptimer_set_alarm_action(timers[i], &alarm_config));
        TEST_ESP_OK(gptimer_register_event_callbacks(timers[i], &cbs, task_handle));
        TEST_ESP_OK(gptimer_enable(timers[i]));
        TEST_ESP_OK(gptimer_start(timers[i]));
        TEST_ASSERT_NOT_EQUAL(0, ulTaskNotifyTake(pdFALSE, pdMS_TO_TICKS(1000)));
        TEST_ASSERT_NOT_EQUAL(0, ulTaskNotifyTake(pdFALSE, pdMS_TO_TICKS(1000)));
        TEST_ASSERT_NOT_EQUAL(0, ulTaskNotifyTake(pdFALSE, pdMS_TO_TICKS(1000)));
        // delete should fail if timer is not disabled
        TEST_ESP_ERR(ESP_ERR_INVALID_STATE, gptimer_del_timer(timers[i]));
        TEST_ESP_OK(gptimer_stop(timers[i]));
    }

    for (int i = 0; i < SOC_TIMER_GROUP_TOTAL_TIMERS; i++) {
        TEST_ESP_OK(gptimer_disable(timers[i]));
        TEST_ESP_OK(gptimer_del_timer(timers[i]));
    }
}

TEST_ALARM_CALLBACK_ATTR static bool test_gptimer_alarm_normal_callback(gptimer_handle_t timer, const gptimer_alarm_event_data_t *edata, void *user_data)
{
    TaskHandle_t task_handle = (TaskHandle_t)user_data;
    BaseType_t high_task_wakeup;
    esp_rom_printf("alarm isr count=%llu\r\n", edata->count_value);
    // check the count value at alarm event
    vTaskNotifyGiveFromISR(task_handle, &high_task_wakeup);
    return high_task_wakeup == pdTRUE;
}

TEST_CASE("gptimer_one_shot_alarm", "[gptimer]")
{
    TaskHandle_t task_handle =  xTaskGetCurrentTaskHandle();

    gptimer_config_t timer_config = {
        .resolution_hz = 1 * 1000 * 1000,
        .clk_src = GPTIMER_CLK_SRC_DEFAULT,
        .direction = GPTIMER_COUNT_UP,
    };
    gptimer_handle_t timers[SOC_TIMER_GROUP_TOTAL_TIMERS];
    for (int i = 0; i < SOC_TIMER_GROUP_TOTAL_TIMERS; i++) {
        TEST_ESP_OK(gptimer_new_timer(&timer_config, &timers[i]));
    }

    gptimer_event_callbacks_t cbs = {
        .on_alarm = test_gptimer_alarm_normal_callback,
    };
    gptimer_alarm_config_t alarm_config = {
        .reload_count = 0,
        .alarm_count = 100000, // 100ms
    };

    printf("start timers\r\n");
    for (int i = 0; i < SOC_TIMER_GROUP_TOTAL_TIMERS; i++) {
        TEST_ESP_OK(gptimer_set_alarm_action(timers[i], &alarm_config));
        TEST_ESP_OK(gptimer_register_event_callbacks(timers[i], &cbs, task_handle));
        TEST_ESP_OK(gptimer_enable(timers[i]));
        TEST_ESP_OK(gptimer_start(timers[i]));
        TEST_ASSERT_NOT_EQUAL(0, ulTaskNotifyTake(pdFALSE, pdMS_TO_TICKS(1000)));
        // no alarm event should trigger again, as auto-reload is not enabled and alarm value hasn't changed in the isr
        TEST_ASSERT_EQUAL(0, ulTaskNotifyTake(pdFALSE, pdMS_TO_TICKS(1000)));
        // the alarm is stopped, but the counter should still work
        uint64_t value = 0;
        TEST_ESP_OK(gptimer_get_raw_count(timers[i], &value));
        TEST_ASSERT_UINT_WITHIN(1000, 1100000, value); // 1100000 = 100ms alarm + 1s delay
        TEST_ESP_OK(gptimer_stop(timers[i]));
    }

    printf("restart timers\r\n");
    for (int i = 0; i < SOC_TIMER_GROUP_TOTAL_TIMERS; i++) {
        TEST_ESP_OK(gptimer_start(timers[i]));
        // alarm should be triggered immediately as the counter value has across the target alarm value already
        TEST_ASSERT_NOT_EQUAL(0, ulTaskNotifyTake(pdFALSE, 0));
        TEST_ESP_OK(gptimer_stop(timers[i]));
    }

    for (int i = 0; i < SOC_TIMER_GROUP_TOTAL_TIMERS; i++) {
        TEST_ESP_OK(gptimer_disable(timers[i]));
        TEST_ESP_OK(gptimer_del_timer(timers[i]));
    }
}

TEST_ALARM_CALLBACK_ATTR static bool test_gptimer_alarm_update_callback(gptimer_handle_t timer, const gptimer_alarm_event_data_t *edata, void *user_data)
{
    TaskHandle_t task_handle = (TaskHandle_t)user_data;
    BaseType_t high_task_wakeup;
    esp_rom_printf("alarm isr count=%llu\r\n", edata->count_value);
    gptimer_alarm_config_t alarm_config = {
        .alarm_count = edata->count_value + 100000, // alarm in next 100ms again
    };
    gptimer_set_alarm_action(timer, &alarm_config);
    vTaskNotifyGiveFromISR(task_handle, &high_task_wakeup);
    return high_task_wakeup == pdTRUE;
}

TEST_CASE("gptimer_update_alarm_dynamically", "[gptimer]")
{
    TaskHandle_t task_handle =  xTaskGetCurrentTaskHandle();

    gptimer_config_t timer_config = {
        .resolution_hz = 1 * 1000 * 1000,
        .clk_src = GPTIMER_CLK_SRC_DEFAULT,
        .direction = GPTIMER_COUNT_UP,
    };
    gptimer_handle_t timers[SOC_TIMER_GROUP_TOTAL_TIMERS];
    for (int i = 0; i < SOC_TIMER_GROUP_TOTAL_TIMERS; i++) {
        TEST_ESP_OK(gptimer_new_timer(&timer_config, &timers[i]));
    }

    gptimer_event_callbacks_t cbs = {
        .on_alarm = test_gptimer_alarm_update_callback,
    };
    gptimer_alarm_config_t alarm_config = {
        .alarm_count = 100000, // initial alarm count, 100ms
    };
    printf("start timers\r\n");
    for (int i = 0; i < SOC_TIMER_GROUP_TOTAL_TIMERS; i++) {
        TEST_ESP_OK(gptimer_set_alarm_action(timers[i], &alarm_config));
        TEST_ESP_OK(gptimer_register_event_callbacks(timers[i], &cbs, task_handle));
        TEST_ESP_OK(gptimer_enable(timers[i]));
        TEST_ESP_OK(gptimer_start(timers[i]));
        // check the alarm event for multiple times
        TEST_ASSERT_NOT_EQUAL(0, ulTaskNotifyTake(pdFALSE, pdMS_TO_TICKS(500)));
        TEST_ASSERT_NOT_EQUAL(0, ulTaskNotifyTake(pdFALSE, pdMS_TO_TICKS(500)));
        TEST_ASSERT_NOT_EQUAL(0, ulTaskNotifyTake(pdFALSE, pdMS_TO_TICKS(500)));
        TEST_ESP_OK(gptimer_stop(timers[i]));
        // check there won't be more interrupts triggered than expected
        TEST_ASSERT_EQUAL(0, ulTaskNotifyTake(pdFALSE, pdMS_TO_TICKS(500)));
    }

    printf("restart timers\r\n");
    for (int i = 0; i < SOC_TIMER_GROUP_TOTAL_TIMERS; i++) {
        TEST_ESP_OK(gptimer_start(timers[i]));
        // check the alarm event for multiple times
        TEST_ASSERT_NOT_EQUAL(0, ulTaskNotifyTake(pdFALSE, pdMS_TO_TICKS(500)));
        TEST_ASSERT_NOT_EQUAL(0, ulTaskNotifyTake(pdFALSE, pdMS_TO_TICKS(500)));
        TEST_ASSERT_NOT_EQUAL(0, ulTaskNotifyTake(pdFALSE, pdMS_TO_TICKS(500)));
        TEST_ESP_OK(gptimer_stop(timers[i]));
        // check there won't be more interrupts triggered than expected
        TEST_ASSERT_EQUAL(0, ulTaskNotifyTake(pdFALSE, pdMS_TO_TICKS(500)));
    }

    for (int i = 0; i < SOC_TIMER_GROUP_TOTAL_TIMERS; i++) {
        TEST_ESP_OK(gptimer_disable(timers[i]));
        TEST_ESP_OK(gptimer_del_timer(timers[i]));
    }
}

/*
Delta of the timer count after the triggering of the alarm. Delta must be sufficient large to account for the latency
between the alarm triggering and the capturing of the counter's value in the subsequent ISR.
*/
#define GPTIMER_COUNT_DOWN_RELOAD_DELTA     30

TEST_ALARM_CALLBACK_ATTR static bool test_gptimer_count_down_reload_alarm_callback(gptimer_handle_t timer, const gptimer_alarm_event_data_t *edata, void *user_data)
{
    TaskHandle_t task_handle = (TaskHandle_t)user_data;
    BaseType_t high_task_wakeup;
    esp_rom_printf("alarm isr count=%llu\r\n", edata->count_value);
    // check if the count value has been reloaded
    TEST_ASSERT_UINT_WITHIN(GPTIMER_COUNT_DOWN_RELOAD_DELTA, 200000, edata->count_value);
    vTaskNotifyGiveFromISR(task_handle, &high_task_wakeup);
    return high_task_wakeup == pdTRUE;
}

TEST_CASE("gptimer_count_down_reload", "[gptimer]")
{
    TaskHandle_t task_handle =  xTaskGetCurrentTaskHandle();

    gptimer_config_t timer_config = {
        .resolution_hz = 1 * 1000 * 1000,
        .clk_src = GPTIMER_CLK_SRC_DEFAULT,
        .direction = GPTIMER_COUNT_DOWN,
    };
    gptimer_handle_t timers[SOC_TIMER_GROUP_TOTAL_TIMERS];
    for (int i = 0; i < SOC_TIMER_GROUP_TOTAL_TIMERS; i++) {
        TEST_ESP_OK(gptimer_new_timer(&timer_config, &timers[i]));
        TEST_ESP_OK(gptimer_set_raw_count(timers[i], 200000));
    }

    gptimer_event_callbacks_t cbs = {
        .on_alarm = test_gptimer_count_down_reload_alarm_callback,
    };
    gptimer_alarm_config_t alarm_config = {
        .reload_count = 200000, // 200ms
        .alarm_count = 0,
        .flags.auto_reload_on_alarm = true,
    };

    for (int i = 0; i < SOC_TIMER_GROUP_TOTAL_TIMERS; i++) {
        TEST_ESP_OK(gptimer_set_alarm_action(timers[i], &alarm_config));
        TEST_ESP_OK(gptimer_register_event_callbacks(timers[i], &cbs, task_handle));
        TEST_ESP_OK(gptimer_enable(timers[i]));
        TEST_ESP_OK(gptimer_start(timers[i]));
        // check twice, as it's a period event
        TEST_ASSERT_NOT_EQUAL(0, ulTaskNotifyTake(pdFALSE, pdMS_TO_TICKS(1000)));
        TEST_ASSERT_NOT_EQUAL(0, ulTaskNotifyTake(pdFALSE, pdMS_TO_TICKS(1000)));
        TEST_ESP_OK(gptimer_stop(timers[i]));
    }

    printf("restart gptimer with previous configuration\r\n");
    for (int i = 0; i < SOC_TIMER_GROUP_TOTAL_TIMERS; i++) {
        TEST_ESP_OK(gptimer_start(timers[i]));
        // check twice, as it's a period event
        TEST_ASSERT_NOT_EQUAL(0, ulTaskNotifyTake(pdFALSE, pdMS_TO_TICKS(1000)));
        TEST_ASSERT_NOT_EQUAL(0, ulTaskNotifyTake(pdFALSE, pdMS_TO_TICKS(1000)));
        TEST_ESP_OK(gptimer_stop(timers[i]));
    }

    for (int i = 0; i < SOC_TIMER_GROUP_TOTAL_TIMERS; i++) {
        TEST_ESP_OK(gptimer_disable(timers[i]));
        TEST_ESP_OK(gptimer_del_timer(timers[i]));
    }
}

TEST_ALARM_CALLBACK_ATTR static bool test_gptimer_overflow_reload_callback(gptimer_handle_t timer, const gptimer_alarm_event_data_t *edata, void *user_data)
{
    TaskHandle_t task_handle = (TaskHandle_t)user_data;
    BaseType_t high_task_wakeup;
    // Note: esp_rom_printf can't print value with 64 bit length, so the following print result is meaningless, but as an incidator for test that the alarm has fired
    esp_rom_printf("alarm isr count=%llu\r\n", edata->count_value);
    vTaskNotifyGiveFromISR(task_handle, &high_task_wakeup);
    return high_task_wakeup == pdTRUE;
}

TEST_CASE("gptimer_overflow", "[gptimer]")
{
    TaskHandle_t task_handle =  xTaskGetCurrentTaskHandle();

    gptimer_config_t timer_config = {
        .resolution_hz = 1 * 1000 * 1000,
        .clk_src = GPTIMER_CLK_SRC_DEFAULT,
        .direction = GPTIMER_COUNT_UP,
    };
    gptimer_handle_t timers[SOC_TIMER_GROUP_TOTAL_TIMERS];
    for (int i = 0; i < SOC_TIMER_GROUP_TOTAL_TIMERS; i++) {
        TEST_ESP_OK(gptimer_new_timer(&timer_config, &timers[i]));
    }
#if SOC_TIMER_GROUP_COUNTER_BIT_WIDTH == 64
    uint64_t reload_at = UINT64_MAX - 100000;
#else
    uint64_t reload_at = (1ULL << SOC_TIMER_GROUP_COUNTER_BIT_WIDTH) - 100000;
#endif
    gptimer_event_callbacks_t cbs = {
        .on_alarm = test_gptimer_overflow_reload_callback,
    };
    gptimer_alarm_config_t alarm_config = {
        .reload_count = reload_at,
        .alarm_count = 100000, // 100ms
        .flags.auto_reload_on_alarm = true,
    };
    // The counter should start from [COUNTER_MAX-100000] and overflows to [0] and continue, then reached to alarm value [100000], reloaded to [COUNTER_MAX-100000] automatically
    // thus the period should be 200ms
    printf("start timers\r\n");
    for (int i = 0; i < SOC_TIMER_GROUP_TOTAL_TIMERS; i++) {
        TEST_ESP_OK(gptimer_set_alarm_action(timers[i], &alarm_config));
        TEST_ESP_OK(gptimer_register_event_callbacks(timers[i], &cbs, task_handle));
        // we start from the reload value
        TEST_ESP_OK(gptimer_set_raw_count(timers[i], reload_at));
        TEST_ESP_OK(gptimer_enable(timers[i]));
        TEST_ESP_OK(gptimer_start(timers[i]));
        TEST_ASSERT_NOT_EQUAL(0, ulTaskNotifyTake(pdFALSE, pdMS_TO_TICKS(400)));
        TEST_ESP_OK(gptimer_stop(timers[i]));
    }

    for (int i = 0; i < SOC_TIMER_GROUP_TOTAL_TIMERS; i++) {
        TEST_ESP_OK(gptimer_disable(timers[i]));
        TEST_ESP_OK(gptimer_del_timer(timers[i]));
    }
}