esp-idf/components/esp32/test/test_delay.c

#include <stdio.h>
#include <stdlib.h>
#include <time.h>
#include <sys/time.h>
#include "unity.h"
#include "rom/ets_sys.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "freertos/semphr.h"
#include "test_utils.h"

typedef struct {
    int delay_us;
    int method;
    int result;
    SemaphoreHandle_t done;
} delay_test_arg_t;

static void test_delay_task(void* p)
{
    delay_test_arg_t* arg = (delay_test_arg_t*) p;
    vTaskDelay(1);
    uint64_t start = ref_clock_get();
    switch (arg->method) {
        case 0:
            ets_delay_us(arg->delay_us);
            break;
        case 1:
            vTaskDelay(arg->delay_us / portTICK_PERIOD_MS / 1000);
            break;
        default:
            TEST_FAIL();
    }
    uint64_t stop = ref_clock_get();

    arg->result = (int) (stop - start);
    xSemaphoreGive(arg->done);
    vTaskDelete(NULL);
}

TEST_CASE("ets_delay produces correct delay on both CPUs", "[delay]")
{
    int delay_ms = 50;
    const delay_test_arg_t args = {
            .delay_us = delay_ms * 1000,
            .method = 0,
            .done = xSemaphoreCreateBinary()
    };
    ref_clock_init();
    xTaskCreatePinnedToCore(test_delay_task, "", 2048, (void*) &args, 3, NULL, 0);
    TEST_ASSERT( xSemaphoreTake(args.done, delay_ms * 2 / portTICK_PERIOD_MS) );
    TEST_ASSERT_INT32_WITHIN(1000, args.delay_us, args.result);

    xTaskCreatePinnedToCore(test_delay_task, "", 2048, (void*) &args, 3, NULL, 1);
    TEST_ASSERT( xSemaphoreTake(args.done, delay_ms * 2 / portTICK_PERIOD_MS) );
    TEST_ASSERT_INT32_WITHIN(1000, args.delay_us, args.result);

    ref_clock_deinit();
    vSemaphoreDelete(args.done);
}

TEST_CASE("vTaskDelay produces correct delay on both CPUs", "[delay]")
{
    int delay_ms = 50;
    const delay_test_arg_t args = {
            .delay_us = delay_ms * 1000,
            .method = 1,
            .done = xSemaphoreCreateBinary()
    };
    ref_clock_init();
    xTaskCreatePinnedToCore(test_delay_task, "", 2048, (void*) &args, 3, NULL, 0);
    TEST_ASSERT( xSemaphoreTake(args.done, delay_ms * 2 / portTICK_PERIOD_MS) );
    TEST_ASSERT_INT32_WITHIN(1000, args.delay_us, args.result);

    xTaskCreatePinnedToCore(test_delay_task, "", 2048, (void*) &args, 3, NULL, 1);
    TEST_ASSERT( xSemaphoreTake(args.done, delay_ms * 2 / portTICK_PERIOD_MS) );
    TEST_ASSERT_INT32_WITHIN(1000, args.delay_us, args.result);

    ref_clock_deinit();
    vSemaphoreDelete(args.done);
}