mirror of
https://github.com/espressif/esp-idf.git
synced 2024-10-05 20:47:46 -04:00
279 lines
9.7 KiB
C
279 lines
9.7 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 "soc/rtc_cntl_reg.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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#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 bool adjtime_test_result;
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static bool gettimeofday_test_result;
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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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static void adjtimeTask(void *pvParameters)
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{
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struct timeval delta = {.tv_sec = 0, .tv_usec = 0};
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struct timeval outdelta = {.tv_sec = 0, .tv_usec = 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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delta.tv_sec = 1000;
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delta.tv_usec = 0;
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if(adjtime(&delta, &outdelta) != 0) {
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adjtime_test_result = true;
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exit_flag = true;
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}
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delta.tv_sec = 0;
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delta.tv_usec = 1000;
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if(adjtime(&delta, &outdelta) != 0) {
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adjtime_test_result = true;
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exit_flag = true;
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}
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}
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vTaskDelete(NULL);
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}
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static void gettimeofdayTask(void *pvParameters)
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{
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struct timeval tv_time;
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gettimeofday(&tv_time, NULL);
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uint64_t time_old = (uint64_t)tv_time.tv_sec * 1000000L + tv_time.tv_usec;
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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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uint64_t time = (uint64_t)tv_time.tv_sec * 1000000L + tv_time.tv_usec;
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if(((time - time_old) > 1000000LL) || (time_old > time)) {
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printf("ERROR: time jumped for %lld/1000 seconds. No locks. Need to use locks.\n", (time - time_old)/1000000LL);
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gettimeofday_test_result = true;
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exit_flag = true;
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}
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time_old = time;
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}
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vTaskDelete(NULL);
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}
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TEST_CASE("test for thread safety adjtime and gettimeofday 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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adjtime_test_result = false;
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gettimeofday_test_result = 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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#ifndef CONFIG_FREERTOS_UNICORE
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printf("CPU0 and CPU1. Tasks run: 1 - adjtimeTask, 2 - gettimeofdayTask\n");
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xTaskCreatePinnedToCore(adjtimeTask, "adjtimeTask1", 2048, NULL, UNITY_FREERTOS_PRIORITY - 1, &th[0], 0);
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xTaskCreatePinnedToCore(gettimeofdayTask, "gettimeofdayTask1", 2048, NULL, UNITY_FREERTOS_PRIORITY - 1, &th[1], 1);
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xTaskCreatePinnedToCore(gettimeofdayTask, "gettimeofdayTask2", 2048, NULL, UNITY_FREERTOS_PRIORITY - 1, &th[2], 0);
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#else
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printf("Only one CPU. Tasks run: 1 - adjtimeTask, 2 - gettimeofdayTask\n");
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xTaskCreate(adjtimeTask, "adjtimeTask1", 2048, NULL, UNITY_FREERTOS_PRIORITY - 1, &th[0]);
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xTaskCreate(gettimeofdayTask, "gettimeofdayTask1", 2048, NULL, 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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vTaskDelay(20 / portTICK_PERIOD_MS);
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TEST_ASSERT(adjtime_test_result == false && gettimeofday_test_result == false);
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}
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