1 #include <stdio.h>
2 #include <stdlib.h>
3 #include <time.h>
4 #include <sys/time.h>
5 #include "unity.h"
6 #include "esp_rom_sys.h"
7 #include "freertos/FreeRTOS.h"
8 #include "freertos/task.h"
9 #include "freertos/semphr.h"
10 #include "test_utils.h"
11
12 typedef struct {
13 int delay_us;
14 int method;
15 int result;
16 SemaphoreHandle_t done;
17 } delay_test_arg_t;
18
test_delay_task(void * p)19 static void test_delay_task(void *p)
20 {
21 delay_test_arg_t *arg = (delay_test_arg_t *)p;
22 vTaskDelay(1);
23 uint64_t start = ref_clock_get();
24 switch (arg->method) {
25 case 0:
26 esp_rom_delay_us(arg->delay_us);
27 break;
28 case 1:
29 vTaskDelay(arg->delay_us / portTICK_PERIOD_MS / 1000);
30 break;
31 default:
32 TEST_FAIL();
33 }
34 uint64_t stop = ref_clock_get();
35
36 arg->result = (int)(stop - start);
37 xSemaphoreGive(arg->done);
38 vTaskDelete(NULL);
39 }
40
41 TEST_CASE("esp_rom_delay_us produces correct delay on CPUs", "[delay]")
42 {
43 int delay_ms = 50;
44 const delay_test_arg_t args = {
45 .delay_us = delay_ms * 1000,
46 .method = 0,
47 .done = xSemaphoreCreateBinary()
48 };
49 ref_clock_init();
50 xTaskCreatePinnedToCore(test_delay_task, "", 2048, (void *)&args, 3, NULL, 0);
51 TEST_ASSERT(xSemaphoreTake(args.done, delay_ms * 2 / portTICK_PERIOD_MS));
52 TEST_ASSERT_INT32_WITHIN(1000, args.delay_us, args.result);
53
54 #if portNUM_PROCESSORS == 2
55 xTaskCreatePinnedToCore(test_delay_task, "", 2048, (void *)&args, 3, NULL, 1);
56 TEST_ASSERT(xSemaphoreTake(args.done, delay_ms * 2 / portTICK_PERIOD_MS));
57 TEST_ASSERT_INT32_WITHIN(1000, args.delay_us, args.result);
58 #endif
59
60 ref_clock_deinit();
61 vSemaphoreDelete(args.done);
62 }
63
64 TEST_CASE("vTaskDelay produces correct delay on CPUs", "[delay]")
65 {
66 int delay_ms = 50;
67 const delay_test_arg_t args = {
68 .delay_us = delay_ms * 1000,
69 .method = 1,
70 .done = xSemaphoreCreateBinary()
71 };
72 ref_clock_init();
73 xTaskCreatePinnedToCore(test_delay_task, "", 2048, (void *)&args, 3, NULL, 0);
74 TEST_ASSERT(xSemaphoreTake(args.done, delay_ms * 2 / portTICK_PERIOD_MS));
75 TEST_ASSERT_INT32_WITHIN(1000, args.delay_us, args.result);
76
77 #if portNUM_PROCESSORS == 2
78 xTaskCreatePinnedToCore(test_delay_task, "", 2048, (void *)&args, 3, NULL, 1);
79 TEST_ASSERT(xSemaphoreTake(args.done, delay_ms * 2 / portTICK_PERIOD_MS));
80 TEST_ASSERT_INT32_WITHIN(1000, args.delay_us, args.result);
81 #endif
82
83 ref_clock_deinit();
84 vSemaphoreDelete(args.done);
85 }
86
