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Merge branch 'feature/esp_timer_improvements' into 'master'

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esp_timer improvements

See merge request !1172
This commit is contained in:
Ivan Grokhotkov
2017-09-01 16:14:01 +08:00
parent 98e5c475b3 06af8cd086
commit 5666fc0a56
8 changed files with 341 additions and 58 deletions
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4
components/esp32/esp_timer.c
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@@ -443,7 +443,7 @@ esp_err_t esp_timer_dump(FILE* stream)
return ESP_OK;
}
uint64_t IRAM_ATTR esp_timer_get_time()
int64_t IRAM_ATTR esp_timer_get_time()
{
return esp_timer_impl_get_time();
return (int64_t) esp_timer_impl_get_time();
}

2
components/esp32/esp_timer.h
View File

@@ -190,7 +190,7 @@ esp_err_t esp_timer_delete(esp_timer_handle_t timer);
* @return number of microseconds since esp_timer_init was called (this normally
* happens early during application startup).
*/
uint64_t esp_timer_get_time();
int64_t esp_timer_get_time();
/**
* @brief Dump the list of timers to a stream

38
components/esp32/esp_timer_esp32.c
View File

@@ -126,15 +126,35 @@ static inline bool IRAM_ATTR timer_overflow_happened()
uint64_t IRAM_ATTR esp_timer_impl_get_time()
{
portENTER_CRITICAL(&s_time_update_lock);
uint32_t timer_val = REG_READ(FRC_TIMER_COUNT_REG(1));
uint64_t result = s_time_base_us;
if (timer_overflow_happened()) {
result += s_timer_us_per_overflow;
}
uint32_t ticks_per_us = s_timer_ticks_per_us;
portEXIT_CRITICAL(&s_time_update_lock);
return result + timer_val / ticks_per_us;
uint32_t timer_val;
uint64_t time_base;
uint32_t ticks_per_us;
bool overflow;
uint64_t us_per_overflow;
do {
/* Read all values needed to calculate current time */
timer_val = REG_READ(FRC_TIMER_COUNT_REG(1));
time_base = s_time_base_us;
overflow = timer_overflow_happened();
ticks_per_us = s_timer_ticks_per_us;
us_per_overflow = s_timer_us_per_overflow;
/* Read them again and compare */
if (REG_READ(FRC_TIMER_COUNT_REG(1)) > timer_val &&
time_base == *((volatile uint64_t*) &s_time_base_us) &&
ticks_per_us == *((volatile uint32_t*) &s_timer_ticks_per_us) &&
overflow == timer_overflow_happened()) {
break;
}
/* If any value has changed (other than the counter increasing), read again */
} while(true);
uint64_t result = time_base
+ (overflow ? us_per_overflow : 0)
+ timer_val / ticks_per_us;
return result;
}
void IRAM_ATTR esp_timer_impl_set_alarm(uint64_t timestamp)

57
components/esp32/test/test_delay.c
View File

@@ -6,17 +6,21 @@
#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)
{
const delay_test_arg_t* arg = (delay_test_arg_t*) p;
struct timeval tv_start, tv_stop;
gettimeofday(&tv_start, NULL);
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);
@@ -27,32 +31,51 @@ static void test_delay_task(void* p)
default:
TEST_FAIL();
}
gettimeofday(&tv_stop, NULL);
int real_delay_us = (tv_stop.tv_sec - tv_start.tv_sec) * 1000000 +
tv_stop.tv_usec - tv_start.tv_usec;
printf("%s core=%d expected=%d actual=%d\n", arg->method ? "vTaskDelay" : "ets_delay_us",
xPortGetCoreID(), arg->delay_us, real_delay_us);
TEST_ASSERT_TRUE(abs(real_delay_us - arg->delay_us) < 1000);
vTaskDelay(1);
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][ignore]")
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 };
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);
vTaskDelay(delay_ms / portTICK_PERIOD_MS + 1);
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);
vTaskDelay(delay_ms / portTICK_PERIOD_MS + 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 };
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);
vTaskDelay(delay_ms / portTICK_PERIOD_MS + 1);
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);
vTaskDelay(delay_ms / portTICK_PERIOD_MS + 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);
}

104
components/esp32/test/test_esp_timer.c
View File

@@ -7,6 +7,7 @@
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "freertos/semphr.h"
#include "test_utils.h"
TEST_CASE("esp_timer orders timers correctly", "[esp_timer]")
{
@@ -65,15 +66,15 @@ TEST_CASE("esp_timer produces correct delay", "[esp_timer]")
{
void timer_func(void* arg)
{
struct timeval* ptv = (struct timeval*) arg;
gettimeofday(ptv, NULL);
int64_t* p_end = (int64_t*) arg;
*p_end = ref_clock_get();
}
volatile struct timeval tv_end = {0};
int64_t t_end;
esp_timer_handle_t timer1;
esp_timer_create_args_t args = {
.callback = &timer_func,
.arg = (struct timeval*) &tv_end,
.arg = &t_end,
.name = "timer1"
};
TEST_ESP_OK(esp_timer_create(&args, &timer1));
@@ -81,21 +82,21 @@ TEST_CASE("esp_timer produces correct delay", "[esp_timer]")
const int delays_ms[] = {20, 100, 200, 250};
const size_t delays_count = sizeof(delays_ms)/sizeof(delays_ms[0]);
ref_clock_init();
for (size_t i = 0; i < delays_count; ++i) {
tv_end = (struct timeval) {0};
struct timeval tv_start;
gettimeofday(&tv_start, NULL);
t_end = 0;
int64_t t_start = ref_clock_get();
TEST_ESP_OK(esp_timer_start_once(timer1, delays_ms[i] * 1000));
vTaskDelay(delays_ms[i] * 2 / portTICK_PERIOD_MS);
TEST_ASSERT(tv_end.tv_sec != 0 || tv_end.tv_usec != 0);
int32_t ms_diff = (tv_end.tv_sec - tv_start.tv_sec) * 1000 +
(tv_end.tv_usec - tv_start.tv_usec) / 1000;
TEST_ASSERT(t_end != 0);
int32_t ms_diff = (t_end - t_start) / 1000;
printf("%d %d\n", delays_ms[i], ms_diff);
TEST_ASSERT_INT32_WITHIN(portTICK_PERIOD_MS, delays_ms[i], ms_diff);
}
ref_clock_deinit();
TEST_ESP_OK( esp_timer_dump(stdout) );
@@ -111,16 +112,14 @@ TEST_CASE("periodic ets_timer produces correct delays", "[esp_timer]")
esp_timer_handle_t timer;
size_t cur_interval;
int intervals[NUM_INTERVALS];
struct timeval tv_start;
int64_t t_start;
} test_args_t;
void timer_func(void* arg)
{
test_args_t* p_args = (test_args_t*) arg;
struct timeval tv_now;
gettimeofday(&tv_now, NULL);
int32_t ms_diff = (tv_now.tv_sec - p_args->tv_start.tv_sec) * 1000 +
(tv_now.tv_usec - p_args->tv_start.tv_usec) / 1000;
int64_t t_end = ref_clock_get();
int32_t ms_diff = (t_end - p_args->t_start) / 1000;
printf("timer #%d %dms\n", p_args->cur_interval, ms_diff);
p_args->intervals[p_args->cur_interval++] = ms_diff;
// Deliberately make timer handler run longer.
@@ -141,9 +140,9 @@ TEST_CASE("periodic ets_timer produces correct delays", "[esp_timer]")
.name = "timer1"
};
TEST_ESP_OK(esp_timer_create(&create_args, &timer1));
ref_clock_init();
args.timer = timer1;
gettimeofday(&args.tv_start, NULL);
args.t_start = ref_clock_get();
TEST_ESP_OK(esp_timer_start_periodic(timer1, delay_ms * 1000));
vTaskDelay(delay_ms * (NUM_INTERVALS + 1));
@@ -152,7 +151,7 @@ TEST_CASE("periodic ets_timer produces correct delays", "[esp_timer]")
for (size_t i = 0; i < NUM_INTERVALS; ++i) {
TEST_ASSERT_INT32_WITHIN(portTICK_PERIOD_MS, (i + 1) * delay_ms, args.intervals[i]);
}
ref_clock_deinit();
TEST_ESP_OK( esp_timer_dump(stdout) );
TEST_ESP_OK( esp_timer_delete(timer1) );
@@ -176,7 +175,7 @@ TEST_CASE("multiple timers are ordered correctly", "[esp_timer]")
test_common_t* common;
bool pass;
SemaphoreHandle_t done;
struct timeval* tv_start;
int64_t t_start;
} test_args_t;
void timer_func(void* arg)
@@ -185,10 +184,7 @@ TEST_CASE("multiple timers are ordered correctly", "[esp_timer]")
// check order
size_t count = p_args->common->count;
int expected_index = p_args->common->order[count];
struct timeval tv_timer;
gettimeofday(&tv_timer, NULL);
int ms_since_start = (tv_timer.tv_sec - p_args->tv_start->tv_sec) * 1000 +
(tv_timer.tv_usec - p_args->tv_start->tv_usec) / 1000;
int ms_since_start = (ref_clock_get() - p_args->t_start) / 1000;
printf("Time %dms, at count %d, expected timer %d, got timer %d\n",
ms_since_start, count, expected_index, p_args->timer_index);
if (expected_index != p_args->timer_index) {
@@ -217,8 +213,8 @@ TEST_CASE("multiple timers are ordered correctly", "[esp_timer]")
SemaphoreHandle_t done = xSemaphoreCreateCounting(3, 0);
struct timeval tv_now;
gettimeofday(&tv_now, NULL);
ref_clock_init();
int64_t now = ref_clock_get();
test_args_t args1 = {
.timer_index = 1,
@@ -226,7 +222,7 @@ TEST_CASE("multiple timers are ordered correctly", "[esp_timer]")
.common = &common,
.pass = true,
.done = done,
.tv_start = &tv_now
.t_start = now
};
test_args_t args2 = {
@@ -235,7 +231,7 @@ TEST_CASE("multiple timers are ordered correctly", "[esp_timer]")
.common = &common,
.pass = true,
.done = done,
.tv_start = &tv_now
.t_start = now
};
test_args_t args3 = {
@@ -244,7 +240,7 @@ TEST_CASE("multiple timers are ordered correctly", "[esp_timer]")
.common = &common,
.pass = true,
.done = done,
.tv_start = &tv_now
.t_start = now
};
@@ -276,6 +272,8 @@ TEST_CASE("multiple timers are ordered correctly", "[esp_timer]")
TEST_ASSERT_TRUE(args2.pass);
TEST_ASSERT_TRUE(args3.pass);
ref_clock_deinit();
TEST_ESP_OK( esp_timer_dump(stdout) );
TEST_ESP_OK( esp_timer_delete(args1.timer) );
@@ -322,3 +320,53 @@ TEST_CASE("esp_timer for very short intervals", "[esp_timer]")
vSemaphoreDelete(semaphore);
}
TEST_CASE("esp_timer_get_time call takes less than 1us", "[esp_timer]")
{
int64_t begin = esp_timer_get_time();
volatile int64_t end;
const int iter_count = 10000;
for (int i = 0; i < iter_count; ++i) {
end = esp_timer_get_time();
}
int ns_per_call = (int) ((end - begin) * 1000 / iter_count);
printf("esp_timer_get_time: %dns per call\n", ns_per_call);
TEST_ASSERT(ns_per_call < 1000);
}
/* This test runs for about 10 minutes and is disabled in CI.
* Such run time is needed to have FRC2 timer overflow a few times.
*/
TEST_CASE("esp_timer_get_time returns monotonic values", "[esp_timer][ignore]")
{
void timer_test_task(void* arg) {
int64_t delta = esp_timer_get_time() - ref_clock_get();
const int iter_count = 1000000000;
for (int i = 0; i < iter_count; ++i) {
int64_t now = esp_timer_get_time();
int64_t ref_now = ref_clock_get();
int64_t diff = now - (ref_now + delta);
/* Allow some difference due to rtos tick interrupting task between
* getting 'now' and 'ref_now'.
*/
TEST_ASSERT_INT32_WITHIN(100, 0, (int) diff);
}
xSemaphoreGive((SemaphoreHandle_t) arg);
vTaskDelete(NULL);
}
ref_clock_init();
SemaphoreHandle_t done_1 = xSemaphoreCreateBinary();
SemaphoreHandle_t done_2 = xSemaphoreCreateBinary();
xTaskCreatePinnedToCore(&timer_test_task, "t1", 4096, (void*) done_1, 6, NULL, 0);
xTaskCreatePinnedToCore(&timer_test_task, "t2", 4096, (void*) done_2, 6, NULL, 1);
TEST_ASSERT_TRUE( xSemaphoreTake(done_1, portMAX_DELAY) );
TEST_ASSERT_TRUE( xSemaphoreTake(done_2, portMAX_DELAY) );
vSemaphoreDelete(done_1);
vSemaphoreDelete(done_2);
ref_clock_deinit();
}

6
components/soc/esp32/rtc_clk.c
View File

@@ -500,7 +500,11 @@ void rtc_clk_apb_freq_update(uint32_t apb_freq)
uint32_t rtc_clk_apb_freq_get()
{
return reg_val_to_clk_val(READ_PERI_REG(RTC_APB_FREQ_REG)) << 12;
uint32_t freq_hz = reg_val_to_clk_val(READ_PERI_REG(RTC_APB_FREQ_REG)) << 12;
// round to the nearest MHz
freq_hz += MHZ / 2;
uint32_t remainder = freq_hz % MHZ;
return freq_hz - remainder;
}