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

#include "unity.h"
#include <sys/time.h>
#include <sys/param.h>
#include "esp_sleep.h"
#include "esp_clk.h"
#include "driver/rtc_io.h"
#include "soc/gpio_reg.h"
#include "soc/rtc.h"
#include "soc/uart_reg.h"
#include "rom/uart.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "freertos/semphr.h"
#include "soc/rtc.h"            // for wakeup trigger defines
#include "soc/rtc_cntl_reg.h"   // for read rtc registers directly (cause)
#include "soc/soc.h"            // for direct register read macros
#include "rom/rtc.h"
#include "esp_newlib.h"

#define ESP_EXT0_WAKEUP_LEVEL_LOW 0
#define ESP_EXT0_WAKEUP_LEVEL_HIGH 1

static struct timeval tv_start, tv_stop;


static void deep_sleep_task(void *arg)
{
    esp_deep_sleep_start();
}

static void do_deep_sleep_from_app_cpu()
{
    xTaskCreatePinnedToCore(&deep_sleep_task, "ds", 2048, NULL, 5, NULL, 1);

    // keep running some non-IRAM code
    vTaskSuspendAll();

    while (true) {
        ;
    }
}

TEST_CASE("wake up from deep sleep using timer", "[deepsleep][reset=DEEPSLEEP_RESET]")
{
    esp_sleep_enable_timer_wakeup(2000000);
    esp_deep_sleep_start();
}

TEST_CASE("light sleep followed by deep sleep", "[deepsleep][reset=DEEPSLEEP_RESET]")
{
    esp_sleep_enable_timer_wakeup(1000000);
    esp_light_sleep_start();
    esp_deep_sleep_start();
}

TEST_CASE("wake up from light sleep using timer", "[deepsleep]")
{
    esp_sleep_enable_timer_wakeup(2000000);
    struct timeval tv_start, tv_stop;
    gettimeofday(&tv_start, NULL);
    esp_light_sleep_start();
    gettimeofday(&tv_stop, NULL);
    float dt = (tv_stop.tv_sec - tv_start.tv_sec) * 1e3f +
               (tv_stop.tv_usec - tv_start.tv_usec) * 1e-3f;
    TEST_ASSERT_INT32_WITHIN(500, 2000, (int) dt);
}

static void test_light_sleep(void* arg)
{
    vTaskDelay(2);
    for (int i = 0; i < 1000; ++i) {
        printf("%d %d\n", xPortGetCoreID(), i);
        fflush(stdout);
        esp_light_sleep_start();
    }
    SemaphoreHandle_t done = (SemaphoreHandle_t) arg;
    xSemaphoreGive(done);
    vTaskDelete(NULL);
}

TEST_CASE("light sleep stress test", "[deepsleep]")
{
    SemaphoreHandle_t done = xSemaphoreCreateCounting(2, 0);
    esp_sleep_enable_timer_wakeup(1000);
    xTaskCreatePinnedToCore(&test_light_sleep, "ls0", 4096, done, UNITY_FREERTOS_PRIORITY + 1, NULL, 0);
#if portNUM_PROCESSORS == 2
    xTaskCreatePinnedToCore(&test_light_sleep, "ls1", 4096, done, UNITY_FREERTOS_PRIORITY + 1, NULL, 1);
#endif
    xSemaphoreTake(done, portMAX_DELAY);
#if portNUM_PROCESSORS == 2
    xSemaphoreTake(done, portMAX_DELAY);
#endif
    vSemaphoreDelete(done);
}

TEST_CASE("light sleep stress test with periodic esp_timer", "[deepsleep]")
{
    void timer_func(void* arg)
    {
        ets_delay_us(50);
    }

    SemaphoreHandle_t done = xSemaphoreCreateCounting(2, 0);
    esp_sleep_enable_timer_wakeup(1000);
    esp_timer_handle_t timer;
    esp_timer_create_args_t config = {
            .callback = &timer_func,
    };
    TEST_ESP_OK(esp_timer_create(&config, &timer));
    esp_timer_start_periodic(timer, 500);
    xTaskCreatePinnedToCore(&test_light_sleep, "ls1", 4096, done, UNITY_FREERTOS_PRIORITY + 1, NULL, 0);
#if portNUM_PROCESSORS == 2
    xTaskCreatePinnedToCore(&test_light_sleep, "ls1", 4096, done, UNITY_FREERTOS_PRIORITY + 1, NULL, 1);
#endif
    xSemaphoreTake(done, portMAX_DELAY);
#if portNUM_PROCESSORS == 2
    xSemaphoreTake(done, portMAX_DELAY);
#endif
    vSemaphoreDelete(done);
    esp_timer_stop(timer);
    esp_timer_delete(timer);
}


#ifdef CONFIG_ESP32_RTC_CLOCK_SOURCE_EXTERNAL_CRYSTAL
#define MAX_SLEEP_TIME_ERROR_US 200
#else
#define MAX_SLEEP_TIME_ERROR_US 100
#endif


TEST_CASE("light sleep duration is correct", "[deepsleep][ignore]")
{
    // don't power down XTAL — powering it up takes different time on
    // different boards
    esp_sleep_pd_config(ESP_PD_DOMAIN_XTAL, ESP_PD_OPTION_ON);

    // run one light sleep without checking timing, to warm up the cache
    esp_sleep_enable_timer_wakeup(1000);
    esp_light_sleep_start();

    const int sleep_intervals_ms[] = {
            1, 1, 2, 3, 4, 5, 6, 7, 8, 10, 15,
            20, 25, 50, 100, 200, 500,
    };

    const int sleep_intervals_count = sizeof(sleep_intervals_ms)/sizeof(sleep_intervals_ms[0]);
    for (int i = 0; i < sleep_intervals_count; ++i) {
        uint64_t sleep_time = sleep_intervals_ms[i] * 1000;
        esp_sleep_enable_timer_wakeup(sleep_time);
        for (int repeat = 0; repeat < 5; ++repeat) {
            uint64_t start = esp_clk_rtc_time();
            int64_t start_hs = esp_timer_get_time();
            esp_light_sleep_start();
            int64_t stop_hs = esp_timer_get_time();
            uint64_t stop = esp_clk_rtc_time();

            int diff_us = (int) (stop - start);
            int diff_hs_us = (int) (stop_hs - start_hs);
            printf("%lld %d\n", sleep_time, (int) (diff_us - sleep_time));
            int32_t threshold = MAX(sleep_time / 100, MAX_SLEEP_TIME_ERROR_US);
            TEST_ASSERT_INT32_WITHIN(threshold, sleep_time, diff_us);
            TEST_ASSERT_INT32_WITHIN(threshold, sleep_time, diff_hs_us);
            fflush(stdout);
        }

        vTaskDelay(10/portTICK_PERIOD_MS);
    }
}


TEST_CASE("light sleep and frequency switching", "[deepsleep]")
{
#ifndef CONFIG_PM_ENABLE
    const int uart_clk_freq = REF_CLK_FREQ;
    CLEAR_PERI_REG_MASK(UART_CONF0_REG(CONFIG_CONSOLE_UART_NUM), UART_TICK_REF_ALWAYS_ON);
    uart_div_modify(CONFIG_CONSOLE_UART_NUM, (uart_clk_freq << 4) / CONFIG_CONSOLE_UART_BAUDRATE);
#endif

    rtc_cpu_freq_config_t config_xtal, config_default;
    rtc_clk_cpu_freq_get_config(&config_default);
    rtc_clk_cpu_freq_mhz_to_config((int) rtc_clk_xtal_freq_get(), &config_xtal);

    esp_sleep_enable_timer_wakeup(1000);
    for (int i = 0; i < 1000; ++i) {
        if (i % 2 == 0) {
            rtc_clk_cpu_freq_set_config_fast(&config_xtal);
        } else {
            rtc_clk_cpu_freq_set_config_fast(&config_default);
        }
        printf("%d\n", i);
        fflush(stdout);
        esp_light_sleep_start();
    }
}

#ifndef CONFIG_FREERTOS_UNICORE
TEST_CASE("enter deep sleep on APP CPU and wake up using timer", "[deepsleep][reset=DEEPSLEEP_RESET]")
{
    esp_sleep_enable_timer_wakeup(2000000);
    do_deep_sleep_from_app_cpu();
}
#endif

static void do_deep_sleep()
{
    esp_sleep_enable_timer_wakeup(100000);
    esp_deep_sleep_start();
}

static void check_sleep_reset_and_sleep()
{
    TEST_ASSERT_EQUAL(ESP_RST_DEEPSLEEP, esp_reset_reason());
    esp_sleep_enable_timer_wakeup(100000);
    esp_deep_sleep_start();
}

static void check_sleep_reset()
{
    TEST_ASSERT_EQUAL(ESP_RST_DEEPSLEEP, esp_reset_reason());
}

TEST_CASE_MULTIPLE_STAGES("enter deep sleep more than once", "[deepsleep][reset=DEEPSLEEP_RESET,DEEPSLEEP_RESET,DEEPSLEEP_RESET]",
        do_deep_sleep,
        check_sleep_reset_and_sleep,
        check_sleep_reset_and_sleep,
        check_sleep_reset);

static void do_abort()
{
    abort();
}

static void check_abort_reset_and_sleep()
{
    TEST_ASSERT_EQUAL(ESP_RST_PANIC, esp_reset_reason());
    esp_sleep_enable_timer_wakeup(100000);
    esp_deep_sleep_start();
}

TEST_CASE_MULTIPLE_STAGES("enter deep sleep after abort", "[deepsleep][reset=abort,SW_CPU_RESET,DEEPSLEEP_RESET]",
        do_abort,
        check_abort_reset_and_sleep,
        check_sleep_reset);

static RTC_DATA_ATTR uint32_t s_wake_stub_var;

static RTC_IRAM_ATTR void wake_stub()
{
    esp_default_wake_deep_sleep();
    s_wake_stub_var = (uint32_t) &wake_stub;
}

static void prepare_wake_stub()
{
    esp_set_deep_sleep_wake_stub(&wake_stub);
    esp_sleep_enable_timer_wakeup(100000);
    esp_deep_sleep_start();
}

static void check_wake_stub()
{
    TEST_ASSERT_EQUAL(ESP_RST_DEEPSLEEP, esp_reset_reason());
    TEST_ASSERT_EQUAL_HEX32((uint32_t) &wake_stub, s_wake_stub_var);
    /* ROM code clears wake stub entry address */
    TEST_ASSERT_NULL(esp_get_deep_sleep_wake_stub());
}

TEST_CASE_MULTIPLE_STAGES("can set sleep wake stub", "[deepsleep][reset=DEEPSLEEP_RESET]",
        prepare_wake_stub,
        check_wake_stub);


TEST_CASE("wake up using ext0 (13 high)", "[deepsleep][ignore]")
{
    ESP_ERROR_CHECK(rtc_gpio_init(GPIO_NUM_13));
    ESP_ERROR_CHECK(gpio_pullup_dis(GPIO_NUM_13));
    ESP_ERROR_CHECK(gpio_pulldown_en(GPIO_NUM_13));
    ESP_ERROR_CHECK(esp_sleep_enable_ext0_wakeup(GPIO_NUM_13, ESP_EXT0_WAKEUP_LEVEL_HIGH));
    esp_deep_sleep_start();
}

TEST_CASE("wake up using ext0 (13 low)", "[deepsleep][ignore]")
{
    ESP_ERROR_CHECK(rtc_gpio_init(GPIO_NUM_13));
    ESP_ERROR_CHECK(gpio_pullup_en(GPIO_NUM_13));
    ESP_ERROR_CHECK(gpio_pulldown_dis(GPIO_NUM_13));
    ESP_ERROR_CHECK(esp_sleep_enable_ext0_wakeup(GPIO_NUM_13, ESP_EXT0_WAKEUP_LEVEL_LOW));
    esp_deep_sleep_start();
}

TEST_CASE("wake up using ext1 when RTC_PERIPH is off (13 high)", "[deepsleep][ignore]")
{
    // This test needs external pulldown
    ESP_ERROR_CHECK(rtc_gpio_init(GPIO_NUM_13));
    ESP_ERROR_CHECK(esp_sleep_enable_ext1_wakeup(BIT(GPIO_NUM_13), ESP_EXT1_WAKEUP_ANY_HIGH));
    esp_deep_sleep_start();
}

TEST_CASE("wake up using ext1 when RTC_PERIPH is off (13 low)", "[deepsleep][ignore]")
{
    // This test needs external pullup
    ESP_ERROR_CHECK(rtc_gpio_init(GPIO_NUM_13));
    ESP_ERROR_CHECK(esp_sleep_enable_ext1_wakeup(BIT(GPIO_NUM_13), ESP_EXT1_WAKEUP_ALL_LOW));
    esp_deep_sleep_start();
}

TEST_CASE("wake up using ext1 when RTC_PERIPH is on (13 high)", "[deepsleep][ignore]")
{
    ESP_ERROR_CHECK(rtc_gpio_init(GPIO_NUM_13));
    ESP_ERROR_CHECK(gpio_pullup_dis(GPIO_NUM_13));
    ESP_ERROR_CHECK(gpio_pulldown_en(GPIO_NUM_13));
    ESP_ERROR_CHECK(esp_sleep_pd_config(ESP_PD_DOMAIN_RTC_PERIPH, ESP_PD_OPTION_ON));
    ESP_ERROR_CHECK(esp_sleep_enable_ext1_wakeup(BIT(GPIO_NUM_13), ESP_EXT1_WAKEUP_ANY_HIGH));
    esp_deep_sleep_start();
}

TEST_CASE("wake up using ext1 when RTC_PERIPH is on (13 low)", "[deepsleep][ignore]")
{
    ESP_ERROR_CHECK(rtc_gpio_init(GPIO_NUM_13));
    ESP_ERROR_CHECK(gpio_pullup_en(GPIO_NUM_13));
    ESP_ERROR_CHECK(gpio_pulldown_dis(GPIO_NUM_13));
    ESP_ERROR_CHECK(esp_sleep_pd_config(ESP_PD_DOMAIN_RTC_PERIPH, ESP_PD_OPTION_ON));
    ESP_ERROR_CHECK(esp_sleep_enable_ext1_wakeup(BIT(GPIO_NUM_13), ESP_EXT1_WAKEUP_ALL_LOW));
    esp_deep_sleep_start();
}

static float get_time_ms(void)
{
    gettimeofday(&tv_stop, NULL);
    
    float dt = (tv_stop.tv_sec - tv_start.tv_sec) * 1e3f +
                (tv_stop.tv_usec - tv_start.tv_usec) * 1e-3f;
    return fabs(dt);
}

static uint32_t get_cause()
{
    uint32_t wakeup_cause = REG_GET_FIELD(RTC_CNTL_WAKEUP_STATE_REG, \
                                            RTC_CNTL_WAKEUP_CAUSE);
    return wakeup_cause;
}

// This test case verifies deactivation of trigger for wake up sources 
TEST_CASE("disable source trigger behavior", "[deepsleep]")
{
    float dt = 0;

    printf("Setup timer and ext0 to wake up immediately from GPIO_13 \n");
    
    // Setup ext0 configuration to wake up almost immediately
    // The wakeup time is proportional to input capacitance * pullup resistance
    ESP_ERROR_CHECK(rtc_gpio_init(GPIO_NUM_13));
    ESP_ERROR_CHECK(gpio_pullup_en(GPIO_NUM_13));
    ESP_ERROR_CHECK(gpio_pulldown_dis(GPIO_NUM_13));
    ESP_ERROR_CHECK(esp_sleep_enable_ext0_wakeup(GPIO_NUM_13, ESP_EXT0_WAKEUP_LEVEL_HIGH));
            
    // Setup timer to wakeup with timeout
     esp_sleep_enable_timer_wakeup(2000000);

    // Save start time
    gettimeofday(&tv_start, NULL);
    esp_light_sleep_start();

    dt = get_time_ms();
    printf("Ext0 sleep time = %d \n", (int) dt);

    // Check wakeup from Ext0 using time measurement because wakeup cause is 
    // not available in light sleep mode
    TEST_ASSERT_INT32_WITHIN(100, 100, (int) dt);
    
    TEST_ASSERT((get_cause() & RTC_EXT0_TRIG_EN) != 0);
    
    // Disable Ext0 source. Timer source should be triggered
    ESP_ERROR_CHECK(esp_sleep_disable_wakeup_source(ESP_SLEEP_WAKEUP_EXT0));
    printf("Disable ext0 trigger and leave timer active.\n");
            
    gettimeofday(&tv_start, NULL);
    esp_light_sleep_start();

    dt = get_time_ms();
    printf("Timer sleep time = %d \n", (int) dt);
    
    TEST_ASSERT_INT32_WITHIN(500, 2000, (int) dt);

    // Additionally check wakeup cause
    TEST_ASSERT((get_cause() & RTC_TIMER_TRIG_EN) != 0);

    // Disable timer source.
    ESP_ERROR_CHECK(esp_sleep_disable_wakeup_source(ESP_SLEEP_WAKEUP_TIMER));

    // Setup ext0 configuration to wake up immediately
    ESP_ERROR_CHECK(rtc_gpio_init(GPIO_NUM_13));
    ESP_ERROR_CHECK(gpio_pullup_en(GPIO_NUM_13));
    ESP_ERROR_CHECK(gpio_pulldown_dis(GPIO_NUM_13));
    ESP_ERROR_CHECK(esp_sleep_enable_ext0_wakeup(GPIO_NUM_13, ESP_EXT0_WAKEUP_LEVEL_HIGH));

    printf("Disable timer trigger to wake up from ext0 source.\n");

    gettimeofday(&tv_start, NULL);
    esp_light_sleep_start();

    dt = get_time_ms();
    printf("Ext0 sleep time = %d \n", (int) dt);

    TEST_ASSERT_INT32_WITHIN(100, 100, (int) dt);
    TEST_ASSERT((get_cause() & RTC_EXT0_TRIG_EN) != 0);
    
    // Check error message when source is already disabled 
    esp_err_t err_code = esp_sleep_disable_wakeup_source(ESP_SLEEP_WAKEUP_TIMER);
    TEST_ASSERT(err_code == ESP_ERR_INVALID_STATE);
}

static RTC_DATA_ATTR struct timeval start;
static void trigger_deepsleep(void)
{
    printf("Trigger deep sleep. Waiting for 10 sec ...\n");

    // Simulate the dispersion of the calibration coefficients at start-up.
    // Corrupt the calibration factor.
    esp_clk_slowclk_cal_set(esp_clk_slowclk_cal_get() / 2);
    esp_set_time_from_rtc();

    // Delay for time error accumulation.
    vTaskDelay(10000/portTICK_RATE_MS);

    // Save start time. Deep sleep.
    gettimeofday(&start, NULL);
    esp_sleep_enable_timer_wakeup(1000);
    // In function esp_deep_sleep_start() uses function esp_sync_counters_rtc_and_frc() 
    // to prevent a negative time after wake up.
    esp_deep_sleep_start();
}

static void check_time_deepsleep(void)
{
    struct timeval stop;
    RESET_REASON reason = rtc_get_reset_reason(0);
    TEST_ASSERT(reason == DEEPSLEEP_RESET);
    gettimeofday(&stop, NULL);
    // Time dt_ms must in any case be positive.
    int dt_ms = (stop.tv_sec - start.tv_sec) * 1000 + (stop.tv_usec - start.tv_usec) / 1000;
    printf("delta time = %d \n", dt_ms);
    TEST_ASSERT_MESSAGE(dt_ms > 0, "Time in deep sleep is negative");
}

TEST_CASE_MULTIPLE_STAGES("check a time after wakeup from deep sleep", "[deepsleep][reset=DEEPSLEEP_RESET]", trigger_deepsleep, check_time_deepsleep);