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esp_timer: improve unit test robustness

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1. call esp_timer_get_time and ref_clock_get in the same order on
   start and in the loop

2. disable interrupts when calculating delta between ref_clock
   and esp_timer

3. ensure both functions are in cache before calculating the delta
This commit is contained in:
Ivan Grokhotkov
2018-11-15 20:03:13 +08:00
parent 22dc4898d9
commit 7e16a79cf7
1 changed files with 24 additions and 5 deletions
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29
components/esp32/test/test_esp_timer.c
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@ -413,22 +413,38 @@ TEST_CASE("esp_timer_get_time returns monotonic values", "[esp_timer]")
int error_cnt; int error_cnt;
int64_t total_sq_error; int64_t total_sq_error;
int64_t max_error; int64_t max_error;
int64_t avg_diff;
int64_t dummy;
} test_state_t; } test_state_t;
void timer_test_task(void* arg) { void timer_test_task(void* arg) {
test_state_t* state = (test_state_t*) arg; test_state_t* state = (test_state_t*) arg;
state->pass = true; state->pass = true;
int64_t start_time = ref_clock_get();
int64_t delta = esp_timer_get_time() - start_time;
/* make sure both functions are in cache */
state->dummy = esp_timer_get_time();
state->dummy += ref_clock_get();
/* calculate the difference between the two clocks */
portDISABLE_INTERRUPTS();
int64_t hs_start_time = esp_timer_get_time();
int64_t start_time = ref_clock_get();
portENABLE_INTERRUPTS();
int64_t delta = hs_start_time - start_time;
int64_t now = start_time; int64_t now = start_time;
int error_repeat_cnt = 0; int error_repeat_cnt = 0;
while (now - start_time < 10000000) { /* 10 seconds */ while (now - start_time < 10000000) { /* 10 seconds */
/* Get values of both clocks again, and check that they are close to 'delta'.
* We don't disable interrupts here, because esp_timer_get_time doesn't lock
* interrupts internally, so we check if it can get "broken" by a well placed
* interrupt.
*/
int64_t hs_now = esp_timer_get_time(); int64_t hs_now = esp_timer_get_time();
now = ref_clock_get(); now = ref_clock_get();
int64_t diff = hs_now - (now + delta); int64_t diff = hs_now - (now + delta);
/* Allow some difference due to rtos tick interrupting task between /* Allow some difference due to rtos tick interrupting task between
* getting 'now' and 'ref_now'. * getting 'hs_now' and 'now'.
*/ */
if (abs(diff) > 100) { if (abs(diff) > 100) {
error_repeat_cnt++; error_repeat_cnt++;
@ -440,10 +456,12 @@ TEST_CASE("esp_timer_get_time returns monotonic values", "[esp_timer]")
printf("diff=%lld\n", diff); printf("diff=%lld\n", diff);
state->pass = false; state->pass = false;
} }
state->avg_diff += diff;
state->max_error = MAX(state->max_error, abs(diff)); state->max_error = MAX(state->max_error, abs(diff));
state->test_cnt++; state->test_cnt++;
state->total_sq_error += diff * diff; state->total_sq_error += diff * diff;
} }
state->avg_diff /= state->test_cnt;
xSemaphoreGive(state->done); xSemaphoreGive(state->done);
vTaskDelete(NULL); vTaskDelete(NULL);
} }
@ -460,10 +478,11 @@ TEST_CASE("esp_timer_get_time returns monotonic values", "[esp_timer]")
for (int i = 0; i < portNUM_PROCESSORS; ++i) { for (int i = 0; i < portNUM_PROCESSORS; ++i) {
TEST_ASSERT_TRUE( xSemaphoreTake(done, portMAX_DELAY) ); TEST_ASSERT_TRUE( xSemaphoreTake(done, portMAX_DELAY) );
printf("CPU%d: %s test_cnt=%d error_cnt=%d std_error=%d |max_error|=%d\n", printf("CPU%d: %s test_cnt=%d error_cnt=%d std_error=%d avg_diff=%d |max_error|=%d\n",
i, states[i].pass ? "PASS" : "FAIL", i, states[i].pass ? "PASS" : "FAIL",
states[i].test_cnt, states[i].error_cnt, states[i].test_cnt, states[i].error_cnt,
(int) sqrt(states[i].total_sq_error / states[i].test_cnt), (int) states[i].max_error); (int) sqrt(states[i].total_sq_error / states[i].test_cnt),
(int) states[i].avg_diff, (int) states[i].max_error);
} }
vSemaphoreDelete(done); vSemaphoreDelete(done);