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test(esp_timer): add UT case for esp_timer period alarm with DFS
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‎components/esp_timer/test_apps/.build-test-rules.yml‎

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# Documentation: .gitlab/ci/README.md#manifest-file-to-control-the-buildtest-apps
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components/esp_timer/test_apps:
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disable:
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- if: CONFIG_NAME == "dfs" and SOC_CLK_XTAL32K_SUPPORTED != 1
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reason: The test requires the XTAL32K clock to measure the esp_timer timing accuracy

‎components/esp_timer/test_apps/main/CMakeLists.txt‎

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@@ -15,7 +15,11 @@ if(CONFIG_SOC_GPTIMER_SUPPORTED)
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list(APPEND srcs "test_esp_timer.c")
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endif()
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if(CONFIG_ESP_TIMER_SUPPORTS_ISR_DISPATCH_METHOD)
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list(APPEND srcs "test_esp_timer_dfs.c")
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endif()
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idf_component_register(SRCS ${srcs}
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PRIV_INCLUDE_DIRS "../../private_include"
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PRIV_REQUIRES cmock test_utils esp_timer spi_flash esp_psram esp_driver_gpio
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PRIV_REQUIRES cmock test_utils esp_timer spi_flash esp_psram esp_driver_gpio esp_pm
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WHOLE_ARCHIVE)

‎components/esp_timer/test_apps/main/test_esp_timer_dfs.c‎

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/*
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* SPDX-FileCopyrightText: 2025 Espressif Systems (Shanghai) CO LTD
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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#include <stdio.h>
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#include <unistd.h>
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#include <stdlib.h>
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#include <math.h>
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#include <sys/time.h>
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#include <sys/param.h>
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "sdkconfig.h"
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#include "esp_timer.h"
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#include "unity.h"
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#include "esp_rom_sys.h"
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#include "esp_sleep.h"
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#include "esp_pm.h"
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#include "esp_log.h"
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#include "soc/soc_caps.h"
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#include "soc/rtc.h"
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#include "esp_rtc_time.h"
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#include "esp_private/esp_clk.h"
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#define ALARM_PERIOD_MS 100
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#define ALARM_TIMES 200 // 200*100ms = 20s
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static const char* TAG = "ESP_TIMER with DFS";
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static uint32_t s_current_alarm = 0;
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static uint64_t s_alarm_records[ALARM_TIMES + 1] = {0};
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#if CONFIG_IDF_TARGET_ESP32 || CONFIG_IDF_TARGET_ESP32S2 || CONFIG_IDF_TARGET_ESP32S3 || CONFIG_IDF_TARGET_ESP32C5
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static uint32_t supported_freq[] = {10, 20, 40, 80, 160, 240};
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#elif CONFIG_IDF_TARGET_ESP32C2
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static uint32_t supported_freq[] = {10, 20, 40, 80, 120};
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#elif CONFIG_IDF_TARGET_ESP32C3 || CONFIG_IDF_TARGET_ESP32C6 || CONFIG_IDF_TARGET_ESP32C61
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static uint32_t supported_freq[] = {10, 20, 40, 80, 160};
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#elif CONFIG_IDF_TARGET_ESP32H2 || CONFIG_IDF_TARGET_ESP32H21
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static uint32_t supported_freq[] = {8, 16, 32, 48, 64, 96};
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#elif CONFIG_IDF_TARGET_ESP32H4
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static uint32_t supported_freq[] = {8, 16, 24, 32};
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#elif CONFIG_IDF_TARGET_ESP32P4
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static uint32_t supported_freq[] = {10, 20, 40, 90, 180, 360};
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#endif
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static SemaphoreHandle_t s_alarm_finished;
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static IRAM_ATTR void periodic_timer_callback(void* arg)
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{
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s_alarm_records[s_current_alarm] = esp_rtc_get_time_us();
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BaseType_t yield;
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if (s_current_alarm == ALARM_TIMES) {
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xSemaphoreGiveFromISR(s_alarm_finished, &yield);
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}
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s_current_alarm++;
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if (yield) {
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portYIELD_FROM_ISR();
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}
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}
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static int64_t measuring_periodic_timer_accuracy(uint64_t alarm_records[])
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{
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int64_t sum_jitter_us = 0;
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int64_t max_jitter_us = 0;
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int64_t jitter_array[ALARM_TIMES] = {0};
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for (int i = 1; i <= ALARM_TIMES; ++i) {
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int64_t jitter_us = (int64_t)alarm_records[i] - (int64_t)alarm_records[i - 1] - ALARM_PERIOD_MS * 1000;
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jitter_array[i - 1] = jitter_us;
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if (llabs(jitter_us) > llabs(max_jitter_us)) {
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max_jitter_us = jitter_us;
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}
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sum_jitter_us += jitter_us;
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}
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int64_t avg_jitter_us = sum_jitter_us / ALARM_TIMES;
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// Calculates the sum of squares of standard deviations
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int64_t sum_sq_diff = 0;
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for (int i = 0; i < ALARM_TIMES; ++i) {
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sum_sq_diff += (jitter_array[i] - avg_jitter_us) * (jitter_array[i] - avg_jitter_us);
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}
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double variance = sum_sq_diff / ALARM_TIMES;
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double stddev = sqrt(variance);
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printf("Average jitter us: %"PRIi64"\n", avg_jitter_us);
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printf("Max jitter us: %"PRIi64"\n", max_jitter_us);
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printf("Standard Deviation: %.3f\n", stddev);
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printf("Drift Percentage: %.3f%%\n", (double)avg_jitter_us / (ALARM_PERIOD_MS * 10));
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// Reset measurement
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s_current_alarm = 0;
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bzero(s_alarm_records, sizeof(s_alarm_records));
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return avg_jitter_us;
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}
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static int64_t test_periodic_timer_accuracy_on_dfs(esp_timer_handle_t timer)
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{
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// Calibrate slow clock.
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#if !CONFIG_ESP_SYSTEM_RTC_EXT_XTAL
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esp_clk_slowclk_cal_set(rtc_clk_cal(RTC_CAL_RTC_MUX, 8192));
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#endif
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ESP_ERROR_CHECK(esp_timer_start_periodic(timer, ALARM_PERIOD_MS * 1000));
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s_alarm_finished = xSemaphoreCreateBinary();
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// Each FreeRTOS tick will perform a min_freq_mhz->max_freq_mhz -> min_freq_mhz frequency switch
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xSemaphoreTake(s_alarm_finished, portMAX_DELAY);
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ESP_ERROR_CHECK(esp_timer_stop(timer));
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int64_t avg_jitter_us = measuring_periodic_timer_accuracy(s_alarm_records);
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vSemaphoreDelete(s_alarm_finished);
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return avg_jitter_us;
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}
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// The results of this test are meaningful only if `CONFIG_ESP_SYSTEM_RTC_EXT_XTAL` is enabled
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TEST_CASE("Test the periodic timer timing accuracy when doing DFS", "[esp_timer][manual][ignore]")
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{
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esp_pm_config_t pm_config = {
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.light_sleep_enable = false
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};
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const esp_timer_create_args_t periodic_timer_args = {
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.callback = &periodic_timer_callback,
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.dispatch_method = ESP_TIMER_ISR,
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.name = "periodic"
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};
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esp_timer_handle_t periodic_timer;
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ESP_ERROR_CHECK(esp_timer_create(&periodic_timer_args, &periodic_timer));
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for (int min = 0; min < sizeof(supported_freq) / sizeof(uint32_t); min++) {
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for (int max = 0; max < sizeof(supported_freq) / sizeof(uint32_t); max++) {
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if (supported_freq[max] <= supported_freq[min]) {
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continue;
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}
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pm_config.max_freq_mhz = supported_freq[max];
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pm_config.min_freq_mhz = supported_freq[min];
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ESP_LOGI(TAG, "Testing esp_timer accuracy on %d <-> %d DFS ...", pm_config.min_freq_mhz, pm_config.max_freq_mhz);
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ESP_ERROR_CHECK(esp_pm_configure(&pm_config));
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test_periodic_timer_accuracy_on_dfs(periodic_timer);
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}
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}
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}
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#if CONFIG_IDF_TARGET_ESP32
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int16_t test_lact_compensation_delay = 0;
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#define DO_MAGIC_TABLE_MEASUREMENT 0
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#if DO_MAGIC_TABLE_MEASUREMENT
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IRAM_ATTR int16_t rtc_clk_get_lact_compensation_delay(uint32_t cur_freq, uint32_t cpu_freq_mhz)
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{
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(void)cur_freq; (void)cpu_freq_mhz;
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return test_lact_compensation_delay;
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}
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#endif
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// Test Notes:
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// 1. The test requires the slow clock source to be selected to `CONFIG_ESP_SYSTEM_RTC_EXT_XTAL`.
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// 2. Manually set DO_MAGIC_TABLE_MEASUREMENT to 1 before test.
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TEST_CASE("Test DFS lact conpensate magic table ", "[esp_timer][manual][ignore]")
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{
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esp_pm_config_t pm_config = {
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.light_sleep_enable = false
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};
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const esp_timer_create_args_t periodic_timer_args = {
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.callback = &periodic_timer_callback,
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.dispatch_method = ESP_TIMER_ISR,
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.name = "periodic"
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};
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esp_timer_handle_t periodic_timer;
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ESP_ERROR_CHECK(esp_timer_create(&periodic_timer_args, &periodic_timer));
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for (int min = 0; min < sizeof(supported_freq) / sizeof(uint32_t); min++) {
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for (int max = 0; max < sizeof(supported_freq) / sizeof(uint32_t); max++) {
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if ((supported_freq[max] <= supported_freq[min]) || (supported_freq[min] >= 80) || (supported_freq[max] <= 40)) {
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continue;
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}
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pm_config.max_freq_mhz = supported_freq[max];
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pm_config.min_freq_mhz = supported_freq[min];
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ESP_LOGI(TAG, "Testing esp_timer accuracy on %d <-> %d DFS ...", pm_config.min_freq_mhz, pm_config.max_freq_mhz);
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esp_pm_configure(&pm_config);
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int32_t max_delay = 300;
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int32_t min_delay = (pm_config.max_freq_mhz == 240) ? -4000 : 0;
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int32_t test_delay = (max_delay + min_delay) / 2;
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int32_t last_delay = 0;
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int32_t best_delay = 0;
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int64_t min_avg = INT64_MAX;
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do {
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printf("Test delay %ld\n", test_delay);
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test_lact_compensation_delay = test_delay;
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int64_t avg = test_periodic_timer_accuracy_on_dfs(periodic_timer);
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last_delay = test_delay;
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if (avg < 0) {
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test_delay = (test_delay + max_delay) / 2;
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min_delay = last_delay;
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} else {
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test_delay = (test_delay + min_delay) / 2;
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max_delay = last_delay;
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}
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if (llabs(avg) < llabs(min_avg)) {
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best_delay = last_delay;
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min_avg = avg;
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}
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} while (test_delay != last_delay);
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printf("Switch between %d <-> %d\n", pm_config.min_freq_mhz, pm_config.max_freq_mhz);
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printf("Best delay is %ld\n", best_delay);
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printf("Min average is %lld\n", min_avg);
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}
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}
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ESP_ERROR_CHECK(esp_timer_delete(periodic_timer));
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}
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#endif

‎components/esp_timer/test_apps/sdkconfig.ci.dfs‎

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CONFIG_PM_ENABLE=y
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CONFIG_FREERTOS_USE_TICKLESS_IDLE=y
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CONFIG_RTC_CLK_SRC_EXT_CRYS=y
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CONFIG_ESP_TIMER_SUPPORTS_ISR_DISPATCH_METHOD=y

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