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tests: add robot test for periph_timer_cli
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tests/periph_timer_cli/tests/01__periph_timer_base.robot
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| *** Settings *** | ||
| Documentation Verify basic functionality of the Periph Timer API. | ||
| # reset application and check DUT has correct firmware, skip all tests on error | ||
| Suite Setup Run Keywords PHiLIP.DUT Reset | ||
| ... API Firmware Should Match | ||
| # reset application before running any test | ||
| Test Setup Run Keywords PHiLIP.DUT Reset | ||
| ... API Sync Shell | ||
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| # import libs and keywords | ||
| Library PeriphTimer port=%{PORT} baudrate=%{BAUD} timeout=${%{CMD_TIMEOUT}} | ||
| Resource api_shell.keywords.txt | ||
| Resource riot_base.keywords.txt | ||
| Resource philip.keywords.txt | ||
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| # add default tags to all tests | ||
| Force Tags periph_timer | ||
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| *** Variables *** | ||
| ${ACCEPTABLE_ERROR_PERCENT} ${2} | ||
| ${DEBUG_PORT} %{DEBUG0_PORT} | ||
| ${DEBUG_PIN} %{DEBUG0_PIN} | ||
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| *** Keywords *** | ||
| Enable Debug GPIO Trace On Pin ${pin} | ||
| [Documentation] Enable tracing for a gpio debug pin | ||
| API Call Should Succeed PHiLIP.Write Reg gpio[${pin}].mode.init 0 | ||
| API Call Should Succeed PHiLIP.Write Reg gpio[${pin}].mode.io_type 3 | ||
| API Call Should Succeed PHiLIP.Execute Changes | ||
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| Timer Set To ${ticks} And Measure | ||
| [Documentation] Set a timer and use PHiLIP to measure the delay | ||
| ... between calling set_timer and entering the timer | ||
| ... ISR callback by tracing a GPIO debug pin | ||
| Run Keywords PHiLIP Reset | ||
| Run Keywords Enable Debug GPIO Trace On Pin 0 | ||
| API Call Should Succeed Timer Set dev=0 chan=0 ticks=${ticks} gpio_port=${DEBUG_PORT} gpio_pin=${DEBUG_PIN} | ||
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| Timer Init With ${freq} Hz and Set To ${ticks} | ||
| API Call Should Succeed Timer Init dev=0 freq=${freq} cbname=cb_toggle gpio_port=${DEBUG_PORT} gpio_pin=${DEBUG_PIN} | ||
| API Call Should Succeed Timer Set dev=0 chan=0 ticks=${ticks} gpio_port=${DEBUG_PORT} gpio_pin=${DEBUG_PIN} | ||
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| Measure Timer Delay For ${ticks} | ||
| [Documentation] Returns the time it took between set_timer and entering | ||
| ... the timer ISR callback (measured by PHiLIP) | ||
| Run Keyword Timer Set To ${ticks} And Measure | ||
| API Call Should Succeed PHiLIP.Read Trace | ||
| ${trace}= Set Variable ${RESULT['data']} | ||
| ${d1}= Evaluate ${trace}[1][time] - ${trace}[0][time] | ||
| [return] ${d1} | ||
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| Check If Timer At ${freq} Hz Has Less Error Than ${perc} Percent | ||
| [Documentation] Checks if the timer frequency error is below the | ||
| ... given percentage | ||
| Run Keywords PHiLIP.DUT Reset | ||
| ${RESULT}= Run Keyword Timer Init dev=0 freq=${freq} cbname=cb_toggle gpio_port=${DEBUG_PORT} gpio_pin=${DEBUG_PIN} | ||
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| # skip to next frequency if init says this frequency is not supported | ||
| Continue For Loop If '${RESULT['result']}' != 'Success' | ||
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| ${ticks}= Evaluate ${freq} / ${2} | ||
| ${ticks}= Convert To Integer ${ticks} | ||
| ${delay_s}= Measure Timer Delay For ${ticks} | ||
| ${abs_err_s}= Evaluate ${delay_s} - ${ticks} / ${freq} | ||
| ${rel_error_perc}= Evaluate abs(${abs_err_s} / (${ticks} / ${freq}) * 100) | ||
| Should Be True ${rel_error_perc} < ${perc} | ||
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| *** Test Cases *** | ||
| Return Codes | ||
| [Documentation] Basic checks to see if the return codes are valid | ||
| Run Keyword PHiLIP.DUT Reset | ||
| API Call Should Succeed Timer Init | ||
| API Call Should Succeed Timer Set | ||
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| Timer Read Overhead | ||
| [Documentation] Measure how long a timer_read call takes. For now | ||
| ... this is only used as benchmark without constraints | ||
| Run Keywords PHiLIP Reset | ||
| Run Keywords Enable Debug GPIO Trace On Pin 0 | ||
| ${repeat_cnt} Set Variable ${1000000} | ||
| API Call Should Succeed Timer Init cbname=cb_toggle gpio_port=${DEBUG_PORT} gpio_pin=${DEBUG_PIN} | ||
| API Call Should Succeed Timer Read Bench dev=0 repeat_cnt=${repeat_cnt} gpio_port=${DEBUG_PORT} gpio_pin=${DEBUG_PIN} | ||
| API Call Should Succeed PHiLIP.Read Trace | ||
| ${trace}= Set Variable ${RESULT['data']} | ||
| ${us_per_read}= Evaluate (${trace}[1][time] - ${trace}[0][time]) * 1000000 / ${repeat_cnt} | ||
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| Small Timer Delays | ||
| [Template] Timer Init With ${freq} Hz and Set To ${ticks} | ||
| FOR ${ticks} IN RANGE 20 0 -1 | ||
| 1000000 ${ticks} | ||
| END | ||
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| Timer Frequency Accuracy | ||
| [Template] Check If Timer At ${freq} Hz Has Less Error Than ${perc} Percent | ||
| FOR ${freq} IN RANGE 100 1000 100 | ||
| ${freq} ${ACCEPTABLE_ERROR_PERCENT} | ||
| END | ||
| FOR ${freq} IN RANGE 1000 10000 1000 | ||
| ${freq} ${ACCEPTABLE_ERROR_PERCENT} | ||
| END | ||
| FOR ${freq} IN RANGE 10000 100000 10000 | ||
| ${freq} ${ACCEPTABLE_ERROR_PERCENT} | ||
| END | ||
| FOR ${freq} IN RANGE 100000 1000000 100000 | ||
| ${freq} ${ACCEPTABLE_ERROR_PERCENT} | ||
| END | ||
| FOR ${freq} IN RANGE 1000000 10000000 1000000 | ||
| ${freq} ${ACCEPTABLE_ERROR_PERCENT} | ||
| END | ||
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| Timer Peak To Peak Jitter | ||
| [Documentation] Measure how much the measured trigger time varies when | ||
| ... setting a timer for the same value multiple times | ||
| ${freq} Set Variable ${1000000} | ||
| ${ticks} Set Variable ${1000} | ||
| ${diffs} Create List | ||
| ${maxp2pj_perc} Set Variable ${2} | ||
| ${maxp2pj} Evaluate ${ticks} / 100 * ${maxp2pj_perc} / ${freq} | ||
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| # for a representative set of measurements this should be increased to ~100000 | ||
| ${run_cnt} Set Variable ${100} | ||
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| API Call Should Succeed Timer Init dev=0 freq=${freq} cbname=cb_toggle gpio_port=${DEBUG_PORT} gpio_pin=${DEBUG_PIN} | ||
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| FOR ${cnt} IN RANGE 0 ${run_cnt} 1 | ||
| Run Keywords PHiLIP Reset | ||
| Run Keywords Enable Debug GPIO Trace On Pin 0 | ||
| API Call Should Succeed Timer Set dev=0 chan=0 ticks=${ticks} gpio_port=${DEBUG_PORT} gpio_pin=${DEBUG_PIN} | ||
| API Call Should Succeed PHiLIP.Read Trace | ||
| ${trace}= Set Variable ${RESULT['data']} | ||
| ${d1}= Evaluate ${trace}[1][time] - ${trace}[0][time] | ||
| Append To List ${diffs} ${d1} | ||
| END | ||
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| Sort List ${diffs} | ||
| ${min}= Get From List ${diffs} ${0} | ||
| ${max}= Get From List ${diffs} ${run_cnt - 1} | ||
| ${p2pj}= Evaluate ${max} - ${min} | ||
| Should Be True ${p2pj} < ${maxp2pj} |