esp_system: Adds sync of FRC & RTC counters in esp_restart

In case when FRC and RTC counters are very different then
the need to sync them before to restart the ESP
to get the correct system time after reboot.

components/esp_system/esp_system.c

@@ -32,7 +32,8 @@
 #include "esp32h2/memprot.h"
 #endif
 
-#define SHUTDOWN_HANDLERS_NO 4
+#define SHUTDOWN_HANDLERS_NO 5
+
 static shutdown_handler_t shutdown_handlers[SHUTDOWN_HANDLERS_NO];
 
 void IRAM_ATTR esp_restart_noos_dig(void)

components/esp_timer/src/system_time.c

@@ -19,6 +19,9 @@
 #if CONFIG_ESP_TIME_FUNCS_USE_ESP_TIMER
 #include "esp_timer.h"
 #include "esp_timer_impl.h"
+#include "esp_system.h"
+#include "esp_newlib.h"
+#include "esp_log.h"
 
 #include "esp_private/startup_internal.h"
 
@@ -34,6 +37,8 @@
 #include "esp32h2/rtc.h"
 #endif
 
+__attribute__((unused)) static const char* TAG = "system_time";
+
 // Correction for underlying timer to keep definition
 // of system time consistent.
 static int64_t s_correction_us = 0;
@@ -41,6 +46,12 @@ static int64_t s_correction_us = 0;
 void esp_timer_impl_init_system_time(void)
 {
     s_correction_us = esp_rtc_get_time_us() - g_startup_time - esp_timer_impl_get_time();
+#if defined(CONFIG_ESP_TIME_FUNCS_USE_ESP_TIMER) && defined(CONFIG_ESP_TIME_FUNCS_USE_RTC_TIMER)
+    esp_err_t err = esp_register_shutdown_handler(esp_sync_counters_rtc_and_frc);
+    if (err != ESP_OK) {
+        ESP_LOGW(TAG, "Register shutdown handler failed, err = 0x%x", err);
+    }
+#endif
 }
 
 int64_t IRAM_ATTR esp_system_get_time(void)

components/newlib/test/test_time.c

@@ -16,23 +16,31 @@
 #include "esp_rom_sys.h"
 #include "esp_system.h"
 #include "esp_timer.h"
+#include "esp_private/system_internal.h"
+#include "esp_private/esp_timer_private.h"
+#include "../priv_include/esp_time_impl.h"
 
 #include "esp_private/system_internal.h"
 
 #if CONFIG_IDF_TARGET_ESP32
 #include "esp32/clk.h"
+#include "esp32/rtc.h"
 #define TARGET_DEFAULT_CPU_FREQ_MHZ CONFIG_ESP32_DEFAULT_CPU_FREQ_MHZ
 #elif CONFIG_IDF_TARGET_ESP32S2
 #include "esp32s2/clk.h"
+#include "esp32s2/rtc.h"
 #define TARGET_DEFAULT_CPU_FREQ_MHZ CONFIG_ESP32S2_DEFAULT_CPU_FREQ_MHZ
 #elif CONFIG_IDF_TARGET_ESP32S3
 #include "esp32s3/clk.h"
+#include "esp32s3/rtc.h"
 #define TARGET_DEFAULT_CPU_FREQ_MHZ CONFIG_ESP32S3_DEFAULT_CPU_FREQ_MHZ
 #elif CONFIG_IDF_TARGET_ESP32C3
 #include "esp32c3/clk.h"
+#include "esp32c3/rtc.h"
 #define TARGET_DEFAULT_CPU_FREQ_MHZ CONFIG_ESP32C3_DEFAULT_CPU_FREQ_MHZ
 #elif CONFIG_IDF_TARGET_ESP32H2
 #include "esp32h2/clk.h"
+#include "esp32h2/rtc.h"
 #define TARGET_DEFAULT_CPU_FREQ_MHZ CONFIG_ESP32H2_DEFAULT_CPU_FREQ_MHZ
 #endif
 
@@ -531,3 +539,101 @@ TEST_CASE("test time functions wide 64 bits", "[newlib]")
 }
 
 #endif // CONFIG_SDK_TOOLCHAIN_SUPPORTS_TIME_WIDE_64_BITS
+
+#if defined( CONFIG_ESP_TIME_FUNCS_USE_ESP_TIMER ) && defined( CONFIG_ESP_TIME_FUNCS_USE_RTC_TIMER )
+
+extern int64_t s_microseconds_offset;
+static const uint64_t s_start_timestamp  = 1606838354;
+static RTC_NOINIT_ATTR uint64_t s_saved_time;
+static RTC_NOINIT_ATTR uint64_t s_time_in_reboot;
+
+typedef enum {
+    TYPE_REBOOT_ABORT = 0,
+    TYPE_REBOOT_RESTART,
+} type_reboot_t;
+
+static void print_counters(void)
+{
+    int64_t frc = esp_system_get_time();
+    int64_t rtc = esp_rtc_get_time_us();
+    uint64_t boot_time = esp_time_impl_get_boot_time();
+    printf("\tFRC %lld (us)\n", frc);
+    printf("\tRTC %lld (us)\n", rtc);
+    printf("\tBOOT %lld (us)\n", boot_time);
+    printf("\ts_microseconds_offset %lld (us)\n", s_microseconds_offset);
+    printf("delta RTC - FRC counters %lld (us)\n", rtc - frc);
+}
+
+static void set_initial_condition(type_reboot_t type_reboot, int error_time)
+{
+    print_counters();
+
+    struct timeval tv = { .tv_sec = s_start_timestamp, .tv_usec = 0, };
+    settimeofday(&tv, NULL);
+    printf("set timestamp %lld (s)\n", s_start_timestamp);
+
+    print_counters();
+
+    int delay_s = abs(error_time) * 2;
+    printf("Waiting for %d (s) ...\n", delay_s);
+    vTaskDelay(delay_s * 1000 / portTICK_RATE_MS);
+
+    print_counters();
+
+    printf("FRC counter increased to %d (s)\n", error_time);
+    esp_timer_private_advance(error_time * 1000000ULL);
+
+    print_counters();
+
+    gettimeofday(&tv, NULL);
+    s_saved_time = tv.tv_sec;
+    printf("s_saved_time %lld (s)\n", s_saved_time);
+    int dt = s_saved_time - s_start_timestamp;
+    printf("delta timestamp = %d (s)\n", dt);
+    TEST_ASSERT_GREATER_OR_EQUAL(error_time, dt);
+    s_time_in_reboot = esp_rtc_get_time_us();
+
+    if (type_reboot == TYPE_REBOOT_ABORT) {
+        printf("Update boot time based on diff\n");
+        esp_sync_counters_rtc_and_frc();
+        print_counters();
+        printf("reboot as abort\n");
+        abort();
+    } else if (type_reboot == TYPE_REBOOT_RESTART) {
+        printf("reboot as restart\n");
+        esp_restart();
+    }
+}
+
+static void set_timestamp1(void)
+{
+    set_initial_condition(TYPE_REBOOT_ABORT, 5);
+}
+
+static void set_timestamp2(void)
+{
+    set_initial_condition(TYPE_REBOOT_RESTART, 5);
+}
+
+static void set_timestamp3(void)
+{
+    set_initial_condition(TYPE_REBOOT_RESTART, -5);
+}
+
+static void check_time(void)
+{
+    print_counters();
+    int latency_before_run_ut = 1 + (esp_rtc_get_time_us() - s_time_in_reboot) / 1000000;
+    struct timeval tv;
+    gettimeofday(&tv, NULL);
+    printf("timestamp %ld (s)\n", tv.tv_sec);
+    int dt = tv.tv_sec - s_saved_time;
+    printf("delta timestamp = %d (s)\n", dt);
+    TEST_ASSERT_GREATER_OR_EQUAL(0, dt);
+    TEST_ASSERT_LESS_OR_EQUAL(latency_before_run_ut, dt);
+}
+
+TEST_CASE_MULTIPLE_STAGES("Timestamp after abort is correct in case RTC & FRC have + big error", "[newlib][reset=abort,SW_CPU_RESET]", set_timestamp1, check_time);
+TEST_CASE_MULTIPLE_STAGES("Timestamp after restart is correct in case RTC & FRC have + big error", "[newlib][reset=SW_CPU_RESET]", set_timestamp2, check_time);
+TEST_CASE_MULTIPLE_STAGES("Timestamp after restart is correct in case RTC & FRC have - big error", "[newlib][reset=SW_CPU_RESET]", set_timestamp3, check_time);
+#endif // CONFIG_ESP_TIME_FUNCS_USE_ESP_TIMER && CONFIG_ESP_TIME_FUNCS_USE_RTC_TIMER