esp-idf/components/driver/test/test_timer.c

#include <stdio.h>
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "freertos/queue.h"
#include "esp_system.h"
#include "unity.h"
#include "nvs_flash.h"
#include "driver/timer.h"
#include "soc/rtc.h"
#include "soc/soc_caps.h"
#include "esp_rom_sys.h"

#define TIMER_DIVIDER  16
#define TIMER_SCALE    (TIMER_BASE_CLK / TIMER_DIVIDER)  /*!< used to calculate counter value */
#define TIMER_DELTA    0.001
static bool alarm_flag;
static xQueueHandle timer_queue;

typedef struct {
    timer_group_t timer_group;
    timer_idx_t timer_idx;
} timer_info_t;

typedef struct {
    timer_autoreload_t type;  // the type of timer's event
    timer_group_t timer_group;
    timer_idx_t timer_idx;
    uint64_t timer_counter_value;
} timer_event_t;

#define TIMER_INFO_INIT(TG, TID)    {.timer_group = (TG), .timer_idx = (TID),}

static timer_info_t timer_info[4] = {
    TIMER_INFO_INIT(TIMER_GROUP_0, TIMER_0),
    TIMER_INFO_INIT(TIMER_GROUP_0, TIMER_1),
    TIMER_INFO_INIT(TIMER_GROUP_1, TIMER_0),
    TIMER_INFO_INIT(TIMER_GROUP_1, TIMER_1),
};

static intr_handle_t timer_isr_handles[SOC_TIMER_GROUP_TOTAL_TIMERS];

#define GET_TIMER_INFO(TG, TID) (&timer_info[(TG)*SOC_TIMER_GROUP_TIMERS_PER_GROUP+(TID)])

// timer group interruption handle callback
static bool test_timer_group_isr_cb(void *arg)
{
    bool is_awoken = false;
    timer_info_t *info = (timer_info_t *) arg;
    const timer_group_t timer_group = info->timer_group;
    const timer_idx_t timer_idx = info->timer_idx;
    uint64_t timer_val;
    double time;
    uint64_t alarm_value;
    timer_event_t evt;
    alarm_flag = true;
    if (timer_group_get_auto_reload_in_isr(timer_group, timer_idx)) { // For autoreload mode, the counter value has been cleared
        timer_group_clr_intr_status_in_isr(timer_group, timer_idx);
        esp_rom_printf("This is TG%d timer[%d] reload-timer alarm!\n", timer_group, timer_idx);
        timer_get_counter_value(timer_group, timer_idx, &timer_val);
        timer_get_counter_time_sec(timer_group, timer_idx, &time);
        evt.type = TIMER_AUTORELOAD_EN;
    } else {
        timer_group_clr_intr_status_in_isr(timer_group, timer_idx);
        esp_rom_printf("This is TG%d timer[%d] count-up-timer alarm!\n", timer_group, timer_idx);
        timer_get_counter_value(timer_group, timer_idx, &timer_val);
        timer_get_counter_time_sec(timer_group, timer_idx, &time);
        timer_get_alarm_value(timer_group, timer_idx, &alarm_value);
        timer_set_counter_value(timer_group, timer_idx, 0);
        evt.type = TIMER_AUTORELOAD_DIS;
    }
    evt.timer_group = timer_group;
    evt.timer_idx = timer_idx;
    evt.timer_counter_value = timer_val;
    if (timer_queue != NULL) {
        BaseType_t awoken = pdFALSE;
        BaseType_t ret = xQueueSendFromISR(timer_queue, &evt, &awoken);
        TEST_ASSERT_EQUAL(pdTRUE, ret);
        if (awoken) {
            is_awoken = true;
        }
    }
    return is_awoken;
}

// timer group interruption handle
static void test_timer_group_isr(void *arg)
{
    if (test_timer_group_isr_cb(arg)) {
        portYIELD_FROM_ISR();
    }
}

// initialize all timer
static void all_timer_init(timer_config_t *config, bool expect_init)
{
    for (uint32_t tg_idx = 0; tg_idx < TIMER_GROUP_MAX; tg_idx++) {
        for (uint32_t timer_idx = 0; timer_idx < TIMER_MAX; timer_idx++) {
            TEST_ASSERT_EQUAL((expect_init ? ESP_OK : ESP_ERR_INVALID_ARG), timer_init(tg_idx, timer_idx, config));
        }
    }
    if (timer_queue == NULL) {
        timer_queue = xQueueCreate(10, sizeof(timer_event_t));
    }
}

// deinitialize all timer
static void all_timer_deinit(void)
{
    for (uint32_t tg_idx = 0; tg_idx < TIMER_GROUP_MAX; tg_idx++) {
        for (uint32_t timer_idx = 0; timer_idx < TIMER_MAX; timer_idx++) {
            TEST_ESP_OK(timer_deinit(tg_idx, timer_idx));
        }
    }
    if (timer_queue != NULL) {
        vQueueDelete(timer_queue);
        timer_queue = NULL;
    }
}

// start all of timer
static void all_timer_start(void)
{
    for (uint32_t tg_idx = 0; tg_idx < TIMER_GROUP_MAX; tg_idx++) {
        for (uint32_t timer_idx = 0; timer_idx < TIMER_MAX; timer_idx++) {
            TEST_ESP_OK(timer_start(tg_idx, timer_idx));
        }
    }
}

static void all_timer_set_counter_value(uint64_t set_cnt_val)
{
    for (uint32_t tg_idx = 0; tg_idx < TIMER_GROUP_MAX; tg_idx++) {
        for (uint32_t timer_idx = 0; timer_idx < TIMER_MAX; timer_idx++) {
            TEST_ESP_OK(timer_set_counter_value(tg_idx, timer_idx, set_cnt_val));
        }
    }
}

static void all_timer_pause(void)
{
    for (uint32_t tg_idx = 0; tg_idx < TIMER_GROUP_MAX; tg_idx++) {
        for (uint32_t timer_idx = 0; timer_idx < TIMER_MAX; timer_idx++) {
            TEST_ESP_OK(timer_pause(tg_idx, timer_idx));
        }
    }
}

static void all_timer_get_counter_value(uint64_t set_cnt_val, bool expect_equal_set_val,
                                        uint64_t *actual_cnt_val)
{
    uint64_t current_cnt_val;
    for (uint32_t tg_idx = 0; tg_idx < TIMER_GROUP_MAX; tg_idx++) {
        for (uint32_t timer_idx = 0; timer_idx < TIMER_MAX; timer_idx++) {
            TEST_ESP_OK(timer_get_counter_value(tg_idx, timer_idx, &current_cnt_val));
            if (expect_equal_set_val) {
                TEST_ASSERT_EQUAL(set_cnt_val, current_cnt_val);
            } else {
                TEST_ASSERT_NOT_EQUAL(set_cnt_val, current_cnt_val);
                if (actual_cnt_val != NULL) {
                    actual_cnt_val[tg_idx * SOC_TIMER_GROUP_TIMERS_PER_GROUP + timer_idx] = current_cnt_val;
                }
            }
        }
    }
}

static void all_timer_get_counter_time_sec(int expect_time)
{
    double time;
    for (uint32_t tg_idx = 0; tg_idx < TIMER_GROUP_MAX; tg_idx++) {
        for (uint32_t timer_idx = 0; timer_idx < TIMER_MAX; timer_idx++) {
            TEST_ESP_OK(timer_get_counter_time_sec(tg_idx, timer_idx, &time));
            TEST_ASSERT_FLOAT_WITHIN(TIMER_DELTA, expect_time, time);
        }
    }
}

static void all_timer_set_counter_mode(timer_count_dir_t counter_dir)
{
    for (uint32_t tg_idx = 0; tg_idx < TIMER_GROUP_MAX; tg_idx++) {
        for (uint32_t timer_idx = 0; timer_idx < TIMER_MAX; timer_idx++) {
            TEST_ESP_OK(timer_set_counter_mode(tg_idx, timer_idx, counter_dir));
        }
    }
}

static void all_timer_set_divider(uint32_t divider)
{
    for (uint32_t tg_idx = 0; tg_idx < TIMER_GROUP_MAX; tg_idx++) {
        for (uint32_t timer_idx = 0; timer_idx < TIMER_MAX; timer_idx++) {
            TEST_ESP_OK(timer_set_divider(tg_idx, timer_idx, divider));
        }
    }
}

static void all_timer_set_alarm_value(uint64_t alarm_cnt_val)
{
    for (uint32_t tg_idx = 0; tg_idx < TIMER_GROUP_MAX; tg_idx++) {
        for (uint32_t timer_idx = 0; timer_idx < TIMER_MAX; timer_idx++) {
            TEST_ESP_OK(timer_set_alarm_value(tg_idx, timer_idx, alarm_cnt_val));
        }
    }
}

static void all_timer_get_alarm_value(uint64_t *alarm_vals)
{
    for (uint32_t tg_idx = 0; tg_idx < TIMER_GROUP_MAX; tg_idx++) {
        for (uint32_t timer_idx = 0; timer_idx < TIMER_MAX; timer_idx++) {
            TEST_ESP_OK(timer_get_alarm_value(tg_idx, timer_idx, &alarm_vals[tg_idx * SOC_TIMER_GROUP_TIMERS_PER_GROUP + timer_idx]));
        }
    }
}

static void all_timer_isr_reg(void)
{
    for (uint32_t tg_idx = 0; tg_idx < TIMER_GROUP_MAX; tg_idx++) {
        for (uint32_t timer_idx = 0; timer_idx < TIMER_MAX; timer_idx++) {
            TEST_ESP_OK(timer_isr_register(tg_idx, timer_idx, test_timer_group_isr,
                                           GET_TIMER_INFO(tg_idx, timer_idx), ESP_INTR_FLAG_LOWMED, &timer_isr_handles[tg_idx * SOC_TIMER_GROUP_TIMERS_PER_GROUP + timer_idx]));
        }
    }
}

static void all_timer_isr_unreg(void)
{
    for (uint32_t tg_idx = 0; tg_idx < TIMER_GROUP_MAX; tg_idx++) {
        for (uint32_t timer_idx = 0; timer_idx < TIMER_MAX; timer_idx++) {
            TEST_ESP_OK(esp_intr_free(timer_isr_handles[tg_idx * SOC_TIMER_GROUP_TIMERS_PER_GROUP + timer_idx]));
        }
    }
}

// enable interrupt and start timer
static void timer_intr_enable_and_start(int timer_group, int timer_idx, double alarm_time)
{
    TEST_ESP_OK(timer_pause(timer_group, timer_idx));
    TEST_ESP_OK(timer_set_counter_value(timer_group, timer_idx, 0x0));
    TEST_ESP_OK(timer_set_alarm_value(timer_group, timer_idx, alarm_time * TIMER_SCALE));
    TEST_ESP_OK(timer_enable_intr(timer_group, timer_idx));
    TEST_ESP_OK(timer_start(timer_group, timer_idx));
}

static void timer_isr_check(timer_group_t group_num, timer_idx_t timer_num, timer_autoreload_t autoreload, uint64_t alarm_cnt_val)
{
    timer_event_t evt;
    TEST_ASSERT_EQUAL(pdTRUE, xQueueReceive(timer_queue, &evt, 3000 / portTICK_PERIOD_MS));
    TEST_ASSERT_EQUAL(autoreload, evt.type);
    TEST_ASSERT_EQUAL(group_num, evt.timer_group);
    TEST_ASSERT_EQUAL(timer_num, evt.timer_idx);
    TEST_ASSERT_EQUAL((uint32_t)(alarm_cnt_val >> 32), (uint32_t)(evt.timer_counter_value >> 32));
    TEST_ASSERT_UINT32_WITHIN(1000, (uint32_t)(alarm_cnt_val), (uint32_t)(evt.timer_counter_value));
}

static void timer_intr_enable_disable_test(timer_group_t group_num, timer_idx_t timer_num, uint64_t alarm_cnt_val)
{
    alarm_flag = false;
    TEST_ESP_OK(timer_set_counter_value(group_num, timer_num, 0));
    TEST_ESP_OK(timer_set_alarm(group_num, timer_num, TIMER_ALARM_EN));
    TEST_ESP_OK(timer_enable_intr(group_num, timer_num));
    TEST_ESP_OK(timer_start(group_num, timer_num));
    timer_isr_check(group_num, timer_num, TIMER_AUTORELOAD_DIS, alarm_cnt_val);
    TEST_ASSERT_EQUAL(true, alarm_flag);

    // disable interrupt of tg0_timer0
    alarm_flag = false;
    TEST_ESP_OK(timer_pause(group_num, timer_num));
    TEST_ESP_OK(timer_set_counter_value(group_num, timer_num, 0));
    TEST_ESP_OK(timer_disable_intr(group_num, timer_num));
    TEST_ESP_OK(timer_start(group_num, timer_num));
    vTaskDelay(2000 / portTICK_PERIOD_MS);
    TEST_ASSERT_EQUAL(false, alarm_flag);
}

TEST_CASE("Timer init", "[hw_timer]")
{
    // Test init 1:config parameter
    // empty parameter
    timer_config_t config0 = { };
    all_timer_init(&config0, false);

    // only one parameter
    timer_config_t config1 = {
        .auto_reload = TIMER_AUTORELOAD_EN
    };
    all_timer_init(&config1, false);

    // lack one parameter
    timer_config_t config2 = {
        .auto_reload = TIMER_AUTORELOAD_EN,
        .counter_dir = TIMER_COUNT_UP,
        .divider = TIMER_DIVIDER,
        .counter_en = TIMER_START,
        .intr_type = TIMER_INTR_LEVEL
    };
    all_timer_init(&config2, true);

    config2.counter_en = TIMER_PAUSE;
    all_timer_init(&config2, true);

    // error config parameter
    timer_config_t config3 = {
        .alarm_en = 3,     //error parameter
        .auto_reload = TIMER_AUTORELOAD_EN,
        .counter_dir = TIMER_COUNT_UP,
        .divider = TIMER_DIVIDER,
        .counter_en = TIMER_START,
        .intr_type = TIMER_INTR_LEVEL
    };
    all_timer_init(&config3, true);
    timer_config_t get_config;
    TEST_ESP_OK(timer_get_config(TIMER_GROUP_1, TIMER_0, &get_config));
    printf("Error config alarm_en is %d\n", get_config.alarm_en);
    TEST_ASSERT_NOT_EQUAL(config3.alarm_en, get_config.alarm_en);

    // Test init 2:  init
    uint64_t set_timer_val = 0x0;
    timer_config_t config = {
        .alarm_en = TIMER_ALARM_DIS,
        .auto_reload = TIMER_AUTORELOAD_EN,
        .counter_dir = TIMER_COUNT_UP,
        .divider = TIMER_DIVIDER,
        .counter_en = TIMER_START,
        .intr_type = TIMER_INTR_LEVEL
    };

    // judge get config parameters
    TEST_ESP_OK(timer_init(TIMER_GROUP_0, TIMER_0, &config));
    TEST_ESP_OK(timer_get_config(TIMER_GROUP_0, TIMER_0, &get_config));
    TEST_ASSERT_EQUAL(config.alarm_en, get_config.alarm_en);
    TEST_ASSERT_EQUAL(config.auto_reload, get_config.auto_reload);
    TEST_ASSERT_EQUAL(config.counter_dir, get_config.counter_dir);
    TEST_ASSERT_EQUAL(config.counter_en, get_config.counter_en);
    TEST_ASSERT_EQUAL(config.intr_type, get_config.intr_type);
    TEST_ASSERT_EQUAL(config.divider, get_config.divider);

    all_timer_init(&config, true);
    all_timer_pause();
    all_timer_set_counter_value(set_timer_val);
    all_timer_start();
    all_timer_get_counter_value(set_timer_val, false, NULL);

    // Test init 3:  wrong parameter
    TEST_ASSERT_EQUAL(ESP_ERR_INVALID_ARG, timer_init(-1, TIMER_0, &config));
    TEST_ASSERT_EQUAL(ESP_ERR_INVALID_ARG, timer_init(TIMER_GROUP_1, 2, &config));
    TEST_ASSERT_EQUAL(ESP_ERR_INVALID_ARG, timer_init(TIMER_GROUP_1, -1, &config));
    TEST_ASSERT_EQUAL(ESP_ERR_INVALID_ARG, timer_init(2, TIMER_0, &config));
    all_timer_deinit();
}

/**
 * read count case:
 * 1. start timer compare value
 * 2. pause timer compare value
 * 3. delay some time */
TEST_CASE("Timer read counter value", "[hw_timer]")
{
    timer_config_t config = {
        .alarm_en = TIMER_ALARM_EN,
        .auto_reload = TIMER_AUTORELOAD_EN,
        .counter_dir = TIMER_COUNT_UP,
        .divider = TIMER_DIVIDER,
        .counter_en = TIMER_START,
        .intr_type = TIMER_INTR_LEVEL
    };
    uint64_t set_timer_val = 0x0;

    all_timer_init(&config, true);

    // Test read value 1: start timer get counter value
    all_timer_set_counter_value(set_timer_val);
    all_timer_start();
    all_timer_get_counter_value(set_timer_val, false, NULL);

    // Test read value 2: pause timer get counter value
    all_timer_pause();
    set_timer_val = 0x30405000ULL;
    all_timer_set_counter_value(set_timer_val);
    all_timer_get_counter_value(set_timer_val, true, NULL);

    // Test read value 3:delay 1s get counter value
    set_timer_val = 0x0;
    all_timer_set_counter_value(set_timer_val);
    all_timer_start();
    vTaskDelay(1000 / portTICK_PERIOD_MS);
    all_timer_get_counter_time_sec(1);
    all_timer_deinit();
}

/**
 * start timer case:
 * 1. normal start
 * 2. error start parameter
 * */
TEST_CASE("Timer start", "[hw_timer]")
{
    timer_config_t config = {
        .alarm_en = TIMER_ALARM_EN,
        .auto_reload = TIMER_AUTORELOAD_EN,
        .counter_dir = TIMER_COUNT_UP,
        .divider = TIMER_DIVIDER,
        .counter_en = TIMER_START,
        .intr_type = TIMER_INTR_LEVEL
    };
    uint64_t set_timer_val = 0x0;
    all_timer_init(&config, true);

    //Test start 1: normal start
    all_timer_start();
    all_timer_set_counter_value(set_timer_val);
    all_timer_get_counter_value(set_timer_val, false, NULL);

    //Test start 2:wrong parameter
    TEST_ASSERT_EQUAL(ESP_ERR_INVALID_ARG, timer_start(2, TIMER_0));
    TEST_ASSERT_EQUAL(ESP_ERR_INVALID_ARG, timer_start(-1, TIMER_0));
    TEST_ASSERT_EQUAL(ESP_ERR_INVALID_ARG, timer_start(TIMER_GROUP_1, 2));
    TEST_ASSERT_EQUAL(ESP_ERR_INVALID_ARG, timer_start(TIMER_GROUP_1, -1));
    all_timer_deinit();
}

/**
 * pause timer case:
 * 1. normal pause, read value
 * 2. error pause error
 */
TEST_CASE("Timer pause", "[hw_timer]")
{
    timer_config_t config = {
        .alarm_en = TIMER_ALARM_EN,
        .auto_reload = TIMER_AUTORELOAD_EN,
        .counter_dir = TIMER_COUNT_UP,
        .divider = TIMER_DIVIDER,
        .counter_en = TIMER_START,
        .intr_type = TIMER_INTR_LEVEL
    };
    uint64_t set_timer_val = 0x0;
    all_timer_init(&config, true);

    //Test pause 1: right parameter
    all_timer_pause();
    all_timer_set_counter_value(set_timer_val);
    all_timer_get_counter_value(set_timer_val, true, NULL);

    //Test pause 2: wrong parameter
    TEST_ASSERT_EQUAL(ESP_ERR_INVALID_ARG, timer_pause(-1, TIMER_0));
    TEST_ASSERT_EQUAL(ESP_ERR_INVALID_ARG, timer_pause(TIMER_GROUP_0, -1));
    TEST_ASSERT_EQUAL(ESP_ERR_INVALID_ARG, timer_pause(2, TIMER_0));
    TEST_ASSERT_EQUAL(ESP_ERR_INVALID_ARG, timer_pause(TIMER_GROUP_1, 2));
    all_timer_deinit();
}

// positive mode and negative mode
TEST_CASE("Timer counter mode (up / down)", "[hw_timer]")
{
    timer_config_t config = {
        .alarm_en = TIMER_ALARM_EN,
        .auto_reload = TIMER_AUTORELOAD_EN,
        .counter_dir = TIMER_COUNT_UP,
        .divider = TIMER_DIVIDER,
        .counter_en = TIMER_START,
        .intr_type = TIMER_INTR_LEVEL
    };
    uint64_t set_timer_val = 0x0;
    all_timer_init(&config, true);
    all_timer_pause();

    // Test counter mode 1: TIMER_COUNT_UP
    all_timer_set_counter_mode(TIMER_COUNT_UP);
    all_timer_set_counter_value(set_timer_val);
    all_timer_start();
    vTaskDelay(1000 / portTICK_PERIOD_MS);
    all_timer_get_counter_time_sec(1);

    // Test counter mode 2: TIMER_COUNT_DOWN
    all_timer_pause();
    set_timer_val = 0x00E4E1C0ULL;          // 3s clock counter value
    all_timer_set_counter_mode(TIMER_COUNT_DOWN);
    all_timer_set_counter_value(set_timer_val);
    all_timer_start();
    vTaskDelay(1000 / portTICK_PERIOD_MS);
    all_timer_get_counter_time_sec(2);

    // Test counter mode 3 : wrong parameter
    TEST_ASSERT_EQUAL(ESP_ERR_INVALID_ARG, timer_set_counter_mode(TIMER_GROUP_0, TIMER_0, -1));
    TEST_ASSERT_EQUAL(ESP_ERR_INVALID_ARG, timer_set_counter_mode(TIMER_GROUP_0, TIMER_0, 2));
    all_timer_deinit();
}

/**
 * divider case:
 * 1. different divider, read value
 *       Note: divide 0 = divide max, divide 1 = divide 2
 * 2. error parameter
 *
 * the frequency(timer counts in one sec):
 *  80M/divider = 800*100000
 *  max divider value is 65536, its frequency is 1220 (nearly about 1KHz)
 */
TEST_CASE("Timer divider", "[hw_timer]")
{
    int i;
    timer_config_t config = {
        .alarm_en = TIMER_ALARM_EN,
        .auto_reload = TIMER_AUTORELOAD_EN,
        .counter_dir = TIMER_COUNT_UP,
        .divider = TIMER_DIVIDER,
        .counter_en = TIMER_START,
        .intr_type = TIMER_INTR_LEVEL
    };
    uint64_t set_timer_val = 0;
    uint64_t time_val[4];
    uint64_t comp_time_val[4];
    all_timer_init(&config, true);

    all_timer_pause();
    all_timer_set_counter_value(set_timer_val);

    all_timer_start();
    vTaskDelay(1000 / portTICK_PERIOD_MS);
    all_timer_get_counter_value(set_timer_val, false, time_val);

    // compare divider  16 and 8, value should be double
    all_timer_pause();
    all_timer_set_divider(8);
    all_timer_set_counter_value(set_timer_val);

    all_timer_start();
    vTaskDelay(1000 / portTICK_PERIOD_MS);         //delay the same time
    all_timer_get_counter_value(set_timer_val, false, comp_time_val);
    for (i = 0; i < 4; i++) {
        TEST_ASSERT_INT_WITHIN(5000, 5000000, time_val[i]);
        TEST_ASSERT_INT_WITHIN(10000, 10000000, comp_time_val[i]);
    }

    // divider is 256, value should be 2^4
    all_timer_pause();
    all_timer_set_divider(256);
    all_timer_set_counter_value(set_timer_val);
    all_timer_start();
    vTaskDelay(1000 / portTICK_PERIOD_MS);         //delay the same time
    all_timer_get_counter_value(set_timer_val, false, comp_time_val);
    for (i = 0; i < 4; i++) {
        TEST_ASSERT_INT_WITHIN(5000, 5000000, time_val[i]);
        TEST_ASSERT_INT_WITHIN(3126, 312500, comp_time_val[i]);
    }

    // extrem value test
    all_timer_pause();
    all_timer_set_divider(2);
    all_timer_set_counter_value(set_timer_val);
    all_timer_start();
    vTaskDelay(1000 / portTICK_PERIOD_MS);
    all_timer_get_counter_value(set_timer_val, false, comp_time_val);
    for (i = 0; i < 4; i++) {
        TEST_ASSERT_INT_WITHIN(5000, 5000000, time_val[i]);
        TEST_ASSERT_INT_WITHIN(40000, 40000000, comp_time_val[i]);
    }

    all_timer_pause();
    all_timer_set_divider(65536);
    all_timer_set_counter_value(set_timer_val);
    all_timer_start();
    vTaskDelay(1000 / portTICK_PERIOD_MS);         //delay the same time
    all_timer_get_counter_value(set_timer_val, false, comp_time_val);
    for (i = 0; i < 4; i++) {
        TEST_ASSERT_INT_WITHIN(5000, 5000000, time_val[i]);
        TEST_ASSERT_INT_WITHIN(2, 1220, comp_time_val[i]);
    }

    // divider is 1 should be equal with 2
    all_timer_pause();
    TEST_ASSERT_EQUAL(ESP_ERR_INVALID_ARG, timer_set_divider(TIMER_GROUP_0, TIMER_0, 1));
    TEST_ASSERT_EQUAL(ESP_ERR_INVALID_ARG, timer_set_divider(TIMER_GROUP_1, TIMER_0, 1));

    all_timer_pause();
    TEST_ASSERT_EQUAL(ESP_ERR_INVALID_ARG, timer_set_divider(TIMER_GROUP_0, TIMER_0, 65537));
    TEST_ASSERT_EQUAL(ESP_ERR_INVALID_ARG, timer_set_divider(TIMER_GROUP_1, TIMER_0, 65537));
    all_timer_deinit();
}

/**
 * enable alarm case:
 * 1. enable alarm ,set alarm value and get value
 * 2. disable alarm ,set alarm value and get value
 */
TEST_CASE("Timer enable alarm", "[hw_timer]")
{
    timer_config_t config_test = {
        .alarm_en = TIMER_ALARM_DIS,
        .auto_reload = TIMER_AUTORELOAD_DIS,
        .counter_dir = TIMER_COUNT_UP,
        .divider = TIMER_DIVIDER,
        .counter_en = TIMER_PAUSE,
        .intr_type = TIMER_INTR_LEVEL
    };
    all_timer_init(&config_test, true);
    all_timer_isr_reg();

    // enable alarm of tg0_timer1
    alarm_flag = false;
    TEST_ESP_OK(timer_set_alarm(TIMER_GROUP_0, TIMER_0, TIMER_ALARM_EN));
    timer_intr_enable_and_start(TIMER_GROUP_0, TIMER_0, 1.2);
    timer_isr_check(TIMER_GROUP_0, TIMER_0, TIMER_AUTORELOAD_DIS, 1.2 * TIMER_SCALE);
    TEST_ASSERT_EQUAL(true, alarm_flag);

    // disable alarm of tg0_timer1
    alarm_flag = false;
    TEST_ESP_OK(timer_set_alarm(TIMER_GROUP_0, TIMER_0, TIMER_ALARM_DIS));
    timer_intr_enable_and_start(TIMER_GROUP_0, TIMER_0, 1.2);
    vTaskDelay(2000 / portTICK_PERIOD_MS);
    TEST_ASSERT_EQUAL(false, alarm_flag);

    // enable alarm of tg1_timer0
    alarm_flag = false;
    TEST_ESP_OK(timer_set_alarm(TIMER_GROUP_1, TIMER_0, TIMER_ALARM_EN));
    timer_intr_enable_and_start(TIMER_GROUP_1, TIMER_0, 1.2);
    timer_isr_check(TIMER_GROUP_1, TIMER_0, TIMER_AUTORELOAD_DIS, 1.2 * TIMER_SCALE);
    TEST_ASSERT_EQUAL(true, alarm_flag);

    // disable alarm of tg1_timer0
    alarm_flag = false;
    TEST_ESP_OK(timer_set_alarm(TIMER_GROUP_1, TIMER_0, TIMER_ALARM_DIS));
    timer_intr_enable_and_start(TIMER_GROUP_1, TIMER_0, 1.2);
    vTaskDelay(2000 / portTICK_PERIOD_MS);
    TEST_ASSERT_EQUAL(false, alarm_flag);
    all_timer_isr_unreg();
    all_timer_deinit();
}

/**
 * alarm value case:
 * 1. set alarm value and get value
 * 2. interrupt test time
 */
TEST_CASE("Timer set alarm value", "[hw_timer]")
{
    uint64_t alarm_val[SOC_TIMER_GROUP_TOTAL_TIMERS];
    timer_config_t config = {
        .alarm_en = TIMER_ALARM_EN,
        .auto_reload = TIMER_AUTORELOAD_DIS,
        .counter_dir = TIMER_COUNT_UP,
        .divider = TIMER_DIVIDER,
        .counter_en = TIMER_PAUSE,
        .intr_type = TIMER_INTR_LEVEL
    };
    all_timer_init(&config, true);
    all_timer_isr_reg();

    // set and get alarm value
    all_timer_set_alarm_value(3 * TIMER_SCALE);
    all_timer_get_alarm_value(alarm_val);
    for (int i = 0; i < SOC_TIMER_GROUP_TOTAL_TIMERS; i++) {
        TEST_ASSERT_EQUAL_UINT32(3 * TIMER_SCALE, (uint32_t)alarm_val[i]);
    }

    // set interrupt read alarm value
    timer_intr_enable_and_start(TIMER_GROUP_0, TIMER_0, 2.4);
    timer_isr_check(TIMER_GROUP_0, TIMER_0, TIMER_AUTORELOAD_DIS, 2.4 * TIMER_SCALE);
    timer_intr_enable_and_start(TIMER_GROUP_1, TIMER_0, 1.4);
    timer_isr_check(TIMER_GROUP_1, TIMER_0, TIMER_AUTORELOAD_DIS, 1.4 * TIMER_SCALE);
    all_timer_isr_unreg();
    all_timer_deinit();
}

/**
 * auto reload case:
 * 1. no reload
 * 2. auto reload
 */
TEST_CASE("Timer auto reload", "[hw_timer]")
{
    timer_config_t config = {
        .alarm_en = TIMER_ALARM_EN,
        .auto_reload = TIMER_AUTORELOAD_DIS,
        .counter_dir = TIMER_COUNT_UP,
        .divider = TIMER_DIVIDER,
        .counter_en = TIMER_PAUSE,
        .intr_type = TIMER_INTR_LEVEL
    };
    all_timer_init(&config, true);
    all_timer_isr_reg();

    // test disable auto_reload
    timer_intr_enable_and_start(TIMER_GROUP_0, TIMER_0, 1.14);
    timer_isr_check(TIMER_GROUP_0, TIMER_0, TIMER_AUTORELOAD_DIS, 1.14 * TIMER_SCALE);

    //test enable auto_reload
    TEST_ESP_OK(timer_set_auto_reload(TIMER_GROUP_1, TIMER_0, TIMER_AUTORELOAD_EN));
    timer_intr_enable_and_start(TIMER_GROUP_1, TIMER_0, 1.4);
    timer_isr_check(TIMER_GROUP_1, TIMER_0, TIMER_AUTORELOAD_EN, 0);
    all_timer_isr_unreg();
    all_timer_deinit();
}

/**
 * timer_enable_intr case:
 * 1. enable timer_intr
 * 2. disable timer_intr
 */
TEST_CASE("Timer enable timer interrupt", "[hw_timer]")
{
    timer_config_t config = {
        .alarm_en = TIMER_ALARM_DIS,
        .counter_dir = TIMER_COUNT_UP,
        .auto_reload = TIMER_AUTORELOAD_DIS,
        .divider = TIMER_DIVIDER,
        .counter_en = TIMER_PAUSE,
        .intr_type = TIMER_INTR_LEVEL
    };

    all_timer_init(&config, true);
    all_timer_pause();
    all_timer_set_alarm_value(1.2 * TIMER_SCALE);
    all_timer_set_counter_value(0);
    all_timer_isr_reg();
    timer_intr_enable_disable_test(TIMER_GROUP_0, TIMER_0, 1.2 * TIMER_SCALE);
    timer_intr_enable_disable_test(TIMER_GROUP_1, TIMER_0, 1.2 * TIMER_SCALE);

    // enable interrupt of tg1_timer0 again
    alarm_flag = false;
    TEST_ESP_OK(timer_pause(TIMER_GROUP_1, TIMER_0));
    TEST_ESP_OK(timer_set_counter_value(TIMER_GROUP_1, TIMER_0, 0));
    TEST_ESP_OK(timer_set_alarm(TIMER_GROUP_1, TIMER_0, TIMER_ALARM_EN));
    TEST_ESP_OK(timer_enable_intr(TIMER_GROUP_1, TIMER_0));
    TEST_ESP_OK(timer_start(TIMER_GROUP_1, TIMER_0));
    timer_isr_check(TIMER_GROUP_1, TIMER_0, TIMER_AUTORELOAD_DIS, 1.2 * TIMER_SCALE);
    TEST_ASSERT_EQUAL(true, alarm_flag);
    all_timer_isr_unreg();
    all_timer_deinit();
}

/**
 * enable timer group case:
 * 1. enable timer group
 * 2. disable timer group
 */
TEST_CASE("Timer enable timer group interrupt", "[hw_timer][ignore]")
{
    intr_handle_t isr_handle = NULL;
    alarm_flag = false;
    timer_config_t config = {
        .alarm_en = TIMER_ALARM_EN,
        .auto_reload = TIMER_AUTORELOAD_DIS,
        .counter_dir = TIMER_COUNT_UP,
        .divider = TIMER_DIVIDER,
        .counter_en = TIMER_PAUSE,
        .intr_type = TIMER_INTR_LEVEL
    };
    uint64_t set_timer_val = 0x0;
    all_timer_init(&config, true);
    all_timer_pause();
    all_timer_set_counter_value(set_timer_val);
    all_timer_set_alarm_value(1.2 * TIMER_SCALE);

    // enable interrupt of tg0_timer0
    TEST_ESP_OK(timer_group_intr_enable(TIMER_GROUP_0, TIMER_INTR_T0));
    TEST_ESP_OK(timer_isr_register(TIMER_GROUP_0, TIMER_0, test_timer_group_isr,
                                   GET_TIMER_INFO(TIMER_GROUP_0, TIMER_0), ESP_INTR_FLAG_LOWMED, &isr_handle));
    TEST_ESP_OK(timer_start(TIMER_GROUP_0, TIMER_0));
    timer_isr_check(TIMER_GROUP_0, TIMER_0, TIMER_AUTORELOAD_DIS, 1.2 * TIMER_SCALE);
    TEST_ASSERT_EQUAL(true, alarm_flag);

    // disable interrupt of tg0_timer0
    alarm_flag = false;
    TEST_ESP_OK(timer_set_counter_value(TIMER_GROUP_0, TIMER_0, set_timer_val));
    TEST_ESP_OK(timer_group_intr_disable(TIMER_GROUP_0, TIMER_INTR_T0));
    TEST_ESP_OK(timer_start(TIMER_GROUP_0, TIMER_0));
    vTaskDelay(2000 / portTICK_PERIOD_MS);
    TEST_ASSERT_EQUAL(false, alarm_flag);
    esp_intr_free(isr_handle);
}

/**
 * isr_register case:
 * Cycle register 15 times, compare the heap size to ensure no memory leaks
 */
TEST_CASE("Timer interrupt register", "[hw_timer]")
{
    timer_config_t config = {
        .alarm_en = TIMER_ALARM_DIS,
        .auto_reload = TIMER_AUTORELOAD_DIS,
        .counter_dir = TIMER_COUNT_UP,
        .divider = TIMER_DIVIDER,
        .counter_en = TIMER_PAUSE,
        .intr_type = TIMER_INTR_LEVEL
    };

    for (int i = 0; i < 15; i++) {
        all_timer_init(&config, true);
        timer_isr_handle_t timer_isr_handle[TIMER_GROUP_MAX * TIMER_MAX];
        for (uint32_t tg_idx = 0; tg_idx < TIMER_GROUP_MAX; tg_idx++) {
            for (uint32_t timer_idx = 0; timer_idx < TIMER_MAX; timer_idx++) {
                TEST_ESP_OK(timer_isr_register(tg_idx, timer_idx, test_timer_group_isr,
                                               GET_TIMER_INFO(tg_idx, timer_idx), ESP_INTR_FLAG_LOWMED, &timer_isr_handle[tg_idx * SOC_TIMER_GROUP_TIMERS_PER_GROUP + timer_idx]));
            }
        }

        TEST_ESP_OK(timer_set_alarm(TIMER_GROUP_0, TIMER_0, TIMER_ALARM_EN));
        timer_intr_enable_and_start(TIMER_GROUP_0, TIMER_0, 0.54);
        TEST_ESP_OK(timer_set_alarm(TIMER_GROUP_1, TIMER_0, TIMER_ALARM_EN));
        timer_intr_enable_and_start(TIMER_GROUP_1, TIMER_0, 0.34);

        TEST_ESP_OK(timer_set_auto_reload(TIMER_GROUP_0, TIMER_0, TIMER_AUTORELOAD_EN));
        TEST_ESP_OK(timer_set_alarm(TIMER_GROUP_0, TIMER_0, TIMER_ALARM_EN));
        timer_intr_enable_and_start(TIMER_GROUP_0, TIMER_0, 0.4);
        TEST_ESP_OK(timer_set_auto_reload(TIMER_GROUP_1, TIMER_0, TIMER_AUTORELOAD_EN));
        TEST_ESP_OK(timer_set_alarm(TIMER_GROUP_1, TIMER_0, TIMER_ALARM_EN));
        timer_intr_enable_and_start(TIMER_GROUP_1, TIMER_0, 0.6);
        vTaskDelay(1000 / portTICK_PERIOD_MS);

        // ISR hanlde function should be free before next ISR register.
        for (uint32_t tg_idx = 0; tg_idx < TIMER_GROUP_MAX; tg_idx++) {
            for (uint32_t timer_idx = 0; timer_idx < TIMER_MAX; timer_idx++) {
                TEST_ESP_OK(esp_intr_free(timer_isr_handle[tg_idx * SOC_TIMER_GROUP_TIMERS_PER_GROUP + timer_idx]));
            }
        }
        all_timer_deinit();
    }
}

#if SOC_TIMER_GROUP_SUPPORT_XTAL
/**
 * Timer clock source:
 * 1. configure clock source as APB clock, and enable timer interrupt
 * 2. configure clock source as XTAL clock, adn enable timer interrupt
 */
TEST_CASE("Timer clock source", "[hw_timer]")
{
    // configure clock source as APB clock
    uint32_t timer_scale = rtc_clk_apb_freq_get() / TIMER_DIVIDER;
    timer_config_t config = {
        .alarm_en = TIMER_ALARM_DIS,
        .auto_reload = TIMER_AUTORELOAD_DIS,
        .counter_dir = TIMER_COUNT_UP,
        .divider = TIMER_DIVIDER,
        .counter_en = TIMER_PAUSE,
        .intr_type = TIMER_INTR_LEVEL,
        .clk_src = TIMER_SRC_CLK_APB
    };
    all_timer_init(&config, true);
    all_timer_pause();
    all_timer_set_alarm_value(1.2 * timer_scale);
    all_timer_set_counter_value(0);
    all_timer_isr_reg();

    timer_intr_enable_disable_test(TIMER_GROUP_0, TIMER_0, 1.2 * timer_scale);
    timer_intr_enable_disable_test(TIMER_GROUP_1, TIMER_0, 1.2 * timer_scale );

    // configure clock source as XTAL clock
    all_timer_pause();
    timer_scale = rtc_clk_xtal_freq_get() * 1000000 / TIMER_DIVIDER;
    config.clk_src = TIMER_SRC_CLK_XTAL;
    all_timer_init(&config, true);
    all_timer_set_alarm_value(1.2 * timer_scale);

    timer_intr_enable_disable_test(TIMER_GROUP_0, TIMER_0, 1.2 * timer_scale);
    timer_intr_enable_disable_test(TIMER_GROUP_1, TIMER_0, 1.2 * timer_scale );

    all_timer_isr_unreg();
    all_timer_deinit();
}
#endif

/**
 * Timer ISR callback test
 */
TEST_CASE("Timer ISR callback", "[hw_timer]")
{
    alarm_flag = false;
    timer_config_t config = {
        .alarm_en = TIMER_ALARM_EN,
        .auto_reload = TIMER_AUTORELOAD_DIS,
        .counter_dir = TIMER_COUNT_UP,
        .divider = TIMER_DIVIDER,
        .counter_en = TIMER_PAUSE,
        .intr_type = TIMER_INTR_LEVEL,
    };
    uint32_t timer_scale = rtc_clk_apb_freq_get() / TIMER_DIVIDER;
    uint64_t alarm_cnt_val = 1.2 * timer_scale;
    uint64_t set_timer_val = 0x0;
    all_timer_init(&config, true);
    all_timer_pause();
    all_timer_set_alarm_value(alarm_cnt_val);
    all_timer_set_counter_value(set_timer_val);

    // add isr callback for tg0_timer0
    TEST_ESP_OK(timer_isr_callback_add(TIMER_GROUP_0, TIMER_0, test_timer_group_isr_cb,
                                       GET_TIMER_INFO(TIMER_GROUP_0, TIMER_0), ESP_INTR_FLAG_LOWMED));
    TEST_ESP_OK(timer_set_counter_value(TIMER_GROUP_0, TIMER_0, set_timer_val));
    TEST_ESP_OK(timer_start(TIMER_GROUP_0, TIMER_0));
    timer_isr_check(TIMER_GROUP_0, TIMER_0, TIMER_AUTORELOAD_DIS, alarm_cnt_val);
    TEST_ASSERT_EQUAL(true, alarm_flag);

    // remove isr callback for tg0_timer0
    TEST_ESP_OK(timer_pause(TIMER_GROUP_0, TIMER_0));
    TEST_ESP_OK(timer_isr_callback_remove(TIMER_GROUP_0, TIMER_0));
    alarm_flag = false;
    TEST_ESP_OK(timer_set_counter_value(TIMER_GROUP_0, TIMER_0, set_timer_val));
    TEST_ESP_OK(timer_start(TIMER_GROUP_0, TIMER_0));
    vTaskDelay(2000 / portTICK_PERIOD_MS);
    TEST_ASSERT_EQUAL(false, alarm_flag);

    // add isr callback for tg1_timer0
    TEST_ESP_OK(timer_pause(TIMER_GROUP_1, TIMER_0));
    TEST_ESP_OK(timer_isr_callback_add(TIMER_GROUP_1, TIMER_0, test_timer_group_isr_cb,
                                       GET_TIMER_INFO(TIMER_GROUP_1, TIMER_0), ESP_INTR_FLAG_LOWMED));
    TEST_ESP_OK(timer_set_counter_value(TIMER_GROUP_1, TIMER_0, set_timer_val));
    TEST_ESP_OK(timer_start(TIMER_GROUP_1, TIMER_0));
    timer_isr_check(TIMER_GROUP_1, TIMER_0, TIMER_AUTORELOAD_DIS, alarm_cnt_val);
    TEST_ASSERT_EQUAL(true, alarm_flag);

    // remove isr callback for tg1_timer0
    TEST_ESP_OK(timer_pause(TIMER_GROUP_1, TIMER_0));
    TEST_ESP_OK(timer_isr_callback_remove(TIMER_GROUP_1, TIMER_0));
    alarm_flag = false;
    TEST_ESP_OK(timer_set_counter_value(TIMER_GROUP_1, TIMER_0, set_timer_val));
    TEST_ESP_OK(timer_start(TIMER_GROUP_1, TIMER_0));
    vTaskDelay(2000 / portTICK_PERIOD_MS);
    TEST_ASSERT_EQUAL(false, alarm_flag);
    all_timer_deinit();
}

/**
 * Timer memory test
 */
TEST_CASE("Timer memory test", "[hw_timer]")
{
    timer_config_t config = {
        .alarm_en = TIMER_ALARM_EN,
        .auto_reload = TIMER_AUTORELOAD_EN,
        .counter_dir = TIMER_COUNT_UP,
        .divider = TIMER_DIVIDER,
        .counter_en = TIMER_PAUSE,
        .intr_type = TIMER_INTR_LEVEL,
    };
    for (uint32_t i = 0; i < 100; i++) {
        all_timer_init(&config, true);
        all_timer_deinit();
    }
}

// The following test cases are used to check if the timer_group fix works.
// Some applications use a software reset, at the reset time, timer_group happens to generate an interrupt.
// but software reset does not clear interrupt status, this is not safe for application when enable the interrupt of timer_group.
// This case will check under this fix, whether the interrupt status is cleared after timer_group initialization.
static void timer_group_test_init(void)
{
    static const uint32_t time_ms = 100; //Alarm value 100ms.
    static const uint16_t timer_div = 10; //Timer prescaler
    static const uint32_t ste_val = time_ms * (TIMER_BASE_CLK / timer_div / 1000);
    timer_config_t config = {
        .divider = timer_div,
        .counter_dir = TIMER_COUNT_UP,
        .counter_en = TIMER_PAUSE,
        .alarm_en = TIMER_ALARM_EN,
        .intr_type = TIMER_INTR_LEVEL,
        .auto_reload = TIMER_AUTORELOAD_EN,
    };
    TEST_ESP_OK(timer_init(TIMER_GROUP_0, TIMER_0, &config));
    TEST_ESP_OK(timer_set_counter_value(TIMER_GROUP_0, TIMER_0, 0x00000000ULL));
    TEST_ESP_OK(timer_set_alarm_value(TIMER_GROUP_0, TIMER_0, ste_val));
    //Now the timer is ready.
    //We only need to check the interrupt status and don't have to register a interrupt routine.
}

static void timer_group_test_first_stage(void)
{
    static uint8_t loop_cnt = 0;
    timer_group_test_init();
    //Start timer
    TEST_ESP_OK(timer_enable_intr(TIMER_GROUP_0, TIMER_0));
    TEST_ESP_OK(timer_start(TIMER_GROUP_0, TIMER_0));
    //Waiting for timer_group to generate an interrupt
    while ( !(timer_group_get_intr_status_in_isr(TIMER_GROUP_0) & TIMER_INTR_T0) &&
            loop_cnt++ < 100) {
        vTaskDelay(200);
    }
    TEST_ASSERT_EQUAL(TIMER_INTR_T0, timer_group_get_intr_status_in_isr(TIMER_GROUP_0) & TIMER_INTR_T0);
    esp_restart();
}

static void timer_group_test_second_stage(void)
{
    TEST_ASSERT_EQUAL(ESP_RST_SW, esp_reset_reason());
    timer_group_test_init();
    //After the timer_group is initialized, TIMERG0.int_raw.t0 should be cleared.
    TEST_ASSERT_EQUAL(0, timer_group_get_intr_status_in_isr(TIMER_GROUP_0) & TIMER_INTR_T0);
}

TEST_CASE_MULTIPLE_STAGES("timer_group software reset test",
                          "[intr_status][intr_status = 0]",
                          timer_group_test_first_stage,
                          timer_group_test_second_stage);