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

/*
 Tests for the spi_master device driver
*/

#include <esp_types.h>
#include <stdio.h>
#include <stdlib.h>
#include <malloc.h>
#include <string.h>
#include "rom/ets_sys.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "freertos/semphr.h"
#include "freertos/queue.h"
#include "freertos/xtensa_api.h"
#include "unity.h"
#include "driver/spi_master.h"
#include "driver/spi_slave.h"
#include "soc/dport_reg.h"
#include "soc/spi_reg.h"
#include "soc/spi_struct.h"
#include "esp_heap_caps.h"
#include "esp_log.h"
#include "freertos/ringbuf.h"

const static char TAG[] = "test_spi";

static void check_spi_pre_n_for(int clk, int pre, int n)
{
    esp_err_t ret;
    spi_device_handle_t handle;

    spi_device_interface_config_t devcfg={
        .command_bits=0,
        .address_bits=0,
        .dummy_bits=0,
        .clock_speed_hz=clk,
        .duty_cycle_pos=128,
        .mode=0,
        .spics_io_num=21,
        .queue_size=3
    };
    char sendbuf[16]="";
    spi_transaction_t t;
    memset(&t, 0, sizeof(t));

    ret=spi_bus_add_device(HSPI_HOST, &devcfg, &handle);
    TEST_ASSERT(ret==ESP_OK);

    t.length=16*8;
    t.tx_buffer=sendbuf;
    ret=spi_device_transmit(handle, &t);

    printf("Checking clk rate %dHz. expect pre %d n %d, got pre %d n %d\n", clk, pre, n, SPI2.clock.clkdiv_pre+1, SPI2.clock.clkcnt_n+1);

    TEST_ASSERT(SPI2.clock.clkcnt_n+1==n);
    TEST_ASSERT(SPI2.clock.clkdiv_pre+1==pre);

    ret=spi_bus_remove_device(handle);
    TEST_ASSERT(ret==ESP_OK);
}


TEST_CASE("SPI Master clockdiv calculation routines", "[spi]")
{
    spi_bus_config_t buscfg={
        .mosi_io_num=4,
        .miso_io_num=26,
        .sclk_io_num=25,
        .quadwp_io_num=-1,
        .quadhd_io_num=-1
    };
    esp_err_t ret;
    ret=spi_bus_initialize(HSPI_HOST, &buscfg, 1);
    TEST_ASSERT(ret==ESP_OK);

    check_spi_pre_n_for(26000000, 1, 3);
    check_spi_pre_n_for(20000000, 1, 4);
    check_spi_pre_n_for(8000000, 1, 10);
    check_spi_pre_n_for(800000, 2, 50);
    check_spi_pre_n_for(100000, 16, 50);
    check_spi_pre_n_for(333333, 4, 60);
    check_spi_pre_n_for(900000, 2, 44);
    check_spi_pre_n_for(1, 8192, 64); //Actually should generate the minimum clock speed, 152Hz
    check_spi_pre_n_for(26000000, 1, 3);

    ret=spi_bus_free(HSPI_HOST);
    TEST_ASSERT(ret==ESP_OK);
}

static spi_device_handle_t setup_spi_bus(int clkspeed, bool dma) {
    spi_bus_config_t buscfg={
        .mosi_io_num=4,
        .miso_io_num=26,
        .sclk_io_num=25,
        .quadwp_io_num=-1,
        .quadhd_io_num=-1,
        .max_transfer_sz=4096*3
    };
    spi_device_interface_config_t devcfg={
        .command_bits=0,
        .address_bits=0,
        .dummy_bits=0,
        .clock_speed_hz=clkspeed,
        .duty_cycle_pos=128,
        .mode=0,
        .spics_io_num=21,
        .queue_size=3,
    };
    esp_err_t ret;
    spi_device_handle_t handle;
    printf("THIS TEST NEEDS A JUMPER BETWEEN IO4 AND IO26\n");

    ret=spi_bus_initialize(HSPI_HOST, &buscfg, dma?1:0);
    TEST_ASSERT(ret==ESP_OK);
    ret=spi_bus_add_device(HSPI_HOST, &devcfg, &handle);
    TEST_ASSERT(ret==ESP_OK);
    printf("Bus/dev inited.\n");
    return handle;
}

static void spi_test(spi_device_handle_t handle, int num_bytes) {
    esp_err_t ret;
    int x;
    srand(num_bytes);
    char *sendbuf=heap_caps_malloc(num_bytes, MALLOC_CAP_DMA);
    char *recvbuf=heap_caps_malloc(num_bytes, MALLOC_CAP_DMA);
    for (x=0; x<num_bytes; x++) {
        sendbuf[x]=rand()&0xff;
        recvbuf[x]=0x55;
    }

    spi_transaction_t t;
    memset(&t, 0, sizeof(t));
    t.length=num_bytes*8;
    t.tx_buffer=sendbuf;
    t.rx_buffer=recvbuf;
    t.addr=0xA00000000000000FL;
    t.cmd=0x55;

    printf("Transmitting %d bytes...\n", num_bytes);
    ret=spi_device_transmit(handle, &t);
    TEST_ASSERT(ret==ESP_OK);

    srand(num_bytes);
    for (x=0; x<num_bytes; x++) {
        if (sendbuf[x]!=(rand()&0xff)) {
            printf("Huh? Sendbuf corrupted at byte %d\n", x);
            TEST_ASSERT(0);
        }
        if (sendbuf[x]!=recvbuf[x]) break;
    }
    if (x!=num_bytes) {
        int from=x-16;
        if (from<0) from=0;
        printf("Error at %d! Sent vs recved: (starting from %d)\n" , x, from);
        for (int i=0; i<32; i++) {
            if (i+from<num_bytes) printf("%02X ", sendbuf[from+i]);
        }
        printf("\n");
        for (int i=0; i<32; i++) {
            if (i+from<num_bytes) printf("%02X ", recvbuf[from+i]);
        }
        printf("\n");
//        TEST_ASSERT(0);
    }

    printf("Success!\n");

    free(sendbuf);
    free(recvbuf);
}

static void destroy_spi_bus(spi_device_handle_t handle) {
    esp_err_t ret;
    ret=spi_bus_remove_device(handle);
    TEST_ASSERT(ret==ESP_OK);
    ret=spi_bus_free(HSPI_HOST);
    TEST_ASSERT(ret==ESP_OK);
}


#define TEST_LEN 111

TEST_CASE("SPI Master test", "[spi][ignore]")
{
    printf("Testing bus at 80KHz\n");
    spi_device_handle_t handle=setup_spi_bus(80000, true);
    spi_test(handle, 16); //small
    spi_test(handle, 21); //small, unaligned
    spi_test(handle, 36); //aligned
    spi_test(handle, 128); //aligned
    spi_test(handle, 129); //unaligned
    spi_test(handle, 4096-2); //multiple descs, edge case 1
    spi_test(handle, 4096-1); //multiple descs, edge case 2
    spi_test(handle, 4096*3); //multiple descs

    destroy_spi_bus(handle);

    printf("Testing bus at 80KHz, non-DMA\n");
    handle=setup_spi_bus(80000, false);
    spi_test(handle, 4); //aligned
    spi_test(handle, 16); //small
    spi_test(handle, 21); //small, unaligned

    destroy_spi_bus(handle);


    printf("Testing bus at 26MHz\n");
    handle=setup_spi_bus(20000000, true);

    spi_test(handle, 128); //DMA, aligned
    spi_test(handle, 4096*3); //DMA, multiple descs
    destroy_spi_bus(handle);

    printf("Testing bus at 900KHz\n");
    handle=setup_spi_bus(9000000, true);

    spi_test(handle, 128); //DMA, aligned
    spi_test(handle, 4096*3); //DMA, multiple descs
    destroy_spi_bus(handle);
}


TEST_CASE("SPI Master test, interaction of multiple devs", "[spi][ignore]") {
    esp_err_t ret;
    spi_device_interface_config_t devcfg={
        .command_bits=0,
        .address_bits=0,
        .dummy_bits=0,
        .clock_speed_hz=1000000,
        .duty_cycle_pos=128,
        .mode=0,
        .spics_io_num=23,
        .queue_size=3,
    };
    spi_device_handle_t handle1=setup_spi_bus(80000, true);
    spi_device_handle_t handle2;
    spi_bus_add_device(HSPI_HOST, &devcfg, &handle2);

    printf("Sending to dev 1\n");
    spi_test(handle1, 7);
    printf("Sending to dev 1\n");
    spi_test(handle1, 15);
    printf("Sending to dev 2\n");
    spi_test(handle2, 15);
    printf("Sending to dev 1\n");
    spi_test(handle1, 32);
    printf("Sending to dev 2\n");
    spi_test(handle2, 32);
    printf("Sending to dev 1\n");
    spi_test(handle1, 63);
    printf("Sending to dev 2\n");
    spi_test(handle2, 63);
    printf("Sending to dev 1\n");
    spi_test(handle1, 5000);
    printf("Sending to dev 2\n");
    spi_test(handle2, 5000);


    ret=spi_bus_remove_device(handle2);
    TEST_ASSERT(ret==ESP_OK);
    destroy_spi_bus(handle1);
}

TEST_CASE("SPI Master no response when switch from host1 (HSPI) to host2 (VSPI)", "[spi]")
{
    //spi config
    spi_bus_config_t bus_config;
    spi_device_interface_config_t device_config;
    spi_device_handle_t spi;
    spi_host_device_t host;
    int dma = 1;

    memset(&bus_config, 0, sizeof(spi_bus_config_t));
    memset(&device_config, 0, sizeof(spi_device_interface_config_t));

    bus_config.miso_io_num = -1;
    bus_config.mosi_io_num = 26;
    bus_config.sclk_io_num = 25;
    bus_config.quadwp_io_num = -1;
    bus_config.quadhd_io_num = -1;

    device_config.clock_speed_hz = 50000;
    device_config.mode = 0;
    device_config.spics_io_num = -1;
    device_config.queue_size = 1;
    device_config.flags = SPI_DEVICE_TXBIT_LSBFIRST | SPI_DEVICE_RXBIT_LSBFIRST;

    struct spi_transaction_t transaction = {
        .flags = SPI_TRANS_USE_TXDATA | SPI_TRANS_USE_RXDATA,
        .length = 16,
        .rx_buffer = NULL,
        .tx_data = {0x04, 0x00}
    };

    //initialize for first host
    host = 1;

    TEST_ASSERT(spi_bus_initialize(host, &bus_config, dma) == ESP_OK);
    TEST_ASSERT(spi_bus_add_device(host, &device_config, &spi) == ESP_OK);

    printf("before first xmit\n");
    TEST_ASSERT(spi_device_transmit(spi, &transaction) == ESP_OK);
    printf("after first xmit\n");

    TEST_ASSERT(spi_bus_remove_device(spi) == ESP_OK);
    TEST_ASSERT(spi_bus_free(host) == ESP_OK);

    //for second host and failed before
    host = 2;

    TEST_ASSERT(spi_bus_initialize(host, &bus_config, dma) == ESP_OK);
    TEST_ASSERT(spi_bus_add_device(host, &device_config, &spi) == ESP_OK);

    printf("before second xmit\n");
    // the original version (bit mis-written) stucks here.
    TEST_ASSERT(spi_device_transmit(spi, &transaction) == ESP_OK);
    // test case success when see this.
    printf("after second xmit\n");

    TEST_ASSERT(spi_bus_remove_device(spi) == ESP_OK);
    TEST_ASSERT(spi_bus_free(host) == ESP_OK);
}

IRAM_ATTR  static uint32_t data_iram[320];
DRAM_ATTR  static uint32_t data_dram[320];
//force to place in code area.
static const uint32_t data_drom[320] = {0};

#define PIN_NUM_MISO 25
#define PIN_NUM_MOSI 23
#define PIN_NUM_CLK  19
#define PIN_NUM_CS   22

#define PIN_NUM_DC   21
#define PIN_NUM_RST  18
#define PIN_NUM_BCKL 5

TEST_CASE("SPI Master DMA test, TX and RX in different regions", "[spi]")
{
    uint32_t data_rxdram[320];

    esp_err_t ret;
    spi_device_handle_t spi;
    spi_bus_config_t buscfg={
        .miso_io_num=PIN_NUM_MISO,
        .mosi_io_num=PIN_NUM_MOSI,
        .sclk_io_num=PIN_NUM_CLK,
        .quadwp_io_num=-1,
        .quadhd_io_num=-1
    };
    spi_device_interface_config_t devcfg={
        .clock_speed_hz=10000000,               //Clock out at 10 MHz
        .mode=0,                                //SPI mode 0
        .spics_io_num=PIN_NUM_CS,               //CS pin
        .queue_size=7,                          //We want to be able to queue 7 transactions at a time
        .pre_cb=NULL,  //Specify pre-transfer callback to handle D/C line
    };
    //Initialize the SPI bus
    ret=spi_bus_initialize(HSPI_HOST, &buscfg, 1);
    TEST_ASSERT(ret==ESP_OK);
    //Attach the LCD to the SPI bus
    ret=spi_bus_add_device(HSPI_HOST, &devcfg, &spi);
    TEST_ASSERT(ret==ESP_OK);

    static spi_transaction_t trans[6];
    int x;

    printf("iram: %p, dram: %p, drom: %p\n", data_iram, data_dram, data_drom);

    memset(trans, 0, 6*sizeof(spi_transaction_t));

    trans[0].length = 320*8,
    trans[0].tx_buffer = data_iram;
    trans[0].rx_buffer = data_rxdram;

    trans[1].length = 320*8,
    trans[1].tx_buffer = data_dram;
    trans[1].rx_buffer = data_rxdram;

    trans[2].length = 320*8,
    trans[2].tx_buffer = data_drom;
    trans[2].rx_buffer = data_rxdram;

    trans[3].length = 320*8,
    trans[3].tx_buffer = data_drom;
    trans[3].rx_buffer = data_iram;

    trans[4].length = 320*8,
    trans[4].rxlength = 8*4;
    trans[4].tx_buffer = data_drom;
    trans[4].flags = SPI_TRANS_USE_RXDATA;
    
    trans[5].length = 8*4;
    trans[5].flags = SPI_TRANS_USE_RXDATA | SPI_TRANS_USE_TXDATA;

    //Queue all transactions.
    for (x=0; x<6; x++) {
        ret=spi_device_queue_trans(spi,&trans[x], portMAX_DELAY);
        TEST_ASSERT(ret==ESP_OK);
    }

    for (x=0; x<6; x++) {
        spi_transaction_t* ptr;
        ret=spi_device_get_trans_result(spi,&ptr, portMAX_DELAY);
        TEST_ASSERT(ret==ESP_OK);
        TEST_ASSERT(ptr = trans+x);
    }

    TEST_ASSERT(spi_bus_remove_device(spi) == ESP_OK);
    TEST_ASSERT(spi_bus_free(HSPI_HOST) == ESP_OK);
}


static inline void int_connect( uint32_t gpio, uint32_t sigo, uint32_t sigi ) 
{
    gpio_matrix_out( gpio, sigo, false, false );
    gpio_matrix_in( gpio, sigi, false );
}

//this part tests 3 DMA issues in master mode, full-duplex in IDF2.1
// 1. RX buffer not aligned (start and end)
// 2. not setting rx_buffer
// 3. setting rx_length != length
TEST_CASE("SPI Master DMA test: length, start, not aligned", "[spi]")
{
    uint8_t tx_buf[320]={0x12, 0x34, 0x56, 0x78, 0x9a, 0xbc, 0xde, 0xf0, 0xaa, 0xcc, 0xff, 0xee, 0x55, 0x77, 0x88, 0x43};
    uint8_t rx_buf[320];

    esp_err_t ret;
    spi_device_handle_t spi;
    spi_bus_config_t buscfg={
        .miso_io_num=PIN_NUM_MISO, 
        .mosi_io_num=PIN_NUM_MOSI,
        .sclk_io_num=PIN_NUM_CLK,
        .quadwp_io_num=-1,
        .quadhd_io_num=-1
    };
    spi_device_interface_config_t devcfg={
        .clock_speed_hz=10*1000*1000,               //Clock out at 10 MHz
        .mode=0,                                //SPI mode 0
        .spics_io_num=PIN_NUM_CS,               //CS pin
        .queue_size=7,                          //We want to be able to queue 7 transactions at a time
        .pre_cb=NULL,  
    };
    //Initialize the SPI bus
    ret=spi_bus_initialize(HSPI_HOST, &buscfg, 1);
    TEST_ASSERT(ret==ESP_OK);
    //Attach the LCD to the SPI bus
    ret=spi_bus_add_device(HSPI_HOST, &devcfg, &spi);
    TEST_ASSERT(ret==ESP_OK);

    //do internal connection
    int_connect( PIN_NUM_MOSI, HSPID_OUT_IDX, HSPIQ_IN_IDX );

    memset(rx_buf, 0x66, 320);
    
    for ( int i = 0; i < 8; i ++ ) {
        memset( rx_buf, 0x66, sizeof(rx_buf));

        spi_transaction_t t = {};
        t.length = 8*(i+1);
        t.rxlength = 0;
        t.tx_buffer = tx_buf+2*i;  
        t.rx_buffer = rx_buf + i;

        if ( i == 1 ) {
            //test set no start
            t.rx_buffer = NULL;
        } else if ( i == 2 ) {
            //test rx length != tx_length
            t.rxlength = t.length - 8;
        } 
        spi_device_transmit( spi, &t );

        for( int i = 0; i < 16; i ++ ) {
            printf("%02X ", rx_buf[i]);
        }
        printf("\n");

        if ( i == 1 ) {
            // no rx, skip check
        } else if ( i == 2 ) {
            //test rx length = tx length-1
            TEST_ASSERT( memcmp(t.tx_buffer, t.rx_buffer, t.length/8-1)==0 );
        } else {
            //normal check
            TEST_ASSERT( memcmp(t.tx_buffer, t.rx_buffer, t.length/8)==0 );
        }  
    }

    TEST_ASSERT(spi_bus_remove_device(spi) == ESP_OK);
    TEST_ASSERT(spi_bus_free(HSPI_HOST) == ESP_OK);
}

static const char MASTER_TAG[] = "test_master";
static const char SLAVE_TAG[] = "test_slave";
DRAM_ATTR static uint8_t master_send[] = {0x93, 0x34, 0x56, 0x78, 0x9a, 0xbc, 0xde, 0xf0, 0xaa, 0xcc, 0xff, 0xee, 0x55, 0x77, 0x88, 0x43};
DRAM_ATTR static uint8_t slave_send[] = { 0xaa, 0xdc, 0xba, 0x98, 0x76, 0x54, 0x32, 0x10, 0x13, 0x57, 0x9b, 0xdf, 0x24, 0x68, 0xac, 0xe0 };

static void master_init( spi_device_handle_t* spi, int mode, uint32_t speed)
{
    esp_err_t ret;
    spi_bus_config_t buscfg={
        .miso_io_num=PIN_NUM_MISO, 
        .mosi_io_num=PIN_NUM_MOSI,
        .sclk_io_num=PIN_NUM_CLK,
        .quadwp_io_num=-1,
        .quadhd_io_num=-1
    };
    spi_device_interface_config_t devcfg={
        .clock_speed_hz=speed,            //currently only up to 4MHz for internel connect
        .mode=mode,                                //SPI mode 0
        .spics_io_num=PIN_NUM_CS,               //CS pin
        .queue_size=16,                          //We want to be able to queue 7 transactions at a time
        .pre_cb=NULL,  
        .cs_ena_pretrans = 0,
    };
    //Initialize the SPI bus
    ret=spi_bus_initialize(HSPI_HOST, &buscfg, 1);
    TEST_ASSERT(ret==ESP_OK);
    //Attach the LCD to the SPI bus
    ret=spi_bus_add_device(HSPI_HOST, &devcfg, spi);
    TEST_ASSERT(ret==ESP_OK);
}

static void slave_init(int mode, int dma_chan)
{
    //Configuration for the SPI bus
    spi_bus_config_t buscfg={
        .mosi_io_num=PIN_NUM_MOSI,
        .miso_io_num=PIN_NUM_MISO,
        .sclk_io_num=PIN_NUM_CLK
    };
    //Configuration for the SPI slave interface
    spi_slave_interface_config_t slvcfg={
        .mode=mode,
        .spics_io_num=PIN_NUM_CS,
        .queue_size=3,
        .flags=0,
    };
    //Enable pull-ups on SPI lines so we don't detect rogue pulses when no master is connected.
    gpio_set_pull_mode(PIN_NUM_MOSI, GPIO_PULLUP_ONLY);
    gpio_set_pull_mode(PIN_NUM_CLK, GPIO_PULLUP_ONLY);
    gpio_set_pull_mode(PIN_NUM_CS, GPIO_PULLUP_ONLY);
    //Initialize SPI slave interface
    TEST_ESP_OK( spi_slave_initialize(VSPI_HOST, &buscfg, &slvcfg, dma_chan) );
}

typedef struct {
    uint32_t len;
    uint8_t *start;
} slave_txdata_t;

typedef struct {
    uint32_t len;
    uint8_t data[1];
} slave_rxdata_t;

typedef struct {
    RingbufHandle_t data_received;
    QueueHandle_t data_to_send;
} spi_slave_task_context_t;

esp_err_t init_slave_context(spi_slave_task_context_t *context)
{
    context->data_to_send = xQueueCreate( 16, sizeof( slave_txdata_t ));
    if ( context->data_to_send == NULL ) {
        return ESP_ERR_NO_MEM;
    }
    context->data_received = xRingbufferCreate( 1024, RINGBUF_TYPE_NOSPLIT );
    if ( context->data_received == NULL ) {
        return ESP_ERR_NO_MEM;
    }
    return ESP_OK;
}

void deinit_slave_context(spi_slave_task_context_t *context)
{
    TEST_ASSERT( context->data_to_send != NULL );
    vQueueDelete( context->data_to_send );
    context->data_to_send = NULL;
    TEST_ASSERT( context->data_received != NULL );
    vRingbufferDelete( context->data_received );
    context->data_received = NULL;
}

static void task_slave(void* arg)
{
    spi_slave_task_context_t* context = (spi_slave_task_context_t*) arg;
    QueueHandle_t queue = context->data_to_send;
    RingbufHandle_t ringbuf = context->data_received;
    uint8_t recvbuf[320+4];
    slave_txdata_t txdata;

    ESP_LOGI( SLAVE_TAG, "slave up" );
    //never quit, but blocked by the queue, waiting to be killed, when no more send from main task.
    while( 1 ) {
        xQueueReceive( queue, &txdata, portMAX_DELAY );

        ESP_LOGI( "test", "received: %p", txdata.start );
        spi_slave_transaction_t t = {};
        t.length = txdata.len;
        t.tx_buffer = txdata.start;
        t.rx_buffer = recvbuf+4;
        //loop until trans_len != 0 to skip glitches
        do {
            TEST_ESP_OK( spi_slave_transmit( VSPI_HOST, &t, portMAX_DELAY ) );
        } while ( t.trans_len == 0 );
        *(uint32_t*)recvbuf = t.trans_len;
        ESP_LOGI( SLAVE_TAG, "received: %d", t.trans_len );
        xRingbufferSend( ringbuf, recvbuf, 4+(t.trans_len+7)/8, portMAX_DELAY );
    }
}

TEST_CASE("SPI master variable cmd & addr test","[spi]")
{
    uint8_t *tx_buf=master_send;
    uint8_t rx_buf[320];
    uint8_t *rx_buf_ptr = rx_buf;

    spi_slave_task_context_t slave_context = {};
    esp_err_t err = init_slave_context( &slave_context );
    TEST_ASSERT( err == ESP_OK );

    spi_device_handle_t spi;
    //initial master, mode 0, 1MHz
    master_init( &spi, 0, 1*1000*1000 );
    //initial slave, mode 0, no dma
    slave_init(0, 0);

    //do internal connection
    int_connect( PIN_NUM_MOSI,  HSPID_OUT_IDX,   VSPIQ_IN_IDX );
    int_connect( PIN_NUM_MISO,  VSPIQ_OUT_IDX,   HSPID_IN_IDX );
    int_connect( PIN_NUM_CS,    HSPICS0_OUT_IDX, VSPICS0_IN_IDX );
    int_connect( PIN_NUM_CLK,   HSPICLK_OUT_IDX, VSPICLK_IN_IDX );

    TaskHandle_t handle_slave;
    xTaskCreate( task_slave, "spi_slave", 4096, &slave_context, 0, &handle_slave);

    slave_txdata_t slave_txdata[16];
    spi_transaction_ext_t trans[16];
    for( int i= 0; i < 16; i ++ ) {
        //prepare slave tx data
        slave_txdata[i] = (slave_txdata_t) {
            .start = slave_send + 4*(i%3),
            .len = 256,
        };
        xQueueSend( slave_context.data_to_send, &slave_txdata[i], portMAX_DELAY );
        //prepare master tx data
        trans[i] = (spi_transaction_ext_t) {
            .base = {
                .flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
                .addr = 0x456789ab,
                .cmd = 0xcdef,

                .length = 8*i,
                .tx_buffer = tx_buf+i,
                .rx_buffer = rx_buf_ptr,
            },
            .command_bits = ((i+1)%3) * 8,
            .address_bits = ((i/3)%5) * 8,
        };
        if ( trans[i].base.length == 0 ) {
            trans[i].base.tx_buffer = NULL;
            trans[i].base.rx_buffer = NULL;
        } else  {
            rx_buf_ptr += (trans[i].base.length + 31)/32*4;
        }
    }

    vTaskDelay(10);

    for ( int i = 0; i < 16; i ++ ) {
        TEST_ESP_OK (spi_device_queue_trans( spi, (spi_transaction_t*)&trans[i], portMAX_DELAY ) );
        vTaskDelay(10);
    }

    for( int i= 0; i < 16; i ++ ) {
        //wait for both master and slave end
        ESP_LOGI( MASTER_TAG, "===== test%d =====", i );
        spi_transaction_ext_t *t;
        size_t rcv_len;
        spi_device_get_trans_result( spi, (spi_transaction_t**)&t, portMAX_DELAY );
        TEST_ASSERT( t == &trans[i] );
        if ( trans[i].base.length != 0 ) {
            ESP_LOG_BUFFER_HEX( "master tx", trans[i].base.tx_buffer, trans[i].base.length/8 );
            ESP_LOG_BUFFER_HEX( "master rx", trans[i].base.rx_buffer, trans[i].base.length/8 );
        } else {
            ESP_LOGI( "master tx", "no data" );
            ESP_LOGI( "master rx", "no data" );
        }

        slave_rxdata_t *rcv_data = xRingbufferReceive( slave_context.data_received, &rcv_len, portMAX_DELAY );
        uint8_t *buffer = rcv_data->data;
        rcv_len = rcv_data->len;
        ESP_LOGI(SLAVE_TAG, "trans_len: %d", rcv_len);
        ESP_LOG_BUFFER_HEX( "slave tx", slave_txdata[i].start, (rcv_len+7)/8);
        ESP_LOG_BUFFER_HEX( "slave rx", buffer, (rcv_len+7)/8);
        //check result
        uint8_t *ptr_addr = (uint8_t*)&t->base.addr;
        uint8_t *ptr_cmd = (uint8_t*)&t->base.cmd;
        for ( int j = 0; j < t->command_bits/8; j ++ ) {
            TEST_ASSERT_EQUAL( buffer[j], ptr_cmd[t->command_bits/8-j-1] );
        }
        for ( int j = 0; j < t->address_bits/8; j ++ ) {
            TEST_ASSERT_EQUAL( buffer[t->command_bits/8+j], ptr_addr[t->address_bits/8-j-1] );
        }
        if ( t->base.length != 0) {
            TEST_ASSERT_EQUAL_HEX8_ARRAY(t->base.tx_buffer, buffer + (t->command_bits + t->address_bits)/8, t->base.length/8);
            TEST_ASSERT_EQUAL_HEX8_ARRAY(slave_txdata[i].start + (t->command_bits + t->address_bits)/8, t->base.rx_buffer, t->base.length/8);
        }
        TEST_ASSERT_EQUAL( t->base.length + t->command_bits + t->address_bits, rcv_len );

        //clean
        vRingbufferReturnItem( slave_context.data_received, buffer );
    }

    vTaskDelete( handle_slave );
    handle_slave = 0;

    deinit_slave_context(&slave_context);
    
    TEST_ASSERT(spi_slave_free(VSPI_HOST) == ESP_OK);

    TEST_ASSERT(spi_bus_remove_device(spi) == ESP_OK);
    TEST_ASSERT(spi_bus_free(HSPI_HOST) == ESP_OK);

    ESP_LOGI(MASTER_TAG, "test passed.");
}

#define RECORD_TIME_PREPARE() uint32_t __t1, __t2
#define RECORD_TIME_START()   do {__t1 = xthal_get_ccount();}while(0)
#define RECORD_TIME_END(p_time) do{__t2 = xthal_get_ccount(); *p_time = (__t2-__t1)/240;}while(0)

static void speed_setup(spi_device_handle_t* spi, bool use_dma)
{
    esp_err_t ret;
    spi_bus_config_t buscfg={
        .miso_io_num=PIN_NUM_MISO, 
        .mosi_io_num=PIN_NUM_MOSI,
        .sclk_io_num=PIN_NUM_CLK,
        .quadwp_io_num=-1,
        .quadhd_io_num=-1
    };
    spi_device_interface_config_t devcfg={
        .clock_speed_hz=10*1000*1000,            //currently only up to 4MHz for internel connect
        .mode=0,                                //SPI mode 0
        .spics_io_num=PIN_NUM_CS,               //CS pin
        .queue_size=8,                          //We want to be able to queue 7 transactions at a time
        .pre_cb=NULL,  
        .cs_ena_pretrans = 0,
    };
    //Initialize the SPI bus and the device to test
    ret=spi_bus_initialize(HSPI_HOST, &buscfg, (use_dma?1:0));
    TEST_ASSERT(ret==ESP_OK);
    ret=spi_bus_add_device(HSPI_HOST, &devcfg, spi);
    TEST_ASSERT(ret==ESP_OK);
}

static void speed_deinit(spi_device_handle_t spi)
{
    TEST_ESP_OK( spi_bus_remove_device(spi) );
    TEST_ESP_OK( spi_bus_free(HSPI_HOST) );
}

static void sorted_array_insert(uint32_t* array, int* size, uint32_t item)
{
    int pos;
    for (pos = *size; pos>0; pos--) {
        if (array[pos-1] < item) break;
        array[pos] = array[pos-1];
    }
    array[pos]=item;
    (*size)++;
}

#define TEST_TIMES  11

TEST_CASE("spi_speed","[spi]")
{
    RECORD_TIME_PREPARE();    
    uint32_t t_flight;
    //to get rid of the influence of randomly interrupts, we measured the performance by median value
    uint32_t t_flight_sorted[TEST_TIMES];
    int t_flight_num = 0;
        
    spi_device_handle_t spi;
    const bool use_dma = true;
    WORD_ALIGNED_ATTR spi_transaction_t trans = {
        .length = 1*8,
        .flags = SPI_TRANS_USE_TXDATA,
    };

    //first work with DMA
    speed_setup(&spi, use_dma);

    //first time introduces a device switch, which costs more time. we skip this
    spi_device_transmit(spi, &trans);
    
    //record flight time by isr, with DMA
    t_flight_num = 0;
    for (int i = 0; i < TEST_TIMES; i++) {
        RECORD_TIME_START();
        spi_device_transmit(spi, &trans);
        RECORD_TIME_END(&t_flight);        
        sorted_array_insert(t_flight_sorted, &t_flight_num, t_flight);
    }
    TEST_PERFORMANCE_LESS_THAN(SPI_PER_TRANS_NO_POLLING, "%d us", t_flight_sorted[(TEST_TIMES+1)/2]);
    for (int i = 0; i < TEST_TIMES; i++) {
        ESP_LOGI(TAG, "%d", t_flight_sorted[i]);
    }
    
    speed_deinit(spi);
    speed_setup(&spi, !use_dma);
    
    //first time introduces a device switch, which costs more time. we skip this
    spi_device_transmit(spi, &trans);
    
    //record flight time by isr, without DMA
    t_flight_num = 0;
    for (int i = 0; i < TEST_TIMES; i++) {
        RECORD_TIME_START();
        spi_device_transmit(spi, &trans);
        RECORD_TIME_END(&t_flight);  
        sorted_array_insert(t_flight_sorted, &t_flight_num, t_flight);
    }
    TEST_PERFORMANCE_LESS_THAN( SPI_PER_TRANS_NO_POLLING_NO_DMA, "%d us", t_flight_sorted[(TEST_TIMES+1)/2]);
    for (int i = 0; i < TEST_TIMES; i++) {
        ESP_LOGI(TAG, "%d", t_flight_sorted[i]);
    }    
    speed_deinit(spi);    
}