Add cancel and more duartion tests

Author: Sh3Rm4n

testsuite/Cargo.toml

@@ -55,6 +55,7 @@ enumset = { version = "1.0.6" }
 stm32f3xx-hal = { path = "..", features = ["rt", "defmt-trace", "can", "ld", "enumset"]}
 panic-probe = { version = "0.2.0", features = ["print-defmt"] }
 nb = "1.0.0"
+num-traits = { version = "0.2.14", default-features = false }
 
 [features]
 # enable all defmt logging levels

testsuite/tests/timer.rs

@@ -6,11 +6,16 @@ use core::sync::atomic::{AtomicBool, Ordering};
 use defmt_rtt as _;
 use panic_probe as _;
 
+use num_traits::float::FloatCore;
+
 use stm32f3xx_hal as hal;
 
+use hal::delay::Delay;
+use hal::hal::timer::Cancel;
 use hal::interrupts::InterruptNumber;
 use hal::rcc::{Clocks, APB1};
-use hal::timer::{Event, MonoTimer, Timer};
+use hal::time::{duration, fixed_point::FixedPoint};
+use hal::timer::{AlreadyCancled, Event, MonoTimer, Timer};
 use hal::{interrupt, pac, prelude::*};
 
 use pac::TIM2;
@@ -20,6 +25,7 @@ struct State {
     mono_timer: MonoTimer,
     clocks: Clocks,
     apb1: APB1,
+    delay: Delay,
 }
 
 static INTERRUPT_FIRED: AtomicBool = AtomicBool::new(false);
@@ -28,7 +34,6 @@ static INTERRUPT_FIRED: AtomicBool = AtomicBool::new(false);
 mod tests {
     use super::*;
     use defmt::{self, assert, unwrap};
-    use hal::time::fixed_point::FixedPoint;
 
     #[init]
     fn init() -> State {
@@ -42,6 +47,7 @@ mod tests {
         // Let's use a timer, which is avaliable for every chip
         let timer = Timer::new(dp.TIM2, clocks, &mut rcc.apb1);
         let mono_timer = MonoTimer::new(cp.DWT, clocks, &mut cp.DCB);
+        let delay = Delay::new(cp.SYST, clocks);
 
         assert!(mono_timer.frequency() == clocks.hclk());
 
@@ -52,6 +58,7 @@ mod tests {
             mono_timer,
             clocks,
             apb1: rcc.apb1,
+            delay,
         }
     }
 
@@ -70,31 +77,57 @@ mod tests {
         defmt::trace!("{}", state.mono_timer);
         let freqcyc = state.mono_timer.frequency().integer();
 
-        let instant = state.mono_timer.now();
-        timer.start(1.seconds());
-        assert!(!timer.is_event_triggered(Event::Update));
-        unwrap!(nb::block!(timer.wait()).ok());
-        let elapsed = instant.elapsed();
+        let durations: [duration::Generic<u32>; 5] = [
+            100.microseconds().into(),
+            1.milliseconds().into(),
+            100.milliseconds().into(),
+            1.seconds().into(),
+            10.seconds().into(),
+            // 100.seconds().into(),
+        ];
+
+        for dur in durations {
+            defmt::trace!("Duration: {}", defmt::Debug2Format(&dur));
+
+            timer.start(dur);
+            assert!(!timer.is_event_triggered(Event::Update));
+            // call instant after start, because starting the timer is the last thing done in the
+            // start function, and therefor no overhead is added to the timing.
+            let instant = state.mono_timer.now();
+            unwrap!(nb::block!(timer.wait()).ok());
+            let elapsed = instant.elapsed();
+
+            defmt::debug!("elapsed: {}", elapsed);
+
+            let ratio = f64::from(elapsed) / f64::from(freqcyc)
+                * (f64::from(*dur.scaling_factor().denominator()))
+                / f64::from(dur.integer());
+
+            let deviation = (ratio - 1.).abs();
+
+            // Deviation is high for smaller timer durations. Higher duratinons are pretty accurate.
+            // TODO: Maybe the allowed deviation should changed depending on the duration?
+            #[cfg(not(debug_assertions))]
+            defmt::assert!(deviation < 15e-4);
+            #[cfg(debug_assertions)]
+            defmt::assert!(deviation < 40e-4);
+        }
+        state.timer = Some(timer);
+    }
 
-        defmt::info!("elapsed: {}", elapsed);
-        // TODO: Test multiple frequencies and change the cycle counter window to a percentage
-        // to measure the overhead of start?
+    #[test]
+    fn test_cancel(state: &mut State) {
+        let mut timer = unwrap!(state.timer.take());
+        defmt::trace!("{}", state.mono_timer);
 
-        // Differentiate between releas and debug build.
-        #[cfg(not(debug_assertions))]
-        assert!(((freqcyc - 500)..(freqcyc + 500)).contains(&elapsed));
-        #[cfg(debug_assertions)]
-        assert!(((freqcyc - 2000)..(freqcyc + 2000)).contains(&elapsed));
+        timer.start(10.milliseconds());
+        state.delay.delay_ms(5u32);
 
+        assert!(matches!(timer.cancel(), Ok(())));
+        assert!(matches!(timer.cancel(), Err(AlreadyCancled)));
         state.timer = Some(timer);
     }
 
-    // TODO(Sh3Rm4n): For that we have to introduce a new API. (Maybe Centihertz or Something?)
-    // #[test]
-    // fn test_delay_longer_then_second(state: &mut State) {
-
-    // }
-
     #[test]
     fn test_interrupt(state: &mut State) {
         let mut timer = unwrap!(state.timer.take());