text: #include "freertos/FreeRTOS.h"
  #include "freertos/task.h"
  #include "freertos/semphr.h"
  #include "unity.h"
  #include "test_utils.h"
  #include "esp_rom_sys.h"
  #include "soc/soc_caps.h"
  #include "hal/cpu_ll.h"
  #include "driver/gpio.h"
  #if SOC_DEDICATED_GPIO_SUPPORTED
  #include "driver/dedic_gpio.h"
  
  TEST_CASE("Dedicated GPIO bundle install/uninstall", "[dedic_gpio]")
  {
      const int test_gpios[SOC_DEDIC_GPIO_OUT_CHANNELS_NUM / 2] = {0};
      const int test2_gpios[SOC_DEDIC_GPIO_OUT_CHANNELS_NUM / 2 + 1] = {0};
      const int test3_gpios[SOC_DEDIC_GPIO_OUT_CHANNELS_NUM + 1] = {0};
      dedic_gpio_bundle_handle_t test_bundle, test_bundle2, test_bundle3 = NULL;
      dedic_gpio_bundle_config_t bundle_config = {
          .gpio_array = test_gpios,
          .array_size = sizeof(test_gpios) / sizeof(test_gpios[0]),
      };
      dedic_gpio_bundle_config_t bundle_config2 = {
          .gpio_array = test2_gpios,
          .array_size = sizeof(test2_gpios) / sizeof(test2_gpios[0]),
          .flags = {
              .out_en = 1,
          },
      };
      dedic_gpio_bundle_config_t bundle_config3 = {
          .gpio_array = test3_gpios,
          .array_size = sizeof(test3_gpios) / sizeof(test3_gpios[0]),
          .flags = {
              .out_en = 1,
          },
      };
  
      TEST_ASSERT_EQUAL_MESSAGE(ESP_ERR_INVALID_ARG, dedic_gpio_new_bundle(&bundle_config, &test_bundle), "shouldn't create bundle if no mode is specified");
  
      bundle_config.flags.out_en = 1;
      TEST_ASSERT_EQUAL_MESSAGE(ESP_OK, dedic_gpio_new_bundle(&bundle_config, &test_bundle), "create bundle with half channels failed");
      uint32_t mask = 0;
      TEST_ESP_OK(dedic_gpio_get_out_mask(test_bundle, &mask));
      TEST_ASSERT_EQUAL_MESSAGE((1 << (SOC_DEDIC_GPIO_OUT_CHANNELS_NUM / 2)) - 1, mask, "wrong out mask");
      TEST_ESP_OK(dedic_gpio_get_in_mask(test_bundle, &mask));
      TEST_ASSERT_EQUAL_MESSAGE(0, mask, "wrong in mask");
  
      TEST_ASSERT_EQUAL_MESSAGE(ESP_ERR_NOT_FOUND, dedic_gpio_new_bundle(&bundle_config2, &test_bundle2), "shouldn't create bundle if there's no enough channels");
      TEST_ASSERT_EQUAL_MESSAGE(ESP_OK, dedic_gpio_del_bundle(test_bundle), "delete bundle failed");
  
      TEST_ASSERT_EQUAL_MESSAGE(ESP_ERR_INVALID_ARG, dedic_gpio_new_bundle(&bundle_config3, &test_bundle3), "shouldn't create bundle if the array size exceeds maximum");
  }
  
  #define TEST_GPIO_GROUP_SIZE (4)
  
  typedef struct {
      SemaphoreHandle_t sem;
      const int gpios[TEST_GPIO_GROUP_SIZE];
  } test_dedic_task_context_t;
  
  static void test_dedic_gpio_on_specific_core(void *args)
  {
      test_dedic_task_context_t *ctx = (test_dedic_task_context_t *)args;
      uint32_t value = 0;
      cpu_ll_write_dedic_gpio_all(0x0); // clear all out channels
  
      // configure a group of GPIOs, output only
      const int bundleA_gpios[] = {ctx->gpios[0], ctx->gpios[1]};
      gpio_config_t io_conf = {
          .mode = GPIO_MODE_OUTPUT,
      };
      for (int i = 0; i < sizeof(bundleA_gpios) / sizeof(bundleA_gpios[0]); i++) {
          io_conf.pin_bit_mask = 1ULL << bundleA_gpios[i];
          gpio_config(&io_conf);
      }
      // Create bundleA, output only
      dedic_gpio_bundle_handle_t bundleA = NULL;
      dedic_gpio_bundle_config_t bundleA_config = {
          .gpio_array = bundleA_gpios,
          .array_size = sizeof(bundleA_gpios) / sizeof(bundleA_gpios[0]),
          .flags = {
              .out_en = 1,
          },
      };
      TEST_ESP_OK(dedic_gpio_new_bundle(&bundleA_config, &bundleA));
  
      // configure another group of GPIOs, input and output
      const int bundleB_gpios[] = {ctx->gpios[2], ctx->gpios[3]};
      io_conf.mode = GPIO_MODE_INPUT_OUTPUT;
      for (int i = 0; i < sizeof(bundleB_gpios) / sizeof(bundleB_gpios[0]); i++) {
          io_conf.pin_bit_mask = 1ULL << bundleB_gpios[i];
          gpio_config(&io_conf);
      }
  
      // GPIO bundleB, input and output
      dedic_gpio_bundle_handle_t bundleB = NULL;
      dedic_gpio_bundle_config_t bundleB_config = {
          .gpio_array = bundleB_gpios,
          .array_size = sizeof(bundleB_gpios) / sizeof(bundleB_gpios[0]),
          .flags = {
              .in_en = 1,
              .out_en = 1,
          },
      };
      TEST_ESP_OK(dedic_gpio_new_bundle(&bundleB_config, &bundleB));
  
      dedic_gpio_bundle_write(bundleA, 0x01, 0x01);
      dedic_gpio_bundle_write(bundleB, 0x03, 0x03);
  
      value = cpu_ll_read_dedic_gpio_out();
      TEST_ASSERT_EQUAL(0x0D, value); // 1101
      value = cpu_ll_read_dedic_gpio_in();
      TEST_ASSERT_EQUAL(0x03, value); // 11
  
      dedic_gpio_bundle_write(bundleB, 0x02, 0x0);
      value = cpu_ll_read_dedic_gpio_out();
      TEST_ASSERT_EQUAL(0x05, value); // 0101
      value = cpu_ll_read_dedic_gpio_in();
      TEST_ASSERT_EQUAL(0x01, value); // 01
  
      cpu_ll_write_dedic_gpio_all(0x0F); // Set all out channels
      value = cpu_ll_read_dedic_gpio_out();
      TEST_ASSERT_EQUAL(0x0F, value);
      value = cpu_ll_read_dedic_gpio_in();
      TEST_ASSERT_EQUAL(0x03, value);                               // 11
      TEST_ASSERT_EQUAL(0x03, dedic_gpio_bundle_read_out(bundleA)); // 11
      TEST_ASSERT_EQUAL(0x00, dedic_gpio_bundle_read_in(bundleA));  // input is not enabled for bundleA
      TEST_ASSERT_EQUAL(0x03, dedic_gpio_bundle_read_out(bundleB)); // 11
      TEST_ASSERT_EQUAL(0x03, dedic_gpio_bundle_read_in(bundleB));  // 11
  
      TEST_ESP_OK(dedic_gpio_del_bundle(bundleA));
      TEST_ESP_OK(dedic_gpio_del_bundle(bundleB));
  
      xSemaphoreGive(ctx->sem);
      vTaskDelete(NULL);
  }
  
  TEST_CASE("Dedicated GPIO run on multiple CPU core", "[dedic_gpio]")
  {
      SemaphoreHandle_t sem = xSemaphoreCreateCounting(SOC_CPU_CORES_NUM, 0);
  
      for (int i = 0; i < SOC_CPU_CORES_NUM; i++) {
          int start_gpio = i * TEST_GPIO_GROUP_SIZE;
          test_dedic_task_context_t isr_ctx = {
              .sem = sem,
              .gpios = {start_gpio, start_gpio + 1, start_gpio + 2, start_gpio + 3}
          };
          xTaskCreatePinnedToCore(test_dedic_gpio_on_specific_core, "dedic_gpio_test_tsk", 4096, &isr_ctx, 1, NULL, i);
      }
  
      for (int i = 0; i < SOC_CPU_CORES_NUM; i++) {
          xSemaphoreTake(sem, pdMS_TO_TICKS(1000));
      }
      vSemaphoreDelete(sem);
  }
  
  IRAM_ATTR static void test_dedic_gpio_isr_callback(void *args)
  {
      SemaphoreHandle_t sem = (SemaphoreHandle_t)args;
      BaseType_t high_task_wakeup = pdFALSE;
      esp_rom_printf("GPIO event\r\n");
      xSemaphoreGiveFromISR(sem, &high_task_wakeup);
      if (high_task_wakeup) {
          esp_rom_printf("high priority task wake up\r\n");
      }
  }
  
  TEST_CASE("Dedicated GPIO interrupt and callback", "[dedic_gpio]")
  {
      SemaphoreHandle_t sem = xSemaphoreCreateBinary();
  
      // configure GPIO
      const int bundle_gpios[] = {0, 1};
      gpio_config_t io_conf = {
          .mode = GPIO_MODE_INPUT_OUTPUT,
      };
      for (int i = 0; i < sizeof(bundle_gpios) / sizeof(bundle_gpios[0]); i++) {
          io_conf.pin_bit_mask = 1ULL << bundle_gpios[i];
          gpio_config(&io_conf);
      }
      dedic_gpio_bundle_handle_t bundle = NULL;
      dedic_gpio_bundle_config_t bundle_config = {
          .gpio_array = bundle_gpios,
          .array_size = sizeof(bundle_gpios) / sizeof(bundle_gpios[0]),
          .flags = {
              .in_en = 1,
              .out_en = 1,
          },
      };
      TEST_ESP_OK(dedic_gpio_new_bundle(&bundle_config, &bundle));
  
      // enable interrupt on GPIO1
      TEST_ESP_OK(gpio_set_intr_type(1, GPIO_INTR_POSEDGE));
      // install gpio isr service
      TEST_ESP_OK(gpio_install_isr_service(0));
      // hook isr handler for specific gpio pin
      TEST_ESP_OK(gpio_isr_handler_add(1, test_dedic_gpio_isr_callback, sem));
  
      // trigger a posedge on GPIO1
      dedic_gpio_bundle_write(bundle, BIT(1), 0x00);
      dedic_gpio_bundle_write(bundle, BIT(1), 0xFF);
      // wait for done semaphore
      TEST_ASSERT_EQUAL(pdTRUE, xSemaphoreTake(sem, pdMS_TO_TICKS(1000)));
  
      // remove isr handler for gpio number
      TEST_ESP_OK(gpio_isr_handler_remove(1));
      // uninstall GPIO interrupt service
      gpio_uninstall_isr_service();
  
      TEST_ESP_OK(dedic_gpio_del_bundle(bundle));
      vSemaphoreDelete(sem);
  }
  
  #endif // #if SOC_DEDICATED_GPIO_SUPPORTED
  