mps2: add zero-latency-interrupt case on mps2

Signed-off-by: ligd <liguiding1@xiaomi.com>

Author: GUIDINGLI

testing/drivertest/Makefile

@@ -135,6 +135,8 @@ ifeq ($(CONFIG_ARCH_CHIP_MPS2_AN500),y)
 ifeq ($(CONFIG_ARCH_IRQPRIO),y)
 MAINSRC  += drivertest_mps2.c
 PROGNAME += cmocka_driver_mps2
+MAINSRC  += drivertest_mps2_zerointerrupt.c
+PROGNAME += cmocka_driver_mps2_zerointerrupt
 endif
 endif
 

testing/drivertest/drivertest_mps2_zerointerrupt.c

@@ -0,0 +1,270 @@
+/****************************************************************************
+ * apps/testing/drivertest/drivertest_mps2_zerointerrupt.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/nuttx.h>
+#include <stdbool.h>
+#include <stdint.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <stdarg.h>
+#include <stddef.h>
+#include <setjmp.h>
+#include <string.h>
+#include <cmocka.h>
+
+#include <nuttx/arch.h>
+#include <nuttx/irq.h>
+#include <nuttx/semaphore.h>
+
+#include <pthread.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+#define CONFIG_TEST_IRQPRIO_TTHREAD  8
+#define CONFIG_TEST_IRQPRIO_LOOP_CNT 5000
+
+#ifndef NVIC_IRQ_PENDSV
+#  define NVIC_IRQ_PENDSV 14
+#endif
+
+#define MPS2_ADDR2REG_PTR(base, off) (uint32_t*)((uint32_t*)(base) + (off))
+#define MPS2_IRQ_FROMBASE(base, off) ((base) + (off))
+
+/* https://developer.arm.com/documentation/101104/0200/programmers-model/
+ * base-element/cmsdk-timer
+ */
+
+#define MPS_TIMER_CTRL_OFFSET   0
+#define MPS_TIMER_VALUE_OFFSET  1
+#define MPS_TIMER_RELOAD_OFFSET 2
+#define MPS_TIMER_CLEAR_OFFSET  3
+
+#define MPS_TIMER_CTRL_ENABLE   (1<<0)
+#define MPS_TIMER_CTRL_IE       (1<<3)
+
+static_assert(NVIC_SYSH_PRIORITY_DEFAULT == 0x80, "prio");
+
+/****************************************************************************
+ * Private Types
+ ****************************************************************************/
+
+typedef struct mps2_an500_timer_s
+{
+  volatile uint32_t *reload;
+  volatile uint32_t *ctrl;
+  volatile uint32_t *clear;
+  int irq;
+  int before;
+  sem_t *sem;
+  int after;
+} mps2_an500_timer_t;
+
+/****************************************************************************
+ * Private Functions Prototypes
+ ****************************************************************************/
+
+static int pendsv_irq_handle(int irq, void *context, void *arg);
+static int timer_irq_handle(int irq, void *context, void *arg);
+static int g_tag = 0;
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+static mps2_an500_timer_t g_timer;
+static sem_t test_sem = SEM_INITIALIZER(0);
+
+static const int armv7m_gpio_base = 16;
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+static void mps_timer_init(void)
+{
+  static const uint32_t timerbase[] =
+    {
+      0x40000000, 0x40001000
+    };
+
+  static const int timerirq[] =
+    {
+      8, 9
+    };
+
+  static const int timer_irq_prio[] =
+    {
+      0x60, 0x70
+    };
+
+  mps2_an500_timer_t *t = &g_timer;
+
+  t->reload  = MPS2_ADDR2REG_PTR(timerbase[0], MPS_TIMER_RELOAD_OFFSET);
+  t->ctrl  = MPS2_ADDR2REG_PTR(timerbase[0], MPS_TIMER_CTRL_OFFSET);
+  t->clear = MPS2_ADDR2REG_PTR(timerbase[0], MPS_TIMER_CLEAR_OFFSET);
+  t->irq   = MPS2_IRQ_FROMBASE(armv7m_gpio_base, timerirq[0]);
+
+  irq_attach(t->irq, timer_irq_handle, t);
+  up_enable_irq(t->irq);
+
+  up_prioritize_irq(t->irq, timer_irq_prio[0]);
+
+  irq_attach(NVIC_IRQ_PENDSV, pendsv_irq_handle, NULL);
+}
+
+static int pendsv_irq_handle(int irq, void *context, void *arg)
+{
+  mps2_an500_timer_t *t = &g_timer;
+
+  if (t->sem != NULL)
+    {
+      sem_post(t->sem);
+    }
+
+  up_udelay(t->after);
+
+  DEBUGASSERT(g_tag == 0);
+
+  return 0;
+}
+
+static int timer_irq_handle(int irq, void *context, void *arg)
+{
+  mps2_an500_timer_t *t = arg;
+  *t->clear = 1;
+
+  up_udelay(t->before);
+
+  up_trigger_irq(NVIC_IRQ_PENDSV, 0);
+
+  return 0;
+}
+
+static void timer_begin_test(mps2_an500_timer_t *t, uint32_t reload_us)
+{
+  uint32_t reload = reload_us * 25;
+  *t->reload = reload;
+  t->sem     = &test_sem;
+
+  *t->ctrl = MPS_TIMER_CTRL_IE | MPS_TIMER_CTRL_ENABLE;
+}
+
+static void timer_end_test(mps2_an500_timer_t *t)
+{
+  *t->ctrl = 0;
+  *t->clear = 1;
+}
+
+static void *test_irq_awaker_thread_entry(void *arg)
+{
+  struct timespec ts;
+  int cnt = 0;
+  int ret;
+
+  while (cnt++ < CONFIG_TEST_IRQPRIO_LOOP_CNT)
+    {
+      clock_gettime(CLOCK_REALTIME, &ts);
+      ts.tv_sec++;
+      ret = sem_timedwait(&test_sem, &ts);
+      if (ret != OK)
+        {
+          break;
+        }
+
+      if (cnt % 1000 == 0)
+        {
+          printf("cnt %d\n", cnt);
+        }
+    }
+
+  printf("timeoutquit %d\n", cnt);
+  return 0;
+}
+
+static void test_irqprio(void **argv)
+{
+  pid_t tid;
+  irqstate_t flags;
+  pthread_attr_t attr;
+  int cnt = 0;
+
+  printf("init done\n");
+
+  printf("simple_test done\n");
+  g_timer.before = 1;
+  g_timer.after = 1;
+  timer_begin_test(&g_timer, 1000);
+
+  pthread_attr_init(&attr);
+
+  attr.priority = 255;
+  pthread_create(&tid,
+                 &attr,
+                 test_irq_awaker_thread_entry,
+                 NULL);
+  printf("thread init done\n");
+
+  while (cnt++ < CONFIG_TEST_IRQPRIO_LOOP_CNT)
+    {
+      flags = enter_critical_section();
+      g_tag++;
+      up_udelay(100);
+      g_tag--;
+      leave_critical_section(flags);
+    }
+
+  pthread_join(tid, NULL);
+
+  timer_end_test(&g_timer);
+  printf("timer end done\n");
+  pthread_join(tid, NULL);
+  printf("sem thread join done\n");
+}
+
+static int setup(void **argv)
+{
+  mps_timer_init();
+  return 0;
+}
+
+static int teardown(void **argv)
+{
+  return 0;
+}
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+int main(int argc, char *argv[])
+{
+  const struct CMUnitTest tests[] = {
+    cmocka_unit_test_prestate_setup_teardown(
+        test_irqprio, setup, teardown, NULL),
+  };
+
+  return cmocka_run_group_tests(tests, NULL, NULL);
+}