nrf_rtc_timer/src/main.c

/*
 * Copyright (c) 2020, Nordic Semiconductor ASA
 *
 * SPDX-License-Identifier: Apache-2.0
 */
#include <zephyr/ztest.h>
#include <zephyr/drivers/timer/nrf_rtc_timer.h>
#include <hal/nrf_rtc.h>
#include <hal/nrf_timer.h>
#include <zephyr/irq.h>

struct test_data {
	uint64_t target_time;
	uint32_t window;
	uint32_t delay;
	int err;
};

static int timeout_handler_cnt;

ISR_DIRECT_DECLARE(timer0_isr_wrapper)
{
	nrf_timer_event_clear(NRF_TIMER0, NRF_TIMER_EVENT_COMPARE0);

	k_busy_wait(60);

	return 0;
}

static void init_zli_timer0(void)
{
	nrf_timer_mode_set(NRF_TIMER0, NRF_TIMER_MODE_TIMER);
	nrf_timer_bit_width_set(NRF_TIMER0, NRF_TIMER_BIT_WIDTH_32);
	nrf_timer_prescaler_set(NRF_TIMER0, NRF_TIMER_FREQ_1MHz);
	nrf_timer_cc_set(NRF_TIMER0, 0, 100);
	nrf_timer_int_enable(NRF_TIMER0, NRF_TIMER_INT_COMPARE0_MASK);
	nrf_timer_shorts_enable(NRF_TIMER0,
				NRF_TIMER_SHORT_COMPARE0_CLEAR_MASK);

	IRQ_DIRECT_CONNECT(TIMER0_IRQn, 0,
			   timer0_isr_wrapper,
			   IS_ENABLED(CONFIG_ZERO_LATENCY_IRQS) ?
			   IRQ_ZERO_LATENCY : 0);
	irq_enable(TIMER0_IRQn);
}

static void start_zli_timer0(void)
{
	nrf_timer_task_trigger(NRF_TIMER0, NRF_TIMER_TASK_START);
}

static void stop_zli_timer0(void)
{
	nrf_timer_task_trigger(NRF_TIMER0, NRF_TIMER_TASK_STOP);
}

static void inject_overflow(void)
{
	/* Bump overflow counter by 100. */
	uint32_t overflow_count = 100;

	while (overflow_count--) {
		nrf_rtc_task_trigger(NRF_RTC1, NRF_RTC_TASK_TRIGGER_OVERFLOW);
		/* Wait for RTC counter to reach overflow from 0xFFFFF0 and
		 * get handled.
		 */
		k_busy_wait(1000);
	}
}

static void timeout_handler(int32_t id, uint64_t expire_time, void *user_data)
{
	struct test_data *data = user_data;
	uint64_t now = z_nrf_rtc_timer_read();
	uint64_t diff = (now - expire_time);

	zassert_true(diff <= data->delay,
		"Handler called in wrong time (%llu), set time: %llu, "
		"got time: %llu",
		now, data->target_time, expire_time);

	if ((expire_time >= data->target_time) &&
	    (expire_time <= (data->target_time + data->window))) {
		data->err = 0;
	}
	timeout_handler_cnt++;
}

static void test_timeout(int32_t chan, k_timeout_t t, bool ext_window)
{
	int64_t ticks = z_nrf_rtc_timer_get_ticks(t);
	struct test_data test_data = {
		.target_time = ticks,
		.window = ext_window ? 100 : (Z_TICK_ABS(t.ticks) ? 0 : 32),
		.delay = ext_window ? 100 : 2,
		.err = -EINVAL
	};

	z_nrf_rtc_timer_set(chan, (uint64_t)ticks, timeout_handler, &test_data);

	/* wait additional arbitrary time. */
	k_busy_wait(1000);
	k_sleep(t);

	zassert_equal(test_data.err, 0, "Unexpected err: %d", test_data.err);
}


ZTEST(nrf_rtc_timer, test_basic)
{
	int32_t chan = z_nrf_rtc_timer_chan_alloc();

	zassert_true(chan >= 0, "Failed to allocate RTC channel (%d).", chan);

	k_timeout_t t0 =
		Z_TIMEOUT_TICKS(Z_TICK_ABS(sys_clock_tick_get() + K_MSEC(1).ticks));

	test_timeout(chan, t0, false);

	k_timeout_t t1 = K_MSEC(4);

	test_timeout(chan, t1, false);


	k_timeout_t t2 = K_MSEC(100);

	test_timeout(chan, t2, false);

	/* value in the past should expire immediately (2 ticks from now)*/
	k_timeout_t t3 =
		Z_TIMEOUT_TICKS(Z_TICK_ABS(sys_clock_tick_get() - K_MSEC(1).ticks));

	test_timeout(chan, t3, true);

	z_nrf_rtc_timer_chan_free(chan);
}

ZTEST(nrf_rtc_timer, test_z_nrf_rtc_timer_compare_evt_address_get)
{
	uint32_t evt_addr;

	evt_addr = z_nrf_rtc_timer_compare_evt_address_get(0);
	zassert_equal(evt_addr, (uint32_t)&NRF_RTC1->EVENTS_COMPARE[0],
			"Unexpected event addr:%x", evt_addr);
}

ZTEST(nrf_rtc_timer, test_int_disable_enabled)
{
	uint64_t now = z_nrf_rtc_timer_read();
	uint64_t t = 1000;
	struct test_data data = {
		.target_time = now + t,
		.window = 1000,
		.delay = 2000,
		.err = -EINVAL
	};
	bool key;
	int32_t chan;

	chan = z_nrf_rtc_timer_chan_alloc();
	zassert_true(chan >= 0, "Failed to allocate RTC channel.");

	z_nrf_rtc_timer_set(chan, data.target_time, timeout_handler, &data);

	zassert_equal(data.err, -EINVAL, "Unexpected err: %d", data.err);
	key = z_nrf_rtc_timer_compare_int_lock(chan);

	k_sleep(Z_TIMEOUT_TICKS(t + 100));
	/* No event yet. */
	zassert_equal(data.err, -EINVAL, "Unexpected err: %d", data.err);

	z_nrf_rtc_timer_compare_int_unlock(chan, key);
	k_busy_wait(100);
	zassert_equal(data.err, 0, "Unexpected err: %d", data.err);

	z_nrf_rtc_timer_chan_free(chan);
}

ZTEST(nrf_rtc_timer, test_get_ticks)
{
	k_timeout_t t = K_MSEC(1);
	uint64_t exp_ticks = z_nrf_rtc_timer_read() + t.ticks;
	int ticks;

	/* Relative 1ms from now timeout converted to RTC */
	ticks = z_nrf_rtc_timer_get_ticks(t);
	zassert_true((ticks >= exp_ticks) && (ticks <= (exp_ticks + 1)),
		     "Unexpected result %d (expected: %d)", ticks, exp_ticks);

	/* Absolute timeout 1ms in the past */
	t = Z_TIMEOUT_TICKS(Z_TICK_ABS(sys_clock_tick_get() - K_MSEC(1).ticks));
	exp_ticks = z_nrf_rtc_timer_read() - K_MSEC(1).ticks;
	ticks = z_nrf_rtc_timer_get_ticks(t);
	zassert_true((ticks >= exp_ticks - 1) && (ticks <= exp_ticks),
		     "Unexpected result %d (expected: %d)", ticks, exp_ticks);

	/* Absolute timeout 10ms in the future */
	t = Z_TIMEOUT_TICKS(Z_TICK_ABS(sys_clock_tick_get() + K_MSEC(10).ticks));
	exp_ticks = z_nrf_rtc_timer_read() + K_MSEC(10).ticks;
	ticks = z_nrf_rtc_timer_get_ticks(t);
	zassert_true((ticks >= exp_ticks - 1) && (ticks <= exp_ticks),
		     "Unexpected result %d (expected: %d)", ticks, exp_ticks);

	/* too far in the future */
	t = Z_TIMEOUT_TICKS(sys_clock_tick_get() + 0x01000001);
	ticks = z_nrf_rtc_timer_get_ticks(t);
	zassert_equal(ticks, -EINVAL, "Unexpected ticks: %d", ticks);
}


static void sched_handler(int32_t id, uint64_t expire_time, void *user_data)
{
	int64_t now = sys_clock_tick_get();
	int rtc_ticks_now =
	     z_nrf_rtc_timer_get_ticks(Z_TIMEOUT_TICKS(Z_TICK_ABS(now)));
	uint64_t *evt_uptime_us = user_data;

	*evt_uptime_us =
	    k_ticks_to_us_floor64(now - (rtc_ticks_now - expire_time));
}

ZTEST(nrf_rtc_timer, test_absolute_scheduling)
{
	k_timeout_t t;
	int64_t now_us = k_ticks_to_us_floor64(sys_clock_tick_get());
	uint64_t target_us = now_us + 5678;
	uint64_t evt_uptime_us;
	uint64_t rtc_ticks;
	int32_t chan;

	chan = z_nrf_rtc_timer_chan_alloc();
	zassert_true(chan >= 0, "Failed to allocate RTC channel.");

	/* schedule event in 5678us from now */
	t = Z_TIMEOUT_TICKS(Z_TICK_ABS(K_USEC(target_us).ticks));
	rtc_ticks = (uint64_t)z_nrf_rtc_timer_get_ticks(t);

	z_nrf_rtc_timer_set(chan, rtc_ticks, sched_handler, &evt_uptime_us);

	k_busy_wait(5678);

	PRINT("RTC event scheduled at %dus for %dus,"
	      "event occured at %dus (uptime)\n",
		(uint32_t)now_us, (uint32_t)target_us, (uint32_t)evt_uptime_us);

	/* schedule event now. */
	now_us = k_ticks_to_us_floor64(sys_clock_tick_get());
	t = Z_TIMEOUT_TICKS(Z_TICK_ABS(K_USEC(now_us).ticks));
	rtc_ticks = (uint64_t)z_nrf_rtc_timer_get_ticks(t);

	z_nrf_rtc_timer_set(chan, rtc_ticks, sched_handler, &evt_uptime_us);

	k_busy_wait(200);

	PRINT("RTC event scheduled now, at %dus,"
	      "event occured at %dus (uptime)\n",
		(uint32_t)now_us, (uint32_t)evt_uptime_us);

	z_nrf_rtc_timer_chan_free(chan);
}

ZTEST(nrf_rtc_timer, test_alloc_free)
{
	int32_t chan[CONFIG_NRF_RTC_TIMER_USER_CHAN_COUNT];
	int32_t inv_ch;

	for (int i = 0; i < CONFIG_NRF_RTC_TIMER_USER_CHAN_COUNT; i++) {
		chan[i] = z_nrf_rtc_timer_chan_alloc();
		zassert_true(chan[i] >= 0, "Failed to allocate RTC channel.");
	}

	inv_ch = z_nrf_rtc_timer_chan_alloc();
	zassert_equal(inv_ch, -ENOMEM, "Unexpected return value %d", inv_ch);

	for (int i = 0; i < CONFIG_NRF_RTC_TIMER_USER_CHAN_COUNT; i++) {
		z_nrf_rtc_timer_chan_free(chan[i]);
	}
}

ZTEST(nrf_rtc_timer, test_stress)
{
	int x = 0;
	uint32_t start = k_uptime_get_32();
	uint32_t test_time = 5000;
	int32_t chan = z_nrf_rtc_timer_chan_alloc();

	zassert_true(chan >= 0, "Failed to allocate RTC channel.");
	start_zli_timer0();

	do {
		k_timeout_t t = K_USEC(40 + x);

		test_timeout(chan, t, true);
		/* On every iteration modify timeout to randomize it a bit
		 * against fixed zli interrupt pattern.
		 */
		x += 30;
		if (x > 200) {
			x = 0;
		}
	} while ((k_uptime_get_32() - start) < test_time);

	stop_zli_timer0();
	z_nrf_rtc_timer_chan_free(chan);
}

ZTEST(nrf_rtc_timer, test_resetting_cc)
{
	uint32_t start = k_uptime_get_32();
	uint32_t test_time = 1000;
	int32_t chan = z_nrf_rtc_timer_chan_alloc();
	int i = 0;
	int cnt = 0;

	zassert_true(chan >= 0, "Failed to allocate RTC channel.");

	timeout_handler_cnt = 0;

	do {
		uint64_t now = z_nrf_rtc_timer_read();
		struct test_data test_data = {
			.target_time = now + 5,
			.window = 0,
			.delay = 0,
			.err = -EINVAL
		};

		/* Set timer but expect that it will never expire because
		 * it will be later on reset.
		 */
		z_nrf_rtc_timer_set(chan, now + 2, timeout_handler, &test_data);

		/* Arbitrary variable delay to reset CC before expiring first
		 * request but very close.
		 */
		k_busy_wait(i);
		i = (i + 1) % 20;

		z_nrf_rtc_timer_set(chan, now + 5, timeout_handler, &test_data);
		k_busy_wait((5 + 1)*31);
		cnt++;
	} while ((k_uptime_get_32() - start) < test_time);

	zassert_equal(timeout_handler_cnt, cnt,
		      "Unexpected timeout count %d (exp: %d)",
		      timeout_handler_cnt, cnt);
	z_nrf_rtc_timer_chan_free(chan);
}

static void overflow_sched_handler(int32_t id, uint64_t expire_time,
				   void *user_data)
{
	uint64_t now = z_nrf_rtc_timer_read();
	uint64_t *evt_uptime = user_data;

	*evt_uptime = now - expire_time;
}

/* This test is to be executed as the last, due to interference in overflow
 * counter, resulting in nRF RTC timer ticks and kernel ticks desynchronization.
 */
ZTEST(nrf_rtc_timer, test_overflow)
{
	PRINT("RTC ticks before overflow injection: %u\r\n",
	      (uint32_t)z_nrf_rtc_timer_read());

	inject_overflow();

	PRINT("RTC ticks after overflow injection: %u\r\n",
	      (uint32_t)z_nrf_rtc_timer_read());

	uint64_t now;
	uint64_t target_time;
	uint64_t evt_uptime;
	int32_t chan;

	chan = z_nrf_rtc_timer_chan_alloc();
	zassert_true(chan >= 0, "Failed to allocate RTC channel.");

	/* Schedule event in 5 ticks from now. */
	evt_uptime = UINT64_MAX;
	now = z_nrf_rtc_timer_read();
	target_time = now + 5;
	z_nrf_rtc_timer_set(chan, target_time, overflow_sched_handler,
			    &evt_uptime);

	k_busy_wait(k_ticks_to_us_floor64(5 + 1));

	PRINT("RTC event scheduled at %llu ticks for %llu ticks,"
	      "event occurred at %llu ticks (uptime)\n",
	      now, target_time, evt_uptime);
	zassert_not_equal(UINT64_MAX, evt_uptime,
			  "Expired timer shall overwrite evt_uptime");

	/* Schedule event now. */
	evt_uptime = UINT64_MAX;
	now = z_nrf_rtc_timer_read();
	target_time = now;

	z_nrf_rtc_timer_set(chan, target_time, overflow_sched_handler,
			    &evt_uptime);

	k_busy_wait(200);

	zassert_not_equal(UINT64_MAX, evt_uptime,
			  "Expired timer shall overwrite evt_uptime");
	PRINT("RTC event scheduled at %llu ticks for %llu ticks,"
	      "event occurred at %llu ticks (uptime)\n",
	      now, target_time, evt_uptime);

	/* Schedule event far in the past. */
	evt_uptime = UINT64_MAX;
	now = z_nrf_rtc_timer_read();
	target_time = now - 2 * NRF_RTC_TIMER_MAX_SCHEDULE_SPAN;

	z_nrf_rtc_timer_set(chan, target_time, overflow_sched_handler,
			    &evt_uptime);

	k_busy_wait(200);

	zassert_not_equal(UINT64_MAX, evt_uptime,
			  "Expired timer shall overwrite evt_uptime");
	PRINT("RTC event scheduled at %llu ticks for %llu ticks,"
	      "event occurred at %llu ticks (uptime)\n",
	      now, target_time, evt_uptime);

	z_nrf_rtc_timer_chan_free(chan);
}

static void next_cycle_timeout_handler(int32_t chan,
				       uint64_t expire_time,
				       void *user_data)
{
	static uint32_t delay;
	uint32_t *timeouts_left = (uint32_t *)user_data;

	if (--*timeouts_left) {
		k_busy_wait(delay);
		++delay;

		z_nrf_rtc_timer_set(chan, z_nrf_rtc_timer_read() + 1,
			next_cycle_timeout_handler, user_data);
	}
}

ZTEST(nrf_rtc_timer, test_next_cycle_timeouts)
{
	enum {
		MAX_TIMEOUTS = 60,
		/* Allow 5 cycles per each expected timeout. */
		CYCLES_TO_WAIT = 5 * MAX_TIMEOUTS,
	};
	volatile uint32_t timeouts_left = MAX_TIMEOUTS;
	int32_t chan;
	uint32_t start;

	chan = z_nrf_rtc_timer_chan_alloc();
	zassert_true(chan > 0, "Failed to allocate RTC channel.");

	/* First timeout is scheduled here, all further ones are scheduled
	 * from the timeout handler, always on the next cycle of the system
	 * timer but after a delay that increases 1 microsecond each time.
	 */
	z_nrf_rtc_timer_set(chan, z_nrf_rtc_timer_read() + 1,
		next_cycle_timeout_handler, (void *)&timeouts_left);

	start = k_cycle_get_32();
	while (timeouts_left) {
		if ((k_cycle_get_32() - start) > CYCLES_TO_WAIT) {
			break;
		}
		Z_SPIN_DELAY(10);
	}

	zassert_equal(0, timeouts_left,
		"Failed to get %u timeouts.", timeouts_left);

	z_nrf_rtc_timer_chan_free(chan);
}

static void tight_rescheduling_handler(int32_t chan,
				       uint64_t expire_time,
				       void *user_data)
{
	if (user_data) {
		*(bool *)user_data = true;
	}
}

ZTEST(nrf_rtc_timer, test_tight_rescheduling)
{
	int32_t chan;
	volatile bool expired;
	/* This test tries to schedule an alarm to CYCLE_DIFF cycles from
	 * the current moment and then, after a delay that is changed in
	 * each iteration, tries to reschedule this alarm to one cycle later.
	 * It does not matter if the first alarm actually occurs, the key
	 * thing is to always get the second one.
	 */
	enum {
		CYCLE_DIFF = 5,
		/* One RTC cycle is ~30.5 us. Check a range of delays from
		 * more than one cycle before the moment on which the first
		 * alarm is scheduled to a few microseconds after that alarm
		 * (when it is actually too late for rescheduling).
		 */
		DELAY_MIN = 30 * CYCLE_DIFF - 40,
		DELAY_MAX = 30 * CYCLE_DIFF + 10,
	};

	chan = z_nrf_rtc_timer_chan_alloc();
	zassert_true(chan > 0, "Failed to allocate RTC channel.");

	/* Repeat the whole test a couple of times to get also (presumably)
	 * various micro delays resulting from execution of the test routine
	 * itself asynchronously to the RTC.
	 */
	for (uint32_t i = 0; i < 20; ++i) {
		for (uint32_t delay = DELAY_MIN; delay <= DELAY_MAX; ++delay) {
			uint64_t start = z_nrf_rtc_timer_read();

			z_nrf_rtc_timer_set(chan, start + CYCLE_DIFF,
				tight_rescheduling_handler, NULL);

			k_busy_wait(delay);

			expired = false;
			z_nrf_rtc_timer_set(chan, start + CYCLE_DIFF + 1,
				tight_rescheduling_handler, (void *)&expired);

			while (!expired &&
				(z_nrf_rtc_timer_read() - start) <
					CYCLE_DIFF + 10) {
				Z_SPIN_DELAY(10);
			}
			zassert_true(expired,
				"Timeout expiration missed (d: %u us, i: %u)",
				delay, i);
		}
	}

	z_nrf_rtc_timer_chan_free(chan);
}

static void *rtc_timer_setup(void)
{
	init_zli_timer0();

	return NULL;
}

ZTEST_SUITE(nrf_rtc_timer, NULL, rtc_timer_setup, NULL, NULL, NULL);