FPGA CI shield: Add a watchdog timing test

TESTS/mbed_timing_fpga_ci_test_shield/watchdog/main.cpp

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+/*
+ * Copyright (c) 2019 Arm Limited and affiliates.
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed 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.
+ */
+#if !DEVICE_WATCHDOG
+#error [NOT_SUPPORTED] Watchdog not supported for this target
+#elif !COMPONENT_FPGA_CI_TEST_SHIELD
+#error [NOT_SUPPORTED] FPGA CI Test Shield is needed to run this test
+#elif !defined(TARGET_FF_ARDUINO) && !defined(MBED_CONF_TARGET_DEFAULT_FORM_FACTOR)
+#error [NOT_SUPPORTED] Test not supported for this form factor
+#else
+
+#include "utest/utest.h"
+#include "unity/unity.h"
+#include "greentea-client/test_env.h"
+#include "mbed.h"
+
+#include "MbedTester.h"
+#include "test_utils.h"
+#include "hal/watchdog_api.h"
+
+#define MSG_VALUE_DUMMY "0"
+#define CASE_DATA_INVALID 0xffffffffUL
+#define CASE_DATA_PHASE2_OK 0xfffffffeUL
+
+#define MSG_VALUE_LEN 24
+#define MSG_KEY_LEN 24
+
+#define MSG_KEY_DEVICE_READY "ready"
+#define MSG_KEY_START_CASE "start_case"
+#define MSG_KEY_DEVICE_RESET "dev_reset"
+
+#define WATCHDOG_PULSE_PERIOD_US 1000
+
+using utest::v1::Case;
+using utest::v1::Specification;
+using utest::v1::Harness;
+
+struct testcase_data {
+    int index;
+    int start_index;
+    uint32_t received_data;
+};
+
+testcase_data current_case;
+
+/**
+ * Get the first pin from the whitelist that is absent form the blacklist.
+ *
+ * @param whitelist List of pins to choose from
+ * @param blacklist List of pins which cannot be used
+ * @return The first pin from the whitelist absent from the blacklist.
+ */
+PinName get_pin_to_restrict(const PinList *whitelist, const PinList *blacklist)
+{
+    for (uint32_t i = 0; i < whitelist->count; i++) {
+        if (!pinmap_list_has_pin(blacklist, whitelist->pins[i])) {
+            return whitelist->pins[i];
+        }
+    }
+    return NC;
+}
+
+/**
+ * Allocate a new PinList, copy the pin_list and add the pin at the end.
+ *
+ * @param pin_list List of pins to copy
+ * @param pin The pin to add at the end of the new PinList
+ * @return Pointer to the allocated PinList or NULL on error.
+ */
+PinList *alloc_extended_pinlist(const PinList *pin_list, PinName pin)
+{
+    PinName *pins = (PinName *) calloc(pin_list->count + 1, sizeof(PinName));
+    if (pins == NULL) {
+        return NULL;
+    }
+    for (uint32_t i = 0; i < pin_list->count; i++) {
+        pins[i] = pin_list->pins[i];
+    }
+    pins[pin_list->count] = pin;
+    PinList *new_pinlist = (PinList *) calloc(1, sizeof(PinList));
+    if (new_pinlist == NULL) {
+        free(pins);
+        return NULL;
+    }
+    new_pinlist->count = pin_list->count + 1;
+    new_pinlist->pins = pins;
+    return new_pinlist;
+}
+
+/**
+ * Free a previously allocated PinList.
+ *
+ * @param pin_list List of pins to free.
+ */
+void free_pinlist(PinList *pin_list)
+{
+    if (pin_list) {
+        if (pin_list->pins) {
+            free((PinName *) pin_list->pins);
+        }
+        free(pin_list);
+    }
+}
+
+bool send_reset_notification(testcase_data *tcdata, uint32_t delay_ms)
+{
+    char msg_value[12];
+    int str_len = snprintf(msg_value, sizeof msg_value, "%02x,%08lx", tcdata->start_index + tcdata->index, delay_ms);
+    if (str_len != (sizeof msg_value) - 1) {
+        utest_printf("Failed to compose a value string to be sent to host.");
+        return false;
+    }
+    greentea_send_kv(MSG_KEY_DEVICE_RESET, msg_value);
+    return true;
+}
+
+template<uint32_t timeout_ms>
+void fpga_test_watchdog_timeout_accuracy()
+{
+    watchdog_features_t features = hal_watchdog_get_platform_features();
+    if (timeout_ms > features.max_timeout) {
+        TEST_IGNORE_MESSAGE("Requested timeout value not supported for this target -- ignoring test case.");
+        return;
+    }
+
+    PinName watchdog_pulse_pin = get_pin_to_restrict(DefaultFormFactor::pins(), DefaultFormFactor::restricted_pins());
+    TEST_ASSERT(watchdog_pulse_pin != NC);
+    PinList *blacklist = alloc_extended_pinlist(DefaultFormFactor::restricted_pins(), watchdog_pulse_pin);
+    TEST_ASSERT_NOT_NULL(blacklist);
+    MbedTester tester(DefaultFormFactor::pins(), blacklist);
+
+    // Phase 2. -- verify the test results.
+    // Verify the FPGA time measurement is within given range:
+    // 1. The watchdog should trigger at, or after the timeout value.
+    // 2. The watchdog should trigger before twice the timeout value.
+    if (current_case.received_data != CASE_DATA_INVALID) {
+        TEST_ASSERT_EQUAL(CASE_DATA_PHASE2_OK, current_case.received_data);
+        current_case.received_data = CASE_DATA_INVALID;
+        tester.io_metrics_stop();
+        uint32_t num_falling_edges = tester.io_metrics_falling_edges(MbedTester::LogicalPinIOMetrics0);
+        uint32_t actual_timeout_ms = 0;
+        if (num_falling_edges > 0) {
+            actual_timeout_ms = (num_falling_edges - 1) * WATCHDOG_PULSE_PERIOD_US / 1000;
+        }
+        utest_printf("The FPGA shield measured %lu ms timeout.", actual_timeout_ms);
+        TEST_ASSERT(actual_timeout_ms >= timeout_ms);
+        TEST_ASSERT(actual_timeout_ms < 2 * timeout_ms);
+        free_pinlist(blacklist);
+        return;
+    }
+
+    // Phase 1. -- run the test code.
+    tester.reset();
+    tester.pin_map_set(watchdog_pulse_pin, MbedTester::LogicalPinIOMetrics0);
+    gpio_t pulse_pin;
+    int pulse_pin_value = 1;
+    gpio_init_out_ex(&pulse_pin, watchdog_pulse_pin, pulse_pin_value);
+    // Init the watchdog and wait for a device reset.
+    watchdog_config_t config = { timeout_ms };
+    if (send_reset_notification(&current_case, 2 * timeout_ms) == false) {
+        TEST_ASSERT_MESSAGE(0, "Dev-host communication error.");
+        free_pinlist(blacklist);
+        return;
+    }
+    tester.io_metrics_start();
+    TEST_ASSERT_EQUAL(WATCHDOG_STATUS_OK, hal_watchdog_init(&config));
+    while (1) {
+        pulse_pin_value ^= 1;
+        gpio_write(&pulse_pin, pulse_pin_value);
+        wait_us(WATCHDOG_PULSE_PERIOD_US / 2);
+    }
+}
+
+utest::v1::status_t case_setup(const Case *const source, const size_t index_of_case)
+{
+    current_case.index = index_of_case;
+    return utest::v1::greentea_case_setup_handler(source, index_of_case);
+}
+
+int testsuite_setup(const size_t number_of_cases)
+{
+    GREENTEA_SETUP(90, "watchdog_reset");
+    utest::v1::status_t status = utest::v1::greentea_test_setup_handler(number_of_cases);
+    if (status != utest::v1::STATUS_CONTINUE) {
+        return status;
+    }
+
+    char key[MSG_KEY_LEN + 1] = { };
+    char value[MSG_VALUE_LEN + 1] = { };
+
+    greentea_send_kv(MSG_KEY_DEVICE_READY, MSG_VALUE_DUMMY);
+    greentea_parse_kv(key, value, MSG_KEY_LEN, MSG_VALUE_LEN);
+
+    if (strcmp(key, MSG_KEY_START_CASE) != 0) {
+        utest_printf("Invalid message key.\n");
+        return utest::v1::STATUS_ABORT;
+    }
+
+    int num_args = sscanf(value, "%02x,%08lx", &(current_case.start_index), &(current_case.received_data));
+    if (num_args == 0 || num_args == EOF) {
+        utest_printf("Invalid data received from host\n");
+        return utest::v1::STATUS_ABORT;
+    }
+
+    utest_printf("This test suite is composed of %i test cases. Starting at index %i.\n", number_of_cases,
+                 current_case.start_index);
+    return current_case.start_index;
+}
+
+Case cases[] = {
+    Case("Timeout accuracy,  200 ms", case_setup, fpga_test_watchdog_timeout_accuracy<200UL>),
+    Case("Timeout accuracy,  500 ms", case_setup, fpga_test_watchdog_timeout_accuracy<500UL>),
+    Case("Timeout accuracy, 1000 ms", case_setup, fpga_test_watchdog_timeout_accuracy<1000UL>),
+    Case("Timeout accuracy, 3000 ms", case_setup, fpga_test_watchdog_timeout_accuracy<3000UL>),
+};
+
+Specification specification((utest::v1::test_setup_handler_t) testsuite_setup, cases);
+
+int main()
+{
+    // Harness will start with a test case index provided by host script.
+    return !Harness::run(specification);
+}
+
+#endif // !DEVICE_WATCHDOG