tests: benchmarks: multicore: Add test for S2RAM and watchdog

Add test that combinest functional check (feeding the watchdog works)
with non-functional check (current consumption).

Confirm that when watchdog is enabled:
- cpu may enter low power states like IDLE or S2RAM;
- after leaving low power state, WDT will NOT fire when feed on time.

Signed-off-by: Sebastian Głąb <[email protected]>

tests/benchmarks/multicore/idle_wdt/CMakeLists.txt

@@ -0,0 +1,19 @@
+#
+# Copyright (c) 2024 Nordic Semiconductor ASA
+#
+# SPDX-License-Identifier: LicenseRef-Nordic-5-Clause
+#
+
+cmake_minimum_required(VERSION 3.20.0)
+
+find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
+
+if(NOT SYSBUILD)
+	message(FATAL_ERROR
+		" This is a multi-image application that should be built using sysbuild.\n"
+		" Add --sysbuild argument to west build command to prepare all the images.")
+endif()
+
+project(idle_wdt)
+
+target_sources(app PRIVATE src/main.c)

tests/benchmarks/multicore/idle_wdt/Kconfig

@@ -0,0 +1,15 @@
+#
+# Copyright (c) 2024 Nordic Semiconductor ASA
+#
+# SPDX-License-Identifier: LicenseRef-Nordic-5-Clause
+#
+
+config TEST_SLEEP_DURATION_MS
+	int "Amount of time (in miliseconds) the core is sleeping"
+	default 1000
+	help
+	  Set sleep duration to TEST_SLEEP_DURATION_MS miliseconds.
+	  Based on the value of 'min-residency-us' specified for each power state defined in the DTS,
+	  core enters the lowest possible power state.
+
+source "Kconfig.zephyr"

tests/benchmarks/multicore/idle_wdt/Kconfig.sysbuild

@@ -0,0 +1,10 @@
+#
+# Copyright (c) 2024 Nordic Semiconductor ASA
+#
+# SPDX-License-Identifier: LicenseRef-Nordic-5-Clause
+#
+
+source "${ZEPHYR_BASE}/share/sysbuild/Kconfig"
+
+config REMOTE_BOARD
+	string "The board used for remote target"

tests/benchmarks/multicore/idle_wdt/boards/nrf54h20dk_nrf54h20_cpuapp.overlay

@@ -0,0 +1,15 @@
+/*
+ * Copyright (c) 2024 Nordic Semiconductor ASA
+ *
+ * SPDX-License-Identifier: LicenseRef-Nordic-5-Clause
+ */
+
+/ {
+	aliases {
+		watchdog0 = &wdt010;
+	};
+};
+
+&wdt010 {
+	status = "okay";
+};

tests/benchmarks/multicore/idle_wdt/prj.conf

@@ -0,0 +1,5 @@
+CONFIG_PRINTK=y
+CONFIG_LOG=y
+CONFIG_LOG_MODE_IMMEDIATE=y
+CONFIG_ASSERT=y
+CONFIG_WATCHDOG=y

tests/benchmarks/multicore/idle_wdt/prj_s2ram.conf

@@ -0,0 +1,20 @@
+CONFIG_PM=y
+CONFIG_PM_S2RAM=y
+CONFIG_PM_S2RAM_CUSTOM_MARKING=y
+CONFIG_POWEROFF=y
+CONFIG_SOC_NRF54H20_NO_MRAM_LATENCY=n
+
+CONFIG_PM_DEVICE=y
+CONFIG_PM_DEVICE_RUNTIME=y
+
+# Enable for debugging purposes only
+CONFIG_BOOT_BANNER=n
+CONFIG_NCS_BOOT_BANNER=n
+CONFIG_PRINTK=n
+CONFIG_LOG=n
+CONFIG_CONSOLE=n
+CONFIG_UART_CONSOLE=n
+CONFIG_SERIAL=n
+
+CONFIG_WATCHDOG=y
+CONFIG_ASSERT=y

tests/benchmarks/multicore/idle_wdt/remote/CMakeLists.txt

@@ -0,0 +1,12 @@
+#
+# Copyright (c) 2024 Nordic Semiconductor ASA
+#
+# SPDX-License-Identifier: LicenseRef-Nordic-5-Clause
+#
+
+cmake_minimum_required(VERSION 3.20.0)
+
+find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
+project(remote)
+
+target_sources(app PRIVATE ../src/main.c)

tests/benchmarks/multicore/idle_wdt/remote/Kconfig

@@ -0,0 +1,15 @@
+#
+# Copyright (c) 2024 Nordic Semiconductor ASA
+#
+# SPDX-License-Identifier: LicenseRef-Nordic-5-Clause
+#
+
+config TEST_SLEEP_DURATION_MS
+	int "Amount of time (in miliseconds) the core is sleeping"
+	default 1000
+	help
+	  Set sleep duration to TEST_SLEEP_DURATION_MS miliseconds.
+	  Based on the value of 'min-residency-us' specified for each power state defined in the DTS,
+	  core enters the lowest possible power state.
+
+source "Kconfig.zephyr"

tests/benchmarks/multicore/idle_wdt/remote/boards/nrf54h20dk_nrf54h20_cpurad.overlay

@@ -0,0 +1,15 @@
+/*
+ * Copyright (c) 2024 Nordic Semiconductor ASA
+ *
+ * SPDX-License-Identifier: LicenseRef-Nordic-5-Clause
+ */
+
+/ {
+	aliases {
+		watchdog0 = &wdt010;
+	};
+};
+
+&wdt010 {
+	status = "okay";
+};

tests/benchmarks/multicore/idle_wdt/remote/prj.conf

@@ -0,0 +1,5 @@
+CONFIG_PRINTK=y
+CONFIG_LOG=y
+CONFIG_LOG_MODE_IMMEDIATE=y
+CONFIG_ASSERT=y
+CONFIG_WATCHDOG=y

tests/benchmarks/multicore/idle_wdt/remote/prj_s2ram.conf

@@ -0,0 +1,10 @@
+CONFIG_PM=y
+CONFIG_POWEROFF=y
+
+CONFIG_CONSOLE=n
+CONFIG_UART_CONSOLE=n
+CONFIG_SERIAL=n
+CONFIG_BOOT_BANNER=n
+CONFIG_SOC_NRF54H20_NO_MRAM_LATENCY=n
+
+CONFIG_WATCHDOG=y

tests/benchmarks/multicore/idle_wdt/src/main.c

@@ -0,0 +1,129 @@
+/*
+ * Copyright (c) 2024 Nordic Semiconductor ASA
+ *
+ * SPDX-License-Identifier: LicenseRef-Nordic-5-Clause
+ */
+
+#include <zephyr/logging/log.h>
+LOG_MODULE_REGISTER(idle_wdt, LOG_LEVEL_INF);
+
+#include <zephyr/kernel.h>
+#include <zephyr/drivers/watchdog.h>
+
+#define WDT_WINDOW_MAX	(200)
+
+/* Watchdog related variables */
+static const struct device *const my_wdt_device = DEVICE_DT_GET(DT_ALIAS(watchdog0));
+static struct wdt_timeout_cfg m_cfg_wdt0;
+static int my_wdt_channel;
+
+/* No init section will contain WDT_TAG if watchdog has fired */
+#define WDT_TAG					(12345678U)
+
+#if DT_NODE_HAS_STATUS(DT_CHOSEN(zephyr_dtcm), okay)
+#define NOINIT_SECTION ".dtcm_noinit.test_wdt"
+#else
+#define NOINIT_SECTION ".noinit.test_wdt"
+#endif
+static volatile uint32_t wdt_status __attribute__((section(NOINIT_SECTION)));
+
+/* Variables used to make CPU active for ~1 second */
+static struct k_timer my_timer;
+static bool timer_expired;
+
+static void wdt_int_cb(const struct device *wdt_dev, int channel_id)
+{
+	ARG_UNUSED(wdt_dev);
+	ARG_UNUSED(channel_id);
+	wdt_status = WDT_TAG;
+}
+
+void my_timer_handler(struct k_timer *dummy)
+{
+	timer_expired = true;
+}
+
+int main(void)
+{
+	int ret;
+	int counter = 0;
+
+	LOG_INF("Multicore idle_wdt test on %s", CONFIG_BOARD_TARGET);
+	LOG_INF("Main sleeps for %d ms", CONFIG_TEST_SLEEP_DURATION_MS);
+
+	k_timer_init(&my_timer, my_timer_handler, NULL);
+
+	ret = device_is_ready(my_wdt_device);
+	if (!ret) {
+		LOG_ERR("WDT device %s is not ready", my_wdt_device->name);
+	}
+	__ASSERT(ret, "WDT device %s is not ready\n", my_wdt_device->name);
+
+	/* When watchdog fires, variable wdt_status is set to the value of WDT_TAG
+	 * in WDT callback wdt_int_cb(). Then, target is reset.
+	 * Check value of wdt_status to prevent reset loop.
+	 */
+	if (wdt_status == WDT_TAG) {
+		LOG_INF("Watchod has fired");
+		/* Pinreset shall "recover" test to initial state */
+		wdt_status = 0U;
+		__ASSERT(false, "Watchod has fired\n");
+	} else {
+		LOG_INF("Reset wasn't due to watchdog.");
+	}
+
+	LOG_INF("wdt_status = %u", wdt_status);
+	/* Clear flag that is set when the watchdog fires */
+	wdt_status = 0U;
+	LOG_INF("wdt_status = %u", wdt_status);
+
+	/* Configure Watchdog */
+	m_cfg_wdt0.callback = wdt_int_cb;
+	m_cfg_wdt0.flags = WDT_FLAG_RESET_SOC;
+	m_cfg_wdt0.window.min = 0U;
+	m_cfg_wdt0.window.max = WDT_WINDOW_MAX;
+	my_wdt_channel = wdt_install_timeout(my_wdt_device, &m_cfg_wdt0);
+	if (my_wdt_channel < 0) {
+		LOG_ERR("wdt_install_timeout() returned %d", my_wdt_channel);
+		__ASSERT(false, "wdt_install_timeout() returned %d\n", my_wdt_channel);
+	}
+
+	/* Start Watchdog */
+	ret = wdt_setup(my_wdt_device, WDT_OPT_PAUSE_HALTED_BY_DBG | WDT_OPT_PAUSE_IN_SLEEP);
+	if (ret < 0) {
+		LOG_ERR("wdt_setup() returned %d", ret);
+		__ASSERT(false, "wdt_setup() returned %d\n", ret);
+	}
+
+	/* Run test forever */
+	while (1) {
+		timer_expired = false;
+
+		/* start a one-shot timer that expires after 1 second */
+		k_timer_start(&my_timer, K_MSEC(1000), K_NO_WAIT);
+
+		/* Keep CPU active for ~ 1 second */
+		while (!timer_expired) {
+			ret = wdt_feed(my_wdt_device, my_wdt_channel);
+			if (ret < 0) {
+				LOG_ERR("wdt_feed() returned: %d", ret);
+				/* Stop watchdog */
+				wdt_disable(my_wdt_device);
+				__ASSERT(false, "wdt_feed() returned: %d\n", ret);
+			}
+			k_busy_wait(10000);
+			k_yield();
+		}
+
+		LOG_INF("Run %d", counter);
+		counter++;
+
+		/* Sleep / enter low power state
+		 * Watchdog was started with option WDT_OPT_PAUSE_IN_SLEEP thus
+		 * it shall not reset the core during sleep.
+		 */
+		k_msleep(CONFIG_TEST_SLEEP_DURATION_MS);
+	}
+
+	return 0;
+}

tests/benchmarks/multicore/idle_wdt/sysbuild.cmake

@@ -0,0 +1,22 @@
+#
+# Copyright (c) 2024 Nordic Semiconductor ASA
+#
+# SPDX-License-Identifier: LicenseRef-Nordic-5-Clause
+#
+
+if("${SB_CONFIG_REMOTE_BOARD}" STREQUAL "")
+  message(FATAL_ERROR "REMOTE_BOARD must be set to a valid board name")
+endif()
+
+# Add remote project
+ExternalZephyrProject_Add(
+    APPLICATION remote
+    SOURCE_DIR ${APP_DIR}/remote
+    BOARD ${SB_CONFIG_REMOTE_BOARD}
+    BOARD_REVISION ${BOARD_REVISION}
+  )
+
+# Add a dependency so that the remote image will be built and flashed first
+add_dependencies(idle_wdt remote)
+# Add dependency so that the remote image is flashed first.
+sysbuild_add_dependencies(FLASH idle_wdt remote)

tests/benchmarks/multicore/idle_wdt/sysbuild/nrf54h20dk_nrf54h20_cpurad.conf

@@ -0,0 +1 @@
+SB_CONFIG_REMOTE_BOARD="nrf54h20dk/nrf54h20/cpurad"

tests/benchmarks/multicore/idle_wdt/testcase.yaml

@@ -0,0 +1,46 @@
+common:
+  sysbuild: true
+  tags: ci_build ci_tests_benchmarks_multicore
+  platform_allow:
+    - nrf54h20dk/nrf54h20/cpuapp
+  integration_platforms:
+    - nrf54h20dk/nrf54h20/cpuapp
+
+tests:
+  benchmarks.multicore.idle_wdt.nrf54h20dk_cpuapp_cpurad.no_sleep:
+    extra_args:
+      SB_CONF_FILE=sysbuild/nrf54h20dk_nrf54h20_cpurad.conf
+    harness: console
+    harness_config:
+      type: multi_line
+      ordered: true
+      regex:
+        - "Multicore idle_wdt test on"
+        - "Run 0"
+        - "Run 1"
+
+  benchmarks.multicore.idle_wdt.nrf54h20dk_cpuapp_cpurad.idle:
+    tags: ppk_power_measure
+    extra_args:
+      SB_CONF_FILE=sysbuild/nrf54h20dk_nrf54h20_cpurad.conf
+      idle_wdt_CONF_FILE=prj_s2ram.conf
+      remote_CONF_FILE=prj_s2ram.conf
+      idle_wdt_CONFIG_TEST_SLEEP_DURATION_MS=500
+      remote_CONFIG_TEST_SLEEP_DURATION_MS=500
+    harness: pytest
+    harness_config:
+      fixture: ppk_power_measure
+      pytest_root:
+        - "${CUSTOM_ROOT_TEST_DIR}/test_measure_power_consumption.py::test_measure_and_data_dump_pwm_and_idle"
+
+  benchmarks.multicore.idle_wdt.nrf54h20dk_cpuapp_cpurad.s2ram:
+    tags: ppk_power_measure
+    extra_args:
+      SB_CONF_FILE=sysbuild/nrf54h20dk_nrf54h20_cpurad.conf
+      idle_wdt_CONF_FILE=prj_s2ram.conf
+      remote_CONF_FILE=prj_s2ram.conf
+    harness: pytest
+    harness_config:
+      fixture: ppk_power_measure
+      pytest_root:
+        - "${CUSTOM_ROOT_TEST_DIR}/test_measure_power_consumption.py::test_measure_and_data_dump_pwm_and_s2ram"