sw/device/tests/smc/smc_cam_irq_test.c

/*
 * Copyright 2023 Google LLC
 * Copyright lowRISC contributors
 *
 * 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.
 */


#include "hw/top_matcha/sw/autogen/top_matcha.h"
#include "sw/device/lib/arch/device.h"
#include "sw/device/lib/dif/dif_cam_ctrl.h"
#include "sw/device/lib/dif/dif_rv_plic.h"
#include "sw/device/lib/dif/dif_uart.h"
#include "sw/device/lib/runtime/irq.h"
#include "sw/device/lib/runtime/log.h"
#include "sw/device/lib/runtime/print.h"
#include "sw/device/lib/testing/test_framework/check.h"
#include "sw/device/lib/testing/test_framework/ottf_test_config.h"
#include "sw/device/lib/testing/test_framework/test_util.h"

OTTF_DEFINE_TEST_CONFIG();

static dif_uart_t uart;
static dif_cam_ctrl_t cam_ctrl;
static dif_rv_plic_t plic_smc;

// These flags are used in the test routine to verify that a corresponding
// interrupt has elapsed, and has been serviced. These are declared as volatile
// since they are referenced in the ISR routine as well as in the main program
// flow.
static volatile bool cam_ctrl_motion_detect_handled;

/**
 * CAM_CTRL ISR.
 *
 * Services CAM_CTRL interrupts, sets the appropriate flags that are used to
 * determine success or failure of the test.
 */
static void handle_cam_ctrl_isr(const dif_rv_plic_irq_id_t interrupt_id) {
  // NOTE: This initialization is superfluous, since the `default` case below
  // is effectively noreturn, but the compiler is unable to prove this.
  dif_cam_ctrl_irq_t cam_ctrl_irq = 0;

  switch (interrupt_id) {
    case kTopMatchaPlicIrqIdCamCtrlCamMotionDetect:
      CHECK(!cam_ctrl_motion_detect_handled,
            "CAM_CTRL motion detect IRQ asserted more than once");
      cam_ctrl_irq = kDifCamCtrlIrqCamMotionDetect;
      cam_ctrl_motion_detect_handled = true;
      break;
    default:
      LOG_FATAL("ISR is not implemented!");
  }

  CHECK_DIF_OK(dif_cam_ctrl_irq_acknowledge(&cam_ctrl, cam_ctrl_irq));
}

/**
 * External ISR.
 *
 * Handles all peripheral interrupts on Ibex. PLIC asserts an external interrupt
 * line to the CPU, which results in a call to this OTTF ISR. This ISR
 * overrides the default OTTF implementation.
 */
void ottf_external_isr(void) {
  //// Claim the IRQ by reading the Ibex specific CC register.
  dif_rv_plic_irq_id_t interrupt_id;
  CHECK_DIF_OK(dif_rv_plic_irq_claim(&plic_smc, kTopMatchaPlicTargetIbex0Smc,
                                     &interrupt_id));

  // Check if the interrupted peripheral is UART.
  top_matcha_plic_peripheral_smc_t peripheral_id =
      top_matcha_plic_interrupt_for_peripheral_smc[interrupt_id];
  CHECK(peripheral_id == kTopMatchaPlicPeripheralCamCtrl ||
            peripheral_id == kTopMatchaPlicPeripheralIspWrapper,
        "ISR interrupted peripheral is not CAM_CTRL or ISP_WRAPPER!");
  switch (peripheral_id) {
    case kTopMatchaPlicPeripheralCamCtrl:
      handle_cam_ctrl_isr(interrupt_id);
      break;
    default:
      LOG_FATAL("Peripheral is not implemented!");
  }

  // Complete the IRQ by writing the IRQ source to the Ibex specific CC
  // register.
  CHECK_DIF_OK(dif_rv_plic_irq_complete(&plic_smc, kTopMatchaPlicTargetIbex0Smc,
                                        interrupt_id));
}

/**
 * Configures all the relevant interrupts in CAM_CTRL.
 */
static void cam_ctrl_configure_irqs(dif_cam_ctrl_t *cam_ctrl) {
  CHECK_DIF_OK(dif_cam_ctrl_irq_set_enabled(
      cam_ctrl, kDifCamCtrlIrqCamMotionDetect, kDifToggleEnabled));
}

/**
 * Configures all the relevant interrupts in PLIC_SMC.
 */
static void plic_smc_configure_irqs(dif_rv_plic_t *plic) {
  // Set IRQ priorities to MAX
  CHECK_DIF_OK(dif_rv_plic_irq_set_priority(
      plic, kTopMatchaPlicIrqIdCamCtrlCamMotionDetect, kDifRvPlicMaxPriority));
  CHECK_DIF_OK(dif_rv_plic_irq_set_priority(
      plic, kTopMatchaPlicIrqIdIspWrapperIsp, kDifRvPlicMaxPriority));
  CHECK_DIF_OK(dif_rv_plic_irq_set_priority(
      plic, kTopMatchaPlicIrqIdIspWrapperMi, kDifRvPlicMaxPriority));

  // Set Ibex IRQ priority threshold level
  CHECK_DIF_OK(dif_rv_plic_target_set_threshold(
      plic, kTopMatchaPlicTargetIbex0Smc, kDifRvPlicMinPriority));

  // Enable IRQs in PLIC
  CHECK_DIF_OK(dif_rv_plic_irq_set_enabled(
      plic, kTopMatchaPlicIrqIdCamCtrlCamMotionDetect,
      kTopMatchaPlicTargetIbex0Smc, kDifToggleEnabled));
  CHECK_DIF_OK(dif_rv_plic_irq_set_enabled(
      plic, kTopMatchaPlicIrqIdIspWrapperIsp, kTopMatchaPlicTargetIbex0Smc,
      kDifToggleEnabled));
  CHECK_DIF_OK(dif_rv_plic_irq_set_enabled(
      plic, kTopMatchaPlicIrqIdIspWrapperMi, kTopMatchaPlicTargetIbex0Smc,
      kDifToggleEnabled));
}

static void execute_test() {
  // Force CAM_CTRL motion detect interrupt.
  cam_ctrl_motion_detect_handled = false;
  CHECK_DIF_OK(
      dif_cam_ctrl_irq_force(&cam_ctrl, kDifCamCtrlIrqCamMotionDetect));
  // Check if the IRQ has occured and has been handled appropriately.
  if (!cam_ctrl_motion_detect_handled) {
    busy_spin_micros(10);
  }
  CHECK(cam_ctrl_motion_detect_handled,
        "CAM_CTRL motion detect IRQ has not been handled!");
}

void _ottf_main(void) {
  // Initialize the SMC UART to enable logging for non-DV simulation platforms.
  if (kDeviceType != kDeviceSimDV) {
    init_uart(TOP_MATCHA_SMC_UART_BASE_ADDR, &uart);
  }
  test_status_set(kTestStatusInTest);
  irq_global_ctrl(true);
  irq_external_ctrl(true);

  // Initialize each dif device.
  CHECK_DIF_OK(dif_rv_plic_init(
      mmio_region_from_addr(TOP_MATCHA_RV_PLIC_SMC_BASE_ADDR), &plic_smc));
  CHECK_DIF_OK(dif_cam_ctrl_init(
      mmio_region_from_addr(TOP_MATCHA_CAM_CTRL_BASE_ADDR), &cam_ctrl));

  // Configure irqs for cam, isp and plic.
  cam_ctrl_configure_irqs(&cam_ctrl);
  plic_smc_configure_irqs(&plic_smc);

  execute_test();
  test_status_set(kTestStatusPassed);
}