tests: subsys: ipc: Implement IPC latency test

nordic-bami · nordic-piks · commit c0adac2b67fa · 2025-07-31T13:03:17.000+02:00
Measure IPC ping-pong message latency between APP&lt;-&gt;RAD.

Signed-off-by: Bartosz Miller &lt;bartosz.miller@nordicsemi.no&gt;
diff --git a/CODEOWNERS b/CODEOWNERS
@@ -933,6 +933,7 @@
 /tests/subsys/partition_manager/static_pm_file/ @nordicjm @tejlmand
 /tests/subsys/pcd/                        @nrfconnect/ncs-pluto
 /tests/subsys/usb/negotiated_speed/       @nrfconnect/ncs-low-level-test
+/tests/subsys/ipc/                        @nrfconnect/ncs-low-level-test
 /tests/tfm/                               @nrfconnect/ncs-aegir @magnev
 /tests/unity/                             @nordic-krch
 /tests/zephyr/boards/nrf/                 @nrfconnect/ncs-low-level-test
diff --git a/scripts/ci/tags.yaml b/scripts/ci/tags.yaml
@@ -1060,6 +1060,10 @@ ci_samples_ipc:
     - zephyr/drivers/mbox/
     - zephyr/subsys/ipc/
 
+ci_tests_subsys_ipc:
+  files:
+    - nrf/tests/subsys/ipc/
+
 ci_samples_benchmarks:
   files:
     - modules/benchmark/
diff --git a/tests/subsys/ipc/ipc_latency/CMakeLists.txt b/tests/subsys/ipc/ipc_latency/CMakeLists.txt
@@ -0,0 +1,13 @@
+#
+# Copyright (c) 2025 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(ipc_latency)
+
+FILE(GLOB app_sources src/*.c)
+target_sources(app PRIVATE ${app_sources})
diff --git a/tests/subsys/ipc/ipc_latency/Kconfig.sysbuild b/tests/subsys/ipc/ipc_latency/Kconfig.sysbuild
@@ -0,0 +1,10 @@
+# Copyright 2025 Nordic Semiconductor ASA
+#
+# SPDX-License-Identifier: LicenseRef-Nordic-5-Clause
+
+source "share/sysbuild/Kconfig"
+
+config REMOTE_BOARD
+	string
+	default "$(BOARD)/nrf5340/cpunet" if SOC_NRF5340_CPUAPP
+	default "$(BOARD)/nrf54h20/cpurad" if SOC_NRF54H20_CPUAPP
diff --git a/tests/subsys/ipc/ipc_latency/boards/nrf5340dk_nrf5340_cpuapp.conf b/tests/subsys/ipc/ipc_latency/boards/nrf5340dk_nrf5340_cpuapp.conf
@@ -0,0 +1 @@
+CONFIG_SOC_NRF53_CPUNET_ENABLE=y
diff --git a/tests/subsys/ipc/ipc_latency/boards/nrf5340dk_nrf5340_cpuapp.overlay b/tests/subsys/ipc/ipc_latency/boards/nrf5340dk_nrf5340_cpuapp.overlay
@@ -0,0 +1,15 @@
+/*
+ * Copyright (c) 2025 Nordic Semiconductor ASA
+ *
+ * SPDX-License-Identifier: LicenseRef-Nordic-5-Clause
+ */
+
+/ {
+	aliases {
+		tst-timer = &timer0;
+	};
+};
+
+&timer0 {
+	status = "okay";
+};
diff --git a/tests/subsys/ipc/ipc_latency/boards/nrf5340dk_nrf5340_cpuapp_icmsg.conf b/tests/subsys/ipc/ipc_latency/boards/nrf5340dk_nrf5340_cpuapp_icmsg.conf
@@ -0,0 +1 @@
+CONFIG_SOC_NRF53_CPUNET_ENABLE=y
diff --git a/tests/subsys/ipc/ipc_latency/boards/nrf5340dk_nrf5340_cpuapp_icmsg.overlay b/tests/subsys/ipc/ipc_latency/boards/nrf5340dk_nrf5340_cpuapp_icmsg.overlay
@@ -0,0 +1,45 @@
+/*
+ * Copyright (c) 2025 Nordic Semiconductor ASA
+ *
+ * SPDX-License-Identifier: LicenseRef-Nordic-5-Clause
+ */
+
+/ {
+	aliases {
+		tst-timer = &timer0;
+	};
+};
+
+/delete-node/ &ipc0;
+
+/ {
+	chosen {
+		/delete-property/ zephyr,ipc_shm;
+		/delete-property/ zephyr,bt-hci;
+	};
+
+	reserved-memory {
+		/delete-node/ memory@20070000;
+
+		sram_tx: memory@20070000 {
+			reg = <0x20070000 0x8000>;
+		};
+
+		sram_rx: memory@20078000 {
+			reg = <0x20078000 0x8000>;
+		};
+	};
+
+	ipc0: ipc0 {
+		compatible = "zephyr,ipc-icmsg";
+		tx-region = <&sram_tx>;
+		rx-region = <&sram_rx>;
+		mboxes = <&mbox 0>, <&mbox 1>;
+		mbox-names = "tx", "rx";
+		status = "okay";
+	};
+};
+
+&timer0 {
+	status = "okay";
+};
diff --git a/tests/subsys/ipc/ipc_latency/boards/nrf54h20dk_nrf54h20_cpuapp.conf b/tests/subsys/ipc/ipc_latency/boards/nrf54h20dk_nrf54h20_cpuapp.conf
@@ -0,0 +1 @@
+CONFIG_SOC_NRF54H20_CPURAD_ENABLE=y
diff --git a/tests/subsys/ipc/ipc_latency/boards/nrf54h20dk_nrf54h20_cpuapp.overlay b/tests/subsys/ipc/ipc_latency/boards/nrf54h20dk_nrf54h20_cpuapp.overlay
@@ -0,0 +1,15 @@
+/*
+ * Copyright (c) 2025 Nordic Semiconductor ASA
+ *
+ * SPDX-License-Identifier: LicenseRef-Nordic-5-Clause
+ */
+
+/ {
+	aliases {
+		tst-timer = &timer130;
+	};
+};
+
+&timer130 {
+	status = "okay";
+};
diff --git a/tests/subsys/ipc/ipc_latency/boards/nrf54h20dk_nrf54h20_cpuapp_icmsg.conf b/tests/subsys/ipc/ipc_latency/boards/nrf54h20dk_nrf54h20_cpuapp_icmsg.conf
@@ -0,0 +1 @@
+CONFIG_SOC_NRF54H20_CPURAD_ENABLE=y
diff --git a/tests/subsys/ipc/ipc_latency/boards/nrf54h20dk_nrf54h20_cpuapp_icmsg.overlay b/tests/subsys/ipc/ipc_latency/boards/nrf54h20dk_nrf54h20_cpuapp_icmsg.overlay
@@ -0,0 +1,21 @@
+/*
+ * Copyright (c) 2025 Nordic Semiconductor ASA
+ *
+ * SPDX-License-Identifier: LicenseRef-Nordic-5-Clause
+ */
+
+/ {
+	aliases {
+		tst-timer = &timer130;
+	};
+};
+
+&timer130 {
+	status = "okay";
+};
+
+&ipc0 {
+	compatible = "zephyr,ipc-icmsg";
+	/delete-property/ tx-blocks;
+	/delete-property/ rx-blocks;
+};
diff --git a/tests/subsys/ipc/ipc_latency/prj.conf b/tests/subsys/ipc/ipc_latency/prj.conf
@@ -0,0 +1,7 @@
+CONFIG_IPC_SERVICE=y
+CONFIG_MBOX=y
+CONFIG_HEAP_MEM_POOL_SIZE=2048
+CONFIG_MAIN_STACK_SIZE=2048
+
+CONFIG_ZTEST=y
+CONFIG_COUNTER=y
diff --git a/tests/subsys/ipc/ipc_latency/remote/CMakeLists.txt b/tests/subsys/ipc/ipc_latency/remote/CMakeLists.txt
@@ -0,0 +1,13 @@
+#
+# Copyright (c) 2025 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)
+
+FILE(GLOB app_sources src/*.c)
+target_sources(app PRIVATE ${app_sources})
diff --git a/tests/subsys/ipc/ipc_latency/remote/boards/nrf5340dk_nrf5340_cpunet_icmsg.overlay b/tests/subsys/ipc/ipc_latency/remote/boards/nrf5340dk_nrf5340_cpunet_icmsg.overlay
@@ -0,0 +1,34 @@
+/*
+ * Copyright (c) 2025 Nordic Semiconductor ASA
+ *
+ * SPDX-License-Identifier: LicenseRef-Nordic-5-Clause
+ */
+
+/delete-node/ &ipc0;
+
+/ {
+	chosen {
+		/delete-property/ zephyr,ipc_shm;
+	};
+
+	reserved-memory {
+		/delete-node/ memory@20070000;
+
+		sram_rx: memory@20070000 {
+			reg = <0x20070000 0x8000>;
+		};
+
+		sram_tx: memory@20078000 {
+			reg = <0x20078000 0x8000>;
+		};
+	};
+
+	ipc0: ipc0 {
+		compatible = "zephyr,ipc-icmsg";
+		tx-region = <&sram_tx>;
+		rx-region = <&sram_rx>;
+		mboxes = <&mbox 0>, <&mbox 1>;
+		mbox-names = "rx", "tx";
+		status = "okay";
+	};
+};
diff --git a/tests/subsys/ipc/ipc_latency/remote/boards/nrf54h20dk_nrf54h20_cpurad_icmsg.overlay b/tests/subsys/ipc/ipc_latency/remote/boards/nrf54h20dk_nrf54h20_cpurad_icmsg.overlay
@@ -0,0 +1,11 @@
+/*
+ * Copyright (c) 2025 Nordic Semiconductor ASA
+ *
+ * SPDX-License-Identifier: LicenseRef-Nordic-5-Clause
+ */
+
+&ipc0 {
+	compatible = "zephyr,ipc-icmsg";
+	/delete-property/ tx-blocks;
+	/delete-property/ rx-blocks;
+};
diff --git a/tests/subsys/ipc/ipc_latency/remote/prj.conf b/tests/subsys/ipc/ipc_latency/remote/prj.conf
@@ -0,0 +1,11 @@
+CONFIG_IPC_SERVICE=y
+CONFIG_MBOX=y
+
+CONFIG_HEAP_MEM_POOL_SIZE=2048
+CONFIG_MAIN_STACK_SIZE=2048
+
+# Enable for debugging purposes only
+CONFIG_SERIAL=n
+CONFIG_LOG=n
+CONFIG_CONSOLE=n
+CONFIG_UART_CONSOLE=n
diff --git a/tests/subsys/ipc/ipc_latency/remote/src/main.c b/tests/subsys/ipc/ipc_latency/remote/src/main.c
@@ -0,0 +1,87 @@
+/*
+ * Copyright (c) 2025, Nordic Semiconductor ASA
+ *
+ * SPDX-License-Identifier: LicenseRef-Nordic-5-Clause
+ */
+
+#include <zephyr/kernel.h>
+#include <zephyr/device.h>
+#include <zephyr/ipc/ipc_service.h>
+
+#define BOUND_TIMEOUT_MS 5000
+
+const struct device *ipc0_instance = DEVICE_DT_GET(DT_NODELABEL(ipc0));
+static struct ipc_ept test_endpoint;
+
+K_SEM_DEFINE(endpoint_bound_sem, 0, 1);
+
+static void ep_bound_callback(void *priv)
+{
+	k_sem_give(&endpoint_bound_sem);
+}
+
+static void ep_unbound_callback(void *priv)
+{
+	printk("IPC endpoint unbounded\n");
+}
+
+static void ep_recv_callback(const void *data, size_t len, void *priv)
+{
+	int ret;
+
+	ret = ipc_service_send(&test_endpoint, data, len);
+	if (ret < 0) {
+		printk("Failed to send data back: %d\n", ret);
+	}
+}
+
+static void ep_error_callback(const char *message, void *priv)
+{
+	printk("IPC data error: %s\n", message);
+}
+
+static struct ipc_ept_cfg test_ep_cfg = {
+	.name = "ep0",
+	.cb = {
+		.bound = ep_bound_callback,
+		.unbound = ep_unbound_callback,
+		.received = ep_recv_callback,
+		.error = ep_error_callback,
+	},
+};
+
+int main(void)
+{
+
+	int ret;
+
+	printk("Hello\n");
+	k_msleep(50);
+
+	ret = ipc_service_open_instance(ipc0_instance);
+	if ((ret < 0) && (ret != -EALREADY)) {
+		printk("IPC instance open failed\n");
+		return -1;
+	}
+
+	printk("Instance opened\n");
+
+	ret = ipc_service_register_endpoint(ipc0_instance, &test_endpoint, &test_ep_cfg);
+	if (ret != 0) {
+		printk("IPC endpoint register failed\n");
+		return -1;
+	}
+	printk("Endpoint registered\n");
+
+	printk("Waiting for binding\n");
+	ret = k_sem_take(&endpoint_bound_sem, K_MSEC(BOUND_TIMEOUT_MS));
+	if (ret != 0) {
+		printk("IPC timeout occurred while waiting for endpoint bound\n");
+		return -1;
+	}
+	printk("Binding done\n");
+
+	k_sleep(K_FOREVER);
+
+	return 0;
+}
diff --git a/tests/subsys/ipc/ipc_latency/src/main.c b/tests/subsys/ipc/ipc_latency/src/main.c
diff --git a/tests/subsys/ipc/ipc_latency/sysbuild.cmake b/tests/subsys/ipc/ipc_latency/sysbuild.cmake
diff --git a/tests/subsys/ipc/ipc_latency/testcase.yaml b/tests/subsys/ipc/ipc_latency/testcase.yaml
