Add on-target tests to CI

.github/bors.toml

@@ -8,6 +8,8 @@ status = [
   "rt-ci-linux (1.59.0)",
   "rt-ci-other-os (macOS-latest)",
   "rt-ci-other-os (windows-latest)",
+  "hil-qemu",
+  "hil-compile-rtt",
   "rustfmt",
   "clippy",
 ]

.github/workflows/ci.yml

@@ -29,6 +29,6 @@ jobs:
           toolchain: ${{ matrix.rust }}
           override: true
       - name: Run tests
-        run: cargo test --all --exclude cortex-m-rt
+        run: cargo test --all --exclude cortex-m-rt --exclude testsuite
 
 # FIXME: test on macOS and Windows

.github/workflows/on-target.yml

@@ -0,0 +1,83 @@
+on:
+  push:
+    branches: [ staging, trying, master ]
+  pull_request:
+  # allows manual triggering
+  workflow_dispatch:
+
+name: cortex-m on-target tests
+
+jobs:
+
+  hil-qemu:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v2
+      - uses: actions-rs/toolchain@v1
+        with:
+          profile: minimal
+          toolchain: stable
+          override: true
+          target: thumbv7m-none-eabi
+      - name: Build testsuite
+        env:
+          RUSTFLAGS: -C link-arg=-Tlink.x -D warnings
+        run: cargo build -p testsuite --target thumbv7m-none-eabi --features testsuite/semihosting
+      - name: Install QEMU
+        run: sudo apt-get update && sudo apt-get install qemu qemu-system-arm
+      - name: Run testsuite
+        run: |
+          qemu-system-arm \
+            -cpu cortex-m3 \
+            -machine lm3s6965evb \
+            -nographic \
+            -semihosting-config enable=on,target=native \
+            -kernel target/thumbv7m-none-eabi/debug/testsuite
+
+  hil-compile-rtt:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v2
+      - uses: actions-rs/toolchain@v1
+        with:
+          profile: minimal
+          toolchain: stable
+          override: true
+          target: thumbv6m-none-eabi
+      - name: Modify linkerfile
+        run: |
+          sed -i 's/FLASH : ORIGIN = 0x00000000, LENGTH = 256K/FLASH : ORIGIN = 0x8000000, LENGTH = 128K/g' memory.x
+          sed -i 's/RAM : ORIGIN = 0x20000000, LENGTH = 64K/RAM : ORIGIN = 0x20000000, LENGTH = 16K/g' memory.x
+      - name: Build testsuite
+        env:
+          RUSTFLAGS: -C link-arg=-Tlink.x -D warnings
+        run: cargo build -p testsuite --target thumbv6m-none-eabi --features testsuite/rtt
+      - name: Upload testsuite binaries
+        uses: actions/upload-artifact@v2
+        with:
+          name: testsuite-bin
+          if-no-files-found: error
+          retention-days: 1
+          path: target/thumbv6m-none-eabi/debug/testsuite
+
+  hil-stm32:
+    runs-on: self-hosted
+    needs:
+      - hil-compile-rtt
+    steps:
+      - uses: actions/checkout@v2
+      - name: Display probe-run version
+        run: probe-run --version
+      - name: List probes
+        run: probe-run --list-probes
+      - uses: actions/download-artifact@v2
+        with:
+          name: testsuite-bin
+          path: testsuite-bin
+      - name: Run on-target tests
+        timeout-minutes: 5
+        run: |
+          probe-run \
+          --chip STM32F070RBTx \
+          --connect-under-reset \
+          testsuite-bin/testsuite

Cargo.toml

@@ -35,11 +35,14 @@ std = []
 
 [workspace]
 members = [
-    "xtask",
     "cortex-m-rt",
     "cortex-m-semihosting",
+    "panic-itm",
     "panic-semihosting",
-    "panic-itm"
+    "testsuite",
+    "testsuite/minitest",
+    "testsuite/minitest/macros",
+    "xtask",
 ]
 
 [package.metadata.docs.rs]

src/peripheral/dwt.rs

@@ -155,6 +155,18 @@ impl DWT {
         }
     }
 
+    /// Disables the cycle counter
+    #[cfg(not(armv6m))]
+    #[inline]
+    pub fn disable_cycle_counter(&mut self) {
+        unsafe {
+            self.ctrl.modify(|mut r| {
+                r.set_cyccntena(false);
+                r
+            });
+        }
+    }
+
     /// Returns `true` if the cycle counter is enabled
     #[cfg(not(armv6m))]
     #[inline]

testsuite/.cargo/config.toml

@@ -0,0 +1,6 @@
+[target.'cfg(all(target_arch = "arm", target_os = "none"))']
+rustflags = ["-C", "link-arg=-Tlink.x"]
+runner = "qemu-system-arm -cpu cortex-m3 -machine lm3s6965evb -nographic -semihosting-config enable=on,target=native -kernel"
+
+[build]
+target = "thumbv7m-none-eabi"

testsuite/Cargo.toml

@@ -0,0 +1,23 @@
+[package]
+authors = ["The Cortex-M Team <[email protected]>"]
+name = "testsuite"
+publish = false
+edition = "2018"
+version = "0.1.0"
+
+[features]
+rtt = ["rtt-target", "minitest/rtt"]
+semihosting = ["cortex-m-semihosting", "minitest/semihosting"]
+
+[dependencies]
+cortex-m-rt.path = "../cortex-m-rt"
+cortex-m.path = ".."
+minitest.path = "minitest"
+
+[dependencies.rtt-target]
+version = "0.3.1"
+optional = true
+
+[dependencies.cortex-m-semihosting]
+path = "../cortex-m-semihosting"
+optional = true

testsuite/README.md

@@ -0,0 +1,69 @@
+# Testsuite
+
+This workspace contains tests that run on physical and simulated Cortex-M CPUs.
+
+## Building
+
+Exactly one of these features are required:
+
+* `semihosting` Use semihosting for logging, this is used for QEMU.
+* `rtt` Use RTT for logging, this is used with physical cortex-m CPUs.
+
+Assuming you are at the root of the repository you can build like this:
+
+```console
+$ cd testsuite
+$ cargo build --features semihosting
+   Compiling testsuite v0.1.0 (cortex-m/testsuite)
+    Finished dev [unoptimized + debuginfo] target(s) in 0.08
+```
+
+## Running with QEMU
+
+The runner is already configured for QEMU in `testsuite/.cargo/config.toml`.
+Use the `semihosting` feature for logging, QEMU does not have native support for RTT.
+
+For more information on QEMU reference the QEMU section in [The Embedded Rust Book].
+
+```console
+$ cd testsuite
+$ cargo run --features semihosting
+    Finished dev [unoptimized + debuginfo] target(s) in 0.01s
+     Running `qemu-system-arm -cpu cortex-m3 -machine lm3s6965evb -nographic -semihosting-config enable=on,target=native -kernel /cortex-m/target/thumbv7m-none-eabi/debug/testsuite`
+Timer with period zero, disabling
+Hello world!
+(1/1) running `double_take`...
+all tests passed!
+```
+
+## Running with Physical Hardware
+
+No implementation-specific features are tested right now; any physical `thumbv7m` target should work.
+
+Tests are executed with [probe-run](https://github.com/knurling-rs/probe-run).
+
+* Update `memory.x` in the root of the repository to match your target memory layout.
+* Change the `probe-run` chip argument to match your chip, supported chips can be found with `probe-run --list-chips`
+* Change the target to match your CPU
+
+```console
+$ sed -i 's/FLASH : ORIGIN = 0x00000000, LENGTH = 256K/FLASH : ORIGIN = 0x8000000, LENGTH = 256K/g' memory.x
+$ cd testsuite
+$ cargo build --target thumbv7em-none-eabi --features rtt
+   Compiling minitest v0.1.0 (/cortex-m/testsuite/minitest)
+   Compiling testsuite v0.1.0 (/cortex-m/testsuite)
+    Finished dev [unoptimized + debuginfo] target(s) in 0.16s
+$ probe-run --chip STM32WLE5JCIx --connect-under-reset ../target/thumbv7em-none-eabi/debug/testsuite
+(HOST) INFO  flashing program (19 pages / 19.00 KiB)
+(HOST) INFO  success!
+────────────────────────────────────────────────────────────────────────────────
+Hello world!
+(1/2) running `double_take`...
+(2/2) running `cycle_count`...
+all tests passed!
+────────────────────────────────────────────────────────────────────────────────
+(HOST) INFO  device halted without error
+```
+
+[The Embedded Rust Book]: https://docs.rust-embedded.org/book/start/qemu.html
+[probe-run]: https://github.com/knurling-rs/probe-run

testsuite/build.rs

@@ -0,0 +1,18 @@
+fn main() {
+    let target = std::env::var("TARGET").unwrap();
+
+    if target.starts_with("thumbv6m-") {
+        println!("cargo:rustc-cfg=armv6m");
+    } else if target.starts_with("thumbv7m-") {
+        println!("cargo:rustc-cfg=armv7m");
+    } else if target.starts_with("thumbv7em-") {
+        println!("cargo:rustc-cfg=armv7m");
+        println!("cargo:rustc-cfg=armv7em"); // (not currently used)
+    } else if target.starts_with("thumbv8m.base") {
+        println!("cargo:rustc-cfg=armv8m");
+        println!("cargo:rustc-cfg=armv8m_base");
+    } else if target.starts_with("thumbv8m.main") {
+        println!("cargo:rustc-cfg=armv8m");
+        println!("cargo:rustc-cfg=armv8m_main");
+    }
+}

testsuite/minitest/Cargo.toml

@@ -0,0 +1,23 @@
+[package]
+authors = ["The Cortex-M Team <[email protected]>"]
+name = "minitest"
+publish = false
+edition = "2018"
+version = "0.1.0"
+
+[features]
+semihosting = ["cortex-m-semihosting", "minitest-macros/semihosting"]
+rtt = ["rtt-target", "minitest-macros/rtt"]
+
+[dependencies]
+cortex-m.path = "../.."
+cortex-m-rt.path = "../../cortex-m-rt"
+minitest-macros.path = "macros"
+
+[dependencies.rtt-target]
+version = "0.3.1"
+optional = true
+
+[dependencies.cortex-m-semihosting]
+path = "../../cortex-m-semihosting"
+optional = true

testsuite/minitest/README.md

@@ -0,0 +1,7 @@
+# mini-test
+
+This is an embedded test framework forked from knurling's excellent [`defmt-test`] crate.
+
+This even more minimal than [`defmt-test`] to allow for for testing of this crate without dependency cycles.
+
+[`defmt-test`]: https://crates.io/crates/defmt-test/

testsuite/minitest/macros/Cargo.toml

@@ -0,0 +1,18 @@
+[package]
+authors = ["The Cortex-M Team <[email protected]>"]
+name = "minitest-macros"
+publish = false
+edition = "2018"
+version = "0.1.0"
+
+[lib]
+proc-macro = true
+
+[features]
+semihosting = []
+rtt = []
+
+[dependencies]
+proc-macro2 = "1.0.29"
+quote = "1.0.10"
+syn = { version = "1.0.80", features = ["extra-traits", "full"] }