1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
|
# Copyright (c) 2026 Eclipse ThreadX contributors
#
# This program and the accompanying materials are made available under the
# terms of the MIT License which is available at
# https://opensource.org/licenses/MIT.
#
# AI Disclosure: This file was largely AI-generated by Claude Code (Opus 5.5).
# The AI-generated portions may be considered public domain (CC0-1.0)
# and not subject to the project's licence. The human contributor has
# reviewed and verified that the code is correct.
#
# SPDX-License-Identifier: MIT and CC0-1.0
# Module execution harness.
#
# Builds a module manager image per test, each embedding the modules it loads,
# for one Cortex-M module port, and runs every image on QEMU's MPS2 board for
# that core, asserting the result each image reports over semihosting.
#
# Why this exists: the host tests under test/tx/module_manager compile a few
# module manager sources against stubs, and nothing else in CI runs a Cortex-M
# module port at all. A module's start-up, its kernel calls through the
# supervisor call, the MPU programming on every context switch and the fault
# path that terminates a misbehaving module are only exercised by executing
# them. This is the per-architecture part of the module test strategy; the
# portable module manager code is meant to be covered on the host.
#
# Its own top-level project, like test/tx/cmake/riscv, because it cross-builds
# with a bare-metal toolchain and runs under an emulator, which the host suite
# beside it does neither of.
#
# Configure once per port:
#
# cmake -S test/tx/cmake/module_qemu -B build/module_qemu_m3 -G Ninja \
# -DCMAKE_TOOLCHAIN_FILE=$PWD/test/tx/cmake/module_qemu/arm-none-eabi-qemu.cmake \
# -DMODULE_QEMU_PORT=cortex_m3
# cmake --build build/module_qemu_m3
# ctest --test-dir build/module_qemu_m3 --output-on-failure
#
# MODULE_QEMU_PORT is cortex_m3 (QEMU mps2-an385) or cortex_m4 (mps2-an386,
# built for its FPU with the hard-float ABI).
cmake_minimum_required(VERSION 3.20 FATAL_ERROR)
project(threadx_module_qemu LANGUAGES C ASM)
set(MODULE_QEMU_PORT "cortex_m3" CACHE STRING "Cortex-M module port to build and run")
set_property(CACHE MODULE_QEMU_PORT PROPERTY STRINGS cortex_m3 cortex_m4)
if(MODULE_QEMU_PORT STREQUAL "cortex_m3")
set(PORT_CPU_FLAGS -mcpu=cortex-m3 -mthumb)
set(QEMU_MACHINE mps2-an385)
elseif(MODULE_QEMU_PORT STREQUAL "cortex_m4")
set(PORT_CPU_FLAGS -mcpu=cortex-m4 -mthumb -mfpu=fpv4-sp-d16 -mfloat-abi=hard)
set(QEMU_MACHINE mps2-an386)
else()
message(FATAL_ERROR "MODULE_QEMU_PORT must be cortex_m3 or cortex_m4, not '${MODULE_QEMU_PORT}'")
endif()
set(REPO_ROOT ${CMAKE_CURRENT_LIST_DIR}/../../../..)
set(PORT_DIR ${REPO_ROOT}/ports_module/${MODULE_QEMU_PORT}/gnu)
set(HARNESS_SRC ${CMAKE_CURRENT_LIST_DIR}/src)
set(HARNESS_TESTS ${CMAKE_CURRENT_LIST_DIR}/tests)
message(STATUS "Module port: ${MODULE_QEMU_PORT}, QEMU machine: ${QEMU_MACHINE}")
add_compile_options(${PORT_CPU_FLAGS} -g -O0 -ffunction-sections -fdata-sections)
add_link_options(${PORT_CPU_FLAGS})
# ---------------------------------------------------------------------------
# The kernel and the Module Manager, built with the module port's headers.
#
# One library, not the threadx library plus the manager: the module port's
# tx_port.h adds the owning module to the kernel's control blocks, so a kernel
# built against the base port and a manager built against this one would
# disagree about every object while linking without complaint. tx_misra.c is
# left out because nothing here builds with TX_MISRA_ENABLE.
# ---------------------------------------------------------------------------
file(GLOB TX_COMMON_SRC ${REPO_ROOT}/common/src/*.c)
list(FILTER TX_COMMON_SRC EXCLUDE REGEX ".*/tx_misra\\.c$")
file(GLOB TXM_PORT_SRC
${PORT_DIR}/module_manager/src/*.S
${PORT_DIR}/module_manager/src/*.s
${PORT_DIR}/module_manager/src/*.c)
file(GLOB TXM_MANAGER_SRC ${REPO_ROOT}/common_modules/module_manager/src/*.c)
add_library(threadx_module STATIC ${TX_COMMON_SRC} ${TXM_PORT_SRC} ${TXM_MANAGER_SRC})
target_include_directories(threadx_module PUBLIC
${PORT_DIR}/inc
${REPO_ROOT}/common/inc
${REPO_ROOT}/common_modules/inc
${REPO_ROOT}/common_modules/module_manager/inc)
# ---------------------------------------------------------------------------
# The module-side library: the API shims that run inside a module. It belongs
# to the module images only; linked into a manager it would redirect the
# manager's own service calls into a module.
#
# Position independent, as everything in a module must be:
# -fpic / -fpie data references go through the GOT
# -msingle-pic-base r9 is the GOT base, set by the manager's
# thread stack build
# -mno-pic-data-is-text-relative data is allocated from the manager's pool,
# not at a fixed offset from the code
# -fno-plt no procedure linkage table to populate
# ---------------------------------------------------------------------------
set(MODULE_PIC_FLAGS -fno-plt -mno-pic-data-is-text-relative -msingle-pic-base)
file(GLOB TXM_MODULE_LIB_SRC
${REPO_ROOT}/common_modules/module_lib/src/*.c
${PORT_DIR}/module_lib/src/*.c)
add_library(txm_module_lib STATIC ${TXM_MODULE_LIB_SRC})
target_include_directories(txm_module_lib PUBLIC
${PORT_DIR}/inc
${REPO_ROOT}/common/inc
${REPO_ROOT}/common_modules/inc)
target_compile_options(txm_module_lib PRIVATE -fpic ${MODULE_PIC_FLAGS})
# ---------------------------------------------------------------------------
# A test module: one source, built with a given preamble property word, linked
# with the port's module linker script, and reduced to the raw image a manager
# embeds. The script defines the code and data sizes the preamble reports.
# ---------------------------------------------------------------------------
function(module_qemu_add_module name source properties)
add_executable(${name}.elf
${HARNESS_SRC}/module_preamble.S
${PORT_DIR}/example_build/gcc_setup.s
${source})
target_include_directories(${name}.elf PRIVATE ${HARNESS_SRC})
target_compile_definitions(${name}.elf PRIVATE TEST_MODULE_PROPERTIES=${properties})
target_compile_options(${name}.elf PRIVATE -fpie ${MODULE_PIC_FLAGS})
target_link_libraries(${name}.elf PRIVATE txm_module_lib)
target_link_options(${name}.elf PRIVATE
-T${PORT_DIR}/example_build/sample_threadx_module.ld
-nostartfiles
-nostdlib
-Wl,-pie
-Wl,--no-dynamic-linker
-Wl,-e,_txm_module_thread_shell_entry
-Wl,--no-warn-rwx-segments
-Wl,-Map=${name}.map)
set_target_properties(${name}.elf PROPERTIES
LINK_DEPENDS ${PORT_DIR}/example_build/sample_threadx_module.ld)
set(bin ${CMAKE_CURRENT_BINARY_DIR}/${name}.bin)
add_custom_command(
OUTPUT ${bin}
COMMAND ${CMAKE_OBJCOPY} -O binary $<TARGET_FILE:${name}.elf> ${bin}
DEPENDS ${name}.elf
COMMENT "Converting ${name} to a raw module image"
VERBATIM)
add_custom_target(${name}_bin DEPENDS ${bin})
# The blob that embeds the image in a manager, as bytes, under the module's
# name as its symbol.
set(BLOB_SYMBOL ${name})
set(BLOB_FILE ${bin})
configure_file(${HARNESS_SRC}/module_blob.S.in ${CMAKE_CURRENT_BINARY_DIR}/${name}_blob.S @ONLY)
set_source_files_properties(${CMAKE_CURRENT_BINARY_DIR}/${name}_blob.S PROPERTIES OBJECT_DEPENDS ${bin})
endfunction()
# GNU compiler ID in bits 31-24; bit 0 user mode, bit 1 memory protection,
# bit 2 shared memory access.
module_qemu_add_module(module_services_protected ${HARNESS_TESTS}/module_services.c 0x02000007)
module_qemu_add_module(module_services_privileged ${HARNESS_TESTS}/module_services.c 0x02000000)
# ---------------------------------------------------------------------------
# The manager images, one per test, and the CTest entries that run them.
# ---------------------------------------------------------------------------
find_package(Python3 COMPONENTS Interpreter)
find_program(QEMU_SYSTEM_ARM qemu-system-arm)
enable_testing()
function(module_qemu_add_test name test_source)
set(blobs ${ARGN})
set(blob_sources "")
foreach(blob IN LISTS blobs)
list(APPEND blob_sources ${CMAKE_CURRENT_BINARY_DIR}/${blob}_blob.S)
endforeach()
add_executable(${name}.elf
${HARNESS_SRC}/startup.S
${HARNESS_SRC}/tx_initialize_low_level.S
${HARNESS_SRC}/harness.c
${HARNESS_TESTS}/harness_checks.c
${test_source}
${blob_sources})
target_include_directories(${name}.elf PRIVATE ${HARNESS_SRC} ${HARNESS_TESTS})
target_link_libraries(${name}.elf PRIVATE threadx_module)
target_link_options(${name}.elf PRIVATE
-T${HARNESS_SRC}/manager.ld
-nostartfiles
--specs=nano.specs
--specs=nosys.specs
-Wl,--gc-sections
-Wl,--no-warn-rwx-segments
-Wl,-Map=${name}.map)
set_target_properties(${name}.elf PROPERTIES LINK_DEPENDS ${HARNESS_SRC}/manager.ld)
foreach(blob IN LISTS blobs)
add_dependencies(${name}.elf ${blob}_bin)
endforeach()
if(Python3_FOUND AND QEMU_SYSTEM_ARM)
add_test(NAME ${MODULE_QEMU_PORT}::${name}
COMMAND ${Python3_EXECUTABLE} ${CMAKE_CURRENT_LIST_DIR}/run_qemu_test.py
--qemu ${QEMU_SYSTEM_ARM}
--machine ${QEMU_MACHINE}
--elf $<TARGET_FILE:${name}.elf>)
endif()
endfunction()
module_qemu_add_test(test_module_lifecycle ${HARNESS_TESTS}/test_module_lifecycle.c module_services_protected)
module_qemu_add_test(test_module_fault ${HARNESS_TESTS}/test_module_fault.c module_services_protected)
module_qemu_add_test(test_module_privileged ${HARNESS_TESTS}/test_module_privileged.c module_services_privileged)
if(NOT (Python3_FOUND AND QEMU_SYSTEM_ARM))
message(STATUS "qemu-system-arm or Python 3 not found; the images build but no tests are registered.")
endif()
|
