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Merge #355
355: Add on-target tests to CI r=thejpster a=newAM A week ago in the rust-embedded matrix chat `@adamgreig` mentioned that on-target CI would be helpful for the `cortex-m` and `cortex-m-rt` crates. This is a pull-request to make that happen. ## History: Bootstrapping and `cortex-m-rt` The first problem I came across was the amount of boilerplate required to build an on-target binary without `cortex-m-rt`. There are two paths forward here: 1. Introduce a lot of boilerplate in `cortex-m`, which will largely be copy-pasted from `cortex-m-rt`. 2. Relocate `cortex-m-rt` to this workspace. In (#391) `cortex-m-rt` was relocated to this workspace to fix the bootstrapping problem. ## Test Execution Tests run with QEMU and physical hardware. QEMU uses the LM3S6965 Cortex-M3 target because it is widely used. The physical hardware is a NUCLEO-F070RB connected to a self-hosted runner. In the future more hardware can be added to cover more CPUs. Due to reliability concerns with self-hosted runners only QEMU will be a required status check in CI, the physical hardware checks will be informational only. ### CI Software The CI software for running on physical hardware is simply a self-hosted github actions runner. A working demonstration of this can be found [here](https://github.com/newAM/totally-not-a-cortex-m-fork/runs/5345451343?check_suite_focus=true) (the repository does not appear as a fork to work around github actions limitations with forks). The runner uses [`probe-run`] to execute the tests on embedded hardware. [`probe-run`] was chosen for several reasons: * Actively maintained by [knurling-rs], with an actively maintained back-end from [`probe-rs`]. * Written in rust. Understanding the code does not require contributors to learn a new language. * Designed with on-target testing as a primary goal (for use with [`defmt-test`]). * Automatic unwinding and backtrace display. ## Test Harness This PR introduces a test harness, `minitest`. `minitest` is almost identical to [`defmt-test`], the only difference is that it replaces [`defmt`] with [`rtt-target`] because [`defmt`] introduces a dependency cycle on `cortex-m`. This is harness is very minimal, adding only 327 lines of rust: ```console $ tokei testsuite/minitest =============================================================================== Language Files Lines Code Comments Blanks =============================================================================== Markdown 1 7 0 4 3 TOML 2 41 34 0 7 ------------------------------------------------------------------------------- Rust 3 406 350 5 51 |- Markdown 1 8 0 7 1 (Total) 414 350 12 52 =============================================================================== Total 6 454 384 9 61 =============================================================================== ``` The test harness does introduce some abstraction, and may not be suitable for all tests. Lower-level tests are still possible without the harness using `asm::udf` to fail the test, and `asm::bkpt` to exit without failure. ## Reliability and Uptime I have been doing automatic on-target testing for the [`stm32wlxx-hal`] using [`probe-run`]. Over hundreds of automatic runs spanning several months I have had no failures as a result of external factors (USB connectivity, programming errors, ect.). I do not anticipate on-target CI being perfect, but at the same time I do not anticipate frequent problems. [`defmt-test`]: https://github.com/knurling-rs/defmt/tree/main/firmware/defmt-test [`defmt`]: https://ferrous-systems.com/blog/defmt/ [`probe-rs`]: https://probe.rs/ [`probe-run`]: https://github.com/knurling-rs/probe-run [`rtt-target`]: https://crates.io/crates/rtt-target [`stm32wlxx-hal`]: https://github.com/stm32-rs/stm32wlxx-hal [knurling-rs]: https://knurling.ferrous-systems.com/ Co-authored-by: Alex Martens <alex@thinglab.org>
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‎.github/bors.toml

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"rt-ci-linux (1.59.0)",
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"rt-ci-other-os (macOS-latest)",
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"rt-ci-other-os (windows-latest)",
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"hil-qemu",
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"hil-compile-rtt",
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"rustfmt",
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"clippy",
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]

‎.github/workflows/ci.yml

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

‎.github/workflows/on-target.yml

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

‎Cargo.toml

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

‎src/peripheral/dwt.rs

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

‎testsuite/.cargo/config.toml

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

‎testsuite/Cargo.toml

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[package]
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authors = ["The Cortex-M Team <cortex-m@teams.rust-embedded.org>"]
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name = "testsuite"
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publish = false
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edition = "2018"
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version = "0.1.0"
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[features]
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rtt = ["rtt-target", "minitest/rtt"]
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semihosting = ["cortex-m-semihosting", "minitest/semihosting"]
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[dependencies]
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cortex-m-rt.path = "../cortex-m-rt"
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cortex-m.path = ".."
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minitest.path = "minitest"
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[dependencies.rtt-target]
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version = "0.3.1"
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optional = true
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[dependencies.cortex-m-semihosting]
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path = "../cortex-m-semihosting"
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optional = true

‎testsuite/README.md

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

‎testsuite/build.rs

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

‎testsuite/minitest/Cargo.toml

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[package]
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authors = ["The Cortex-M Team <cortex-m@teams.rust-embedded.org>"]
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name = "minitest"
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publish = false
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edition = "2018"
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version = "0.1.0"
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[features]
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semihosting = ["cortex-m-semihosting", "minitest-macros/semihosting"]
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rtt = ["rtt-target", "minitest-macros/rtt"]
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[dependencies]
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cortex-m.path = "../.."
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cortex-m-rt.path = "../../cortex-m-rt"
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minitest-macros.path = "macros"
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[dependencies.rtt-target]
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version = "0.3.1"
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optional = true
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[dependencies.cortex-m-semihosting]
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path = "../../cortex-m-semihosting"
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optional = true

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