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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 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396 397 398 399 400 401 402 403 404 405 406 407 408 409 410 411 412 413 414 415 416 417 418 419 420 421 422 423 424 425 426 427 428 429 430 431 432 433 434 435 436 437 438 439 440 441 442 443 444 445 446 447 448 449 450 451 452 453 454 455 456 457 458 459 460 461 462 463 464 | /* * Copyright (c) 2019 Nordic Semiconductor ASA. * * SPDX-License-Identifier: Apache-2.0 */ #include <ztest.h> #include <arch/cpu.h> #include <arch/arm/aarch32/cortex_m/cmsis.h> static volatile int test_flag; static volatile int expected_reason = -1; /* Used to validate ESF collection during a fault */ static volatile int run_esf_validation; static volatile int esf_validation_rv; static volatile uint32_t expected_msp; static K_THREAD_STACK_DEFINE(esf_collection_stack, 1024); static struct k_thread esf_collection_thread; #define MAIN_PRIORITY 7 #define PRIORITY 5 /** * Validates that pEsf matches state from set_regs_with_known_pattern() */ static int check_esf_matches_expectations(const z_arch_esf_t *pEsf) { const uint16_t expected_fault_instruction = 0xde5a; /* udf #90 */ const bool caller_regs_match_expected = (pEsf->basic.r0 == 0) && (pEsf->basic.r1 == 1) && (pEsf->basic.r2 == 2) && (pEsf->basic.r3 == 3) && (pEsf->basic.lr == 15) && (*(uint16_t *)pEsf->basic.pc == expected_fault_instruction); if (!caller_regs_match_expected) { printk("__basic_sf member of ESF is incorrect\n"); return -1; } #if defined(CONFIG_EXTRA_EXCEPTION_INFO) const struct _callee_saved *callee_regs = pEsf->extra_info.callee; const bool callee_regs_match_expected = (callee_regs->v1 /* r4 */ == 4) && (callee_regs->v2 /* r5 */ == 5) && (callee_regs->v3 /* r6 */ == 6) && (callee_regs->v4 /* r7 */ == 7) && (callee_regs->v5 /* r8 */ == 8) && (callee_regs->v6 /* r9 */ == 9) && (callee_regs->v7 /* r10 */ == 10) && (callee_regs->v8 /* r11 */ == 11); if (!callee_regs_match_expected) { printk("_callee_saved_t member of ESF is incorrect\n"); return -1; } /* we expect the EXC_RETURN value to have: * - PREFIX: bits [31:24] = 0xFF * - Mode, bit [3] = 1 since exception occurred from thread mode * - SPSEL, bit [2] = 1 since frame should reside on PSP */ const uint32_t exc_bits_set_mask = 0xff00000C; if ((pEsf->extra_info.exc_return & exc_bits_set_mask) != exc_bits_set_mask) { printk("Incorrect EXC_RETURN of 0x%08x", pEsf->extra_info.exc_return); return -1; } /* the psp should match the contents of the esf copy up * to the xpsr. (the xpsr value in the copy used for pEsf * is overwritten in fault.c) */ if (memcmp((void *)callee_regs->psp, pEsf, offsetof(struct __esf, basic.xpsr)) != 0) { printk("psp does not match __basic_sf provided\n"); return -1; } if (pEsf->extra_info.msp != expected_msp) { printk("MSP is 0x%08x but should be 0x%08x", pEsf->extra_info.msp, expected_msp); return -1; } #endif /* CONFIG_EXTRA_EXCEPTION_INFO */ return 0; } void k_sys_fatal_error_handler(unsigned int reason, const z_arch_esf_t *pEsf) { TC_PRINT("Caught system error -- reason %d\n", reason); if (expected_reason == -1) { printk("Was not expecting a crash\n"); k_fatal_halt(reason); } if (reason != expected_reason) { printk("Wrong crash type got %d expected %d\n", reason, expected_reason); k_fatal_halt(reason); } if (run_esf_validation) { if (check_esf_matches_expectations(pEsf) == 0) { esf_validation_rv = TC_PASS; } run_esf_validation = 0; } expected_reason = -1; } /** * Set ARM registers with a known pattern: * r0-r12 are set to 0...12, respectively * r13 (sp) is left untouched * r14 (pc) will point to the faulting instruction (udf #90) * r15 (lr) is set to 15 (since a fault takes place, we never use the value) * * Note: Routine was written to be ARMV6M compatible * * In k_sys_fatal_error_handler above we will check that the ESF provided * as a parameter matches these expectations. */ void set_regs_with_known_pattern(void) { __asm__ volatile( "mov r1, #1\n" "mov r2, #2\n" "mov r3, #3\n" "mov r4, #4\n" "mov r5, #5\n" "mov r6, #6\n" "mov r7, #7\n" "mov r0, #8\n" "mov r8, r0\n" "add r0, r0, #1\n" "mov r9, r0\n" "add r0, r0, #1\n" "mov r10, r0\n" "add r0, r0, #1\n" "mov r11, r0\n" "add r0, r0, #1\n" "mov r12, r0\n" "add r0, r0, #3\n" "mov lr, r0\n" "mov r0, #0\n" "udf #90\n" ); } void test_arm_esf_collection(void) { int test_validation_rv; /* if the check in the fault handler succeeds, * this will be set to TC_PASS */ esf_validation_rv = TC_FAIL; /* since the fault is from a task, the interrupt stack (msp) * should match whatever the current value is */ expected_msp = __get_MSP(); run_esf_validation = 1; expected_reason = K_ERR_CPU_EXCEPTION; /* Run test thread and main thread at same priority to guarantee the * crashy thread we create below runs to completion before we get * to the end of this function */ k_thread_priority_set(_current, K_PRIO_PREEMPT(MAIN_PRIORITY)); TC_PRINT("Testing ESF Reporting\n"); k_thread_create(&esf_collection_thread, esf_collection_stack, K_THREAD_STACK_SIZEOF(esf_collection_stack), (k_thread_entry_t)set_regs_with_known_pattern, NULL, NULL, NULL, K_PRIO_COOP(PRIORITY), 0, K_NO_WAIT); test_validation_rv = esf_validation_rv; zassert_not_equal(test_validation_rv, TC_FAIL, "ESF fault collection failed"); } void arm_isr_handler(const void *args) { ARG_UNUSED(args); test_flag++; if (test_flag == 1) { /* Intentional Kernel oops */ expected_reason = K_ERR_KERNEL_OOPS; k_oops(); } else if (test_flag == 2) { /* Intentional Kernel panic */ expected_reason = K_ERR_KERNEL_PANIC; k_panic(); } else if (test_flag == 3) { /* Intentional ASSERT */ expected_reason = K_ERR_KERNEL_PANIC; __ASSERT(0, "Intentional assert\n"); } else if (test_flag == 4) { #if defined(CONFIG_CPU_CORTEX_M_HAS_SYSTICK) #if !defined(CONFIG_SYS_CLOCK_EXISTS) || !defined(CONFIG_CORTEX_M_SYSTICK) expected_reason = K_ERR_CPU_EXCEPTION; SCB->ICSR |= SCB_ICSR_PENDSTSET_Msk; __DSB(); __ISB(); #endif #endif } else if (test_flag == 5) { #if defined(CONFIG_HW_STACK_PROTECTION) /* * Verify that the Stack Overflow has been reported by the core * and the expected reason variable is reset. */ int reason = expected_reason; zassert_equal(reason, -1, "expected_reason has not been reset (%d)\n", reason); #endif } } void test_arm_interrupt(void) { /* Determine an NVIC IRQ line that is not currently in use. */ int i; int init_flag, post_flag, reason; init_flag = test_flag; zassert_false(init_flag, "Test flag not initialized to zero\n"); for (i = CONFIG_NUM_IRQS - 1; i >= 0; i--) { if (NVIC_GetEnableIRQ(i) == 0) { /* * Interrupts configured statically with IRQ_CONNECT(.) * are automatically enabled. NVIC_GetEnableIRQ() * returning false, here, implies that the IRQ line is * either not implemented or it is not enabled, thus, * currently not in use by Zephyr. */ /* Set the NVIC line to pending. */ NVIC_SetPendingIRQ(i); if (NVIC_GetPendingIRQ(i)) { /* If the NVIC line is pending, it is * guaranteed that it is implemented; clear the * line. */ NVIC_ClearPendingIRQ(i); if (!NVIC_GetPendingIRQ(i)) { /* * If the NVIC line can be successfully * un-pended, it is guaranteed that it * can be used for software interrupt * triggering. */ break; } } } } zassert_true(i >= 0, "No available IRQ line to use in the test\n"); TC_PRINT("Available IRQ line: %u\n", i); /* Verify that triggering an interrupt in an IRQ line, * on which an ISR has not yet been installed, leads * to a fault of type K_ERR_SPURIOUS_IRQ. */ expected_reason = K_ERR_SPURIOUS_IRQ; NVIC_ClearPendingIRQ(i); NVIC_EnableIRQ(i); NVIC_SetPendingIRQ(i); __DSB(); __ISB(); /* Verify that the spurious ISR has led to the fault and the * expected reason variable is reset. */ reason = expected_reason; zassert_equal(reason, -1, "expected_reason has not been reset (%d)\n", reason); NVIC_DisableIRQ(i); arch_irq_connect_dynamic(i, 0 /* highest priority */, arm_isr_handler, NULL, 0); NVIC_ClearPendingIRQ(i); NVIC_EnableIRQ(i); for (int j = 1; j <= 3; j++) { /* Set the dynamic IRQ to pending state. */ NVIC_SetPendingIRQ(i); /* * Instruction barriers to make sure the NVIC IRQ is * set to pending state before 'test_flag' is checked. */ __DSB(); __ISB(); /* Returning here implies the thread was not aborted. */ /* Confirm test flag is set by the ISR handler. */ post_flag = test_flag; zassert_true(post_flag == j, "Test flag not set by ISR\n"); } #if defined(CONFIG_CPU_CORTEX_M_HAS_SYSTICK) #if !defined(CONFIG_SYS_CLOCK_EXISTS) || !defined(CONFIG_CORTEX_M_SYSTICK) /* Verify that triggering a Cortex-M exception (accidentally) that has * not been installed in the vector table, leads to the reserved * exception been called and a resulting CPU fault. We test this using * the SysTick exception in platforms that are not expecting to use the * SysTick timer for system timing. */ /* The ISR will manually set the SysTick exception to pending state. */ NVIC_SetPendingIRQ(i); __DSB(); __ISB(); /* Verify that the spurious exception has led to the fault and the * expected reason variable is reset. */ reason = expected_reason; zassert_equal(reason, -1, "expected_reason has not been reset (%d)\n", reason); #endif #endif #if defined(CONFIG_HW_STACK_PROTECTION) /* * Simulate a stacking error that is caused explicitly by the * exception entry context stacking, to verify that the CPU can * correctly report stacking errors that are not also Data * access violation errors. */ expected_reason = K_ERR_STACK_CHK_FAIL; __disable_irq(); /* Trigger an interrupt to cause the stacking error */ NVIC_ClearPendingIRQ(i); NVIC_EnableIRQ(i); NVIC_SetPendingIRQ(i); /* Set test flag so the IRQ handler executes the appropriate case. */ test_flag = 4; /* Manually set PSP almost at the bottom of the stack. An exception * entry will make PSP descend below the limit and into the MPU guard * section (or beyond the address pointed by PSPLIM in ARMv8-M MCUs). */ __set_PSP(_current->stack_info.start + 0x10); __enable_irq(); __DSB(); __ISB(); /* No stack variable access below this point. * The IRQ will handle the verification. */ #endif /* CONFIG_HW_STACK_PROTECTION */ } #if defined(CONFIG_USERSPACE) #include <syscall_handler.h> #include "test_syscalls.h" void z_impl_test_arm_user_interrupt_syscall(void) { #if defined(CONFIG_ARMV6_M_ARMV8_M_BASELINE) /* Confirm IRQs are not locked */ zassert_false(__get_PRIMASK(), "PRIMASK is set\n"); #elif defined(CONFIG_ARMV7_M_ARMV8_M_MAINLINE) static bool first_call = 1; if (first_call == 1) { /* First time the syscall is invoked */ first_call = 0; /* Lock IRQs in supervisor mode */ int key = irq_lock(); /* Verify that IRQs were not already locked */ zassert_false(key, "IRQs locked in system call\n"); } /* Confirm IRQs are still locked */ zassert_true(__get_BASEPRI(), "BASEPRI not set\n"); #endif } static inline void z_vrfy_test_arm_user_interrupt_syscall(void) { z_impl_test_arm_user_interrupt_syscall(); } #include <syscalls/test_arm_user_interrupt_syscall_mrsh.c> void test_arm_user_interrupt(void) { /* Test thread executing in user mode */ zassert_true(arch_is_user_context(), "Test thread not running in user mode\n"); /* Attempt to lock IRQs in user mode */ irq_lock(); /* Attempt to lock again should return non-zero value of previous * locking attempt, if that were to be successful. */ int lock = irq_lock(); zassert_false(lock, "IRQs shown locked in user mode\n"); /* Generate a system call to manage the IRQ locking */ test_arm_user_interrupt_syscall(); /* Attempt to unlock IRQs in user mode */ irq_unlock(0); #if defined(CONFIG_ARMV7_M_ARMV8_M_MAINLINE) /* The first system call has left the IRQs locked. * Generate a second system call to inspect the IRQ locking. * * In Cortex-M Baseline system calls cannot be invoked * with interrupts locked, so we skip this part of the * test. */ test_arm_user_interrupt_syscall(); /* Verify that thread is not able to infer that IRQs are locked. */ zassert_false(irq_lock(), "IRQs are shown to be locked\n"); #endif } #else void test_arm_user_interrupt(void) { TC_PRINT("Skipped\n"); } #endif /* CONFIG_USERSPACE */ /** * @} */ |