Add Renode regression tests for the NUCLEO-F401RE target#51

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Merged
fdesbiens merged 1 commit into from
Aug 31, 2026
Merged

Add Renode regression tests for the NUCLEO-F401RE target #51

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33 changes: 33 additions & 0 deletions .github/workflows/ci.yml
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Expand Up@@ -139,3 +139,36 @@ jobs:
name: nucleo-f401re-demo-elf
path: targets/STMicroelectronics/NUCLEO_F401RE/build/app/nucleo_f401re.elf
retention-days: 1

test-nucleo-renode:
name: Headless Renode Emulation & Assertion Test (NUCLEO-F401RE)
needs: build-arm-nucleo
runs-on: ubuntu-24.04
steps:
- name: Checkout Repository
uses: actions/checkout@v4
with:
submodules: recursive

- name: Set Up Python
uses: actions/setup-python@v5
with:
python-version: "3.11"

- name: Download Built NUCLEO-F401RE ELF
uses: actions/download-artifact@v4
with:
name: nucleo-f401re-demo-elf
path: targets/STMicroelectronics/NUCLEO_F401RE/build/app

- name: Install Portable Renode Emulation Environment
run: |
wget -q https://builds.renode.io/renode-latest.linux-portable.tar.gz
mkdir -p $HOME/renode
tar -xzf renode-latest.linux-portable.tar.gz -C $HOME/renode --strip-components=1
rm renode-latest.linux-portable.tar.gz
echo "$HOME/renode" >> $GITHUB_PATH

- name: Run Deterministic Headless Renode Test
run: |
python3 targets/STMicroelectronics/NUCLEO_F401RE/scripts/test_renode.py
58 changes: 56 additions & 2 deletions targets/STMicroelectronics/NUCLEO_F401RE/README.md
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Expand Up@@ -50,6 +50,59 @@ The package includes build scripts under the `scripts/` directory for convenienc

These scripts clean the build directory, run CMake configuration, and compile the target executable.

## Emulation & Regression Testing

Renode ships no NUCLEO-F401RE board description, so `renode/nucleo_f401re.repl`
derives one from the generic STM32F4 CPU platform, correcting Flash to 512 KB
and SRAM to 96 KB. Those limits matter: the linker script's heap reservation and
the `_sbrk()` bound both depend on them.

### Interactive Simulation

```bash
renode targets/STMicroelectronics/NUCLEO_F401RE/renode/nucleo_f401re_demo.resc
```

USART2 is the demo console, shown in a terminal analyzer.

### Automated Headless Test

```bash
python3 targets/STMicroelectronics/NUCLEO_F401RE/scripts/test_renode.py
```

Runs `nucleo_f401re_ci.resc`, which advances a fixed span of virtual time and
quits on its own, so the result does not depend on host speed. Exits non-zero
if any assertion is unmet. This gates CI as the `test-nucleo-renode` job.

The Robot Framework suite in `renode/nucleo_f401re_demo.robot` covers the same
ground for use with `renode-test`.

### What is asserted

The demo runs seven startup self-tests before `tx_kernel_enter()` and prints a
`[SELF-TEST]` summary the harness asserts on:

| # | Self-test | Guards against |
|---|-----------|----------------|
| 1 | `_sbrk()` allocation lands inside the heap reservation | heap escaping its linker reservation |
| 2 | `_sbrk()` releases back to the heap base | broken negative-increment path |
| 3 | `_sbrk()` underflow rejected with `EINVAL` | shrinking below the heap base |
| 4 | `_sbrk()` rejects a request that fits SRAM but not the heap | bounding the heap at the end of SRAM |
| 5 | Heap reservation ends at or below the ThreadX byte pool | linker script layout regression |
| 6 | `SystemCoreClock` is 84 MHz | a silently wrong PLL configuration |
| 7 | HAL timebase (TIM2) tick advancing | `HAL_InitTick()` re-entry leaving TIM2 stopped |

Test 4 is the regression guard for the heap bound. Requesting 32 KB fits inside
the 96 KB SRAM but far exceeds the heap reservation, so bounding `_sbrk()`
against the end of SRAM rather than `_heap_limit` let it succeed and handed
`malloc()` memory owned by the ThreadX byte pool and the main stack.

Beyond the self-tests, the harness asserts the boot banner reaches the console,
the blink thread and the 1 Hz application timer have both run (covering the LED
path and the timer service), and that the mutex, queue, event-flag and semaphore
counters are all non-zero.

## Flashing the Application

Connect the NUCLEO-F401RE board via the ST-LINK USB connector.
Expand DownExpand Up@@ -136,14 +189,15 @@ The BSP overrides `HAL_InitTick()` to configure TIM2 as the HAL timebase and pro
- **`lib/stm32cubef4/`**: HAL Driver wrapper and platform drivers
- **`lib/threadx/`**: ThreadX user configuration file (`tx_user.h`)
- **`cmake/`**: Cross-compilation module definitions
- **`scripts/`**: Utility build automation scripts
- **`scripts/`**: Utility build automation scripts and the headless Renode test runner
- **`renode/`**: Renode platform description, run scripts, and Robot Framework suite


## Validation Record

### Verification Environment
- **Toolchain**: Arm GNU Toolchain 14.2.Rel1 (GCC 14.2.1), the version pinned by CI
- **Static ROM usage**: 20120 Bytes (3.84% of 512 KB Flash)
- **Static ROM usage**: 22068 Bytes (4.21% of 512 KB Flash), including the startup self-tests
- **Static RAM usage**: 6000 Bytes (6.10% of 96 KB RAM)
- **Dynamic Stack & Buffer allocation**: Stacks (8 x 1024 bytes) and Queue buffer (40 bytes) are dynamically allocated from the `TX_BYTE_POOL` (consuming 8312 bytes total, including pool headers).
- **Board Hardware**: NUCLEO-F401RE
Expand Down
108 changes: 105 additions & 3 deletions targets/STMicroelectronics/NUCLEO_F401RE/app/starter/main.c
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Expand Up@@ -8,16 +8,25 @@
* SPDX-License-Identifier: MIT
*/

#include <errno.h>
#include <stddef.h>
#include <stdint.h>
#include <stdio.h>

#include "tx_api.h"
#include "bsp/board.h"
#include "bsp/led.h"
#include "bsp/console.h"
#include "board_config.h"
#include "cloud_config.h"
#include "stm32f4xx_hal.h"

#define THREAD_STACK_SIZE 1024

/* Bytes of SRAM held back above the ThreadX byte pool for the main stack,
* which serves every interrupt handler once the scheduler is running. */
#define MAIN_STACK_MARGIN 4096

typedef struct {
CHAR *name;
UINT state;
Expand DownExpand Up@@ -348,9 +357,9 @@ void tx_application_define(void *first_unused_memory) {
CHAR *stack_ptr;
ULONG pool_size;

/* Calculate available RAM for the byte pool, leaving 4KB margin for system
* stack at the top (0x20018000) */
pool_size = (0x20018000 - 4096) - (ULONG)first_unused_memory;
/* Calculate available RAM for the byte pool, leaving a 4 KB margin for the
* main stack at the top of SRAM. */
pool_size = (BSP_RAM_END - MAIN_STACK_MARGIN) - (ULONG)first_unused_memory;

/* Initialize the byte pool */
status = tx_byte_pool_create(&byte_pool, "system byte pool",
Expand DownExpand Up@@ -540,9 +549,102 @@ void tx_application_define(void *first_unused_memory) {
thread_registry[8] = &semaphore_thread;
}

/* ------------------------------------------------------------------------- *
* Startup self-tests
*
* These run before tx_kernel_enter() so a failure is reported even when the
* scheduler never starts. scripts/test_renode.py asserts on the summary line.
* ------------------------------------------------------------------------- */

/* Defined by NUCLEO_F401RE.ld rather than by any translation unit. */
extern char _end;
extern char _heap_limit;
extern char __RAM_segment_used_end__;

extern void *_sbrk(ptrdiff_t incr);

static unsigned selftest_failures = 0;

static void selftest_report(int passed, const char *message) {
if (passed) {
printf("[+] PASS: %s\r\n", message);
} else {
selftest_failures++;
printf("[-] FAIL: %s\r\n", message);
}
}

static void run_startup_self_tests(void) {
const uintptr_t heap_base = (uintptr_t)&_end;
const uintptr_t heap_limit = (uintptr_t)&_heap_limit;
const uintptr_t pool_base = (uintptr_t)&__RAM_segment_used_end__;
char msg[128];

printf("[SELF-TEST] Starting BSP & Runtime Verification...\r\n");

/* 1. A modest request lands inside the heap reservation. */
void *p_ok = _sbrk(64);
selftest_report((p_ok != (void *)-1) && ((uintptr_t)p_ok >= heap_base) &&
((uintptr_t)p_ok < heap_limit),
"_sbrk() valid allocation inside the heap reservation");

/* 2. Releasing it returns the break to the heap base, leaving the heap
* exactly as the remaining tests found it. */
selftest_report(_sbrk(-64) != (void *)-1,
"_sbrk() released 64 bytes back to the heap base");

/* 3. Shrinking below the heap base is rejected. */
errno = 0;
void *p_under = _sbrk(-128);
selftest_report((p_under == (void *)-1) && (errno == EINVAL),
"_sbrk() underflow guard rejected with EINVAL");

/* 4. Regression guard for the heap bound. 32 KB fits inside the 96 KB SRAM
* but far exceeds the heap reservation, so bounding _sbrk() against the end
* of SRAM rather than _heap_limit let this succeed and handed malloc()
* memory owned by the ThreadX byte pool and the main stack. */
errno = 0;
void *p_over = _sbrk((ptrdiff_t)0x8000);
selftest_report((p_over == (void *)-1) && (errno == ENOMEM),
"_sbrk() rejects a request that fits SRAM but not the heap");

/* 5. The heap reservation must end at or below the first byte ThreadX owns. */
snprintf(msg, sizeof(msg),
"heap [0x%08lX,0x%08lX) ends at or below the ThreadX pool at 0x%08lX",
(unsigned long)heap_base, (unsigned long)heap_limit,
(unsigned long)pool_base);
selftest_report(heap_limit <= pool_base, msg);

/* 6. SystemClock_Config() reached the documented 84 MHz. */
snprintf(msg, sizeof(msg), "SystemCoreClock is %lu Hz (expected %lu Hz)",
(unsigned long)SystemCoreClock, (unsigned long)BSP_CPU_CLOCK_HZ);
selftest_report(SystemCoreClock == (uint32_t)BSP_CPU_CLOCK_HZ, msg);

/* 7. The HAL timebase runs on TIM2 so ThreadX keeps SysTick. HAL_InitTick()
* is re-entered by HAL_RCC_ClockConfig() once the PLL is live, so confirm the
* timer is still ticking afterwards. The spin cap is a liveness bound, not a
* timing expectation: one TIM2 tick is ~84000 core cycles. */
uint32_t tick_start = HAL_GetTick();
uint32_t spins = 0;
while ((HAL_GetTick() == tick_start) && (spins < 5000000UL)) {
spins++;
}
selftest_report(HAL_GetTick() != tick_start,
"HAL timebase (TIM2) tick advancing");

if (selftest_failures == 0) {
printf("[SELF-TEST] All startup verification tests PASSED!\r\n\r\n");
} else {
printf("[SELF-TEST] %u startup verification test(s) FAILED!\r\n\r\n",
selftest_failures);
}
}

int main(void) {
bsp_board_init();

run_startup_self_tests();

/* Start the ThreadX kernel */
tx_kernel_enter();

Expand Down
22 changes: 22 additions & 0 deletions targets/STMicroelectronics/NUCLEO_F401RE/renode/nucleo_f401re.repl
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@@ -0,0 +1,22 @@
// 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/license/mit.
//
// SPDX-License-Identifier: MIT
//
// ST NUCLEO-F401RE (STM32F401RET6, Cortex-M4F).
//
// Renode ships no NUCLEO-F401RE board description, so this derives one from the
// generic STM32F4 CPU platform. That platform is sized for the larger F407/F429
// parts; the F401RE has 512 KB Flash and 96 KB SRAM, and the demo's linker
// script and _sbrk() bound both depend on those limits being accurate.

using "platforms/cpus/stm32f4.repl"

sram:
size: 0x18000

flash:
size: 0x80000
35 changes: 35 additions & 0 deletions targets/STMicroelectronics/NUCLEO_F401RE/renode/nucleo_f401re_ci.resc
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:name: NUCLEO-F401RE - ThreadX Demo (headless CI run)
:description: Deterministic virtual-time run driven by scripts/test_renode.py.

# Standalone counterpart to nucleo_f401re_demo.resc rather than an include of
# it. Renode resolves $ORIGIN only in variable assignment, so an included script
# cannot be located relative to the file including it, and the two run
# differently anyway: the demo script free-runs for interactive use, while this
# one advances a fixed span of virtual time so the run is reproducible and
# terminates on its own instead of depending on wall clock.

Clear

using sysbus
mach create "NUCLEO_F401RE"

$platform?=$ORIGIN/nucleo_f401re.repl
machine LoadPlatformDescription $platform

# Under --plain --disable-gui this logs USART2 traffic to stdout, which is what
# the assertions in test_renode.py read.
showAnalyzer usart2

$bin?=$ORIGIN/../build/app/nucleo_f401re.elf

macro reset
"""
sysbus LoadELF $bin
"""
runMacro $reset

# Long enough for the startup self-tests, the 1 Hz application timer, and at
# least two reporter-thread status blocks with non-zero RTOS counters.
emulation RunFor "4"

quit
25 changes: 25 additions & 0 deletions targets/STMicroelectronics/NUCLEO_F401RE/renode/nucleo_f401re_demo.resc
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:name: NUCLEO-F401RE - ThreadX Device Monitor Demo
:description: Eclipse ThreadX RTOS on ST NUCLEO-F401RE (Renode, ARM Cortex-M4)

# Clear previous emulation state
Clear

using sysbus
mach create "NUCLEO_F401RE"

$platform?=$ORIGIN/nucleo_f401re.repl
machine LoadPlatformDescription $platform

# USART2 is the ST-LINK virtual COM port on this board and the demo console.
showAnalyzer usart2

# Portable relative path using Renode's built-in $ORIGIN variable
$bin?=$ORIGIN/../build/app/nucleo_f401re.elf

macro reset
"""
sysbus LoadELF $bin
"""
runMacro $reset

start
26 changes: 26 additions & 0 deletions targets/STMicroelectronics/NUCLEO_F401RE/renode/nucleo_f401re_demo.robot
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*** Settings ***
Suite Setup Setup
Suite Teardown Teardown
Test Setup Reset Emulation
Test Teardown Test Teardown
Resource ${RENODEKEYWORDS}

*** Test Cases ***
Should Pass Startup Self-Tests
Execute Command include @${CURDIR}/nucleo_f401re_demo.resc
Create Terminal Tester sysbus.usart2

Wait For Line On Uart NUCLEO-F401RE Device Monitor Demo timeout=15
Wait For Line On Uart [SELF-TEST] Starting BSP & Runtime Verification... timeout=15
Wait For Line On Uart [SELF-TEST] All startup verification tests PASSED! timeout=15

Should Run ThreadX Scheduler And Exercise RTOS Primitives
Execute Command include @${CURDIR}/nucleo_f401re_demo.resc
Create Terminal Tester sysbus.usart2

Wait For Line On Uart [SELF-TEST] All startup verification tests PASSED! timeout=15
Wait For Line On Uart System Status: timeout=15
# The blink thread drives bsp_led_toggle() on PA5 and the application timer
# drives the wake counter, so a non-zero pair covers both BSP paths.
Wait For Line On Uart Runs: Monitor: (\\d+) .* Blink: [1-9]\\d* timeout=20 treatAsRegex=true
Wait For Line On Uart Mutex Locks: [1-9]\\d*.*Queue Msgs: [1-9]\\d* timeout=20 treatAsRegex=true
Loading
Loading
, 'i'); if (__m === '*' || __re.test(location.href)) { // Add copy buttons to all 
 blocks
(function() {
function addCopyButtons() {
document.querySelectorAll('pre code').forEach(function(codeBlock) {
if (codeBlock.parentElement.hasAttribute('data-copy-added')) return;
codeBlock.parentElement.setAttribute('data-copy-added', 'true');
var btn = document.createElement('button');
btn.textContent = 'Copy';
btn.style.cssText = 'position:absolute;top:4px;right:4px;padding:2px 8px;font-size:11px;background:#4ecdc4;border:none;border-radius:4px;color:#1a1a2e;cursor:pointer;opacity:0.7;transition:opacity 0.2s;';
btn.onmouseover = function() { this.style.opacity = '1'; };
btn.onmouseout = function() { this.style.opacity = '0.7'; };
btn.onclick = function() {
navigator.clipboard.writeText(codeBlock.textContent).then(function() {
btn.textContent = 'Copied!';
setTimeout(function() { btn.textContent = 'Copy'; }, 1500);
});
};
codeBlock.parentElement.style.position = 'relative';
codeBlock.parentElement.appendChild(btn);
});
}
addCopyButtons();
// Re-run on dynamic content
var observer = new MutationObserver(addCopyButtons);
observer.observe(document.body, { childList: true, subtree: true });
})();
}
} catch(__e) { console.warn('[Userscript:Add Copy Buttons to Code Blocks]', __e); }
})();
(function(){
try {
var __m = "github.com";
var __re = new RegExp('^' + "github\\.com" + '

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Add Renode regression tests for the NUCLEO-F401RE target#51

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 Merged

fdesbiens
merged 1 commit into

from

Aug 31, 2026
 Merged


Add Renode regression tests for the NUCLEO-F401RE target
#51
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33 changes: 33 additions & 0 deletions
.github/workflows/ci.yml

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Original file line numberDiff line numberDiff line change
Expand Up@@ -139,3 +139,36 @@ jobs:
 name: nucleo-f401re-demo-elf
 path: targets/STMicroelectronics/NUCLEO_F401RE/build/app/nucleo_f401re.elf
 retention-days: 1

 test-nucleo-renode:
 name: Headless Renode Emulation & Assertion Test (NUCLEO-F401RE)
 needs: build-arm-nucleo
 runs-on: ubuntu-24.04
 steps:
 - name: Checkout Repository
 uses: actions/checkout@v4
 with:
 submodules: recursive

 - name: Set Up Python
 uses: actions/setup-python@v5
 with:
 python-version: "3.11"

 - name: Download Built NUCLEO-F401RE ELF
 uses: actions/download-artifact@v4
 with:
 name: nucleo-f401re-demo-elf
 path: targets/STMicroelectronics/NUCLEO_F401RE/build/app

 - name: Install Portable Renode Emulation Environment
 run: |
 wget -q https://builds.renode.io/renode-latest.linux-portable.tar.gz
 mkdir -p $HOME/renode
 tar -xzf renode-latest.linux-portable.tar.gz -C $HOME/renode --strip-components=1
 rm renode-latest.linux-portable.tar.gz
 echo "$HOME/renode" >> $GITHUB_PATH

 - name: Run Deterministic Headless Renode Test
 run: |
 python3 targets/STMicroelectronics/NUCLEO_F401RE/scripts/test_renode.py

58 changes: 56 additions & 2 deletions
targets/STMicroelectronics/NUCLEO_F401RE/README.md

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Original file line numberDiff line numberDiff line change
Expand Up@@ -50,6 +50,59 @@ The package includes build scripts under the `scripts/` directory for convenienc

These scripts clean the build directory, run CMake configuration, and compile the target executable.

## Emulation & Regression Testing

Renode ships no NUCLEO-F401RE board description, so `renode/nucleo_f401re.repl`
derives one from the generic STM32F4 CPU platform, correcting Flash to 512 KB
and SRAM to 96 KB. Those limits matter: the linker script's heap reservation and
the `_sbrk()` bound both depend on them.

### Interactive Simulation

```bash
renode targets/STMicroelectronics/NUCLEO_F401RE/renode/nucleo_f401re_demo.resc
```

USART2 is the demo console, shown in a terminal analyzer.

### Automated Headless Test

```bash
python3 targets/STMicroelectronics/NUCLEO_F401RE/scripts/test_renode.py
```

Runs `nucleo_f401re_ci.resc`, which advances a fixed span of virtual time and
quits on its own, so the result does not depend on host speed. Exits non-zero
if any assertion is unmet. This gates CI as the `test-nucleo-renode` job.

The Robot Framework suite in `renode/nucleo_f401re_demo.robot` covers the same
ground for use with `renode-test`.

### What is asserted

The demo runs seven startup self-tests before `tx_kernel_enter()` and prints a
`[SELF-TEST]` summary the harness asserts on:

| # | Self-test | Guards against |
|---|-----------|----------------|
| 1 | `_sbrk()` allocation lands inside the heap reservation | heap escaping its linker reservation |
| 2 | `_sbrk()` releases back to the heap base | broken negative-increment path |
| 3 | `_sbrk()` underflow rejected with `EINVAL` | shrinking below the heap base |
| 4 | `_sbrk()` rejects a request that fits SRAM but not the heap | bounding the heap at the end of SRAM |
| 5 | Heap reservation ends at or below the ThreadX byte pool | linker script layout regression |
| 6 | `SystemCoreClock` is 84 MHz | a silently wrong PLL configuration |
| 7 | HAL timebase (TIM2) tick advancing | `HAL_InitTick()` re-entry leaving TIM2 stopped |

Test 4 is the regression guard for the heap bound. Requesting 32 KB fits inside
the 96 KB SRAM but far exceeds the heap reservation, so bounding `_sbrk()`
against the end of SRAM rather than `_heap_limit` let it succeed and handed
`malloc()` memory owned by the ThreadX byte pool and the main stack.

Beyond the self-tests, the harness asserts the boot banner reaches the console,
the blink thread and the 1 Hz application timer have both run (covering the LED
path and the timer service), and that the mutex, queue, event-flag and semaphore
counters are all non-zero.

## Flashing the Application

Connect the NUCLEO-F401RE board via the ST-LINK USB connector.
Expand DownExpand Up@@ -136,14 +189,15 @@ The BSP overrides `HAL_InitTick()` to configure TIM2 as the HAL timebase and pro
 - **`lib/stm32cubef4/`**: HAL Driver wrapper and platform drivers
 - **`lib/threadx/`**: ThreadX user configuration file (`tx_user.h`)
- **`cmake/`**: Cross-compilation module definitions
- **`scripts/`**: Utility build automation scripts
- **`scripts/`**: Utility build automation scripts and the headless Renode test runner
- **`renode/`**: Renode platform description, run scripts, and Robot Framework suite


## Validation Record

### Verification Environment
- **Toolchain**: Arm GNU Toolchain 14.2.Rel1 (GCC 14.2.1), the version pinned by CI
- **Static ROM usage**: 20120 Bytes (3.84% of 512 KB Flash)
- **Static ROM usage**: 22068 Bytes (4.21% of 512 KB Flash), including the startup self-tests
- **Static RAM usage**: 6000 Bytes (6.10% of 96 KB RAM)
- **Dynamic Stack & Buffer allocation**: Stacks (8 x 1024 bytes) and Queue buffer (40 bytes) are dynamically allocated from the `TX_BYTE_POOL` (consuming 8312 bytes total, including pool headers).
- **Board Hardware**: NUCLEO-F401RE
Expand Down

108 changes: 105 additions & 3 deletions
targets/STMicroelectronics/NUCLEO_F401RE/app/starter/main.c

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Expand Up@@ -8,16 +8,25 @@
 * SPDX-License-Identifier: MIT
 */

#include <errno.h>
#include <stddef.h>
#include <stdint.h>
#include <stdio.h>

#include "tx_api.h"
#include "bsp/board.h"
#include "bsp/led.h"
#include "bsp/console.h"
#include "board_config.h"
#include "cloud_config.h"
#include "stm32f4xx_hal.h"

#define THREAD_STACK_SIZE 1024

/* Bytes of SRAM held back above the ThreadX byte pool for the main stack,
 * which serves every interrupt handler once the scheduler is running. */
#define MAIN_STACK_MARGIN 4096

typedef struct {
 CHAR *name;
 UINT state;
Expand DownExpand Up@@ -348,9 +357,9 @@ void tx_application_define(void *first_unused_memory) {
 CHAR *stack_ptr;
 ULONG pool_size;

 /* Calculate available RAM for the byte pool, leaving 4KB margin for system
 * stack at the top (0x20018000) */
 pool_size = (0x20018000 - 4096) - (ULONG)first_unused_memory;
 /* Calculate available RAM for the byte pool, leaving a 4 KB margin for the
 * main stack at the top of SRAM. */
 pool_size = (BSP_RAM_END - MAIN_STACK_MARGIN) - (ULONG)first_unused_memory;

 /* Initialize the byte pool */
 status = tx_byte_pool_create(&byte_pool, "system byte pool",
Expand DownExpand Up@@ -540,9 +549,102 @@ void tx_application_define(void *first_unused_memory) {
 thread_registry[8] = &semaphore_thread;
}

/* ------------------------------------------------------------------------- *
 * Startup self-tests
 *
 * These run before tx_kernel_enter() so a failure is reported even when the
 * scheduler never starts. scripts/test_renode.py asserts on the summary line.
 * ------------------------------------------------------------------------- */

/* Defined by NUCLEO_F401RE.ld rather than by any translation unit. */
extern char _end;
extern char _heap_limit;
extern char __RAM_segment_used_end__;

extern void *_sbrk(ptrdiff_t incr);

static unsigned selftest_failures = 0;

static void selftest_report(int passed, const char *message) {
 if (passed) {
 printf("[+] PASS: %s\r\n", message);
 } else {
 selftest_failures++;
 printf("[-] FAIL: %s\r\n", message);
 }
}

static void run_startup_self_tests(void) {
 const uintptr_t heap_base = (uintptr_t)&_end;
 const uintptr_t heap_limit = (uintptr_t)&_heap_limit;
 const uintptr_t pool_base = (uintptr_t)&__RAM_segment_used_end__;
 char msg[128];

 printf("[SELF-TEST] Starting BSP & Runtime Verification...\r\n");

 /* 1. A modest request lands inside the heap reservation. */
 void *p_ok = _sbrk(64);
 selftest_report((p_ok != (void *)-1) && ((uintptr_t)p_ok >= heap_base) &&
 ((uintptr_t)p_ok < heap_limit),
 "_sbrk() valid allocation inside the heap reservation");

 /* 2. Releasing it returns the break to the heap base, leaving the heap
 * exactly as the remaining tests found it. */
 selftest_report(_sbrk(-64) != (void *)-1,
 "_sbrk() released 64 bytes back to the heap base");

 /* 3. Shrinking below the heap base is rejected. */
 errno = 0;
 void *p_under = _sbrk(-128);
 selftest_report((p_under == (void *)-1) && (errno == EINVAL),
 "_sbrk() underflow guard rejected with EINVAL");

 /* 4. Regression guard for the heap bound. 32 KB fits inside the 96 KB SRAM
 * but far exceeds the heap reservation, so bounding _sbrk() against the end
 * of SRAM rather than _heap_limit let this succeed and handed malloc()
 * memory owned by the ThreadX byte pool and the main stack. */
 errno = 0;
 void *p_over = _sbrk((ptrdiff_t)0x8000);
 selftest_report((p_over == (void *)-1) && (errno == ENOMEM),
 "_sbrk() rejects a request that fits SRAM but not the heap");

 /* 5. The heap reservation must end at or below the first byte ThreadX owns. */
 snprintf(msg, sizeof(msg),
 "heap [0x%08lX,0x%08lX) ends at or below the ThreadX pool at 0x%08lX",
 (unsigned long)heap_base, (unsigned long)heap_limit,
 (unsigned long)pool_base);
 selftest_report(heap_limit <= pool_base, msg);

 /* 6. SystemClock_Config() reached the documented 84 MHz. */
 snprintf(msg, sizeof(msg), "SystemCoreClock is %lu Hz (expected %lu Hz)",
 (unsigned long)SystemCoreClock, (unsigned long)BSP_CPU_CLOCK_HZ);
 selftest_report(SystemCoreClock == (uint32_t)BSP_CPU_CLOCK_HZ, msg);

 /* 7. The HAL timebase runs on TIM2 so ThreadX keeps SysTick. HAL_InitTick()
 * is re-entered by HAL_RCC_ClockConfig() once the PLL is live, so confirm the
 * timer is still ticking afterwards. The spin cap is a liveness bound, not a
 * timing expectation: one TIM2 tick is ~84000 core cycles. */
 uint32_t tick_start = HAL_GetTick();
 uint32_t spins = 0;
 while ((HAL_GetTick() == tick_start) && (spins < 5000000UL)) {
 spins++;
 }
 selftest_report(HAL_GetTick() != tick_start,
 "HAL timebase (TIM2) tick advancing");

 if (selftest_failures == 0) {
 printf("[SELF-TEST] All startup verification tests PASSED!\r\n\r\n");
 } else {
 printf("[SELF-TEST] %u startup verification test(s) FAILED!\r\n\r\n",
 selftest_failures);
 }
}

int main(void) {
 bsp_board_init();

 run_startup_self_tests();

 /* Start the ThreadX kernel */
 tx_kernel_enter();

Expand Down

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targets/STMicroelectronics/NUCLEO_F401RE/renode/nucleo_f401re.repl

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// 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/license/mit.
//
// SPDX-License-Identifier: MIT
//
// ST NUCLEO-F401RE (STM32F401RET6, Cortex-M4F).
//
// Renode ships no NUCLEO-F401RE board description, so this derives one from the
// generic STM32F4 CPU platform. That platform is sized for the larger F407/F429
// parts; the F401RE has 512 KB Flash and 96 KB SRAM, and the demo's linker
// script and _sbrk() bound both depend on those limits being accurate.

using "platforms/cpus/stm32f4.repl"

sram:
 size: 0x18000

flash:
 size: 0x80000

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targets/STMicroelectronics/NUCLEO_F401RE/renode/nucleo_f401re_ci.resc

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:name: NUCLEO-F401RE - ThreadX Demo (headless CI run)
:description: Deterministic virtual-time run driven by scripts/test_renode.py.

# Standalone counterpart to nucleo_f401re_demo.resc rather than an include of
# it. Renode resolves $ORIGIN only in variable assignment, so an included script
# cannot be located relative to the file including it, and the two run
# differently anyway: the demo script free-runs for interactive use, while this
# one advances a fixed span of virtual time so the run is reproducible and
# terminates on its own instead of depending on wall clock.

Clear

using sysbus
mach create "NUCLEO_F401RE"

$platform?=$ORIGIN/nucleo_f401re.repl
machine LoadPlatformDescription $platform

# Under --plain --disable-gui this logs USART2 traffic to stdout, which is what
# the assertions in test_renode.py read.
showAnalyzer usart2

$bin?=$ORIGIN/../build/app/nucleo_f401re.elf

macro reset
"""
 sysbus LoadELF $bin
"""
runMacro $reset

# Long enough for the startup self-tests, the 1 Hz application timer, and at
# least two reporter-thread status blocks with non-zero RTOS counters.
emulation RunFor "4"

quit

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targets/STMicroelectronics/NUCLEO_F401RE/renode/nucleo_f401re_demo.resc

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:name: NUCLEO-F401RE - ThreadX Device Monitor Demo
:description: Eclipse ThreadX RTOS on ST NUCLEO-F401RE (Renode, ARM Cortex-M4)

# Clear previous emulation state
Clear

using sysbus
mach create "NUCLEO_F401RE"

$platform?=$ORIGIN/nucleo_f401re.repl
machine LoadPlatformDescription $platform

# USART2 is the ST-LINK virtual COM port on this board and the demo console.
showAnalyzer usart2

# Portable relative path using Renode's built-in $ORIGIN variable
$bin?=$ORIGIN/../build/app/nucleo_f401re.elf

macro reset
"""
 sysbus LoadELF $bin
"""
runMacro $reset

start

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targets/STMicroelectronics/NUCLEO_F401RE/renode/nucleo_f401re_demo.robot

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*** Settings ***
Suite Setup Setup
Suite Teardown Teardown
Test Setup Reset Emulation
Test Teardown Test Teardown
Resource ${RENODEKEYWORDS}

*** Test Cases ***
Should Pass Startup Self-Tests
 Execute Command include @${CURDIR}/nucleo_f401re_demo.resc
 Create Terminal Tester sysbus.usart2

 Wait For Line On Uart NUCLEO-F401RE Device Monitor Demo timeout=15
 Wait For Line On Uart [SELF-TEST] Starting BSP & Runtime Verification... timeout=15
 Wait For Line On Uart [SELF-TEST] All startup verification tests PASSED! timeout=15

Should Run ThreadX Scheduler And Exercise RTOS Primitives
 Execute Command include @${CURDIR}/nucleo_f401re_demo.resc
 Create Terminal Tester sysbus.usart2

 Wait For Line On Uart [SELF-TEST] All startup verification tests PASSED! timeout=15
 Wait For Line On Uart System Status: timeout=15
 # The blink thread drives bsp_led_toggle() on PA5 and the application timer
 # drives the wake counter, so a non-zero pair covers both BSP paths.
 Wait For Line On Uart Runs: Monitor: (\\d+) .* Blink: [1-9]\\d* timeout=20 treatAsRegex=true
 Wait For Line On Uart Mutex Locks: [1-9]\\d*.*Queue Msgs: [1-9]\\d* timeout=20 treatAsRegex=true
Loading
Loading

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 Merged

fdesbiens
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Aug 31, 2026
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Add Renode regression tests for the NUCLEO-F401RE target
#51
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33 changes: 33 additions & 0 deletions
.github/workflows/ci.yml

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Expand Up@@ -139,3 +139,36 @@ jobs:
 name: nucleo-f401re-demo-elf
 path: targets/STMicroelectronics/NUCLEO_F401RE/build/app/nucleo_f401re.elf
 retention-days: 1

 test-nucleo-renode:
 name: Headless Renode Emulation & Assertion Test (NUCLEO-F401RE)
 needs: build-arm-nucleo
 runs-on: ubuntu-24.04
 steps:
 - name: Checkout Repository
 uses: actions/checkout@v4
 with:
 submodules: recursive

 - name: Set Up Python
 uses: actions/setup-python@v5
 with:
 python-version: "3.11"

 - name: Download Built NUCLEO-F401RE ELF
 uses: actions/download-artifact@v4
 with:
 name: nucleo-f401re-demo-elf
 path: targets/STMicroelectronics/NUCLEO_F401RE/build/app

 - name: Install Portable Renode Emulation Environment
 run: |
 wget -q https://builds.renode.io/renode-latest.linux-portable.tar.gz
 mkdir -p $HOME/renode
 tar -xzf renode-latest.linux-portable.tar.gz -C $HOME/renode --strip-components=1
 rm renode-latest.linux-portable.tar.gz
 echo "$HOME/renode" >> $GITHUB_PATH

 - name: Run Deterministic Headless Renode Test
 run: |
 python3 targets/STMicroelectronics/NUCLEO_F401RE/scripts/test_renode.py

58 changes: 56 additions & 2 deletions
targets/STMicroelectronics/NUCLEO_F401RE/README.md

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Expand Up@@ -50,6 +50,59 @@ The package includes build scripts under the `scripts/` directory for convenienc

These scripts clean the build directory, run CMake configuration, and compile the target executable.

## Emulation & Regression Testing

Renode ships no NUCLEO-F401RE board description, so `renode/nucleo_f401re.repl`
derives one from the generic STM32F4 CPU platform, correcting Flash to 512 KB
and SRAM to 96 KB. Those limits matter: the linker script's heap reservation and
the `_sbrk()` bound both depend on them.

### Interactive Simulation

```bash
renode targets/STMicroelectronics/NUCLEO_F401RE/renode/nucleo_f401re_demo.resc
```

USART2 is the demo console, shown in a terminal analyzer.

### Automated Headless Test

```bash
python3 targets/STMicroelectronics/NUCLEO_F401RE/scripts/test_renode.py
```

Runs `nucleo_f401re_ci.resc`, which advances a fixed span of virtual time and
quits on its own, so the result does not depend on host speed. Exits non-zero
if any assertion is unmet. This gates CI as the `test-nucleo-renode` job.

The Robot Framework suite in `renode/nucleo_f401re_demo.robot` covers the same
ground for use with `renode-test`.

### What is asserted

The demo runs seven startup self-tests before `tx_kernel_enter()` and prints a
`[SELF-TEST]` summary the harness asserts on:

| # | Self-test | Guards against |
|---|-----------|----------------|
| 1 | `_sbrk()` allocation lands inside the heap reservation | heap escaping its linker reservation |
| 2 | `_sbrk()` releases back to the heap base | broken negative-increment path |
| 3 | `_sbrk()` underflow rejected with `EINVAL` | shrinking below the heap base |
| 4 | `_sbrk()` rejects a request that fits SRAM but not the heap | bounding the heap at the end of SRAM |
| 5 | Heap reservation ends at or below the ThreadX byte pool | linker script layout regression |
| 6 | `SystemCoreClock` is 84 MHz | a silently wrong PLL configuration |
| 7 | HAL timebase (TIM2) tick advancing | `HAL_InitTick()` re-entry leaving TIM2 stopped |

Test 4 is the regression guard for the heap bound. Requesting 32 KB fits inside
the 96 KB SRAM but far exceeds the heap reservation, so bounding `_sbrk()`
against the end of SRAM rather than `_heap_limit` let it succeed and handed
`malloc()` memory owned by the ThreadX byte pool and the main stack.

Beyond the self-tests, the harness asserts the boot banner reaches the console,
the blink thread and the 1 Hz application timer have both run (covering the LED
path and the timer service), and that the mutex, queue, event-flag and semaphore
counters are all non-zero.

## Flashing the Application

Connect the NUCLEO-F401RE board via the ST-LINK USB connector.
Expand DownExpand Up@@ -136,14 +189,15 @@ The BSP overrides `HAL_InitTick()` to configure TIM2 as the HAL timebase and pro
 - **`lib/stm32cubef4/`**: HAL Driver wrapper and platform drivers
 - **`lib/threadx/`**: ThreadX user configuration file (`tx_user.h`)
- **`cmake/`**: Cross-compilation module definitions
- **`scripts/`**: Utility build automation scripts
- **`scripts/`**: Utility build automation scripts and the headless Renode test runner
- **`renode/`**: Renode platform description, run scripts, and Robot Framework suite


## Validation Record

### Verification Environment
- **Toolchain**: Arm GNU Toolchain 14.2.Rel1 (GCC 14.2.1), the version pinned by CI
- **Static ROM usage**: 20120 Bytes (3.84% of 512 KB Flash)
- **Static ROM usage**: 22068 Bytes (4.21% of 512 KB Flash), including the startup self-tests
- **Static RAM usage**: 6000 Bytes (6.10% of 96 KB RAM)
- **Dynamic Stack & Buffer allocation**: Stacks (8 x 1024 bytes) and Queue buffer (40 bytes) are dynamically allocated from the `TX_BYTE_POOL` (consuming 8312 bytes total, including pool headers).
- **Board Hardware**: NUCLEO-F401RE
Expand Down

108 changes: 105 additions & 3 deletions
targets/STMicroelectronics/NUCLEO_F401RE/app/starter/main.c

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Expand Up@@ -8,16 +8,25 @@
 * SPDX-License-Identifier: MIT
 */

#include <errno.h>
#include <stddef.h>
#include <stdint.h>
#include <stdio.h>

#include "tx_api.h"
#include "bsp/board.h"
#include "bsp/led.h"
#include "bsp/console.h"
#include "board_config.h"
#include "cloud_config.h"
#include "stm32f4xx_hal.h"

#define THREAD_STACK_SIZE 1024

/* Bytes of SRAM held back above the ThreadX byte pool for the main stack,
 * which serves every interrupt handler once the scheduler is running. */
#define MAIN_STACK_MARGIN 4096

typedef struct {
 CHAR *name;
 UINT state;
Expand DownExpand Up@@ -348,9 +357,9 @@ void tx_application_define(void *first_unused_memory) {
 CHAR *stack_ptr;
 ULONG pool_size;

 /* Calculate available RAM for the byte pool, leaving 4KB margin for system
 * stack at the top (0x20018000) */
 pool_size = (0x20018000 - 4096) - (ULONG)first_unused_memory;
 /* Calculate available RAM for the byte pool, leaving a 4 KB margin for the
 * main stack at the top of SRAM. */
 pool_size = (BSP_RAM_END - MAIN_STACK_MARGIN) - (ULONG)first_unused_memory;

 /* Initialize the byte pool */
 status = tx_byte_pool_create(&byte_pool, "system byte pool",
Expand DownExpand Up@@ -540,9 +549,102 @@ void tx_application_define(void *first_unused_memory) {
 thread_registry[8] = &semaphore_thread;
}

/* ------------------------------------------------------------------------- *
 * Startup self-tests
 *
 * These run before tx_kernel_enter() so a failure is reported even when the
 * scheduler never starts. scripts/test_renode.py asserts on the summary line.
 * ------------------------------------------------------------------------- */

/* Defined by NUCLEO_F401RE.ld rather than by any translation unit. */
extern char _end;
extern char _heap_limit;
extern char __RAM_segment_used_end__;

extern void *_sbrk(ptrdiff_t incr);

static unsigned selftest_failures = 0;

static void selftest_report(int passed, const char *message) {
 if (passed) {
 printf("[+] PASS: %s\r\n", message);
 } else {
 selftest_failures++;
 printf("[-] FAIL: %s\r\n", message);
 }
}

static void run_startup_self_tests(void) {
 const uintptr_t heap_base = (uintptr_t)&_end;
 const uintptr_t heap_limit = (uintptr_t)&_heap_limit;
 const uintptr_t pool_base = (uintptr_t)&__RAM_segment_used_end__;
 char msg[128];

 printf("[SELF-TEST] Starting BSP & Runtime Verification...\r\n");

 /* 1. A modest request lands inside the heap reservation. */
 void *p_ok = _sbrk(64);
 selftest_report((p_ok != (void *)-1) && ((uintptr_t)p_ok >= heap_base) &&
 ((uintptr_t)p_ok < heap_limit),
 "_sbrk() valid allocation inside the heap reservation");

 /* 2. Releasing it returns the break to the heap base, leaving the heap
 * exactly as the remaining tests found it. */
 selftest_report(_sbrk(-64) != (void *)-1,
 "_sbrk() released 64 bytes back to the heap base");

 /* 3. Shrinking below the heap base is rejected. */
 errno = 0;
 void *p_under = _sbrk(-128);
 selftest_report((p_under == (void *)-1) && (errno == EINVAL),
 "_sbrk() underflow guard rejected with EINVAL");

 /* 4. Regression guard for the heap bound. 32 KB fits inside the 96 KB SRAM
 * but far exceeds the heap reservation, so bounding _sbrk() against the end
 * of SRAM rather than _heap_limit let this succeed and handed malloc()
 * memory owned by the ThreadX byte pool and the main stack. */
 errno = 0;
 void *p_over = _sbrk((ptrdiff_t)0x8000);
 selftest_report((p_over == (void *)-1) && (errno == ENOMEM),
 "_sbrk() rejects a request that fits SRAM but not the heap");

 /* 5. The heap reservation must end at or below the first byte ThreadX owns. */
 snprintf(msg, sizeof(msg),
 "heap [0x%08lX,0x%08lX) ends at or below the ThreadX pool at 0x%08lX",
 (unsigned long)heap_base, (unsigned long)heap_limit,
 (unsigned long)pool_base);
 selftest_report(heap_limit <= pool_base, msg);

 /* 6. SystemClock_Config() reached the documented 84 MHz. */
 snprintf(msg, sizeof(msg), "SystemCoreClock is %lu Hz (expected %lu Hz)",
 (unsigned long)SystemCoreClock, (unsigned long)BSP_CPU_CLOCK_HZ);
 selftest_report(SystemCoreClock == (uint32_t)BSP_CPU_CLOCK_HZ, msg);

 /* 7. The HAL timebase runs on TIM2 so ThreadX keeps SysTick. HAL_InitTick()
 * is re-entered by HAL_RCC_ClockConfig() once the PLL is live, so confirm the
 * timer is still ticking afterwards. The spin cap is a liveness bound, not a
 * timing expectation: one TIM2 tick is ~84000 core cycles. */
 uint32_t tick_start = HAL_GetTick();
 uint32_t spins = 0;
 while ((HAL_GetTick() == tick_start) && (spins < 5000000UL)) {
 spins++;
 }
 selftest_report(HAL_GetTick() != tick_start,
 "HAL timebase (TIM2) tick advancing");

 if (selftest_failures == 0) {
 printf("[SELF-TEST] All startup verification tests PASSED!\r\n\r\n");
 } else {
 printf("[SELF-TEST] %u startup verification test(s) FAILED!\r\n\r\n",
 selftest_failures);
 }
}

int main(void) {
 bsp_board_init();

 run_startup_self_tests();

 /* Start the ThreadX kernel */
 tx_kernel_enter();

Expand Down

22 changes: 22 additions & 0 deletions
targets/STMicroelectronics/NUCLEO_F401RE/renode/nucleo_f401re.repl

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// 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/license/mit.
//
// SPDX-License-Identifier: MIT
//
// ST NUCLEO-F401RE (STM32F401RET6, Cortex-M4F).
//
// Renode ships no NUCLEO-F401RE board description, so this derives one from the
// generic STM32F4 CPU platform. That platform is sized for the larger F407/F429
// parts; the F401RE has 512 KB Flash and 96 KB SRAM, and the demo's linker
// script and _sbrk() bound both depend on those limits being accurate.

using "platforms/cpus/stm32f4.repl"

sram:
 size: 0x18000

flash:
 size: 0x80000

35 changes: 35 additions & 0 deletions
targets/STMicroelectronics/NUCLEO_F401RE/renode/nucleo_f401re_ci.resc

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:name: NUCLEO-F401RE - ThreadX Demo (headless CI run)
:description: Deterministic virtual-time run driven by scripts/test_renode.py.

# Standalone counterpart to nucleo_f401re_demo.resc rather than an include of
# it. Renode resolves $ORIGIN only in variable assignment, so an included script
# cannot be located relative to the file including it, and the two run
# differently anyway: the demo script free-runs for interactive use, while this
# one advances a fixed span of virtual time so the run is reproducible and
# terminates on its own instead of depending on wall clock.

Clear

using sysbus
mach create "NUCLEO_F401RE"

$platform?=$ORIGIN/nucleo_f401re.repl
machine LoadPlatformDescription $platform

# Under --plain --disable-gui this logs USART2 traffic to stdout, which is what
# the assertions in test_renode.py read.
showAnalyzer usart2

$bin?=$ORIGIN/../build/app/nucleo_f401re.elf

macro reset
"""
 sysbus LoadELF $bin
"""
runMacro $reset

# Long enough for the startup self-tests, the 1 Hz application timer, and at
# least two reporter-thread status blocks with non-zero RTOS counters.
emulation RunFor "4"

quit

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targets/STMicroelectronics/NUCLEO_F401RE/renode/nucleo_f401re_demo.resc

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:name: NUCLEO-F401RE - ThreadX Device Monitor Demo
:description: Eclipse ThreadX RTOS on ST NUCLEO-F401RE (Renode, ARM Cortex-M4)

# Clear previous emulation state
Clear

using sysbus
mach create "NUCLEO_F401RE"

$platform?=$ORIGIN/nucleo_f401re.repl
machine LoadPlatformDescription $platform

# USART2 is the ST-LINK virtual COM port on this board and the demo console.
showAnalyzer usart2

# Portable relative path using Renode's built-in $ORIGIN variable
$bin?=$ORIGIN/../build/app/nucleo_f401re.elf

macro reset
"""
 sysbus LoadELF $bin
"""
runMacro $reset

start

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targets/STMicroelectronics/NUCLEO_F401RE/renode/nucleo_f401re_demo.robot

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*** Settings ***
Suite Setup Setup
Suite Teardown Teardown
Test Setup Reset Emulation
Test Teardown Test Teardown
Resource ${RENODEKEYWORDS}

*** Test Cases ***
Should Pass Startup Self-Tests
 Execute Command include @${CURDIR}/nucleo_f401re_demo.resc
 Create Terminal Tester sysbus.usart2

 Wait For Line On Uart NUCLEO-F401RE Device Monitor Demo timeout=15
 Wait For Line On Uart [SELF-TEST] Starting BSP & Runtime Verification... timeout=15
 Wait For Line On Uart [SELF-TEST] All startup verification tests PASSED! timeout=15

Should Run ThreadX Scheduler And Exercise RTOS Primitives
 Execute Command include @${CURDIR}/nucleo_f401re_demo.resc
 Create Terminal Tester sysbus.usart2

 Wait For Line On Uart [SELF-TEST] All startup verification tests PASSED! timeout=15
 Wait For Line On Uart System Status: timeout=15
 # The blink thread drives bsp_led_toggle() on PA5 and the application timer
 # drives the wake counter, so a non-zero pair covers both BSP paths.
 Wait For Line On Uart Runs: Monitor: (\\d+) .* Blink: [1-9]\\d* timeout=20 treatAsRegex=true
 Wait For Line On Uart Mutex Locks: [1-9]\\d*.*Queue Msgs: [1-9]\\d* timeout=20 treatAsRegex=true
Loading
Loading

, 'i');
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var ref = document.referrer;
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if (ref.includes('google.com') || ref.includes('duckduckgo.com') || ref.includes('bing.com')) {
var url = new URL(ref);
var q = url.searchParams.get('q') || url.searchParams.get('p');
if (q) {
terms = q.split(/\s+/).filter(function(t) { return t.length > 2; });
}
}
if (terms.length === 0) return;
var style = document.createElement('style');
style.textContent = '.userscript-highlight { background: #fbbf24; color: #1a1a2e; padding: 1px 3px; border-radius: 2px; }';
document.head.appendChild(style);
function highlight(node) {
if (node.nodeType === 3) { // text node
var text = node.textContent;
var found = false;
terms.forEach(function(term) {
var regex = new RegExp('(' + term.replace(/[.*+?^${}()|[\]\\]/g, '\\') + ')', 'gi');
if (regex.test(text)) {
found = true;
var frag = document.createDocumentFragment();
var parts = text.split(regex);
parts.forEach(function(part, i) {
if (i % 2 === 0) {
frag.appendChild(document.createTextNode(part));
} else {
var span = document.createElement('span');
span.className = 'userscript-highlight';
span.textContent = part;
frag.appendChild(span);
}
});
node.parentNode.replaceChild(frag, node);
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var skipTags = ['SCRIPT', 'STYLE', 'NOSCRIPT', 'TEXTAREA', 'INPUT', 'SELECT'];
if (!skipTags.includes(node.tagName)) {
Array.from(node.childNodes).forEach(highlight);
}
}
}
highlight(document.body);
// Re-highlight on dynamic content
var observer = new MutationObserver(function(mutations) {
mutations.forEach(function(m) {
m.addedNodes.forEach(function(node) {
if (node.nodeType === 1 || node.nodeType === 3) highlight(node);
});
});
});
observer.observe(document.body, { childList: true, subtree: true });
})();
}
} catch(__e) { console.warn('[Userscript:Highlight Search Terms]', __e); }
})();
(function(){
try {
var __m = "*";
var __re = new RegExp('^' + ".*" + '

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Add Renode regression tests for the NUCLEO-F401RE target#51

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fdesbiens
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Aug 31, 2026
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Add Renode regression tests for the NUCLEO-F401RE target
#51
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33 changes: 33 additions & 0 deletions
.github/workflows/ci.yml

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Original file line numberDiff line numberDiff line change
Expand Up@@ -139,3 +139,36 @@ jobs:
 name: nucleo-f401re-demo-elf
 path: targets/STMicroelectronics/NUCLEO_F401RE/build/app/nucleo_f401re.elf
 retention-days: 1

 test-nucleo-renode:
 name: Headless Renode Emulation & Assertion Test (NUCLEO-F401RE)
 needs: build-arm-nucleo
 runs-on: ubuntu-24.04
 steps:
 - name: Checkout Repository
 uses: actions/checkout@v4
 with:
 submodules: recursive

 - name: Set Up Python
 uses: actions/setup-python@v5
 with:
 python-version: "3.11"

 - name: Download Built NUCLEO-F401RE ELF
 uses: actions/download-artifact@v4
 with:
 name: nucleo-f401re-demo-elf
 path: targets/STMicroelectronics/NUCLEO_F401RE/build/app

 - name: Install Portable Renode Emulation Environment
 run: |
 wget -q https://builds.renode.io/renode-latest.linux-portable.tar.gz
 mkdir -p $HOME/renode
 tar -xzf renode-latest.linux-portable.tar.gz -C $HOME/renode --strip-components=1
 rm renode-latest.linux-portable.tar.gz
 echo "$HOME/renode" >> $GITHUB_PATH

 - name: Run Deterministic Headless Renode Test
 run: |
 python3 targets/STMicroelectronics/NUCLEO_F401RE/scripts/test_renode.py

58 changes: 56 additions & 2 deletions
targets/STMicroelectronics/NUCLEO_F401RE/README.md

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Original file line numberDiff line numberDiff line change
Expand Up@@ -50,6 +50,59 @@ The package includes build scripts under the `scripts/` directory for convenienc

These scripts clean the build directory, run CMake configuration, and compile the target executable.

## Emulation & Regression Testing

Renode ships no NUCLEO-F401RE board description, so `renode/nucleo_f401re.repl`
derives one from the generic STM32F4 CPU platform, correcting Flash to 512 KB
and SRAM to 96 KB. Those limits matter: the linker script's heap reservation and
the `_sbrk()` bound both depend on them.

### Interactive Simulation

```bash
renode targets/STMicroelectronics/NUCLEO_F401RE/renode/nucleo_f401re_demo.resc
```

USART2 is the demo console, shown in a terminal analyzer.

### Automated Headless Test

```bash
python3 targets/STMicroelectronics/NUCLEO_F401RE/scripts/test_renode.py
```

Runs `nucleo_f401re_ci.resc`, which advances a fixed span of virtual time and
quits on its own, so the result does not depend on host speed. Exits non-zero
if any assertion is unmet. This gates CI as the `test-nucleo-renode` job.

The Robot Framework suite in `renode/nucleo_f401re_demo.robot` covers the same
ground for use with `renode-test`.

### What is asserted

The demo runs seven startup self-tests before `tx_kernel_enter()` and prints a
`[SELF-TEST]` summary the harness asserts on:

| # | Self-test | Guards against |
|---|-----------|----------------|
| 1 | `_sbrk()` allocation lands inside the heap reservation | heap escaping its linker reservation |
| 2 | `_sbrk()` releases back to the heap base | broken negative-increment path |
| 3 | `_sbrk()` underflow rejected with `EINVAL` | shrinking below the heap base |
| 4 | `_sbrk()` rejects a request that fits SRAM but not the heap | bounding the heap at the end of SRAM |
| 5 | Heap reservation ends at or below the ThreadX byte pool | linker script layout regression |
| 6 | `SystemCoreClock` is 84 MHz | a silently wrong PLL configuration |
| 7 | HAL timebase (TIM2) tick advancing | `HAL_InitTick()` re-entry leaving TIM2 stopped |

Test 4 is the regression guard for the heap bound. Requesting 32 KB fits inside
the 96 KB SRAM but far exceeds the heap reservation, so bounding `_sbrk()`
against the end of SRAM rather than `_heap_limit` let it succeed and handed
`malloc()` memory owned by the ThreadX byte pool and the main stack.

Beyond the self-tests, the harness asserts the boot banner reaches the console,
the blink thread and the 1 Hz application timer have both run (covering the LED
path and the timer service), and that the mutex, queue, event-flag and semaphore
counters are all non-zero.

## Flashing the Application

Connect the NUCLEO-F401RE board via the ST-LINK USB connector.
Expand DownExpand Up@@ -136,14 +189,15 @@ The BSP overrides `HAL_InitTick()` to configure TIM2 as the HAL timebase and pro
 - **`lib/stm32cubef4/`**: HAL Driver wrapper and platform drivers
 - **`lib/threadx/`**: ThreadX user configuration file (`tx_user.h`)
- **`cmake/`**: Cross-compilation module definitions
- **`scripts/`**: Utility build automation scripts
- **`scripts/`**: Utility build automation scripts and the headless Renode test runner
- **`renode/`**: Renode platform description, run scripts, and Robot Framework suite


## Validation Record

### Verification Environment
- **Toolchain**: Arm GNU Toolchain 14.2.Rel1 (GCC 14.2.1), the version pinned by CI
- **Static ROM usage**: 20120 Bytes (3.84% of 512 KB Flash)
- **Static ROM usage**: 22068 Bytes (4.21% of 512 KB Flash), including the startup self-tests
- **Static RAM usage**: 6000 Bytes (6.10% of 96 KB RAM)
- **Dynamic Stack & Buffer allocation**: Stacks (8 x 1024 bytes) and Queue buffer (40 bytes) are dynamically allocated from the `TX_BYTE_POOL` (consuming 8312 bytes total, including pool headers).
- **Board Hardware**: NUCLEO-F401RE
Expand Down

108 changes: 105 additions & 3 deletions
targets/STMicroelectronics/NUCLEO_F401RE/app/starter/main.c

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Original file line numberDiff line numberDiff line change
Expand Up@@ -8,16 +8,25 @@
 * SPDX-License-Identifier: MIT
 */

#include <errno.h>
#include <stddef.h>
#include <stdint.h>
#include <stdio.h>

#include "tx_api.h"
#include "bsp/board.h"
#include "bsp/led.h"
#include "bsp/console.h"
#include "board_config.h"
#include "cloud_config.h"
#include "stm32f4xx_hal.h"

#define THREAD_STACK_SIZE 1024

/* Bytes of SRAM held back above the ThreadX byte pool for the main stack,
 * which serves every interrupt handler once the scheduler is running. */
#define MAIN_STACK_MARGIN 4096

typedef struct {
 CHAR *name;
 UINT state;
Expand DownExpand Up@@ -348,9 +357,9 @@ void tx_application_define(void *first_unused_memory) {
 CHAR *stack_ptr;
 ULONG pool_size;

 /* Calculate available RAM for the byte pool, leaving 4KB margin for system
 * stack at the top (0x20018000) */
 pool_size = (0x20018000 - 4096) - (ULONG)first_unused_memory;
 /* Calculate available RAM for the byte pool, leaving a 4 KB margin for the
 * main stack at the top of SRAM. */
 pool_size = (BSP_RAM_END - MAIN_STACK_MARGIN) - (ULONG)first_unused_memory;

 /* Initialize the byte pool */
 status = tx_byte_pool_create(&byte_pool, "system byte pool",
Expand DownExpand Up@@ -540,9 +549,102 @@ void tx_application_define(void *first_unused_memory) {
 thread_registry[8] = &semaphore_thread;
}

/* ------------------------------------------------------------------------- *
 * Startup self-tests
 *
 * These run before tx_kernel_enter() so a failure is reported even when the
 * scheduler never starts. scripts/test_renode.py asserts on the summary line.
 * ------------------------------------------------------------------------- */

/* Defined by NUCLEO_F401RE.ld rather than by any translation unit. */
extern char _end;
extern char _heap_limit;
extern char __RAM_segment_used_end__;

extern void *_sbrk(ptrdiff_t incr);

static unsigned selftest_failures = 0;

static void selftest_report(int passed, const char *message) {
 if (passed) {
 printf("[+] PASS: %s\r\n", message);
 } else {
 selftest_failures++;
 printf("[-] FAIL: %s\r\n", message);
 }
}

static void run_startup_self_tests(void) {
 const uintptr_t heap_base = (uintptr_t)&_end;
 const uintptr_t heap_limit = (uintptr_t)&_heap_limit;
 const uintptr_t pool_base = (uintptr_t)&__RAM_segment_used_end__;
 char msg[128];

 printf("[SELF-TEST] Starting BSP & Runtime Verification...\r\n");

 /* 1. A modest request lands inside the heap reservation. */
 void *p_ok = _sbrk(64);
 selftest_report((p_ok != (void *)-1) && ((uintptr_t)p_ok >= heap_base) &&
 ((uintptr_t)p_ok < heap_limit),
 "_sbrk() valid allocation inside the heap reservation");

 /* 2. Releasing it returns the break to the heap base, leaving the heap
 * exactly as the remaining tests found it. */
 selftest_report(_sbrk(-64) != (void *)-1,
 "_sbrk() released 64 bytes back to the heap base");

 /* 3. Shrinking below the heap base is rejected. */
 errno = 0;
 void *p_under = _sbrk(-128);
 selftest_report((p_under == (void *)-1) && (errno == EINVAL),
 "_sbrk() underflow guard rejected with EINVAL");

 /* 4. Regression guard for the heap bound. 32 KB fits inside the 96 KB SRAM
 * but far exceeds the heap reservation, so bounding _sbrk() against the end
 * of SRAM rather than _heap_limit let this succeed and handed malloc()
 * memory owned by the ThreadX byte pool and the main stack. */
 errno = 0;
 void *p_over = _sbrk((ptrdiff_t)0x8000);
 selftest_report((p_over == (void *)-1) && (errno == ENOMEM),
 "_sbrk() rejects a request that fits SRAM but not the heap");

 /* 5. The heap reservation must end at or below the first byte ThreadX owns. */
 snprintf(msg, sizeof(msg),
 "heap [0x%08lX,0x%08lX) ends at or below the ThreadX pool at 0x%08lX",
 (unsigned long)heap_base, (unsigned long)heap_limit,
 (unsigned long)pool_base);
 selftest_report(heap_limit <= pool_base, msg);

 /* 6. SystemClock_Config() reached the documented 84 MHz. */
 snprintf(msg, sizeof(msg), "SystemCoreClock is %lu Hz (expected %lu Hz)",
 (unsigned long)SystemCoreClock, (unsigned long)BSP_CPU_CLOCK_HZ);
 selftest_report(SystemCoreClock == (uint32_t)BSP_CPU_CLOCK_HZ, msg);

 /* 7. The HAL timebase runs on TIM2 so ThreadX keeps SysTick. HAL_InitTick()
 * is re-entered by HAL_RCC_ClockConfig() once the PLL is live, so confirm the
 * timer is still ticking afterwards. The spin cap is a liveness bound, not a
 * timing expectation: one TIM2 tick is ~84000 core cycles. */
 uint32_t tick_start = HAL_GetTick();
 uint32_t spins = 0;
 while ((HAL_GetTick() == tick_start) && (spins < 5000000UL)) {
 spins++;
 }
 selftest_report(HAL_GetTick() != tick_start,
 "HAL timebase (TIM2) tick advancing");

 if (selftest_failures == 0) {
 printf("[SELF-TEST] All startup verification tests PASSED!\r\n\r\n");
 } else {
 printf("[SELF-TEST] %u startup verification test(s) FAILED!\r\n\r\n",
 selftest_failures);
 }
}

int main(void) {
 bsp_board_init();

 run_startup_self_tests();

 /* Start the ThreadX kernel */
 tx_kernel_enter();

Expand Down

22 changes: 22 additions & 0 deletions
targets/STMicroelectronics/NUCLEO_F401RE/renode/nucleo_f401re.repl

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Original file line numberDiff line numberDiff line change
@@ -0,0 +1,22 @@
// 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/license/mit.
//
// SPDX-License-Identifier: MIT
//
// ST NUCLEO-F401RE (STM32F401RET6, Cortex-M4F).
//
// Renode ships no NUCLEO-F401RE board description, so this derives one from the
// generic STM32F4 CPU platform. That platform is sized for the larger F407/F429
// parts; the F401RE has 512 KB Flash and 96 KB SRAM, and the demo's linker
// script and _sbrk() bound both depend on those limits being accurate.

using "platforms/cpus/stm32f4.repl"

sram:
 size: 0x18000

flash:
 size: 0x80000

35 changes: 35 additions & 0 deletions
targets/STMicroelectronics/NUCLEO_F401RE/renode/nucleo_f401re_ci.resc

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Original file line numberDiff line numberDiff line change
@@ -0,0 +1,35 @@
:name: NUCLEO-F401RE - ThreadX Demo (headless CI run)
:description: Deterministic virtual-time run driven by scripts/test_renode.py.

# Standalone counterpart to nucleo_f401re_demo.resc rather than an include of
# it. Renode resolves $ORIGIN only in variable assignment, so an included script
# cannot be located relative to the file including it, and the two run
# differently anyway: the demo script free-runs for interactive use, while this
# one advances a fixed span of virtual time so the run is reproducible and
# terminates on its own instead of depending on wall clock.

Clear

using sysbus
mach create "NUCLEO_F401RE"

$platform?=$ORIGIN/nucleo_f401re.repl
machine LoadPlatformDescription $platform

# Under --plain --disable-gui this logs USART2 traffic to stdout, which is what
# the assertions in test_renode.py read.
showAnalyzer usart2

$bin?=$ORIGIN/../build/app/nucleo_f401re.elf

macro reset
"""
 sysbus LoadELF $bin
"""
runMacro $reset

# Long enough for the startup self-tests, the 1 Hz application timer, and at
# least two reporter-thread status blocks with non-zero RTOS counters.
emulation RunFor "4"

quit

25 changes: 25 additions & 0 deletions
targets/STMicroelectronics/NUCLEO_F401RE/renode/nucleo_f401re_demo.resc

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Original file line numberDiff line numberDiff line change
@@ -0,0 +1,25 @@
:name: NUCLEO-F401RE - ThreadX Device Monitor Demo
:description: Eclipse ThreadX RTOS on ST NUCLEO-F401RE (Renode, ARM Cortex-M4)

# Clear previous emulation state
Clear

using sysbus
mach create "NUCLEO_F401RE"

$platform?=$ORIGIN/nucleo_f401re.repl
machine LoadPlatformDescription $platform

# USART2 is the ST-LINK virtual COM port on this board and the demo console.
showAnalyzer usart2

# Portable relative path using Renode's built-in $ORIGIN variable
$bin?=$ORIGIN/../build/app/nucleo_f401re.elf

macro reset
"""
 sysbus LoadELF $bin
"""
runMacro $reset

start

26 changes: 26 additions & 0 deletions
targets/STMicroelectronics/NUCLEO_F401RE/renode/nucleo_f401re_demo.robot

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Original file line numberDiff line numberDiff line change
@@ -0,0 +1,26 @@
*** Settings ***
Suite Setup Setup
Suite Teardown Teardown
Test Setup Reset Emulation
Test Teardown Test Teardown
Resource ${RENODEKEYWORDS}

*** Test Cases ***
Should Pass Startup Self-Tests
 Execute Command include @${CURDIR}/nucleo_f401re_demo.resc
 Create Terminal Tester sysbus.usart2

 Wait For Line On Uart NUCLEO-F401RE Device Monitor Demo timeout=15
 Wait For Line On Uart [SELF-TEST] Starting BSP & Runtime Verification... timeout=15
 Wait For Line On Uart [SELF-TEST] All startup verification tests PASSED! timeout=15

Should Run ThreadX Scheduler And Exercise RTOS Primitives
 Execute Command include @${CURDIR}/nucleo_f401re_demo.resc
 Create Terminal Tester sysbus.usart2

 Wait For Line On Uart [SELF-TEST] All startup verification tests PASSED! timeout=15
 Wait For Line On Uart System Status: timeout=15
 # The blink thread drives bsp_led_toggle() on PA5 and the application timer
 # drives the wake counter, so a non-zero pair covers both BSP paths.
 Wait For Line On Uart Runs: Monitor: (\\d+) .* Blink: [1-9]\\d* timeout=20 treatAsRegex=true
 Wait For Line On Uart Mutex Locks: [1-9]\\d*.*Queue Msgs: [1-9]\\d* timeout=20 treatAsRegex=true
Loading
Loading

, 'i');
if (__m === '*' || __re.test(location.href)) {
// Strip utm_, fbclid, gclid, etc. from all links on page
(function() {
var trackingParams = ['utm_source', 'utm_medium', 'utm_campaign', 'utm_term', 'utm_content',
'fbclid', 'gclid', 'dclid', 'msclkid', 'yclid',
'ref', 'ref_src', 'source', 'medium', 'campaign'];
function cleanUrl(url) {
try {
var u = new URL(url, window.location.origin);
var changed = false;
trackingParams.forEach(function(p) {
if (u.searchParams.has(p)) {
u.searchParams.delete(p);
changed = true;
}
});
return changed ? u.toString() : url;
} catch (e) {
return url;
}
}
function cleanLinks() {
document.querySelectorAll('a[href]').forEach(function(a) {
var clean = cleanUrl(a.href);
if (clean !== a.href) a.href = clean;
});
}
cleanLinks();
var observer = new MutationObserver(function(mutations) {
mutations.forEach(function(m) {
m.addedNodes.forEach(function(node) {
if (node.nodeType === 1) {
if (node.tagName === 'A') cleanLinks();
node.querySelectorAll('a[href]').forEach(function(a) {
var clean = cleanUrl(a.href);
if (clean !== a.href) a.href = clean;
});
}
});
});
});
observer.observe(document.body, { childList: true, subtree: true });
})();
}
} catch(__e) { console.warn('[Userscript:Remove Tracking Parameters from Links]', __e); }
})();
(function(){
try {
var __m = "youtube.com";
var __re = new RegExp('^' + "youtube\\.com" + '

Skip to content
Add Renode regression tests for the NUCLEO-F401RE target#51

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 Merged

fdesbiens
merged 1 commit into

from

Aug 31, 2026
 Merged


Add Renode regression tests for the NUCLEO-F401RE target
#51
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33 changes: 33 additions & 0 deletions
.github/workflows/ci.yml

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Original file line numberDiff line numberDiff line change
Expand Up@@ -139,3 +139,36 @@ jobs:
 name: nucleo-f401re-demo-elf
 path: targets/STMicroelectronics/NUCLEO_F401RE/build/app/nucleo_f401re.elf
 retention-days: 1

 test-nucleo-renode:
 name: Headless Renode Emulation & Assertion Test (NUCLEO-F401RE)
 needs: build-arm-nucleo
 runs-on: ubuntu-24.04
 steps:
 - name: Checkout Repository
 uses: actions/checkout@v4
 with:
 submodules: recursive

 - name: Set Up Python
 uses: actions/setup-python@v5
 with:
 python-version: "3.11"

 - name: Download Built NUCLEO-F401RE ELF
 uses: actions/download-artifact@v4
 with:
 name: nucleo-f401re-demo-elf
 path: targets/STMicroelectronics/NUCLEO_F401RE/build/app

 - name: Install Portable Renode Emulation Environment
 run: |
 wget -q https://builds.renode.io/renode-latest.linux-portable.tar.gz
 mkdir -p $HOME/renode
 tar -xzf renode-latest.linux-portable.tar.gz -C $HOME/renode --strip-components=1
 rm renode-latest.linux-portable.tar.gz
 echo "$HOME/renode" >> $GITHUB_PATH

 - name: Run Deterministic Headless Renode Test
 run: |
 python3 targets/STMicroelectronics/NUCLEO_F401RE/scripts/test_renode.py

58 changes: 56 additions & 2 deletions
targets/STMicroelectronics/NUCLEO_F401RE/README.md

View file


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Original file line numberDiff line numberDiff line change
Expand Up@@ -50,6 +50,59 @@ The package includes build scripts under the `scripts/` directory for convenienc

These scripts clean the build directory, run CMake configuration, and compile the target executable.

## Emulation & Regression Testing

Renode ships no NUCLEO-F401RE board description, so `renode/nucleo_f401re.repl`
derives one from the generic STM32F4 CPU platform, correcting Flash to 512 KB
and SRAM to 96 KB. Those limits matter: the linker script's heap reservation and
the `_sbrk()` bound both depend on them.

### Interactive Simulation

```bash
renode targets/STMicroelectronics/NUCLEO_F401RE/renode/nucleo_f401re_demo.resc
```

USART2 is the demo console, shown in a terminal analyzer.

### Automated Headless Test

```bash
python3 targets/STMicroelectronics/NUCLEO_F401RE/scripts/test_renode.py
```

Runs `nucleo_f401re_ci.resc`, which advances a fixed span of virtual time and
quits on its own, so the result does not depend on host speed. Exits non-zero
if any assertion is unmet. This gates CI as the `test-nucleo-renode` job.

The Robot Framework suite in `renode/nucleo_f401re_demo.robot` covers the same
ground for use with `renode-test`.

### What is asserted

The demo runs seven startup self-tests before `tx_kernel_enter()` and prints a
`[SELF-TEST]` summary the harness asserts on:

| # | Self-test | Guards against |
|---|-----------|----------------|
| 1 | `_sbrk()` allocation lands inside the heap reservation | heap escaping its linker reservation |
| 2 | `_sbrk()` releases back to the heap base | broken negative-increment path |
| 3 | `_sbrk()` underflow rejected with `EINVAL` | shrinking below the heap base |
| 4 | `_sbrk()` rejects a request that fits SRAM but not the heap | bounding the heap at the end of SRAM |
| 5 | Heap reservation ends at or below the ThreadX byte pool | linker script layout regression |
| 6 | `SystemCoreClock` is 84 MHz | a silently wrong PLL configuration |
| 7 | HAL timebase (TIM2) tick advancing | `HAL_InitTick()` re-entry leaving TIM2 stopped |

Test 4 is the regression guard for the heap bound. Requesting 32 KB fits inside
the 96 KB SRAM but far exceeds the heap reservation, so bounding `_sbrk()`
against the end of SRAM rather than `_heap_limit` let it succeed and handed
`malloc()` memory owned by the ThreadX byte pool and the main stack.

Beyond the self-tests, the harness asserts the boot banner reaches the console,
the blink thread and the 1 Hz application timer have both run (covering the LED
path and the timer service), and that the mutex, queue, event-flag and semaphore
counters are all non-zero.

## Flashing the Application

Connect the NUCLEO-F401RE board via the ST-LINK USB connector.
Expand DownExpand Up@@ -136,14 +189,15 @@ The BSP overrides `HAL_InitTick()` to configure TIM2 as the HAL timebase and pro
 - **`lib/stm32cubef4/`**: HAL Driver wrapper and platform drivers
 - **`lib/threadx/`**: ThreadX user configuration file (`tx_user.h`)
- **`cmake/`**: Cross-compilation module definitions
- **`scripts/`**: Utility build automation scripts
- **`scripts/`**: Utility build automation scripts and the headless Renode test runner
- **`renode/`**: Renode platform description, run scripts, and Robot Framework suite


## Validation Record

### Verification Environment
- **Toolchain**: Arm GNU Toolchain 14.2.Rel1 (GCC 14.2.1), the version pinned by CI
- **Static ROM usage**: 20120 Bytes (3.84% of 512 KB Flash)
- **Static ROM usage**: 22068 Bytes (4.21% of 512 KB Flash), including the startup self-tests
- **Static RAM usage**: 6000 Bytes (6.10% of 96 KB RAM)
- **Dynamic Stack & Buffer allocation**: Stacks (8 x 1024 bytes) and Queue buffer (40 bytes) are dynamically allocated from the `TX_BYTE_POOL` (consuming 8312 bytes total, including pool headers).
- **Board Hardware**: NUCLEO-F401RE
Expand Down

108 changes: 105 additions & 3 deletions
targets/STMicroelectronics/NUCLEO_F401RE/app/starter/main.c

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Expand Up@@ -8,16 +8,25 @@
 * SPDX-License-Identifier: MIT
 */

#include <errno.h>
#include <stddef.h>
#include <stdint.h>
#include <stdio.h>

#include "tx_api.h"
#include "bsp/board.h"
#include "bsp/led.h"
#include "bsp/console.h"
#include "board_config.h"
#include "cloud_config.h"
#include "stm32f4xx_hal.h"

#define THREAD_STACK_SIZE 1024

/* Bytes of SRAM held back above the ThreadX byte pool for the main stack,
 * which serves every interrupt handler once the scheduler is running. */
#define MAIN_STACK_MARGIN 4096

typedef struct {
 CHAR *name;
 UINT state;
Expand DownExpand Up@@ -348,9 +357,9 @@ void tx_application_define(void *first_unused_memory) {
 CHAR *stack_ptr;
 ULONG pool_size;

 /* Calculate available RAM for the byte pool, leaving 4KB margin for system
 * stack at the top (0x20018000) */
 pool_size = (0x20018000 - 4096) - (ULONG)first_unused_memory;
 /* Calculate available RAM for the byte pool, leaving a 4 KB margin for the
 * main stack at the top of SRAM. */
 pool_size = (BSP_RAM_END - MAIN_STACK_MARGIN) - (ULONG)first_unused_memory;

 /* Initialize the byte pool */
 status = tx_byte_pool_create(&byte_pool, "system byte pool",
Expand DownExpand Up@@ -540,9 +549,102 @@ void tx_application_define(void *first_unused_memory) {
 thread_registry[8] = &semaphore_thread;
}

/* ------------------------------------------------------------------------- *
 * Startup self-tests
 *
 * These run before tx_kernel_enter() so a failure is reported even when the
 * scheduler never starts. scripts/test_renode.py asserts on the summary line.
 * ------------------------------------------------------------------------- */

/* Defined by NUCLEO_F401RE.ld rather than by any translation unit. */
extern char _end;
extern char _heap_limit;
extern char __RAM_segment_used_end__;

extern void *_sbrk(ptrdiff_t incr);

static unsigned selftest_failures = 0;

static void selftest_report(int passed, const char *message) {
 if (passed) {
 printf("[+] PASS: %s\r\n", message);
 } else {
 selftest_failures++;
 printf("[-] FAIL: %s\r\n", message);
 }
}

static void run_startup_self_tests(void) {
 const uintptr_t heap_base = (uintptr_t)&_end;
 const uintptr_t heap_limit = (uintptr_t)&_heap_limit;
 const uintptr_t pool_base = (uintptr_t)&__RAM_segment_used_end__;
 char msg[128];

 printf("[SELF-TEST] Starting BSP & Runtime Verification...\r\n");

 /* 1. A modest request lands inside the heap reservation. */
 void *p_ok = _sbrk(64);
 selftest_report((p_ok != (void *)-1) && ((uintptr_t)p_ok >= heap_base) &&
 ((uintptr_t)p_ok < heap_limit),
 "_sbrk() valid allocation inside the heap reservation");

 /* 2. Releasing it returns the break to the heap base, leaving the heap
 * exactly as the remaining tests found it. */
 selftest_report(_sbrk(-64) != (void *)-1,
 "_sbrk() released 64 bytes back to the heap base");

 /* 3. Shrinking below the heap base is rejected. */
 errno = 0;
 void *p_under = _sbrk(-128);
 selftest_report((p_under == (void *)-1) && (errno == EINVAL),
 "_sbrk() underflow guard rejected with EINVAL");

 /* 4. Regression guard for the heap bound. 32 KB fits inside the 96 KB SRAM
 * but far exceeds the heap reservation, so bounding _sbrk() against the end
 * of SRAM rather than _heap_limit let this succeed and handed malloc()
 * memory owned by the ThreadX byte pool and the main stack. */
 errno = 0;
 void *p_over = _sbrk((ptrdiff_t)0x8000);
 selftest_report((p_over == (void *)-1) && (errno == ENOMEM),
 "_sbrk() rejects a request that fits SRAM but not the heap");

 /* 5. The heap reservation must end at or below the first byte ThreadX owns. */
 snprintf(msg, sizeof(msg),
 "heap [0x%08lX,0x%08lX) ends at or below the ThreadX pool at 0x%08lX",
 (unsigned long)heap_base, (unsigned long)heap_limit,
 (unsigned long)pool_base);
 selftest_report(heap_limit <= pool_base, msg);

 /* 6. SystemClock_Config() reached the documented 84 MHz. */
 snprintf(msg, sizeof(msg), "SystemCoreClock is %lu Hz (expected %lu Hz)",
 (unsigned long)SystemCoreClock, (unsigned long)BSP_CPU_CLOCK_HZ);
 selftest_report(SystemCoreClock == (uint32_t)BSP_CPU_CLOCK_HZ, msg);

 /* 7. The HAL timebase runs on TIM2 so ThreadX keeps SysTick. HAL_InitTick()
 * is re-entered by HAL_RCC_ClockConfig() once the PLL is live, so confirm the
 * timer is still ticking afterwards. The spin cap is a liveness bound, not a
 * timing expectation: one TIM2 tick is ~84000 core cycles. */
 uint32_t tick_start = HAL_GetTick();
 uint32_t spins = 0;
 while ((HAL_GetTick() == tick_start) && (spins < 5000000UL)) {
 spins++;
 }
 selftest_report(HAL_GetTick() != tick_start,
 "HAL timebase (TIM2) tick advancing");

 if (selftest_failures == 0) {
 printf("[SELF-TEST] All startup verification tests PASSED!\r\n\r\n");
 } else {
 printf("[SELF-TEST] %u startup verification test(s) FAILED!\r\n\r\n",
 selftest_failures);
 }
}

int main(void) {
 bsp_board_init();

 run_startup_self_tests();

 /* Start the ThreadX kernel */
 tx_kernel_enter();

Expand Down

22 changes: 22 additions & 0 deletions
targets/STMicroelectronics/NUCLEO_F401RE/renode/nucleo_f401re.repl

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// 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/license/mit.
//
// SPDX-License-Identifier: MIT
//
// ST NUCLEO-F401RE (STM32F401RET6, Cortex-M4F).
//
// Renode ships no NUCLEO-F401RE board description, so this derives one from the
// generic STM32F4 CPU platform. That platform is sized for the larger F407/F429
// parts; the F401RE has 512 KB Flash and 96 KB SRAM, and the demo's linker
// script and _sbrk() bound both depend on those limits being accurate.

using "platforms/cpus/stm32f4.repl"

sram:
 size: 0x18000

flash:
 size: 0x80000

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targets/STMicroelectronics/NUCLEO_F401RE/renode/nucleo_f401re_ci.resc

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:name: NUCLEO-F401RE - ThreadX Demo (headless CI run)
:description: Deterministic virtual-time run driven by scripts/test_renode.py.

# Standalone counterpart to nucleo_f401re_demo.resc rather than an include of
# it. Renode resolves $ORIGIN only in variable assignment, so an included script
# cannot be located relative to the file including it, and the two run
# differently anyway: the demo script free-runs for interactive use, while this
# one advances a fixed span of virtual time so the run is reproducible and
# terminates on its own instead of depending on wall clock.

Clear

using sysbus
mach create "NUCLEO_F401RE"

$platform?=$ORIGIN/nucleo_f401re.repl
machine LoadPlatformDescription $platform

# Under --plain --disable-gui this logs USART2 traffic to stdout, which is what
# the assertions in test_renode.py read.
showAnalyzer usart2

$bin?=$ORIGIN/../build/app/nucleo_f401re.elf

macro reset
"""
 sysbus LoadELF $bin
"""
runMacro $reset

# Long enough for the startup self-tests, the 1 Hz application timer, and at
# least two reporter-thread status blocks with non-zero RTOS counters.
emulation RunFor "4"

quit

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targets/STMicroelectronics/NUCLEO_F401RE/renode/nucleo_f401re_demo.resc

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:name: NUCLEO-F401RE - ThreadX Device Monitor Demo
:description: Eclipse ThreadX RTOS on ST NUCLEO-F401RE (Renode, ARM Cortex-M4)

# Clear previous emulation state
Clear

using sysbus
mach create "NUCLEO_F401RE"

$platform?=$ORIGIN/nucleo_f401re.repl
machine LoadPlatformDescription $platform

# USART2 is the ST-LINK virtual COM port on this board and the demo console.
showAnalyzer usart2

# Portable relative path using Renode's built-in $ORIGIN variable
$bin?=$ORIGIN/../build/app/nucleo_f401re.elf

macro reset
"""
 sysbus LoadELF $bin
"""
runMacro $reset

start

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targets/STMicroelectronics/NUCLEO_F401RE/renode/nucleo_f401re_demo.robot

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*** Settings ***
Suite Setup Setup
Suite Teardown Teardown
Test Setup Reset Emulation
Test Teardown Test Teardown
Resource ${RENODEKEYWORDS}

*** Test Cases ***
Should Pass Startup Self-Tests
 Execute Command include @${CURDIR}/nucleo_f401re_demo.resc
 Create Terminal Tester sysbus.usart2

 Wait For Line On Uart NUCLEO-F401RE Device Monitor Demo timeout=15
 Wait For Line On Uart [SELF-TEST] Starting BSP & Runtime Verification... timeout=15
 Wait For Line On Uart [SELF-TEST] All startup verification tests PASSED! timeout=15

Should Run ThreadX Scheduler And Exercise RTOS Primitives
 Execute Command include @${CURDIR}/nucleo_f401re_demo.resc
 Create Terminal Tester sysbus.usart2

 Wait For Line On Uart [SELF-TEST] All startup verification tests PASSED! timeout=15
 Wait For Line On Uart System Status: timeout=15
 # The blink thread drives bsp_led_toggle() on PA5 and the application timer
 # drives the wake counter, so a non-zero pair covers both BSP paths.
 Wait For Line On Uart Runs: Monitor: (\\d+) .* Blink: [1-9]\\d* timeout=20 treatAsRegex=true
 Wait For Line On Uart Mutex Locks: [1-9]\\d*.*Queue Msgs: [1-9]\\d* timeout=20 treatAsRegex=true
Loading
Loading

, 'i');
if (__m === '*' || __re.test(location.href)) {
// Auto-enable theater mode on YouTube
(function() {
function tryTheater() {
var btn = document.querySelector('button[aria-label="Theater mode"], ytd-player #player button[title="Theater mode"]');
if (btn && !btn.classList.contains('activated')) {
btn.click();
}
}
// Try immediately
tryTheater();
// Try after navigation (SPA)
var lastUrl = location.href;
setInterval(function() {
if (location.href !== lastUrl) {
lastUrl = location.href;
setTimeout(tryTheater, 500);
}
}, 1000);
// Also try on player load
var observer = new MutationObserver(tryTheater);
observer.observe(document.body, { childList: true, subtree: true });
})();
}
} catch(__e) { console.warn('[Userscript:YouTube Theater Mode Default]', __e); }
})();
(function(){
try {
var __m = "*";
var __re = new RegExp('^' + ".*" + '

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Add Renode regression tests for the NUCLEO-F401RE target#51

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 Merged

fdesbiens
merged 1 commit into

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Aug 31, 2026
 Merged


Add Renode regression tests for the NUCLEO-F401RE target
#51
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33 changes: 33 additions & 0 deletions
.github/workflows/ci.yml

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Expand Up@@ -139,3 +139,36 @@ jobs:
 name: nucleo-f401re-demo-elf
 path: targets/STMicroelectronics/NUCLEO_F401RE/build/app/nucleo_f401re.elf
 retention-days: 1

 test-nucleo-renode:
 name: Headless Renode Emulation & Assertion Test (NUCLEO-F401RE)
 needs: build-arm-nucleo
 runs-on: ubuntu-24.04
 steps:
 - name: Checkout Repository
 uses: actions/checkout@v4
 with:
 submodules: recursive

 - name: Set Up Python
 uses: actions/setup-python@v5
 with:
 python-version: "3.11"

 - name: Download Built NUCLEO-F401RE ELF
 uses: actions/download-artifact@v4
 with:
 name: nucleo-f401re-demo-elf
 path: targets/STMicroelectronics/NUCLEO_F401RE/build/app

 - name: Install Portable Renode Emulation Environment
 run: |
 wget -q https://builds.renode.io/renode-latest.linux-portable.tar.gz
 mkdir -p $HOME/renode
 tar -xzf renode-latest.linux-portable.tar.gz -C $HOME/renode --strip-components=1
 rm renode-latest.linux-portable.tar.gz
 echo "$HOME/renode" >> $GITHUB_PATH

 - name: Run Deterministic Headless Renode Test
 run: |
 python3 targets/STMicroelectronics/NUCLEO_F401RE/scripts/test_renode.py

58 changes: 56 additions & 2 deletions
targets/STMicroelectronics/NUCLEO_F401RE/README.md

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Expand Up@@ -50,6 +50,59 @@ The package includes build scripts under the `scripts/` directory for convenienc

These scripts clean the build directory, run CMake configuration, and compile the target executable.

## Emulation & Regression Testing

Renode ships no NUCLEO-F401RE board description, so `renode/nucleo_f401re.repl`
derives one from the generic STM32F4 CPU platform, correcting Flash to 512 KB
and SRAM to 96 KB. Those limits matter: the linker script's heap reservation and
the `_sbrk()` bound both depend on them.

### Interactive Simulation

```bash
renode targets/STMicroelectronics/NUCLEO_F401RE/renode/nucleo_f401re_demo.resc
```

USART2 is the demo console, shown in a terminal analyzer.

### Automated Headless Test

```bash
python3 targets/STMicroelectronics/NUCLEO_F401RE/scripts/test_renode.py
```

Runs `nucleo_f401re_ci.resc`, which advances a fixed span of virtual time and
quits on its own, so the result does not depend on host speed. Exits non-zero
if any assertion is unmet. This gates CI as the `test-nucleo-renode` job.

The Robot Framework suite in `renode/nucleo_f401re_demo.robot` covers the same
ground for use with `renode-test`.

### What is asserted

The demo runs seven startup self-tests before `tx_kernel_enter()` and prints a
`[SELF-TEST]` summary the harness asserts on:

| # | Self-test | Guards against |
|---|-----------|----------------|
| 1 | `_sbrk()` allocation lands inside the heap reservation | heap escaping its linker reservation |
| 2 | `_sbrk()` releases back to the heap base | broken negative-increment path |
| 3 | `_sbrk()` underflow rejected with `EINVAL` | shrinking below the heap base |
| 4 | `_sbrk()` rejects a request that fits SRAM but not the heap | bounding the heap at the end of SRAM |
| 5 | Heap reservation ends at or below the ThreadX byte pool | linker script layout regression |
| 6 | `SystemCoreClock` is 84 MHz | a silently wrong PLL configuration |
| 7 | HAL timebase (TIM2) tick advancing | `HAL_InitTick()` re-entry leaving TIM2 stopped |

Test 4 is the regression guard for the heap bound. Requesting 32 KB fits inside
the 96 KB SRAM but far exceeds the heap reservation, so bounding `_sbrk()`
against the end of SRAM rather than `_heap_limit` let it succeed and handed
`malloc()` memory owned by the ThreadX byte pool and the main stack.

Beyond the self-tests, the harness asserts the boot banner reaches the console,
the blink thread and the 1 Hz application timer have both run (covering the LED
path and the timer service), and that the mutex, queue, event-flag and semaphore
counters are all non-zero.

## Flashing the Application

Connect the NUCLEO-F401RE board via the ST-LINK USB connector.
Expand DownExpand Up@@ -136,14 +189,15 @@ The BSP overrides `HAL_InitTick()` to configure TIM2 as the HAL timebase and pro
 - **`lib/stm32cubef4/`**: HAL Driver wrapper and platform drivers
 - **`lib/threadx/`**: ThreadX user configuration file (`tx_user.h`)
- **`cmake/`**: Cross-compilation module definitions
- **`scripts/`**: Utility build automation scripts
- **`scripts/`**: Utility build automation scripts and the headless Renode test runner
- **`renode/`**: Renode platform description, run scripts, and Robot Framework suite


## Validation Record

### Verification Environment
- **Toolchain**: Arm GNU Toolchain 14.2.Rel1 (GCC 14.2.1), the version pinned by CI
- **Static ROM usage**: 20120 Bytes (3.84% of 512 KB Flash)
- **Static ROM usage**: 22068 Bytes (4.21% of 512 KB Flash), including the startup self-tests
- **Static RAM usage**: 6000 Bytes (6.10% of 96 KB RAM)
- **Dynamic Stack & Buffer allocation**: Stacks (8 x 1024 bytes) and Queue buffer (40 bytes) are dynamically allocated from the `TX_BYTE_POOL` (consuming 8312 bytes total, including pool headers).
- **Board Hardware**: NUCLEO-F401RE
Expand Down

108 changes: 105 additions & 3 deletions
targets/STMicroelectronics/NUCLEO_F401RE/app/starter/main.c

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Expand Up@@ -8,16 +8,25 @@
 * SPDX-License-Identifier: MIT
 */

#include <errno.h>
#include <stddef.h>
#include <stdint.h>
#include <stdio.h>

#include "tx_api.h"
#include "bsp/board.h"
#include "bsp/led.h"
#include "bsp/console.h"
#include "board_config.h"
#include "cloud_config.h"
#include "stm32f4xx_hal.h"

#define THREAD_STACK_SIZE 1024

/* Bytes of SRAM held back above the ThreadX byte pool for the main stack,
 * which serves every interrupt handler once the scheduler is running. */
#define MAIN_STACK_MARGIN 4096

typedef struct {
 CHAR *name;
 UINT state;
Expand DownExpand Up@@ -348,9 +357,9 @@ void tx_application_define(void *first_unused_memory) {
 CHAR *stack_ptr;
 ULONG pool_size;

 /* Calculate available RAM for the byte pool, leaving 4KB margin for system
 * stack at the top (0x20018000) */
 pool_size = (0x20018000 - 4096) - (ULONG)first_unused_memory;
 /* Calculate available RAM for the byte pool, leaving a 4 KB margin for the
 * main stack at the top of SRAM. */
 pool_size = (BSP_RAM_END - MAIN_STACK_MARGIN) - (ULONG)first_unused_memory;

 /* Initialize the byte pool */
 status = tx_byte_pool_create(&byte_pool, "system byte pool",
Expand DownExpand Up@@ -540,9 +549,102 @@ void tx_application_define(void *first_unused_memory) {
 thread_registry[8] = &semaphore_thread;
}

/* ------------------------------------------------------------------------- *
 * Startup self-tests
 *
 * These run before tx_kernel_enter() so a failure is reported even when the
 * scheduler never starts. scripts/test_renode.py asserts on the summary line.
 * ------------------------------------------------------------------------- */

/* Defined by NUCLEO_F401RE.ld rather than by any translation unit. */
extern char _end;
extern char _heap_limit;
extern char __RAM_segment_used_end__;

extern void *_sbrk(ptrdiff_t incr);

static unsigned selftest_failures = 0;

static void selftest_report(int passed, const char *message) {
 if (passed) {
 printf("[+] PASS: %s\r\n", message);
 } else {
 selftest_failures++;
 printf("[-] FAIL: %s\r\n", message);
 }
}

static void run_startup_self_tests(void) {
 const uintptr_t heap_base = (uintptr_t)&_end;
 const uintptr_t heap_limit = (uintptr_t)&_heap_limit;
 const uintptr_t pool_base = (uintptr_t)&__RAM_segment_used_end__;
 char msg[128];

 printf("[SELF-TEST] Starting BSP & Runtime Verification...\r\n");

 /* 1. A modest request lands inside the heap reservation. */
 void *p_ok = _sbrk(64);
 selftest_report((p_ok != (void *)-1) && ((uintptr_t)p_ok >= heap_base) &&
 ((uintptr_t)p_ok < heap_limit),
 "_sbrk() valid allocation inside the heap reservation");

 /* 2. Releasing it returns the break to the heap base, leaving the heap
 * exactly as the remaining tests found it. */
 selftest_report(_sbrk(-64) != (void *)-1,
 "_sbrk() released 64 bytes back to the heap base");

 /* 3. Shrinking below the heap base is rejected. */
 errno = 0;
 void *p_under = _sbrk(-128);
 selftest_report((p_under == (void *)-1) && (errno == EINVAL),
 "_sbrk() underflow guard rejected with EINVAL");

 /* 4. Regression guard for the heap bound. 32 KB fits inside the 96 KB SRAM
 * but far exceeds the heap reservation, so bounding _sbrk() against the end
 * of SRAM rather than _heap_limit let this succeed and handed malloc()
 * memory owned by the ThreadX byte pool and the main stack. */
 errno = 0;
 void *p_over = _sbrk((ptrdiff_t)0x8000);
 selftest_report((p_over == (void *)-1) && (errno == ENOMEM),
 "_sbrk() rejects a request that fits SRAM but not the heap");

 /* 5. The heap reservation must end at or below the first byte ThreadX owns. */
 snprintf(msg, sizeof(msg),
 "heap [0x%08lX,0x%08lX) ends at or below the ThreadX pool at 0x%08lX",
 (unsigned long)heap_base, (unsigned long)heap_limit,
 (unsigned long)pool_base);
 selftest_report(heap_limit <= pool_base, msg);

 /* 6. SystemClock_Config() reached the documented 84 MHz. */
 snprintf(msg, sizeof(msg), "SystemCoreClock is %lu Hz (expected %lu Hz)",
 (unsigned long)SystemCoreClock, (unsigned long)BSP_CPU_CLOCK_HZ);
 selftest_report(SystemCoreClock == (uint32_t)BSP_CPU_CLOCK_HZ, msg);

 /* 7. The HAL timebase runs on TIM2 so ThreadX keeps SysTick. HAL_InitTick()
 * is re-entered by HAL_RCC_ClockConfig() once the PLL is live, so confirm the
 * timer is still ticking afterwards. The spin cap is a liveness bound, not a
 * timing expectation: one TIM2 tick is ~84000 core cycles. */
 uint32_t tick_start = HAL_GetTick();
 uint32_t spins = 0;
 while ((HAL_GetTick() == tick_start) && (spins < 5000000UL)) {
 spins++;
 }
 selftest_report(HAL_GetTick() != tick_start,
 "HAL timebase (TIM2) tick advancing");

 if (selftest_failures == 0) {
 printf("[SELF-TEST] All startup verification tests PASSED!\r\n\r\n");
 } else {
 printf("[SELF-TEST] %u startup verification test(s) FAILED!\r\n\r\n",
 selftest_failures);
 }
}

int main(void) {
 bsp_board_init();

 run_startup_self_tests();

 /* Start the ThreadX kernel */
 tx_kernel_enter();

Expand Down

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targets/STMicroelectronics/NUCLEO_F401RE/renode/nucleo_f401re.repl

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// 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/license/mit.
//
// SPDX-License-Identifier: MIT
//
// ST NUCLEO-F401RE (STM32F401RET6, Cortex-M4F).
//
// Renode ships no NUCLEO-F401RE board description, so this derives one from the
// generic STM32F4 CPU platform. That platform is sized for the larger F407/F429
// parts; the F401RE has 512 KB Flash and 96 KB SRAM, and the demo's linker
// script and _sbrk() bound both depend on those limits being accurate.

using "platforms/cpus/stm32f4.repl"

sram:
 size: 0x18000

flash:
 size: 0x80000

35 changes: 35 additions & 0 deletions
targets/STMicroelectronics/NUCLEO_F401RE/renode/nucleo_f401re_ci.resc

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:name: NUCLEO-F401RE - ThreadX Demo (headless CI run)
:description: Deterministic virtual-time run driven by scripts/test_renode.py.

# Standalone counterpart to nucleo_f401re_demo.resc rather than an include of
# it. Renode resolves $ORIGIN only in variable assignment, so an included script
# cannot be located relative to the file including it, and the two run
# differently anyway: the demo script free-runs for interactive use, while this
# one advances a fixed span of virtual time so the run is reproducible and
# terminates on its own instead of depending on wall clock.

Clear

using sysbus
mach create "NUCLEO_F401RE"

$platform?=$ORIGIN/nucleo_f401re.repl
machine LoadPlatformDescription $platform

# Under --plain --disable-gui this logs USART2 traffic to stdout, which is what
# the assertions in test_renode.py read.
showAnalyzer usart2

$bin?=$ORIGIN/../build/app/nucleo_f401re.elf

macro reset
"""
 sysbus LoadELF $bin
"""
runMacro $reset

# Long enough for the startup self-tests, the 1 Hz application timer, and at
# least two reporter-thread status blocks with non-zero RTOS counters.
emulation RunFor "4"

quit

25 changes: 25 additions & 0 deletions
targets/STMicroelectronics/NUCLEO_F401RE/renode/nucleo_f401re_demo.resc

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@@ -0,0 +1,25 @@
:name: NUCLEO-F401RE - ThreadX Device Monitor Demo
:description: Eclipse ThreadX RTOS on ST NUCLEO-F401RE (Renode, ARM Cortex-M4)

# Clear previous emulation state
Clear

using sysbus
mach create "NUCLEO_F401RE"

$platform?=$ORIGIN/nucleo_f401re.repl
machine LoadPlatformDescription $platform

# USART2 is the ST-LINK virtual COM port on this board and the demo console.
showAnalyzer usart2

# Portable relative path using Renode's built-in $ORIGIN variable
$bin?=$ORIGIN/../build/app/nucleo_f401re.elf

macro reset
"""
 sysbus LoadELF $bin
"""
runMacro $reset

start

26 changes: 26 additions & 0 deletions
targets/STMicroelectronics/NUCLEO_F401RE/renode/nucleo_f401re_demo.robot

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*** Settings ***
Suite Setup Setup
Suite Teardown Teardown
Test Setup Reset Emulation
Test Teardown Test Teardown
Resource ${RENODEKEYWORDS}

*** Test Cases ***
Should Pass Startup Self-Tests
 Execute Command include @${CURDIR}/nucleo_f401re_demo.resc
 Create Terminal Tester sysbus.usart2

 Wait For Line On Uart NUCLEO-F401RE Device Monitor Demo timeout=15
 Wait For Line On Uart [SELF-TEST] Starting BSP & Runtime Verification... timeout=15
 Wait For Line On Uart [SELF-TEST] All startup verification tests PASSED! timeout=15

Should Run ThreadX Scheduler And Exercise RTOS Primitives
 Execute Command include @${CURDIR}/nucleo_f401re_demo.resc
 Create Terminal Tester sysbus.usart2

 Wait For Line On Uart [SELF-TEST] All startup verification tests PASSED! timeout=15
 Wait For Line On Uart System Status: timeout=15
 # The blink thread drives bsp_led_toggle() on PA5 and the application timer
 # drives the wake counter, so a non-zero pair covers both BSP paths.
 Wait For Line On Uart Runs: Monitor: (\\d+) .* Blink: [1-9]\\d* timeout=20 treatAsRegex=true
 Wait For Line On Uart Mutex Locks: [1-9]\\d*.*Queue Msgs: [1-9]\\d* timeout=20 treatAsRegex=true
Loading
Loading

, 'i');
if (__m === '*' || __re.test(location.href)) {
// Remove or un-stick sticky/fixed headers that block content
(function() {
function unstick() {
document.querySelectorAll('header, nav, [role="banner"], .header, .navbar, .sticky, .fixed-top, [style*="position: fixed"], [style*="position:sticky"]').forEach(function(el) {
if (el.style.position === 'fixed' || el.style.position === 'sticky' || getComputedStyle(el).position === 'fixed' || getComputedStyle(el).position === 'sticky') {
el.style.position = 'static';
el.style.top = 'auto';
el.style.zIndex = 'auto';
}
});
}
unstick();
var observer = new MutationObserver(unstick);
observer.observe(document.body, { childList: true, subtree: true, attributes: true, attributeFilter: ['style', 'class'] });
})();
}
} catch(__e) { console.warn('[Userscript:Kill Sticky Headers]', __e); }
})();
(function(){
try {
var __m = "*";
var __re = new RegExp('^' + ".*" + '

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Add Renode regression tests for the NUCLEO-F401RE target#51

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fdesbiens
merged 1 commit into

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Aug 31, 2026
 Merged


Add Renode regression tests for the NUCLEO-F401RE target
#51
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33 changes: 33 additions & 0 deletions
.github/workflows/ci.yml

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Original file line numberDiff line numberDiff line change
Expand Up@@ -139,3 +139,36 @@ jobs:
 name: nucleo-f401re-demo-elf
 path: targets/STMicroelectronics/NUCLEO_F401RE/build/app/nucleo_f401re.elf
 retention-days: 1

 test-nucleo-renode:
 name: Headless Renode Emulation & Assertion Test (NUCLEO-F401RE)
 needs: build-arm-nucleo
 runs-on: ubuntu-24.04
 steps:
 - name: Checkout Repository
 uses: actions/checkout@v4
 with:
 submodules: recursive

 - name: Set Up Python
 uses: actions/setup-python@v5
 with:
 python-version: "3.11"

 - name: Download Built NUCLEO-F401RE ELF
 uses: actions/download-artifact@v4
 with:
 name: nucleo-f401re-demo-elf
 path: targets/STMicroelectronics/NUCLEO_F401RE/build/app

 - name: Install Portable Renode Emulation Environment
 run: |
 wget -q https://builds.renode.io/renode-latest.linux-portable.tar.gz
 mkdir -p $HOME/renode
 tar -xzf renode-latest.linux-portable.tar.gz -C $HOME/renode --strip-components=1
 rm renode-latest.linux-portable.tar.gz
 echo "$HOME/renode" >> $GITHUB_PATH

 - name: Run Deterministic Headless Renode Test
 run: |
 python3 targets/STMicroelectronics/NUCLEO_F401RE/scripts/test_renode.py

58 changes: 56 additions & 2 deletions
targets/STMicroelectronics/NUCLEO_F401RE/README.md

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Expand Up@@ -50,6 +50,59 @@ The package includes build scripts under the `scripts/` directory for convenienc

These scripts clean the build directory, run CMake configuration, and compile the target executable.

## Emulation & Regression Testing

Renode ships no NUCLEO-F401RE board description, so `renode/nucleo_f401re.repl`
derives one from the generic STM32F4 CPU platform, correcting Flash to 512 KB
and SRAM to 96 KB. Those limits matter: the linker script's heap reservation and
the `_sbrk()` bound both depend on them.

### Interactive Simulation

```bash
renode targets/STMicroelectronics/NUCLEO_F401RE/renode/nucleo_f401re_demo.resc
```

USART2 is the demo console, shown in a terminal analyzer.

### Automated Headless Test

```bash
python3 targets/STMicroelectronics/NUCLEO_F401RE/scripts/test_renode.py
```

Runs `nucleo_f401re_ci.resc`, which advances a fixed span of virtual time and
quits on its own, so the result does not depend on host speed. Exits non-zero
if any assertion is unmet. This gates CI as the `test-nucleo-renode` job.

The Robot Framework suite in `renode/nucleo_f401re_demo.robot` covers the same
ground for use with `renode-test`.

### What is asserted

The demo runs seven startup self-tests before `tx_kernel_enter()` and prints a
`[SELF-TEST]` summary the harness asserts on:

| # | Self-test | Guards against |
|---|-----------|----------------|
| 1 | `_sbrk()` allocation lands inside the heap reservation | heap escaping its linker reservation |
| 2 | `_sbrk()` releases back to the heap base | broken negative-increment path |
| 3 | `_sbrk()` underflow rejected with `EINVAL` | shrinking below the heap base |
| 4 | `_sbrk()` rejects a request that fits SRAM but not the heap | bounding the heap at the end of SRAM |
| 5 | Heap reservation ends at or below the ThreadX byte pool | linker script layout regression |
| 6 | `SystemCoreClock` is 84 MHz | a silently wrong PLL configuration |
| 7 | HAL timebase (TIM2) tick advancing | `HAL_InitTick()` re-entry leaving TIM2 stopped |

Test 4 is the regression guard for the heap bound. Requesting 32 KB fits inside
the 96 KB SRAM but far exceeds the heap reservation, so bounding `_sbrk()`
against the end of SRAM rather than `_heap_limit` let it succeed and handed
`malloc()` memory owned by the ThreadX byte pool and the main stack.

Beyond the self-tests, the harness asserts the boot banner reaches the console,
the blink thread and the 1 Hz application timer have both run (covering the LED
path and the timer service), and that the mutex, queue, event-flag and semaphore
counters are all non-zero.

## Flashing the Application

Connect the NUCLEO-F401RE board via the ST-LINK USB connector.
Expand DownExpand Up@@ -136,14 +189,15 @@ The BSP overrides `HAL_InitTick()` to configure TIM2 as the HAL timebase and pro
 - **`lib/stm32cubef4/`**: HAL Driver wrapper and platform drivers
 - **`lib/threadx/`**: ThreadX user configuration file (`tx_user.h`)
- **`cmake/`**: Cross-compilation module definitions
- **`scripts/`**: Utility build automation scripts
- **`scripts/`**: Utility build automation scripts and the headless Renode test runner
- **`renode/`**: Renode platform description, run scripts, and Robot Framework suite


## Validation Record

### Verification Environment
- **Toolchain**: Arm GNU Toolchain 14.2.Rel1 (GCC 14.2.1), the version pinned by CI
- **Static ROM usage**: 20120 Bytes (3.84% of 512 KB Flash)
- **Static ROM usage**: 22068 Bytes (4.21% of 512 KB Flash), including the startup self-tests
- **Static RAM usage**: 6000 Bytes (6.10% of 96 KB RAM)
- **Dynamic Stack & Buffer allocation**: Stacks (8 x 1024 bytes) and Queue buffer (40 bytes) are dynamically allocated from the `TX_BYTE_POOL` (consuming 8312 bytes total, including pool headers).
- **Board Hardware**: NUCLEO-F401RE
Expand Down

108 changes: 105 additions & 3 deletions
targets/STMicroelectronics/NUCLEO_F401RE/app/starter/main.c

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Original file line numberDiff line numberDiff line change
Expand Up@@ -8,16 +8,25 @@
 * SPDX-License-Identifier: MIT
 */

#include <errno.h>
#include <stddef.h>
#include <stdint.h>
#include <stdio.h>

#include "tx_api.h"
#include "bsp/board.h"
#include "bsp/led.h"
#include "bsp/console.h"
#include "board_config.h"
#include "cloud_config.h"
#include "stm32f4xx_hal.h"

#define THREAD_STACK_SIZE 1024

/* Bytes of SRAM held back above the ThreadX byte pool for the main stack,
 * which serves every interrupt handler once the scheduler is running. */
#define MAIN_STACK_MARGIN 4096

typedef struct {
 CHAR *name;
 UINT state;
Expand DownExpand Up@@ -348,9 +357,9 @@ void tx_application_define(void *first_unused_memory) {
 CHAR *stack_ptr;
 ULONG pool_size;

 /* Calculate available RAM for the byte pool, leaving 4KB margin for system
 * stack at the top (0x20018000) */
 pool_size = (0x20018000 - 4096) - (ULONG)first_unused_memory;
 /* Calculate available RAM for the byte pool, leaving a 4 KB margin for the
 * main stack at the top of SRAM. */
 pool_size = (BSP_RAM_END - MAIN_STACK_MARGIN) - (ULONG)first_unused_memory;

 /* Initialize the byte pool */
 status = tx_byte_pool_create(&byte_pool, "system byte pool",
Expand DownExpand Up@@ -540,9 +549,102 @@ void tx_application_define(void *first_unused_memory) {
 thread_registry[8] = &semaphore_thread;
}

/* ------------------------------------------------------------------------- *
 * Startup self-tests
 *
 * These run before tx_kernel_enter() so a failure is reported even when the
 * scheduler never starts. scripts/test_renode.py asserts on the summary line.
 * ------------------------------------------------------------------------- */

/* Defined by NUCLEO_F401RE.ld rather than by any translation unit. */
extern char _end;
extern char _heap_limit;
extern char __RAM_segment_used_end__;

extern void *_sbrk(ptrdiff_t incr);

static unsigned selftest_failures = 0;

static void selftest_report(int passed, const char *message) {
 if (passed) {
 printf("[+] PASS: %s\r\n", message);
 } else {
 selftest_failures++;
 printf("[-] FAIL: %s\r\n", message);
 }
}

static void run_startup_self_tests(void) {
 const uintptr_t heap_base = (uintptr_t)&_end;
 const uintptr_t heap_limit = (uintptr_t)&_heap_limit;
 const uintptr_t pool_base = (uintptr_t)&__RAM_segment_used_end__;
 char msg[128];

 printf("[SELF-TEST] Starting BSP & Runtime Verification...\r\n");

 /* 1. A modest request lands inside the heap reservation. */
 void *p_ok = _sbrk(64);
 selftest_report((p_ok != (void *)-1) && ((uintptr_t)p_ok >= heap_base) &&
 ((uintptr_t)p_ok < heap_limit),
 "_sbrk() valid allocation inside the heap reservation");

 /* 2. Releasing it returns the break to the heap base, leaving the heap
 * exactly as the remaining tests found it. */
 selftest_report(_sbrk(-64) != (void *)-1,
 "_sbrk() released 64 bytes back to the heap base");

 /* 3. Shrinking below the heap base is rejected. */
 errno = 0;
 void *p_under = _sbrk(-128);
 selftest_report((p_under == (void *)-1) && (errno == EINVAL),
 "_sbrk() underflow guard rejected with EINVAL");

 /* 4. Regression guard for the heap bound. 32 KB fits inside the 96 KB SRAM
 * but far exceeds the heap reservation, so bounding _sbrk() against the end
 * of SRAM rather than _heap_limit let this succeed and handed malloc()
 * memory owned by the ThreadX byte pool and the main stack. */
 errno = 0;
 void *p_over = _sbrk((ptrdiff_t)0x8000);
 selftest_report((p_over == (void *)-1) && (errno == ENOMEM),
 "_sbrk() rejects a request that fits SRAM but not the heap");

 /* 5. The heap reservation must end at or below the first byte ThreadX owns. */
 snprintf(msg, sizeof(msg),
 "heap [0x%08lX,0x%08lX) ends at or below the ThreadX pool at 0x%08lX",
 (unsigned long)heap_base, (unsigned long)heap_limit,
 (unsigned long)pool_base);
 selftest_report(heap_limit <= pool_base, msg);

 /* 6. SystemClock_Config() reached the documented 84 MHz. */
 snprintf(msg, sizeof(msg), "SystemCoreClock is %lu Hz (expected %lu Hz)",
 (unsigned long)SystemCoreClock, (unsigned long)BSP_CPU_CLOCK_HZ);
 selftest_report(SystemCoreClock == (uint32_t)BSP_CPU_CLOCK_HZ, msg);

 /* 7. The HAL timebase runs on TIM2 so ThreadX keeps SysTick. HAL_InitTick()
 * is re-entered by HAL_RCC_ClockConfig() once the PLL is live, so confirm the
 * timer is still ticking afterwards. The spin cap is a liveness bound, not a
 * timing expectation: one TIM2 tick is ~84000 core cycles. */
 uint32_t tick_start = HAL_GetTick();
 uint32_t spins = 0;
 while ((HAL_GetTick() == tick_start) && (spins < 5000000UL)) {
 spins++;
 }
 selftest_report(HAL_GetTick() != tick_start,
 "HAL timebase (TIM2) tick advancing");

 if (selftest_failures == 0) {
 printf("[SELF-TEST] All startup verification tests PASSED!\r\n\r\n");
 } else {
 printf("[SELF-TEST] %u startup verification test(s) FAILED!\r\n\r\n",
 selftest_failures);
 }
}

int main(void) {
 bsp_board_init();

 run_startup_self_tests();

 /* Start the ThreadX kernel */
 tx_kernel_enter();

Expand Down

22 changes: 22 additions & 0 deletions
targets/STMicroelectronics/NUCLEO_F401RE/renode/nucleo_f401re.repl

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Original file line numberDiff line numberDiff line change
@@ -0,0 +1,22 @@
// 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/license/mit.
//
// SPDX-License-Identifier: MIT
//
// ST NUCLEO-F401RE (STM32F401RET6, Cortex-M4F).
//
// Renode ships no NUCLEO-F401RE board description, so this derives one from the
// generic STM32F4 CPU platform. That platform is sized for the larger F407/F429
// parts; the F401RE has 512 KB Flash and 96 KB SRAM, and the demo's linker
// script and _sbrk() bound both depend on those limits being accurate.

using "platforms/cpus/stm32f4.repl"

sram:
 size: 0x18000

flash:
 size: 0x80000

35 changes: 35 additions & 0 deletions
targets/STMicroelectronics/NUCLEO_F401RE/renode/nucleo_f401re_ci.resc

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Original file line numberDiff line numberDiff line change
@@ -0,0 +1,35 @@
:name: NUCLEO-F401RE - ThreadX Demo (headless CI run)
:description: Deterministic virtual-time run driven by scripts/test_renode.py.

# Standalone counterpart to nucleo_f401re_demo.resc rather than an include of
# it. Renode resolves $ORIGIN only in variable assignment, so an included script
# cannot be located relative to the file including it, and the two run
# differently anyway: the demo script free-runs for interactive use, while this
# one advances a fixed span of virtual time so the run is reproducible and
# terminates on its own instead of depending on wall clock.

Clear

using sysbus
mach create "NUCLEO_F401RE"

$platform?=$ORIGIN/nucleo_f401re.repl
machine LoadPlatformDescription $platform

# Under --plain --disable-gui this logs USART2 traffic to stdout, which is what
# the assertions in test_renode.py read.
showAnalyzer usart2

$bin?=$ORIGIN/../build/app/nucleo_f401re.elf

macro reset
"""
 sysbus LoadELF $bin
"""
runMacro $reset

# Long enough for the startup self-tests, the 1 Hz application timer, and at
# least two reporter-thread status blocks with non-zero RTOS counters.
emulation RunFor "4"

quit

25 changes: 25 additions & 0 deletions
targets/STMicroelectronics/NUCLEO_F401RE/renode/nucleo_f401re_demo.resc

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Original file line numberDiff line numberDiff line change
@@ -0,0 +1,25 @@
:name: NUCLEO-F401RE - ThreadX Device Monitor Demo
:description: Eclipse ThreadX RTOS on ST NUCLEO-F401RE (Renode, ARM Cortex-M4)

# Clear previous emulation state
Clear

using sysbus
mach create "NUCLEO_F401RE"

$platform?=$ORIGIN/nucleo_f401re.repl
machine LoadPlatformDescription $platform

# USART2 is the ST-LINK virtual COM port on this board and the demo console.
showAnalyzer usart2

# Portable relative path using Renode's built-in $ORIGIN variable
$bin?=$ORIGIN/../build/app/nucleo_f401re.elf

macro reset
"""
 sysbus LoadELF $bin
"""
runMacro $reset

start

26 changes: 26 additions & 0 deletions
targets/STMicroelectronics/NUCLEO_F401RE/renode/nucleo_f401re_demo.robot

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Original file line numberDiff line numberDiff line change
@@ -0,0 +1,26 @@
*** Settings ***
Suite Setup Setup
Suite Teardown Teardown
Test Setup Reset Emulation
Test Teardown Test Teardown
Resource ${RENODEKEYWORDS}

*** Test Cases ***
Should Pass Startup Self-Tests
 Execute Command include @${CURDIR}/nucleo_f401re_demo.resc
 Create Terminal Tester sysbus.usart2

 Wait For Line On Uart NUCLEO-F401RE Device Monitor Demo timeout=15
 Wait For Line On Uart [SELF-TEST] Starting BSP & Runtime Verification... timeout=15
 Wait For Line On Uart [SELF-TEST] All startup verification tests PASSED! timeout=15

Should Run ThreadX Scheduler And Exercise RTOS Primitives
 Execute Command include @${CURDIR}/nucleo_f401re_demo.resc
 Create Terminal Tester sysbus.usart2

 Wait For Line On Uart [SELF-TEST] All startup verification tests PASSED! timeout=15
 Wait For Line On Uart System Status: timeout=15
 # The blink thread drives bsp_led_toggle() on PA5 and the application timer
 # drives the wake counter, so a non-zero pair covers both BSP paths.
 Wait For Line On Uart Runs: Monitor: (\\d+) .* Blink: [1-9]\\d* timeout=20 treatAsRegex=true
 Wait For Line On Uart Mutex Locks: [1-9]\\d*.*Queue Msgs: [1-9]\\d* timeout=20 treatAsRegex=true
Loading
Loading

, 'i');
if (__m === '*' || __re.test(location.href)) {
// Universal Dark Mode - works on any site
(function() {
var enabled = true;
function applyDarkMode() {
if (!enabled) return;
// Create style element if it doesn't exist
var style = document.getElementById('universal-dark-mode-style');
if (!style) {
style = document.createElement('style');
style.id = 'universal-dark-mode-style';
document.head.appendChild(style);
}
// Dark mode CSS - inverts colors but preserves images/video
style.textContent = '
/* Invert everything except media */
html {
filter: invert(1) hue-rotate(180deg) !important;
background: #1a1a2e !important;
}
/* Restore images, videos, iframes, canvas */
img, video, iframe, canvas, svg, picture, [style*="background-image"] {
filter: invert(1) hue-rotate(180deg) !important;
}
/* Preserve specific elements that should not be inverted */
.no-dark-mode, .no-dark-mode *,
[data-theme="light"], [data-theme="light"],
.ace_editor, .ace_editor *,
.CodeMirror, .CodeMirror *,
.monaco-editor, .monaco-editor *,
.markdown-body pre, .markdown-body pre *,
.highlight, .highlight *,
pre code, pre code * {
filter: none !important;
}
/* Fix common UI elements */
.modal, .popup, .dropdown-menu, .tooltip, .popover {
filter: invert(1) hue-rotate(180deg) !important;
background: #2d2d44 !important;
border-color: #444 !important;
}
/* Scrollbars */
::-webkit-scrollbar { background: #1a1a2e !important; }
::-webkit-scrollbar-thumb { background: #444 !important; }
::-webkit-scrollbar-thumb:hover { background: #555 !important; }
/* Selection */
::selection { background: #4ecdc4 !important; color: #1a1a2e !important; }
::-moz-selection { background: #4ecdc4 !important; color: #1a1a2e !important; }
';
}
function removeDarkMode() {
var style = document.getElementById('universal-dark-mode-style');
if (style) style.remove();
}
// Toggle with Alt+Shift+D
document.addEventListener('keydown', function(e) {
if (e.altKey && e.shiftKey && e.key === 'D') {
e.preventDefault();
enabled = !enabled;
if (enabled) {
applyDarkMode();
console.log('[Universal Dark Mode] Enabled');
} else {
removeDarkMode();
console.log('[Universal Dark Mode] Disabled');
}
}
});
// Apply on load
applyDarkMode();
// Re-apply on dynamic content
var observer = new MutationObserver(function(mutations) {
if (enabled && !document.getElementById('universal-dark-mode-style')) {
applyDarkMode();
}
});
observer.observe(document.head, { childList: true });
console.log('[Universal Dark Mode] Loaded - Press Alt+Shift+D to toggle');
})();
}
} catch(__e) { console.warn('[Userscript:Universal Dark Mode]', __e); }
})();
})();

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Add Renode regression tests for the NUCLEO-F401RE target#51

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 Merged

fdesbiens
merged 1 commit into

from

Aug 31, 2026
 Merged


Add Renode regression tests for the NUCLEO-F401RE target
#51
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33 changes: 33 additions & 0 deletions
.github/workflows/ci.yml

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Original file line numberDiff line numberDiff line change
Expand Up@@ -139,3 +139,36 @@ jobs:
 name: nucleo-f401re-demo-elf
 path: targets/STMicroelectronics/NUCLEO_F401RE/build/app/nucleo_f401re.elf
 retention-days: 1

 test-nucleo-renode:
 name: Headless Renode Emulation & Assertion Test (NUCLEO-F401RE)
 needs: build-arm-nucleo
 runs-on: ubuntu-24.04
 steps:
 - name: Checkout Repository
 uses: actions/checkout@v4
 with:
 submodules: recursive

 - name: Set Up Python
 uses: actions/setup-python@v5
 with:
 python-version: "3.11"

 - name: Download Built NUCLEO-F401RE ELF
 uses: actions/download-artifact@v4
 with:
 name: nucleo-f401re-demo-elf
 path: targets/STMicroelectronics/NUCLEO_F401RE/build/app

 - name: Install Portable Renode Emulation Environment
 run: |
 wget -q https://builds.renode.io/renode-latest.linux-portable.tar.gz
 mkdir -p $HOME/renode
 tar -xzf renode-latest.linux-portable.tar.gz -C $HOME/renode --strip-components=1
 rm renode-latest.linux-portable.tar.gz
 echo "$HOME/renode" >> $GITHUB_PATH

 - name: Run Deterministic Headless Renode Test
 run: |
 python3 targets/STMicroelectronics/NUCLEO_F401RE/scripts/test_renode.py

58 changes: 56 additions & 2 deletions
targets/STMicroelectronics/NUCLEO_F401RE/README.md

View file


Open in desktop

Original file line numberDiff line numberDiff line change
Expand Up@@ -50,6 +50,59 @@ The package includes build scripts under the `scripts/` directory for convenienc

These scripts clean the build directory, run CMake configuration, and compile the target executable.

## Emulation & Regression Testing

Renode ships no NUCLEO-F401RE board description, so `renode/nucleo_f401re.repl`
derives one from the generic STM32F4 CPU platform, correcting Flash to 512 KB
and SRAM to 96 KB. Those limits matter: the linker script's heap reservation and
the `_sbrk()` bound both depend on them.

### Interactive Simulation

```bash
renode targets/STMicroelectronics/NUCLEO_F401RE/renode/nucleo_f401re_demo.resc
```

USART2 is the demo console, shown in a terminal analyzer.

### Automated Headless Test

```bash
python3 targets/STMicroelectronics/NUCLEO_F401RE/scripts/test_renode.py
```

Runs `nucleo_f401re_ci.resc`, which advances a fixed span of virtual time and
quits on its own, so the result does not depend on host speed. Exits non-zero
if any assertion is unmet. This gates CI as the `test-nucleo-renode` job.

The Robot Framework suite in `renode/nucleo_f401re_demo.robot` covers the same
ground for use with `renode-test`.

### What is asserted

The demo runs seven startup self-tests before `tx_kernel_enter()` and prints a
`[SELF-TEST]` summary the harness asserts on:

| # | Self-test | Guards against |
|---|-----------|----------------|
| 1 | `_sbrk()` allocation lands inside the heap reservation | heap escaping its linker reservation |
| 2 | `_sbrk()` releases back to the heap base | broken negative-increment path |
| 3 | `_sbrk()` underflow rejected with `EINVAL` | shrinking below the heap base |
| 4 | `_sbrk()` rejects a request that fits SRAM but not the heap | bounding the heap at the end of SRAM |
| 5 | Heap reservation ends at or below the ThreadX byte pool | linker script layout regression |
| 6 | `SystemCoreClock` is 84 MHz | a silently wrong PLL configuration |
| 7 | HAL timebase (TIM2) tick advancing | `HAL_InitTick()` re-entry leaving TIM2 stopped |

Test 4 is the regression guard for the heap bound. Requesting 32 KB fits inside
the 96 KB SRAM but far exceeds the heap reservation, so bounding `_sbrk()`
against the end of SRAM rather than `_heap_limit` let it succeed and handed
`malloc()` memory owned by the ThreadX byte pool and the main stack.

Beyond the self-tests, the harness asserts the boot banner reaches the console,
the blink thread and the 1 Hz application timer have both run (covering the LED
path and the timer service), and that the mutex, queue, event-flag and semaphore
counters are all non-zero.

## Flashing the Application

Connect the NUCLEO-F401RE board via the ST-LINK USB connector.
Expand DownExpand Up@@ -136,14 +189,15 @@ The BSP overrides `HAL_InitTick()` to configure TIM2 as the HAL timebase and pro
 - **`lib/stm32cubef4/`**: HAL Driver wrapper and platform drivers
 - **`lib/threadx/`**: ThreadX user configuration file (`tx_user.h`)
- **`cmake/`**: Cross-compilation module definitions
- **`scripts/`**: Utility build automation scripts
- **`scripts/`**: Utility build automation scripts and the headless Renode test runner
- **`renode/`**: Renode platform description, run scripts, and Robot Framework suite


## Validation Record

### Verification Environment
- **Toolchain**: Arm GNU Toolchain 14.2.Rel1 (GCC 14.2.1), the version pinned by CI
- **Static ROM usage**: 20120 Bytes (3.84% of 512 KB Flash)
- **Static ROM usage**: 22068 Bytes (4.21% of 512 KB Flash), including the startup self-tests
- **Static RAM usage**: 6000 Bytes (6.10% of 96 KB RAM)
- **Dynamic Stack & Buffer allocation**: Stacks (8 x 1024 bytes) and Queue buffer (40 bytes) are dynamically allocated from the `TX_BYTE_POOL` (consuming 8312 bytes total, including pool headers).
- **Board Hardware**: NUCLEO-F401RE
Expand Down

108 changes: 105 additions & 3 deletions
targets/STMicroelectronics/NUCLEO_F401RE/app/starter/main.c

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Original file line numberDiff line numberDiff line change
Expand Up@@ -8,16 +8,25 @@
 * SPDX-License-Identifier: MIT
 */

#include <errno.h>
#include <stddef.h>
#include <stdint.h>
#include <stdio.h>

#include "tx_api.h"
#include "bsp/board.h"
#include "bsp/led.h"
#include "bsp/console.h"
#include "board_config.h"
#include "cloud_config.h"
#include "stm32f4xx_hal.h"

#define THREAD_STACK_SIZE 1024

/* Bytes of SRAM held back above the ThreadX byte pool for the main stack,
 * which serves every interrupt handler once the scheduler is running. */
#define MAIN_STACK_MARGIN 4096

typedef struct {
 CHAR *name;
 UINT state;
Expand DownExpand Up@@ -348,9 +357,9 @@ void tx_application_define(void *first_unused_memory) {
 CHAR *stack_ptr;
 ULONG pool_size;

 /* Calculate available RAM for the byte pool, leaving 4KB margin for system
 * stack at the top (0x20018000) */
 pool_size = (0x20018000 - 4096) - (ULONG)first_unused_memory;
 /* Calculate available RAM for the byte pool, leaving a 4 KB margin for the
 * main stack at the top of SRAM. */
 pool_size = (BSP_RAM_END - MAIN_STACK_MARGIN) - (ULONG)first_unused_memory;

 /* Initialize the byte pool */
 status = tx_byte_pool_create(&byte_pool, "system byte pool",
Expand DownExpand Up@@ -540,9 +549,102 @@ void tx_application_define(void *first_unused_memory) {
 thread_registry[8] = &semaphore_thread;
}

/* ------------------------------------------------------------------------- *
 * Startup self-tests
 *
 * These run before tx_kernel_enter() so a failure is reported even when the
 * scheduler never starts. scripts/test_renode.py asserts on the summary line.
 * ------------------------------------------------------------------------- */

/* Defined by NUCLEO_F401RE.ld rather than by any translation unit. */
extern char _end;
extern char _heap_limit;
extern char __RAM_segment_used_end__;

extern void *_sbrk(ptrdiff_t incr);

static unsigned selftest_failures = 0;

static void selftest_report(int passed, const char *message) {
 if (passed) {
 printf("[+] PASS: %s\r\n", message);
 } else {
 selftest_failures++;
 printf("[-] FAIL: %s\r\n", message);
 }
}

static void run_startup_self_tests(void) {
 const uintptr_t heap_base = (uintptr_t)&_end;
 const uintptr_t heap_limit = (uintptr_t)&_heap_limit;
 const uintptr_t pool_base = (uintptr_t)&__RAM_segment_used_end__;
 char msg[128];

 printf("[SELF-TEST] Starting BSP & Runtime Verification...\r\n");

 /* 1. A modest request lands inside the heap reservation. */
 void *p_ok = _sbrk(64);
 selftest_report((p_ok != (void *)-1) && ((uintptr_t)p_ok >= heap_base) &&
 ((uintptr_t)p_ok < heap_limit),
 "_sbrk() valid allocation inside the heap reservation");

 /* 2. Releasing it returns the break to the heap base, leaving the heap
 * exactly as the remaining tests found it. */
 selftest_report(_sbrk(-64) != (void *)-1,
 "_sbrk() released 64 bytes back to the heap base");

 /* 3. Shrinking below the heap base is rejected. */
 errno = 0;
 void *p_under = _sbrk(-128);
 selftest_report((p_under == (void *)-1) && (errno == EINVAL),
 "_sbrk() underflow guard rejected with EINVAL");

 /* 4. Regression guard for the heap bound. 32 KB fits inside the 96 KB SRAM
 * but far exceeds the heap reservation, so bounding _sbrk() against the end
 * of SRAM rather than _heap_limit let this succeed and handed malloc()
 * memory owned by the ThreadX byte pool and the main stack. */
 errno = 0;
 void *p_over = _sbrk((ptrdiff_t)0x8000);
 selftest_report((p_over == (void *)-1) && (errno == ENOMEM),
 "_sbrk() rejects a request that fits SRAM but not the heap");

 /* 5. The heap reservation must end at or below the first byte ThreadX owns. */
 snprintf(msg, sizeof(msg),
 "heap [0x%08lX,0x%08lX) ends at or below the ThreadX pool at 0x%08lX",
 (unsigned long)heap_base, (unsigned long)heap_limit,
 (unsigned long)pool_base);
 selftest_report(heap_limit <= pool_base, msg);

 /* 6. SystemClock_Config() reached the documented 84 MHz. */
 snprintf(msg, sizeof(msg), "SystemCoreClock is %lu Hz (expected %lu Hz)",
 (unsigned long)SystemCoreClock, (unsigned long)BSP_CPU_CLOCK_HZ);
 selftest_report(SystemCoreClock == (uint32_t)BSP_CPU_CLOCK_HZ, msg);

 /* 7. The HAL timebase runs on TIM2 so ThreadX keeps SysTick. HAL_InitTick()
 * is re-entered by HAL_RCC_ClockConfig() once the PLL is live, so confirm the
 * timer is still ticking afterwards. The spin cap is a liveness bound, not a
 * timing expectation: one TIM2 tick is ~84000 core cycles. */
 uint32_t tick_start = HAL_GetTick();
 uint32_t spins = 0;
 while ((HAL_GetTick() == tick_start) && (spins < 5000000UL)) {
 spins++;
 }
 selftest_report(HAL_GetTick() != tick_start,
 "HAL timebase (TIM2) tick advancing");

 if (selftest_failures == 0) {
 printf("[SELF-TEST] All startup verification tests PASSED!\r\n\r\n");
 } else {
 printf("[SELF-TEST] %u startup verification test(s) FAILED!\r\n\r\n",
 selftest_failures);
 }
}

int main(void) {
 bsp_board_init();

 run_startup_self_tests();

 /* Start the ThreadX kernel */
 tx_kernel_enter();

Expand Down

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targets/STMicroelectronics/NUCLEO_F401RE/renode/nucleo_f401re.repl

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// 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/license/mit.
//
// SPDX-License-Identifier: MIT
//
// ST NUCLEO-F401RE (STM32F401RET6, Cortex-M4F).
//
// Renode ships no NUCLEO-F401RE board description, so this derives one from the
// generic STM32F4 CPU platform. That platform is sized for the larger F407/F429
// parts; the F401RE has 512 KB Flash and 96 KB SRAM, and the demo's linker
// script and _sbrk() bound both depend on those limits being accurate.

using "platforms/cpus/stm32f4.repl"

sram:
 size: 0x18000

flash:
 size: 0x80000

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targets/STMicroelectronics/NUCLEO_F401RE/renode/nucleo_f401re_ci.resc

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:name: NUCLEO-F401RE - ThreadX Demo (headless CI run)
:description: Deterministic virtual-time run driven by scripts/test_renode.py.

# Standalone counterpart to nucleo_f401re_demo.resc rather than an include of
# it. Renode resolves $ORIGIN only in variable assignment, so an included script
# cannot be located relative to the file including it, and the two run
# differently anyway: the demo script free-runs for interactive use, while this
# one advances a fixed span of virtual time so the run is reproducible and
# terminates on its own instead of depending on wall clock.

Clear

using sysbus
mach create "NUCLEO_F401RE"

$platform?=$ORIGIN/nucleo_f401re.repl
machine LoadPlatformDescription $platform

# Under --plain --disable-gui this logs USART2 traffic to stdout, which is what
# the assertions in test_renode.py read.
showAnalyzer usart2

$bin?=$ORIGIN/../build/app/nucleo_f401re.elf

macro reset
"""
 sysbus LoadELF $bin
"""
runMacro $reset

# Long enough for the startup self-tests, the 1 Hz application timer, and at
# least two reporter-thread status blocks with non-zero RTOS counters.
emulation RunFor "4"

quit

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targets/STMicroelectronics/NUCLEO_F401RE/renode/nucleo_f401re_demo.resc

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:name: NUCLEO-F401RE - ThreadX Device Monitor Demo
:description: Eclipse ThreadX RTOS on ST NUCLEO-F401RE (Renode, ARM Cortex-M4)

# Clear previous emulation state
Clear

using sysbus
mach create "NUCLEO_F401RE"

$platform?=$ORIGIN/nucleo_f401re.repl
machine LoadPlatformDescription $platform

# USART2 is the ST-LINK virtual COM port on this board and the demo console.
showAnalyzer usart2

# Portable relative path using Renode's built-in $ORIGIN variable
$bin?=$ORIGIN/../build/app/nucleo_f401re.elf

macro reset
"""
 sysbus LoadELF $bin
"""
runMacro $reset

start

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targets/STMicroelectronics/NUCLEO_F401RE/renode/nucleo_f401re_demo.robot

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*** Settings ***
Suite Setup Setup
Suite Teardown Teardown
Test Setup Reset Emulation
Test Teardown Test Teardown
Resource ${RENODEKEYWORDS}

*** Test Cases ***
Should Pass Startup Self-Tests
 Execute Command include @${CURDIR}/nucleo_f401re_demo.resc
 Create Terminal Tester sysbus.usart2

 Wait For Line On Uart NUCLEO-F401RE Device Monitor Demo timeout=15
 Wait For Line On Uart [SELF-TEST] Starting BSP & Runtime Verification... timeout=15
 Wait For Line On Uart [SELF-TEST] All startup verification tests PASSED! timeout=15

Should Run ThreadX Scheduler And Exercise RTOS Primitives
 Execute Command include @${CURDIR}/nucleo_f401re_demo.resc
 Create Terminal Tester sysbus.usart2

 Wait For Line On Uart [SELF-TEST] All startup verification tests PASSED! timeout=15
 Wait For Line On Uart System Status: timeout=15
 # The blink thread drives bsp_led_toggle() on PA5 and the application timer
 # drives the wake counter, so a non-zero pair covers both BSP paths.
 Wait For Line On Uart Runs: Monitor: (\\d+) .* Blink: [1-9]\\d* timeout=20 treatAsRegex=true
 Wait For Line On Uart Mutex Locks: [1-9]\\d*.*Queue Msgs: [1-9]\\d* timeout=20 treatAsRegex=true
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