FreeRTOS-STM32-HAL-integration

STM32CubeMX hasn't supported up-to-date version of FreeRTOS by the time I created this project, therefore I decided to get my hands dirty to work on my FreeRTOS port for STM32F4 Nucleo, which is the development board I worked with in this port.

Working environment

• STM32F446RE Nucleo development board,

  • which includes ARM Cortex-M4 MCU, and useful onboard debugger.

• FreeRTOS v10.2

• C Unity

  • testing framework written in C, in this project I made modification to Unity for both of unit testing & integration testing.

• GCC toolchain

  • arm-none-eabi-gcc v5.4.1 20160919 (release), download the package from [here]

• OpenOCD

  • openocd v0.10.0, Building openOCD from source is highly recommended.

• GDB

  • gdb-multiarch v7.7.1.

Quick Start

Options for building, running, and debugging the image

• make UNIT_TEST=yes

  • Build image to run unit tests.

• make INTEGRATION_TEST=yes

  • Build image to run integration tests.

• make clean

  • clean up the built image

• make dbg_server OPENOCD_HOME=/PATH/TO/YOUR_OPENOCD

  • launch debug server, we use OpenOCD (v0.10.0) here .
  • Note that superuser permission would be required when running openOCD, the superuser command differs & depends on your working Operating System.

• make dbg_client

  • Before starting GDB client, please open ./test_utility.gdb and modify the image path in your case, by going to line 73, modify file <YOUR_PATH_TO_TEST_IMAGE> .
  • Launch GDB client to load image, set breakpoints, watchpoints for execution. We use gdb-multiarch (v7.7.1 or later) at here.

Test Report

To see the test result, type command report_test_result in the GDB client console, you can see number of test cases running on the target board, and how many of them failed.

For example, the text report below shows that we have 36 test cases and none of the tests failed.

$1 = "------- start of error report -------"
$2 = "------- end of error report -------"
$3 = ""
$4 = "[number of tests]:"
$5 = 36
$6 = "[number of failure]:"
$7 = 0

If you get some tests failed, the report also shows where did the assertion failure happen. In the case below, there is one assertion failure at line 28 of the file sw_timer.c, the expected value is stored in RAM address 0x200058e0, similarly the actual value is stored in RAM address 0x200058f8, the data type of the expected/actual value depends on what you'd like to check with the test assertion function.

$8 = "------- start of error report -------"
$9 = "[file path]: "
$10 = 0x8009848 "Src/tests/integration/FreeRTOS/sw_timer.c"
$11 = "[line number]: "
$12 = 28
$13 = "[description]: "
$14 = 0x8009834 "software timer test"
$15 = "[expected value]: (represented as pointer) "
$16 = 0x200058e0
$17 = "[actual value]: (represented as pointer) "
$18 = 0x200058f8
$19 = ""
$20 = "------- end of error report -------"
$21 = ""
$22 = "[number of tests]:"
$23 = 36
$24 = "[number of failure]:"
$25 = 1

Code Structure

• ./Driver : contains STM32 HAL C API functions.

• ./Inc, ./Src : where FreeRTOS code, testing code are located