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fix input partitions, add copter wc input

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This commit is contained in:
Alwin Berger 2025-01-29 15:43:24 +01:00
parent 47b1d2bcd7
commit 145954e374
4 changed files with 206 additions and 19 deletions
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130
FreeRTOS/Demo/CORTEX_M3_MPS2_QEMU_GCC/copter_input.c Normal file
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@ -0,0 +1,130 @@
#include <stdio.h>
#include "arbitrary_loads.c"
#include <stdlib.h>
/*
Wait patterns per task in us:
0: LONG_CALC, LONG_CALC, LONG_CALC
1: LONG_CALC, LONG_CALC, LONG_CALC
2: LONG_CALC, LONG_CALC, LONG_CALC
3: LONG_CALC
4: LONG_CALC
5: LONG_CALC, LONG_CALC
6: LONG_CALC
7: LONG_CALC
8: LONG_CALC, SHORT_CALC, LONG_CALC
9: LONG_CALC, SHORT_CALC, LONG_CALC
10: SHORT_CALC, SHORT_CALC
11: LONG_CALC
*/
#define REP_VA0(...)
#define REP_VA1(...) __VA_ARGS__
#define REP_VA2(...) REP_VA1(__VA_ARGS__),__VA_ARGS__
#define REP_VA3(...) REP_VA2(__VA_ARGS__),__VA_ARGS__
#define REP_VA4(...) REP_VA3(__VA_ARGS__),__VA_ARGS__
#define REP_VA5(...) REP_VA4(__VA_ARGS__),__VA_ARGS__
#define REP_VA6(...) REP_VA5(__VA_ARGS__),__VA_ARGS__
#define REP_VA7(...) REP_VA6(__VA_ARGS__),__VA_ARGS__
#define REP_VA8(...) REP_VA7(__VA_ARGS__),__VA_ARGS__
#define REP_VA9(...) REP_VA8(__VA_ARGS__),__VA_ARGS__
#define REP_VA10(...) REP_VA9(__VA_ARGS__),__VA_ARGS__
#define REP_VA(HUNDREDS,TENS,ONES,...) \
REP_VA##HUNDREDS(REP_VA10(REP_VA10(__VA_ARGS__))) \
REP_VA##TENS(REP_VA10(__VA_ARGS__)) \
REP_VA##ONES(__VA_ARGS__)
int rng_iter(int seed, int iter) {
int state = seed;
for (int i = 0; i < iter; i++) {
state = RNG_FROM(state);
}
return state;
}
#define SHORT_CALC 35
#define LONG_CALC 150
#define ELEMS(X) sizeof(X)/sizeof(X[0])
unsigned char max_input_for_seed_after(int seed, int iter, unsigned char goal) {
int state = rng_iter(seed, iter+1);
unsigned char need = (state & 0xFF) ^ (goal-1);
return need;
}
#define NUM_TASKS 15
#define MAX_INPUT_BYTES 4096
#define INPUT_PER_JOB 273 // MAX_INPUT_BYTES / NUM_TASKS
unsigned char FUZZ_INPUT[MAX_INPUT_BYTES] = {0};
size_t INPUT_POINTER = 0;
size_t INPUT_POINTERS[NUM_TASKS] = {0};
static unsigned char fuzz_char_next(int tasknum) {
if (INPUT_POINTERS[tasknum] == 0) {
INPUT_POINTERS[tasknum] = tasknum * (MAX_INPUT_BYTES / NUM_TASKS);
}
if (INPUT_POINTERS[tasknum] >= (tasknum+1) * (MAX_INPUT_BYTES / NUM_TASKS)) {
exit(1);
}
return FUZZ_INPUT[INPUT_POINTERS[tasknum]++];
}
volatile int RNG_STATES[NUM_TASKS] = {0,1,2,3,4,5,6,7,8,9,10,11,12,13,14};
static unsigned char next(int tasknum) {
RNG_STATES[tasknum] = RNG_FROM(RNG_STATES[tasknum]);
unsigned char i = fuzz_char_next(tasknum);
unsigned char val = RNG_STATES[tasknum] ^ (int)i;
return val;
}
#define CODE_PER_JOB(N) \
INPUT_POINTER = N * INPUT_PER_JOB; \
for (int i = 0; i < ELEMS(task_##N) && i < INPUT_PER_JOB; i++) { \
int per = ELEMS(task_##N)/300; \
unsigned char input = max_input_for_seed_after(N, i, task_##N[i]); \
FUZZ_INPUT[INPUT_POINTER++] = input; \
printf("//T%d_%d[%d]: %d -> %d\n", N, i/per, i%per, input, task_##N[i]); \
}
int main() {
int task_0[] = {REP_VA(3,0,0, LONG_CALC,LONG_CALC,LONG_CALC)};
int task_1[] = {REP_VA(3,0,0, LONG_CALC,LONG_CALC,LONG_CALC)};
int task_2[] = {REP_VA(3,0,0, LONG_CALC,LONG_CALC,LONG_CALC)};
int task_3[] = {REP_VA(3,0,0, LONG_CALC)};
int task_4[] = {REP_VA(3,0,0, LONG_CALC)};
int task_5[] = {REP_VA(3,0,0, LONG_CALC,LONG_CALC)};
int task_6[] = {REP_VA(3,0,0, LONG_CALC)};
int task_7[] = {REP_VA(3,0,0, LONG_CALC)};
int task_8[] = {REP_VA(3,0,0, LONG_CALC,SHORT_CALC,LONG_CALC)};
int task_9[] = {REP_VA(3,0,0, LONG_CALC,SHORT_CALC,LONG_CALC)};
int task_10[] = {REP_VA(3,0,0, SHORT_CALC,SHORT_CALC)};
int task_11[] = {REP_VA(3,0,0, LONG_CALC)};
CODE_PER_JOB(0);
CODE_PER_JOB(1);
CODE_PER_JOB(2);
CODE_PER_JOB(3);
CODE_PER_JOB(4);
CODE_PER_JOB(5);
CODE_PER_JOB(6);
CODE_PER_JOB(7);
CODE_PER_JOB(8);
CODE_PER_JOB(9);
CODE_PER_JOB(10);
CODE_PER_JOB(11);
printf("unsigned char WC_ARRAY[%d] = {\n", MAX_INPUT_BYTES);
for (int i = 0; i<MAX_INPUT_BYTES; i++) {
printf("%d,", FUZZ_INPUT[i]);
}
printf("};\n");
// for (int i = 0; i < INPUT_PER_JOB; i++) {
// printf("next: %d\n", next(0));
// }
}

91
FreeRTOS/Demo/CORTEX_M3_MPS2_QEMU_GCC/main_copter.c
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@ -6,9 +6,13 @@
#include <CMSDK_CM3.h>
#define GLOBAL_WCET_MULT \
1 // Multiplier to increase all waiting periods to make the schedule more
// tight an force preemptions
// tight and force preemptions
#include "arbitrary_loads.c"
#ifdef INSERT_WC
#include "wcinput.h"
#endif
#define NUM_TASKS 15
#define MAX_INPUT_BYTES 4096
volatile unsigned char FUZZ_INPUT[MAX_INPUT_BYTES] = {};
@ -40,7 +44,7 @@ static unsigned char fuzz_char_next(int tasknum) {
if (INPUT_POINTERS[tasknum] >= (tasknum+1) * (MAX_INPUT_BYTES / NUM_TASKS)) {
trigger_Qemu_break();
}
FUZZ_INPUT[INPUT_POINTERS[tasknum]++];
return FUZZ_INPUT[INPUT_POINTERS[tasknum]++];
#else
// printf("Get next Input from %lx \n",FUZZ_INPUT);
if (INPUT_POINTERS[0] < FUZZ_LENGTH) {
@ -61,19 +65,20 @@ static unsigned char next(int tasknum) {
return 255;
#endif
RNG_STATES[tasknum] = RNG_FROM(RNG_STATES[tasknum]);
unsigned char t = fuzz_char_next(tasknum);
return RNG_STATES[tasknum] ^ (((int)t << 8) + (int)t);
unsigned char i = fuzz_char_next(tasknum);
unsigned char val = RNG_STATES[tasknum] ^ (int)i;
return val;
}
// #define SHORT_CALC 50
// #define LONG_CALC 200
#ifdef FUZZ_BYTES
#define SHORT_CALC (25+next(task_id)%25)
#define LONG_CALC (150+next(task_id)%100)
#define SHORT_CALC (15+next(task_id)%35)
#define LONG_CALC (50+next(task_id)%150)
#else
#define SHORT_CALC (50)
#define LONG_CALC (250)
#define LONG_CALC (200)
#endif
#define HYPER_PERIOD 9
@ -116,11 +121,56 @@ static TaskHandle_t xTask_CopterControlTask = NULL;
static void prv_MavlinkRecvHandler(void *pvParameters);
static TaskHandle_t xTask_MavlinkRecvHandler = NULL;
/*
WCETs (including overheads) rounded up to full us:
SGFinish: 630
SGInitiate: 630
SGTimeout: 423
SPActuate: 208
SPAttitude: 206
FCActuate: 206
FCAttitude: 208
FC: 411
MSend: 476
CControl: 470
ISR0: 108
Resources:
SPIBus (mutex)
SGInitiate 0 - 400
SGTimeout 200 - 400
MSend 200 - 250
SGT (notify)
SGInitiate send 200 A
SGTimeout wait 0
SGF (notify)
SGInitiate send 200 B
SGTimeout send 423 A
SGFinish wait 0
FCAt (notify)
FC send 200
FCAttitude wait 0
FCAc (notify)
FC send 201
FCActuate wait 0
*/
static SemaphoreHandle_t xSemaphore_SPIBus;
static TickType_t xFrequency_CopterControlWatchdogAlarm;
void main_osek(void) {
for (int i = 0; i < NUM_TASKS; i++) {
RNG_STATES[i] = i; // Each task starts with a different seed
}
xSemaphore_SPIBus = xSemaphoreCreateBinary();
xSemaphoreGive(xSemaphore_SPIBus);
@ -163,13 +213,18 @@ void main_osek(void) {
configMAX_PRIORITIES - 1,
&xTaskTimeSupervisor );
#ifdef INSERT_WC
for (int i=0; i<MAX_INPUT_BYTES; i++) {
FUZZ_INPUT[i] = WC_ARRAY[i];
}
#endif
vTaskStartScheduler();
for( ; ; )
{
}
}
int round;
int round = 0;
static void prv_SignalGatherInitiateTask(void *pvParameters) {
const int task_id = 0;
@ -178,7 +233,7 @@ static void prv_SignalGatherInitiateTask(void *pvParameters) {
do {
RNG_RESET
// timing_start(0);
xSemaphoreTake(xSemaphore_SPIBus, 1);
xSemaphoreTake(xSemaphore_SPIBus, portMAX_DELAY);
WASTE_USEC(LONG_CALC);
if ((round % 2) == 0) {
xTaskNotify(xTask_SignalGatherTimeoutTask, 0, eNoAction);
@ -216,7 +271,7 @@ static void prv_SignalGatherTimeoutTask(void *pvParameters) {
RNG_RESET
ulTaskNotifyTake(pdTRUE, portMAX_DELAY);
WASTE_USEC(LONG_CALC);
xSemaphoreTake(xSemaphore_SPIBus, 1);
xSemaphoreTake(xSemaphore_SPIBus, portMAX_DELAY);
WASTE_USEC(LONG_CALC);
xSemaphoreGive(xSemaphore_SPIBus);
WASTE_USEC(LONG_CALC);
@ -296,7 +351,7 @@ static void prv_MavlinkSendTask(void *pvParameters) {
RNG_RESET
ulTaskNotifyTake(pdTRUE, portMAX_DELAY);
WASTE_USEC(LONG_CALC);
xSemaphoreTake(xSemaphore_SPIBus, 1);
xSemaphoreTake(xSemaphore_SPIBus, portMAX_DELAY);
WASTE_USEC(SHORT_CALC);
// NVIC_SetPendingIRQ(1);
xSemaphoreGive(xSemaphore_SPIBus);
@ -332,12 +387,14 @@ static void prv_CopterControlTask(void *pvParameters) {
}
void ISR_0_Handler(void) {
const int task_id = 10;
RNG_RESET
// timing_start(2 | TIMING_POINT_START_INTERRUPT_FROM_IDLE);
WASTE_USEC(SHORT_CALC);
xTaskNotifyFromISR(xTask_CopterControlTask, 0, eNoAction, NULL);
WASTE_USEC(SHORT_CALC);
if (xTask_CopterControlTask != NULL) {
const int task_id = 10;
RNG_RESET
// timing_start(2 | TIMING_POINT_START_INTERRUPT_FROM_IDLE);
WASTE_USEC(SHORT_CALC);
xTaskNotifyFromISR(xTask_CopterControlTask, 0, eNoAction, NULL);
WASTE_USEC(SHORT_CALC);
}
}
static void prv_CopterControlWatchdogTask(void *pvParameters) {

2
FreeRTOS/Demo/CORTEX_M3_MPS2_QEMU_GCC/main_waters.c
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@ -97,7 +97,7 @@ static unsigned char fuzz_char_next(int tasknum) {
if (INPUT_POINTERS[tasknum] >= (tasknum+1) * (MAX_INPUT_BYTES / NUM_TASKS)) {
trigger_Qemu_break();
}
FUZZ_INPUT[INPUT_POINTERS[tasknum]++];
return FUZZ_INPUT[INPUT_POINTERS[tasknum]++];
#else
// printf("Get next Input from %lx \n",FUZZ_INPUT);
if (INPUT_POINTERS[0] < FUZZ_LENGTH) {

2
FreeRTOS/Demo/CORTEX_M3_MPS2_QEMU_GCC/main_watersv2.c
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@ -92,7 +92,7 @@ static unsigned char fuzz_char_next(int tasknum) {
if (INPUT_POINTERS[tasknum] >= (tasknum+1) * (MAX_INPUT_BYTES / NUM_TASKS)) {
trigger_Qemu_break();
}
FUZZ_INPUT[INPUT_POINTERS[tasknum]++];
return FUZZ_INPUT[INPUT_POINTERS[tasknum]++];
#else
// printf("Get next Input from %lx \n",FUZZ_INPUT);
if (INPUT_POINTERS[0] < FUZZ_LENGTH) {