[veer] add FPGA board bootstrap and remote test runner

.bazelrc

@@ -23,6 +23,7 @@ common --repo_env=BAZEL_DO_NOT_DETECT_CPP_TOOLCHAIN=1
 
 test --@pigweed//pw_kernel:enable_tests=true
 test --platform_suffix=test
+test --test_tag_filters=-fpga,-disabled
 
 # Remote execution config definitions
 # ===================================
@@ -108,8 +109,21 @@ test:stress_k_ast1060_evb   --test_env=AST1060_EVB_PI_HOST
 # Platform setup for building //target/veer/* artifacts.
 common:k_veer --platforms=//target/veer:veer
 build:k_veer --build_tag_filters=-do_not_build,-kernel_doc_test
-# Usage: VCK190_FPGA_HOST=<host> bazel test --config=k_veer //target/veer/unittest_runner:fpga_test
-test:k_veer --test_env=VCK190_FPGA_HOST
+
+# Caliptra VCK190 FPGA board via SSH.
+# Host-side test binaries compile for the VCK190's ARM cores (//toolchain/aarch64_linux)
+# while MCU firmware images transition to //target/veer:veer with target_type=fpga.
+# Usage: bazel test --config=fpga --test_env=VCK190_FPGA_HOST=<host> //target/veer/...
+# (or set `test:fpga --test_env=VCK190_FPGA_HOST=<host>` in .bazelrc-site).
+common:fpga --platforms=//toolchain/aarch64_linux
+build:fpga --build_tag_filters=-do_not_build,-kernel_doc_test
+test:fpga --local_test_jobs=1
+test:fpga --run_under=//target/veer/tooling/fpga:run_remote
+test:fpga --strategy=TestRunner=local
+test:fpga --test_env=SSH_AUTH_SOCK
+test:fpga --test_env=VCK190_FPGA_HOST
+test:fpga --test_tag_filters=fpga,-disabled,-do_not_build,-do_not_run_test,-kernel_doc_test
+test:fpga --test_timeout=600
 
 # Site-local overrides. Kept last so developer machine-specific settings (e.g. a
 # local QEMU source override via --override_repository) take precedence. This

target/veer/BUILD.bazel

@@ -4,7 +4,7 @@
 load("@bazel_skylib//rules:common_settings.bzl", "string_flag")
 load("@pigweed//pw_build:merge_flags.bzl", "flags_from_dict")
 load("@pigweed//pw_kernel:flags.bzl", "KERNEL_DEVICE_COMMON_FLAGS")
-load("@rules_rust//rust:defs.bzl", "rust_binary", "rust_library")
+load("@rules_rust//rust:defs.bzl", "rust_library")
 load("//target/veer:defs.bzl", "TARGET_COMPATIBLE_WITH")
 
 platform(
@@ -89,19 +89,6 @@ rust_library(
     ],
 )
 
-rust_binary(
-    name = "caliptra_emulator",
-    srcs = ["caliptra_emulator_main.rs"],
-    edition = "2021",
-    visibility = [":__subpackages__"],
-    deps = [
-        "//third_party/caliptra/caliptra-mcu-sw:emulator_lib",
-        "//third_party/caliptra/caliptra-mcu-sw:mcu_testing_common",
-        "//third_party/caliptra/caliptra-sw:caliptra_emu_cpu",
-        "@rust_caliptra_crates_host//:clap",
-    ],
-)
-
 rust_library(
     name = "console",
     srcs = ["console.rs"],

target/veer/defs.bzl

@@ -4,6 +4,10 @@
 """Common definitions used by all veer targets.
 """
 
+load("@pigweed//pw_kernel/tooling:system_image.bzl", "system_image")
+load("//target:unittest_image.bzl", "unittest_image")
+load("//target/veer/tooling:caliptra_runner.bzl", "caliptra_mcu_image")
+
 TARGET_COMPATIBLE_WITH = select({
     "//target/veer:target_veer": [],
     "//conditions:default": ["@platforms//:incompatible"],
@@ -30,3 +34,40 @@ def veer_system_config(name, src, **kwargs):
         tools = [tool],
         **kwargs
     )
+
+def veer_system_image(name, visibility = None, tags = None, **kwargs):
+    """Defines a Pigweed `system_image` plus its signed `<name>_image_emulator` and `<name>_image_fpga` `caliptra_mcu_image` targets."""
+    system_image(
+        name = name,
+        tags = tags,
+        visibility = visibility,
+        **kwargs
+    )
+    _veer_mcu_images(name, visibility, tags)
+
+def veer_unittest_image(name, visibility = None, tags = None, **kwargs):
+    """Like `veer_system_image`, but wraps the kernel with `unittest_image` so `#[unittest::test]` cases are compiled in."""
+    unittest_image(
+        name = name,
+        tags = tags,
+        visibility = visibility,
+        **kwargs
+    )
+    _veer_mcu_images(name, visibility, tags)
+
+def _veer_mcu_images(name, visibility, tags):
+    """Defines the signed `<name>_image_emulator` and `<name>_image_fpga` targets for image `:<name>`."""
+    caliptra_mcu_image(
+        name = name + "_image_emulator",
+        image = ":" + name,
+        interface = "emulator",
+        tags = tags,
+        visibility = visibility,
+    )
+    caliptra_mcu_image(
+        name = name + "_image_fpga",
+        image = ":" + name,
+        interface = "fpga",
+        tags = tags,
+        visibility = visibility,
+    )

target/veer/entry.rs

@@ -10,8 +10,14 @@ use kernel::{self as _};
 #[unsafe(no_mangle)]
 #[allow(non_snake_case)]
 pub unsafe extern "C" fn pw_assert_HandleFailure() -> ! {
-    use kernel::Arch as _;
-    Arch::panic()
+    #[cfg(any(feature = "emulator", feature = "fpga"))]
+    exit(1);
+
+    #[cfg(not(any(feature = "emulator", feature = "fpga")))]
+    {
+        use kernel::Arch as _;
+        Arch::panic()
+    }
 }
 
 #[riscv_rt::entry]
@@ -30,9 +36,12 @@ pub fn exit(code: u32) -> ! {
 
     #[cfg(feature = "emulator")]
     unsafe {
-        // SAFETY: writing to this address will cause the emulator to exit.
-        let exitcode = core::ptr::with_exposed_provenance_mut::<u32>(0x1000_2000);
-        exitcode.write_volatile(code);
+        // SAFETY: 0x1000_1041 is the emulator UART TX register. Writing 0xff
+        // (pass) or 0x01 (fail) signals ExitStatus to ModelEmulated
+        // (matching caliptra-mcu-sw/platforms/emulator/rom/src/io.rs::exit_emulator).
+        let tx = core::ptr::with_exposed_provenance_mut::<u8>(0x1000_1041);
+        let byte: u8 = if code == 0 { 0xff } else { 0x01 };
+        tx.write_volatile(byte);
     }
 
     #[cfg(feature = "fpga")]

target/veer/ipc/user/BUILD.bazel

@@ -1,17 +1,16 @@
 # Licensed under the Apache-2.0 license
 # SPDX-License-Identifier: Apache-2.0
 
-load("@pigweed//pw_kernel/tooling:system_image.bzl", "system_image")
 load("@pigweed//pw_kernel/tooling:target_codegen.bzl", "target_codegen")
 load("@pigweed//pw_kernel/tooling:target_linker_script.bzl", "target_linker_script")
 load("@pigweed//pw_kernel/tooling/panic_detector:rust_binary_no_panics_test.bzl", "rust_binary_no_panics_test")
 load("@rules_rust//rust:defs.bzl", "rust_binary")
-load("//target/veer:defs.bzl", "TARGET_COMPATIBLE_WITH", "veer_system_config")
-load("//target/veer/tooling:caliptra_runner.bzl", "caliptra_runner", "caliptra_test")
+load("//target/veer:defs.bzl", "TARGET_COMPATIBLE_WITH", "veer_system_config", "veer_system_image")
+load("//target/veer/tooling:caliptra_runner.bzl", "caliptra_on_device_test")
 
 package(default_visibility = ["//visibility:public"])
 
-system_image(
+veer_system_image(
     name = "ipc",
     apps = ["@pigweed//pw_kernel/tests/ipc/user:ipc"],
     kernel = ":target",
@@ -65,22 +64,12 @@ rust_binary(
     ],
 )
 
-caliptra_runner(
-    name = "ipc_runner_emulator",
-    interface = "emulator",
-    tags = ["manual"],
-    target = ":ipc",
-)
-
-caliptra_test(
-    name = "ipc_runner_emulator_test",
+caliptra_on_device_test(
+    name = "ipc_test",
     timeout = "long",
-    interface = "emulator",
-    # caliptra_runner.py hardcodes --i3c-port=65534, so caliptra emulator
-    # tests cannot run in parallel without an EADDRINUSE collision.
-    tags = [
+    interfaces = [
         "emulator",
-        "exclusive",
+        "fpga",
     ],
-    target = ":ipc",
+    mcu_image = ":ipc",
 )

target/veer/syscall_latency/BUILD.bazel

@@ -2,13 +2,12 @@
 # SPDX-License-Identifier: Apache-2.0
 
 load("@pigweed//pw_kernel/tooling:rust_app.bzl", "rust_app")
-load("@pigweed//pw_kernel/tooling:system_image.bzl", "system_image")
 load("@pigweed//pw_kernel/tooling:target_codegen.bzl", "target_codegen")
 load("@pigweed//pw_kernel/tooling:target_linker_script.bzl", "target_linker_script")
 load("@pigweed//pw_kernel/tooling/panic_detector:rust_binary_no_panics_test.bzl", "rust_binary_no_panics_test")
 load("@rules_rust//rust:defs.bzl", "rust_binary")
-load("//target/veer:defs.bzl", "TARGET_COMPATIBLE_WITH", "veer_system_config")
-load("//target/veer/tooling:caliptra_runner.bzl", "caliptra_runner", "caliptra_test")
+load("//target/veer:defs.bzl", "TARGET_COMPATIBLE_WITH", "veer_system_config", "veer_system_image")
+load("//target/veer/tooling:caliptra_runner.bzl", "caliptra_on_device_test")
 
 rust_app(
     name = "syscall_latency",
@@ -36,7 +35,7 @@ rust_app(
     ],
 )
 
-system_image(
+veer_system_image(
     name = "measure_syscall_latency",
     apps = [
         ":syscall_latency",
@@ -93,26 +92,15 @@ rust_binary_no_panics_test(
     tags = ["kernel"],
 )
 
-caliptra_runner(
-    name = "measure_syscall_latency_emulator",
-    interface = "emulator",
-    tags = ["manual"],
-    target = ":measure_syscall_latency",
-)
-
-caliptra_test(
-    name = "measure_syscall_latency_emulator_test",
+caliptra_on_device_test(
+    name = "measure_syscall_latency_test",
     timeout = "long",
-    interface = "emulator",
     # DISABLED: this test hits a pw_kernel terminal exception in kernel mode
     # (mcause=1, epc=0) on process exit.
-    #
-    # caliptra_runner.py hardcodes --i3c-port=65534, so caliptra emulator
-    # tests cannot run in parallel without an EADDRINUSE collision.
-    tags = [
-        "disabled",
+    interfaces = [
         "emulator",
-        "exclusive",
+        "fpga",
     ],
-    target = ":measure_syscall_latency",
+    mcu_image = ":measure_syscall_latency",
+    tags = ["disabled"],
 )

target/veer/tests/interrupts/BUILD.bazel

@@ -1,14 +1,13 @@
 # Licensed under the Apache-2.0 license
 # SPDX-License-Identifier: Apache-2.0
 
-load("@pigweed//pw_kernel/tooling:system_image.bzl", "system_image")
 load("@pigweed//pw_kernel/tooling:target_codegen.bzl", "target_codegen")
 load("@pigweed//pw_kernel/tooling:target_linker_script.bzl", "target_linker_script")
 load("@rules_rust//rust:defs.bzl", "rust_binary")
-load("//target/veer:defs.bzl", "TARGET_COMPATIBLE_WITH", "veer_system_config")
-load("//target/veer/tooling:caliptra_runner.bzl", "caliptra_runner", "caliptra_test")
+load("//target/veer:defs.bzl", "TARGET_COMPATIBLE_WITH", "veer_system_config", "veer_system_image")
+load("//target/veer/tooling:caliptra_runner.bzl", "caliptra_on_device_test")
 
-system_image(
+veer_system_image(
     name = "interrupts",
     kernel = ":target",
     platform = "//target/veer",
@@ -49,21 +48,12 @@ rust_binary(
     ],
 )
 
-caliptra_runner(
-    name = "interrupts_runner_emulator",
-    interface = "emulator",
-    tags = ["manual"],
-    target = ":interrupts",
-)
-
-caliptra_test(
-    name = "emulator_test",
-    interface = "emulator",
-    # caliptra_runner.py hardcodes --i3c-port=65534, so caliptra emulator
-    # tests cannot run in parallel without an EADDRINUSE collision.
-    tags = [
+# target.rs triggers McuRootBus::PRIMARY_FLASH_CTRL_ERROR_IRQ via the
+# emulator-only primary flash controller at 0x2000_8000.
+caliptra_on_device_test(
+    name = "interrupts_test",
+    interfaces = [
         "emulator",
-        "exclusive",
     ],
-    target = ":interrupts",
+    mcu_image = ":interrupts",
 )

target/veer/threads/kernel/BUILD.bazel

@@ -1,15 +1,14 @@
 # Licensed under the Apache-2.0 license
 # SPDX-License-Identifier: Apache-2.0
 
-load("@pigweed//pw_kernel/tooling:system_image.bzl", "system_image")
 load("@pigweed//pw_kernel/tooling:target_codegen.bzl", "target_codegen")
 load("@pigweed//pw_kernel/tooling:target_linker_script.bzl", "target_linker_script")
 load("@pigweed//pw_kernel/tooling/panic_detector:rust_binary_no_panics_test.bzl", "rust_binary_no_panics_test")
 load("@rules_rust//rust:defs.bzl", "rust_binary")
-load("//target/veer:defs.bzl", "TARGET_COMPATIBLE_WITH", "veer_system_config")
-load("//target/veer/tooling:caliptra_runner.bzl", "caliptra_runner", "caliptra_test")
+load("//target/veer:defs.bzl", "TARGET_COMPATIBLE_WITH", "veer_system_config", "veer_system_image")
+load("//target/veer/tooling:caliptra_runner.bzl", "caliptra_on_device_test")
 
-system_image(
+veer_system_image(
     name = "threads",
     kernel = ":target",
     platform = "//target/veer",
@@ -58,19 +57,12 @@ rust_binary(
     ],
 )
 
-caliptra_runner(
-    name = "threads_runner_emulator",
-    interface = "emulator",
-    tags = ["manual"],
-    target = ":threads",
-)
-
-caliptra_test(
-    name = "threads_runner_emulator_test",
-    interface = "emulator",
-    tags = [
+caliptra_on_device_test(
+    name = "threads_test",
+    interfaces = [
         "emulator",
-        "manual",
+        "fpga",
     ],
-    target = ":threads",
+    mcu_image = ":threads",
+    tags = ["manual"],
 )