Merge branch 'master' of github.com:jsphuebner/stm32-sine

.github/workflows/CI-build.yml

@@ -51,13 +51,11 @@ jobs:
         with:
           name: FOC firmware hex
           path: stm32_foc.hex
-
-# Unit tests are currently broken so don't build and run them for now
-#- name: Build unit tests on host
-#        run: |
-#          make -C test
-#
-#      - name: Run unit tests on host
-#        run: |
-#          test/test_sine
 
+      - name: Build unit tests on host
+        run: |
+          make -C test
+
+      - name: Run unit tests on host
+        run: |
+          test/test_sine

test/Makefile

@@ -3,13 +3,20 @@ CPP	= g++
 LD		= g++
 CP		= cp
 CFLAGS    = -std=c99 -ggdb -DSTM32F1 -I../include -I../libopeninv/include -I../libopencm3/include
-CPPFLAGS    = -ggdb -DSTM32F1 -DCONTROL_FOC=1 -DCONTROL_SINE=0 -DCONTROL=DCONTROL_FOC -I../include -I../libopeninv/include -I../libopencm3/include
+CPPFLAGS    = -ggdb -DSTM32F1 -DCTRL_FOC=1 -DCTRL_SINE=0 -DCTRL=CTRL_FOC -I../include -I../libopeninv/include -I../libopencm3/include
 LDFLAGS     = -g
 BINARY		= test_sine
 OBJS		= test_main.o fu.o test_fu.o test_fp.o test_vcu.o my_fp.o my_string.o params.o vehiclecontrol.o \
-			  test_throttle.o throttle.o sine_core.o temp_meas.o
+			  test_throttle.o throttle.o sine_core.o temp_meas.o stub_canhardware.o test_canmap.o canmap.o \
+			  stub_libopencm3.o
 VPATH = ../src ../libopeninv/src
 
+# Check if the variable GITHUB_RUN_NUMBER exists. When running on the github actions running, this
+# variable is automatically available.
+# Create a compiler define with the content of the variable. Or, if it does not exist, use replacement value 99999.
+CPPFLAGS += $(shell \
+    if [ -z "$$GITHUB_RUN_NUMBER" ]; then echo "-DGITHUB_RUN_NUMBER=0"; else echo "-DGITHUB_RUN_NUMBER=$$GITHUB_RUN_NUMBER"; fi )
+
 all: $(BINARY)
 
 $(BINARY): $(OBJS)

test/stub_canhardware.cpp

@@ -0,0 +1,45 @@
+/*
+ * This file is part of the stm32-sine project.
+ *
+ * Copyright (C) 2021 Johannes Huebner <dev@johanneshuebner.com>
+ * Copyright (C) 2024 David J. Fiddes <D.J@fiddes.net>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+#include "stub_canhardware.h"
+
+CanCallback* vcuCan = nullptr;
+uint32_t vcuCanId;
+
+CanHardware::CanHardware()
+{}
+
+bool CanHardware::AddCallback(CanCallback* cb)
+{
+   vcuCan = cb;
+   return true;
+}
+
+bool CanHardware::RegisterUserMessage(uint32_t canId, uint32_t mask)
+{
+   vcuCanId = canId;
+   return true;
+}
+
+void CanHardware::ClearUserMessages() {}
+
+void CanHardware::HandleRx(uint32_t canId, uint32_t data[2], uint8_t dlc)
+{
+   vcuCan->HandleRx(canId, data, dlc);
+}

test/stub_canhardware.h

@@ -0,0 +1,48 @@
+/*
+ * This file is part of the stm32-sine project.
+ *
+ * Copyright (C) 2021 Johannes Huebner <dev@johanneshuebner.com>
+ * Copyright (C) 2024 David J. Fiddes <D.J@fiddes.net>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+#ifndef TEST_CANHARDWARE_H
+#define TEST_CANHARDWARE_H
+
+#include "canhardware.h"
+#include <stdint.h>
+#include <string.h>
+#include <array>
+
+class CanStub: public CanHardware
+{
+   void SetBaudrate(enum baudrates baudrate) {}
+   void Send(uint32_t canId, uint32_t data[2], uint8_t len)
+   {
+      m_canId = canId;
+      memcpy(&m_data[0], &data[0], sizeof(m_data));
+      m_len = len;
+   }
+   virtual void ConfigureFilters() {}
+
+public:
+   std::array<uint8_t, 8>  m_data;
+   uint8_t                 m_len;
+   uint32_t                m_canId;
+};
+
+extern CanCallback* vcuCan;
+extern uint32_t vcuCanId;
+
+#endif // TEST_CANHARDWARE_H

test/stub_libopencm3.c

@@ -0,0 +1,49 @@
+/*
+ * This file is part of the stm32-sine project.
+ *
+ * Copyright (C) 2024 David J. Fiddes <D.J@fiddes.net>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+#include "stdint.h"
+
+void flash_unlock(void)
+{
+}
+
+void flash_lock(void)
+{
+}
+
+void flash_set_ws(uint32_t ws)
+{
+}
+
+void flash_program_word(uint32_t address, uint32_t data)
+{
+}
+
+void flash_erase_page(uint32_t page_address)
+{
+}
+
+uint16_t desig_get_flash_size(void)
+{
+    return 8;
+}
+
+uint32_t crc_calculate(uint32_t data)
+{
+    return 0xaa55;
+}

test/test.h

@@ -29,7 +29,7 @@ extern int _failedAssertions;
       std::cout << "Test " << __FILE__ << "::" << __func__ << " passed." << std::endl; \
    else \
    {  \
-      std::cout << "Assertion failed: " << STRING(c) << " in " __FILE__ " : " << __LINE__ << std::endl;    \
+      std::cout << "Assertion failed: " << STRING(c) << " in " __FILE__ " : " << std::dec << __LINE__ << std::endl;    \
       _failedAssertions++; \
    }
 

test/test_vcu.cpp

@@ -24,6 +24,7 @@
 #include "hwdefs.h"
 #include "pwmgeneration.h"
 #include "vehiclecontrol.h"
+#include "stub_canhardware.h"
 #include "test.h"
 
 static uint32_t crc32_word(uint32_t Crc, uint32_t Data);
@@ -32,8 +33,6 @@ static uint32_t crc = 0;
 static uint32_t rtc = 0;
 static uint32_t speed = 0;
 static ERROR_MESSAGE_NUM errorMessage;
-static CanCallback* vcuCan = 0;
-static uint32_t vcuCanId;
 
 class VCUTest: public UnitTest
 {
@@ -42,13 +41,6 @@ class VCUTest: public UnitTest
       virtual void TestCaseSetup();
 };
 
-class CanStub: public CanHardware
-{
-   void SetBaudrate(enum baudrates baudrate) {}
-   void Send(uint32_t canId, uint32_t data[2], uint8_t len) {}
-   virtual void ConfigureFilters() {}
-};
-
 static void FillInCanData(uint32_t* data, uint32_t pot, uint32_t pot2, uint32_t canio, uint32_t cruisespeed, uint32_t regenPreset, uint32_t seq)
 {
    uint32_t crc = 0xFFFFFFFF;
@@ -71,7 +63,7 @@ static void CanTest2()
 
    FillInCanData(data, 100, 200, CAN_IO_FWD, 1000, 50, 1);
 
-   vcuCan->HandleRx(vcuCanId, data);
+   vcuCan->HandleRx(vcuCanId, data, 8);
    VehicleControl::GetDigInputs();
    VehicleControl::ProcessThrottle();
 
@@ -89,7 +81,7 @@ static void CanTest3()
    FillInCanData(data, 100, 200, CAN_IO_START, 1000, 50, 1);
    Param::SetInt(Param::potmode, POTMODE_DUALCHANNEL | POTMODE_CAN);
 
-   vcuCan->HandleRx(vcuCanId, data);
+   vcuCan->HandleRx(vcuCanId, data, 8);
    VehicleControl::GetDigInputs();
    VehicleControl::ProcessThrottle();
 
@@ -106,10 +98,10 @@ static void TestCanSeqError1()
 
    Param::SetInt(Param::potmode, POTMODE_DUALCHANNEL | POTMODE_CAN);
    FillInCanData(data, 100, 200, CAN_IO_START, 1000, 60, 1);
-   vcuCan->HandleRx(vcuCanId, data);
+   vcuCan->HandleRx(vcuCanId, data, 8);
    //call again with same sequence counter -> triggers an error message
    FillInCanData(data, 100, 200, CAN_IO_START, 1000, 60, 1);
-   vcuCan->HandleRx(vcuCanId, data);
+   vcuCan->HandleRx(vcuCanId, data, 8);
 
    ASSERT(errorMessage == ERR_CANCOUNTER);
    ASSERT(Param::GetInt(Param::regenpreset) == 60); //Only after 5 errors will this be reset to 0
@@ -125,7 +117,7 @@ static void TestCanSeqError2()
    {
       //Call 6 times with same sequence counter -> will trigger unrecoverable error
       FillInCanData(data, 100, 200, CAN_IO_START, 1000, 60, 1);
-      vcuCan->HandleRx(vcuCanId, data);
+      vcuCan->HandleRx(vcuCanId, data, 8);
    }
 
    //Now simulate 500ms or 50 rtc ticks passed
@@ -165,7 +157,7 @@ extern "C" uint32_t rtc_get_counter_val()
    return rtc;
 }
 
-extern "C" void timer_set_oc_value(uint32_t, uint16_t, uint16_t)
+extern "C" void timer_set_oc_value(uint32_t, enum tim_oc_id, uint32_t)
 {
 
 }
@@ -266,20 +258,6 @@ void Param::Change(Param::PARAM_NUM p)
 
 }
 
-CanHardware::CanHardware() {}
-
-bool CanHardware::AddReceiveCallback(CanCallback* cb)
-{
-   vcuCan = cb;
-   return true;
-}
-
-bool CanHardware::RegisterUserMessage(uint32_t canId)
-{
-   vcuCanId = canId;
-   return true;
-}
-
 const char* errorListString = "";
 HWREV hwRev = HW_REV3;
 uint16_t AnaIn::values[NUM_SAMPLES*ANA_IN_COUNT];