mirror of
https://github.com/NawfalMotii79/PLFM_RADAR.git
synced 2026-06-09 15:07:14 +00:00
Jason
f28a0eaa80
Emergency_Stop's hold loop refreshed IWDG forever, so any reset path that
DID fire (SYSRESETREQ from another fault, brown-out) would re-run
startup and re-energize the PA rails — there was no record that the
system had been in emergency state. Watchdog defeat in the hold loop
masked the problem.
BKPSRAM gives us a flag that survives every reset path but is lost on
main-power removal — exactly the recovery semantics we want:
power-cycle is the deliberate operator action that clears emergency,
every other reset stays in safe-hold.
- Added emergency_persist_set/check helpers (BKPSRAM @ 0x40024000,
magic 0xDEAD5A5A); enable PWR + backup-access + BKPSRAM clock.
- Emergency_Stop now writes the flag BEFORE the rail-cut sequence so
even an interrupted shutdown still leaves the persisted state set.
- main() checks the flag immediately after MX_IWDG_Init and before
any PA enable code; if set, calls Emergency_Stop directly. GPIO
init has already forced all PA enables LOW, so the safe-hold path
is reached without a single PA rail going hot.
Hold-loop IWDG refresh kept intentionally: a healthy hold loop does not
need to cycle the MCU, but if the loop itself wedges (stack corruption,
bus fault), refresh stops, IWDG fires, and the persist flag routes the
reset right back into safe-hold.
Added test_mcu_a7_emergency_persist (6 cases) modelling BKPSRAM
persistence vs power-cycle, including a regression check that exercises
the pre-fix "no persistence" boot to confirm it would have re-energized
the PAs. MCU regression now 78/78.
302 lines
9.9 KiB
Makefile
302 lines
9.9 KiB
Makefile
################################################################################
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# Makefile -- MCU firmware unit test harness for AERIS-10
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#
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# Builds and runs host-side (macOS) tests for all discovered firmware bugs.
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# Uses mock HAL + spy/recording pattern to test real firmware code without
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# hardware.
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#
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# Usage:
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# make -- build and run all tests
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# make build -- build all tests without running
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# make test -- run all tests
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# make clean -- remove build artifacts
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# make test_bug1 -- build and run just bug1 test
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#
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# Requirements: Apple Clang or gcc (any C11-capable compiler)
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################################################################################
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CC := cc
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CXX := c++
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CFLAGS := -std=c11 -Wall -Wextra -Wno-unused-parameter -g -O0
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CXXFLAGS := -std=c++17 -Wall -Wextra -Wno-unused-parameter -g -O0
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# Shim headers come FIRST so they override real headers
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INCLUDES := -Ishims -I. -I../9_1_1_C_Cpp_Libraries
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# C++ library directory (AGC, ADAR1000 Manager)
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CXX_LIB_DIR := ../9_1_1_C_Cpp_Libraries
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CXX_SRCS := $(CXX_LIB_DIR)/ADAR1000_AGC.cpp $(CXX_LIB_DIR)/ADAR1000_Manager.cpp
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CXX_OBJS := ADAR1000_AGC.o ADAR1000_Manager.o
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# GPS driver source
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GPS_SRC := ../9_1_3_C_Cpp_Code/um982_gps.c
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GPS_OBJ := um982_gps.o
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# Real source files compiled against mock headers
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REAL_SRC := ../9_1_1_C_Cpp_Libraries/adf4382a_manager.c
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# Mock/stub object files (shared across tests)
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MOCK_SRCS := stm32_hal_mock.c ad_driver_mock.c
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MOCK_OBJS := $(MOCK_SRCS:.c=.o)
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# Real source compiled as object (for tests that need it)
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REAL_OBJ := adf4382a_manager.o
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# Platform source compiled with shim headers
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PLATFORM_SRC := ../9_1_1_C_Cpp_Libraries/platform_noos_stm32.c
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PLATFORM_OBJ := platform_noos_stm32.o
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# Tests that link against real adf4382a_manager.c + mocks
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TESTS_WITH_REAL := test_bug1_timed_sync_init_ordering \
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test_bug3_timed_sync_noop \
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test_bug4_phase_shift_before_check \
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test_bug5_fine_phase_gpio_only \
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test_bug9_platform_ops_null \
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test_bug10_spi_cs_not_toggled \
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test_bug15_htim3_dangling_extern
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# Tests that only need mocks (extracted patterns / static analysis)
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TESTS_MOCK_ONLY := test_bug2_ad9523_double_setup \
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test_bug6_timer_variable_collision \
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test_bug7_gpio_pin_conflict \
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test_bug8_uart_commented_out \
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test_bug14_diag_section_args \
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test_gap3_emergency_stop_rails
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# Tests that are standalone (no mocks needed, pure logic)
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TESTS_STANDALONE := test_bug12_pa_cal_loop_inverted \
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test_bug13_dac2_adc_buffer_mismatch \
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test_bug16_runradar_shadows_globals \
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test_mcu_a1_cooling_hysteresis \
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test_mcu_a7_emergency_persist \
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test_gap3_iwdg_config \
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test_gap3_temperature_max \
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test_gap3_idq_periodic_reread \
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test_gap3_emergency_state_ordering \
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test_gap3_overtemp_emergency_stop \
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test_gap3_health_watchdog_cold_start
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# Tests that need platform_noos_stm32.o + mocks
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TESTS_WITH_PLATFORM := test_bug11_platform_spi_transmit_only
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# C++ tests (AGC outer loop)
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TESTS_WITH_CXX := test_agc_outer_loop
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# GPS driver tests (need mocks + GPS source + -lm)
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TESTS_GPS := test_um982_gps
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ALL_TESTS := $(TESTS_WITH_REAL) $(TESTS_MOCK_ONLY) $(TESTS_STANDALONE) $(TESTS_WITH_PLATFORM) $(TESTS_WITH_CXX) $(TESTS_GPS)
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.PHONY: all build test clean \
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$(addprefix test_,bug1 bug2 bug3 bug4 bug5 bug6 bug7 bug8 bug9 bug10 bug11 bug12 bug13 bug14 bug15) \
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test_gap3_estop test_gap3_iwdg test_gap3_temp test_gap3_idq test_gap3_order \
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test_gap3_overtemp test_gap3_wdog
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all: build test
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build: $(ALL_TESTS)
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test: build
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@echo "==============================================="
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@echo " Running all $(words $(ALL_TESTS)) bug tests..."
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@echo "==============================================="
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@pass=0; fail=0; \
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for t in $(ALL_TESTS); do \
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echo "--- Running $$t ---"; \
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./$$t; \
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if [ $$? -eq 0 ]; then \
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pass=$$((pass + 1)); \
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else \
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fail=$$((fail + 1)); \
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echo "*** FAILED: $$t ***"; \
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fi; \
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done; \
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echo "==============================================="; \
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echo " Results: $$pass passed, $$fail failed (of $(words $(ALL_TESTS)) total)"; \
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echo "==============================================="; \
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[ $$fail -eq 0 ]
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# --- Object file rules ---
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%.o: %.c
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$(CC) $(CFLAGS) $(INCLUDES) -c $< -o $@
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# Real source compiled with shim headers
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$(REAL_OBJ): $(REAL_SRC) $(MOCK_OBJS)
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$(CC) $(CFLAGS) $(INCLUDES) -c $(REAL_SRC) -o $@
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# Platform source compiled with shim headers
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$(PLATFORM_OBJ): $(PLATFORM_SRC) $(MOCK_OBJS)
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$(CC) $(CFLAGS) $(INCLUDES) -c $(PLATFORM_SRC) -o $@
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# --- Test binary rules ---
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# Tests that need real adf4382a_manager.o + mocks
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$(TESTS_WITH_REAL): %: %.c $(MOCK_OBJS) $(REAL_OBJ)
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$(CC) $(CFLAGS) $(INCLUDES) $< $(MOCK_OBJS) $(REAL_OBJ) -o $@
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# Tests that only need mocks
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test_bug2_ad9523_double_setup: test_bug2_ad9523_double_setup.c $(MOCK_OBJS)
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$(CC) $(CFLAGS) $(INCLUDES) $< $(MOCK_OBJS) -o $@
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test_bug6_timer_variable_collision: test_bug6_timer_variable_collision.c $(MOCK_OBJS)
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$(CC) $(CFLAGS) $(INCLUDES) $< $(MOCK_OBJS) -o $@
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# Bug 7 needs shim headers + mock objects (post-fix test includes shim adf4382a_manager.h)
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test_bug7_gpio_pin_conflict: test_bug7_gpio_pin_conflict.c $(MOCK_OBJS)
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$(CC) $(CFLAGS) $(INCLUDES) $< $(MOCK_OBJS) -o $@
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test_bug8_uart_commented_out: test_bug8_uart_commented_out.c
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$(CC) $(CFLAGS) -I. $< -o $@
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test_bug14_diag_section_args: test_bug14_diag_section_args.c $(MOCK_OBJS)
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$(CC) $(CFLAGS) $(INCLUDES) $< $(MOCK_OBJS) -o $@
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# Standalone tests (pure logic, no mocks)
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test_bug12_pa_cal_loop_inverted: test_bug12_pa_cal_loop_inverted.c
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$(CC) $(CFLAGS) $< -lm -o $@
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test_bug13_dac2_adc_buffer_mismatch: test_bug13_dac2_adc_buffer_mismatch.c
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$(CC) $(CFLAGS) $< -lm -o $@
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test_bug16_runradar_shadows_globals: test_bug16_runradar_shadows_globals.c
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$(CC) $(CFLAGS) $< -o $@
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test_mcu_a1_cooling_hysteresis: test_mcu_a1_cooling_hysteresis.c
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$(CC) $(CFLAGS) $< -o $@
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test_mcu_a7_emergency_persist: test_mcu_a7_emergency_persist.c
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$(CC) $(CFLAGS) $< -o $@
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# Gap-3 safety tests -- mock-only (needs spy log for GPIO sequence)
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test_gap3_emergency_stop_rails: test_gap3_emergency_stop_rails.c $(MOCK_OBJS)
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$(CC) $(CFLAGS) $(INCLUDES) $< $(MOCK_OBJS) -o $@
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# Gap-3 safety tests -- standalone (pure logic)
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test_gap3_iwdg_config: test_gap3_iwdg_config.c
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$(CC) $(CFLAGS) $< -lm -o $@
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test_gap3_temperature_max: test_gap3_temperature_max.c
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$(CC) $(CFLAGS) $< -lm -o $@
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test_gap3_idq_periodic_reread: test_gap3_idq_periodic_reread.c
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$(CC) $(CFLAGS) $< -lm -o $@
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test_gap3_emergency_state_ordering: test_gap3_emergency_state_ordering.c
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$(CC) $(CFLAGS) $< -o $@
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test_gap3_overtemp_emergency_stop: test_gap3_overtemp_emergency_stop.c
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$(CC) $(CFLAGS) $< -o $@
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test_gap3_health_watchdog_cold_start: test_gap3_health_watchdog_cold_start.c
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$(CC) $(CFLAGS) $< -o $@
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# Tests that need platform_noos_stm32.o + mocks
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$(TESTS_WITH_PLATFORM): %: %.c $(MOCK_OBJS) $(PLATFORM_OBJ)
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$(CC) $(CFLAGS) $(INCLUDES) $< $(MOCK_OBJS) $(PLATFORM_OBJ) -o $@
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# --- C++ object rules ---
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ADAR1000_AGC.o: $(CXX_LIB_DIR)/ADAR1000_AGC.cpp $(CXX_LIB_DIR)/ADAR1000_AGC.h
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$(CXX) $(CXXFLAGS) $(INCLUDES) -c $< -o $@
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ADAR1000_Manager.o: $(CXX_LIB_DIR)/ADAR1000_Manager.cpp $(CXX_LIB_DIR)/ADAR1000_Manager.h
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$(CXX) $(CXXFLAGS) $(INCLUDES) -c $< -o $@
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# --- C++ test binary rules ---
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test_agc_outer_loop: test_agc_outer_loop.cpp $(CXX_OBJS) $(MOCK_OBJS)
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$(CXX) $(CXXFLAGS) $(INCLUDES) $< $(CXX_OBJS) $(MOCK_OBJS) -o $@
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# Convenience target
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.PHONY: test_agc
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test_agc: test_agc_outer_loop
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./test_agc_outer_loop
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# --- GPS driver rules ---
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$(GPS_OBJ): $(GPS_SRC)
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$(CC) $(CFLAGS) $(INCLUDES) -I../9_1_3_C_Cpp_Code -c $< -o $@
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# Note: test includes um982_gps.c directly for white-box testing (static fn access)
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test_um982_gps: test_um982_gps.c $(MOCK_OBJS)
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$(CC) $(CFLAGS) $(INCLUDES) -I../9_1_3_C_Cpp_Code $< $(MOCK_OBJS) -lm -o $@
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# Convenience target
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.PHONY: test_gps
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test_gps: test_um982_gps
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./test_um982_gps
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# --- Individual test targets ---
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test_bug1: test_bug1_timed_sync_init_ordering
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./test_bug1_timed_sync_init_ordering
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test_bug2: test_bug2_ad9523_double_setup
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./test_bug2_ad9523_double_setup
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test_bug3: test_bug3_timed_sync_noop
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./test_bug3_timed_sync_noop
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test_bug4: test_bug4_phase_shift_before_check
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./test_bug4_phase_shift_before_check
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test_bug5: test_bug5_fine_phase_gpio_only
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./test_bug5_fine_phase_gpio_only
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test_bug6: test_bug6_timer_variable_collision
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./test_bug6_timer_variable_collision
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test_bug7: test_bug7_gpio_pin_conflict
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./test_bug7_gpio_pin_conflict
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test_bug8: test_bug8_uart_commented_out
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./test_bug8_uart_commented_out
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test_bug9: test_bug9_platform_ops_null
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./test_bug9_platform_ops_null
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test_bug10: test_bug10_spi_cs_not_toggled
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./test_bug10_spi_cs_not_toggled
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test_bug11: test_bug11_platform_spi_transmit_only
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./test_bug11_platform_spi_transmit_only
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test_bug12: test_bug12_pa_cal_loop_inverted
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./test_bug12_pa_cal_loop_inverted
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test_bug13: test_bug13_dac2_adc_buffer_mismatch
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./test_bug13_dac2_adc_buffer_mismatch
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test_bug14: test_bug14_diag_section_args
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./test_bug14_diag_section_args
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test_bug15: test_bug15_htim3_dangling_extern
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./test_bug15_htim3_dangling_extern
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test_gap3_estop: test_gap3_emergency_stop_rails
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./test_gap3_emergency_stop_rails
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test_gap3_iwdg: test_gap3_iwdg_config
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./test_gap3_iwdg_config
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test_gap3_temp: test_gap3_temperature_max
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./test_gap3_temperature_max
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test_gap3_idq: test_gap3_idq_periodic_reread
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./test_gap3_idq_periodic_reread
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test_gap3_order: test_gap3_emergency_state_ordering
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./test_gap3_emergency_state_ordering
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test_gap3_overtemp: test_gap3_overtemp_emergency_stop
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./test_gap3_overtemp_emergency_stop
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test_gap3_wdog: test_gap3_health_watchdog_cold_start
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./test_gap3_health_watchdog_cold_start
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# --- Clean ---
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clean:
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rm -f *.o $(ALL_TESTS)
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@echo "Clean complete"
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