From 8a96e66e38ecd1e3462cf4666fa838129bb14e89 Mon Sep 17 00:00:00 2001 From: Ezra Maccabee Date: Wed, 18 Mar 2026 12:33:53 +0300 Subject: [PATCH] # 6 MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit - проверена работа. bsp_uart_host - первично - написан скрипт загрузки elf (pyocd) с помощью NXP MCU Link на таргет (выполнение в ram) - начало разработки окружения для проведения HIL-тестов (pytest + pyocd) --- .clang-tidy | 2 +- CMakePresets.json | 19 + TODO-HIL.md | 149 -- bsp/CMakeLists.txt | 35 +- bsp/generated/board.h | 2 +- bsp/led/include/bsp/led.h | 2 +- bsp/led/src/led.c | 4 - bsp/uart_host/CMakeLists.txt | 1 + bsp/uart_host/src/uart_host.c | 5 +- docs/MCULINKINSERT.pdf | Bin 0 -> 144527 bytes firmware/test/CMakeLists.txt | 21 +- firmware/test/main.c | 15 +- pyocd.yaml | 8 + tests/target/CMakeLists.txt | 48 +- tests/target/host_uart/CMakeLists.txt | 29 + tests/target/host_uart/main.c | 120 ++ tools/hil/.python-version | 1 + .../hil/README.md | 0 tools/hil/conftest.py | 127 ++ tools/hil/load_and_run.py | 23 + tools/hil/pyocd_utils.py | 129 ++ tools/hil/pyproject.toml | 26 + tools/hil/targets.txt | 207 +++ tools/hil/test_uart.py | 69 + tools/hil/uv.lock | 653 +++++++++ tools/host/uv.lock | 1279 ----------------- 26 files changed, 1454 insertions(+), 1520 deletions(-) delete mode 100644 TODO-HIL.md create mode 100644 docs/MCULINKINSERT.pdf create mode 100644 pyocd.yaml create mode 100644 tests/target/host_uart/CMakeLists.txt create mode 100644 tests/target/host_uart/main.c create mode 100644 tools/hil/.python-version rename tests/target/test_target_simple.c => tools/hil/README.md (100%) create mode 100644 tools/hil/conftest.py create mode 100644 tools/hil/load_and_run.py create mode 100644 tools/hil/pyocd_utils.py create mode 100644 tools/hil/pyproject.toml create mode 100644 tools/hil/targets.txt create mode 100644 tools/hil/test_uart.py create mode 100644 tools/hil/uv.lock delete mode 100644 tools/host/uv.lock diff --git a/.clang-tidy b/.clang-tidy index ba2dbaf..70ccfda 100644 --- a/.clang-tidy +++ b/.clang-tidy @@ -19,7 +19,7 @@ Checks: > readability-named-parameter, readability-unified-declaration WarningsAsErrors: 'bugprone-*,clang-analyzer-*' -HeaderFilterRegex: "^((?!sdk/|lib/|bsp/board/).)*\\.h$" +HeaderFilterRegex: "^((?!sdk/|lib/|bsp/board/|tests/host/).)*\\.h$" CheckOptions: # ===== ТИПЫ ===== - key: readability-identifier-naming.TypedefCase diff --git a/CMakePresets.json b/CMakePresets.json index b44272c..b317d20 100644 --- a/CMakePresets.json +++ b/CMakePresets.json @@ -62,6 +62,17 @@ "BUILD_TESTS_HOST": "ON", "BUILD_TESTS_TARGET": "OFF" } + }, + { + "name": "target-debug", + "displayName": "🎯 Target Debug Tests (HIL)", + "inherits": "default", + "cacheVariables": { + "CMAKE_BUILD_TYPE": "Debug", + "SEGGER_RTT_ENABLED": "OFF", + "BUILD_TESTS_TARGET": "ON", + "BUILD_TESTS_HOST": "OFF" + } } ], "buildPresets": [ @@ -144,6 +155,14 @@ "test_timeout_pattern", "uart_host_mock_example" ] + }, + { + "name": "target-debug-build", + "displayName": "Target Tests — Debug (HIL)", + "configurePreset": "target-debug", + "targets": [ + "test_host_uart" + ] } ], "testPresets": [ diff --git a/TODO-HIL.md b/TODO-HIL.md deleted file mode 100644 index 3108c9b..0000000 --- a/TODO-HIL.md +++ /dev/null @@ -1,149 +0,0 @@ -# HIL‑архитектура и окружение: итоговые решения - -## 1. Общий контекст репозитория - -- Монорепозиторий для MIMXRT1052 уже содержит: - - три firmware‑проекта: `firmware/test`, `firmware/bootloader`, `firmware/tft_app`; - - BSP, vendored SDK, Unity + fff, SEGGER RTT; - - devcontainer, CMakePresets, just‑модули, двухуровневое тестирование (host + target). -- Цель: добавить HIL‑контур так, чтобы он органично встроился в существующую архитектуру и CI/CD, без резкого усложнения. - ---- - -## 2. Выбор инструментов для HIL‑тестов - -### 2.1. Стек тестирования - -Принята связка: - -- **Host**: Python + pytest - - оркестрация тестов и стенда; - - фикстуры для управления питанием, прошивкой, реле, CAN/UART; - - интеграция с CI, маркировка тестов, отчёты. - -- **Target (DUT)**: Unity - - тесты на C, запускаемые на RT1052; - - вывод результатов по UART (или через RTT при необходимости); - - тестовая прошивка может быть отдельным firmware‑проектом, как уже сделано с `firmware/test`. - -- **Промежуточный HIL‑контроллер**: M5Stamp PLC - - принимает команды от хоста; - - управляет CAN, UART, реле, опто‑входами и прочей обвязкой DUT; - - выполняет только примитивные операции (send frame, toggle relay, read input, reset DUT), вся логика сценариев — в pytest. - -### 2.2. Почему так - -- Unity уже используется в проекте — нет смысла вводить второй C‑фреймворк тестирования. -- Python + pytest хорошо подходит для оркестрации внешних устройств (HIL), даёт удобные фикстуры, параметризацию и отчётность. -- Разделение обязанностей: - - DUT отвечает за внутреннюю логику и инварианты; - - HIL‑контроллер — за физические воздействия/измерения; - - pytest — за сценарии и проверки. - ---- - -## 3. Выбор платформы и стека для HIL‑контроллера - -### 3.1. Аппаратная платформа - -- Выбран **M5Stamp PLC** на базе ESP32‑S3: - - CAN‑шина, RS485, реле, опто‑входы — всё, что нужно для стенда; - - промышленная обвязка (галваническая развязка на входах, реле на выходах). - -### 3.2. Варианты ПО для M5Stamp - -Рассматривались: - -1. **MicroPython** - - Плюсы: быстрый старт, код на Python, удобно писать CLI. - - Минусы: - - нет готового BSP именно под PLC‑вариант; - - нужно вручную разбираться с разводкой, CAN/RS485/реле; - - меньше детерминизма по таймингам. - -2. **UIFlow** - - Плюсы: визуальное программирование, быстрые демки. - - Минусы: - - ориентирован на учебные/IoT‑сценарии; - - завязан на Web‑IDE/облако; - - неудобен для строгого, текстового, версионируемого CLI под pytest/CI. - -3. **Arduino‑фреймворк** (через Arduino core для ESP32) - - Плюсы: - - официальная поддержка M5‑плат, библиотек и BSP; - - примеры по работе с реле, RS485, CAN; - - легко поднять простой текстовый CLI по Serial; - - хорошо работает в headless‑режиме через `arduino-cli`. - - Минусы: - - код на C++ (в отличие от MicroPython); - - отдельный маленький проект. - -### 3.3. Принятое решение - -- Для M5Stamp PLC используется **Arduino‑фреймворк** + `arduino-cli`. -- MicroPython и UIFlow откладываются: - - MicroPython — как возможный эксперимент позже; - - UIFlow — не подходит как основа HIL‑контроллера. - ---- - -## 4. Архитектура HIL‑контроллера (M5Stamp PLC) - -### 4.1. Роль M5Stamp - -- Максимально «тупой» исполнитель команд от хоста: - - НЕ содержит сценарной логики тестов; - - предоставляет набор атомарных операций: - - управление реле; - - отправка/приём кадра по CAN/UART; - - переключение питания/Reset DUT; - - чтение опто‑входов/состояния линий. - -- Все сложные сценарии, тайминги и проверки живут в pytest на хосте. - -### 4.2. Протокол обмена host ↔ M5Stamp - -- Простой текстовый CLI по UART/USB: - - команды в виде строк, например: - - `RELAY SET 1 ON` - - `RELAY SET 1 OFF` - - `GPIO READ IN3` - - `CAN SEND 1 123#11223344` - - `UART DUT SEND "AT+PING\r\n"` - - `DUT RESET` - - ответы в понятном формате: - - `OK` - - `ERR ` - - `VAL 0|1` - - `EVENT ...` (если понадобится). - -- Преимущества: - - легко писать и отлаживать; - - удобно тестировать руками (через serial‑терминал); - - протокол можно описать и версионировать как часть репозитория. - ---- - -## 5. Интеграция с существующим репозиторием - -### 5.1. Структура репозитория - -HIL‑контроллер хранится в том же монорепо: - -```text -/ -├── firmware/ -│ ├── test/ # тестовая прошивка DUT -│ ├── bootloader/ -│ ├── tft_app/ -│ └── hil_controller/ # Arduino-проект для M5Stamp PLC (HIL) -├── tools/ -│ └── host/ -│ ├── hil/ # Python-код, pytest HIL тесты, утилиты -│ ├── flash_usb.py -│ └── ... -├── just/ -│ ├── host.just # добавятся host::hil-* цели -│ ├── build.just -│ └── ci.just -└── ... diff --git a/bsp/CMakeLists.txt b/bsp/CMakeLists.txt index 13411ab..0b5c10d 100644 --- a/bsp/CMakeLists.txt +++ b/bsp/CMakeLists.txt @@ -6,10 +6,7 @@ endif() # bsp_board — стартап, сгенерированные файлы Config Tools, инициализация платы # ----------------------------------------------------------------------------- -add_library( - bsp_board STATIC - generated/board.c generated/pin_mux.c generated/clock_config.c - generated/startup/startup_MIMXRT1052.S) +add_library(bsp_board STATIC generated/board.c generated/pin_mux.c) add_subdirectory(common) add_subdirectory(led) @@ -23,28 +20,18 @@ target_compile_options(bsp_board PRIVATE -w) target_include_directories(bsp_board SYSTEM PUBLIC generated) # Дефайны PUBLIC — транзитивно подтянутся во все firmware таргеты -target_compile_definitions( - bsp_board PUBLIC CPU_MIMXRT1052CVJ5B SKIP_SYSCLK_INIT XIP_EXTERNAL_FLASH=1 - XIP_BOOT_HEADER_ENABLE=1 XIP_BOOT_HEADER_DCD_ENABLE=1) +target_compile_definitions(bsp_board PUBLIC CPU_MIMXRT1052CVJ5B) # sdk_device PUBLIC — транзитивно подтянется во все firmware таргеты target_link_libraries(bsp_board PUBLIC sdk_device sdk_clock sdk_common sdk_lpuart) +# ------------------------------------------------------------------ +# Boot-стратегии — INTERFACE +# ------------------------------------------------------------------ +add_library(bsp_boot_xip INTERFACE) +target_compile_definitions( + bsp_boot_xip INTERFACE XIP_EXTERNAL_FLASH=1 XIP_BOOT_HEADER_ENABLE=1 + XIP_BOOT_HEADER_DCD_ENABLE=1 SKIP_SYSCLK_INIT) -# Выбор boot стратегии (определяется в CMakePresets в зависимости от собираемого -# target) - -# TODO: длякаждого приложения свои дефайны # Сценарий A: XIP — код исполняется -# прямо из Flash add_library(bsp_boot_xip INTERFACE) target_compile_definitions( -# bsp_boot_xip INTERFACE XIP_EXTERNAL_FLASH=1 XIP_BOOT_HEADER_ENABLE=1 -# XIP_BOOT_HEADER_DCD_ENABLE=1) - -# # Сценарий B: копирование в ITCM (для bootloader или критичного кода) -# add_library(bsp_boot_itcm INTERFACE) target_compile_definitions( bsp_boot_itcm -# INTERFACE XIP_BOOT_HEADER_ENABLE=1 XIP_BOOT_HEADER_DCD_ENABLE=1 # -# XIP_EXTERNAL_FLASH намеренно отсутствует ) - -# # Сценарий C: копирование в SDRAM (для app с графикой) -# add_library(bsp_boot_sdram INTERFACE) target_compile_definitions( -# bsp_boot_sdram INTERFACE XIP_BOOT_HEADER_ENABLE=1 -# XIP_BOOT_HEADER_DCD_ENABLE=1) +add_library(bsp_boot_ram INTERFACE) +target_compile_definitions(bsp_boot_ram INTERFACE SKIP_SYSCLK_INIT) diff --git a/bsp/generated/board.h b/bsp/generated/board.h index 2ff1e4a..e3a8f45 100644 --- a/bsp/generated/board.h +++ b/bsp/generated/board.h @@ -4,7 +4,7 @@ /*! @brief The board name */ #define BOARD_NAME "TFT4.3_UB_BOARD" -/*! @brief The board name */ +/*! @brief Инициализация пинов и клоков на плате (согласно ConfigTools) */ void board_hw_init(void); #endif /* _BOARD_H_ */ \ No newline at end of file diff --git a/bsp/led/include/bsp/led.h b/bsp/led/include/bsp/led.h index 73a3a39..cff3038 100644 --- a/bsp/led/include/bsp/led.h +++ b/bsp/led/include/bsp/led.h @@ -26,7 +26,7 @@ typedef enum /** * @brief Инициализация обоих светодиодов. - * Вызвать один раз после board_init_hw(). + * Вызвать один раз после board_hw_init(). * После вызова оба LED выключены. */ void bsp_led_init(void); diff --git a/bsp/led/src/led.c b/bsp/led/src/led.c index 9494f4e..186091c 100644 --- a/bsp/led/src/led.c +++ b/bsp/led/src/led.c @@ -44,8 +44,6 @@ static led_desc_t s_leds[] = { #define LED_COUNT (sizeof(s_leds) / sizeof(s_leds[0])) -/* ── Приватные хелперы ───────────────────────────────────────────────── */ - /** Перевести логическое состояние в физический уровень GPIO (active LOW). */ static inline uint8_t bsp_led_to_gpio_level(bool is_enabled) { @@ -57,8 +55,6 @@ static inline void bsp_led_apply(led_desc_t *p_led) GPIO_PinWrite(p_led->gpio, p_led->pin, bsp_led_to_gpio_level(p_led->state)); } -/* ── Публичный API ───────────────────────────────────────────────────── */ - void bsp_led_init(void) { gpio_pin_config_t cfg = { diff --git a/bsp/uart_host/CMakeLists.txt b/bsp/uart_host/CMakeLists.txt index 2a72c45..e59bb1a 100644 --- a/bsp/uart_host/CMakeLists.txt +++ b/bsp/uart_host/CMakeLists.txt @@ -1,6 +1,7 @@ if(BUILD_TESTS_HOST) set(UART_HOST_SOURCES mocks/uart_host_mock.c) else() + set(UART_HOST_SOURCES src/uart_host.c) endif() diff --git a/bsp/uart_host/src/uart_host.c b/bsp/uart_host/src/uart_host.c index d10876f..5cc72f2 100644 --- a/bsp/uart_host/src/uart_host.c +++ b/bsp/uart_host/src/uart_host.c @@ -36,10 +36,11 @@ #endif /* Частота источника тактирования LPUART1. - * BOARD_BootClockRUN() настраивает OSC → 24 MHz на LPUART. + * BOARD_BootClockRUN() -> 80000000UL настраивает OSC → 24 MHz на LPUART. * Скорректируй если у вас другой clock source. */ #ifndef BSP_UART_HOST_SRC_CLOCK_HZ -#define BSP_UART_HOST_SRC_CLOCK_HZ (24000000U) +//TODO: брать из generated/clock_config.h! +#define BSP_UART_HOST_SRC_CLOCK_HZ (80000000UL) #endif /* Приоритет прерывания LPUART1 (0 = наивысший на CM7). */ diff --git a/docs/MCULINKINSERT.pdf b/docs/MCULINKINSERT.pdf new file mode 100644 index 0000000000000000000000000000000000000000..31aab7ee5c459f2ed36b43253b7e9ff2722ede66 GIT binary patch literal 144527 zcmeFZbwE_z8aGOVlr%_pNDMV}cQ?|_kVDPTrF3_fB1lVzw9+XO0@B?ef`owR9n`nZ zdC&RYd%yeV*|3K-Ypv(^VpTab$rphnHj4bbs%1p(A89kkt@ z#KfTP5Riov7P{SXyWs+4K>+WTP>d0nhAe4p08D#0FxFQ;WNj%tG}`+0jY30Z99tQ^ zApX1AV?it}T0%w7x;Fe-TmT#?)~b6US!_Hg-L@6!G_qpM9oLn;u3+3C>0osCiDOch zoh#7bjCsVV*lEpmgPTIc(HE{entZx4-hVh62fCP=HN+yjlln-?e^f=YW+m~#*Pgh6 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zZB8O#(PRt`Z;B$5^bK)jG7^V0L*Y%Bdei{#KqwOX4+$CnhaAcPug3@s4E~Yh|C`&f ze_=sUDCGYr$6$HuojHeuqM=CUzmD^n^7M3fcR%kgnz`E!7kdm>OBl8VlD+y z>bh41Qq%Q8!k;Pmd*CI2Zmy99X+|FTFhwh+`W2u%A-D43yv_Cr=tPsX>(ZQ}Ik_W&zNwjvaUEBS5x7LLCu8f_q7)WaFh_`7UiR>d8#x z(}TSRqBplz4xn)%Ojg^povQxEUaB}leaiwiacx|sOXl>)m$WN1-{NZ^Vp7&IP_1xg|i Kl+)%w$^QVcM~jUB literal 0 HcmV?d00001 diff --git a/firmware/test/CMakeLists.txt b/firmware/test/CMakeLists.txt index d6d5ad5..76c1530 100644 --- a/firmware/test/CMakeLists.txt +++ b/firmware/test/CMakeLists.txt @@ -2,9 +2,12 @@ # производстве add_executable(firmware_test) - -target_sources(firmware_test - PRIVATE main.c ${PROJECT_SOURCE_DIR}/bsp/generated/syscalls.c) +set(BSP_GENERATED ${CMAKE_SOURCE_DIR}/bsp/generated) +target_sources( + firmware_test + PRIVATE main.c ${PROJECT_SOURCE_DIR}/bsp/generated/syscalls.c + ${BSP_GENERATED}/clock_config.c + ${BSP_GENERATED}/startup/startup_MIMXRT1052.S) target_compile_definitions(firmware_test PRIVATE BSP_UART_HOST_RX_BUFFER_SIZE=512) @@ -15,8 +18,7 @@ target_compile_definitions(firmware_test # ----------------------------------------------------------------------------- target_link_libraries( firmware_test - PRIVATE bsp_board bsp_led bsp_tick - # Опциональные библиотеки + PRIVATE bsp_board bsp_led bsp_tick bsp_uart_host bsp_boot_ram lib_external # SEGGER RTT если включён через SEGGER_RTT_ENABLED ) @@ -25,15 +27,14 @@ target_link_libraries( # ----------------------------------------------------------------------------- # --gc-sections — удалять неиспользуемые секции (работает с # -ffunction/data-sections) --print-memory-usage — выводить таблицу -# использования Flash/RAM после линковки -Map — генерировать -# map-файл для анализа размещения символов -T — линкерный -# скрипт с описанием карты памяти IMXRT1052 +# использования Flash/RAM после линковки -Map — генерировать map-файл для +# анализа размещения символов -T — линкерный скрипт с описанием карты памяти +# IMXRT1052 target_link_options( firmware_test PRIVATE -Wl,--gc-sections -Wl,--print-memory-usage -Wl,-Map=${CMAKE_BINARY_DIR}/firmware_test.map - -T${PROJECT_SOURCE_DIR}/cmake/linker/MIMXRT1052xxxxx_flexspi_nor.ld) + -T${PROJECT_SOURCE_DIR}/cmake/linker/MIMXRT1052xxxxx_ram.ld) -# TODO: дефайны BOOT # ----------------------------------------------------------------------------- # Post-build: генерация .bin для прошивки через blhost # ----------------------------------------------------------------------------- diff --git a/firmware/test/main.c b/firmware/test/main.c index 77aed37..be5bb75 100644 --- a/firmware/test/main.c +++ b/firmware/test/main.c @@ -1,17 +1,28 @@ #include "board.h" #include "bsp/led.h" #include "bsp/tick.h" +#include "bsp/uart_host.h" int main(void) { - + const uint16_t DELAY_MS = 1000; + const uint32_t UART_BAUDRATE = 115200; board_hw_init(); bsp_led_init(); bsp_tick_init(); - const uint16_t DELAY_MS = 50; + if (bsp_uart_host_init(UART_BAUDRATE) != BSP_OK) + { + while (1) + { + bsp_led_toggle(LED_HEARTBEAT); + bsp_delay(50); + } + } + while (1) { bsp_led_on(LED_HEARTBEAT); + bsp_uart_host_write_str("We are here!"); bsp_delay(DELAY_MS); bsp_led_off(LED_HEARTBEAT); bsp_delay(DELAY_MS); diff --git a/pyocd.yaml b/pyocd.yaml new file mode 100644 index 0000000..dc33dcc --- /dev/null +++ b/pyocd.yaml @@ -0,0 +1,8 @@ +# pyocd.yaml — корень репозитория +# Подхватывается автоматически pyOCD при запуске из любой поддиректории. +# Для RAM-загрузки flash-алгоритм не нужен — используем generic cortex_m. + +target_override: cortex_m +frequency: 1000000 +connect_mode: attach +no_config: false \ No newline at end of file diff --git a/tests/target/CMakeLists.txt b/tests/target/CMakeLists.txt index 43460ca..5a12dff 100644 --- a/tests/target/CMakeLists.txt +++ b/tests/target/CMakeLists.txt @@ -1,47 +1 @@ -# firmware/test/CMakeLists.txt Тестовая прошивка — входной контроль платы на -# производстве - -add_executable(firmware_test) - -target_sources(firmware_test - PRIVATE main.c ${PROJECT_SOURCE_DIR}/bsp/generated/syscalls.c) - -target_compile_definitions(firmware_test - PRIVATE BSP_UART_HOST_RX_BUFFER_SIZE=512) -# ----------------------------------------------------------------------------- -# Зависимости — только то что нужно для входного контроля bsp_board транзитивно -# даёт: sdk_device, sdk_clock, sdk_common, CPU_MIMXRT1052CVJ5B, XIP_* дефайны -# ----------------------------------------------------------------------------- -target_link_libraries( - firmware_test - PRIVATE bsp_board bsp_led bsp_tick - # Опциональные библиотеки - lib_external # SEGGER RTT если включён через SEGGER_RTT_ENABLED -) - -# ----------------------------------------------------------------------------- -# Linker script -# ----------------------------------------------------------------------------- -# --gc-sections — удалять неиспользуемые секции (работает с -# -ffunction/data-sections) --print-memory-usage — выводить таблицу -# использования Flash/RAM после линковки -Map — генерировать -# map-файл для анализа размещения символов -T — линкерный -# скрипт с описанием карты памяти IMXRT1052 -target_link_options( - firmware_test PRIVATE -Wl,--gc-sections -Wl,--print-memory-usage - -Wl,-Map=${CMAKE_BINARY_DIR}/firmware_test.map - -T${PROJECT_SOURCE_DIR}/cmake/linker/MIMXRT1052xxxxx_flexspi_nor.ld) - -# TODO: дефайны BOOT -# ----------------------------------------------------------------------------- -# Post-build: генерация .bin для прошивки через blhost -# ----------------------------------------------------------------------------- -add_custom_command( - TARGET firmware_test - POST_BUILD - COMMAND ${CMAKE_OBJCOPY} -O binary $ - ${CMAKE_BINARY_DIR}/firmware_test.bin - COMMAND ${CMAKE_OBJCOPY} -O ihex $ - ${CMAKE_BINARY_DIR}/firmware_test.hex - COMMAND ${CMAKE_SIZE} $ - COMMENT "Generating firmware_test.bin") +add_subdirectory(host_uart) diff --git a/tests/target/host_uart/CMakeLists.txt b/tests/target/host_uart/CMakeLists.txt new file mode 100644 index 0000000..23c8703 --- /dev/null +++ b/tests/target/host_uart/CMakeLists.txt @@ -0,0 +1,29 @@ +# ============================================================================= +# tests/target/host_uart/CMakeLists.txt +# ============================================================================= + +set(TARGET_NAME test_host_uart) +set(BSP_GENERATED ${CMAKE_SOURCE_DIR}/bsp/generated) + +add_executable(${TARGET_NAME} main.c ${BSP_GENERATED}/clock_config.c + ${BSP_GENERATED}/startup/startup_MIMXRT1052.S) + +target_compile_definitions(${TARGET_NAME} + PRIVATE BSP_UART_HOST_RX_BUFFER_SIZE=512) + +target_link_options( + ${TARGET_NAME} + PRIVATE + -T${CMAKE_SOURCE_DIR}/cmake/linker/MIMXRT1052xxxxx_ram.ld + -Wl,--gc-sections + -Wl,--print-memory-usage + -Wl,-Map=${CMAKE_CURRENT_BINARY_DIR}/${TARGET_NAME}.map) + +target_link_libraries(${TARGET_NAME} PRIVATE bsp_boot_ram bsp_board bsp_led + bsp_tick bsp_uart_host) + +add_custom_command( + TARGET ${TARGET_NAME} + POST_BUILD + COMMAND ${CMAKE_SIZE} $ + COMMENT "Size: ${TARGET_NAME}") diff --git a/tests/target/host_uart/main.c b/tests/target/host_uart/main.c new file mode 100644 index 0000000..ff843d6 --- /dev/null +++ b/tests/target/host_uart/main.c @@ -0,0 +1,120 @@ +/** + * @file tests/target/host_uart/main.c + * @brief HIL target — UART CLI для тестирования bsp_uart_host. + * + * Протокол: текстовые команды через LPUART1 (MCU-Link VCOM), \r\n-terminated. + * + * Команды: + * PING → PONG + * ECHO → + * UART_BUF_SIZE → + * + * Архитектура CLI намеренно простая (strncmp) — EmbeddedCLI подключим + * когда команд станет >5. Точка расширения: cli_process_line(). + */ + +#include "board.h" +#include "bsp/led.h" +#include "bsp/tick.h" +#include "bsp/uart_host.h" + +#include +#include + +/* -------------------------------------------------------------------------- */ + +#ifndef BSP_UART_HOST_RX_BUFFER_SIZE +#define BSP_UART_HOST_RX_BUFFER_SIZE 256U +#endif + +#define CLI_BAUD_RATE 115200U +#define CLI_LINE_MAX 128U +#define CLI_RX_TIMEOUT 100U /* мс между байтами при чтении строки */ + +/* -------------------------------------------------------------------------- */ + +/** + * @brief Прочитать строку до \n с таймаутом между байтами. + * @return Длина строки без \r\n, или 0 при таймауте/пустой строке. + */ +static size_t cli_read_line(uint8_t *p_buf, size_t max_len) +{ + size_t pos = 0U; + + while (pos < (max_len - 1U)) + { + int32_t byte = bsp_uart_host_read_byte(CLI_RX_TIMEOUT); + if (byte < 0) + { + break; + } + if ((char) byte == '\r') + { + continue; + } + if ((char) byte == '\n') + { + break; + } + p_buf[pos++] = (uint8_t) byte; + } + + p_buf[pos] = '\0'; + return pos; +} + +/** + * @brief Диспетчер команд. + * + * Точка расширения: заменим тело на EmbeddedCLI когда команд станет > 5. + * Сигнатура и место вызова из main() не меняются. + */ +static void cli_process_line(const char *p_line) +{ + if (strncmp(p_line, "PING", 4U) == 0) + { + bsp_uart_host_write_str("PONG\r\n"); + } + else if (strncmp(p_line, "ECHO ", 5U) == 0) + { + bsp_uart_host_write_str(p_line + 5U); + bsp_uart_host_write_str("\r\n"); + } + else if (strncmp(p_line, "UART_BUF_SIZE", 13U) == 0) + { + char resp[16]; + snprintf(resp, sizeof(resp), "%u\r\n", (unsigned) BSP_UART_HOST_RX_BUFFER_SIZE); + bsp_uart_host_write_str(resp); + } + else if (p_line[0] != '\0') + { + bsp_uart_host_write_str("ERR_UNKNOWN\r\n"); + } +} + +/* -------------------------------------------------------------------------- */ + +int main(void) +{ + board_hw_init(); + bsp_tick_init(); + bsp_led_init(); + bsp_uart_host_init(CLI_BAUD_RATE); + + /* pytest ждёт эту строку как сигнал готовности */ + bsp_uart_host_write_str("READY\r\n"); + bsp_led_on(LED_HEARTBEAT); + + static uint8_t s_line_buf[CLI_LINE_MAX]; + + for (;;) + { + size_t len = cli_read_line(s_line_buf, sizeof(s_line_buf)); + if (len > 0U) + { + cli_process_line((const char *) s_line_buf); + } + } + + return 0; +} \ No newline at end of file diff --git a/tools/hil/.python-version b/tools/hil/.python-version new file mode 100644 index 0000000..c8cfe39 --- /dev/null +++ b/tools/hil/.python-version @@ -0,0 +1 @@ +3.10 diff --git a/tests/target/test_target_simple.c b/tools/hil/README.md similarity index 100% rename from tests/target/test_target_simple.c rename to tools/hil/README.md diff --git a/tools/hil/conftest.py b/tools/hil/conftest.py new file mode 100644 index 0000000..494e882 --- /dev/null +++ b/tools/hil/conftest.py @@ -0,0 +1,127 @@ +""" +conftest.py — pytest-фикстуры для HIL-тестов MIMXRT1052. +Вся работа с железом делегирована pyocd_utils. +""" + +from __future__ import annotations + +import logging +import os +import time +from pathlib import Path +from typing import Generator + +import pytest +import serial + +from pyocd_utils import flexram_init, load_elf, open_target, run_from_vectors + +log = logging.getLogger(__name__) + +# --------------------------------------------------------------------------- +# Конфигурация — переопределяется через переменные окружения +# --------------------------------------------------------------------------- +_REPO_ROOT = Path(__file__).resolve().parents[3] +_BUILD_DIR = Path(os.environ.get("HIL_BUILD_DIR", + _REPO_ROOT / "build" / "target-debug")) +_VCOM_PORT = os.environ.get("HIL_VCOM_PORT", "/dev/tty.usbmodemGUXFBWDJBWTGQ3") +_VCOM_BAUD = int(os.environ.get("HIL_VCOM_BAUD", "115200")) +_READY_TIMEOUT = float(os.environ.get("HIL_READY_TIMEOUT", "5.0")) + + +# --------------------------------------------------------------------------- +# CLI-опции pytest +# --------------------------------------------------------------------------- +def pytest_addoption(parser: pytest.Parser) -> None: + parser.addoption("--elf", default=None, help="Путь к .elf файлу") + parser.addoption("--vcom", default=_VCOM_PORT, help="VCOM-порт MCU-Link") + parser.addoption("--no-load", action="store_true", help="ELF уже запущен") + + +# --------------------------------------------------------------------------- +# Внутренняя функция загрузки +# --------------------------------------------------------------------------- +def _load_elf(request: pytest.FixtureRequest, default_elf: Path) -> None: + if request.config.getoption("--no-load"): + log.info("--no-load: пропускаем загрузку ELF") + return + + elf = Path(request.config.getoption("--elf") or default_elf) + assert elf.exists(), f"ELF не найден: {elf}" + + with open_target() as target: + flexram_init(target) + load_elf(target, str(elf)) + run_from_vectors(target) + + log.info("ELF загружен: %s", elf.name) + + +# --------------------------------------------------------------------------- +# Фикстуры загрузки (scope=module — один раз на файл с тестами) +# --------------------------------------------------------------------------- +@pytest.fixture(scope="module") +def loaded_firmware_test(request: pytest.FixtureRequest) -> None: + _load_elf(request, _BUILD_DIR / "firmware/test/firmware_test.elf") + + +@pytest.fixture(scope="module") +def loaded_host_uart(request: pytest.FixtureRequest) -> None: + _load_elf( + request, + _BUILD_DIR / "tests/target/host_uart/test_host_uart.elf", + ) + + +# --------------------------------------------------------------------------- +# Фикстура UART — открывает порт и ждёт "READY\r\n" от прошивки +# --------------------------------------------------------------------------- +@pytest.fixture(scope="module") +def uart( + request: pytest.FixtureRequest, + loaded_host_uart, # гарантирует порядок: сначала загрузка +) -> Generator[serial.Serial, None, None]: + + port = request.config.getoption("--vcom") + log.info("UART %s @ %d baud", port, _VCOM_BAUD) + + ser = serial.Serial( + port=port, + baudrate=_VCOM_BAUD, + timeout=2.0, + write_timeout=1.0, + ) + + # Ждём "READY" — прошивка отправляет его один раз при старте + deadline = time.monotonic() + _READY_TIMEOUT + ready = False + while time.monotonic() < deadline: + line = ser.readline().decode("ascii", errors="replace").strip() + if line == "READY": + ready = True + log.info("Получен READY от прошивки") + break + + if not ready: + ser.close() + pytest.fail( + f"Прошивка не отправила READY за {_READY_TIMEOUT} с. " + "Проверьте VCOM-порт и bsp_uart_host_init()." + ) + + ser.reset_input_buffer() + yield ser + ser.close() + + +# --------------------------------------------------------------------------- +# Утилита для тестов +# --------------------------------------------------------------------------- +def uart_cmd(ser: serial.Serial, cmd: str) -> str: + """Отправить команду, получить одну строку ответа.""" + ser.reset_input_buffer() + ser.write((cmd.strip() + "\r\n").encode("ascii")) + resp = ser.readline() + if not resp: + raise TimeoutError(f"Нет ответа на команду '{cmd}'") + return resp.decode("ascii", errors="replace").strip() \ No newline at end of file diff --git a/tools/hil/load_and_run.py b/tools/hil/load_and_run.py new file mode 100644 index 0000000..711947e --- /dev/null +++ b/tools/hil/load_and_run.py @@ -0,0 +1,23 @@ +#!/usr/bin/env python3 +""" +load_and_run.py — CLI-обёртка над pyocd_utils.load_and_run(). + +Использование (из директории tools/hil/): + uv run python load_and_run.py firmware_test.elf +""" + +import logging +import sys + +from pyocd_utils import load_and_run + +logging.basicConfig( + level=logging.DEBUG, + format="%(asctime)s [%(levelname)-8s] %(message)s", + datefmt="%H:%M:%S", +) + +if __name__ == "__main__": + elf = sys.argv[1] if len(sys.argv) > 1 else "firmware_test.elf" + load_and_run(elf) + print("Done — смотри на LED!") \ No newline at end of file diff --git a/tools/hil/pyocd_utils.py b/tools/hil/pyocd_utils.py new file mode 100644 index 0000000..6a18549 --- /dev/null +++ b/tools/hil/pyocd_utils.py @@ -0,0 +1,129 @@ +""" +pyocd_utils.py — переиспользуемые утилиты для работы с RT1052 через pyOCD. + +Используется двумя способами: + 1. conftest.py — импортирует flexram_init / load_elf / run_from_vectors + 2. load_and_run.py — вызывает load_and_run() из CLI + +Не содержит ничего pytest-специфичного — чистый Python. +""" + +from __future__ import annotations + +import logging +from contextlib import contextmanager +from typing import Generator + +from elftools.elf.elffile import ELFFile +from pyocd.core.helpers import ConnectHelper +from pyocd.core.target import Target + +log = logging.getLogger(__name__) + +# --------------------------------------------------------------------------- +# FLEXRAM +# --------------------------------------------------------------------------- +_GPR16 = 0x400AC040 # IOMUXC_GPR16: бит 2 = FLEXRAM_BANK_CFG_SEL +_GPR17 = 0x400AC044 # IOMUXC_GPR17: конфигурация банков +# 0xFFFFAA55 → 128KB ITCM (0b01) + 128KB DTCM (0b10) + 256KB OCRAM (0b11) +_FLEXRAM_CFG = 0xFFFFAA55 + + +def flexram_init(target: Target) -> None: + """Настроить FLEXRAM: 128KB ITCM + 128KB DTCM + 256KB OCRAM.""" + target.write32(_GPR16, target.read32(_GPR16) | (1 << 2)) + target.write32(_GPR17, _FLEXRAM_CFG) + log.debug( + "FLEXRAM: GPR16=0x%08X GPR17=0x%08X", + target.read32(_GPR16), + target.read32(_GPR17), + ) + + +# --------------------------------------------------------------------------- +# ELF loader +# --------------------------------------------------------------------------- +def load_elf(target: Target, elf_path: str) -> None: + """Записать все PT_LOAD сегменты ELF по физическим адресам.""" + with open(elf_path, "rb") as f: + elf = ELFFile(f) + for seg in elf.iter_segments(): + if seg.header.p_type != "PT_LOAD": + continue + if seg.header.p_filesz == 0: + continue + addr = seg.header.p_paddr + data = list(seg.data()) + target.write_memory_block8(addr, data) + log.debug("segment → 0x%08X %5d bytes", addr, len(data)) + log.info("Loaded: %s", elf_path) + + +# --------------------------------------------------------------------------- +# Запуск из таблицы векторов +# --------------------------------------------------------------------------- +def run_from_vectors(target: Target) -> int: + """ + Взять SP и PC из таблицы векторов (ITCM 0x00000000), + выставить регистры, resume. + + Returns: + PC (адрес Reset_Handler) для проверки вызывающей стороной. + """ + sp = target.read32(0x00000000) + pc = target.read32(0x00000004) + log.debug("Vector table → SP=0x%08X PC=0x%08X", sp, pc) + + if not (0x20000000 <= sp <= 0x20040000): + raise RuntimeError(f"SP вне DTCM: 0x{sp:08X} — ELF загружен корректно?") + if not (0x00000400 <= pc <= 0x00020000): + raise RuntimeError(f"PC вне ITCM: 0x{pc:08X} — FLEXRAM настроен?") + + target.write_core_register("sp", sp) + target.write_core_register("pc", pc) + target.resume() + + log.info("Running from PC=0x%08X", pc) + return pc + + +# --------------------------------------------------------------------------- +# Контекстный менеджер: сессия pyOCD +# --------------------------------------------------------------------------- +@contextmanager +def open_target( + frequency: int = 1_000_000, +) -> Generator[Target, None, None]: + """ + Открыть pyOCD-сессию с первым найденным пробником. + + Использование: + with open_target() as target: + flexram_init(target) + load_elf(target, "firmware.elf") + run_from_vectors(target) + """ + with ConnectHelper.session_with_chosen_probe( + target_override="cortex_m", + connect_mode="attach", + frequency=frequency, + options={"no_config": True}, + ) as session: + target = session.target + target.halt() + log.debug("Halted. PC = 0x%08X", target.read_core_register("pc")) + yield target + + +# --------------------------------------------------------------------------- +# Комбо: всё за один вызов +# --------------------------------------------------------------------------- +def load_and_run(elf_path: str, frequency: int = 1_000_000) -> None: + """ + Полный цикл: подключиться → FLEXRAM → загрузить ELF → запустить. + Удобно для CLI и одиночных скриптов. + """ + with open_target(frequency) as target: + flexram_init(target) + load_elf(target, elf_path) + run_from_vectors(target) \ No newline at end of file diff --git a/tools/hil/pyproject.toml b/tools/hil/pyproject.toml new file mode 100644 index 0000000..52d135f --- /dev/null +++ b/tools/hil/pyproject.toml @@ -0,0 +1,26 @@ +[project] +name = "hil" +version = "0.1.0" +description = "Add your description here" +readme = "README.md" +requires-python = ">=3.10" +dependencies = [ + "pyocd>=0.43.1", + "pyserial>=3.5", + "pytest>=9.0.2", +] +[tool.pytest.ini_options] +testpaths = ["."] +python_files = ["test_*.py"] + +markers = [ + "smoke: быстрые sanity-тесты", + "gpio: тесты GPIO", + "uart: тесты UART CLI", + "slow: тесты с большими таймаутами", +] + +log_cli = true +log_cli_level = "INFO" +log_format = "%(asctime)s [%(levelname)-8s] %(name)s: %(message)s" +log_date_format = "%H:%M:%S" \ No newline at end of file diff --git a/tools/hil/targets.txt b/tools/hil/targets.txt new file mode 100644 index 0000000..eb6ec0b --- /dev/null +++ b/tools/hil/targets.txt @@ -0,0 +1,207 @@ + Name Vendor Part Number Families Source +------------------------------------------------------------------------------------------------------ + air001 AirM2M Air001 builtin + air32f103xb AirM2M Air32F103xB builtin + air32f103xc AirM2M Air32F103xC builtin + air32f103xe AirM2M Air32F103xE builtin + air32f103xg AirM2M Air32F103xG builtin + air32f103xp AirM2M Air32F103xP builtin + ama3b1kk_kbr Ambiq Micro AMA3B1KK_KBR builtin + cc3220sf Texas Instruments CC3220SF builtin + cortex_m Generic CoreSightTarget builtin + cy8c64_sysap Cypress cy8c64_sysap builtin + cy8c64x5_cm0 Cypress cy8c64x5_cm0 builtin + cy8c64x5_cm0_full_flash Cypress cy8c64x5_cm0_full_flash builtin + cy8c64x5_cm4 Cypress cy8c64x5_cm4 builtin + cy8c64x5_cm4_full_flash Cypress cy8c64x5_cm4_full_flash builtin + cy8c64xa_cm0 Cypress cy8c64xA_cm0 builtin + cy8c64xa_cm0_full_flash Cypress cy8c64xA_cm0_full_flash builtin + cy8c64xa_cm4 Cypress cy8c64xA_cm4 builtin + cy8c64xa_cm4_full_flash Cypress cy8c64xA_cm4_full_flash builtin + cy8c64xx_cm0 Cypress cy8c64xx_cm0 builtin + cy8c64xx_cm0_full_flash Cypress cy8c64xx_cm0_full_flash builtin + cy8c64xx_cm0_nosmif Cypress cy8c64xx_cm0_nosmif builtin + cy8c64xx_cm0_s25hx512t Cypress cy8c64xx_cm0_s25hx512t builtin + cy8c64xx_cm4 Cypress cy8c64xx_cm4 builtin + cy8c64xx_cm4_full_flash Cypress cy8c64xx_cm4_full_flash builtin + cy8c64xx_cm4_nosmif Cypress cy8c64xx_cm4_nosmif builtin + cy8c64xx_cm4_s25hx512t Cypress cy8c64xx_cm4_s25hx512t builtin + cy8c6xx5 Cypress CY8C6xx5 builtin + cy8c6xx7 Cypress CY8C6xx7 builtin + cy8c6xx7_nosmif Cypress CY8C6xx7_nosmif builtin + cy8c6xx7_s25fs512s Cypress CY8C6xx7_S25FS512S builtin + cy8c6xxa Cypress CY8C6xxA builtin + hc32a448 HDSC HC32F448xC builtin + hc32a448xa HDSC HC32F448xA builtin + hc32a448xc HDSC HC32F448xC builtin + hc32a460 HDSC HC32F460xE builtin + hc32a460xe HDSC HC32F460xE builtin + hc32a4a0 HDSC HC32F4A0xI builtin + hc32a4a0xi HDSC HC32F4A0xI builtin + hc32f003 HDSC HC32F003 builtin + hc32f005 HDSC HC32F005 builtin + hc32f030 HDSC HC32F030 builtin + hc32f072 HDSC HC32F072 builtin + hc32f115 HDSC HC32F115x8 builtin + hc32f115x8 HDSC HC32F115x8 builtin + hc32f120 HDSC HC32F120x8TA builtin + hc32f120x6 HDSC HC32F120x6TA builtin + hc32f120x8 HDSC HC32F120x8TA builtin + hc32f155 HDSC HC32F155xC builtin + hc32f155xa HDSC HC32F155xA builtin + hc32f155xc HDSC HC32F155xC builtin + hc32f160 HDSC HC32F160xC builtin + hc32f160xa HDSC HC32F160xA builtin + hc32f160xc HDSC HC32F160xC builtin + 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pyocd_utils: FLEXRAM + load ELF + run + conftest.uart → pyserial: открыть VCOM, ждать READY + тесты → uart_cmd() → assert + +Запуск: + uv run pytest test_uart.py -v + uv run pytest test_uart.py -v -m smoke + uv run pytest test_uart.py -v --no-load # ELF уже запущен +""" + +import pytest +from conftest import uart_cmd + + +class TestUartBasic: + """Базовые тесты UART CLI — канал host↔target.""" + + @pytest.fixture(autouse=True) + def _setup(self, loaded_host_uart, uart): + """loaded_host_uart гарантирует что ELF загружен и READY получен.""" + self.ser = uart + + # ------------------------------------------------------------------ + @pytest.mark.smoke + def test_ping(self): + """PING → PONG: канал работает в обе стороны.""" + assert uart_cmd(self.ser, "PING") == "PONG" + + @pytest.mark.smoke + def test_ping_repeated(self): + """Десять PING подряд — нет зависаний, нет потерь.""" + for i in range(10): + assert uart_cmd(self.ser, "PING") == "PONG", f"Сбой на итерации {i}" + + # ------------------------------------------------------------------ + def test_echo_simple(self): + assert uart_cmd(self.ser, "ECHO hello") == "hello" + + def test_echo_with_spaces(self): + assert uart_cmd(self.ser, "ECHO hello world") == "hello world" + + def test_echo_digits(self): + assert uart_cmd(self.ser, "ECHO 12345") == "12345" + + def test_echo_max_payload(self): + """Строка близкая к CLI_LINE_MAX (128) - 5 (prefix 'ECHO ').""" + payload = "x" * 100 + assert uart_cmd(self.ser, f"ECHO {payload}") == payload + + # ------------------------------------------------------------------ + def test_buf_size(self): + """UART_BUF_SIZE возвращает значение совпадающее с прошивкой (512).""" + resp = uart_cmd(self.ser, "UART_BUF_SIZE") + assert resp.isdigit(), f"Ожидалось число, получили: {resp!r}" + assert int(resp) == 512 + + # ------------------------------------------------------------------ + def test_unknown_command(self): + """Неизвестная команда → ERR_UNKNOWN (прошивка не зависает).""" 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