# 6

- 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

@@ -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

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": [

TODO-HIL.md

@@ -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 <code>`
-    - `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
-└── ...

bsp/CMakeLists.txt

@@ -6,10 +6,7 @@ endif()
 # bsp_board — стартап, сгенерированные файлы Config Tools, инициализация платы
 # -----------------------------------------------------------------------------
 
-add_library(
+add_library(bsp_board STATIC generated/board.c generated/pin_mux.c)
-  bsp_board STATIC
-  generated/board.c generated/pin_mux.c generated/clock_config.c
-  generated/startup/startup_MIMXRT1052.S)
 
 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(
+target_compile_definitions(bsp_board PUBLIC CPU_MIMXRT1052CVJ5B)
-  bsp_board PUBLIC CPU_MIMXRT1052CVJ5B SKIP_SYSCLK_INIT XIP_EXTERNAL_FLASH=1
-                   XIP_BOOT_HEADER_ENABLE=1 XIP_BOOT_HEADER_DCD_ENABLE=1)
 
 # 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
+add_library(bsp_boot_ram INTERFACE)
-# target)
+target_compile_definitions(bsp_boot_ram INTERFACE SKIP_SYSCLK_INIT)
-
-# 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)

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_ */

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);

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 = {

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()
 

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). */

firmware/test/CMakeLists.txt

@@ -2,9 +2,12 @@
 # производстве
 
 add_executable(firmware_test)
-
+set(BSP_GENERATED ${CMAKE_SOURCE_DIR}/bsp/generated)
-target_sources(firmware_test
+target_sources(
-               PRIVATE main.c ${PROJECT_SOURCE_DIR}/bsp/generated/syscalls.c)
+  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
+  PRIVATE bsp_board bsp_led bsp_tick bsp_uart_host bsp_boot_ram
-          # Опциональные библиотеки
           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
+# использования Flash/RAM после линковки -Map — генерировать map-файл для
-# map-файл для анализа размещения символов -T                   — линкерный
+# анализа размещения символов -T — линкерный скрипт с описанием карты памяти
-# скрипт с описанием карты памяти IMXRT1052
+# 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
 # -----------------------------------------------------------------------------

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);

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

tests/target/CMakeLists.txt

@@ -1,47 +1 @@
-# firmware/test/CMakeLists.txt Тестовая прошивка — входной контроль платы на
+add_subdirectory(host_uart)
-# 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 $<TARGET_FILE:firmware_test>
-          ${CMAKE_BINARY_DIR}/firmware_test.bin
-  COMMAND ${CMAKE_OBJCOPY} -O ihex $<TARGET_FILE:firmware_test>
-          ${CMAKE_BINARY_DIR}/firmware_test.hex
-  COMMAND ${CMAKE_SIZE} $<TARGET_FILE:firmware_test>
-  COMMENT "Generating firmware_test.bin")

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} $<TARGET_FILE:${TARGET_NAME}>
+  COMMENT "Size: ${TARGET_NAME}")

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 <text>    → <text>
+ *   UART_BUF_SIZE  → <BSP_UART_HOST_RX_BUFFER_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 <stdio.h>
+#include <string.h>
+
+/* -------------------------------------------------------------------------- */
+
+#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;
+}

tools/hil/.python-version

@@ -0,0 +1 @@
+3.10

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()

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!")

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)

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"

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  
+  hc32f190                  HDSC                     HC32F190                                builtin  
+  hc32f196                  HDSC                     HC32F196                                builtin  
+  hc32f334                  HDSC                     HC32F334xA                              builtin  
+  hc32f334x8                HDSC                     HC32F334x8                              builtin  
+  hc32f334xa                HDSC                     HC32F334xA                              builtin  
+  hc32f448                  HDSC                     HC32F448xC                              builtin  
+  hc32f448xa                HDSC                     HC32F448xA                              builtin  
+  hc32f448xc                HDSC                     HC32F448xC                              builtin  
+  hc32f451                  HDSC                     HC32F451xE                              builtin  
+  hc32f451xc                HDSC                     HC32F451xC                              builtin  
+  hc32f451xe                HDSC                     HC32F451xE                              builtin  
+  hc32f452                  HDSC                     HC32F452xE                              builtin  
+  hc32f452xc                HDSC                     HC32F452xC                              builtin  
+  hc32f452xe                HDSC                     HC32F452xE                              builtin  
+  hc32f460                  HDSC                     HC32F460xE                              builtin  
+  hc32f460xc                HDSC                     HC32F460xC                              builtin  
+  hc32f460xe                HDSC                     HC32F460xE                              builtin  
+  hc32f467                  HDSC                     HC32F467xG                              builtin  
+  hc32f467xg                HDSC                     HC32F467xG                              builtin  
+  hc32f472                  HDSC                     HC32F472xE                              builtin  
+  hc32f472xc                HDSC                     HC32F472xC                              builtin  
+  hc32f472xe                HDSC                     HC32F472xE                              builtin  
+  hc32f4a0                  HDSC                     HC32F4A0xI                              builtin  
+  hc32f4a0xg                HDSC                     HC32F4A0xG                              builtin  
+  hc32f4a0xi                HDSC                     HC32F4A0xI                              builtin  
+  hc32f4a2                  HDSC                     HC32F4A0xI                              builtin  
+  hc32f4a2xi                HDSC                     HC32F4A0xI                              builtin  
+  hc32l072                  HDSC                     HC32L072                                builtin  
+  hc32l073                  HDSC                     HC32L073                                builtin  
+  hc32l110                  HDSC                     HC32L110                                builtin  
+  hc32l130                  HDSC                     HC32L130                                builtin  
+  hc32l136                  HDSC                     HC32L136                                builtin  
+  hc32l190                  HDSC                     HC32L190                                builtin  
+  hc32l196                  HDSC                     HC32L196                                builtin  
+  hc32m120                  HDSC                     HC32M120                                builtin  
+  hc32m120x6                HDSC                     HC32M120                                builtin  
+  hc32m423xa                HDSC                     HC32M423xA                              builtin  
+  k20d50m                   NXP                      K20D50M                                 builtin  
+  k22f                      NXP                      K22F                                    builtin  
+  k22fa12                   NXP                      K22FA12                                 builtin  
+  k28f15                    NXP                      K28F15                                  builtin  
+  k32l2b3                   NXP                      K32L2B3                                 builtin  
+  k32w042s                  NXP                      K32W042S                                builtin  
+  k64f                      NXP                      K64F                                    builtin  
+  k66f18                    NXP                      K66F18                                  builtin  
+  k82f25615                 NXP                      K82F25615                               builtin  
+  ke15z7                    NXP                      KE15Z7                                  builtin  
+  ke17z7                    NXP                      KE17Z7                                  builtin  
+  ke18f16                   NXP                      KE18F16                                 builtin  
+  kinetis                   NXP                      Kinetis                                 builtin  
+  kl02z                     NXP                      KL02Z                                   builtin  
+  kl05z                     NXP                      KL05Z                                   builtin  
+  kl25z                     NXP                      KL25Z                                   builtin  
+  kl26z                     NXP                      KL26Z                                   builtin  
+  kl27z4                    NXP                      KL27Z4                                  builtin  
+  kl28z                     NXP                      KL28x                                   builtin  
+  kl43z4                    NXP                      KL43Z4                                  builtin  
+  kl46z                     NXP                      KL46Z                                   builtin  
+  kl82z7                    NXP                      KL82Z7                                  builtin  
+  kv10z7                    NXP                      KV10Z7                                  builtin  
+  kv11z7                    NXP                      KV11Z7                                  builtin  
+  kw01z4                    NXP                      KW01Z4                                  builtin  
+  kw24d5                    NXP                      KW24D5                                  builtin  
+  kw36z4                    NXP                      KW36Z4                                  builtin  
+  kw40z4                    NXP                      KW40Z4                                  builtin  
+  kw41z4                    NXP                      KW41Z4                                  builtin  
+  lpc11u24                  NXP                      LPC11U24                                builtin  
+  lpc11xx_32                NXP                      LPC11XX_32                              builtin  
+  lpc1768                   NXP                      LPC1768                                 builtin  
+  lpc4088                   NXP                      LPC4088                                 builtin  
+  lpc4088dm                 NXP                      LPC4088dm                               builtin  
+  lpc4088qsb                NXP                      LPC4088qsb                              builtin  
+  lpc4330                   NXP                      LPC4330                                 builtin  
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tools/hil/test_uart.py

@@ -0,0 +1,69 @@
+"""
+test_uart.py — HIL тест bsp_uart_host.
+
+Схема:
+  conftest.loaded_host_uart → 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)."""
+        assert uart_cmd(self.ser, "FOOBAR") == "ERR_UNKNOWN"
+
+    def test_unknown_then_ping(self):
+        """После неизвестной команды канал продолжает работать."""
+        uart_cmd(self.ser, "FOOBAR")
+        assert uart_cmd(self.ser, "PING") == "PONG"

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