b0e5b298fe
Implement a complete UM982 GNSS driver (um982_gps.h/.c) with: - NMEA parser for GGA, RMC, THS, VTG with multi-talker support (GP/GN/GL/GA/GB) - Correct coordinate parsing using decimal-point-based degree detection (fixes PR #68 bug: 3-digit longitude degrees) - Checksum verification on all incoming sentences - Non-blocking line assembler with ring buffer - Init sequence: UNLOG, HEADING FIXLENGTH, baseline config, NMEA enables, VERSIONA handshake (no SAVECONFIG to avoid NVM wear) - Validity/age checks with configurable timeouts Integration into main.cpp: - Replace TinyGPSPlus with UM982_GPS_t, UART5 baud 9600->115200 - Non-blocking um982_process() in main loop (single-byte UART reads) - GPS heading override with magnetometer fallback - Health check using um982_position_age() Test infrastructure: - 49 unit tests covering checksums, coordinate parsing, all sentence types, talker IDs, feed/assembly, validity, init sequence, edge cases - Mock HAL_UART_Receive with per-UART ring buffer for integration tests - All 72 MCU tests passing (23 existing + 49 new) Fixes all 12 bugs identified in PR #68 analysis (5 compile errors + 7 functional).
250 lines
7.8 KiB
C
250 lines
7.8 KiB
C
/*******************************************************************************
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* stm32_hal_mock.h -- Minimal STM32 HAL stubs for host-side unit testing
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*
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* Provides:
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* - Stub GPIO_TypeDef, SPI/I2C/UART/TIM handle types
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* - GPIO pin defines (GPIO_PIN_0..GPIO_PIN_15)
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* - GPIO port stub addresses (GPIOA..GPIOG)
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* - HAL function declarations (spy-layer implemented in stm32_hal_mock.c)
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* - Pin defines from BOTH main.h and adf4382a_manager.h (to test conflict)
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* - Misc types/constants needed by the real source files under test
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*
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* This file intentionally does NOT include the real stm32f7xx_hal.h.
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* It replaces it entirely for macOS compilation.
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******************************************************************************/
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#ifndef STM32_HAL_MOCK_H
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#define STM32_HAL_MOCK_H
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#include <stdint.h>
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#include <stdbool.h>
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#include <stddef.h>
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#include <string.h>
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#ifdef __cplusplus
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extern "C" {
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#endif
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/* ========================= Basic Types =========================== */
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typedef uint32_t HAL_StatusTypeDef;
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#define HAL_OK 0U
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#define HAL_ERROR 1U
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#define HAL_BUSY 2U
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#define HAL_TIMEOUT 3U
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#define HAL_MAX_DELAY 0xFFFFFFFFU
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#ifndef __NOP
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#define __NOP() ((void)0)
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#endif
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/* ========================= GPIO Types ============================ */
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typedef struct {
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uint32_t id; /* unique identifier for test assertions */
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} GPIO_TypeDef;
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typedef enum {
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GPIO_PIN_RESET = 0,
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GPIO_PIN_SET = 1
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} GPIO_PinState;
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/* GPIO pin bit masks (same as STM32 HAL) */
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#define GPIO_PIN_0 ((uint16_t)0x0001)
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#define GPIO_PIN_1 ((uint16_t)0x0002)
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#define GPIO_PIN_2 ((uint16_t)0x0004)
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#define GPIO_PIN_3 ((uint16_t)0x0008)
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#define GPIO_PIN_4 ((uint16_t)0x0010)
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#define GPIO_PIN_5 ((uint16_t)0x0020)
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#define GPIO_PIN_6 ((uint16_t)0x0040)
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#define GPIO_PIN_7 ((uint16_t)0x0080)
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#define GPIO_PIN_8 ((uint16_t)0x0100)
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#define GPIO_PIN_9 ((uint16_t)0x0200)
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#define GPIO_PIN_10 ((uint16_t)0x0400)
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#define GPIO_PIN_11 ((uint16_t)0x0800)
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#define GPIO_PIN_12 ((uint16_t)0x1000)
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#define GPIO_PIN_13 ((uint16_t)0x2000)
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#define GPIO_PIN_14 ((uint16_t)0x4000)
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#define GPIO_PIN_15 ((uint16_t)0x8000)
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/* GPIO port stubs -- each gets a distinct static instance */
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extern GPIO_TypeDef gpio_a, gpio_b, gpio_c, gpio_d, gpio_e, gpio_f, gpio_g;
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#define GPIOA (&gpio_a)
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#define GPIOB (&gpio_b)
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#define GPIOC (&gpio_c)
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#define GPIOD (&gpio_d)
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#define GPIOE (&gpio_e)
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#define GPIOF (&gpio_f)
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#define GPIOG (&gpio_g)
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/* ========================= Peripheral Handle Types ================ */
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typedef struct {
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uint32_t id;
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} SPI_HandleTypeDef;
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typedef struct {
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uint32_t id;
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} I2C_HandleTypeDef;
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typedef struct {
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uint32_t id;
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} UART_HandleTypeDef;
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typedef struct {
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uint32_t id;
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} TIM_HandleTypeDef;
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typedef struct {
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uint32_t id;
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} ADC_HandleTypeDef;
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/* ========================= Extern Peripheral Instances ============ */
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extern SPI_HandleTypeDef hspi1, hspi4;
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extern I2C_HandleTypeDef hi2c1, hi2c2;
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extern UART_HandleTypeDef huart3;
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extern UART_HandleTypeDef huart5; /* GPS UART */
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extern ADC_HandleTypeDef hadc3;
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extern TIM_HandleTypeDef htim3; /* Timer for DELADJ PWM */
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/* ========================= SPY / RECORDING LAYER ================== */
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/* Each HAL call is recorded in a ring buffer for test inspection */
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typedef enum {
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SPY_GPIO_WRITE,
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SPY_GPIO_READ,
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SPY_GPIO_TOGGLE,
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SPY_HAL_DELAY,
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SPY_HAL_GET_TICK,
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SPY_UART_TX,
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SPY_ADF4382_INIT,
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SPY_ADF4382_REMOVE,
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SPY_ADF4382_SET_OUT_POWER,
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SPY_ADF4382_SET_EN_CHAN,
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SPY_ADF4382_SET_TIMED_SYNC,
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SPY_ADF4382_SET_EZSYNC,
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SPY_ADF4382_SET_SW_SYNC,
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SPY_ADF4382_SPI_READ,
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SPY_AD9523_INIT,
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SPY_AD9523_SETUP,
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SPY_AD9523_STATUS,
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SPY_AD9523_SYNC,
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SPY_AD9523_REMOVE,
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SPY_NO_OS_UDELAY,
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SPY_ADS7830_MEASURE,
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SPY_TIM_PWM_START,
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SPY_TIM_PWM_STOP,
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SPY_TIM_SET_COMPARE,
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SPY_SPI_TRANSMIT_RECEIVE,
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SPY_SPI_TRANSMIT,
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SPY_UART_RX,
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} SpyCallType;
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typedef struct {
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SpyCallType type;
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void *port; /* GPIO port or NULL */
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uint16_t pin; /* GPIO pin or 0 */
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uint32_t value; /* pin state, delay ms, tick value, etc. */
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void *extra; /* device pointer, etc. */
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} SpyRecord;
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#define SPY_MAX_RECORDS 512
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extern SpyRecord spy_log[SPY_MAX_RECORDS];
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extern int spy_count;
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/* Reset spy log */
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void spy_reset(void);
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/* Read a specific spy record (returns NULL if index out of range) */
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const SpyRecord *spy_get(int index);
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/* Count records of a specific type */
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int spy_count_type(SpyCallType type);
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/* Find the Nth record of a given type (0-based). Returns index or -1. */
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int spy_find_nth(SpyCallType type, int n);
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/* ========================= Mock tick control ====================== */
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/* Set the value HAL_GetTick() will return */
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void mock_set_tick(uint32_t tick);
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/* Advance the mock tick by `delta` ms */
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void mock_advance_tick(uint32_t delta);
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/* ========================= Mock GPIO read returns ================= */
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/* Set the value HAL_GPIO_ReadPin will return for a specific port/pin */
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void mock_gpio_set_read(GPIO_TypeDef *port, uint16_t pin, GPIO_PinState val);
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/* ========================= HAL Function Declarations ============== */
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void HAL_GPIO_WritePin(GPIO_TypeDef *GPIOx, uint16_t GPIO_Pin, GPIO_PinState PinState);
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GPIO_PinState HAL_GPIO_ReadPin(GPIO_TypeDef *GPIOx, uint16_t GPIO_Pin);
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void HAL_GPIO_TogglePin(GPIO_TypeDef *GPIOx, uint16_t GPIO_Pin);
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uint32_t HAL_GetTick(void);
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void HAL_Delay(uint32_t Delay);
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HAL_StatusTypeDef HAL_UART_Transmit(UART_HandleTypeDef *huart, const uint8_t *pData, uint16_t Size, uint32_t Timeout);
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HAL_StatusTypeDef HAL_UART_Receive(UART_HandleTypeDef *huart, uint8_t *pData, uint16_t Size, uint32_t Timeout);
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/* ========================= Mock UART RX buffer ======================= */
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/* Inject bytes into the mock UART RX buffer for a specific UART handle.
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* HAL_UART_Receive will return these bytes one at a time. */
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#define MOCK_UART_RX_BUF_SIZE 2048
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void mock_uart_rx_load(UART_HandleTypeDef *huart, const uint8_t *data, uint16_t len);
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void mock_uart_rx_clear(UART_HandleTypeDef *huart);
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/* Capture buffer for UART TX data (to verify commands sent to GPS module) */
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#define MOCK_UART_TX_BUF_SIZE 2048
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extern uint8_t mock_uart_tx_buf[MOCK_UART_TX_BUF_SIZE];
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extern uint16_t mock_uart_tx_len;
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void mock_uart_tx_clear(void);
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/* ========================= SPI stubs ============================== */
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HAL_StatusTypeDef HAL_SPI_TransmitReceive(SPI_HandleTypeDef *hspi, uint8_t *pTxData, uint8_t *pRxData, uint16_t Size, uint32_t Timeout);
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HAL_StatusTypeDef HAL_SPI_Transmit(SPI_HandleTypeDef *hspi, uint8_t *pData, uint16_t Size, uint32_t Timeout);
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/* ========================= no_os compat layer ===================== */
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void no_os_udelay(uint32_t usecs);
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void no_os_mdelay(uint32_t msecs);
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/* ========================= TIM / PWM stubs ======================== */
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#define TIM_CHANNEL_1 0x00U
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#define TIM_CHANNEL_2 0x04U
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#define TIM_CHANNEL_3 0x08U
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#define TIM_CHANNEL_4 0x0CU
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HAL_StatusTypeDef HAL_TIM_PWM_Start(TIM_HandleTypeDef *htim, uint32_t Channel);
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HAL_StatusTypeDef HAL_TIM_PWM_Stop(TIM_HandleTypeDef *htim, uint32_t Channel);
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void mock_tim_set_compare(TIM_HandleTypeDef *htim, uint32_t Channel, uint32_t Compare);
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/* Macro form that the real STM32 HAL uses */
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#define __HAL_TIM_SET_COMPARE(__HANDLE__, __CHANNEL__, __COMPARE__) \
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mock_tim_set_compare((__HANDLE__), (__CHANNEL__), (__COMPARE__))
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/* ========================= ADS7830 stub =========================== */
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uint8_t ADS7830_Measure_SingleEnded(ADC_HandleTypeDef *hadc, uint8_t channel);
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/* ========================= Printf stub ============================ */
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/* Allow printf to work normally (it's libc), but we silence it during tests
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* if desired via a global flag. */
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extern int mock_printf_enabled;
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#ifdef __cplusplus
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}
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#endif
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#endif /* STM32_HAL_MOCK_H */
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