sl-firmware
8bc2f9eeac
- can_driver: add filter bank 15 (all ext IDs → FIFO1) and widen bank 14 to accept all standard IDs; add can_driver_send_ext/std and ext/std frame callbacks (can_driver_set_ext_cb / can_driver_set_std_cb) - vesc_can: VESC 29-bit extended CAN protocol driver — send RPM to IDs 56 and 68 (FSESC 6.7 Pro Mini Dual), parse STATUS/STATUS_4/STATUS_5 big-endian payloads, alive timeout, JLINK_TLM_VESC_STATE at 1 Hz - orin_can: Orin↔FC standard CAN protocol — HEARTBEAT/DRIVE/MODE/ESTOP commands in, FC_STATUS + FC_VESC broadcast at 10 Hz - jlink: add JLINK_TLM_VESC_STATE (0x8E), jlink_tlm_vesc_state_t (22 bytes), jlink_send_vesc_state_tlm() - main: wire vesc_can_init/orin_can_init; replace can_driver_send_cmd with vesc_can_send_rpm; inject Orin CAN speed/steer into balance PID; add Orin CAN estop/clear handling; add orin_can_broadcast at 10 Hz - test: 56-test host-side suite for vesc_can; test/stubs/stm32f7xx_hal.h minimal HAL stub for all future host-side tests Safety: balance PID runs independently on Mamba — if Orin CAN link drops (orin_can_is_alive() == false) the robot continues balancing in-place. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
127 lines
4.1 KiB
C
127 lines
4.1 KiB
C
/* test/stubs/stm32f7xx_hal.h — minimal HAL stub for host-side unit tests.
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*
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* Provides just enough types and functions so that the firmware source files
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* compile on a host (Linux/macOS) with -DTEST_HOST.
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* Each test file must define the actual behavior of HAL_GetTick() etc.
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*/
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#ifndef STM32F7XX_HAL_H
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#define STM32F7XX_HAL_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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/* ---- Return codes ---- */
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#define HAL_OK 0
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#define HAL_ERROR 1
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#define HAL_BUSY 2
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#define HAL_TIMEOUT 3
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typedef uint32_t HAL_StatusTypeDef;
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/* ---- Enable / Disable ---- */
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#define ENABLE 1
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#define DISABLE 0
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/* ---- HAL_GetTick: each test declares its own implementation ---- */
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uint32_t HAL_GetTick(void);
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/* ---- Minimal CAN types used by can_driver.c / vesc_can.c ---- */
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typedef struct { uint32_t dummy; } CAN_TypeDef;
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typedef struct {
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uint32_t Prescaler;
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uint32_t Mode;
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uint32_t SyncJumpWidth;
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uint32_t TimeSeg1;
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uint32_t TimeSeg2;
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uint32_t TimeTriggeredMode;
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uint32_t AutoBusOff;
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uint32_t AutoWakeUp;
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uint32_t AutoRetransmission;
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uint32_t ReceiveFifoLocked;
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uint32_t TransmitFifoPriority;
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} CAN_InitTypeDef;
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typedef struct {
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CAN_TypeDef *Instance;
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CAN_InitTypeDef Init;
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/* opaque HAL internals omitted */
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} CAN_HandleTypeDef;
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typedef struct {
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uint32_t StdId;
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uint32_t ExtId;
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uint32_t IDE;
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uint32_t RTR;
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uint32_t DLC;
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uint32_t Timestamp;
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uint32_t FilterMatchIndex;
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} CAN_RxHeaderTypeDef;
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typedef struct {
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uint32_t StdId;
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uint32_t ExtId;
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uint32_t IDE;
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uint32_t RTR;
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uint32_t DLC;
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uint32_t TransmitGlobalTime;
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} CAN_TxHeaderTypeDef;
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typedef struct {
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uint32_t FilterIdHigh;
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uint32_t FilterIdLow;
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uint32_t FilterMaskIdHigh;
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uint32_t FilterMaskIdLow;
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uint32_t FilterFIFOAssignment;
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uint32_t FilterBank;
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uint32_t FilterMode;
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uint32_t FilterScale;
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uint32_t FilterActivation;
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uint32_t SlaveStartFilterBank;
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} CAN_FilterTypeDef;
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#define CAN_ID_STD 0x00000000u
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#define CAN_ID_EXT 0x00000004u
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#define CAN_RTR_DATA 0x00000000u
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#define CAN_RTR_REMOTE 0x00000002u
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#define CAN_FILTERMODE_IDMASK 0u
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#define CAN_FILTERSCALE_32BIT 1u
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#define CAN_RX_FIFO0 0u
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#define CAN_RX_FIFO1 1u
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#define CAN_FILTER_ENABLE 1u
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#define CAN_MODE_NORMAL 0u
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#define CAN_SJW_1TQ 0u
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#define CAN_BS1_13TQ 0u
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#define CAN_BS2_4TQ 0u
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#define CAN_ESR_BOFF 0x00000004u
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static inline HAL_StatusTypeDef HAL_CAN_Init(CAN_HandleTypeDef *h){(void)h;return HAL_OK;}
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static inline HAL_StatusTypeDef HAL_CAN_ConfigFilter(CAN_HandleTypeDef *h, CAN_FilterTypeDef *f){(void)h;(void)f;return HAL_OK;}
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static inline HAL_StatusTypeDef HAL_CAN_Start(CAN_HandleTypeDef *h){(void)h;return HAL_OK;}
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static inline uint32_t HAL_CAN_GetTxMailboxesFreeLevel(CAN_HandleTypeDef *h){(void)h;return 3u;}
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static inline HAL_StatusTypeDef HAL_CAN_AddTxMessage(CAN_HandleTypeDef *h, CAN_TxHeaderTypeDef *hdr, uint8_t *d, uint32_t *mb){(void)h;(void)hdr;(void)d;(void)mb;return HAL_OK;}
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static inline uint32_t HAL_CAN_GetRxFifoFillLevel(CAN_HandleTypeDef *h, uint32_t f){(void)h;(void)f;return 0u;}
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static inline HAL_StatusTypeDef HAL_CAN_GetRxMessage(CAN_HandleTypeDef *h, uint32_t f, CAN_RxHeaderTypeDef *hdr, uint8_t *d){(void)h;(void)f;(void)hdr;(void)d;return HAL_OK;}
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/* ---- GPIO (minimal, for can_driver GPIO init) ---- */
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typedef struct { uint32_t dummy; } GPIO_TypeDef;
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typedef struct {
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uint32_t Pin; uint32_t Mode; uint32_t Pull; uint32_t Speed; uint32_t Alternate;
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} GPIO_InitTypeDef;
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static inline void HAL_GPIO_Init(GPIO_TypeDef *p, GPIO_InitTypeDef *g){(void)p;(void)g;}
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#define GPIOB ((GPIO_TypeDef *)0)
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#define GPIO_PIN_12 (1u<<12)
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#define GPIO_PIN_13 (1u<<13)
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#define GPIO_MODE_AF_PP 0u
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#define GPIO_NOPULL 0u
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#define GPIO_SPEED_FREQ_HIGH 0u
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#define GPIO_AF9_CAN2 9u
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/* ---- RCC stubs ---- */
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#define __HAL_RCC_CAN1_CLK_ENABLE() ((void)0)
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#define __HAL_RCC_CAN2_CLK_ENABLE() ((void)0)
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#define __HAL_RCC_GPIOB_CLK_ENABLE() ((void)0)
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#endif /* STM32F7XX_HAL_H */
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