Merge pull request #106 from davefiddes/build-improvements

Build improvements

.github/workflows/CI-build.yml

@@ -0,0 +1,47 @@
+name: CI
+on:
+  push:
+  pull_request:
+
+jobs:
+  build:
+    name: build-linux
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v4
+        with:
+          submodules: recursive
+
+      - name: Install build package dependencies
+        run: |
+          sudo apt-get update
+          sudo apt-get install gcc-arm-none-eabi
+
+      - name: Build dependencies
+        run: |
+          echo "Number of processors:" `nproc`
+          make get-deps -j `nproc`
+
+      - name: Build Stm32-vcu firmware
+        run: |
+          make
+
+      - uses: actions/upload-artifact@v4
+        with:
+          name: Stm32-vcu firmware binary
+          path: stm32_vcu.bin
+
+      - uses: actions/upload-artifact@v4
+        with:
+          name: Stm32-vcu firmware hex
+          path: stm32_vcu.hex
+
+      - name: Build unit tests on host
+        run: |
+          make Test
+
+      - name: Run unit tests on host
+        run: |
+          test/test_vcu

.vscode/launch.json

@@ -36,6 +36,23 @@
             ],
             "externalConsole": false,
             "cwd": "${workspaceFolder}"
+        },
+        {
+            "name": "test_vcu debug with gdb",
+            "type": "cppdbg",
+            "request": "launch",
+            "program": "${workspaceFolder}/test/test_vcu",
+            "cwd": "${workspaceFolder}",
+            "setupCommands": [
+                {
+                    "description": "Enable pretty-printing for gdb",
+                    "text": "-enable-pretty-printing",
+                    "ignoreFailures": true
+                },
+                {
+                    "text": "set output-radix 16"
+                }
+            ]
         }
     ]
 }

Makefile

@@ -62,6 +62,24 @@ Q := @
 NULL := 2>/dev/null
 endif
 
+# try-run
+# Usage: option = $(call try-run, command,option-ok,otherwise)
+# Exit code chooses option.
+try-run = $(shell set -e;		\
+	if ($(1)) >/dev/null 2>&1;	\
+	then echo "$(2)";		\
+	else echo "$(3)";		\
+	fi)
+
+# Test a linker (ld) option and return the gcc link command equivalent
+comma := ,
+link_command := -Wl$(comma)
+ld-option = $(call try-run, $(PREFIX)-ld $(1) -v,$(link_command)$(1))
+
+# Test whether we can suppress a safe warning about rwx segments
+# only supported on binutils 2.39 or later
+LDFLAGS	+= $(call ld-option,--no-warn-rwx-segments)
+
 all: directories images
 Debug:images
 Release: images

README.md

@@ -1,4 +1,7 @@
 # stm32-vcu
+
+[![Build status](../../actions/workflows/CI-build.yml/badge.svg)](../../actions/workflows/CI-build.yml)
+
 Project based on the OpenInverter System by Johannes Huebner to provide a universal VCU (Vehicle Control Unit) for electric vehicle conversion projects. 
 
 Please visit the development thread on the Openinverter Forum for more information : https://openinverter.org/forum/viewtopic.php?f=3&t=1277
@@ -51,15 +54,13 @@ Now you can compile stm32-vcu by typing
 
 # Tests
 
-`cd tests`
-
 Build the tests
 
-`make`
+`make Tests`
 
 Run the tests
 
-`./test_vcu`
+`./test/test_vcu`
 
 And upload it to your board using a JTAG/SWD adapter, the updater.py script or the esp8266 web interface
 

include/stm32_vcu.h

@@ -78,7 +78,7 @@
 #include "dcdc.h"
 #include "TeslaDCDC.h"
 #include "BMW_E31.h"
-#include "DigiPot.h"
+#include "digipot.h"
 #include "shifter.h"
 #include "F30_Lever.h"
 #include "E65_Lever.h"

include/utils.h

@@ -1,27 +1,19 @@
 #ifndef UTILS_H
 #define UTILS_H
 
-#include "BMW_E65.h"
-#include "my_fp.h"
-#include "my_math.h"
-#include "errormessage.h"
-#include "params.h"
-#include "digio.h"
-#include <libopencm3/stm32/rtc.h>
-#include "canhardware.h"
-#include "anain.h"
-#include "throttle.h"
-#include "isa_shunt.h"
-#include "bmw_sbox.h"
-#include "vag_sbox.h"
 #include "vehicle.h"
 #include "shifter.h"
-#include <libopencm3/stm32/timer.h>
-#include "iomatrix.h"
+
+#include "canhardware.h"
+#include "errormessage.h"
 
 namespace utils
 {
-    int32_t change(int32_t, int32_t, int32_t, int32_t, int32_t);
+    inline int32_t change(int32_t x, int32_t in_min, int32_t in_max, int32_t out_min, int32_t out_max)
+    {
+        return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
+    }
+
     float GetUserThrottleCommand(CanHardware*);
     float ProcessThrottle(int);
     float ProcessUdc(int);

src/BMW_E31.cpp

@@ -18,6 +18,7 @@
  */
 #include "BMW_E31.h"
 #include "hwinit.h"
+#include "my_math.h"
 #include <libopencm3/stm32/timer.h>
 #include <libopencm3/stm32/gpio.h>
 /*

src/BMW_E39.cpp

@@ -20,6 +20,7 @@
 #include "stm32_can.h"
 #include "utils.h"
 #include "digio.h"
+#include "my_math.h"
 
 static uint8_t counter_329 = 0;
 static uint8_t ABSMsg = 0;

src/BMW_E65.cpp

@@ -371,7 +371,7 @@ void BMW_E65::Engine_Data()
 
 }
 
-bool BMW_E65::GetGear(Vehicle::gear& outGear)
+bool BMW_E65::GetGear(Vehicle::gear& outGear __attribute__((unused)))
 {
     return false;
 }

src/utils.cpp

@@ -1,5 +1,14 @@
 #include "utils.h"
 
+#include "iomatrix.h"
+#include "throttle.h"
+#include "vag_sbox.h"
+#include "bmw_sbox.h"
+#include "isa_shunt.h"
+#include "my_math.h"
+#include <libopencm3/stm32/timer.h>
+#include <libopencm3/stm32/rtc.h>
+
 namespace utils
 {
 
@@ -8,12 +17,6 @@ namespace utils
 float SOCVal=0;
 int32_t NetWh=0;
 
-
-int32_t change(int32_t x, int32_t in_min, int32_t in_max, int32_t out_min, int32_t out_max)
-{
-    return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
-}
-
 void PostErrorIfRunning(ERROR_MESSAGE_NUM err)
 {
     if (Param::GetInt(Param::opmode) == MOD_RUN)

test/Makefile

@@ -2,11 +2,11 @@ CC		= gcc
 CPP	= g++
 LD		= g++
 CP		= cp
-CFLAGS    = -std=c99 -g -I../include -I../libopeninv/include
-CPPFLAGS    = -g -I../include -I../libopeninv/include
+CFLAGS    = -std=c99 -ggdb -I../include -I../libopeninv/include
+CPPFLAGS    = -ggdb -I../include -I../libopeninv/include
 LDFLAGS     = -g
 BINARY		= test_vcu
-OBJS		= test_main.o my_string.o throttle.o test_throttle.o
+OBJS		= test_main.o my_string.o params.o throttle.o test_throttle.o
 VPATH = ../src ../libopeninv/src
 
 all: $(BINARY)

test/test_throttle.cpp

@@ -26,12 +26,22 @@
 
 using namespace std;
 
+void Param::Change(Param::PARAM_NUM p)
+{
+   // Dummy function - we ignore parameter changes in these tests
+}
+
+// Include a dummy error list to allow the tests to link. It is unused.
+const char* errorListString = "";
+
 static void TestSetup()
 {
    //percentage of deadzone
    Throttle::throtdead = 5;
    Throttle::potmin[0] = 100;
    Throttle::potmax[0] = 4000;
+   Throttle::throtmax = 100;
+   Param::SetInt(Param::dir, 1);
 }
 
 // TEMPERATURE DERATING
@@ -82,7 +92,7 @@ static void TestCalcThrottleIs0WhenInDeadZone() {
 
 static void TestCalcThrottleIsAbove0WhenJustOutOfDeadZone() {
    //deadzone is first 5% of travel between 100 and 4000
-   ASSERT(Throttle::CalcThrottle(296, 0, false) > 0);
+   ASSERT(Throttle::CalcThrottle(496, 0, false) > 0);
 }
 
 static void TestCalcThrottleIs100WhenMax() {