mawei/StarPilot
1
0
Fork 0
mirror of https://github.com/firestar5683/StarPilot.git synced 2026-11-04 11:33:47 +08:00
Code Issues Packages Projects Releases Wiki Activity

Exercise native timer and interrupt health in siren harness

Browse Source
This commit is contained in:
Dom
2026-11-03 14:43:02 -06:00
parent 5f2caf8249
commit e6f1ad93ee
2 changed files with 106 additions and 11 deletions
Download Patch File Download Diff File Expand all files Collapse all files
openpilot/starpilot/aol/tests/test_panda_siren.py
+105 -10
View File
@@ -1,7 +1,8 @@
"""Host heartbeat -> native USB handlers -> safety RX -> actual 8 Hz siren tick.
Hardware IO is stubbed. The compiled tick and USB cases are extracted verbatim
from production sources, and permissions come from real Toyota CAN RX hooks.
Hardware IO is modeled. The compiled tick, timer/interrupt health checks, fault
recording and USB cases are extracted verbatim from production sources, and
permissions come from real Toyota CAN RX hooks.
"""
import ctypes
import re
@@ -30,19 +31,58 @@ def native_template(tmp_path_factory, request):
tick = main[main.index('// go into SILENT'):main.index('\nint main(void)')]
comms = (ROOT / 'panda/board/main_comms.h').read_text()
cases = ''.join(usb_case(comms, r) for r in ('f3', 'f5', 'f6'))
drivers = (ROOT / 'panda/board/drivers/drivers.h').read_text()
declarations = drivers[drivers.index('typedef struct interrupt'):drivers.index('// ******************** registers')]
utils = (ROOT / 'panda/board/utils.h').read_text()
elapsed = re.search(r'uint32_t get_ts_elapsed\(.*?\n\}', utils, re.S)
assert elapsed is not None
timers = (ROOT / 'panda/board/drivers/timers.h').read_text()
timer_check = timers[timers.index('bool timer_check('):timers.index('\nvoid interrupt_timer_init(')]
interrupts = (ROOT / 'panda/board/drivers/interrupts.h').read_text()
interrupts = interrupts[interrupts.index('static void unused_interrupt_handler'):]
sys = (ROOT / 'panda/board/sys/sys.h').read_text()
faults = sys[sys.index('#define FAULT_STATUS_NONE'):sys.index('// ******************** power_saving')]
fault_impl = (ROOT / 'panda/board/sys/faults.h').read_text()
faults += fault_impl[fault_impl.index('uint8_t fault_status'):]
code = r'''
#include "opendbc/safety/tests/libsafety/safety.c"
uint32_t heartbeat_counter, heartbeat_tick_counter, uptime_cnt, ignition_can_cnt, wake_on_can_cnt;
uint32_t voltage = 12000U;
bool heartbeat_lost, heartbeat_disabled, siren_enabled, ignition_can, wake_on_can, power_save_enabled;
bool ignition_line = true, siren_output;
struct { uint32_t SR; } timer;
struct { uint32_t SR; } timer, interrupt_timer;
#define TICK_TIMER (&timer)
#define INTERRUPT_TIMER (&interrupt_timer)
// STM32F413 register/IRQ layout; only hardware access is modeled.
#define TIM_SR_UIF 1U
#define NUM_INTERRUPTS 102U
#define TICK_TIMER_IRQ 24U
#define INTERRUPT_TIMER_IRQ 54U
typedef uint32_t IRQn_Type;
struct { uint32_t ISER[8]; uint8_t IP[240]; } nvic;
#define NVIC (&nvic)
#define ENTER_CRITICAL() ((void)0)
#define EXIT_CRITICAL() ((void)0)
uint32_t current_irq;
uint32_t __get_IPSR(void) { return current_irq + 16U; }
uint32_t __CLZ(uint32_t value) { return value ? __builtin_clz(value) : 32U; }
uint32_t __RBIT(uint32_t value) {
uint32_t reversed = 0U;
for (uint32_t i = 0U; i < 32U; i++) { reversed = (reversed << 1U) | (value & 1U); value >>= 1U; }
return reversed;
}
void NVIC_EnableIRQ(IRQn_Type irq) { NVIC->ISER[irq >> 5U] |= 1U << (irq & 31U); }
void NVIC_DisableIRQ(IRQn_Type irq) { NVIC->ISER[irq >> 5U] &= ~(1U << (irq & 31U)); }
// Register setup is hardware IO; the timer ISR and its health checks below are real.
void interrupt_timer_init(void) {}
void fault_safe_state(void) { abort(); }
void print(const char *s) { (void)s; }
void puth(uint32_t n) { (void)n; }
''' + declarations + faults + elapsed[0] + '\n' + timer_check + interrupts + r'''
#define HARNESS_STATUS_NC 0U
#define HARNESS_STATUS_FLIPPED 2U
#define LED_GREEN 0U
#define LED_BLUE 1U
#define FAULT_RELAY_MALFUNCTION 1U
struct { uint8_t status; } harness;
void noop(void) {}
uint32_t read_voltage(void) { return voltage; }
@@ -58,14 +98,10 @@ struct { uint32_t (*read_voltage_mV)(void); void (*set_siren)(bool);
#define sound_tick noop
#define can_init_all noop
#define check_registers noop
void fault_occurred(uint32_t f) { (void)f; }
void fault_recovered(uint32_t f) { (void)f; }
void can_set_orientation(bool flipped) { (void)flipped; }
void led_set(uint8_t color, bool enabled) { (void)color; (void)enabled; }
void bootkick_tick(bool started, bool recent, bool wake) { (void)started; (void)recent; (void)wake; }
void fan_set_power(uint8_t power) { (void)power; }
void print(const char *s) { (void)s; }
void puth(uint32_t n) { (void)n; }
bool panda_ignition_line(void) { return ignition_line; }
bool is_car_safety_mode(uint16_t mode) {
return mode != SAFETY_SILENT && mode != SAFETY_NOOUTPUT && mode != SAFETY_ALLOUTPUT && mode != SAFETY_ELM327;
@@ -81,11 +117,28 @@ void test_usb(uint16_t request, uint16_t param1) {
}
}
bool test_heartbeat_lost(void) { return heartbeat_lost; }
void test_native_init(void) {
init_interrupts(true);
REGISTER_INTERRUPT(TICK_TIMER_IRQ, tick_handler, 10U, FAULT_INTERRUPT_RATE_TICK)
interrupts[TICK_TIMER_IRQ].min_call_rate = 4U;
REGISTER_INTERRUPT(INTERRUPT_TIMER_IRQ, interrupt_timer_handler, 2U, FAULT_INTERRUPT_RATE_INTERRUPTS)
nvic_enable(TICK_TIMER_IRQ);
nvic_enable(INTERRUPT_TIMER_IRQ);
}
uint32_t test_faults(void) { return faults; }
void test_tick(bool powered, bool started) {
voltage = powered ? 12000U : 5000U;
ignition_line = started;
timer.SR = 1U;
tick_handler();
// Model the independent 1 Hz interrupt timer alongside the 8 Hz tick.
static uint32_t ticks = 0U;
if ((ticks++ % 8U) == 0U) {
interrupt_timer.SR = TIM_SR_UIF;
current_irq = INTERRUPT_TIMER_IRQ;
handle_interrupt(INTERRUPT_TIMER_IRQ);
}
timer.SR = TIM_SR_UIF;
current_irq = TICK_TIMER_IRQ;
handle_interrupt(TICK_TIMER_IRQ);
}
bool test_siren(void) { return siren_output; }
'''
@@ -109,6 +162,8 @@ def native(tmp_path, native_template):
io.test_tick.argtypes = [ctypes.c_bool, ctypes.c_bool]
io.test_siren.restype = ctypes.c_bool
io.test_heartbeat_lost.restype = ctypes.c_bool
io.test_faults.restype = ctypes.c_uint32
io.test_native_init()
yield safety, io
@@ -207,6 +262,7 @@ class Loop:
if no_output:
assert self.safety.set_safety_hooks(19, 0) == 0
self.io.test_tick(powered, started)
assert self.io.test_faults() == 0
return self.io.test_siren()
@@ -321,3 +377,42 @@ def test_main_off_workaround_expires_last_activity(native, host, word):
for _ in range(40):
assert not loop.step(main=False, cruise=False, mask=0, retain=False)
assert not any(loop.step(main=False, heartbeat=False, powered=False, started=False) for _ in range(24))
@pytest.mark.parametrize('status', [0, 2], ids=['no-status', 'non-update-status'])
def test_tick_without_update_flag_records_fault(native, status):
_, io = native
ctypes.c_uint32.in_dll(io, 'timer').value = status
io.handle_interrupt(24) # TIM1_BRK_TIM9_IRQn in the modeled STM32F413.
assert io.test_faults() == (1 << 1) # FAULT_UNUSED_INTERRUPT_HANDLED
assert ctypes.c_uint32.in_dll(io, 'heartbeat_tick_counter').value == 0
@pytest.mark.parametrize('field', ['enabled', 'priority'])
def test_nvic_divergence_records_fault(native, field):
_, io = native
class Nvic(ctypes.Structure):
_fields_ = [('enabled', ctypes.c_uint32 * 8), ('priority', ctypes.c_uint8 * 240)]
getattr(Nvic.in_dll(io, 'nvic'), field)[0] ^= 1
io.nvic_check()
assert io.test_faults() == (1 << 18) # FAULT_REGISTER_DIVERGENT
def test_missing_interrupt_timer_records_fault(native):
_, io = native
io.interrupt_timer_check()
assert io.test_faults() == 0 # One missed window is allowed for drift.
io.interrupt_timer_check()
assert io.test_faults() == (1 << 17) # FAULT_INTERRUPT_MISSING
def test_bad_timer_period_records_fault(native):
safety, io = native
for tick in range(25):
safety.set_timer(1_000_000 + (tick + 1) * 250_000) # Half the expected clock rate.
io.test_tick(True, True)
if tick < 24:
assert io.test_faults() == 0 # Two successive bad periods are required.
assert io.test_faults() == (1 << 29) # FAULT_TIMER
prebuilt.json
+1 -1
View File
@@ -1 +1 @@
{"protected_inventory_sha256": "9abddf7663d192e4e133f9de88b9b4b8f1c769c5af0238e86086c45e6fb8b188", "schema_version": 1}
{"protected_inventory_sha256": "0504326a1116663a723fc22a226490e85c6ffa594c1cd94e22235d63af5b0438", "schema_version": 1}