A2：HAL 接口（i2c/gpio/pwm/time）+ sim 与 ESP 两套实现
接口在 components/phonerail_hal/include/，宿主机链 sim/、ESP32-S3 链 esp/ （IDF v5.4 新版 i2c_master / gpio / LEDC / esp_timer）。 sim 提供 A3 起要用的假板子控制面：假 I²C 器件（寄存器表 + 大端 + 指针自增）、 可注入 NAK / 器件失联、GPIO 外部驱动与写计数、虚拟时钟。 组件名不叫 hal —— ESP-IDF 自己有 components/hal（driver 依赖它），同名会盖掉。 验收：bash host/test.sh → 3 条 ctest 全过；build_idf.ps1 → 编过且零警告。 Co-Authored-By: Claude Opus 5 <[email protected]> Claude-Session: https://claude.ai/code/session_01QYuExfgyYa6DzRRcUso8M8
这个提交包含在：
zhou yang
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/* A2 验收主项：能在假总线上挂一个器件并读回预置值。
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顺带把「器件失联 / 偶发 NAK」这两种后面 A15 要用的故障注入也测掉。 */
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#include <string.h>
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#include "sim_hal.h"
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#include "unity.h"
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#define INA226_CH1 0x40 /* 设计文档 §8.2 的地址表；A3 才会真的写驱动 */
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#define PCA9555 0x20
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void setUp(void) { sim_hal_reset(); }
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void tearDown(void) {}
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static void init_bus(void)
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{
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TEST_ASSERT_EQUAL_INT(HAL_OK, hal_i2c_init(NULL));
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}
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static void test_use_before_init_is_state_error(void)
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{
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sim_i2c_add(INA226_CH1, 2);
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uint8_t rd[2];
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TEST_ASSERT_EQUAL_INT(HAL_ERR_STATE, hal_i2c_read(INA226_CH1, rd, sizeof(rd)));
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}
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/* ⭐ A2 的验收判据本身 */
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static void test_read_back_preset_register(void)
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{
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init_bus();
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sim_i2c_add(INA226_CH1, 2);
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sim_i2c_set_reg(INA226_CH1, 0x02, 0x1234); /* INA226 的 Bus Voltage 寄存器 */
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const uint8_t ptr = 0x02;
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uint8_t rd[2] = { 0, 0 };
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TEST_ASSERT_EQUAL_INT(HAL_OK, hal_i2c_write_read(INA226_CH1, &ptr, 1, rd, sizeof(rd)));
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TEST_ASSERT_EQUAL_HEX8(0x12, rd[0]); /* 大端 */
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TEST_ASSERT_EQUAL_HEX8(0x34, rd[1]);
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TEST_ASSERT_EQUAL_UINT32(1, sim_i2c_dev(INA226_CH1)->n_read);
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}
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static void test_write_stores_big_endian_and_logs_bytes(void)
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{
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init_bus();
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sim_i2c_add(INA226_CH1, 2);
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const uint8_t wr[3] = { 0x05, 0x12, 0x34 };
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TEST_ASSERT_EQUAL_INT(HAL_OK, hal_i2c_write(INA226_CH1, wr, sizeof(wr)));
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TEST_ASSERT_EQUAL_HEX16(0x1234, sim_i2c_get_reg(INA226_CH1, 0x05));
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const sim_i2c_dev_t *d = sim_i2c_dev(INA226_CH1);
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TEST_ASSERT_EQUAL_UINT8(3, d->last_write_len);
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TEST_ASSERT_EQUAL_HEX8_ARRAY(wr, d->last_write, 3);
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}
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/* 寄存器指针自增：一次事务连读两个寄存器，真器件就是这个行为。 */
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static void test_pointer_auto_increments(void)
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{
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init_bus();
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sim_i2c_add(INA226_CH1, 2);
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sim_i2c_set_reg(INA226_CH1, 0x01, 0xAAAA);
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sim_i2c_set_reg(INA226_CH1, 0x02, 0xBBBB);
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const uint8_t ptr = 0x01;
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uint8_t rd[4];
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TEST_ASSERT_EQUAL_INT(HAL_OK, hal_i2c_write_read(INA226_CH1, &ptr, 1, rd, sizeof(rd)));
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TEST_ASSERT_EQUAL_HEX8(0xAA, rd[0]);
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TEST_ASSERT_EQUAL_HEX8(0xBB, rd[2]);
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}
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/* PCA9555 是 8 位寄存器；同一套 HAL 要能同时伺候两种宽度。 */
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static void test_byte_wide_device(void)
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{
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init_bus();
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sim_i2c_add(PCA9555, 1);
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const uint8_t wr[3] = { 0x06, 0xFF, 0x0F }; /* 配置寄存器 Port0/Port1 */
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TEST_ASSERT_EQUAL_INT(HAL_OK, hal_i2c_write(PCA9555, wr, sizeof(wr)));
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TEST_ASSERT_EQUAL_HEX16(0x00FF, sim_i2c_get_reg(PCA9555, 0x06));
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TEST_ASSERT_EQUAL_HEX16(0x000F, sim_i2c_get_reg(PCA9555, 0x07));
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}
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static void test_absent_device_naks(void)
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{
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init_bus();
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TEST_ASSERT_EQUAL_INT(HAL_ERR_NAK, hal_i2c_probe(0x77)); /* 总线上没这个地址 */
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sim_i2c_add(INA226_CH1, 2);
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TEST_ASSERT_EQUAL_INT(HAL_OK, hal_i2c_probe(INA226_CH1));
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sim_i2c_set_present(INA226_CH1, false); /* 器件失联（A15 降级矩阵） */
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TEST_ASSERT_EQUAL_INT(HAL_ERR_NAK, hal_i2c_probe(INA226_CH1));
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}
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static void test_transient_nak_then_recovers(void)
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{
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init_bus();
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sim_i2c_add(INA226_CH1, 2);
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sim_i2c_inject_nak(INA226_CH1, 2); /* 接下来两次事务失败 */
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uint8_t rd[2];
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TEST_ASSERT_EQUAL_INT(HAL_ERR_NAK, hal_i2c_read(INA226_CH1, rd, sizeof(rd)));
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TEST_ASSERT_EQUAL_INT(HAL_ERR_NAK, hal_i2c_read(INA226_CH1, rd, sizeof(rd)));
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TEST_ASSERT_EQUAL_INT(HAL_OK, hal_i2c_read(INA226_CH1, rd, sizeof(rd)));
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/* NAK 掉的事务不该被算成一次成功访问 */
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TEST_ASSERT_EQUAL_UINT32(1, sim_i2c_dev(INA226_CH1)->n_read);
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}
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/* 半个寄存器的长度：真器件上是未定义行为，这里必须当场报错而不是悄悄凑合。 */
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static void test_partial_register_length_rejected(void)
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{
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init_bus();
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sim_i2c_add(INA226_CH1, 2);
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uint8_t rd[1];
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TEST_ASSERT_EQUAL_INT(HAL_ERR_ARG, hal_i2c_read(INA226_CH1, rd, 1));
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const uint8_t wr[2] = { 0x05, 0x12 };
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TEST_ASSERT_EQUAL_INT(HAL_ERR_ARG, hal_i2c_write(INA226_CH1, wr, sizeof(wr)));
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}
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static void test_address_out_of_range(void)
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{
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init_bus();
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TEST_ASSERT_EQUAL_INT(HAL_ERR_ARG, hal_i2c_probe(0x80));
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}
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int main(void)
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{
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UNITY_BEGIN();
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RUN_TEST(test_use_before_init_is_state_error);
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RUN_TEST(test_read_back_preset_register);
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RUN_TEST(test_write_stores_big_endian_and_logs_bytes);
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RUN_TEST(test_pointer_auto_increments);
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RUN_TEST(test_byte_wide_device);
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RUN_TEST(test_absent_device_naks);
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RUN_TEST(test_transient_nak_then_recovers);
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RUN_TEST(test_partial_register_length_rejected);
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RUN_TEST(test_address_out_of_range);
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return UNITY_END();
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}
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/* GPIO / PWM / 时钟三路 sim 的行为约定。 */
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#include "sim_hal.h"
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#include "unity.h"
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void setUp(void) { sim_hal_reset(); }
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void tearDown(void) {}
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/* ---- GPIO ---- */
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static void test_output_write_and_readback(void)
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{
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TEST_ASSERT_EQUAL_INT(HAL_OK, hal_gpio_config(5, HAL_GPIO_OUTPUT));
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TEST_ASSERT_EQUAL_INT(0, sim_gpio_level(5)); /* 配完默认低 */
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TEST_ASSERT_EQUAL_INT(HAL_OK, hal_gpio_write(5, 1));
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TEST_ASSERT_EQUAL_INT(1, sim_gpio_level(5));
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int level = -1;
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TEST_ASSERT_EQUAL_INT(HAL_OK, hal_gpio_read(5, &level));
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TEST_ASSERT_EQUAL_INT(1, level);
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}
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/* 「把输入脚当输出写」在板子上是静默无效的，最难查 —— sim 里必须报错。 */
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static void test_write_to_input_pin_is_error(void)
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{
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TEST_ASSERT_EQUAL_INT(HAL_OK, hal_gpio_config(6, HAL_GPIO_INPUT));
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TEST_ASSERT_EQUAL_INT(HAL_ERR_ARG, hal_gpio_write(6, 1));
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TEST_ASSERT_EQUAL_INT(HAL_ERR_ARG, hal_gpio_write(7, 1)); /* 压根没配过 */
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TEST_ASSERT_EQUAL_INT(HAL_ERR_ARG, hal_gpio_config(SIM_GPIO_PINS, HAL_GPIO_OUTPUT));
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}
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/* 五路 FLT/PG 是开漏 + 上拉：没有故障时必须读回 1，不能默认 0。 */
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static void test_pullup_input_idles_high(void)
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{
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TEST_ASSERT_EQUAL_INT(HAL_OK, hal_gpio_config(8, HAL_GPIO_INPUT_PULLUP));
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int level = -1;
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TEST_ASSERT_EQUAL_INT(HAL_OK, hal_gpio_read(8, &level));
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TEST_ASSERT_EQUAL_INT(1, level);
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sim_gpio_drive(8, 0); /* 器件报故障，把脚拉低 */
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TEST_ASSERT_EQUAL_INT(HAL_OK, hal_gpio_read(8, &level));
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TEST_ASSERT_EQUAL_INT(0, level);
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}
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/* 写计数是给 A5「改 CH1 不动 CH2~5」那条断言准备的。 */
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static void test_write_counter_is_per_pin(void)
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{
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TEST_ASSERT_EQUAL_INT(HAL_OK, hal_gpio_config(10, HAL_GPIO_OUTPUT));
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TEST_ASSERT_EQUAL_INT(HAL_OK, hal_gpio_config(11, HAL_GPIO_OUTPUT));
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hal_gpio_write(10, 1);
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hal_gpio_write(10, 0);
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TEST_ASSERT_EQUAL_UINT32(2, sim_gpio_writes(10));
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TEST_ASSERT_EQUAL_UINT32(0, sim_gpio_writes(11));
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}
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/* ---- PWM ---- */
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static void test_pwm_config_and_duty(void)
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{
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TEST_ASSERT_EQUAL_INT(HAL_ERR_ARG, hal_pwm_set_permille(0, 500)); /* 没配就用 */
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TEST_ASSERT_EQUAL_INT(HAL_OK, hal_pwm_config(0, 21, 25000)); /* 风扇 25 kHz */
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TEST_ASSERT_EQUAL_INT(21, sim_pwm_pin(0));
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TEST_ASSERT_EQUAL_UINT32(25000, sim_pwm_freq(0));
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TEST_ASSERT_EQUAL_INT(0, sim_pwm_permille(0)); /* 配完默认停转 */
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TEST_ASSERT_EQUAL_INT(HAL_OK, hal_pwm_set_permille(0, 400));
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uint16_t d = 0;
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TEST_ASSERT_EQUAL_INT(HAL_OK, hal_pwm_get_permille(0, &d));
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TEST_ASSERT_EQUAL_UINT16(400, d);
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TEST_ASSERT_EQUAL_INT(HAL_ERR_ARG, hal_pwm_set_permille(0, 1001)); /* 千分比上限 */
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TEST_ASSERT_EQUAL_INT(HAL_ERR_ARG, hal_pwm_config(HAL_PWM_CH_MAX, 21, 25000));
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TEST_ASSERT_EQUAL_INT(HAL_ERR_ARG, hal_pwm_config(1, 21, 0));
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}
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/* ---- 时钟 ---- */
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static void test_virtual_clock_advances_only_on_demand(void)
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{
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TEST_ASSERT_EQUAL_UINT64(0, hal_time_now_us());
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hal_time_delay_ms(17); /* A9 的上电时序就是这个量级 */
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TEST_ASSERT_EQUAL_UINT32(17, hal_time_now_ms());
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TEST_ASSERT_EQUAL_UINT32(1, sim_time_delay_calls());
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sim_time_advance_us(500);
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TEST_ASSERT_EQUAL_UINT64(17500, hal_time_now_us());
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TEST_ASSERT_EQUAL_UINT32(17, hal_time_now_ms()); /* 不满 1 ms 不进位 */
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}
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/* 49.7 天回绕：农场是长稳运行的，这一条迟早会被踩到。 */
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static void test_elapsed_survives_wraparound(void)
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{
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sim_time_set_us(0xFFFFFFF0ull * 1000ull);
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uint32_t t0 = hal_time_now_ms();
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sim_time_advance_ms(32); /* 跨过 32 位回绕点 */
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TEST_ASSERT_TRUE(hal_time_now_ms() < t0);
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TEST_ASSERT_EQUAL_UINT32(32, hal_time_elapsed_ms(t0));
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}
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int main(void)
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{
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UNITY_BEGIN();
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RUN_TEST(test_output_write_and_readback);
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RUN_TEST(test_write_to_input_pin_is_error);
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RUN_TEST(test_pullup_input_idles_high);
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RUN_TEST(test_write_counter_is_per_pin);
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RUN_TEST(test_pwm_config_and_duty);
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RUN_TEST(test_virtual_clock_advances_only_on_demand);
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RUN_TEST(test_elapsed_survives_wraparound);
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return UNITY_END();
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}
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