alro65
65860948b4
End-to-end implementation of Sprint 1 per docs/sprint-1-plan.md.
Builds: pio run -e esp32-dev SUCCESS, RAM 6.7%, Flash 26.5% (347 KB).
Tests: pytest 110/110 green; pio test -e native deferred (needs host
C++ compiler -- none on this Windows machine).
Firmware (firmware/ar_autopilot_v1/):
- platformio.ini: 4 envs (esp32-dev release, esp32-debug, native unity
tests, check static analysis). NMEA2000-library@4.22, NMEA2000_esp32@
1.0, eModbus@1.7.4 pinned.
- main.cpp: boot in STANDBY, FreeRTOS task spawn, returns to scheduler.
- system/: ar_log.h facade, task_config.h (priorities/stacks/cores
central table), heartbeat (1 Hz LED + uptime).
- modes/: STANDBY-only state machine; non-STANDBY rejected.
- hal/: di_do.cpp (5 DI + 10 DO with debounce + last-state cache),
rudder_sensor.cpp (100 Hz ADC + 5-sample median filter, Core 1),
rudder_actuator.cpp (DO1/DO2/DO3 with three safety interlocks:
power-off, STANDBY mode, limit switch).
- safety/: TWDT @ 2 s panic-on-expire; 50 Hz safety task on Core 1
enforcing DI1 physical disengage button, DI4 external alarm,
both-limit-switch interlock.
- protocols/modbus_slave.cpp: eModbus RTU server on UART2 @ 38400 8N1,
slave ID 1. 17 inputs + 19 discretes + 5 holdings + 4 coils. Reads
pull live telemetry; writes validate range and route to handlers.
- protocols/nmea2000_consumer.cpp: stack open with CAN TX=GPIO3
RX=GPIO1, subscribed to PGN 127250 (Heading) + PGN 127251 (Rate of
Turn). 5 s staleness flag built in for Sprint 6 alarm wiring.
- filters/median.h: templated MedianFilter<T,N> (host testable).
Cross-cutting:
- modbus_registers.yaml: single source of truth for the Modbus register
map. 45 entries.
- tools/gen_modbus_registers.py: YAML -> C++ header + Python module
generator with --check for drift detection.
- arautopilot/shared/modbus_register_map.py: generated Python mirror,
imported by Studio + tools.
- arautopilot/tests/test_modbus_register_map.py: 30 tests covering
schema, address uniqueness, range, spot-checks, and drift detection
(fails if YAML edited without regenerating).
- firmware/ar_autopilot_v1/tools/modbus_client_test.py: manual Modbus
client for poking the slave from a PC with USB-RS485 dongle.
- firmware/ar_autopilot_v1/test/test_median_filter/test_median.cpp:
8 Unity tests of the median filter (host-side, no Arduino dependency).
- docs/firmware.md: full operator + integrator guide (toolchain, build,
flash, expected boot log, troubleshooting, Sprint 1 capability matrix).
Architecture note: opted for Arduino-on-ESP32 only instead of the
proposed dual Arduino-as-ESP-IDF-component setup. Rationale documented
in CHANGELOG and docs/firmware.md -- Arduino-on-ESP32 already provides
the FreeRTOS primitives we need; dual framework adds fragility without
benefit at Sprint 1 scope. Reconsider in Sprint 8 (OTA + secure boot).
NOT in Sprint 1 (intentional per brief sec. 12):
- PID loops (inner/outer)
- True Course / Track Keeping
- Full alarm catalogue beyond DI1/DI4
- Knob driver
- Studio GUI / dedicated display
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
124 lines
4.1 KiB
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124 lines
4.1 KiB
INI
; =============================================================================
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; AR-Autopilot v1 -- firmware build configuration
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; =============================================================================
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;
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; Target hardware: AR-NMEA-IO v1.0 (ESP32-DOWD-V3, dual-core 240 MHz)
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; Build system: PlatformIO 6.1+
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; Framework: arduino (on ESP32 -- includes FreeRTOS, full Espressif stack)
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;
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; This file is the single source of truth for the firmware build. Versions of
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; the platform, framework packages, and library dependencies are pinned for
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; reproducibility.
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;
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; Tasks (from the project root):
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;
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; .venv/Scripts/pio.exe run # compile (default env: esp32-dev)
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; .venv/Scripts/pio.exe run -e esp32-debug # compile with extra debug flags
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; .venv/Scripts/pio.exe run -e native # build host-side Unity tests
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; .venv/Scripts/pio.exe test -e native # run host-side Unity tests
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; .venv/Scripts/pio.exe check # static analysis (cppcheck)
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; .venv/Scripts/pio.exe run -t upload # flash (needs the board plugged in)
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;
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; =============================================================================
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[platformio]
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src_dir = src
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include_dir = include
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test_dir = test
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default_envs = esp32-dev
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; -----------------------------------------------------------------------------
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; Common settings shared by every ESP32 env
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; -----------------------------------------------------------------------------
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[env]
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platform = espressif32@^6.7.0
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framework = arduino
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monitor_speed = 115200
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monitor_filters = esp32_exception_decoder, time
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build_flags =
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-std=gnu++17
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-DCORE_DEBUG_LEVEL=3 ; ARDUHAL_LOG_LEVEL_INFO
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-DAR_FW_VERSION=\"0.1.0-sprint1\"
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-DAR_FW_BUILD_TIMESTAMP=__TIMESTAMP__
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-Wall
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-Wextra
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-Wno-unused-parameter
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-Wno-missing-field-initializers
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build_unflags =
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-std=gnu++11
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; Library dependencies pinned for reproducibility.
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; These are the Sprint 1 dependencies; later sprints may add more.
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lib_deps =
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ttlappalainen/NMEA2000-library@^4.22.0
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ttlappalainen/NMEA2000_esp32@^1.0.3
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https://github.com/eModbus/eModbus.git#v1.7.4.stable
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; Files we never want to compile / lint:
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; - Documentation
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; - Test fixtures (handled by env:native)
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lib_ignore =
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test
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; -----------------------------------------------------------------------------
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; Production build for the AR-NMEA-IO board
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; -----------------------------------------------------------------------------
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[env:esp32-dev]
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board = esp32dev
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board_build.partitions = default.csv
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build_type = release
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build_flags =
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${env.build_flags}
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-Os
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-DAR_BUILD_VARIANT=\"release\"
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; -----------------------------------------------------------------------------
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; Debug build (-O0, extra logging)
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; -----------------------------------------------------------------------------
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[env:esp32-debug]
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board = esp32dev
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build_type = debug
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build_flags =
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${env.build_flags}
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-O0
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-ggdb
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-DAR_BUILD_VARIANT=\"debug\"
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-DCORE_DEBUG_LEVEL=5 ; ARDUHAL_LOG_LEVEL_VERBOSE
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; -----------------------------------------------------------------------------
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; Host-side Unity tests (run on the developer machine, no ESP32 needed)
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; -----------------------------------------------------------------------------
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; Used for pure-logic tests: ring buffers, median filters, the Modbus
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; register map, the PID math, etc. Anything that talks to real hardware
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; lives in env:esp32-dev tests and runs only on the board.
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;
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; NOTE: this env does NOT inherit [env] (which targets ESP32 + Arduino).
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[env:native]
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platform = native
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framework =
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test_framework = unity
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test_build_src = no
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build_flags =
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-std=gnu++17
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-DAR_HOST_TEST=1
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-DUNITY_INCLUDE_DOUBLE
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-Wall
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-Wextra
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build_unflags =
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lib_deps =
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lib_ignore =
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monitor_filters =
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; -----------------------------------------------------------------------------
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; Static analysis
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; -----------------------------------------------------------------------------
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[env:check]
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platform = espressif32@^6.7.0
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framework = arduino
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board = esp32dev
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check_tool = cppcheck
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check_flags =
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cppcheck: --enable=warning,style,performance,portability --inline-suppr
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check_skip_packages = yes
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check_severity = medium, high
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