allow for simulator build

.github/workflows/build.yml

@@ -13,7 +13,7 @@ jobs:
       - name: Checkout
         uses: actions/checkout@v3
       - id: set-targets
-        run: echo "targets=[$(grep '\[env:' platformio.ini | sed 's/.*:\(.*\)].*/"\1"/' | tr '\n' ',')]" >> $GITHUB_OUTPUT
+        run: echo "targets=[$(grep '\[env:' platformio.ini | sed 's/.*:\(.*\)].*/"\1"/' | grep -v simulator | tr '\n' ',')]" >> $GITHUB_OUTPUT
 
   build:
     needs: targets

.gitignore

@@ -73,4 +73,5 @@ go.mod
 go.sum
 
 /.pio
-__pycache__
+__pycache__
+flash.bin

boards/SIMULATOR.json

@@ -0,0 +1,15 @@
+{
+    "name": "native",
+    "build": {
+        "core": "native",
+        "cpu": "native",
+        "extra_flags": "",
+        "mcu": "native"
+    },
+    "upload": {
+        "maximum_ram_size": 104857600,
+        "maximum_size": 10485760
+    },
+    "url": "",
+    "vendor": ""
+}

platformio.ini

@@ -17,10 +17,7 @@ extra_configs =
 
 [common]
 lib_archive = no
-debug_tool = stlink
-upload_protocol = dfu
-platform_packages = toolchain-gccarmnoneeabi@~1.120301.0
-build_src_filter = +<*> -<.git/> -<.svn/> -<example/> -<examples/> -<test/> -<tests/> -<system/> -<driver/stm32> -<driver/at32>
+build_src_filter = +<*> -<.git/> -<.svn/> -<example/> -<examples/> -<test/> -<tests/> -<system/> -<driver/stm32> -<driver/at32> -<driver/native>
 extra_scripts = 
   pre:script/pre_script.py
   post:script/post_script.py
@@ -33,9 +30,28 @@ build_flags =
   -DUSE_FULL_LL_DRIVER
   -Isrc 
 
+[env:simulator]
+extends = common
+board = SIMULATOR
+platform = native
+debug_tool = custom
+build_src_filter = ${common.build_src_filter} +<driver/native> +<system/native>
+debug_build_flags = 
+  -O0
+  -ggdb3 
+  -g3
+build_flags = 
+  ${common.build_flags}
+  -lm
+  -DSIMULATOR
+  -Isrc/system/native
+
 [stm32]
 extends = common
+debug_tool = stlink
+upload_protocol = dfu
 platform = ststm32@~17.0.0
+platform_packages = toolchain-gccarmnoneeabi@~1.120301.0
 build_src_filter = ${common.build_src_filter} +<driver/stm32>
 framework = stm32cube
 board_build.stm32cube.custom_system_setup = yes
@@ -135,7 +151,10 @@ extends = stm32h743
 
 [at32]
 extends = common
+debug_tool = stlink
+upload_protocol = dfu
 platform = https://github.com/ArteryTek/platform-arterytekat32.git#5729d36
+platform_packages = toolchain-gccarmnoneeabi@~1.120301.0
 framework = at32firmlib
 board_build.at32firmlib.custom_system_setup = yes
 build_src_filter = ${common.build_src_filter} +<driver/at32>

src/config/feature.h

@@ -1,17 +1,27 @@
 #pragma once
 
+#ifndef SIMULATOR
+#define USE_ADC
+#define USE_SPI
+#define USE_SERIAL
 #define USE_GYRO
+#define USE_SOFT_SERIAL
 #define USE_SDCARD
 #define USE_DATA_FLASH
 #define USE_BLACKBOX
 
+#define USE_VTX
+#define USE_DIGITAL_VTX
 #define USE_MAX7456
 
 #define USE_MOTOR_DSHOT
 #define USE_MOTOR_PWM
 
+#define USE_RX_UNIFIED
+
 #ifndef AT32F4
 #define USE_RX_SPI_FRSKY
 #define USE_RX_SPI_FLYSKY
 #define USE_RX_SPI_EXPRESS_LRS
+#endif
 #endif

src/core/flash.c

@@ -106,6 +106,7 @@ void flash_save() {
     fmc_write_buf(offset, buffer, size);
   }
 
+#ifdef USE_VTX
   {
     const uint32_t offset = VTX_STORAGE_OFFSET;
     const uint32_t size = VTX_STORAGE_SIZE;
@@ -125,6 +126,7 @@ void flash_save() {
 
     fmc_write_buf(offset, buffer, size);
   }
+#endif
 
   fmc_lock();
   __enable_irq();
@@ -188,11 +190,11 @@ void flash_load() {
 
     cbor_result_t res = cbor_decode_profile_t(&dec, &profile);
     if (res < CBOR_OK) {
-      fmc_lock();
       failloop(FAILLOOP_FAULT);
     }
   }
 
+#ifdef USE_VTX
   if (fmc_read(VTX_STORAGE_OFFSET) == (FMC_MAGIC | VTX_STORAGE_OFFSET)) {
     const uint32_t offset = VTX_STORAGE_OFFSET + FMC_MAGIC_SIZE;
     const uint32_t size = VTX_STORAGE_SIZE - FMC_MAGIC_SIZE;
@@ -206,8 +208,8 @@ void flash_load() {
 
     cbor_result_t res = cbor_decode_vtx_settings_t(&dec, &vtx_settings);
     if (res < CBOR_OK) {
-      fmc_lock();
       failloop(FAILLOOP_FAULT);
     }
   }
+#endif
 }

src/core/main.c

@@ -29,6 +29,7 @@
 #include "io/buzzer.h"
 #include "io/led.h"
 #include "io/rgb_led.h"
+#include "io/simulator.h"
 #include "io/usb_configurator.h"
 #include "io/vbat.h"
 #include "io/vtx.h"
@@ -100,6 +101,7 @@ __attribute__((__used__)) int main() {
   buzzer_init();
 
   usb_init();
+  simulator_init();
 
   rx_spektrum_bind();
 
@@ -146,6 +148,7 @@ __attribute__((__used__)) int main() {
   while (1) {
     // updates looptime counters & runs auto detect
     looptime_update();
+    simulator_update();
 
     perf_counter_start(PERF_COUNTER_TOTAL);
 

src/core/project.h

@@ -13,6 +13,10 @@
 #include "driver/at32/system.h"
 #endif
 
+#ifdef SIMULATOR
+#include "driver/native/system.h"
+#endif
+
 #ifdef USE_FAST_RAM
 #define FAST_RAM __attribute__((section(".fast_ram"), aligned(4)))
 #else

src/driver/adc.c

@@ -5,6 +5,8 @@
 #include "core/profile.h"
 #include "core/project.h"
 
+#ifdef USE_ADC
+
 #define VBAT_SCALE (profile.voltage.vbat_scale * (1.f / 10000.f))
 
 uint16_t adc_array[ADC_CHAN_MAX];
@@ -41,4 +43,15 @@ float adc_read(adc_chan_t chan) {
   default:
     return adc_read_raw(chan);
   }
-}
+}
+#else
+void adc_init() {}
+float adc_read(adc_chan_t chan) {
+  switch (chan) {
+  case ADC_CHAN_VBAT:
+    return 4.20f;
+  default:
+    return 0;
+  }
+}
+#endif

src/driver/interrupt.c

@@ -1,11 +1,15 @@
 #include "driver/interrupt.h"
 
 void interrupt_enable(IRQn_Type irq, uint32_t prio) {
+#ifndef SIMULATOR
   NVIC_SetPriorityGrouping(3);
   NVIC_SetPriority(irq, prio);
   NVIC_EnableIRQ(irq);
+#endif
 }
 
 void interrupt_disable(IRQn_Type irq) {
+#ifndef SIMULATOR
   NVIC_DisableIRQ(irq);
+#endif
 }

src/driver/interrupt.h

@@ -10,11 +10,15 @@
 #define USB_PRIORITY 0x6
 
 static inline void __basepri_restore(uint8_t *val) {
+#ifndef SIMULATOR
   __set_BASEPRI(*val);
+#endif
 }
 
 static inline uint8_t __basepri_set_max(uint8_t prio) {
+#ifndef SIMULATOR
   __set_BASEPRI_MAX(prio << (8U - __NVIC_PRIO_BITS));
+#endif
   return 1;
 }
 
@@ -26,15 +30,21 @@ static inline uint8_t __basepri_set_max(uint8_t prio) {
   for (uint8_t __basepri_save __attribute__((__cleanup__(__basepri_restore), __unused__)) = __get_BASEPRI(), __todo = __basepri_set_max(prio); __todo; __todo = 0)
 
 __attribute__((always_inline)) static inline int __int_disable_irq() {
+#ifndef SIMULATOR
   volatile int primask = __get_PRIMASK();
   __disable_irq();
   return primask & 1;
+#else
+  return 0;
+#endif
 }
 
 __attribute__((always_inline)) static inline void __int_restore_irq(int *primask) {
+#ifndef SIMULATOR
   if ((*primask) == 0) {
     __enable_irq();
   }
+#endif
 }
 
 #define ATOMIC_BLOCK_ALL \

src/driver/motor.c

@@ -78,6 +78,12 @@ void motor_update() {
     motor_pwm_write(motor_values);
 #endif
   }
+#ifdef SIMULATOR
+  extern float simulator_motor_values[MOTOR_PIN_MAX];
+  for (uint32_t i = 0; i < MOTOR_PIN_MAX; i++) {
+    simulator_motor_values[i] = motor_values[i];
+  }
+#endif
 }
 
 void motor_set_direction(motor_direction_t dir) {

src/driver/native/fmc.c

@@ -0,0 +1,56 @@
+#include "driver/fmc.h"
+
+#include <stdio.h>
+#include <string.h>
+
+#include "core/project.h"
+
+#define FILENAME "flash.bin"
+
+void fmc_lock() {
+}
+
+void fmc_unlock() {
+}
+
+void fmc_erase() {
+  remove(FILENAME);
+}
+
+static FILE *open_file() {
+  FILE *file = fopen(FILENAME, "rb+");
+  if (file == NULL) {
+    file = fopen(FILENAME, "wb+");
+  }
+  return file;
+}
+
+flash_word_t fmc_read(uint32_t addr) {
+  FILE *file = open_file();
+  fseek(file, addr, SEEK_SET);
+  flash_word_t value;
+  fread(&value, sizeof(flash_word_t), 1, file);
+  fclose(file);
+  return value;
+}
+
+void fmc_read_buf(uint32_t addr, uint8_t *data, uint32_t size) {
+  FILE *file = open_file();
+  fseek(file, addr, SEEK_SET);
+  fread(data, size, 1, file);
+  fclose(file);
+}
+
+void fmc_write(uint32_t addr, flash_word_t value) {
+  FILE *file = open_file();
+  fseek(file, addr, SEEK_SET);
+  fwrite(&value, sizeof(flash_word_t), 1, file);
+  fclose(file);
+}
+
+void fmc_write_buf(uint32_t addr, uint8_t *data, uint32_t size) {
+  FILE *file = open_file();
+  fseek(file, addr, SEEK_SET);
+  fwrite(data, size, 1, file);
+  fclose(file);
+}