Add HWCI test rig instrumentation on top of pristine upstream AM32

.gitattributes

@@ -1,2 +1,3 @@
 # Auto detect text files and perform LF normalization
 * text=auto
+*.bat text eol=crlf

.github/workflows/SITL.yml

@@ -0,0 +1,123 @@
+name: SITL Tests
+
+on:
+  push:
+    branches: ["main", "ark-release"]
+  pull_request:
+    branches: ["main", "ark-release"]
+  workflow_dispatch:
+
+jobs:
+  sitl-tests:
+    runs-on: ubuntu-latest
+    timeout-minutes: 30
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Build SITL
+        run: make AM32_SITL_CAN
+
+      - name: Install CI Python deps
+        run: |
+          python3 -m venv sitl-venv
+          sitl-venv/bin/pip install -U pip
+          sitl-venv/bin/pip install -r Mcu/SITL/requirements-ci.txt
+
+      - name: Run SITL pytest suite
+        run: |
+          mkdir sitl_test_run && cd sitl_test_run
+          ../sitl-venv/bin/python ../Mcu/SITL/run_ci_tests.py \
+            --sitl ../obj/AM32_AM32_SITL_CAN_*.elf \
+            --junitxml=sitl-results.xml
+
+      - name: Upload SITL log on failure
+        if: failure()
+        uses: actions/upload-artifact@v4
+        with:
+          name: sitl-test-log
+          path: |
+            sitl_test_run/sitl_ci.log
+            sitl_test_run/**/sitl_ci.log
+            sitl_test_run/sitl-results.xml
+          if-no-files-found: ignore
+
+      - name: Upload junit results
+        if: always()
+        uses: actions/upload-artifact@v4
+        with:
+          name: sitl-junit
+          path: sitl_test_run/sitl-results.xml
+          if-no-files-found: ignore
+
+  gui-test:
+    runs-on: ubuntu-latest
+    timeout-minutes: 20
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Install Qt system libraries
+        run: sudo apt-get update && sudo apt-get install -y libgl1 libegl1 libfontconfig1 libxkbcommon0
+
+      - name: Build SITL
+        run: make AM32_SITL_CAN
+
+      - name: Create GUI environment
+        run: python3 Mcu/SITL/make_gui_env.py
+
+      - name: Run GUI test (offscreen)
+        run: |
+          mkdir gui_test_run && cd gui_test_run
+          python3 ../Mcu/SITL/gui_ci_test.py \
+            --gui-python ../Mcu/SITL/venv/bin/python3 \
+            --sitl ../obj/AM32_AM32_SITL_CAN_*.elf
+
+      - name: Upload SITL log on failure
+        if: failure()
+        uses: actions/upload-artifact@v4
+        with:
+          name: gui-test-log
+          path: gui_test_run/sitl_ci.log
+          if-no-files-found: ignore
+
+  windows-build:
+    runs-on: windows-latest
+    timeout-minutes: 20
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Install Cygwin
+        uses: cygwin/cygwin-install-action@v4
+        with:
+          packages: gcc-core make
+
+      - name: Build SITL
+        shell: C:\cygwin\bin\bash.exe --noprofile --norc -o igncr -eo pipefail '{0}'
+        run: |
+          cd $(cygpath -u "$GITHUB_WORKSPACE")
+          make AM32_SITL_CAN
+          ls -la obj/
+
+      - name: Boot smoke test
+        shell: C:\cygwin\bin\bash.exe --noprofile --norc -o igncr -eo pipefail '{0}'
+        run: |
+          cd $(cygpath -u "$GITHUB_WORKSPACE")
+          ./obj/AM32_AM32_SITL_CAN_*.elf --can-uri none --input-type 1 >boot.log 2>&1 &
+          sleep 3
+          kill %1 || true
+          cat boot.log
+          grep -q "PWM/DShot input on udp port" boot.log
+          grep -q "state/model port udp" boot.log
+
+      - name: Package binary with cygwin runtime
+        shell: C:\cygwin\bin\bash.exe --noprofile --norc -o igncr -eo pipefail '{0}'
+        run: |
+          cd $(cygpath -u "$GITHUB_WORKSPACE")
+          mkdir -p sitl-windows
+          cp obj/AM32_AM32_SITL_CAN_*.elf sitl-windows/AM32_SITL_CAN.exe
+          cp /bin/cygwin1.dll sitl-windows/
+
+      - name: Upload Windows SITL binary
+        uses: actions/upload-artifact@v4
+        with:
+          name: sitl-windows
+          path: sitl-windows/

.github/workflows/hwci.yml

@@ -0,0 +1,131 @@
+name: Hardware-in-the-loop CI
+
+# Runs the AM32 firmware on a real ARK 4IN1 ESC mounted on a Tyto Robotics
+# Flight Stand, capturing CPU load / loop times (over SWD) and efficiency /
+# demag (thrust stand), then gates the result against a committed baseline.
+#
+# MANUAL TRIGGER ONLY (workflow_dispatch). The rig needs hands-on preparation
+# before every run - battery connected and charged, prop/torque arm checked,
+# Flight Stand Software up - so a human always starts the run; nothing fires
+# automatically from pushes, PRs, or labels. This also means fork code never
+# reaches the self-hosted bench machine unless a maintainer explicitly enters
+# a PR number in the dispatch form.
+#
+# Requires a self-hosted runner labelled [self-hosted, hwci] that is
+# physically wired to the rig and provisioned per hwci/README.md
+# (ARM toolchain, OpenOCD, ST-Link udev rules, Flight Stand Software + gRPC,
+# a rig config at $HWCI_RIG_CONFIG).
+
+on:
+  workflow_dispatch:
+    inputs:
+      profile:
+        description: Test profile to run
+        type: choice
+        default: ci_smoke
+        options: [ci_smoke, efficiency_sweep, demag_step_stress]
+      pr:
+        description: "PR number to test (optional: checks out that PR's head instead of the selected branch)"
+        type: string
+        default: ""
+      battery_cells:
+        description: "Battery cell count on the bench right now (e.g. 6 for 6S); the run refuses to start if pack voltage is too low for this. Leave blank to skip the check."
+        type: string
+        default: "6"
+      save_baseline:
+        description: Save this run's metrics as the new baseline (artifact)
+        type: boolean
+        default: false
+
+concurrency:
+  group: hwci-hardware           # one job at a time owns the physical rig
+  cancel-in-progress: false
+
+jobs:
+  hil:
+    runs-on: [self-hosted, hwci]
+    timeout-minutes: 30
+    env:
+      TARGET: ARK_4IN1_F051
+      PROFILE: ${{ inputs.profile }}
+      BATTERY_CELLS: ${{ inputs.battery_cells }}
+      # Bench-specific config lives on the runner, not in the repo.
+      HWCI_RIG_CONFIG: ${{ vars.HWCI_RIG_CONFIG }}
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          submodules: recursive
+          ref: ${{ inputs.pr != '' && format('refs/pull/{0}/head', inputs.pr) || github.ref }}
+
+      - name: Ensure ARM toolchain
+        shell: bash
+        run: |
+          # make/tools.mk pins ARM_SDK_PREFIX to tools/linux/<xpack>/bin, so a
+          # system arm-none-eabi-gcc on PATH does NOT satisfy the build; install
+          # the pinned SDK whenever the pinned path is missing.
+          if ! ls tools/linux/*/bin/arm-none-eabi-gcc >/dev/null 2>&1; then
+            make arm_sdk_install
+          fi
+
+      - name: Install harness
+        shell: bash
+        working-directory: hwci
+        run: |
+          python3 -m venv .venv
+          . .venv/bin/activate
+          pip install -e '.[plot,flightstand]'
+
+      - name: Run hardware CI
+        id: hil
+        shell: bash
+        working-directory: hwci
+        run: |
+          . .venv/bin/activate
+          RUN_DIR="runs/${GITHUB_SHA::8}-${PROFILE}"
+          echo "run_dir=hwci/$RUN_DIR" >> "$GITHUB_OUTPUT"
+          # Blank input -> no flag at all (hwci ci makes --battery-cells opt-in).
+          BATTERY_ARGS=()
+          if [ -n "$BATTERY_CELLS" ]; then
+            BATTERY_ARGS=(--battery-cells "$BATTERY_CELLS")
+          fi
+          # A missing baseline (first run on a fresh repo) skips the gate with
+          # a warning instead of failing, so save_baseline can bootstrap it.
+          set +e
+          hwci ci \
+            --profile "$PROFILE" \
+            --config "${HWCI_RIG_CONFIG:-$HOME/hwci-rig.yaml}" \
+            --baseline "baselines/${TARGET}.json" \
+            "${BATTERY_ARGS[@]}" \
+            --out "$RUN_DIR"
+          rc=$?
+          set -e
+          echo "rc=$rc" >> "$GITHUB_OUTPUT"
+          exit $rc
+
+      - name: Save baseline (optional)
+        # Runs even when the gate FAILed (rc=1: intentional re-baseline after an
+        # accepted change), but never after an aborted/crashed run (rc >= 2).
+        if: ${{ always() && inputs.save_baseline && contains(fromJSON('["0", "1"]'), steps.hil.outputs.rc) }}
+        shell: bash
+        working-directory: hwci
+        run: |
+          . .venv/bin/activate
+          hwci baseline-save "runs/${GITHUB_SHA::8}-${PROFILE}" \
+            --out "baselines/${TARGET}.json"
+
+      - name: Report to job summary
+        if: always()
+        shell: bash
+        run: |
+          RD="${{ steps.hil.outputs.run_dir }}"
+          if [ -f "$RD/report.md" ]; then cat "$RD/report.md" >> "$GITHUB_STEP_SUMMARY"; fi
+
+      - name: Upload run data
+        if: always()
+        uses: actions/upload-artifact@v4
+        with:
+          name: hwci-${{ env.PROFILE }}-${{ github.sha }}
+          path: |
+            ${{ steps.hil.outputs.run_dir }}/
+            hwci/baselines/${{ env.TARGET }}.json
+          retention-days: 90

.gitignore

@@ -21,3 +21,10 @@ Keil_Projects/Listings
 /Debug/
 windows-tools.zip
 .settings/
+Mcu/SITL/venv/
+.pytest_cache/
+**/__pycache__/
+**/sitl_ci.log
+am32_eeprom.bin
+am32_eeprom.bin.lock
+am32_eeprom.bin.rtc

Inc/functions.h

@@ -11,6 +11,27 @@
 #include "main.h"
 #include "targets.h"
 
+/*
+  get current value of UTILITY_TIMER timer as 16bit microseconds
+ */
+static inline uint16_t get_timer_us16(void)
+{
+#if defined(STMICRO)
+    return UTILITY_TIMER->CNT;
+#elif defined(GIGADEVICES)
+    return TIMER_CNT(UTILITY_TIMER);
+#elif defined(ARTERY)
+    return UTILITY_TIMER->cval;
+#elif defined(NXP)
+    // Return nothing since NXP micro-tick works differently
+    return 0;
+#elif defined(WCH)
+    return UTILITY_TIMER->CNT >> 1;
+#else
+#error unsupported MCU
+#endif
+}
+
 uint32_t getAbsDif(int number1, int number2);
 void delayMicros(uint32_t micros);
 void delayMillis(uint32_t millis);