Add HWCI test rig instrumentation on top of pristine upstream AM32#20
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AlexKlimaj wants to merge 7 commits into
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Add HWCI test rig instrumentation on top of pristine upstream AM32#20AlexKlimaj wants to merge 7 commits into
AlexKlimaj wants to merge 7 commits into
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Baseline branch for hardware-in-the-loop testing: unmodified am32-firmware/AM32 main plus only the ARK hwci test harness (hwci/, hwci_perf opt-in instrumentation, and the .github hwci workflow). Excludes all ARK-specific performance and correctness changes (Q16 duty-cycle/setInput math, F051 RAM-function placement, F051 SysTick-no-IRQ, ISR-shared volatile fixes, MCU extern-decl fixes) so this can serve as a stock-firmware baseline to compare against.
…metrics Port of the jitter work from ark-release (ffa0414) onto the pristine upstream instrumentation branch: hwci_perf struct v2 (zc_count / zc_jitter_sum / zc_interval_sum / zc_jitter_max), HWCI_PERF_ZC() hook at the end of PeriodElapsedCallback, v1+v2 host decoder, jitter columns and report-only zc_jitter_pct metrics, stale-object guard in hwci build. Firmware outside HWCI_PERF builds is unchanged. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
Captured from runs/upstream-sweep (fresh-ish 6S pack, 24.5 V resting), verified by an independent repeat run. Kept separate from the ark-release baseline: same rig, different firmware lineage. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
Bring the ark-release SITL stack (Mcu/SITL, native build, CI workflow, DroneCAN mcast driver, and shared MCU_SITL hooks) onto main_instrumented without ARK control-path refactors. Leaves HWCI instrumentation intact so this branch is upstream AM32 + hardware CI tools + SITL for baseline comparisons against ark-release.
CI saw residual ~2k rpm after 3s freewheel (limit 800). Wait 5s so prop coast-down under load is not flaky.
Expose bidirectional DShot health in HWCI_PERF (rx good/bad, tx frames, telem/EDT mode, last packed period) for SWD correlation with a BDShot host. Host decoder/sim/CSV gain v3 fields; add PX4 USB capture and PSU-safe ACTUATOR_TEST sustain script, bdshot_smoke profile, and baseline docs. Validated on ARK FPV PX4 1.18 + AM32 free-run with pack voltage and eRPM.
Two exclusive setups used at different times: - SETUP A: Flight Stand drives uni DShot (rig.yaml / rig.flightstand.yaml, hwci run + noprop profiles). No PX4 on the signal pin. - SETUP B: ARK FPV BDShot owns the pin (rig.px4_bdshot.yaml with throttle_backend none, px4_motor_stream / capture scripts). Add NullThrottle, BENCH_SETUPS.md, and clear labels on scripts/profiles so the two paths cannot be mixed by accident.
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Baseline branch for hardware-in-the-loop testing: unmodified am32-firmware/AM32 main plus only the ARK hwci test harness (hwci/, hwci_perf opt-in instrumentation, and the .github hwci workflow). Excludes all ARK-specific performance and correctness changes (Q16 duty-cycle/setInput math, F051 RAM-function placement, F051 SysTick-no-IRQ, ISR-shared volatile fixes, MCU extern-decl fixes) so this can serve as a stock-firmware baseline to compare against.