fix: Comprehensive Unit Test Fixes.

.gitignore

@@ -14,6 +14,7 @@ obj/
 patches/
 startup_stm32f10x_md_gcc.s
 .idea
+tmp/
 
 # script-generated files
 docs/Manual.pdf

src/main/flight/servos.h

@@ -25,7 +25,7 @@
 #include "drivers/pwm_output.h"
 
 // These must be consecutive, see 'reversedSources'
-enum {
+typedef enum {
     INPUT_STABILIZED_ROLL = 0,
     INPUT_STABILIZED_PITCH,
     INPUT_STABILIZED_YAW,

src/main/io/rcdevice_cam.h

@@ -45,6 +45,6 @@ void rcdeviceUpdate(timeUs_t currentTimeUs);
 bool rcdeviceIsEnabled(void);
 
 // used for unit test
-rcdeviceSwitchState_t switchStates[BOXCAMERA3 - BOXCAMERA1 + 1];
+extern rcdeviceSwitchState_t switchStates[BOXCAMERA3 - BOXCAMERA1 + 1];
 
 void rcdeviceSend5KeyOSDCableSimualtionEvent(rcdeviceCamSimulationKeyEvent_e key);

src/main/rx/ghst.c

@@ -349,4 +349,18 @@ bool ghstRxIsActive(void)
 {
     return serialPort != NULL;
 }
+
+// Unit test accessor to read telemetry buffer populated by ghstRxWriteTelemetryData()
+#ifdef UNITTEST
+uint8_t *ghstGetTelemetryBuf(void)
+{
+    return telemetryBuf;
+}
+
+uint8_t ghstGetTelemetryBufLen(void)
+{
+    return telemetryBufLen;
+}
+#endif
+
 #endif

src/main/telemetry/ghst.c

@@ -82,12 +82,12 @@ static void ghstInitializeFrame(sbuf_t *dst)
     sbufWriteU8(dst, GHST_ADDR_RX);
 }
 
-//compiler reports unused
-/*
+// Unit test accessor function - only used during testing
+#ifdef UNITTEST
 STATIC_UNIT_TESTED uint8_t *getGhstFrame(){
     return ghstFrame;
 }
-*/
+#endif
 
 static void ghstFinalize(sbuf_t *dst)
 {

src/main/telemetry/hott.c

@@ -268,6 +268,7 @@ void hottPrepareEAMResponse(HOTT_EAM_MSG_t *hottEAMMessage) {
 static void hottSerialWrite(uint8_t c) {
     static uint8_t serialWrites = 0;
     serialWrites++;
+    (void)serialWrites;  // Unused - likely debug code. Silence compiler warning.
     serialWrite(hottPort, c);
 }
 

src/test/unit/arming_prevention_unittest.cc

@@ -35,6 +35,7 @@ extern "C" {
     #include "flight/imu.h"
     #include "flight/mixer.h"
     #include "flight/pid.h"
+    // pragma weak inputSource_e removed - firmware bug fixed (changed enum to typedef enum)
     #include "flight/servos.h"
     #include "io/beeper.h"
     #include "io/gps.h"
@@ -44,6 +45,14 @@ extern "C" {
     #include "sensors/gyro.h"
     #include "telemetry/telemetry.h"
 
+    // Global variable definitions
+    // rcCommand is defined in rc_controls.c when included  
+    extern float rcCommand[4];
+
+    // rcData would be defined in rx.c, but since we don't link rx.c,
+    // we define it here for the test
+    int16_t rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT];
+
     PG_REGISTER(accelerometerConfig_t, accelerometerConfig, PG_ACCELEROMETER_CONFIG, 0);
     PG_REGISTER(blackboxConfig_t, blackboxConfig, PG_BLACKBOX_CONFIG, 0);
     PG_REGISTER(gyroConfig_t, gyroConfig, PG_GYRO_CONFIG, 0);
@@ -55,8 +64,6 @@ extern "C" {
     PG_REGISTER(telemetryConfig_t, telemetryConfig, PG_TELEMETRY_CONFIG, 0);
     PG_REGISTER(failsafeConfig_t, failsafeConfig, PG_FAILSAFE_CONFIG, 0);
 
-    float rcCommand[4];
-    int16_t rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT];
     uint16_t averageSystemLoadPercent = 0;
     uint8_t cliMode = 0;
     uint8_t debugMode = 0;
@@ -851,4 +858,5 @@ extern "C" {
     bool usbCableIsInserted(void) { return false; }
     bool usbVcpIsConnected(void) { return false; }
     void pinioBoxTaskControl(void) {}
+    void updateRcRefreshRate(uint16_t) {}
 }

src/test/unit/atomic_unittest_c.c

@@ -4,14 +4,32 @@ struct barrierTrace {
     int enter, leave;
 };
 
+// Cleanup function for atomic barrier testing
+static void __atomic_barrier_cleanup(struct barrierTrace **barrier_ptr) {
+    if (barrier_ptr && *barrier_ptr) {
+        (*barrier_ptr)->leave++;
+    }
+}
+
+// Macro helper to create unique identifier for each use
+#define __ATOMIC_CONCAT(a, b) a ## b
+#define __ATOMIC_MAKE_UNIQUE(x, line) __ATOMIC_CONCAT(x, line)
+#define __UNIQUE __ATOMIC_MAKE_UNIQUE(__barrier_, __LINE__)
+
 int testAtomicBarrier_C(struct barrierTrace *b0, struct barrierTrace *b1, struct barrierTrace sample[][2]) {
     int sIdx = 0;
 // replace barrier macros to track barrier invocation
 // pass known struct as barrier variable, keep track inside it
 #undef ATOMIC_BARRIER_ENTER
 #undef ATOMIC_BARRIER_LEAVE
+#undef ATOMIC_BARRIER
 #define ATOMIC_BARRIER_ENTER(ptr, refStr) do {(ptr)->enter++; } while(0)
 #define ATOMIC_BARRIER_LEAVE(ptr, refStr) do {(ptr)->leave++; } while(0)
+// For C code, use __cleanup__ to track when we leave scope
+#define ATOMIC_BARRIER(data) \
+    struct barrierTrace *__attribute__((cleanup(__atomic_barrier_cleanup))) __UNIQUE = &(data); \
+    ATOMIC_BARRIER_ENTER(__UNIQUE, #data); \
+    do {} while(0)
     b0->enter = 0;
     b0->leave = 0;
     b1->enter = 0;

src/test/unit/baro_bmp280_unittest.cc

@@ -44,7 +44,7 @@ typedef struct bmp280_calib_param_s {
     int32_t t_fine; /* calibration t_fine data */
 } bmp280_calib_param_t;
 
-bmp280_calib_param_t bmp280_cal;
+extern bmp280_calib_param_t bmp280_cal;
 }
 
 

src/test/unit/blackbox_unittest.cc

@@ -46,6 +46,9 @@ extern "C" {
     #include "sensors/battery.h"
     #include "sensors/gyro.h"
 
+    // Register required for gyro_sync.c
+    PG_REGISTER(gyroConfig_t, gyroConfig, PG_GYRO_CONFIG, 0);
+
     extern int16_t blackboxIInterval;
     extern int16_t blackboxPInterval;
 }
@@ -368,7 +371,7 @@ uint8_t stateFlags;
 const uint32_t baudRates[] = {0, 9600, 19200, 38400, 57600, 115200, 230400, 250000,
         400000, 460800, 500000, 921600, 1000000, 1500000, 2000000, 2470000}; // see baudRate_e
 uint8_t debugMode;
-int32_t blackboxHeaderBudget;
+extern int32_t blackboxHeaderBudget;
 gpsSolutionData_t gpsSol;
 int32_t GPS_home[2];
 
@@ -397,7 +400,7 @@ bool isSerialTransmitBufferEmpty(const serialPort_t *) {return false;}
 bool feature(uint32_t) {return false;}
 void mspSerialReleasePortIfAllocated(serialPort_t *) {}
 serialPortConfig_t *findSerialPortConfig(serialPortFunction_e ) {return NULL;}
-serialPort_t *findSharedSerialPort(uint16_t , serialPortFunction_e ) {return NULL;}
+serialPort_t *findSharedSerialPort(uint32_t, serialPortFunction_e ) {return NULL;}
 serialPort_t *openSerialPort(serialPortIdentifier_e, serialPortFunction_e, serialReceiveCallbackPtr, void *, uint32_t, portMode_e, portOptions_e) {return NULL;}
 void closeSerialPort(serialPort_t *) {}
 portSharing_e determinePortSharing(const serialPortConfig_t *, serialPortFunction_e ) {return PORTSHARING_UNUSED;}

src/test/unit/cli_unittest.cc

@@ -18,6 +18,7 @@
 #include <stdint.h>
 #include <stdbool.h>
 #include <stdio.h>
+#include <stdarg.h>
 
 #include <limits.h>
 
@@ -59,9 +60,12 @@
     void cliGet(char *cmdline);
     void cliVtx(char *cmdline);
 
+    #pragma GCC diagnostic push
+    #pragma GCC diagnostic ignored "-Wc99-designator"
     const clivalue_t valueTable[] = {
         { "array_unit_test",             VAR_INT8  | MODE_ARRAY | MASTER_VALUE, .config.array.length = 3, PG_RESERVED_FOR_TESTING_1, 0 }
     };
+    #pragma GCC diagnostic pop
     const uint16_t valueTableEntryCount = ARRAYLEN(valueTable);
     const lookupTableEntry_t lookupTables[] = {};
 
@@ -85,6 +89,7 @@
     PG_REGISTER(pidConfig_t, pidConfig, PG_PID_CONFIG, 0);
     PG_REGISTER_WITH_RESET_TEMPLATE(vtxConfig_t, vtxConfig, PG_VTX_CONFIG, 1);
     PG_RESET_TEMPLATE(vtxConfig_t, vtxConfig,
+                      .vtxChannelActivationConditions = {},
                       .halfDuplex = true
                      );
 
@@ -93,6 +98,10 @@
 
 #include "unittest_macros.h"
 #include "gtest/gtest.h"
+
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wc99-designator"
+
 TEST(CLIUnittest, TestCliSet)
 {
 
@@ -101,6 +110,7 @@
     const clivalue_t cval = {
         .name = "array_unit_test",
         .type = MODE_ARRAY | MASTER_VALUE | VAR_INT8,
+        .config = {.array.length = 3},
         .pgn = PG_RESERVED_FOR_TESTING_1,
         .offset = 0
     };
@@ -134,7 +144,7 @@
     EXPECT_EQ(900, MODE_STEP_TO_CHANNEL_VALUE(cac6->range.endStep));
 
     // set condition 6
-    char *str = (char *)"6 6 1 2 3 925 1300"; 
+    char str[] = "6 6 1 2 3 925 1300";
     cliVtx(str);
 
     EXPECT_EQ(6, cac6->auxChannelIndex);
@@ -146,7 +156,7 @@
     EXPECT_EQ(1300, MODE_STEP_TO_CHANNEL_VALUE(cac6->range.endStep));
 
     // set condition 2
-    char *str2 = (char *)"2 1 2 3 4 1500 2100"; 
+    char str2[] = "2 1 2 3 4 1500 2100";
     cliVtx(str2);
 
     const vtxChannelActivationCondition_t *cac2 = &vtxConfig()->vtxChannelActivationConditions[2];
@@ -160,7 +170,7 @@
 
     // test we can reset existing condition
     // by providing 0 vaues, the condition should be reset (and error shown to the user)
-    char *str3 = (char *)"2 0 0 0 0 0 0"; 
+    char str3[] = "2 0 0 0 0 0 0";
     cliVtx(str3);
 
     EXPECT_EQ(0, cac2->auxChannelIndex);
@@ -173,7 +183,7 @@
 TEST(CLIUnittest, TestCliVtxInvalidArgumentCount)
 {
     // cli expects 7 total arguments (condition index + 6 parameters)
-    char *correctCmd = (char *) "1 1 2 3 4 1000 2000";
+    char correctCmd[] = "1 1 2 3 4 1000 2000";
     cliVtx(correctCmd);  // load some data into condition 1
     const vtxChannelActivationCondition_t *cac1 = &vtxConfig()->vtxChannelActivationConditions[1];
     EXPECT_EQ(1, cac1->auxChannelIndex);
@@ -182,7 +192,7 @@
     EXPECT_EQ(4, cac1->power);
     EXPECT_EQ(1000, MODE_STEP_TO_CHANNEL_VALUE(cac1->range.startStep));
     EXPECT_EQ(2000, MODE_STEP_TO_CHANNEL_VALUE(cac1->range.endStep));
-    char *str = (char *)"1 0 0 0 0";  // 5 arguments, should throw an error and reset the line 1
+    char str[] = "1 0 0 0 0";  // 5 arguments, should throw an error and reset the line 1
     cliVtx(str);
     EXPECT_EQ(0, cac1->auxChannelIndex);
     EXPECT_EQ(0, cac1->band);
@@ -194,7 +204,7 @@
 
     cliVtx(correctCmd);  // load some more data into condition 1 so we have something to reset
 
-    char *tooManyArgs = (char *)"1 0 0 0 0 100 200 300";  // 7 arguments, expects 6
+    char tooManyArgs[] = "1 0 0 0 0 100 200 300";  // 7 arguments, expects 6
     cliVtx(tooManyArgs); //should throw an cli error and reset the line 1
     EXPECT_EQ(0, cac1->auxChannelIndex);
     EXPECT_EQ(0, cac1->band);
@@ -203,6 +213,9 @@
     EXPECT_EQ(900, MODE_STEP_TO_CHANNEL_VALUE(cac1->range.startStep));
     EXPECT_EQ(900, MODE_STEP_TO_CHANNEL_VALUE(cac1->range.endStep));
 }
+
+#pragma GCC diagnostic pop
+
 // STUBS
 extern "C" {
 
@@ -257,7 +270,9 @@
 int8_t unitTestDataArray[3];
 
 void pgResetFn_unitTestData(int8_t *ptr) {
-    ptr = &unitTestDataArray[0];
+    (void)ptr;  // Unused parameter
+    // Reset to default array
+    memset(unitTestDataArray, 0, sizeof(unitTestDataArray));
 }
 
 uint32_t getBeeperOffMask(void) { return 0; }

src/test/unit/flight_imu_unittest.cc

@@ -70,7 +70,7 @@ extern "C" {
 // STUBS
 
 extern "C" {
-boxBitmask_t rcModeActivationMask;
+extern boxBitmask_t rcModeActivationMask;
 float rcCommand[4];
 int16_t rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT];
 float vGyroStdDevModulus;

src/test/unit/ledstrip_unittest.cc

@@ -300,7 +300,7 @@ uint8_t stateFlags = 0;
 uint16_t flightModeFlags = 0;
 float rcCommand[4];
 int16_t rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT];
-boxBitmask_t rcModeActivationMask;
+extern boxBitmask_t rcModeActivationMask;
 gpsSolutionData_t gpsSol;
 
 batteryState_e getBatteryState(void) {

src/test/unit/osd_unittest.cc

@@ -1134,4 +1134,27 @@ extern "C" {
     bool isFlipOverAfterCrashMode(void) {
         return false;
     }
+
+    // CRSF stubs
+    uint16_t CRSFgetLQ(void) { return 50; }
+    uint8_t CRSFgetRFMode(void) { return 0; }
+    uint8_t CRSFgetSnR(void) { return 10; }
+    uint16_t CRSFgetTXPower(void) { return 100; }
+    uint8_t CRSFgetRSSI(void) { return 50; }
+
+    // OLC stubs
+    int olc_encode(float lat, float lon, size_t length, char *buf, size_t bufsize) {
+        (void)lat;
+        (void)lon;
+        (void)length;
+        (void)buf;
+        (void)bufsize;
+        return 0;
+    }
+
+    // Flight mode stubs
+    float getAngleModeAngles(int axis) {
+        (void)axis;
+        return 0.0f;
+    }
 }

src/test/unit/pg_unittest.cc

@@ -34,10 +34,19 @@ extern "C" {
 PG_REGISTER_WITH_RESET_TEMPLATE(motorConfig_t, motorConfig, PG_MOTOR_CONFIG, 1);
 
 PG_RESET_TEMPLATE(motorConfig_t, motorConfig,
+    .dev = {
+        .motorPwmRate = 400,
+        .motorPwmProtocol = 0,
+        .motorPwmInversion = 0,
+        .useUnsyncedPwm = 0,
+        .useBurstDshot = 0,
+        .ioTags = {0}
+    },
+    .digitalIdleOffsetValue = 0,
     .minthrottle = 1150,
     .maxthrottle = 1850,
     .mincommand = 1000,
-    .dev = {.motorPwmRate = 400}
+    .motorPoleCount = 0
 );
 }