From b8566de11b38d88c5fabee542c32cfed63966956 Mon Sep 17 00:00:00 2001
From: Alwin Berger <alwin.berger@tu-dortmund.de>
Date: Fri, 21 Feb 2025 18:07:39 +0100
Subject: [PATCH] polycopter fix macro duplication, allow INSERT_WC

---
 .../CORTEX_M3_MPS2_QEMU_GCC/main_polycopter.c | 180 ++++++++++--------
 1 file changed, 99 insertions(+), 81 deletions(-)

diff --git a/FreeRTOS/Demo/CORTEX_M3_MPS2_QEMU_GCC/main_polycopter.c b/FreeRTOS/Demo/CORTEX_M3_MPS2_QEMU_GCC/main_polycopter.c
index cac9c5fd..39b2fe7a 100644
--- a/FreeRTOS/Demo/CORTEX_M3_MPS2_QEMU_GCC/main_polycopter.c
+++ b/FreeRTOS/Demo/CORTEX_M3_MPS2_QEMU_GCC/main_polycopter.c
@@ -10,8 +10,14 @@
 #define NUM_TASKS 15
 #include "fuzzhelper.c"
 
+// #ifdef INSERT_WC
+//   #include "wcinput.h"
+// #endif
+
 #ifdef INSERT_WC
-  #include "wcinput.h"
+  #define WC_SWITCH(X,D) ((X)*0+(D))
+#else
+  #define WC_SWITCH(X,D) ((X)+(D)*0)
 #endif
 
 // #define SHORT_CALC 50
@@ -165,11 +171,11 @@ void main_osek(void) {
               configMAX_PRIORITIES - 1,
               &xTaskTimeSupervisor );
 
-#ifdef INSERT_WC
-  for (int i=0; i<MAX_INPUT_BYTES; i++) {
-    FUZZ_INPUT[i] = WC_ARRAY[i];
-  }
-#endif
+// #ifdef INSERT_WC
+//   for (int i=0; i<MAX_INPUT_BYTES; i++) {
+//     FUZZ_INPUT[i] = WC_ARRAY[i];
+//   }
+// #endif
   vTaskStartScheduler();
   for( ; ; )
   {
@@ -182,30 +188,31 @@ static void prv_SignalGatherInitiateTask(void *pvParameters) {
   const int task_id = 0;
   TickType_t xLastWakeTime = initial_release_time;
   const TickType_t xFrequency = 3 / portTICK_PERIOD_MS;
+  uint16_t inp = 0;
   int x=0;
   do {
     RNG_RESET
     // timing_start(0);
     xSemaphoreTake(xSemaphore_SPIBus, portMAX_DELAY);
-    x = INPUT_SHORT_NEXT;
-    x = STRETCH_i32((short)x);
+    inp = INPUT_SHORT_NEXT;
+    x = STRETCH_i32(inp);
     x = FUNCTION_1(x);
-    WASTE_USEC(TRANSLATE_1(50, 200));
+    WASTE_USEC(WC_SWITCH(TRANSLATE_1(50, 200), 200));
     if ((round % 2) == 0) {
       xTaskNotify(xTask_SignalGatherTimeoutTask, MAKE_OUTPUT, eSetValueWithOverwrite);
     } else {
       xTaskNotify(xTask_SignalGatherFinishedTask, MAKE_OUTPUT, eSetValueWithOverwrite);
     }
     round++;
-    x = INPUT_SHORT_NEXT;
-    x = STRETCH_i32((short)x);
+    inp = INPUT_SHORT_NEXT;
+    x = STRETCH_i32(inp);
     x = FUNCTION_2(x);
-    WASTE_USEC(TRANSLATE_2(50, 200));
+    WASTE_USEC(WC_SWITCH(TRANSLATE_2(50, 200), 200));
     xSemaphoreGive(xSemaphore_SPIBus);
-    x = INPUT_SHORT_NEXT;
-    x = STRETCH_i32((short)x);
+    inp = INPUT_SHORT_NEXT;
+    x = STRETCH_i32(inp);
     x = FUNCTION_3(x);
-    WASTE_USEC(TRANSLATE_3(50, 200));
+    WASTE_USEC(WC_SWITCH(TRANSLATE_3(50, 200), 200));
     trigger_job_done();
     xTaskDelayUntil( &xLastWakeTime, xFrequency );
   } while (1);
@@ -213,52 +220,54 @@ static void prv_SignalGatherInitiateTask(void *pvParameters) {
 
 static void prv_SignalGatherFinishedTask(void *pvParameters) {
   const int task_id = 1;
+  uint16_t inp = 0;
   int x=0;
   trigger_job_done();
   do {
     RNG_RESET
     unsigned long int y = ulTaskNotifyTake(pdTRUE, portMAX_DELAY);
     STATE_PLUS_DATA(y) // introduce a data dependency
-    x = INPUT_SHORT_NEXT;
-    x = STRETCH_i32((short)x);
-    x = FUNCTION_1(STRETCH_i32(INPUT_SHORT_NEXT*y));
-    WASTE_USEC(TRANSLATE_1(50, 200));
+    inp = INPUT_SHORT_NEXT * CLAMP(y, 1, 3);
+    x = STRETCH_i32(inp);
+    x = FUNCTION_1(x);
+    WASTE_USEC(WC_SWITCH(TRANSLATE_1(50, 200), 200));
     xTaskNotify(xTask_SignalProcessingAttitudeTask, MAKE_OUTPUT, eSetValueWithOverwrite);
-    x = INPUT_SHORT_NEXT;
-    x = STRETCH_i32((short)x);
+    inp = INPUT_SHORT_NEXT * CLAMP(y, 1, 3);
+    x = STRETCH_i32(inp);
     x = FUNCTION_4(x);
-    WASTE_USEC(TRANSLATE_4(50, 200));
+    WASTE_USEC(WC_SWITCH(TRANSLATE_4(50, 200), 200));
     xTaskNotify(xTask_SignalProcessingActuateTask, MAKE_OUTPUT, eSetValueWithOverwrite);
-    x = INPUT_SHORT_NEXT;
-    x = STRETCH_i32((short)x);
+    inp = INPUT_SHORT_NEXT * CLAMP(y, 1, 3);
+    x = STRETCH_i32(inp);
     x = FUNCTION_5(x);
-    WASTE_USEC(TRANSLATE_5(50, 200));
+    WASTE_USEC(WC_SWITCH(TRANSLATE_5(50, 200), 200));
     trigger_job_done();
   } while (1);
 }
 
 static void prv_SignalGatherTimeoutTask(void *pvParameters) {
   const int task_id = 2;
+  uint16_t inp = 0;
   int x=0;
   trigger_job_done();
   do {
     RNG_RESET
     unsigned long int y = ulTaskNotifyTake(pdTRUE, portMAX_DELAY);
     STATE_PLUS_DATA(y) // introduce a data dependency
-    x = INPUT_SHORT_NEXT;
-    x = STRETCH_i32((short)x);
-    x = FUNCTION_6(STRETCH_i32(INPUT_SHORT_NEXT*y));
-    WASTE_USEC(TRANSLATE_6(50, 200));
+    inp = INPUT_SHORT_NEXT * CLAMP(y, 1, 3);
+    x = STRETCH_i32(inp);
+    x = FUNCTION_6(x);
+    WASTE_USEC(WC_SWITCH(TRANSLATE_6(50, 200), 200));
     xSemaphoreTake(xSemaphore_SPIBus, portMAX_DELAY);
-    x = INPUT_SHORT_NEXT;
-    x = STRETCH_i32((short)x);
+    inp = INPUT_SHORT_NEXT * CLAMP(y, 1, 3);
+    x = STRETCH_i32(inp);
     x = FUNCTION_7(x);
-    WASTE_USEC(TRANSLATE_7(50, 200));
+    WASTE_USEC(WC_SWITCH(TRANSLATE_7(50, 200), 200));
     xSemaphoreGive(xSemaphore_SPIBus);
-    x = INPUT_SHORT_NEXT;
-    x = STRETCH_i32((short)x);
+    inp = INPUT_SHORT_NEXT * CLAMP(y, 1, 3);
+    x = STRETCH_i32(inp);
     x = FUNCTION_8(x);
-    WASTE_USEC(TRANSLATE_8(50, 200));
+    WASTE_USEC(WC_SWITCH(TRANSLATE_8(50, 200), 200));
     xTaskNotify(xTask_SignalGatherFinishedTask, MAKE_OUTPUT, eSetValueWithOverwrite);
     trigger_job_done();
   } while (1);
@@ -268,32 +277,34 @@ volatile int calculate;
 
 static void prv_SignalProcessingActuateTask(void *pvParameters) {
   const int task_id = 3;
+  uint16_t inp = 0;
   int x=0;
   trigger_job_done();
   do {
     RNG_RESET
     unsigned long int y = ulTaskNotifyTake(pdTRUE, portMAX_DELAY);
     STATE_PLUS_DATA(y) // introduce a data dependency
-    x = INPUT_SHORT_NEXT;
-    x = STRETCH_i32((short)x);
-    x = FUNCTION_9(STRETCH_i32(INPUT_SHORT_NEXT*y));
-    WASTE_USEC(TRANSLATE_9(50, 200));
+    inp = INPUT_SHORT_NEXT * CLAMP(y, 1, 3);
+    x = STRETCH_i32(inp);
+    x = FUNCTION_9(x);
+    WASTE_USEC(WC_SWITCH(TRANSLATE_9(50, 200), 200));
     trigger_job_done();
   } while (1);
 }
 
 static void prv_SignalProcessingAttitudeTask(void *pvParameters) {
   const int task_id = 4;
+  uint16_t inp = 0;
   int x=0;
   trigger_job_done();
   do {
     RNG_RESET
     unsigned long int y = ulTaskNotifyTake(pdTRUE, portMAX_DELAY);
     STATE_PLUS_DATA(y) // introduce a data dependency
-    x = INPUT_SHORT_NEXT;
-    x = STRETCH_i32((short)x);
-    x = FUNCTION_10(STRETCH_i32(INPUT_SHORT_NEXT*y));
-    WASTE_USEC(TRANSLATE_10(50, 200));
+    inp = INPUT_SHORT_NEXT * CLAMP(y, 1, 3);
+    x = STRETCH_i32(inp);
+    x = FUNCTION_10(x);
+    WASTE_USEC(WC_SWITCH(TRANSLATE_10(50, 200), 200));
     trigger_job_done();
   } while (1);
 }
@@ -302,21 +313,22 @@ static void prv_FlightControlTask(void *pvParameters) {
   const int task_id = 5;
   TickType_t xLastWakeTime = initial_release_time;
   const TickType_t xFrequency = 9 / portTICK_PERIOD_MS;
+  uint16_t inp = 0;
   int x=0;
   do {
     RNG_RESET
     // timing_start(1 | TIMING_POINT_IS_HIGHEST_PRIO);
-    x = INPUT_SHORT_NEXT;
-    x = STRETCH_i32((short)x);
+    inp = INPUT_SHORT_NEXT;
+    x = STRETCH_i32(inp);
     x = FUNCTION_1(x);
-    WASTE_USEC(TRANSLATE_1(50, 200));
+    WASTE_USEC(WC_SWITCH(TRANSLATE_1(50, 200), 200));
     xTaskNotify(xTask_FlightControlAttitudeTask, 0, eSetValueWithOverwrite);
     xTaskNotify(xTask_FlightControlActuateTask, 0, eSetValueWithOverwrite);
     xTaskNotify(xTask_MavlinkSendTask, 0, eSetValueWithOverwrite);
-    x = INPUT_SHORT_NEXT;
-    x = STRETCH_i32((short)x);
+    inp = INPUT_SHORT_NEXT;
+    x = STRETCH_i32(inp);
     x = FUNCTION_2(x);
-    WASTE_USEC(TRANSLATE_2(50, 200));
+    WASTE_USEC(WC_SWITCH(TRANSLATE_2(50, 200), 200));
     trigger_job_done();
     xTaskDelayUntil( &xLastWakeTime, xFrequency );
   } while (1);
@@ -324,56 +336,59 @@ static void prv_FlightControlTask(void *pvParameters) {
 
 static void prv_FlightControlAttitudeTask(void *pvParameters) {
   const int task_id = 6;
+  uint16_t inp = 0;
   int x=0;
   trigger_job_done();
   do {
     RNG_RESET
     unsigned long int y = ulTaskNotifyTake(pdTRUE, portMAX_DELAY);
     STATE_PLUS_DATA(y) // introduce a data dependency
-    x = INPUT_SHORT_NEXT;
-    x = STRETCH_i32((short)x);
-    x = FUNCTION_3(STRETCH_i32(INPUT_SHORT_NEXT*y));
-    WASTE_USEC(TRANSLATE_3(50, 200));
+    inp = INPUT_SHORT_NEXT * CLAMP(y, 1, 3);
+    x = STRETCH_i32(inp);
+    x = FUNCTION_3(x);
+    WASTE_USEC(WC_SWITCH(TRANSLATE_3(50, 200), 200));
     trigger_job_done();
   } while (1);
 }
 
 static void prv_FlightControlActuateTask(void *pvParameters) {
   const int task_id = 7;
+  uint16_t inp = 0;
   int x=0;
   trigger_job_done();
   do {
     RNG_RESET
     unsigned long int y = ulTaskNotifyTake(pdTRUE, portMAX_DELAY);
     STATE_PLUS_DATA(y) // introduce a data dependency
-    x = INPUT_SHORT_NEXT;
-    x = STRETCH_i32((short)x);
-    x = FUNCTION_4(STRETCH_i32(INPUT_SHORT_NEXT*y));
-    WASTE_USEC(TRANSLATE_4(50, 200));
+    inp = INPUT_SHORT_NEXT * CLAMP(y, 1, 3);
+    x = STRETCH_i32(inp);
+    x = FUNCTION_4(x);
+    WASTE_USEC(WC_SWITCH(TRANSLATE_4(50, 200), 200));
     trigger_job_done();
   } while (1);
 }
 
 static void prv_MavlinkSendTask(void *pvParameters) {
   const int task_id = 8;
+  uint16_t inp = 0;
   int x=0;
   trigger_job_done();
   do {
     RNG_RESET
     unsigned long int y = ulTaskNotifyTake(pdTRUE, portMAX_DELAY);
     STATE_PLUS_DATA(y) // introduce a data dependency
-    x = INPUT_SHORT_NEXT;
-    x = STRETCH_i32((short)x);
-    x = FUNCTION_5(STRETCH_i32(INPUT_SHORT_NEXT*y));
-    WASTE_USEC(TRANSLATE_5(50, 200));
+    inp = INPUT_SHORT_NEXT * CLAMP(y, 1, 3);
+    x = STRETCH_i32(inp);
+    x = FUNCTION_5(x);
+    WASTE_USEC(WC_SWITCH(TRANSLATE_5(50, 200), 200));
     xSemaphoreTake(xSemaphore_SPIBus, portMAX_DELAY);
-    WASTE_USEC(TRANSLATE_1(15, 50));
+    WASTE_USEC(WC_SWITCH(TRANSLATE_1(15, 50), 50));
     // NVIC_SetPendingIRQ(1);
     xSemaphoreGive(xSemaphore_SPIBus);
-    x = INPUT_SHORT_NEXT;
-    x = STRETCH_i32((short)x);
+    inp = INPUT_SHORT_NEXT * CLAMP(y, 1, 3);
+    x = STRETCH_i32(inp);
     x = FUNCTION_6(x);
-    WASTE_USEC(TRANSLATE_6(50, 200));
+    WASTE_USEC(WC_SWITCH(TRANSLATE_6(50, 200), 200));
     // timing_end(1);
     trigger_job_done();
   } while (1);
@@ -383,6 +398,7 @@ static void prv_CopterControlTask(void *pvParameters) {
   const int task_id = 9;
   TickType_t xLastWakeTime = initial_release_time;
   const TickType_t xFrequency = 5 / portTICK_PERIOD_MS;
+  uint16_t inp = 0;
   int x=0;
   trigger_job_done();
   do {
@@ -394,17 +410,17 @@ static void prv_CopterControlTask(void *pvParameters) {
     unsigned long int y = ulTaskNotifyTake(pdTRUE, 0);
     #endif
     STATE_PLUS_DATA(y) // introduce a data dependency
-    x = INPUT_SHORT_NEXT;
-    x = STRETCH_i32((short)x);
-    x = FUNCTION_7(STRETCH_i32(INPUT_SHORT_NEXT*y));
-    WASTE_USEC(TRANSLATE_7(50, 200));
+    inp = INPUT_SHORT_NEXT * CLAMP(y, 1, 3);
+    x = STRETCH_i32(inp);
+    x = FUNCTION_7(x);
+    WASTE_USEC(WC_SWITCH(TRANSLATE_7(50, 200), 200));
     vTaskSuspendAll();
-    WASTE_USEC(TRANSLATE_8(15, 50));
+    WASTE_USEC(WC_SWITCH(TRANSLATE_8(15, 50), 50));
     xTaskResumeAll();
-    x = INPUT_SHORT_NEXT;
-    x = STRETCH_i32((short)x);
-    x = FUNCTION_8(STRETCH_i32(INPUT_SHORT_NEXT*y));
-    WASTE_USEC(TRANSLATE_8(50, 200));
+    inp = INPUT_SHORT_NEXT * CLAMP(y, 1, 3);
+    x = STRETCH_i32(inp);
+    x = FUNCTION_8(x);
+    WASTE_USEC(WC_SWITCH(TRANSLATE_8(50, 200), 200));
     // timing_end(2);
 
     trigger_job_done();
@@ -412,17 +428,18 @@ static void prv_CopterControlTask(void *pvParameters) {
 }
 
 void ISR_0_Handler(void) {
+  uint16_t inp = 0;
   int x=0;
   if (xTask_CopterControlTask != NULL) {
     const int task_id = 10;
     RNG_RESET
     // timing_start(2 | TIMING_POINT_START_INTERRUPT_FROM_IDLE);
-    x = INPUT_SHORT_NEXT;
-    x = STRETCH_i32((short)x);
+    inp = INPUT_SHORT_NEXT;
+    x = STRETCH_i32(inp);
     x = FUNCTION_9(x);
-    WASTE_USEC(TRANSLATE_9(15, 50));
+    WASTE_USEC(WC_SWITCH(TRANSLATE_9(15, 50), 50));
     xTaskNotifyFromISR(xTask_CopterControlTask, 0, eNoAction, NULL);
-    WASTE_USEC(TRANSLATE_10(15, 50));
+    WASTE_USEC(WC_SWITCH(TRANSLATE_10(15, 50), 50));
   }
 }
 
@@ -430,13 +447,14 @@ static void prv_CopterControlWatchdogTask(void *pvParameters) {
   const int task_id = 11;
   TickType_t xLastWakeTime = initial_release_time;
   const TickType_t xFrequency = 10 / portTICK_PERIOD_MS;
+  uint16_t inp = 0;
   int x=0;
   do {
     RNG_RESET
-    x = INPUT_SHORT_NEXT;
-    x = STRETCH_i32((short)x);
+    inp = INPUT_SHORT_NEXT;
+    x = STRETCH_i32(inp);
     x = FUNCTION_9(x);
-    WASTE_USEC(TRANSLATE_1(50, 200));
+    WASTE_USEC(WC_SWITCH(TRANSLATE_1(50, 200), 200));
     trigger_job_done();
     xTaskDelayUntil( &xLastWakeTime, xFrequency );
   } while (1);