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Motion: test low-level enable changes via GPIO stub 

This fixes the driver's enable/disable incorrectly setting the direction
bit instead.
pull/96/head
Yuri D'Elia 2021-08-24 17:06:46 +02:00 committed by DRracer
parent 8e24d1e084
commit 0548c17078
3 changed files with 23 additions and 2 deletions
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2
src/hal/avr/tmc2130.cpp
View File

@ -74,7 +74,7 @@ void TMC2130::SetCurrents(const MotorParams &params, const MotorCurrents &curren
}
void TMC2130::SetEnabled(const MotorParams &params, bool enabled) {
hal::shr16::shr16.SetTMCDir(params.idx, enabled);
hal::shr16::shr16.SetTMCEnabled(params.idx, enabled);
if (this->enabled != enabled)
ClearStallguard(params);
this->enabled = enabled;

15
tests/unit/modules/motion/test_motion.cpp
View File

@ -3,6 +3,17 @@
using namespace modules::motion;
namespace hal {
namespace shr16 {
extern uint8_t shr16_tmc_ena;
} // namespace shr16
} // namespace hal
// Conveniently read the enable state set into the lower-level shift register
bool getTMCEnabled(const MotorParams &mp) {
return (hal::shr16::shr16_tmc_ena & (1 << mp.idx));
}
// Perform Step() until all moves are completed, returning the number of steps performed.
// Ensure the move doesn't run forever, making the test fail reliably.
ssize_t stepUntilDone(size_t maxSteps = 100000) {
@ -34,19 +45,23 @@ TEST_CASE("motion::basic", "[motion]") {
TEST_CASE("motion::auto_axis_enable", "[motion]") {
// by default the axis should start disabled
REQUIRE(motion.Enabled(Pulley) == false);
REQUIRE(getTMCEnabled(axisParams[Pulley].params) == false);
// enable manually the axis
motion.SetEnabled(Pulley, true);
REQUIRE(motion.Enabled(Pulley) == true);
REQUIRE(getTMCEnabled(axisParams[Pulley].params) == true);
// now disable
motion.SetEnabled(Pulley, false);
REQUIRE(motion.Enabled(Pulley) == false);
REQUIRE(getTMCEnabled(axisParams[Pulley].params) == false);
// planning a move should enable the axis automatically
REQUIRE(motion.QueueEmpty());
motion.PlanMove<Pulley>(1.0_mm, 100.0_mm_s);
REQUIRE(motion.Enabled(Pulley) == true);
REQUIRE(getTMCEnabled(axisParams[Pulley].params) == true);
}
TEST_CASE("motion::unit", "[motion]") {

8
tests/unit/modules/stubs/stub_shr16.cpp
View File

@ -7,10 +7,12 @@ SHR16 shr16;
uint16_t shr16_v_copy;
uint8_t shr16_tmc_dir;
uint8_t shr16_tmc_ena;
void SHR16::Init() {
shr16_v_copy = 0;
shr16_tmc_dir = 0;
shr16_tmc_ena = 0;
}
void SHR16::SetLED(uint16_t led) {
@ -18,7 +20,11 @@ void SHR16::SetLED(uint16_t led) {
}
void SHR16::SetTMCEnabled(uint8_t index, bool ena) {
// do nothing right now
// this is using another array for testing convenience
if (ena)
shr16_tmc_ena |= (1 << index);
else
shr16_tmc_ena &= ~(1 << index);
}
void SHR16::SetTMCDir(uint8_t index, bool dir) {