From 0ac2871deccbd9bbc25ccf114cbd648008483bb2 Mon Sep 17 00:00:00 2001
From: Oskar Weigl <oskar.weigl@gmail.com>
Date: Sat, 21 Apr 2018 14:27:37 -0700
Subject: [PATCH] drv fault only reads fault regs, add blackside loopback tests

---
 Firmware/MotorControl/motor.cpp |  6 +++---
 Firmware/MotorControl/motor.hpp | 10 +++++-----
 tools/odrive/tests.py           |  8 ++++----
 tools/test-rig-loopback.yaml    | 35 +++++++++++++++++++++++++++++++--
 4 files changed, 45 insertions(+), 14 deletions(-)

diff --git a/Firmware/MotorControl/motor.cpp b/Firmware/MotorControl/motor.cpp
index 6f12474d..9558dc35 100644
--- a/Firmware/MotorControl/motor.cpp
+++ b/Firmware/MotorControl/motor.cpp
@@ -117,9 +117,9 @@ bool Motor::check_DRV_fault() {
         // Update DRV Fault Code
         drv_fault_ = DRV8301_getFaultType(&gate_driver_);
         // Update/Cache all SPI device registers
-        DRV_SPI_8301_Vars_t* local_regs = &gate_driver_regs_;
-        local_regs->RcvCmd = true;
-        DRV8301_readData(&gate_driver_, local_regs);
+        // DRV_SPI_8301_Vars_t* local_regs = &gate_driver_regs_;
+        // local_regs->RcvCmd = true;
+        // DRV8301_readData(&gate_driver_, local_regs);
         return false;
     };
     return true;
diff --git a/Firmware/MotorControl/motor.hpp b/Firmware/MotorControl/motor.hpp
index ebc47b9c..7f9e9b08 100644
--- a/Firmware/MotorControl/motor.hpp
+++ b/Firmware/MotorControl/motor.hpp
@@ -180,11 +180,11 @@ public:
                 make_protocol_property("max_allowed_current", &current_control_.max_allowed_current)
             ),
             make_protocol_object("gate_driver",
-                make_protocol_ro_property("drv_fault", &drv_fault_),
-                make_protocol_ro_property("status_reg_1", &gate_driver_regs_.Stat_Reg_1_Value),
-                make_protocol_ro_property("status_reg_2", &gate_driver_regs_.Stat_Reg_2_Value),
-                make_protocol_ro_property("ctrl_reg_1", &gate_driver_regs_.Ctrl_Reg_1_Value),
-                make_protocol_ro_property("ctrl_reg_2", &gate_driver_regs_.Ctrl_Reg_2_Value)
+                make_protocol_ro_property("drv_fault", &drv_fault_)
+                // make_protocol_ro_property("status_reg_1", &gate_driver_regs_.Stat_Reg_1_Value),
+                // make_protocol_ro_property("status_reg_2", &gate_driver_regs_.Stat_Reg_2_Value),
+                // make_protocol_ro_property("ctrl_reg_1", &gate_driver_regs_.Ctrl_Reg_1_Value),
+                // make_protocol_ro_property("ctrl_reg_2", &gate_driver_regs_.Ctrl_Reg_2_Value)
             ),
             make_protocol_object("timing_log",
                 make_protocol_ro_property("TIMING_LOG_GENERAL", &timing_log_[TIMING_LOG_GENERAL]),
diff --git a/tools/odrive/tests.py b/tools/odrive/tests.py
index 182f70aa..43ef182b 100644
--- a/tools/odrive/tests.py
+++ b/tools/odrive/tests.py
@@ -61,13 +61,13 @@ def test_assert_eq(observed, expected, range=None, accuracy=None):
 def get_errors(axis_ctx: AxisTestContext):
     errors = []
     if axis_ctx.handle.motor.error != 0:
-        errors.append("motor failed with error {:04X}".format(axis_ctx.handle.motor.error))
+        errors.append("motor failed with error 0x{:04X}".format(axis_ctx.handle.motor.error))
     if axis_ctx.handle.encoder.error != 0:
-        errors.append("encoder failed with error {:04X}".format(axis_ctx.handle.encoder.error))
+        errors.append("encoder failed with error 0x{:04X}".format(axis_ctx.handle.encoder.error))
     if axis_ctx.handle.sensorless_estimator.error != 0:
-        errors.append("sensorless_estimator failed with error {:04X}".format(axis_ctx.handle.sensorless_estimator.error))
+        errors.append("sensorless_estimator failed with error 0x{:04X}".format(axis_ctx.handle.sensorless_estimator.error))
     if axis_ctx.handle.error != 0:
-        errors.append("axis failed with error {:04X}".format(axis_ctx.handle.error))
+        errors.append("axis failed with error 0x{:04X}".format(axis_ctx.handle.error))
     elif len(errors) > 0:
         errors.append("and by the way: axis reports no error even though there is one")
     return errors
diff --git a/tools/test-rig-loopback.yaml b/tools/test-rig-loopback.yaml
index 34989214..359c3a61 100644
--- a/tools/test-rig-loopback.yaml
+++ b/tools/test-rig-loopback.yaml
@@ -2,7 +2,37 @@
 type: loopback
 
 odrives:
-  - name: odrive-48V
+  - name: odrv-blackside
+    board-version: v3.4-24V
+    serial-number: "3061395B3235"
+    brake-resistance: 0.47
+    uart: /dev/serial/by-id/[not-yet-used]
+    usb: auto
+    programmer: '493f6f06493f56540929113f'
+    vbus-voltage: 24 # [V]
+    max-brake-power: 150 # [W]
+    axes:
+      - name: 'M0'
+        motor-phase-resistance: 0.028
+        motor-phase-inductance: 1.6e-05
+        motor-pole-pairs: 7
+        motor-direction: 1
+        motor-kv: 270
+        motor-max-current: 70
+        motor-max-voltage: 32
+        encoder-cpr: 8192
+        encoder-max-rpm: 7000
+      - name: 'M1'
+        motor-phase-resistance: 0.028
+        motor-phase-inductance: 1.6e-05
+        motor-pole-pairs: 7
+        motor-direction: -1
+        motor-kv: 270
+        motor-max-current: 70
+        motor-max-voltage: 32
+        encoder-cpr: 8192
+        encoder-max-rpm: 7000
+  - name: odrv-yellowside
     board-version: v3.5-48V
     serial-number: "3660335E3037"
     brake-resistance: 0.47
@@ -35,4 +65,5 @@ odrives:
 
 # Mechanical couplings
 couplings:
-  - [ odrive-48V.M0, odrive-48V.M1 ]
\ No newline at end of file
+  - [ odrv-blackside.M0, odrv-blackside.M1 ]
+  - [ odrv-yellowside.M0, odrv-yellowside.M1 ]
\ No newline at end of file