add fibre HWIL tests

docs/testing.md

@@ -17,6 +17,7 @@ The testing facility consists of the following components:
  - `can_test.py`: Partial coverage of the commands described in [CAN Protocol](can-protocol)
  - `closed_loop_test.py`: Velocity control, position control (TODO: sensorless control), brake regen current hard limit, current control with velocity limiting
  - `encoder_test.py`: Incremental encoder, hall effect encoder, sin/cos encoder, SPI encoders (AMS, CUI)
+ - `fibre_test.py`: General USB protocol tests
  - `nvm_test.py`: Configuration storage
  - `pwm_input_test.py`: PWM input
  - `step_dir_test.py`: Step/dir input

tools/odrive/tests/fibre_test.py

@@ -0,0 +1,56 @@
+
+import test_runner
+
+import time
+
+from fibre.utils import Logger
+from odrive.enums import *
+from test_runner import *
+
+class FibreFunctionalTest():
+    """
+    Tests basic protocol functionality.
+    """
+
+    def get_test_cases(self, testrig: TestRig):
+        return testrig.get_components(ODriveComponent)
+
+    def run_test(self, odrive: ODriveComponent, logger: Logger):
+        # Test property read/write
+        odrive.handle.test_property = 42
+        test_assert_eq(odrive.handle.test_property, 42)
+        odrive.handle.test_property = 0xffffffff
+        test_assert_eq(odrive.handle.test_property, 0xffffffff)
+
+        # Test function call
+        val = odrive.handle.get_adc_voltage(0)
+        test_assert_within(val, 0.01, 3.29)
+
+        # Test custom setter (aka property write hook)
+        odrive.handle.axis0.motor.config.phase_resistance = 1
+        odrive.handle.axis0.motor.config.phase_inductance = 1
+        odrive.handle.axis0.motor.config.current_control_bandwidth = 1000
+        old_gain = odrive.handle.axis0.motor.current_control.p_gain
+        test_assert_eq(old_gain, 1000, accuracy=0.0001) # must be non-zero for subsequent check to work
+        odrive.handle.axis0.motor.config.current_control_bandwidth /= 2
+        test_assert_eq(odrive.handle.axis0.motor.current_control.p_gain, old_gain / 2, accuracy=0.0001)
+
+class FibreBurnInTest():
+    """
+    Tests continuous usage of the protocol.
+    """
+
+    def get_test_cases(self, testrig: TestRig):
+        return testrig.get_components(ODriveComponent)
+
+    def run_test(self, odrive: ODriveComponent, logger: Logger):
+        data = record_log(lambda: [odrive.handle.vbus_voltage], duration=10.0)
+        expected_data = np.mean(data[:,1]) * np.ones(data[:,1].size)
+        test_curve_fit(data, expected_data, max_mean_err = 0.1, inlier_range = 0.5, max_outliers = 0)
+
+
+if __name__ == '__main__':
+    test_runner.run([
+        FibreFunctionalTest(),
+        FibreBurnInTest(),
+    ])

tools/odrive/tests/uart_ascii_test.py

@@ -89,6 +89,15 @@ class TestUartAscii():
             response = int(ser.readline().strip())
             test_assert_eq(response, 12345)
 
+            # Test custom setter (aka property write hook)
+            odrive.handle.axis0.motor.config.phase_resistance = 1
+            odrive.handle.axis0.motor.config.phase_inductance = 1
+            odrive.handle.axis0.motor.config.current_control_bandwidth = 1000
+            old_gain = odrive.handle.axis0.motor.current_control.p_gain
+            test_assert_eq(old_gain, 1000, accuracy=0.0001) # must be non-zero for subsequent check to work
+            ser.write('w axis0.motor.config.current_control_bandwidth {}\n'.format(odrive.handle.axis0.motor.config.current_control_bandwidth / 2).encode('ascii'))
+            test_assert_eq(ser.readline(), b'')
+            test_assert_eq(odrive.handle.axis0.motor.current_control.p_gain, old_gain / 2, accuracy=0.0001)
 
             # Test 'c', 'v', 'p', 'q' and 'f' commands