diff --git a/Firmware/.vscode/launch.json b/Firmware/.vscode/launch.json
index 48fecec2..5107086e 100644
--- a/Firmware/.vscode/launch.json
+++ b/Firmware/.vscode/launch.json
@@ -30,6 +30,26 @@
"interface/stlink-v2.cfg",
"target/stm32f4x_stlink.cfg",
],
+ "svdFile": "${workspaceRoot}/Board/v3/STM32F40x.svd",
+ "cwd": "${workspaceRoot}"
+ },
+ {
+ // For the Cortex-Debug extension
+ // ssh -t odrv -L3333:localhost:3333 bash -c "\"openocd '-f' 'interface/stlink-v2.cfg' '-f' 'target/stm32f4x_stlink.cfg'\""
+ "type": "cortex-debug",
+ "servertype": "external",
+ "gdbTarget": "localhost:3333",
+ "preLaunchCommands": [
+ "load"
+ ],
+ "request": "launch",
+ "name": "Debug ODrive via external server",
+ "executable": "${workspaceRoot}/build/ODriveFirmware.elf",
+ "configFiles": [
+ "interface/stlink-v2.cfg",
+ "target/stm32f4x_stlink.cfg",
+ ],
+ "svdFile": "${workspaceRoot}/Board/v3/STM32F40x.svd",
"cwd": "${workspaceRoot}"
},
]
diff --git a/docs/testing.md b/docs/testing.md
index 347db2b1..46ba9b69 100644
--- a/docs/testing.md
+++ b/docs/testing.md
@@ -3,21 +3,119 @@
This section describes how to use the automated testing facilities.
You don't have to do this as an end user.
-They test the following aspects:
- - System functions (communication interfaces, configuration storage)
- - Functionality of the motor controller and state machine
- - High speed and high load conditions
-
The testing facility consists of the following components:
- * **Test rig:** In the simplest case this can be a single ODrive with a single motor and encoder pair. Can also be multiple ODrives with multiple axes, some of which may be mechanically coupled.
+ * **Test rig:** In the simplest case this can be a single ODrive optionally with a single motor and encoder pair. Can also be multiple ODrives with multiple axes, some of which may be mechanically coupled.
* **Test host:** The PC on which the test script runs. All ODrives must be connected to the test host via USB.
* **test-rig.yaml:** Describes your test rig. Make sure all values are correct. Incorrect values may physically break or fry your test setup.
- * **run_tests.py:** This is the main script that runs all the tests.
+ * **test_runner.py:** This is the main script that runs all the tests.
+ * **..._test.py** The actual tests
-## How to run
+## The Tests
-Example:
+ - `analog_input_test.py`: Analog Input
+ - `calibration_test.py`: Motor calibration, encoder offset calibration, encoder direction find, encoder index search
+ - `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)
+ - `encoder_test.py`: Incremental encoder, hall effect encoder, sin/cos encoder, SPI encoders (AMS, CUI)
+ - `nvm_test.py`: Configuration storage
+ - `pwm_input_test.py`: PWM input
+ - `step_dir_test.py`: Step/dir input
+ - `uart_ascii_test.py`: Partial coverage of the commands described in [ASCII Protocol](ascii-protocol)
+
+All tests in a file can be run with e.g.:
+
+ python3 uart_ascii_test.py --test-rig-yaml ../../test-rig-rpi.yaml
+
+See the following sections for a more detailed test flow description.
+
+## Our test rig
+
+Our test rig essentially consists of the following components:
+
+ - an ODrive as the test subject
+ - a Teensy 4.0 to emulate external hardware such as encoders
+ - a Motor + Encoder pair for closed loop control tests
+ - a Raspberry Pi 4.0 as test host
+ - a CAN hat for the Raspberry Pi for CAN tests
+
+This document is therefore centered around this test rig layout.
+If your test rig differs, you may be able to run some but not all of the tests.
+
+## How to set up a Raspberry Pi as testing host
+
+ 1. Install Raspbian Lite on a Raspberry Pi 4.0. I used the NOOBS installer for this.
+ 2. Prepare the installation:
+
+ sudo systemctl enable ssh
+ sudo systemctl start ssh
+ # Transfer your public key for passwordless SSH. All subsequent steps can be done via SSH.
+ sudo apt-get update
+ sudo apt-get upgrade
+
+ 3. Add the following lines to `/boot/config.txt`:
+ - `enable_uart=1`
+ - `dtparam=spi=on`
+ - `dtoverlay=spi-bcm2835-overlay`
+ - `dtoverlay=mcp2515-can0,oscillator=12000000,interrupt=25` - Note: These oscillator and interrupt GPIO settings here are for the "RS485 CAN HAT" I have. There appear to be multiple versions, so they may be different from yours. Check the marking on the oscillator and the schematics.
+
+ 4. Remove the following arguments from `/boot/cmdline.txt`:
+ - `console=serial0,115200`
+
+ 5. Reboot.
+
+ 6. Install the prerequisites:
+
+ sudo apt-get install ipython3 python3-appdirs python3-yaml python3-usb python3-serial python3-can python3-scipy git openocd
+ # Optionally, to be able to compile the firmware:
+ sudo apt-get install gcc-arm-none-eabi
+
+ 7. Install Teensyduino and teensy-loader-cli:
+
+ sudo apt-get install libfontconfig libxft2 libusb-dev
+
+ wget https://downloads.arduino.cc/arduino-1.8.12-linuxarm.tar.xz
+ tar -xf arduino-1.8.12-linuxarm.tar.xz
+ wget https://www.pjrc.com/teensy/td_151/TeensyduinoInstall.linuxarm
+ chmod +x TeensyduinoInstall.linuxarm
+ ./TeensyduinoInstall.linuxarm --dir=arduino-1.8.12
+ sudo cp -R arduino-1.8.12 /usr/share/arduino
+ sudo ln -s /usr/share/arduino/arduino /usr/bin/arduino
+
+ git clone https://github.com/PaulStoffregen/teensy_loader_cli
+ pushd teensy_loader_cli
+ sudo cp teensy_loader_cli /usr/bin/
+ sudo ln -s /usr/bin/teensy_loader_cli /usr/bin/teensy-loader-cli
+ popd
+
+ 8. Add the following lines to `/etc/udev/rules.d/49-stlinkv2`:
+
+ SUBSYSTEMS=="usb", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="374b", MODE:="0666"
+ SUBSYSTEMS=="usb", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="3748", MODE:="0666"
+
+ 9. `sudo ../../odrivetool udev-setup`
+
+ 10. `sudo udevadm trigger`
+
+ 11. Run once after every reboot: `sudo ipython3 --pdb test_runner.py -- --setup-host --test-rig-yaml ../../test-rig-rpi.yaml`
+
+## SSH testing flow
+
+Here's one possible workflow for developing on the local host and testing on a remote SSH host.
+
+We assume that the ODrive repo is at `/path/to/ODriveFirmware` and your testing host is configured under the SSH name `odrv`.
+
+To flash and start remote debugging:
+
+ 1. Start OpenOCD remotely, along with a tunnel to localhost: `ssh -t odrv -L3333:localhost:3333 bash -c "\"openocd '-f' 'interface/stlink-v2.cfg' '-f' 'target/stm32f4x_stlink.cfg'\""`
+ You can keep this open for multiple debug sessions. Press Ctrl+C to quit.
+ 2. Compile the firmware
+ 3. In VSCode, select the run configuration "Debug ODrive via external server" and press Run. In contrast to the other configurations, this will flash the new firmware before dropping you into the debugger.
+
+To run a test:
+
+ rsync -avh -e ssh /path/to/ODriveFirmware odrv:/opt/odrivetest --exclude="Firmware/build" --exclude="Firmware/.tup" --exclude=".git" --delete
+
+ ssh odrv
+ > cd /opt/odrivetest/tools/odrive/tests/
+ > ipython3 --pdb uart_ascii_test.py -- --test-rig-yaml ../../test-rig-rpi.yaml
-```
-./run_tests.py --skip-boring-tests --ignore top-odrive.yellow bottom-odrive.yellow
-```
diff --git a/tools/odrive/tests/test_runner.py b/tools/odrive/tests/test_runner.py
index 56b9e663..d1697ec9 100644
--- a/tools/odrive/tests/test_runner.py
+++ b/tools/odrive/tests/test_runner.py
@@ -410,7 +410,7 @@ class TeensyComponent(Component):
env['ARDUINO_COMPILE_DESTINATION'] = hexfile
run_shell(
['arduino', '--board', 'teensy:avr:teensy40', '--verify', sketchfile],
- logger, env = env, timeout = 60)
+ logger, env = env, timeout = 120)
def program(self, hex_file_path: str, logger: Logger):
"""