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https://github.com/odriverobotics/ODrive.git
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update testing documentation
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Samuel Sadok
+110
-12
@@ -3,21 +3,119 @@
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This section describes how to use the automated testing facilities.
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You don't have to do this as an end user.
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They test the following aspects:
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- System functions (communication interfaces, configuration storage)
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- Functionality of the motor controller and state machine
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- High speed and high load conditions
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The testing facility consists of the following components:
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* **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.
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* **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.
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* **Test host:** The PC on which the test script runs. All ODrives must be connected to the test host via USB.
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* **test-rig.yaml:** Describes your test rig. Make sure all values are correct. Incorrect values may physically break or fry your test setup.
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* **run_tests.py:** This is the main script that runs all the tests.
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* **test_runner.py:** This is the main script that runs all the tests.
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* **..._test.py** The actual tests
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## How to run
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## The Tests
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Example:
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- `analog_input_test.py`: Analog Input
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- `calibration_test.py`: Motor calibration, encoder offset calibration, encoder direction find, encoder index search
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- `can_test.py`: Partial coverage of the commands described in [CAN Protocol](can-protocol)
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- `closed_loop_test.py`: Velocity control, position control (TODO: sensorless control)
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- `encoder_test.py`: Incremental encoder, hall effect encoder, sin/cos encoder, SPI encoders (AMS, CUI)
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- `nvm_test.py`: Configuration storage
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- `pwm_input_test.py`: PWM input
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- `step_dir_test.py`: Step/dir input
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- `uart_ascii_test.py`: Partial coverage of the commands described in [ASCII Protocol](ascii-protocol)
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All tests in a file can be run with e.g.:
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python3 uart_ascii_test.py --test-rig-yaml ../../test-rig-rpi.yaml
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See the following sections for a more detailed test flow description.
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## Our test rig
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Our test rig essentially consists of the following components:
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- an ODrive as the test subject
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- a Teensy 4.0 to emulate external hardware such as encoders
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- a Motor + Encoder pair for closed loop control tests
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- a Raspberry Pi 4.0 as test host
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- a CAN hat for the Raspberry Pi for CAN tests
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This document is therefore centered around this test rig layout.
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If your test rig differs, you may be able to run some but not all of the tests.
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## How to set up a Raspberry Pi as testing host
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1. Install Raspbian Lite on a Raspberry Pi 4.0. I used the NOOBS installer for this.
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2. Prepare the installation:
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sudo systemctl enable ssh
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sudo systemctl start ssh
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# Transfer your public key for passwordless SSH. All subsequent steps can be done via SSH.
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sudo apt-get update
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sudo apt-get upgrade
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3. Add the following lines to `/boot/config.txt`:
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- `enable_uart=1`
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- `dtparam=spi=on`
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- `dtoverlay=spi-bcm2835-overlay`
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- `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.
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4. Remove the following arguments from `/boot/cmdline.txt`:
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- `console=serial0,115200`
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5. Reboot.
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6. Install the prerequisites:
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sudo apt-get install ipython3 python3-appdirs python3-yaml python3-usb python3-serial python3-can python3-scipy git openocd
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# Optionally, to be able to compile the firmware:
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sudo apt-get install gcc-arm-none-eabi
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7. Install Teensyduino and teensy-loader-cli:
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sudo apt-get install libfontconfig libxft2 libusb-dev
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wget https://downloads.arduino.cc/arduino-1.8.12-linuxarm.tar.xz
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tar -xf arduino-1.8.12-linuxarm.tar.xz
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wget https://www.pjrc.com/teensy/td_151/TeensyduinoInstall.linuxarm
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chmod +x TeensyduinoInstall.linuxarm
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./TeensyduinoInstall.linuxarm --dir=arduino-1.8.12
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sudo cp -R arduino-1.8.12 /usr/share/arduino
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sudo ln -s /usr/share/arduino/arduino /usr/bin/arduino
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git clone https://github.com/PaulStoffregen/teensy_loader_cli
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pushd teensy_loader_cli
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sudo cp teensy_loader_cli /usr/bin/
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sudo ln -s /usr/bin/teensy_loader_cli /usr/bin/teensy-loader-cli
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popd
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8. Add the following lines to `/etc/udev/rules.d/49-stlinkv2`:
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SUBSYSTEMS=="usb", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="374b", MODE:="0666"
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SUBSYSTEMS=="usb", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="3748", MODE:="0666"
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9. `sudo ../../odrivetool udev-setup`
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10. `sudo udevadm trigger`
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11. Run once after every reboot: `sudo ipython3 --pdb test_runner.py -- --setup-host --test-rig-yaml ../../test-rig-rpi.yaml`
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## SSH testing flow
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Here's one possible workflow for developing on the local host and testing on a remote SSH host.
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We assume that the ODrive repo is at `/path/to/ODriveFirmware` and your testing host is configured under the SSH name `odrv`.
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To flash and start remote debugging:
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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'\""`
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You can keep this open for multiple debug sessions. Press <kbd>Ctrl</kbd>+<kbd>C</kbd> to quit.
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2. Compile the firmware
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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.
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To run a test:
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rsync -avh -e ssh /path/to/ODriveFirmware odrv:/opt/odrivetest --exclude="Firmware/build" --exclude="Firmware/.tup" --exclude=".git" --delete
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ssh odrv
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> cd /opt/odrivetest/tools/odrive/tests/
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> ipython3 --pdb uart_ascii_test.py -- --test-rig-yaml ../../test-rig-rpi.yaml
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```
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./run_tests.py --skip-boring-tests --ignore top-odrive.yellow bottom-odrive.yellow
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```
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