From 8b04201e5279e82175d13c6c4e2401dc808c506d Mon Sep 17 00:00:00 2001 From: Samuel Sadok Date: Thu, 12 Dec 2019 20:43:37 +0100 Subject: [PATCH] [testing] add PWM input test --- tools/odrive/tests/pwm_input_test.py | 130 +++++ tools/odrive/tests/pwm_sim.ino.hex | 801 +++++++++++++++++++++++++++ tools/odrive/tests/test_runner.py | 1 + 3 files changed, 932 insertions(+) create mode 100644 tools/odrive/tests/pwm_input_test.py create mode 100644 tools/odrive/tests/pwm_sim.ino.hex diff --git a/tools/odrive/tests/pwm_input_test.py b/tools/odrive/tests/pwm_input_test.py new file mode 100644 index 00000000..e70f8e1e --- /dev/null +++ b/tools/odrive/tests/pwm_input_test.py @@ -0,0 +1,130 @@ + +import test_runner + +import time +import math +import os + +import fibre +from fibre.utils import Logger +from odrive.enums import errors +from test_runner import ODriveTestContext, test_assert_eq, program_teensy + +#def modpm(val, lower_bound, upper_bound): +# return ((val - lower_bound) % (upper_bound - lower_bound)) - lower_bound + +def modpm(val, range): + return ((val + (range / 2)) % range) - (range / 2) + +class TestPwmInput(): + """ + Verifies the PWM input. + + The Teensy generates a PWM signal that goes from 0% (1ms high) to 100% (2ms high) + in 1 second and then resumes at 0%. + + This test takes about 1min. + + Note: this test is currently only written for ODrive 3.6 (or similar GPIO layout). + """ + + def is_compatible(self, odrive: ODriveTestContext): + return True + + def run_delta_test(self, attr, with_min, with_max, timeout = 5.0): + rounds_per_s = 1.0 + units_per_s = (with_max - with_min) * rounds_per_s + step_size = units_per_s * 0.02 # 20ms per step + min_val = math.inf + max_val = -math.inf + cumulative_delta = 0 + + rate = units_per_s + rate_gain = 1 / 0.5 # 200ms time constant + + # Could do something fancy like fit a piecewise linear function + + start = time.monotonic() + i = 0 + while True: + now = time.monotonic() + new_val = attr.get_value() + min_val = min(min_val, new_val) + max_val = max(max_val, new_val) + + if i > 0: + dt = now - before + delta = modpm(new_val - last_val, with_max - with_min) + cumulative_delta += delta + + # low pass filter rate + rate += (delta / dt - rate) * min(rate_gain * dt, 1) + #print("rate", rate) + + # After 500ms verify the rate + if now - start > 0.5: + # 40% seems like a very large range. With a smaller range + # the test tends to fail. May want to investigate if this + # is only because of the non-realtimeness of the tester + # of if it's an actual problem. Looks fine on software oscilloscope. + test_assert_eq(rate, units_per_s, accuracy=0.4) + + before = now + last_val = new_val + + if (now - start > timeout): + break + time.sleep(0.005) # PWM time resolution is 20ms, so let's read a bit slower. + i += 1 + + # Check the total incement during this time + test_assert_eq(cumulative_delta, timeout * units_per_s, accuracy=0.1) + + # Check that the minimum and maximum values were observed + test_assert_eq(min_val, with_min, range = step_size) + test_assert_eq(max_val, with_max, range = step_size) + + def run_test(self, odrive: ODriveTestContext, logger: Logger): + # TODO: test each GPIO separately + hexfile = 'pwm_sim.ino.hex' + program_teensy(os.path.join(os.path.dirname(__file__), hexfile), 26, logger) + time.sleep(1.0) # wait for PLLs to stabilize + + logger.debug("Set up PWM input...") + odrive.handle.erase_configuration() + odrive.handle.config.enable_uart = False + odrive.handle.config.gpio1_pwm_mapping.endpoint = odrive.handle.axis0.controller._remote_attributes['input_pos'] + odrive.handle.config.gpio1_pwm_mapping.min = -50 + odrive.handle.config.gpio1_pwm_mapping.max = 200 + odrive.handle.config.gpio2_pwm_mapping.endpoint = odrive.handle.axis1.controller._remote_attributes['input_pos'] + odrive.handle.config.gpio2_pwm_mapping.min = 20 + odrive.handle.config.gpio2_pwm_mapping.max = 400 + odrive.handle.config.gpio3_pwm_mapping.endpoint = odrive.handle.axis0.controller._remote_attributes['input_vel'] + odrive.handle.config.gpio3_pwm_mapping.min = -1000 + odrive.handle.config.gpio3_pwm_mapping.max = 0 + odrive.handle.config.gpio4_pwm_mapping.endpoint = odrive.handle.axis1.controller._remote_attributes['input_vel'] + odrive.handle.config.gpio4_pwm_mapping.min = -20000 + odrive.handle.config.gpio4_pwm_mapping.max = 20000 + + # Save and reboot + odrive.handle.save_configuration() + try: + odrive.handle.reboot() + except fibre.ChannelBrokenException: + pass # this is expected + odrive.handle = None + time.sleep(2) + odrive.make_available(logger) + + logger.debug("Check if PWM on GPIO1 works...") + self.run_delta_test(odrive.handle.axis0.controller._remote_attributes['input_pos'], -50, 200) + logger.debug("Check if PWM on GPIO2 works...") + self.run_delta_test(odrive.handle.axis1.controller._remote_attributes['input_pos'], 20, 400) + logger.debug("Check if PWM on GPIO3 works...") + self.run_delta_test(odrive.handle.axis0.controller._remote_attributes['input_vel'], -1000, 0) + logger.debug("Check if PWM on GPIO4 works...") + self.run_delta_test(odrive.handle.axis1.controller._remote_attributes['input_vel'], -20000, 20000) + + +if __name__ == '__main__': + test_runner.run(TestPwmInput()) diff --git a/tools/odrive/tests/pwm_sim.ino.hex b/tools/odrive/tests/pwm_sim.ino.hex new file mode 100644 index 00000000..efd5bf65 --- /dev/null +++ b/tools/odrive/tests/pwm_sim.ino.hex @@ -0,0 +1,801 @@ +:0200000460009A +:100000004643464200000156000000000101020084 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+:10318400400000001201000202000040C016830447 +:1031940079020102030100001603550053004200A6 +:1031A4002000530065007200690061006C0000009B +:1031B400040309040C0300000000000000000000E8 +:1031C40000000000000000000000010000000000FA +:040000056000100087 +:00000001FF diff --git a/tools/odrive/tests/test_runner.py b/tools/odrive/tests/test_runner.py index 879b4e4c..5fba9bc3 100644 --- a/tools/odrive/tests/test_runner.py +++ b/tools/odrive/tests/test_runner.py @@ -144,6 +144,7 @@ def program_teensy(hex_file_path, program_gpio: int, logger: Logger): echo 26 | sudo tee /sys/class/gpio/export sudo chmod a+rw /sys/class/gpio/gpio26/* + echo out > /sys/class/gpio/gpio26/direction """