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Samuel Sadok
2021-02-16 09:50:38 +01:00
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docs/testing.md
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@@ -56,24 +56,30 @@ If your test rig differs, you may be able to run some but not all of the tests.
3. Add the following lines to `/boot/config.txt`:
- `enable_uart=1`
4. If you're using the [WaveShare RS485 CAN Hat](https://www.waveshare.com/rs485-can-hat.htm), add the following lines to `/boot/config.txt`:
- `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`:
5. If you're using the [SeeedStudio MCP2518FD CAN-FD Hat](https://www.seeedstudio.com/CAN-BUS-FD-HAT-for-Raspberry-Pi-p-4742.html), run the commands listed [here](https://wiki.seeedstudio.com/2-Channel-CAN-BUS-FD-Shield-for-Raspberry-Pi/#install-can-hat).
6. Remove the following arguments from `/boot/cmdline.txt`:
- `console=serial0,115200`
5. Append `ODRIVE_TEST_RIG_NAME=[test-rig-name]` to `/etc/environment`. The HWIL tests use this to look up the the file `[test-rig-name].yaml` which is supposed to describe your test rig.
7. Append `ODRIVE_TEST_RIG_NAME=[test-rig-name]` to `/etc/environment`. The HWIL tests use this to look up the the file `[test-rig-name].yaml` which is supposed to describe your test rig.
6. Reboot.
8. Reboot.
7. Install the prerequisites:
9. Install the prerequisites:
sudo apt-get install ipython3 python3-appdirs python3-yaml python3-jinja2 python3-usb python3-serial python3-can python3-scipy python3-matplotlib python3-ipdb git openocd
# Optionally, to be able to compile the firmware:
sudo apt-get install gcc-arm-none-eabi
8. Install Teensyduino and teensy-loader-cli:
10. Install Teensyduino and teensy-loader-cli:
sudo apt-get install libfontconfig libxft2 libusb-dev
@@ -93,20 +99,20 @@ If your test rig differs, you may be able to run some but not all of the tests.
popd
curl https://www.pjrc.com/teensy/49-teensy.rules | sudo tee /etc/udev/rules.d/49-teensy.rules
9. Add the following lines to `/etc/udev/rules.d/49-stlinkv2.rules`:
11. Add the following lines to `/etc/udev/rules.d/49-stlinkv2.rules`:
SUBSYSTEMS=="usb", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="374b", MODE:="0666"
SUBSYSTEMS=="usb", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="3748", MODE:="0666"
10. `sudo mkdir /opt/odrivetest && sudo chown $USER /opt/odrivetest`
12. `sudo mkdir /opt/odrivetest && sudo chown $USER /opt/odrivetest`
11. At this point you need the ODrive repository. See next section to sync it from your main PC. We assume now that you navigated to `tools/odrive/tests/`.
13. At this point you need the ODrive repository. See next section to sync it from your main PC. We assume now that you navigated to `tools/odrive/tests/`.
12. `sudo ../../odrivetool udev-setup`
14. `sudo ../../odrivetool udev-setup`
13. `sudo udevadm trigger`
15. `sudo udevadm trigger`
14. Run once after every reboot: `sudo -E ipython3 --pdb test_runner.py -- --setup-host`
16. Run once after every reboot: `sudo -E ipython3 --pdb test_runner.py -- --setup-host`
## SSH testing flow