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make HWIL tests less hardware-dependent

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Samuel Sadok
2020-11-18 18:59:56 +01:00
parent 1d94f11570
commit d868e7fb53
12 changed files with 210 additions and 89 deletions
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docs/testing.md
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@@ -44,7 +44,7 @@ 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.
1. Install Raspbian Lite on a Raspberry Pi 4.0. This is easiest if you have a keyboard, mouse and screen (micro-HDMI!). I used the [NOOBS Lite installer](https://www.raspberrypi.org/downloads/noobs/) for this. Paste the ZIP-file's contents onto a FAT32 formatted SD card (fs type `0b` in `fdisk`) and boot it. Then follow the on-screen instructions.
2. Prepare the installation:
sudo systemctl enable ssh
@@ -52,6 +52,7 @@ If your test rig differs, you may be able to run some but not all of the tests.
# Transfer your public key for passwordless SSH. All subsequent steps can be done via SSH.
sudo apt-get update
sudo apt-get upgrade
# Change /etc/hostname to something meaningful
3. Add the following lines to `/boot/config.txt`:
- `enable_uart=1`
@@ -66,7 +67,7 @@ If your test rig differs, you may be able to run some but not all of the tests.
6. Install the prerequisites:
sudo apt-get install ipython3 python3-appdirs python3-yaml python3-usb python3-serial python3-can python3-scipy git openocd
sudo apt-get install ipython3 python3-appdirs python3-yaml 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
@@ -74,30 +75,36 @@ If your test rig differs, you may be able to run some but not all of the tests.
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
wget https://downloads.arduino.cc/arduino-1.8.13-linuxarm.tar.xz
tar -xf arduino-1.8.13-linuxarm.tar.xz
wget https://www.pjrc.com/teensy/td_153/TeensyduinoInstall.linuxarm
chmod +x TeensyduinoInstall.linuxarm
./TeensyduinoInstall.linuxarm --dir=arduino-1.8.12
sudo cp -R arduino-1.8.12 /usr/share/arduino
./TeensyduinoInstall.linuxarm --dir=arduino-1.8.13
sudo cp -R arduino-1.8.13 /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
make
sudo cp teensy_loader_cli /usr/bin/
sudo ln -s /usr/bin/teensy_loader_cli /usr/bin/teensy-loader-cli
popd
curl https://www.pjrc.com/teensy/49-teensy.rules | sudo tee /etc/udev/rules.d/49-teensy.rules
8. Add the following lines to `/etc/udev/rules.d/49-stlinkv2`:
8. 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"
9. `sudo ../../odrivetool udev-setup`
9. `sudo mkdir /opt/odrivetest && sudo chown $USER /opt/odrivetest`
10. `sudo udevadm trigger`
10. 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/`.
11. Run once after every reboot: `sudo ipython3 --pdb test_runner.py -- --setup-host --test-rig-yaml ../../test-rig-rpi.yaml`
11. `sudo ../../odrivetool udev-setup`
12. `sudo udevadm trigger`
13. Run once after every reboot: `sudo ipython3 --pdb test_runner.py -- --setup-host --test-rig-yaml ../../test-rig-rpi.yaml`
## SSH testing flow