Comprehensive internal ramp test suite for TMC51x0 (single motor) More...

#include "tmc51x0.hpp"
#include "features/tmc51x0_units.hpp"
#include "test_config/esp32_tmc51x0_bus.hpp"
#include "test_config/esp32_tmc51x0_test_config.hpp"
#include "test_config/TestFramework.h"
#include "driver/gpio.h"
#include <memory>

Include dependency graph for internal_ramp_comprehensive_test.cpp:

Classes
struct	TestDriverHandle
	Test driver handle containing SPI interface and driver instance. More...

Typedefs
using	Motor = tmc51x0_test_config::MotorConfig_17HS4401S

using	Test = tmc51x0_test_config::TestConfig_17HS4401S

Functions
bool	test_driver_initialization () noexcept
	Test driver initialization and basic setup verification.

bool	test_register_read_write () noexcept
	Test register read/write operations.

bool	test_motor_parameter_settings () noexcept
	Test motor parameter configuration and settings.

bool	test_ramp_parameter_settings () noexcept
	Test ramp parameter configuration (speed, acceleration, etc.).

bool	test_global_configuration () noexcept
	Test global configuration settings (GCONF register).

bool	test_enable_disable () noexcept
	Test motor enable/disable functionality.

bool	test_current_control () noexcept
	Test motor current control (IRUN/IHOLD settings).

bool	test_chopper_configuration () noexcept
	Test chopper configuration (SpreadCycle mode).

bool	test_stealthchop_configuration () noexcept
	Test StealthChop configuration and automatic tuning.

bool	test_mode_change_speeds () noexcept
	Test mode change speed thresholds (PWM_THRS, COOL_THRS, HIGH_THRS).

bool	test_global_scaler () noexcept
	Test global scaler configuration.

bool	test_freewheeling_mode () noexcept
	Test freewheeling mode configuration.

bool	test_coolstep_configuration () noexcept
	Test CoolStep configuration and operation.

bool	test_dcstep_configuration () noexcept
	Test DCStep configuration and operation.

bool	test_microstep_lookup_table () noexcept
	Test microstep lookup table configuration.

bool	test_motor_setup_from_spec () noexcept
	Test motor setup from specifications (automatic configuration).

bool	test_ramp_modes () noexcept
	Test ramp mode switching (POSITIONING, VELOCITY_POS, VELOCITY_NEG, HOLD).

bool	test_position_control () noexcept
	Test position control (target position, current position).

bool	test_speed_control () noexcept
	Test speed control (max speed, acceleration, deceleration).

bool	test_ramp_parameters () noexcept
	Test ramp parameters (VSTART, VSTOP, first acceleration, etc.).

bool	test_reference_switch_configuration () noexcept
	Test reference switch configuration and homing.

bool	test_unit_conversions () noexcept
	Test unit conversion functions (RPM, degrees, millimeters, etc.).

bool	test_driver_status () noexcept
	Test driver status reading (GSTAT, DRV_STATUS).

bool	test_stallguard () noexcept
	Test StallGuard2 configuration and reading.

bool	test_lost_steps () noexcept
	Test lost steps detection and reading.

bool	test_phase_currents () noexcept
	Test phase current reading (microstep current diagnostics).

bool	test_pwm_scale () noexcept
	Test PWM scale reading (PWM_AUTO, PWM_SCALE_SUM).

bool	test_microstep_diagnostics () noexcept
	Test microstep diagnostics (counter, time between microsteps).

bool	test_gpio_pins () noexcept
	Test GPIO pin reading functionality.

bool	test_factory_otp_config () noexcept
	Test factory and OTP configuration reading.

bool	test_uart_transmission_count () noexcept
	Test UART transmission count reading.

bool	test_offset_calibration () noexcept
	Test offset calibration reading.

bool	test_sensorless_homing () noexcept
	Test sensorless homing configuration (StallGuard2-based).

bool	test_open_load () noexcept
	Test open load detection functionality.

bool	test_short_circuit_protection () noexcept
	Test short circuit protection configuration.

bool	test_overtemperature_protection () noexcept
	Test overtemperature protection status reading.

bool	test_encoder_configuration () noexcept
	Test encoder configuration and setup.

bool	test_encoder_resolution () noexcept
	Test encoder resolution setting.

bool	test_encoder_position_reading () noexcept
	Test encoder position reading.

bool	test_deviation_detection () noexcept
	Test encoder deviation detection and warnings.

bool	test_latched_position () noexcept
	Test latched position reading (index pulse).

uint8_t	CalculateCurrentRegister (uint16_t current_ma, uint16_t global_scaler=0, uint32_t sense_resistor_mohm=0)
	Helper to calculate current register value (0-31) from mA.

bool	verify_mode_pins (const Esp32SPI &spi, const tmc51x0::TMC51x0< Esp32SPI > &driver, tmc51x0::CommMode expected_comm_mode) noexcept
	Verify mode pins match expected communication mode.

std::unique_ptr< TestDriverHandle >	create_test_driver (bool enable_ref_switch_stop=false) noexcept
	Create and initialize a test driver instance.

void	app_main (void)

Variables
static const char *	TAG = "InternalRamp_Test"

static TestResults	g_test_results

static constexpr tmc51x0_test_config::TestRigType	SELECTED_TEST_RIG

static constexpr uint8_t	TEST_TOFF = Motor::TOFF

static constexpr tmc51x0::MicrostepResolution	TEST_MRES = Motor::MRES

static constexpr float	MICROSTEPS = 256.0f

static constexpr float	STEPS_PER_REV = static_cast<float>(Motor::OUTPUT_FULL_STEPS) * MICROSTEPS

static constexpr float	LEAD_SCREW_PITCH_MM = 2.0F

static constexpr float	TEST_MAX_SPEED_RPM = 60.0f

static constexpr float	TEST_ACCELERATION_REV_S2 = 120.0f

static constexpr float	TEST_DECELERATION_REV_S2 = 120.0f

static constexpr bool	ENABLE_INITIALIZATION_TESTS = true

static constexpr bool	ENABLE_REGISTER_ACCESS_TESTS = true

static constexpr bool	ENABLE_MOTOR_PARAMETER_TESTS = true

static constexpr bool	ENABLE_RAMP_PARAMETER_TESTS = true

static constexpr bool	ENABLE_GLOBAL_CONFIG_TESTS = true

static constexpr bool	ENABLE_ENABLE_DISABLE_TESTS = true

static constexpr bool	ENABLE_CURRENT_CONTROL_TESTS = true

static constexpr bool	ENABLE_CHOPPER_TESTS = true

static constexpr bool	ENABLE_STEALTHCHOP_TESTS = true

static constexpr bool	ENABLE_MODE_CHANGE_SPEED_TESTS = true

static constexpr bool	ENABLE_GLOBAL_SCALER_TESTS = true

static constexpr bool	ENABLE_FREEWHEELING_TESTS = true

static constexpr bool	ENABLE_COOLSTEP_TESTS = true

static constexpr bool	ENABLE_DCSTEP_TESTS = true

static constexpr bool	ENABLE_LUT_TESTS = true

static constexpr bool	ENABLE_MOTOR_SETUP_TESTS = true

static constexpr bool	ENABLE_RAMP_MODE_TESTS = true

static constexpr bool	ENABLE_POSITION_CONTROL_TESTS = true

static constexpr bool	ENABLE_SPEED_CONTROL_TESTS = true

static constexpr bool	ENABLE_RAMP_PARAMETER_TESTS_RAMP = true

static constexpr bool	ENABLE_REFERENCE_SWITCH_TESTS = true

static constexpr bool	ENABLE_UNIT_CONVERSION_TESTS = true

static constexpr bool	ENABLE_DRIVER_STATUS_TESTS = true

static constexpr bool	ENABLE_STALLGUARD_TESTS = true

static constexpr bool	ENABLE_LOST_STEPS_TESTS = true

static constexpr bool	ENABLE_PHASE_CURRENT_TESTS = true

static constexpr bool	ENABLE_PWM_SCALE_TESTS = true

static constexpr bool	ENABLE_MICROSTEP_DIAGNOSTICS_TESTS = true

static constexpr bool	ENABLE_GPIO_TESTS = true

static constexpr bool	ENABLE_FACTORY_OTP_TESTS = true

static constexpr bool	ENABLE_UART_COUNT_TESTS = true

static constexpr bool	ENABLE_OFFSET_CALIBRATION_TESTS = true

static constexpr bool	ENABLE_SENSORLESS_HOMING_TESTS = true

static constexpr bool	ENABLE_OPEN_LOAD_TESTS = true

static constexpr bool	ENABLE_SHORT_CIRCUIT_TESTS = true

static constexpr bool	ENABLE_OVERTEMPERATURE_TESTS = true

static constexpr bool	ENABLE_ENCODER_CONFIG_TESTS = true

static constexpr bool	ENABLE_ENCODER_RESOLUTION_TESTS = true

static constexpr bool	ENABLE_ENCODER_POSITION_TESTS = true

static constexpr bool	ENABLE_DEVIATION_DETECTION_TESTS = true

static constexpr bool	ENABLE_LATCHED_POSITION_TESTS = true

Detailed Description

Comprehensive internal ramp test suite for TMC51x0 (single motor)

This file contains comprehensive testing for TMC51x0 driver covering:

Core initialization and basic setup
Motor control features (enable/disable, current, chopper, StealthChop, etc.)
Ramp control features (positioning, velocity, ramp parameters)
Diagnostics features (status, StallGuard2, lost steps, phase currents, etc.)
Protection features (short circuit, overtemperature)

Hardware Requirements:

ESP32 development board
TMC51x0 stepper motor driver (Evaluation Board)
17HS4401S-PG518 geared stepper motor (5.18:1 gearbox)
AS5047U encoder
Two reference switches (endstops)
SPI connection between ESP32 and TMC51x0

Configuration:

Motor: 17HS4401S-PG518 (gearbox)
Board: TMC51x0 Evaluation Kit
Platform: Test Rig (with encoder and reference switches)
Communication Mode: SPI Internal Ramp (SPI_MODE=HIGH, SD_MODE=LOW)

Note: Reference switches are configured but do NOT stop the motor unless directly testing that feature (test_reference_switch_configuration).

Author: Nebiyu Tadesse

Date: 2025

Typedef Documentation

◆ Motor

using Motor = tmc51x0_test_config::MotorConfig_17HS4401S

◆ Test

using Test = tmc51x0_test_config::TestConfig_17HS4401S

Function Documentation

◆ app_main()

void app_main ( void )

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◆ CalculateCurrentRegister()

uint8_t CalculateCurrentRegister	(	uint16_t	current_ma,
		uint16_t	global_scaler = 0,
		uint32_t	sense_resistor_mohm = 0 )

Helper to calculate current register value (0-31) from mA.

Converts target current in mA to IRUN/IHOLD register value (0-31) using the TMC51x0 current calculation formula: I_RMS = (GLOBAL_SCALER/256) * ((CS+1)/32) * (VFS/RSENSE) * (1/√2)

Reversed: CS = (I_RMS * 256 * 32) / (GLOBAL_SCALER * (VFS/RSENSE) * (1/√2)) - 1

NOTE: This is a TEST HELPER function, not part of the TMC51x0 driver API. The driver's SetCurrent() method takes register values (0-31) directly. The driver's SetupMotorFromSpec() handles mA-to-register conversion automatically during initialization, but tests need fine-grained control over specific mA values, hence this helper function.

Parameters

current_ma	Target current in mA
global_scaler	Global scaler value (32-256). If 0, uses 256 (full scale)
sense_resistor_mohm	Sense resistor value in mOhm. If 0, uses board config default

Returns: uint8_t Register value (0-31), clamped to valid range

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◆ create_test_driver()

std::unique_ptr< TestDriverHandle > create_test_driver ( bool enable_ref_switch_stop = false )

noexcept

Create and initialize a test driver instance.

This helper function creates a fully configured TMC51x0 driver instance with the selected motor, board, and platform configuration.

Note: Reference switches are configured but with stop_enable disabled unless explicitly testing that feature. This prevents the motor from stopping during normal tests.

Returns: Unique pointer to TestDriverHandle, or nullptr on failure

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◆ test_chopper_configuration()

bool test_chopper_configuration ( )

noexcept

Test chopper configuration (SpreadCycle mode).

Returns: true if test passed, false otherwise

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◆ test_coolstep_configuration()

bool test_coolstep_configuration ( )

noexcept

Test CoolStep configuration and operation.

Returns: true if test passed, false otherwise

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◆ test_current_control()

bool test_current_control ( )

noexcept

Test motor current control (IRUN/IHOLD settings).

Returns: true if test passed, false otherwise

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◆ test_dcstep_configuration()

bool test_dcstep_configuration ( )

noexcept

Test DCStep configuration and operation.

Returns: true if test passed, false otherwise

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◆ test_deviation_detection()

bool test_deviation_detection ( )

noexcept

Test encoder deviation detection and warnings.

Returns: true if test passed, false otherwise

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◆ test_driver_initialization()

bool test_driver_initialization ( )

noexcept

Test driver initialization and basic setup verification.

Returns: true if test passed, false otherwise

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◆ test_driver_status()

bool test_driver_status ( )

noexcept

Test driver status reading (GSTAT, DRV_STATUS).

Returns: true if test passed, false otherwise

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◆ test_enable_disable()

bool test_enable_disable ( )

noexcept

Test motor enable/disable functionality.

Returns: true if test passed, false otherwise

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◆ test_encoder_configuration()

bool test_encoder_configuration ( )

noexcept

Test encoder configuration and setup.

Returns: true if test passed, false otherwise

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◆ test_encoder_position_reading()

bool test_encoder_position_reading ( )

noexcept

Test encoder position reading.

Returns: true if test passed, false otherwise

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◆ test_encoder_resolution()

bool test_encoder_resolution ( )

noexcept

Test encoder resolution setting.

Returns: true if test passed, false otherwise

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◆ test_factory_otp_config()

bool test_factory_otp_config ( )

noexcept

Test factory and OTP configuration reading.

Returns: true if test passed, false otherwise

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◆ test_freewheeling_mode()

bool test_freewheeling_mode ( )

noexcept

Test freewheeling mode configuration.

Returns: true if test passed, false otherwise

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◆ test_global_configuration()

bool test_global_configuration ( )

noexcept

Test global configuration settings (GCONF register).

Returns: true if test passed, false otherwise

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◆ test_global_scaler()

bool test_global_scaler ( )

noexcept

Test global scaler configuration.

Returns: true if test passed, false otherwise

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◆ test_gpio_pins()

bool test_gpio_pins ( )

noexcept

Test GPIO pin reading functionality.

Returns: true if test passed, false otherwise

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◆ test_latched_position()

bool test_latched_position ( )

noexcept

Test latched position reading (index pulse).

Returns: true if test passed, false otherwise

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◆ test_lost_steps()

bool test_lost_steps ( )

noexcept

Test lost steps detection and reading.

Returns: true if test passed, false otherwise

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◆ test_microstep_diagnostics()

bool test_microstep_diagnostics ( )

noexcept

Test microstep diagnostics (counter, time between microsteps).

Returns: true if test passed, false otherwise

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◆ test_microstep_lookup_table()

bool test_microstep_lookup_table ( )

noexcept

Test microstep lookup table configuration.

Returns: true if test passed, false otherwise

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◆ test_mode_change_speeds()

bool test_mode_change_speeds ( )

noexcept

Test mode change speed thresholds (PWM_THRS, COOL_THRS, HIGH_THRS).

Returns: true if test passed, false otherwise

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◆ test_motor_parameter_settings()

bool test_motor_parameter_settings ( )

noexcept

Test motor parameter configuration and settings.

Returns: true if test passed, false otherwise

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◆ test_motor_setup_from_spec()

bool test_motor_setup_from_spec ( )

noexcept

Test motor setup from specifications (automatic configuration).

Returns: true if test passed, false otherwise

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◆ test_offset_calibration()

bool test_offset_calibration ( )

noexcept

Test offset calibration reading.

Returns: true if test passed, false otherwise

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◆ test_open_load()

bool test_open_load ( )

noexcept

Test open load detection functionality.

Returns: true if test passed, false otherwise

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◆ test_overtemperature_protection()

bool test_overtemperature_protection ( )

noexcept

Test overtemperature protection status reading.

Returns: true if test passed, false otherwise

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◆ test_phase_currents()

bool test_phase_currents ( )

noexcept

Test phase current reading (microstep current diagnostics).

Returns: true if test passed, false otherwise

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◆ test_position_control()

bool test_position_control ( )

noexcept

Test position control (target position, current position).

Returns: true if test passed, false otherwise

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◆ test_pwm_scale()

bool test_pwm_scale ( )

noexcept

Test PWM scale reading (PWM_AUTO, PWM_SCALE_SUM).

Returns: true if test passed, false otherwise

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◆ test_ramp_modes()

bool test_ramp_modes ( )

noexcept

Test ramp mode switching (POSITIONING, VELOCITY_POS, VELOCITY_NEG, HOLD).

Returns: true if test passed, false otherwise

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◆ test_ramp_parameter_settings()

bool test_ramp_parameter_settings ( )

noexcept

Test ramp parameter configuration (speed, acceleration, etc.).

Returns: true if test passed, false otherwise

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◆ test_ramp_parameters()

bool test_ramp_parameters ( )

noexcept

Test ramp parameters (VSTART, VSTOP, first acceleration, etc.).

Returns: true if test passed, false otherwise

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◆ test_reference_switch_configuration()

bool test_reference_switch_configuration ( )

noexcept

Test reference switch configuration and homing.

Returns: true if test passed, false otherwise

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◆ test_register_read_write()

bool test_register_read_write ( )

noexcept

Test register read/write operations.

Returns: true if test passed, false otherwise

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◆ test_sensorless_homing()

bool test_sensorless_homing ( )

noexcept

Test sensorless homing configuration (StallGuard2-based).

Returns: true if test passed, false otherwise

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◆ test_short_circuit_protection()

bool test_short_circuit_protection ( )

noexcept

Test short circuit protection configuration.

Returns: true if test passed, false otherwise

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◆ test_speed_control()

bool test_speed_control ( )

noexcept

Test speed control (max speed, acceleration, deceleration).

Returns: true if test passed, false otherwise

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◆ test_stallguard()

bool test_stallguard ( )

noexcept

Test StallGuard2 configuration and reading.

Returns: true if test passed, false otherwise

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◆ test_stealthchop_configuration()

bool test_stealthchop_configuration ( )

noexcept

Test StealthChop configuration and automatic tuning.

Returns: true if test passed, false otherwise

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◆ test_uart_transmission_count()

bool test_uart_transmission_count ( )

noexcept

Test UART transmission count reading.

Returns: true if test passed, false otherwise

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◆ test_unit_conversions()

bool test_unit_conversions ( )

noexcept

Test unit conversion functions (RPM, degrees, millimeters, etc.).

Returns: true if test passed, false otherwise

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◆ verify_mode_pins()

bool verify_mode_pins	(	const Esp32SPI &	spi,
		const tmc51x0::TMC51x0< Esp32SPI > &	driver,
		tmc51x0::CommMode	expected_comm_mode )

noexcept

Verify mode pins match expected communication mode.

Parameters

spi	SPI communication interface
driver	TMC51x0 driver instance
expected_comm_mode	Expected communication mode (SPI or UART)

Returns: true if verification passed or pins not configured, false on mismatch

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Variable Documentation

◆ ENABLE_CHOPPER_TESTS

constexpr bool ENABLE_CHOPPER_TESTS = true

staticconstexpr

◆ ENABLE_COOLSTEP_TESTS

constexpr bool ENABLE_COOLSTEP_TESTS = true

staticconstexpr

◆ ENABLE_CURRENT_CONTROL_TESTS

constexpr bool ENABLE_CURRENT_CONTROL_TESTS = true

staticconstexpr

◆ ENABLE_DCSTEP_TESTS

constexpr bool ENABLE_DCSTEP_TESTS = true

staticconstexpr

◆ ENABLE_DEVIATION_DETECTION_TESTS

constexpr bool ENABLE_DEVIATION_DETECTION_TESTS = true

staticconstexpr

◆ ENABLE_DRIVER_STATUS_TESTS

constexpr bool ENABLE_DRIVER_STATUS_TESTS = true

staticconstexpr

◆ ENABLE_ENABLE_DISABLE_TESTS

constexpr bool ENABLE_ENABLE_DISABLE_TESTS = true

staticconstexpr

◆ ENABLE_ENCODER_CONFIG_TESTS

constexpr bool ENABLE_ENCODER_CONFIG_TESTS = true

staticconstexpr

◆ ENABLE_ENCODER_POSITION_TESTS

constexpr bool ENABLE_ENCODER_POSITION_TESTS = true

staticconstexpr

◆ ENABLE_ENCODER_RESOLUTION_TESTS

constexpr bool ENABLE_ENCODER_RESOLUTION_TESTS = true

staticconstexpr

◆ ENABLE_FACTORY_OTP_TESTS

constexpr bool ENABLE_FACTORY_OTP_TESTS = true

staticconstexpr

◆ ENABLE_FREEWHEELING_TESTS

constexpr bool ENABLE_FREEWHEELING_TESTS = true

staticconstexpr

◆ ENABLE_GLOBAL_CONFIG_TESTS

constexpr bool ENABLE_GLOBAL_CONFIG_TESTS = true

staticconstexpr

◆ ENABLE_GLOBAL_SCALER_TESTS

constexpr bool ENABLE_GLOBAL_SCALER_TESTS = true

staticconstexpr

◆ ENABLE_GPIO_TESTS

constexpr bool ENABLE_GPIO_TESTS = true

staticconstexpr

◆ ENABLE_INITIALIZATION_TESTS

constexpr bool ENABLE_INITIALIZATION_TESTS = true

staticconstexpr

◆ ENABLE_LATCHED_POSITION_TESTS

constexpr bool ENABLE_LATCHED_POSITION_TESTS = true

staticconstexpr

◆ ENABLE_LOST_STEPS_TESTS

constexpr bool ENABLE_LOST_STEPS_TESTS = true

staticconstexpr

◆ ENABLE_LUT_TESTS

constexpr bool ENABLE_LUT_TESTS = true

staticconstexpr

◆ ENABLE_MICROSTEP_DIAGNOSTICS_TESTS

constexpr bool ENABLE_MICROSTEP_DIAGNOSTICS_TESTS = true

staticconstexpr

◆ ENABLE_MODE_CHANGE_SPEED_TESTS

constexpr bool ENABLE_MODE_CHANGE_SPEED_TESTS = true

staticconstexpr

◆ ENABLE_MOTOR_PARAMETER_TESTS

constexpr bool ENABLE_MOTOR_PARAMETER_TESTS = true

staticconstexpr

◆ ENABLE_MOTOR_SETUP_TESTS

constexpr bool ENABLE_MOTOR_SETUP_TESTS = true

staticconstexpr

◆ ENABLE_OFFSET_CALIBRATION_TESTS

constexpr bool ENABLE_OFFSET_CALIBRATION_TESTS = true

staticconstexpr

◆ ENABLE_OPEN_LOAD_TESTS

constexpr bool ENABLE_OPEN_LOAD_TESTS = true

staticconstexpr

◆ ENABLE_OVERTEMPERATURE_TESTS

constexpr bool ENABLE_OVERTEMPERATURE_TESTS = true

staticconstexpr

◆ ENABLE_PHASE_CURRENT_TESTS

constexpr bool ENABLE_PHASE_CURRENT_TESTS = true

staticconstexpr

◆ ENABLE_POSITION_CONTROL_TESTS

constexpr bool ENABLE_POSITION_CONTROL_TESTS = true

staticconstexpr

◆ ENABLE_PWM_SCALE_TESTS

constexpr bool ENABLE_PWM_SCALE_TESTS = true

staticconstexpr

◆ ENABLE_RAMP_MODE_TESTS

constexpr bool ENABLE_RAMP_MODE_TESTS = true

staticconstexpr

◆ ENABLE_RAMP_PARAMETER_TESTS

constexpr bool ENABLE_RAMP_PARAMETER_TESTS = true

staticconstexpr

◆ ENABLE_RAMP_PARAMETER_TESTS_RAMP

constexpr bool ENABLE_RAMP_PARAMETER_TESTS_RAMP = true

staticconstexpr

◆ ENABLE_REFERENCE_SWITCH_TESTS

constexpr bool ENABLE_REFERENCE_SWITCH_TESTS = true

staticconstexpr

◆ ENABLE_REGISTER_ACCESS_TESTS

constexpr bool ENABLE_REGISTER_ACCESS_TESTS = true

staticconstexpr

◆ ENABLE_SENSORLESS_HOMING_TESTS

constexpr bool ENABLE_SENSORLESS_HOMING_TESTS = true

staticconstexpr

◆ ENABLE_SHORT_CIRCUIT_TESTS

constexpr bool ENABLE_SHORT_CIRCUIT_TESTS = true

staticconstexpr

◆ ENABLE_SPEED_CONTROL_TESTS

constexpr bool ENABLE_SPEED_CONTROL_TESTS = true

staticconstexpr

◆ ENABLE_STALLGUARD_TESTS

constexpr bool ENABLE_STALLGUARD_TESTS = true

staticconstexpr

◆ ENABLE_STEALTHCHOP_TESTS

constexpr bool ENABLE_STEALTHCHOP_TESTS = true

staticconstexpr

◆ ENABLE_UART_COUNT_TESTS

constexpr bool ENABLE_UART_COUNT_TESTS = true

staticconstexpr

◆ ENABLE_UNIT_CONVERSION_TESTS

constexpr bool ENABLE_UNIT_CONVERSION_TESTS = true

staticconstexpr

◆ g_test_results

TestResults g_test_results

static

◆ LEAD_SCREW_PITCH_MM

constexpr float LEAD_SCREW_PITCH_MM = 2.0F

staticconstexpr

◆ MICROSTEPS

constexpr float MICROSTEPS = 256.0f

staticconstexpr

◆ SELECTED_TEST_RIG

constexpr tmc51x0_test_config::TestRigType SELECTED_TEST_RIG

staticconstexpr

Initial value:

=

tmc51x0_test_config::TestRigType::TEST_RIG_CORE_DRIVER

@ TEST_RIG_CORE_DRIVER

Core driver test rig (17HS4401S motor, TMC51x0 EVAL board, reference switches, encoder)

◆ STEPS_PER_REV

constexpr float STEPS_PER_REV = static_cast<float>(Motor::OUTPUT_FULL_STEPS) * MICROSTEPS

staticconstexpr

◆ TAG

const char* TAG = "InternalRamp_Test"

static

◆ TEST_ACCELERATION_REV_S2

constexpr float TEST_ACCELERATION_REV_S2 = 120.0f

staticconstexpr

◆ TEST_DECELERATION_REV_S2

constexpr float TEST_DECELERATION_REV_S2 = 120.0f

staticconstexpr

◆ TEST_MAX_SPEED_RPM

constexpr float TEST_MAX_SPEED_RPM = 60.0f

staticconstexpr

◆ TEST_MRES

constexpr tmc51x0::MicrostepResolution TEST_MRES = Motor::MRES

staticconstexpr

◆ TEST_TOFF

constexpr uint8_t TEST_TOFF = Motor::TOFF

staticconstexpr

Classes

Typedefs

Functions

Variables

Detailed Description

Typedef Documentation

◆ Motor

◆ Test

Function Documentation

◆ app_main()

◆ CalculateCurrentRegister()

◆ create_test_driver()

◆ test_chopper_configuration()

◆ test_coolstep_configuration()

◆ test_current_control()

◆ test_dcstep_configuration()

◆ test_deviation_detection()

◆ test_driver_initialization()

◆ test_driver_status()

◆ test_enable_disable()

◆ test_encoder_configuration()

◆ test_encoder_position_reading()

◆ test_encoder_resolution()

◆ test_factory_otp_config()

◆ test_freewheeling_mode()

◆ test_global_configuration()

◆ test_global_scaler()

◆ test_gpio_pins()

◆ test_latched_position()

◆ test_lost_steps()

◆ test_microstep_diagnostics()

◆ test_microstep_lookup_table()

◆ test_mode_change_speeds()

◆ test_motor_parameter_settings()

◆ test_motor_setup_from_spec()

◆ test_offset_calibration()

◆ test_open_load()

◆ test_overtemperature_protection()

◆ test_phase_currents()

◆ test_position_control()

◆ test_pwm_scale()

◆ test_ramp_modes()

◆ test_ramp_parameter_settings()

◆ test_ramp_parameters()

◆ test_reference_switch_configuration()

◆ test_register_read_write()

◆ test_sensorless_homing()

◆ test_short_circuit_protection()

◆ test_speed_control()

◆ test_stallguard()

◆ test_stealthchop_configuration()

◆ test_uart_transmission_count()

◆ test_unit_conversions()

◆ verify_mode_pins()

Variable Documentation

◆ ENABLE_CHOPPER_TESTS

◆ ENABLE_COOLSTEP_TESTS

◆ ENABLE_CURRENT_CONTROL_TESTS

◆ ENABLE_DCSTEP_TESTS

◆ ENABLE_DEVIATION_DETECTION_TESTS

◆ ENABLE_DRIVER_STATUS_TESTS

◆ ENABLE_ENABLE_DISABLE_TESTS

◆ ENABLE_ENCODER_CONFIG_TESTS

◆ ENABLE_ENCODER_POSITION_TESTS

◆ ENABLE_ENCODER_RESOLUTION_TESTS

◆ ENABLE_FACTORY_OTP_TESTS

◆ ENABLE_FREEWHEELING_TESTS

◆ ENABLE_GLOBAL_CONFIG_TESTS

◆ ENABLE_GLOBAL_SCALER_TESTS

◆ ENABLE_GPIO_TESTS

◆ ENABLE_INITIALIZATION_TESTS

◆ ENABLE_LATCHED_POSITION_TESTS

◆ ENABLE_LOST_STEPS_TESTS

◆ ENABLE_LUT_TESTS

◆ ENABLE_MICROSTEP_DIAGNOSTICS_TESTS

◆ ENABLE_MODE_CHANGE_SPEED_TESTS

◆ ENABLE_MOTOR_PARAMETER_TESTS

◆ ENABLE_MOTOR_SETUP_TESTS

◆ ENABLE_OFFSET_CALIBRATION_TESTS

◆ ENABLE_OPEN_LOAD_TESTS