spi_daisy_chain_comprehensive_test.cpp File Reference

Comprehensive SPI Daisy Chain testing suite for TMC51x0. More...

#include "tmc51x0.hpp"
#include "test_config/esp32_tmc51x0_bus.hpp"
#include "test_config/esp32_tmc51x0_test_config.hpp"
#include "test_config/TestFramework.h"
#include <memory>
#include <vector>

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

Functions
bool	test_daisy_chain_setup () noexcept
	Test SPI daisy chain setup and initialization.
bool	test_daisy_chain_position_management () noexcept
	Test daisy chain position management and addressing.
bool	test_multi_motor_coordination () noexcept
	Test multi-motor coordination in daisy chain configuration.
std::unique_ptr< TestDriverHandle >	create_daisy_chain_drivers () noexcept
	Create and initialize daisy chain driver instances.
void	app_main (void)

Variables
static const char *	TAG = "SPI_DaisyChain_Test"
static TestResults	g_test_results
static constexpr tmc51x0_test_config::TestRigType	SELECTED_TEST_RIG
static constexpr bool	ENABLE_DAISY_CHAIN_SETUP_TESTS = true
static constexpr bool	ENABLE_POSITION_MANAGEMENT_TESTS = true
static constexpr bool	ENABLE_MULTI_MOTOR_COORDINATION_TESTS = true
static constexpr uint8_t	TEST_CHAIN_LENGTH = 2
static constexpr uint8_t	TEST_IRUN = 20
static constexpr uint8_t	TEST_IHOLD = 10
static constexpr uint8_t	TEST_GLOBAL_SCALER = 32
static constexpr uint8_t	TEST_TOFF = 5
static constexpr tmc51x0::MicrostepResolution	TEST_MRES = tmc51x0::MicrostepResolution::MRES_256

Detailed Description

Comprehensive SPI Daisy Chain testing suite for TMC51x0.

Supports 1 or more TMC51x0 drivers. Set TEST_CHAIN_LENGTH to match your hardware (default: 2). With TEST_CHAIN_LENGTH=1, standard single-driver SPI operation is tested (position 0, chain length 1).

This file contains comprehensive testing for TMC51x0 SPI daisy chain features:

• SPI daisy chain setup and configuration
• Daisy-chain position management
• Multi-motor coordination
• Chain length configuration
• Sequential positioning

Hardware Requirements:

• ESP32 development board
• 2+ TMC51x0 stepper motor drivers (daisy-chained via SPI)
• Stepper motors connected to each TMC51x0
• SPI connection: All chips share CSN, SCK, MOSI; MISO daisy-chained

Pin Configuration (modify as needed):

• SPI: MOSI=23, MISO=19, SCLK=18, CS=5 (shared by all chips)
• Control: EN=2, DIR=4, STEP=15 (shared or separate per chip)

Daisy-Chain Wiring:

• MCU MISO ──> Chip 1 SDO ──> Chip 2 SDI Chip 1 SDI <── MCU MOSI Chip 2 SDO ──> MCU MISO (if 2 chips) or Chip 3 SDI (if 3 chips)
• All chips: CSN, SCK, MOSI (SDI) tied together

Author

Nebiyu Tadesse

Date

2025

Function Documentation

app_main()

void app_main

(

void

)

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create_daisy_chain_drivers()

std::unique_ptr< TestDriverHandle > create_daisy_chain_drivers ( )

noexcept

Create and initialize daisy chain driver instances.

Creates a shared SPI interface and multiple driver instances configured for daisy chain operation. Each driver is assigned a unique chain position.

Returns

Unique pointer to TestDriverHandle, or nullptr on failure

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test_daisy_chain_position_management()

bool test_daisy_chain_position_management ( )

noexcept

Test daisy chain position management and addressing.

Returns

true if test passed, false otherwise

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test_daisy_chain_setup()

bool test_daisy_chain_setup ( )

noexcept

Test SPI daisy chain setup and initialization.

Returns

true if test passed, false otherwise

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test_multi_motor_coordination()

bool test_multi_motor_coordination ( )

noexcept

Test multi-motor coordination in daisy chain configuration.

Returns

true if test passed, false otherwise

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Variable Documentation

ENABLE_DAISY_CHAIN_SETUP_TESTS

constexpr bool ENABLE_DAISY_CHAIN_SETUP_TESTS = true

staticconstexpr

ENABLE_MULTI_MOTOR_COORDINATION_TESTS

constexpr bool ENABLE_MULTI_MOTOR_COORDINATION_TESTS = true

staticconstexpr

ENABLE_POSITION_MANAGEMENT_TESTS

constexpr bool ENABLE_POSITION_MANAGEMENT_TESTS = true

staticconstexpr

g_test_results

TestResults g_test_results

static

SELECTED_TEST_RIG

constexpr tmc51x0_test_config::TestRigType SELECTED_TEST_RIG

staticconstexpr

Initial value:

= 
    tmc51x0_test_config::TestRigType::TEST_RIG_CORE_DRIVER

TAG

const char* TAG = "SPI_DaisyChain_Test"

static

TEST_CHAIN_LENGTH

constexpr uint8_t TEST_CHAIN_LENGTH = 2

staticconstexpr

TEST_GLOBAL_SCALER

constexpr uint8_t TEST_GLOBAL_SCALER = 32

staticconstexpr

TEST_IHOLD

constexpr uint8_t TEST_IHOLD = 10

staticconstexpr

TEST_IRUN

constexpr uint8_t TEST_IRUN = 20

staticconstexpr

TEST_MRES

constexpr tmc51x0::MicrostepResolution TEST_MRES = tmc51x0::MicrostepResolution::MRES_256

staticconstexpr

TEST_TOFF

constexpr uint8_t TEST_TOFF = 5

staticconstexpr