uart_multi_node_comprehensive_test.cpp File Reference

Comprehensive UART communication 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	UartTestHandle

Functions
std::unique_ptr< UartTestHandle >	create_uart_drivers () noexcept
	Create UART interface and driver instances.
bool	test_uart_basic_communication () noexcept
	Verify basic UART register read/write communication.
bool	test_uart_node_address_configuration () noexcept
	Test UART node address configuration via NODECONF register.
bool	test_send_delay_configuration () noexcept
	Test send delay configuration.
bool	test_uart_motor_control () noexcept
	Test motor control operations over UART.
void	app_main (void)

Variables
static const char *	TAG = "UART_MultiNode_Test"
static TestResults	g_test_results
static constexpr bool	ENABLE_BASIC_COMM_TESTS = true
static constexpr bool	ENABLE_NODE_ADDRESS_TESTS = true
static constexpr bool	ENABLE_SEND_DELAY_TESTS = true
static constexpr bool	ENABLE_MOTOR_CONTROL_TESTS = true
static constexpr uint8_t	TEST_NODE_COUNT = 1
	Number of TMC51x0 nodes on the UART bus. Set to 1 for single-driver setups.
static constexpr uart_port_t	UART_PORT = UART_NUM_1
	UART port (avoid UART_NUM_0 which is typically used for the USB console)
static constexpr uint32_t	UART_BAUD = 115200
	UART baud rate – TMC5160 auto-detects from sync frame.
static constexpr int	UART_TX_PIN = 17
	UART pin configuration.
static constexpr int	UART_RX_PIN = 16
static constexpr int	EN_PIN = 11
static constexpr tmc51x0_test_config::TestRigType	SELECTED_TEST_RIG
	Test rig selection for motor configuration.

Detailed Description

Comprehensive UART communication testing suite for TMC51x0.

Tests UART single-wire communication with 1 or more TMC51x0 drivers. Set TEST_NODE_COUNT to match your hardware (default: 1).

Features tested:

• UART interface initialization and basic register access
• Node address configuration (NODECONF register)
• Send delay configuration
• Multi-node coordination (when TEST_NODE_COUNT > 1)

Hardware Requirements:

• ESP32 development board
• 1+ TMC51x0 stepper motor drivers in UART mode (SD_MODE=LOW, SPI_MODE=LOW)
• UART wiring: ESP32 TX -> TMC5160 SWN, ESP32 RX <- TMC5160 SWP
• For multi-node: NAI/NAO daisy chain (first chip NAI to GND)

Pin Configuration (modify as needed):

• UART TX: GPIO 17
• UART RX: GPIO 16
• EN: GPIO 11

Author

Nebiyu Tadesse

Date

2025

Function Documentation

app_main()

void app_main

(

void

)

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create_uart_drivers()

std::unique_ptr< UartTestHandle > create_uart_drivers ( )

noexcept

Create UART interface and driver instances.

Creates one Esp32UART interface shared by all drivers, and one TMC51x0 instance per node. Each driver is assigned node address 0 initially (sequential programming would assign unique addresses).

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test_send_delay_configuration()

bool test_send_delay_configuration ( )

noexcept

Test send delay configuration.

SENDDELAY (NODECONF bits 11:8) controls the number of bit-times the TMC5160 waits before replying to a read request. For multi-node systems, this must be >= 2 to avoid bus contention.

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test_uart_basic_communication()

bool test_uart_basic_communication ( )

noexcept

Verify basic UART register read/write communication.

Reads the IOIN register (0x04) which contains chip version and pin states. A successful read confirms the UART link, baud rate detection, and CRC are all working.

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test_uart_motor_control()

bool test_uart_motor_control ( )

noexcept

Test motor control operations over UART.

Initializes the driver, configures ramp parameters, enables the motor, commands a small move, and polls for completion. This proves the full driver API works over UART, not just register access.

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test_uart_node_address_configuration()

bool test_uart_node_address_configuration ( )

noexcept

Test UART node address configuration via NODECONF register.

Writes a new node address via ConfigureUartNodeAddress(), then verifies the driver tracks it by checking GetUartNodeAddress(). Since NODECONF is write-only, we verify by reading IOIN on the new address to confirm the chip responds.

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Variable Documentation

EN_PIN

constexpr int EN_PIN = 11

staticconstexpr

ENABLE_BASIC_COMM_TESTS

constexpr bool ENABLE_BASIC_COMM_TESTS = true

staticconstexpr

ENABLE_MOTOR_CONTROL_TESTS

constexpr bool ENABLE_MOTOR_CONTROL_TESTS = true

staticconstexpr

ENABLE_NODE_ADDRESS_TESTS

constexpr bool ENABLE_NODE_ADDRESS_TESTS = true

staticconstexpr

ENABLE_SEND_DELAY_TESTS

constexpr bool ENABLE_SEND_DELAY_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

Test rig selection for motor configuration.

TAG

const char* TAG = "UART_MultiNode_Test"

static

TEST_NODE_COUNT

constexpr uint8_t TEST_NODE_COUNT = 1

staticconstexpr

Number of TMC51x0 nodes on the UART bus. Set to 1 for single-driver setups.

UART_BAUD

constexpr uint32_t UART_BAUD = 115200

staticconstexpr

UART baud rate – TMC5160 auto-detects from sync frame.

UART_PORT

constexpr uart_port_t UART_PORT = UART_NUM_1

staticconstexpr

UART port (avoid UART_NUM_0 which is typically used for the USB console)

UART_RX_PIN

constexpr int UART_RX_PIN = 16

staticconstexpr

UART_TX_PIN

constexpr int UART_TX_PIN = 17

staticconstexpr

UART pin configuration.