bldc_comprehensive_test.cpp File Reference

Comprehensive BLDC motor testing suite for ESP32-C6 DevKit-M-1 (noexcept) More...

#include "../../../inc/tmc9660.hpp"
#include "esp32_tmc9660_bus.hpp"
#include "TestFramework.h"
#include <memory>
#include <vector>
#include <algorithm>
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"

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Classes
struct	TestDriverHandle

Functions
std::unique_ptr< TestDriverHandle >	create_test_driver (bool use_uart=false, bool use_flash=false) noexcept
TMC9660< Esp32Tmc9660SpiBus > *	get_spi_driver (TestDriverHandle &handle)
TMC9660< Esp32Tmc9660UartBus > *	get_uart_driver (TestDriverHandle &handle)
template<typename DriverType = TMC9660<Esp32Tmc9660SpiBus>>
DriverType *	get_driver (TestDriverHandle &handle)
void	log_telemetry_data (TMC9660< Esp32Tmc9660SpiBus > &driver, const char *context) noexcept
void	log_telemetry_data (TMC9660< Esp32Tmc9660UartBus > &driver, const char *context) noexcept
bool	test_bldc_bootloader_initialization () noexcept
bool	test_bldc_driver_enable () noexcept
bool	test_bldc_motor_type_configuration () noexcept
bool	test_bldc_hall_sensor_configuration () noexcept
bool	test_bldc_abn_encoder_configuration () noexcept
bool	test_bldc_foc_control_configuration () noexcept
bool	test_bldc_velocity_control () noexcept
bool	test_bldc_current_control () noexcept
bool	test_bldc_commutation_modes () noexcept
bool	test_bldc_telemetry_monitoring () noexcept
bool	test_bldc_performance_benchmarks () noexcept
bool	test_bldc_error_handling () noexcept
bool	test_bldc_edge_cases () noexcept
bool	test_bldc_startup_shutdown_procedures () noexcept
bool	test_bldc_motor_runtime_configuration () noexcept
template<typename CommType >
bool	configureGateDriverForBLDC (TMC9660< CommType > &driver) noexcept
template<typename CommType >
bool	configureCurrentSensingForBLDC (TMC9660< CommType > &driver) noexcept
template<typename CommType >
bool	configureHallSensorForBLDC (TMC9660< CommType > &driver) noexcept
template<typename CommType >
bool	configureABNEncoderForBLDC (TMC9660< CommType > &driver, uint32_t countsPerRev=1024) noexcept
template<typename CommType >
bool	configureMotorParametersForBLDC (TMC9660< CommType > &driver, uint8_t polePairs, uint32_t pwmFrequency) noexcept
template<typename CommType >
bool	configureFOCControlForBLDC (TMC9660< CommType > &driver) noexcept
template<typename CommType >
bool	configureProtectionForBLDC (TMC9660< CommType > &driver) noexcept
template<typename CommType >
bool	configureRampForBLDC (TMC9660< CommType > &driver) noexcept
template<typename CommType >
bool	configureBrakeForBLDC (TMC9660< CommType > &driver) noexcept
template<typename CommType >
bool	configureStopEventsForBLDC (TMC9660< CommType > &driver) noexcept
template<typename CommType >
bool	configureHeartbeatForBLDC (TMC9660< CommType > &driver) noexcept
template<typename CommType >
bool	configurePowerForBLDC (TMC9660< CommType > &driver) noexcept
template<typename CommType >
bool	configureCompleteBLDCMotor (TMC9660< CommType > &driver, uint8_t polePairs=7, uint32_t pwmFrequency=20000) noexcept
void	app_main (void)

Variables
static const char *	TAG = "BLDC_Test"
static TestResults	g_test_results
static constexpr bool	ENABLE_CORE_TESTS = true
static constexpr bool	ENABLE_HALL_SENSOR_TESTS = true
static constexpr bool	ENABLE_ABN_ENCODER_TESTS = true
static constexpr bool	ENABLE_FOC_CONTROL_TESTS = true
static constexpr bool	ENABLE_VELOCITY_CONTROL_TESTS = true
static constexpr bool	ENABLE_CURRENT_CONTROL_TESTS = true
static constexpr bool	ENABLE_COMMUTATION_TESTS = true
static constexpr bool	ENABLE_TELEMETRY_TESTS = true
static constexpr bool	ENABLE_PERFORMANCE_TESTS = true
static constexpr bool	ENABLE_STRESS_TESTS = true
static constexpr uint8_t	TEST_POLE_PAIRS = 7
static constexpr uint16_t	TEST_ENCODER_CPR = 1024
static constexpr uint16_t	TEST_MAX_TORQUE_CURRENT = 500
static constexpr uint16_t	TEST_MAX_FLUX_CURRENT = 50
static constexpr uint16_t	TEST_VELOCITY_TARGET = 1000
static constexpr uint16_t	TEST_POSITION_TARGET = 500

Detailed Description

Comprehensive BLDC motor testing suite for ESP32-C6 DevKit-M-1 (noexcept)

This file contains comprehensive testing for BLDC motor control including:

• Bootloader initialization and configuration validation
• Hardware reset sequence (integrated into bootloaderInit)
• Mode auto-detection (bootloader vs parameter mode)
• OTP auto-start scenario handling
• Motor type configuration (BLDC with various pole pairs)
• Hall sensor feedback configuration and testing
• ABN encoder feedback configuration and testing
• FOC control loop configuration (current and velocity)
• Commutation mode testing (FOC_HALL_SENSOR, FOC_ABN, FOC_OPENLOOP)
• Velocity control testing with different targets
• Current control testing with different limits
• Motor startup and shutdown procedures
• Error handling and recovery
• Telemetry monitoring during operation
• Performance benchmarking
• Multi-device scenarios
• Edge cases and fault injection

NEW in v2.0: Integrated Reset & Mode Detection The bootloaderInit() function now includes:

• Hardware reset sequence (RST pin toggle + FAULTN monitoring)
• Auto-detection of bootloader vs parameter mode
• OTP auto-start scenario detection and handling
• Transition from parameter mode to bootloader if needed

All functions are noexcept - no exception handling used.

Author

Nebiyu Tadesse

Date

2025

Copyright

HardFOC

Function Documentation

app_main()

void app_main

(

void

)

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configureABNEncoderForBLDC()

template<typename CommType >

bool configureABNEncoderForBLDC ( TMC9660< CommType > & driver, uint32_t countsPerRev = 1024 )

noexcept

configureBrakeForBLDC()

template<typename CommType >

bool configureBrakeForBLDC ( TMC9660< CommType > & driver )

noexcept

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configureCompleteBLDCMotor()

template<typename CommType >

bool configureCompleteBLDCMotor ( TMC9660< CommType > & driver, uint8_t polePairs = 7, uint32_t pwmFrequency = 20000 )

noexcept

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configureCurrentSensingForBLDC()

template<typename CommType >

bool configureCurrentSensingForBLDC ( TMC9660< CommType > & driver )

noexcept

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configureFOCControlForBLDC()

template<typename CommType >

bool configureFOCControlForBLDC ( TMC9660< CommType > & driver )

noexcept

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configureGateDriverForBLDC()

template<typename CommType >

bool configureGateDriverForBLDC ( TMC9660< CommType > & driver )

noexcept

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configureHallSensorForBLDC()

template<typename CommType >

bool configureHallSensorForBLDC ( TMC9660< CommType > & driver )

noexcept

configureHeartbeatForBLDC()

template<typename CommType >

bool configureHeartbeatForBLDC ( TMC9660< CommType > & driver )

noexcept

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configureMotorParametersForBLDC()

template<typename CommType >

bool configureMotorParametersForBLDC ( TMC9660< CommType > & driver, uint8_t polePairs, uint32_t pwmFrequency )

noexcept

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configurePowerForBLDC()

template<typename CommType >

bool configurePowerForBLDC ( TMC9660< CommType > & driver )

noexcept

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configureProtectionForBLDC()

template<typename CommType >

bool configureProtectionForBLDC ( TMC9660< CommType > & driver )

noexcept

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configureRampForBLDC()

template<typename CommType >

bool configureRampForBLDC ( TMC9660< CommType > & driver )

noexcept

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configureStopEventsForBLDC()

template<typename CommType >

bool configureStopEventsForBLDC ( TMC9660< CommType > & driver )

noexcept

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create_test_driver()

std::unique_ptr< TestDriverHandle > create_test_driver ( bool use_uart = false, bool use_flash = false )

noexcept

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get_driver()

template<typename DriverType = TMC9660<Esp32Tmc9660SpiBus>>

DriverType * get_driver

(

TestDriverHandle &

handle

)

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get_spi_driver()

TMC9660< Esp32Tmc9660SpiBus > * get_spi_driver ( TestDriverHandle & handle )

inline

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get_uart_driver()

TMC9660< Esp32Tmc9660UartBus > * get_uart_driver ( TestDriverHandle & handle )

inline

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log_telemetry_data() [1/2]

void log_telemetry_data ( TMC9660< Esp32Tmc9660SpiBus > & driver, const char * context )

noexcept

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log_telemetry_data() [2/2]

void log_telemetry_data ( TMC9660< Esp32Tmc9660UartBus > & driver, const char * context )

noexcept

test_bldc_abn_encoder_configuration()

bool test_bldc_abn_encoder_configuration ( )

noexcept

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test_bldc_bootloader_initialization()

bool test_bldc_bootloader_initialization ( )

noexcept

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test_bldc_commutation_modes()

bool test_bldc_commutation_modes ( )

noexcept

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test_bldc_current_control()

bool test_bldc_current_control ( )

noexcept

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test_bldc_driver_enable()

bool test_bldc_driver_enable ( )

noexcept

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test_bldc_edge_cases()

bool test_bldc_edge_cases ( )

noexcept

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test_bldc_error_handling()

bool test_bldc_error_handling ( )

noexcept

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test_bldc_foc_control_configuration()

bool test_bldc_foc_control_configuration ( )

noexcept

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test_bldc_hall_sensor_configuration()

bool test_bldc_hall_sensor_configuration ( )

noexcept

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test_bldc_motor_runtime_configuration()

bool test_bldc_motor_runtime_configuration ( )

noexcept

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test_bldc_motor_type_configuration()

bool test_bldc_motor_type_configuration ( )

noexcept

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test_bldc_performance_benchmarks()

bool test_bldc_performance_benchmarks ( )

noexcept

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test_bldc_startup_shutdown_procedures()

bool test_bldc_startup_shutdown_procedures ( )

noexcept

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test_bldc_telemetry_monitoring()

bool test_bldc_telemetry_monitoring ( )

noexcept

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test_bldc_velocity_control()

bool test_bldc_velocity_control ( )

noexcept

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Variable Documentation

ENABLE_ABN_ENCODER_TESTS

constexpr bool ENABLE_ABN_ENCODER_TESTS = true

staticconstexpr

ENABLE_COMMUTATION_TESTS

constexpr bool ENABLE_COMMUTATION_TESTS = true

staticconstexpr

ENABLE_CORE_TESTS

constexpr bool ENABLE_CORE_TESTS = true

staticconstexpr

ENABLE_CURRENT_CONTROL_TESTS

constexpr bool ENABLE_CURRENT_CONTROL_TESTS = true

staticconstexpr

ENABLE_FOC_CONTROL_TESTS

constexpr bool ENABLE_FOC_CONTROL_TESTS = true

staticconstexpr

ENABLE_HALL_SENSOR_TESTS

constexpr bool ENABLE_HALL_SENSOR_TESTS = true

staticconstexpr

ENABLE_PERFORMANCE_TESTS

constexpr bool ENABLE_PERFORMANCE_TESTS = true

staticconstexpr

ENABLE_STRESS_TESTS

constexpr bool ENABLE_STRESS_TESTS = true

staticconstexpr

ENABLE_TELEMETRY_TESTS

constexpr bool ENABLE_TELEMETRY_TESTS = true

staticconstexpr

ENABLE_VELOCITY_CONTROL_TESTS

constexpr bool ENABLE_VELOCITY_CONTROL_TESTS = true

staticconstexpr

g_test_results

TestResults g_test_results

static

TAG

const char* TAG = "BLDC_Test"

static

TEST_ENCODER_CPR

constexpr uint16_t TEST_ENCODER_CPR = 1024

staticconstexpr

TEST_MAX_FLUX_CURRENT

constexpr uint16_t TEST_MAX_FLUX_CURRENT = 50

staticconstexpr

TEST_MAX_TORQUE_CURRENT

constexpr uint16_t TEST_MAX_TORQUE_CURRENT = 500

staticconstexpr

TEST_POLE_PAIRS

constexpr uint8_t TEST_POLE_PAIRS = 7

staticconstexpr

TEST_POSITION_TARGET

constexpr uint16_t TEST_POSITION_TARGET = 500

staticconstexpr

TEST_VELOCITY_TARGET

constexpr uint16_t TEST_VELOCITY_TARGET = 1000

staticconstexpr