dc_comprehensive_test.cpp File Reference

Comprehensive DC 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 <variant>
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"

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Classes
struct	TestDriverHandle

Functions
bool	test_dc_bootloader_initialization () noexcept
bool	test_dc_motor_type_configuration () noexcept
bool	test_dc_current_control () noexcept
bool	test_dc_velocity_control () noexcept
bool	test_dc_openloop_current_mode () noexcept
bool	test_dc_hbridge_control () noexcept
bool	test_dc_protection_features () noexcept
bool	test_dc_telemetry_monitoring () noexcept
bool	test_dc_performance_benchmarks () noexcept
bool	test_dc_error_handling () noexcept
bool	test_dc_edge_cases () noexcept
bool	test_dc_multi_device_operations () noexcept
bool	test_dc_startup_shutdown_procedures () noexcept
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)
bool	verify_dc_configuration (const TMC9660< Esp32Tmc9660SpiBus > &driver) noexcept
bool	verify_current_limits (const TMC9660< Esp32Tmc9660SpiBus > &driver) noexcept
void	log_dc_telemetry_data (TMC9660< Esp32Tmc9660SpiBus > &driver, const char *context) noexcept
void	log_dc_telemetry_data (TMC9660< Esp32Tmc9660UartBus > &driver, const char *context) noexcept
void	app_main (void)

Variables
static const char *	TAG = "DC_Test"
static TestResults	g_test_results
static constexpr bool	ENABLE_CORE_TESTS = true
static constexpr bool	ENABLE_CURRENT_CONTROL_TESTS = true
static constexpr bool	ENABLE_VELOCITY_CONTROL_TESTS = true
static constexpr bool	ENABLE_OPENLOOP_TESTS = true
static constexpr bool	ENABLE_HBRIDGE_TESTS = true
static constexpr bool	ENABLE_PROTECTION_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 uint16_t	TEST_ENCODER_CPR = 1024
static constexpr uint16_t	TEST_MAX_CURRENT = 1500
static constexpr uint16_t	TEST_VELOCITY_TARGET = 500
static constexpr uint16_t	TEST_CURRENT_TARGET = 800

Detailed Description

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

This file contains comprehensive testing for DC motor control including:

• Bootloader initialization and configuration validation
• Motor type configuration (DC motor)
• Current control and torque limiting
• Velocity control with encoder feedback
• Open-loop current mode testing
• H-bridge control and PWM configuration
• Motor startup and shutdown procedures
• Error handling and recovery
• Telemetry monitoring during operation
• Performance benchmarking
• Multi-device scenarios
• Edge cases and fault injection
• Protection features (overcurrent, overtemperature, undervoltage)

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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create_test_driver()

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

noexcept

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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_dc_telemetry_data() [1/2]

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

noexcept

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log_dc_telemetry_data() [2/2]

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

noexcept

test_dc_bootloader_initialization()

bool test_dc_bootloader_initialization ( )

noexcept

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test_dc_current_control()

bool test_dc_current_control ( )

noexcept

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test_dc_edge_cases()

bool test_dc_edge_cases ( )

noexcept

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test_dc_error_handling()

bool test_dc_error_handling ( )

noexcept

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test_dc_hbridge_control()

bool test_dc_hbridge_control ( )

noexcept

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test_dc_motor_type_configuration()

bool test_dc_motor_type_configuration ( )

noexcept

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test_dc_multi_device_operations()

bool test_dc_multi_device_operations ( )

noexcept

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test_dc_openloop_current_mode()

bool test_dc_openloop_current_mode ( )

noexcept

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test_dc_performance_benchmarks()

bool test_dc_performance_benchmarks ( )

noexcept

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test_dc_protection_features()

bool test_dc_protection_features ( )

noexcept

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test_dc_startup_shutdown_procedures()

bool test_dc_startup_shutdown_procedures ( )

noexcept

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test_dc_telemetry_monitoring()

bool test_dc_telemetry_monitoring ( )

noexcept

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test_dc_velocity_control()

bool test_dc_velocity_control ( )

noexcept

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verify_current_limits()

bool verify_current_limits ( const TMC9660< Esp32Tmc9660SpiBus > & driver )

noexcept

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verify_dc_configuration()

bool verify_dc_configuration ( const TMC9660< Esp32Tmc9660SpiBus > & driver )

noexcept

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Variable Documentation

ENABLE_CORE_TESTS

constexpr bool ENABLE_CORE_TESTS = true

staticconstexpr

ENABLE_CURRENT_CONTROL_TESTS

constexpr bool ENABLE_CURRENT_CONTROL_TESTS = true

staticconstexpr

ENABLE_HBRIDGE_TESTS

constexpr bool ENABLE_HBRIDGE_TESTS = true

staticconstexpr

ENABLE_OPENLOOP_TESTS

constexpr bool ENABLE_OPENLOOP_TESTS = true

staticconstexpr

ENABLE_PERFORMANCE_TESTS

constexpr bool ENABLE_PERFORMANCE_TESTS = true

staticconstexpr

ENABLE_PROTECTION_TESTS

constexpr bool ENABLE_PROTECTION_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 = "DC_Test"

static

TEST_CURRENT_TARGET

constexpr uint16_t TEST_CURRENT_TARGET = 800

staticconstexpr

TEST_ENCODER_CPR

constexpr uint16_t TEST_ENCODER_CPR = 1024

staticconstexpr

TEST_MAX_CURRENT

constexpr uint16_t TEST_MAX_CURRENT = 1500

staticconstexpr

TEST_VELOCITY_TARGET

constexpr uint16_t TEST_VELOCITY_TARGET = 500

staticconstexpr