stepper_comprehensive_test.cpp File Reference

Comprehensive Stepper 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_stepper_bootloader_initialization () noexcept
bool	test_stepper_motor_type_configuration () noexcept
bool	test_stepper_foc_position_control () noexcept
bool	test_stepper_step_dir_control () noexcept
bool	test_stepper_microstepping_configuration () noexcept
bool	test_stepper_position_control () noexcept
bool	test_stepper_velocity_control () noexcept
bool	test_stepper_current_control () noexcept
bool	test_stepper_stall_detection () noexcept
bool	test_stepper_telemetry_monitoring () noexcept
bool	test_stepper_performance_benchmarks () noexcept
bool	test_stepper_error_handling () noexcept
bool	test_stepper_edge_cases () noexcept
bool	test_stepper_multi_device_operations () noexcept
bool	test_stepper_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_stepper_configuration (const TMC9660< Esp32Tmc9660SpiBus > &driver) noexcept
bool	verify_position_control (const TMC9660< Esp32Tmc9660SpiBus > &driver) noexcept
void	log_stepper_telemetry_data (TMC9660< Esp32Tmc9660SpiBus > &driver, const char *context) noexcept
void	log_stepper_telemetry_data (TMC9660< Esp32Tmc9660UartBus > &driver, const char *context) noexcept
void	app_main (void)

Variables
static const char *	TAG = "Stepper_Test"
static TestResults	g_test_results
static constexpr bool	ENABLE_CORE_TESTS = true
static constexpr bool	ENABLE_FOC_POSITION_TESTS = true
static constexpr bool	ENABLE_STEP_DIR_TESTS = true
static constexpr bool	ENABLE_MICROSTEPPING_TESTS = true
static constexpr bool	ENABLE_POSITION_CONTROL_TESTS = true
static constexpr bool	ENABLE_VELOCITY_CONTROL_TESTS = true
static constexpr bool	ENABLE_CURRENT_CONTROL_TESTS = true
static constexpr bool	ENABLE_STALL_DETECTION_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 = 4000
static constexpr uint16_t	TEST_MAX_CURRENT = 1500
static constexpr uint16_t	TEST_POSITION_TARGET = 1000
static constexpr uint16_t	TEST_VELOCITY_TARGET = 500
static constexpr uint8_t	TEST_MICROSTEPS = 16

Detailed Description

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

This file contains comprehensive testing for Stepper motor control including:

• Bootloader initialization and configuration validation
• Motor type configuration (Stepper with various step counts)
• FOC position control with encoder feedback
• Step/Direction control mode testing
• Microstepping configuration and testing
• Position control with different targets and profiles
• Velocity control for stepper motors
• Current control and torque limiting
• Stall detection and protection
• Motor startup and shutdown procedures
• Error handling and recovery
• Telemetry monitoring during operation
• Performance benchmarking
• Multi-device scenarios
• Edge cases and fault injection

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_stepper_telemetry_data() [1/2]

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

noexcept

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log_stepper_telemetry_data() [2/2]

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

noexcept

test_stepper_bootloader_initialization()

bool test_stepper_bootloader_initialization ( )

noexcept

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test_stepper_current_control()

bool test_stepper_current_control ( )

noexcept

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test_stepper_edge_cases()

bool test_stepper_edge_cases ( )

noexcept

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test_stepper_error_handling()

bool test_stepper_error_handling ( )

noexcept

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test_stepper_foc_position_control()

bool test_stepper_foc_position_control ( )

noexcept

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test_stepper_microstepping_configuration()

bool test_stepper_microstepping_configuration ( )

noexcept

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test_stepper_motor_type_configuration()

bool test_stepper_motor_type_configuration ( )

noexcept

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test_stepper_multi_device_operations()

bool test_stepper_multi_device_operations ( )

noexcept

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test_stepper_performance_benchmarks()

bool test_stepper_performance_benchmarks ( )

noexcept

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test_stepper_position_control()

bool test_stepper_position_control ( )

noexcept

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test_stepper_stall_detection()

bool test_stepper_stall_detection ( )

noexcept

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test_stepper_startup_shutdown_procedures()

bool test_stepper_startup_shutdown_procedures ( )

noexcept

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test_stepper_step_dir_control()

bool test_stepper_step_dir_control ( )

noexcept

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test_stepper_telemetry_monitoring()

bool test_stepper_telemetry_monitoring ( )

noexcept

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test_stepper_velocity_control()

bool test_stepper_velocity_control ( )

noexcept

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verify_position_control()

bool verify_position_control ( const TMC9660< Esp32Tmc9660SpiBus > & driver )

noexcept

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verify_stepper_configuration()

bool verify_stepper_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_FOC_POSITION_TESTS

constexpr bool ENABLE_FOC_POSITION_TESTS = true

staticconstexpr

ENABLE_MICROSTEPPING_TESTS

constexpr bool ENABLE_MICROSTEPPING_TESTS = true

staticconstexpr

ENABLE_PERFORMANCE_TESTS

constexpr bool ENABLE_PERFORMANCE_TESTS = true

staticconstexpr

ENABLE_POSITION_CONTROL_TESTS

constexpr bool ENABLE_POSITION_CONTROL_TESTS = true

staticconstexpr

ENABLE_STALL_DETECTION_TESTS

constexpr bool ENABLE_STALL_DETECTION_TESTS = true

staticconstexpr

ENABLE_STEP_DIR_TESTS

constexpr bool ENABLE_STEP_DIR_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 = "Stepper_Test"

static

TEST_ENCODER_CPR

constexpr uint16_t TEST_ENCODER_CPR = 4000

staticconstexpr

TEST_MAX_CURRENT

constexpr uint16_t TEST_MAX_CURRENT = 1500

staticconstexpr

TEST_MICROSTEPS

constexpr uint8_t TEST_MICROSTEPS = 16

staticconstexpr

TEST_POSITION_TARGET

constexpr uint16_t TEST_POSITION_TARGET = 1000

staticconstexpr

TEST_VELOCITY_TARGET

constexpr uint16_t TEST_VELOCITY_TARGET = 500

staticconstexpr