tmc5160_handler_comprehensive_test.cpp File Reference

Comprehensive test suite for Tmc5160Handler. More...

#include "TestFramework.h"
#include "esp32_bus_setup.hpp"
#include "esp32_test_config.hpp"
#include "handlers/tmc5160/Tmc5160Handler.h"
#include <cmath>
#include <memory>
#include "esp_log.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"

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Functions
static bool	create_handler () noexcept
static bool	test_construction () noexcept
static bool	test_initialize () noexcept
static bool	test_is_initialized () noexcept
static bool	test_driver_config_snapshot () noexcept
static bool	test_enable_motor () noexcept
static bool	test_is_motor_enabled () noexcept
static bool	test_disable_motor () noexcept
static bool	test_set_target_velocity () noexcept
static bool	test_set_target_position () noexcept
static bool	test_get_current_position () noexcept
static bool	test_get_current_velocity () noexcept
static bool	test_stop () noexcept
static bool	test_set_current () noexcept
static bool	test_is_standstill () noexcept
static bool	test_is_target_reached () noexcept
static bool	test_is_overtemperature () noexcept
static bool	test_is_stall_detected () noexcept
static bool	test_stallguard_result () noexcept
static bool	test_chip_version () noexcept
static bool	test_visit_driver_ramp_control () noexcept
static bool	test_visit_driver_motor_control () noexcept
static bool	test_visit_driver_encoder () noexcept
static bool	test_visit_driver_communication () noexcept
static bool	test_dump_diagnostics () noexcept
static bool	test_operations_before_init () noexcept
static bool	test_deinitialize () noexcept
void	app_main (void)

Variables
static const char *	TAG = "TMC5160_Handler_Test"
static TestResults	g_test_results
static constexpr bool	ENABLE_CONSTRUCTION_TESTS = true
static constexpr bool	ENABLE_INITIALIZATION_TESTS = true
static constexpr bool	ENABLE_MOTOR_ENABLE_TESTS = true
static constexpr bool	ENABLE_MOTION_CONTROL_TESTS = true
static constexpr bool	ENABLE_STATUS_TESTS = true
static constexpr bool	ENABLE_VISIT_DRIVER_TESTS = true
static constexpr bool	ENABLE_DIAGNOSTICS_TESTS = true
static constexpr bool	ENABLE_ERROR_HANDLING_TESTS = true
static std::unique_ptr< EspGpio >	g_enable_gpio
static std::unique_ptr< EspGpio >	g_diag0_gpio
static std::unique_ptr< EspGpio >	g_diag1_gpio
static BaseSpi *	g_spi_device = nullptr
static std::unique_ptr< Tmc5160Handler >	g_handler
static bool	g_hw_present = false

Detailed Description

Comprehensive test suite for Tmc5160Handler.

Tests: CRTP SPI adapter, initialization with DriverConfig, motor enable/ disable, motion control (position/velocity/acceleration/stop), visitDriver() subsystem access (rampControl, motorControl, stallGuard, status, encoder, etc.), StallGuard readback, diagnostics dump, status checks (overtemp, stall, standstill, target reached), driver config snapshot, and pre-init error handling.

Note

This test requires a TMC5160 evaluation board connected via SPI. Without hardware, initialization will fail gracefully and remaining tests will be skipped.

Author

HardFOC Team

Date

2025-2026

Copyright

GPL-3.0-or-later

Function Documentation

app_main()

void app_main

(

void

)

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create_handler()

static bool create_handler ( )

staticnoexcept

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test_chip_version()

static bool test_chip_version ( )

staticnoexcept

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test_construction()

static bool test_construction ( )

staticnoexcept

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test_deinitialize()

static bool test_deinitialize ( )

staticnoexcept

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test_disable_motor()

static bool test_disable_motor ( )

staticnoexcept

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test_driver_config_snapshot()

static bool test_driver_config_snapshot ( )

staticnoexcept

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test_dump_diagnostics()

static bool test_dump_diagnostics ( )

staticnoexcept

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test_enable_motor()

static bool test_enable_motor ( )

staticnoexcept

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test_get_current_position()

static bool test_get_current_position ( )

staticnoexcept

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test_get_current_velocity()

static bool test_get_current_velocity ( )

staticnoexcept

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test_initialize()

static bool test_initialize ( )

staticnoexcept

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test_is_initialized()

static bool test_is_initialized ( )

staticnoexcept

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test_is_motor_enabled()

static bool test_is_motor_enabled ( )

staticnoexcept

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test_is_overtemperature()

static bool test_is_overtemperature ( )

staticnoexcept

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test_is_stall_detected()

static bool test_is_stall_detected ( )

staticnoexcept

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test_is_standstill()

static bool test_is_standstill ( )

staticnoexcept

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test_is_target_reached()

static bool test_is_target_reached ( )

staticnoexcept

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test_operations_before_init()

static bool test_operations_before_init ( )

staticnoexcept

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test_set_current()

static bool test_set_current ( )

staticnoexcept

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test_set_target_position()

static bool test_set_target_position ( )

staticnoexcept

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test_set_target_velocity()

static bool test_set_target_velocity ( )

staticnoexcept

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test_stallguard_result()

static bool test_stallguard_result ( )

staticnoexcept

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test_stop()

static bool test_stop ( )

staticnoexcept

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test_visit_driver_communication()

static bool test_visit_driver_communication ( )

staticnoexcept

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test_visit_driver_encoder()

static bool test_visit_driver_encoder ( )

staticnoexcept

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test_visit_driver_motor_control()

static bool test_visit_driver_motor_control ( )

staticnoexcept

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test_visit_driver_ramp_control()

static bool test_visit_driver_ramp_control ( )

staticnoexcept

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Variable Documentation

ENABLE_CONSTRUCTION_TESTS

constexpr bool ENABLE_CONSTRUCTION_TESTS = true

staticconstexpr

ENABLE_DIAGNOSTICS_TESTS

constexpr bool ENABLE_DIAGNOSTICS_TESTS = true

staticconstexpr

ENABLE_ERROR_HANDLING_TESTS

constexpr bool ENABLE_ERROR_HANDLING_TESTS = true

staticconstexpr

ENABLE_INITIALIZATION_TESTS

constexpr bool ENABLE_INITIALIZATION_TESTS = true

staticconstexpr

ENABLE_MOTION_CONTROL_TESTS

constexpr bool ENABLE_MOTION_CONTROL_TESTS = true

staticconstexpr

ENABLE_MOTOR_ENABLE_TESTS

constexpr bool ENABLE_MOTOR_ENABLE_TESTS = true

staticconstexpr

ENABLE_STATUS_TESTS

constexpr bool ENABLE_STATUS_TESTS = true

staticconstexpr

ENABLE_VISIT_DRIVER_TESTS

constexpr bool ENABLE_VISIT_DRIVER_TESTS = true

staticconstexpr

g_diag0_gpio

std::unique_ptr<EspGpio> g_diag0_gpio

static

g_diag1_gpio

std::unique_ptr<EspGpio> g_diag1_gpio

static

g_enable_gpio

std::unique_ptr<EspGpio> g_enable_gpio

static

g_handler

std::unique_ptr<Tmc5160Handler> g_handler

static

g_hw_present

bool g_hw_present = false

static

g_spi_device

BaseSpi* g_spi_device = nullptr

static

g_test_results

TestResults g_test_results

static

TAG

const char* TAG = "TMC5160_Handler_Test"

static