tmc9660_handler_comprehensive_test.cpp File Reference

Comprehensive test suite for Tmc9660Handler. More...

#include "TestFramework.h"
#include "esp32_bus_setup.hpp"
#include "esp32_test_config.hpp"
#include "handlers/tmc9660/Tmc9660Handler.h"
#include "handlers/tmc9660/Tmc9660AdcWrapper.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_ready () noexcept
static bool	test_read_parameter () noexcept
static bool	test_write_parameter () noexcept
static bool	test_set_target_velocity () noexcept
static bool	test_set_target_position () noexcept
static bool	test_supply_voltage () noexcept
static bool	test_chip_temperature () noexcept
static bool	test_motor_current () noexcept
static bool	test_status_flags () noexcept
static bool	test_error_flags () noexcept
static bool	test_gpio17_wrapper () noexcept
static bool	test_gpio18_wrapper () noexcept
static bool	test_adc_wrapper () noexcept
static bool	test_adc_wrapper_delegation () noexcept
static bool	test_temperature_wrapper () noexcept
static bool	test_driver_enable () noexcept
static bool	test_operations_before_init () noexcept
void	app_main (void)

Variables
static const char *	TAG = "TMC9660_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_PARAMETER_TESTS = true
static constexpr bool	ENABLE_MOTOR_CONTROL_TESTS = true
static constexpr bool	ENABLE_TELEMETRY_TESTS = true
static constexpr bool	ENABLE_GPIO_WRAPPER_TESTS = true
static constexpr bool	ENABLE_ADC_WRAPPER_TESTS = true
static constexpr bool	ENABLE_TEMP_WRAPPER_TESTS = true
static constexpr bool	ENABLE_DRIVER_ENABLE_TESTS = true
static constexpr bool	ENABLE_ERROR_HANDLING_TESTS = true
static std::unique_ptr< EspGpio >	g_rst_gpio
static std::unique_ptr< EspGpio >	g_drv_en_gpio
static std::unique_ptr< EspGpio >	g_faultn_gpio
static std::unique_ptr< EspGpio >	g_wake_gpio
static BaseSpi *	g_spi_device = nullptr
static std::unique_ptr< Tmc9660Handler >	g_handler
static bool	g_hw_present = false

Detailed Description

Comprehensive test suite for Tmc9660Handler.

Tests: SPI comm adapter, bootloader initialization, TMCL parameters, motor control (velocity/position/torque), telemetry (voltage/temp/current/flags), GPIO wrapper (GPIO17/18), ADC wrapper (multi-channel), Temperature wrapper, null-safe accessors (eager wrapper creation), driver enable, PID gains, and visitDriver() advanced access.

Note

This test requires a TMC9660-3PH-EVAL or compatible 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_adc_wrapper()

static bool test_adc_wrapper ( )

staticnoexcept

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test_adc_wrapper_delegation()

static bool test_adc_wrapper_delegation ( )

staticnoexcept

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test_chip_temperature()

static bool test_chip_temperature ( )

staticnoexcept

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test_construction()

static bool test_construction ( )

staticnoexcept

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test_driver_enable()

static bool test_driver_enable ( )

staticnoexcept

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test_error_flags()

static bool test_error_flags ( )

staticnoexcept

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test_gpio17_wrapper()

static bool test_gpio17_wrapper ( )

staticnoexcept

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test_gpio18_wrapper()

static bool test_gpio18_wrapper ( )

staticnoexcept

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test_initialize()

static bool test_initialize ( )

staticnoexcept

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test_is_ready()

static bool test_is_ready ( )

staticnoexcept

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test_motor_current()

static bool test_motor_current ( )

staticnoexcept

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test_operations_before_init()

static bool test_operations_before_init ( )

staticnoexcept

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test_read_parameter()

static bool test_read_parameter ( )

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_status_flags()

static bool test_status_flags ( )

staticnoexcept

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test_supply_voltage()

static bool test_supply_voltage ( )

staticnoexcept

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test_temperature_wrapper()

static bool test_temperature_wrapper ( )

staticnoexcept

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test_write_parameter()

static bool test_write_parameter ( )

staticnoexcept

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Variable Documentation

ENABLE_ADC_WRAPPER_TESTS

constexpr bool ENABLE_ADC_WRAPPER_TESTS = true

staticconstexpr

ENABLE_CONSTRUCTION_TESTS

constexpr bool ENABLE_CONSTRUCTION_TESTS = true

staticconstexpr

ENABLE_DRIVER_ENABLE_TESTS

constexpr bool ENABLE_DRIVER_ENABLE_TESTS = true

staticconstexpr

ENABLE_ERROR_HANDLING_TESTS

constexpr bool ENABLE_ERROR_HANDLING_TESTS = true

staticconstexpr

ENABLE_GPIO_WRAPPER_TESTS

constexpr bool ENABLE_GPIO_WRAPPER_TESTS = true

staticconstexpr

ENABLE_INITIALIZATION_TESTS

constexpr bool ENABLE_INITIALIZATION_TESTS = true

staticconstexpr

ENABLE_MOTOR_CONTROL_TESTS

constexpr bool ENABLE_MOTOR_CONTROL_TESTS = true

staticconstexpr

ENABLE_PARAMETER_TESTS

constexpr bool ENABLE_PARAMETER_TESTS = true

staticconstexpr

ENABLE_TELEMETRY_TESTS

constexpr bool ENABLE_TELEMETRY_TESTS = true

staticconstexpr

ENABLE_TEMP_WRAPPER_TESTS

constexpr bool ENABLE_TEMP_WRAPPER_TESTS = true

staticconstexpr

g_drv_en_gpio

std::unique_ptr<EspGpio> g_drv_en_gpio

static

g_faultn_gpio

std::unique_ptr<EspGpio> g_faultn_gpio

static

g_handler

std::unique_ptr<Tmc9660Handler> g_handler

static

g_hw_present

bool g_hw_present = false

static

g_rst_gpio

std::unique_ptr<EspGpio> g_rst_gpio

static

g_spi_device

BaseSpi* g_spi_device = nullptr

static

g_test_results

TestResults g_test_results

static

g_wake_gpio

std::unique_ptr<EspGpio> g_wake_gpio

static

TAG

const char* TAG = "TMC9660_Handler_Test"

static