From 976da0ac46408c5e6b9dbf7bf832a3a4127f70d5 Mon Sep 17 00:00:00 2001 From: EmbeddedMan Date: Sat, 2 Mar 2024 07:44:00 -0600 Subject: [PATCH] HIL test WIP --- .../ShortCommandFIFOTestPre300.py | 186 + .../samples/ShortCommandFIFOTestSample1.csv | 150847 +++++++++++++++ .../samples/ShortCommandFIFOTestSample1.sal | Bin 0 -> 82429 bytes .../samples/ShortCommandFIFOTestSample2.csv | 70383 +++++++ .../samples/ShortCommandFIFOTestSample2.sal | Bin 0 -> 43051 bytes .../samples/ShortCommandFIFOTestSample3.csv | 15279 ++ .../samples/ShortCommandFIFOTestSample3.sal | Bin 0 -> 35761 bytes .../samples/ShortCommandFIFOTestSample4.csv | 7141 + .../samples/ShortCommandFIFOTestSample4.sal | Bin 0 -> 24516 bytes 9 files changed, 243836 insertions(+) create mode 100644 EBB_firmware/Analysis/RegressionTests/ShortCommandFIFOTestPre300.py create mode 100644 EBB_firmware/Analysis/samples/ShortCommandFIFOTestSample1.csv create mode 100644 EBB_firmware/Analysis/samples/ShortCommandFIFOTestSample1.sal create mode 100644 EBB_firmware/Analysis/samples/ShortCommandFIFOTestSample2.csv create mode 100644 EBB_firmware/Analysis/samples/ShortCommandFIFOTestSample2.sal create mode 100644 EBB_firmware/Analysis/samples/ShortCommandFIFOTestSample3.csv create mode 100644 EBB_firmware/Analysis/samples/ShortCommandFIFOTestSample3.sal create mode 100644 EBB_firmware/Analysis/samples/ShortCommandFIFOTestSample4.csv create mode 100644 EBB_firmware/Analysis/samples/ShortCommandFIFOTestSample4.sal diff --git a/EBB_firmware/Analysis/RegressionTests/ShortCommandFIFOTestPre300.py b/EBB_firmware/Analysis/RegressionTests/ShortCommandFIFOTestPre300.py new file mode 100644 index 0000000..a2f8f15 --- /dev/null +++ b/EBB_firmware/Analysis/RegressionTests/ShortCommandFIFOTestPre300.py @@ -0,0 +1,186 @@ +#!/usr/bin/env python +# -*- encoding: utf-8 -#- + +''' +python_send_cmds3.py + +Run this demo by calling: python3 python_send_cmds3.py + +''' + + + +import sys +import time + +from pyaxidraw import axidraw +from plotink import ebb_motion +from plotink import ebb_serial +# print("hello") + +def query(port_name, cmd): + if port_name is not None and cmd is not None: + response = '' + try: + port_name.timeout = 0.1 + port_name.write(cmd.encode('ascii')) + response = port_name.readline() + n_retry_count = 0 + while len(response) == 0 and n_retry_count < 1: + # get new response to replace null response if necessary + response = port_name.readline() + n_retry_count += 1 + except: + print("Error reading serial data.") + return response + +def block(ad_ref, timeout_ms=None): + ''' + Interactive context: Wait until all motion control commands have finished, or an + an optional timeout occurs. + + Polls the EBB immediately and then every 10 ms thereafter until (1) Neither motor is + currently in motion and (2) there is no queued motion control command. + + A value for timeout_ms, gives the maximum duration to wait in milliseconds. + + Returns True if the motion queue is empty, and False if timed out. + + Requires EBB version v2.6.2 or newer + ''' + + if timeout_ms is None: + time_left = 60000 # Default 60 second timeout. + else: + time_left = timeout_ms + + while True: + qg_val = bytes.fromhex(ebb_serial.query(ad_ref.plot_status.port, 'QG\r').strip()) + motion = qg_val[0] & (15).to_bytes(1, byteorder='big')[0] # Motion queue bits + if motion == 0: + return True + if time_left <= 0: + return False # Timed out + if time_left < 10: + time.sleep(time_left / 1000) # Use up remaining time + time_left = 0 + else: + time.sleep(0.01) # Sleep 10 ms + if timeout_ms is not None: + time_left -= 10 + + +ad = axidraw.AxiDraw() # Initialize class + +ad.interactive() + +if not ad.connect(): # Open serial port to AxiDraw; + print("failed to connect") + quit() + +the_port = ad.plot_status.port +if the_port is None: + print("failed to connect") + sys.exit() # end script + +the_port.reset_input_buffer() + + +# This is for v3.0.0 EBB firmwares and above (i.e. ones that have the L3 command and +# the ability to change it's FIFO depth) + +# At first this will just send the command. + +# Eventually this code can capture and analyze the result from the Saleae to generate +# the answers fully automatically. + +SM_command_list = [ +#"SM,15,375,375", # 25K +#"SM,15,37,37", # 2.5K +#"SM,14,350,350", +#"SM,13,325,325", +#"SM,12,300,300", +#"SM,11,275,275", +#"SM,10,250,250", +#"SM,9,225,225", +#"SM,8,200,200", +#"SM,7,175,175", # 25K +"SM,7,17,17", # 2.5K +#"SM,6,150,150", +#"SM,5,125,125", +#"SM,4,100,100", +#"SM,3,75,75", +#"SM,2,50,50", +#"SM,1,25,25", +] + +LM_command_list = [ +"LM,2147483647,250,-1,2147483647,250", +"LM,2147483647,225,-1,2147483647,225", +"LM,2147483647,200,-1,2147483647,200", +"LM,2147483647,175,-1,2147483647,175", +"LM,2147483647,150,-1,2147483647,150", +"LM,2147483647,125,-1,2147483647,125", +"LM,2147483647,100,-1,2147483647,100", +"LM,2147483647,75,-1,2147483647,75", +"LM,2147483647,50,-1,2147483647,50", +"LM,2147483647,25,-1,2147483647,25", +] + +# CU,4 sets new FIFO length +# QU,2 reads back max FIFO length + +print("connected") + +response = query(the_port, 'V\r') +print(response) +# response = query(the_port, 'CU,250,1\r') # Turn on ISR GPIO debug bits +# print(response) +#response = query(the_port, 'CU,1,0\r') # Turn off 'ack'/OK +#print(response) +response = query(the_port, 'CU,2,0\r') # Turn off limit checking +print(response) +# response = query(the_port, 'CU,10,1\r') # Turn on standardized command format replies +# print(response) + +last_command = "" + +for command in SM_command_list: + #block(ad) + for i in range(100): + response = str(query(the_port, command + '\r')) + print(last_command + " :: " + response.strip()) + last_command = command + + time.sleep(.25) + +print(last_command + " :: ") + +time.sleep(1.0) + +#for command in LM_command_list: +# #block(ad) +# for i in range(100): +# response = str(query(the_port, command + '\r')) +# print(last_command + " :: " + response.strip()) +# last_command = command + +# time.sleep(.25) + +#print(last_command + " :: ") + +time.sleep(1.0) + + +ad.disconnect() # Close serial port to AxiDraw + +print("Test complete") + + + + + + + + + diff --git a/EBB_firmware/Analysis/samples/ShortCommandFIFOTestSample1.csv b/EBB_firmware/Analysis/samples/ShortCommandFIFOTestSample1.csv new file mode 100644 index 0000000..e951b18 --- /dev/null +++ b/EBB_firmware/Analysis/samples/ShortCommandFIFOTestSample1.csv @@ -0,0 +1,150847 @@ +Time [s],Step1,Dir1,Step2,Dir2,In ISR,Cmd Load,FIFO empty,Dbg UART,Servo,Channel 9 +0.000000000,0,0,0,0,0,0,0,0,0,0 +0.007779000,0,0,0,0,0,0,0,0,1,0 +0.009492880,0,0,0,0,0,0,0,0,0,0 +0.031778560,0,0,0,0,0,0,0,0,1,0 +0.033492480,0,0,0,0,0,0,0,0,0,0 +0.055795040,0,0,0,0,0,0,0,0,1,0 +0.057508920,0,0,0,0,0,0,0,0,0,0 +0.079801280,0,0,0,0,0,0,0,0,1,0 +0.081515160,0,0,0,0,0,0,0,0,0,0 +0.103799360,0,0,0,0,0,0,0,0,1,0 +0.105513160,0,0,0,0,0,0,0,0,0,0 +0.127815720,0,0,0,0,0,0,0,0,1,0 +0.129529440,0,0,0,0,0,0,0,0,0,0 +0.151814480,0,0,0,0,0,0,0,0,1,0 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