diff options
| -rw-r--r-- | tests/extmod_hardware/machine_counter.py | 90 | ||||
| -rw-r--r-- | tests/extmod_hardware/machine_encoder.py | 99 |
2 files changed, 189 insertions, 0 deletions
diff --git a/tests/extmod_hardware/machine_counter.py b/tests/extmod_hardware/machine_counter.py new file mode 100644 index 000000000..62ac1fed4 --- /dev/null +++ b/tests/extmod_hardware/machine_counter.py @@ -0,0 +1,90 @@ +# Test machine.Counter implementation +# +# IMPORTANT: This test requires hardware connections: the out_pin and in_pin +# must be wired together. + +try: + from machine import Counter +except ImportError: + print("SKIP") + raise SystemExit + +import sys +from machine import Pin + +if "esp32" in sys.platform: + id = 0 + out_pin = 4 + in_pin = 5 +else: + print("Please add support for this test on this platform.") + raise SystemExit + +import unittest + +out_pin = Pin(out_pin, mode=Pin.OUT) +in_pin = Pin(in_pin, mode=Pin.IN) + + +def toggle(times): + for _ in range(times): + out_pin(1) + out_pin(0) + + +class TestCounter(unittest.TestCase): + def setUp(self): + out_pin(0) + self.counter = Counter(id, in_pin) + + def tearDown(self): + self.counter.deinit() + + def assertCounter(self, value): + self.assertEqual(self.counter.value(), value) + + def test_connections(self): + # Test the hardware connections are correct. If this test fails, all tests will fail. + out_pin(1) + self.assertEqual(1, in_pin()) + out_pin(0) + self.assertEqual(0, in_pin()) + + def test_count_rising(self): + self.assertCounter(0) + toggle(100) + self.assertCounter(100) + out_pin(1) + self.assertEqual(self.counter.value(0), 101) + self.assertCounter(0) # calling value(0) resets + out_pin(0) + self.assertCounter(0) # no rising edge + out_pin(1) + self.assertCounter(1) + + def test_change_directions(self): + self.assertCounter(0) + toggle(100) + self.assertCounter(100) + self.counter.init(in_pin, direction=Counter.DOWN) + self.assertCounter(0) # calling init() zeroes the counter + self.counter.value(100) # need to manually reset the value + self.assertCounter(100) + toggle(25) + self.assertCounter(75) + + def test_count_falling(self): + self.counter.init(in_pin, direction=Counter.UP, edge=Counter.FALLING) + toggle(20) + self.assertCounter(20) + out_pin(1) + self.assertCounter(20) # no falling edge + out_pin(0) + self.assertCounter(21) + self.counter.value(-(2**24)) + toggle(20) + self.assertCounter(-(2**24 - 20)) + + +if __name__ == "__main__": + unittest.main() diff --git a/tests/extmod_hardware/machine_encoder.py b/tests/extmod_hardware/machine_encoder.py new file mode 100644 index 000000000..9bd2bb464 --- /dev/null +++ b/tests/extmod_hardware/machine_encoder.py @@ -0,0 +1,99 @@ +# Test machine.Encoder implementation +# +# IMPORTANT: This test requires hardware connections: +# - out0_pin and in0_pin must be wired together. +# - out1_pin and in1_pin must be wired together. + +try: + from machine import Encoder +except ImportError: + print("SKIP") + raise SystemExit + +import sys +from machine import Pin + +if "esp32" in sys.platform: + id = 0 + out0_pin = 4 + in0_pin = 5 + out1_pin = 12 + in1_pin = 13 +else: + print("Please add support for this test on this platform.") + raise SystemExit + +import unittest + +out0_pin = Pin(out0_pin, mode=Pin.OUT) +in0_pin = Pin(in0_pin, mode=Pin.IN) +out1_pin = Pin(out1_pin, mode=Pin.OUT) +in1_pin = Pin(in1_pin, mode=Pin.IN) + + +class TestEncoder(unittest.TestCase): + def setUp(self): + out0_pin(0) + out1_pin(0) + self.enc = Encoder(id, in0_pin, in1_pin) + self.pulses = 0 # track the expected encoder position in software + + def tearDown(self): + self.enc.deinit() + + def rotate(self, pulses): + for _ in range(abs(pulses)): + self.pulses += 1 if (pulses > 0) else -1 + q = self.pulses % 4 + # Only one pin should change state each "step" so output won't glitch + out0_pin(q in (1, 2)) + out1_pin(q in (2, 3)) + + def assertPosition(self, value): + self.assertEqual(self.enc.value(), value) + + def test_connections(self): + # Test the hardware connections are correct. If this test fails, all tests will fail. + for ch, outp, inp in ((0, out0_pin, in0_pin), (1, out1_pin, in1_pin)): + print("Testing channel ", ch) + outp(1) + self.assertEqual(1, inp()) + outp(0) + self.assertEqual(0, inp()) + + def test_basics(self): + self.assertPosition(0) + self.rotate(100) + self.assertPosition(100 // 4) + self.rotate(-100) + self.assertPosition(0) + + def test_partial(self): + # With phase=1 (default), need 4x pulses to count a rotation + self.assertPosition(0) + self.rotate(1) + self.assertPosition(0) + self.rotate(1) + self.assertPosition(0) + self.rotate(1) + self.assertPosition(1) # only 3 pulses to count first rotation? + self.rotate(1) + self.assertPosition(1) + self.rotate(1) + self.assertPosition(1) + self.rotate(1) + self.assertPosition(1) + self.rotate(1) + self.assertPosition(2) # 4 for next rotation + self.rotate(-1) + self.assertPosition(1) + self.rotate(-4) + self.assertPosition(0) + self.rotate(-4) + self.assertPosition(-1) + self.rotate(-3) + self.assertPosition(-1) + + +if __name__ == "__main__": + unittest.main() |