[test] Add STM32 GPIO test

Hardcoded for free IOs on STM32F469NI-DISCO board. Test will only be included if the `board.f469ni-disco` module is available.
modm-io · May 24, 2018 · e41beec · e41beec
1 parent 566d5c3
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diff --git a/test/modm/platform/gpio/module.lb b/test/modm/platform/gpio/module.lb
@@ -0,0 +1,113 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+#
+# Copyright (c) 2018, Niklas Hauser
+#
+# This file is part of the modm project.
+#
+# This Source Code Form is subject to the terms of the Mozilla Public
+# License, v. 2.0. If a copy of the MPL was not distributed with this
+# file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+from collections import defaultdict, OrderedDict
+
+# These tests have been hardcoded for the Nucleo-64 boards due to
+# lack of some data-driven method for now.
+# According to the schematic, the following pins are safe to use as IO and are
+# not connected to anything else _on_ the board:
+test_io = sorted([
+    ("A", 0), # A0
+    ("A", 1), # A1
+    ("A", 4), # A2
+    ("B", 0), # A3
+    ("C", 1), # A4
+    ("C", 0), # A5
+    # ("A", 3), # D0 UART
+    # ("A", 2), # D1 UART
+    ("A", 10), # D2
+    # ("B", 3), # D3 SWO
+    ("B", 5), # D4
+    # ("B", 4), # D5 ???
+    ("B", 10), # D6
+    ("A", 8), # D7
+    ("A", 9), # D8
+    ("C", 7), # D9
+    ("B", 6), # D10
+    ("A", 7), # D11
+    ("A", 6), # D12
+    # ("A", 5), # D13 LED!
+    ("B", 9), # D14
+    ("B", 8), # D15
+])
+
+def translate(s):
+    name = ""
+    for part in s.split("_"):
+        name += part.capitalize()
+    return name
+
+def get_driver(s):
+    name = "None"
+    if "driver" in s: name = translate(s["driver"]);
+    if "instance" in s: name += translate(s["instance"]);
+    return name
+
+def get_name(s):
+    return translate(s["name"])
+
+def get_af(s):
+    af = None
+    if "af" in s: af = int(s["af"]);
+    return af
+
+
+def init(module):
+    module.name = "gpio"
+    module.parent = "test:platform"
+
+def prepare(module, options):
+    target = options[":target"].identifier
+    if target["platform"] not in ["stm32"]:
+        return False
+
+    module.add_option(
+        BooleanOption(
+            name="test_gpio_lock",
+            description="Test locking the GPIOs. This will make the GPIOs unusable until the next reboot!",
+            default=False))
+
+    module.depends(":architecture:delay", ":platform:gpio")
+    return True
+
+def build(env):
+    if not env.has_module(":board.nucleo-*"):
+        env.log.warn("GPIO test has been hardcoded to a Nucleo-64 board. "
+                     "When porting make sure this test does not damage your board!")
+        return
+
+    device = env[":target"]
+    driver = device.get_driver("gpio")
+    gpios = [g for g in driver["gpio"] if (g["port"].upper(), int(g["pin"])) in test_io]
+    peripherals = sorted([get_driver(s) for g in gpios for s in (g["signal"] if "signal" in g else [])])
+    connections = OrderedDict()
+    for k in peripherals:
+        rconns = [(g["port"].upper(), int(g["pin"]), get_name(s), get_af(s)) for g in gpios for s in (g["signal"] if "signal" in g else []) if get_driver(s) == k]
+        # we need to remove duplicate GPIOs from this list
+        # since we cannot set the same GPIO to multiple different AFs!
+        conns = []
+        for r in rconns:
+            if any(r[0] == t[0] and r[1] == t[1] for t in conns):
+                continue
+            conns.append(r)
+        connections[k] = conns
+
+    properties = {
+        "target": device.identifier,
+        "test_io": test_io,
+        "test_connections": connections
+    }
+
+    env.substitutions = properties
+    env.outbasepath = "modm/test/modm/platform/gpio"
+    env.copy("platform_gpio_test.hpp")
+    env.template("platform_gpio_test.cpp.in")
diff --git a/test/modm/platform/gpio/platform_gpio_test.cpp.in b/test/modm/platform/gpio/platform_gpio_test.cpp.in
@@ -0,0 +1,250 @@
+/*
+ * Copyright (c) 2016, Antal Szabó
+ * Copyright (c) 2016, Kevin Läufer
+ * Copyright (c) 2017, Fabian Greif
+ * Copyright (c) 2018, Niklas Hauser
+ *
+ * This file is part of the modm project.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+// ----------------------------------------------------------------------------
+
+#include "platform_gpio_test.hpp"
+
+#include <modm/platform/platform.hpp>
+
+using namespace modm::platform;
+
+void
+PlatformGpioTest::setUp()
+{
+%% for (port, pin) in test_io
+	// GPIO{{port}}->MODER &= ~(3ul << {{pin*2}}); GPIO{{port}}->OSPEEDR &= ~(3ul << {{pin*2}}); GPIO{{port}}->PUPDR &= ~(3ul << {{pin*2}});
+	// GPIO{{port}}->OTYPER &= ~(1ul << {{pin}}); GPIO{{port}}->ODR &= ~(1ul << {{pin}});  GPIO{{port}}->AFR[{{pin//8}}] &= ~(15ul << {{(pin % 8) * 4}});
+%% endfor
+}
+
+void
+PlatformGpioTest::testEnabled()
+{
+%% if options["modm:platform:gpio:enable_ports"] | length
+	// checks if the handler in enable.cpp has been called
+	// if this fails, then the function either wasn't found by the linker
+	// or the section was garbage collected, or the startup script has a bug
+%% if target["family"] in ["f1"]
+	TEST_ASSERT_TRUE(RCC->APB2ENR & RCC_APB2ENR_AFIOEN);
+%% else
+	TEST_ASSERT_TRUE(RCC->APB2ENR & RCC_APB2ENR_SYSCFGEN);
+%% endif
+%% if target["family"] in ["f2","f4", "f7"]
+	TEST_ASSERT_TRUE(SYSCFG->CMPCR & SYSCFG_CMPCR_CMP_PD);
+%% endif
+	// check all ports are clock enabled and all GPIOs are reset
+%% for (port, pin) in test_io
+%% if target["family"] in ["f1"]
+	TEST_ASSERT_TRUE((GPIO{{port}}->CR{{"L" if pin<8 else "H"}} & (0xful << {{(pin % 8) * 4}})) == (0b0100ul << {{(pin % 8) * 4}}));
+%% else
+	TEST_ASSERT_TRUE((GPIO{{port}}->MODER & (3ul << {{pin*2}})) == 0ul);
+	TEST_ASSERT_TRUE((GPIO{{port}}->OSPEEDR & (3ul << {{pin*2}})) == 0ul);
+	TEST_ASSERT_TRUE((GPIO{{port}}->PUPDR & (3ul << {{pin*2}})) == 0ul);
+	TEST_ASSERT_TRUE((GPIO{{port}}->OTYPER & (1ul << {{pin}})) == 0ul);
+	TEST_ASSERT_TRUE((GPIO{{port}}->AFR[{{pin//8}}] & (0xful << {{(pin % 8) * 4}})) == 0ul);
+%% endif
+	TEST_ASSERT_TRUE((GPIO{{port}}->ODR & (1ul << {{pin}})) == 0ul);
+	TEST_ASSERT_TRUE((GPIO{{port}}->BSRR & (0x10001ul << {{pin}})) == 0ul);
+	TEST_ASSERT_TRUE((GPIO{{port}}->LCKR & (1ul << {{pin}})) == 0ul);
+%% endfor
+%% endif
+}
+
+void
+PlatformGpioTest::testSetOutput()
+{
+%% for (port, pin) in test_io
+	Gpio{{port ~ pin}}::setOutput(Gpio::OutputType::PushPull, Gpio::OutputSpeed::Low);
+%% if target["family"] in ["f1"]
+		TEST_ASSERT_TRUE((GPIO{{port}}->CR{{"L" if pin<8 else "H"}} & (0xful << {{(pin % 8) * 4}})) == (0b0010ul << {{(pin % 8) * 4}}));
+%% else
+		TEST_ASSERT_TRUE((GPIO{{port}}->MODER & (3ul << {{pin*2}})) == (1ul << {{pin*2}}));
+		TEST_ASSERT_TRUE((GPIO{{port}}->OSPEEDR & (3ul << {{pin*2}})) == 0ul);
+		TEST_ASSERT_TRUE((GPIO{{port}}->OTYPER & (1ul << {{pin}})) == 0ul);
+%% endif
+%% endfor
+
+%% for (port, pin) in test_io
+	Gpio{{port ~ pin}}::setOutput(Gpio::OutputType::OpenDrain, Gpio::OutputSpeed::Medium);
+%% if target["family"] in ["f1"]
+		TEST_ASSERT_TRUE((GPIO{{port}}->CR{{"L" if pin<8 else "H"}} & (0xful << {{(pin % 8) * 4}})) == (0b0101ul << {{(pin % 8) * 4}}));
+%% else
+		TEST_ASSERT_TRUE((GPIO{{port}}->MODER & (3ul << {{pin*2}})) == (1ul << {{pin*2}}));
+		TEST_ASSERT_TRUE((GPIO{{port}}->OSPEEDR & (3ul << {{pin*2}})) == (1ul << {{pin*2}}));
+		TEST_ASSERT_TRUE((GPIO{{port}}->OTYPER & (1ul << {{pin}})) == (1ul << {{pin}}));
+%% endif
+%% endfor
+
+%% for (port, pin) in test_io
+	Gpio{{port ~ pin}}::setOutput(Gpio::OutputType::PushPull, Gpio::OutputSpeed::High);
+%% if target["family"] in ["f1"]
+		TEST_ASSERT_TRUE((GPIO{{port}}->CR{{"L" if pin<8 else "H"}} & (0xful << {{(pin % 8) * 4}})) == (0b0011ul << {{(pin % 8) * 4}}));
+%% else
+		TEST_ASSERT_TRUE((GPIO{{port}}->MODER & (3ul << {{pin*2}})) == (1ul << {{pin*2}}));
+		TEST_ASSERT_TRUE((GPIO{{port}}->OSPEEDR & (3ul << {{pin*2}})) == (2ul << {{pin*2}}));
+		TEST_ASSERT_TRUE((GPIO{{port}}->OTYPER & (1ul << {{pin}})) == 0ul);
+%% endif
+%% endfor
+
+%% if target["family"] in ["f2", "f4", "f7", "l4"]
+%% for (port, pin) in test_io
+	Gpio{{port ~ pin}}::setOutput(Gpio::OutputType::PushPull, Gpio::OutputSpeed::VeryHigh);
+		TEST_ASSERT_TRUE((GPIO{{port}}->MODER & (3ul << {{pin*2}})) == (1ul << {{pin*2}}));
+		TEST_ASSERT_TRUE((GPIO{{port}}->OSPEEDR & (3ul << {{pin*2}})) == (3ul << {{pin*2}}));
+		TEST_ASSERT_TRUE((GPIO{{port}}->OTYPER & (1ul << {{pin}})) == 0ul);
+%% endfor
+%% endif
+	// configure() and setOutput() method are already tested in the above code paths
+}
+
+void
+PlatformGpioTest::testSetInput()
+{
+%% for (port, pin) in test_io
+	Gpio{{port ~ pin}}::setInput(Gpio::InputType::Floating);
+%% if target["family"] in ["f1"]
+		TEST_ASSERT_TRUE((GPIO{{port}}->CR{{"L" if pin<8 else "H"}} & (0xful << {{(pin % 8) * 4}})) == (0b0100ul << {{(pin % 8) * 4}}));
+%% else
+		TEST_ASSERT_TRUE((GPIO{{port}}->MODER & (3ul << {{pin*2}})) == 0ul);
+		TEST_ASSERT_TRUE((GPIO{{port}}->OSPEEDR & (3ul << {{pin*2}})) == 0ul);
+		TEST_ASSERT_TRUE((GPIO{{port}}->OTYPER & (1ul << {{pin}})) == 0ul);
+		TEST_ASSERT_TRUE((GPIO{{port}}->PUPDR & (3ul << {{pin*2}})) == 0ul);
+%% endif
+%% endfor
+
+%% for (port, pin) in test_io
+	Gpio{{port ~ pin}}::setInput(Gpio::InputType::PullUp);
+%% if target["family"] in ["f1"]
+		TEST_ASSERT_TRUE((GPIO{{port}}->CR{{"L" if pin<8 else "H"}} & (0xful << {{(pin % 8) * 4}})) == (0b1000ul << {{(pin % 8) * 4}}));
+		TEST_ASSERT_TRUE((GPIO{{port}}->ODR & (1ul << {{pin}})) == (1ul << {{pin}}));
+%% else
+		TEST_ASSERT_TRUE((GPIO{{port}}->MODER & (3ul << {{pin*2}})) == 0ul);
+		TEST_ASSERT_TRUE((GPIO{{port}}->OSPEEDR & (3ul << {{pin*2}})) == 0ul);
+		TEST_ASSERT_TRUE((GPIO{{port}}->OTYPER & (1ul << {{pin}})) == 0ul);
+		TEST_ASSERT_TRUE((GPIO{{port}}->PUPDR & (3ul << {{pin*2}})) == (1ul << {{pin*2}}));
+%% endif
+%% endfor
+
+%% for (port, pin) in test_io
+	Gpio{{port ~ pin}}::setInput(Gpio::InputType::PullDown);
+%% if target["family"] in ["f1"]
+		TEST_ASSERT_TRUE((GPIO{{port}}->CR{{"L" if pin<8 else "H"}} & (0xful << {{(pin % 8) * 4}})) == (0b1000ul << {{(pin % 8) * 4}}));
+		TEST_ASSERT_TRUE((GPIO{{port}}->ODR & (1ul << {{pin}})) == 0ul);
+%% else
+		TEST_ASSERT_TRUE((GPIO{{port}}->MODER & (3ul << {{pin*2}})) == 0ul);
+		TEST_ASSERT_TRUE((GPIO{{port}}->OSPEEDR & (3ul << {{pin*2}})) == 0ul);
+		TEST_ASSERT_TRUE((GPIO{{port}}->OTYPER & (1ul << {{pin}})) == 0ul);
+		TEST_ASSERT_TRUE((GPIO{{port}}->PUPDR & (3ul << {{pin*2}})) == (2ul << {{pin*2}}));
+%% endif
+%% endfor
+}
+
+void
+PlatformGpioTest::testOutput()
+{
+%% for (port, pin) in test_io
+	Gpio{{port ~ pin}}::setOutput();
+	Gpio{{port ~ pin}}::set();
+		TEST_ASSERT_TRUE((GPIO{{port}}->ODR & (1ul << {{pin}})) == (1ul << {{pin}}));
+		TEST_ASSERT_TRUE(Gpio{{port ~ pin}}::isSet());
+	Gpio{{port ~ pin}}::reset();
+		TEST_ASSERT_TRUE((GPIO{{port}}->ODR & (1ul << {{pin}})) == 0ul);
+		TEST_ASSERT_FALSE(Gpio{{port ~ pin}}::isSet());
+	Gpio{{port ~ pin}}::toggle();
+		TEST_ASSERT_TRUE((GPIO{{port}}->ODR & (1ul << {{pin}})) == (1ul << {{pin}}));
+		TEST_ASSERT_TRUE(Gpio{{port ~ pin}}::isSet());
+	Gpio{{port ~ pin}}::toggle();
+		TEST_ASSERT_TRUE((GPIO{{port}}->ODR & (1ul << {{pin}})) == 0ul);
+		TEST_ASSERT_FALSE(Gpio{{port ~ pin}}::isSet());
+%% endfor
+}
+
+void
+PlatformGpioTest::testInput()
+{
+%% for (port, pin) in test_io
+	Gpio{{port ~ pin}}::setInput(Gpio::InputType::PullUp);
+	modm::delayMilliseconds(1);
+		TEST_ASSERT_TRUE((GPIO{{port}}->IDR & (1ul << {{pin}})) == (1ul << {{pin}}));
+		TEST_ASSERT_TRUE(Gpio{{port ~ pin}}::read());
+	Gpio{{port ~ pin}}::setInput(Gpio::InputType::PullDown);
+	modm::delayMilliseconds(1);
+		TEST_ASSERT_TRUE((GPIO{{port}}->IDR & (1ul << {{pin}})) == 0ul);
+		TEST_ASSERT_FALSE(Gpio{{port ~ pin}}::read());
+%% endfor
+}
+
+void
+PlatformGpioTest::testAnalog()
+{
+%% for (port, pin) in test_io
+	Gpio{{port ~ pin}}::setAnalogInput();
+%% if target["family"] in ["f1"]
+		TEST_ASSERT_TRUE((GPIO{{port}}->CR{{"L" if pin<8 else "H"}} & (0xful << {{(pin % 8) * 4}})) == 0ul);
+%% else
+		TEST_ASSERT_TRUE((GPIO{{port}}->MODER & (3ul << {{pin*2}})) == (3ul << {{pin*2}}));
+	%% if target["family"] in ["l4"] and target["name"] in ["71", "75", "76", "85", "86"]
+		TEST_ASSERT_TRUE((GPIO{{port}}->ASCR & (1ul << {{pin}})) == (1ul << {{pin}}));
+	%% endif
+%% endif
+	Gpio{{port ~ pin}}::disconnect();
+%% if target["family"] in ["f1"]
+		TEST_ASSERT_TRUE((GPIO{{port}}->CR{{"L" if pin<8 else "H"}} & (0xful << {{(pin % 8) * 4}})) == (0b0100ul << {{(pin % 8) * 4}}));
+%% else
+		TEST_ASSERT_TRUE((GPIO{{port}}->MODER & (3ul << {{pin*2}})) == 0ul);
+	%% if target["family"] in ["l4"] and target["name"] in ["71", "75", "76", "85", "86"]
+		TEST_ASSERT_TRUE((GPIO{{port}}->ASCR & (1ul << {{pin}})) == 0ul);
+	%% endif
+%% endif
+%% endfor
+}
+
+void
+PlatformGpioTest::testConnect()
+{
+%% if target["family"] not in ["f1"]
+%% for peripheral, connections in test_connections.items()
+	%% if connections | length
+	using TestConnection{{peripheral}} = GpioConnector<Peripheral::{{peripheral}},
+	%% for (port, pin, signal, _) in connections
+			Gpio{{port~pin}}::{{signal}}{% if loop.last %}>;{% else %},{% endif %}
+	%% endfor
+	TestConnection{{peripheral}}::connect();
+	%% for (port, pin, signal, af) in connections
+		%% if af
+		TEST_ASSERT_TRUE((GPIO{{port}}->MODER & (3ul << {{pin*2}})) == (2ul << {{pin*2}}));
+		TEST_ASSERT_TRUE((GPIO{{port}}->AFR[{{pin//8}}] & (15ul << {{(pin % 8) * 4}})) == ({{af}}ul << {{(pin % 8) * 4}}));
+		%% elif peripheral.startswith("Adc") or peripheral.startswith("Dac")
+		TEST_ASSERT_TRUE((GPIO{{port}}->MODER & (3ul << {{pin*2}})) == (3ul << {{pin*2}}));
+		%% endif
+	%% endfor
+	TestConnection{{peripheral}}::disconnect();
+	%% for (port, pin, signal, af) in connections
+		TEST_ASSERT_TRUE((GPIO{{port}}->MODER & (3ul << {{pin*2}})) == 0ul);
+		TEST_ASSERT_TRUE((GPIO{{port}}->AFR[{{pin//8}}] & (0xful << {{(pin % 8) * 4}})) == 0ul);
+	%% endfor
+	%% endif
+%% endfor
+%% endif
+}
+
+void
+PlatformGpioTest::testLock()
+{
+%% if options["::::test_gpio_lock"]
+%% for (port, pin) in test_io
+	Gpio{{port ~ pin}}::lock();
+		TEST_ASSERT_TRUE((GPIO{{port}}->LCKR & (1ul << {{pin}})) == (1ul << {{pin}}));
+%% endfor
+%% endif
+}