Add Tests

Cargo.toml

@@ -65,6 +65,7 @@ optional = true
 [dev-dependencies]
 cortex-m-rt = "0.7.2"
 defmt-rtt = "0.4.0"
+defmt-test = "0.3.2"
 cortex-m-rtic = "1.1.4"
 cortex-m-semihosting = "0.3.5"
 panic-probe = { version = "0.3.0", features = ["print-defmt"] }
@@ -119,6 +120,13 @@ codegen-units = 1
 incremental = false
 lto = true
 
+[profile.test]
+opt-level = "s"
+debug = true
+codegen-units = 1
+incremental = false
+lto = true
+
 [[example]]
 name = "flash_with_rtic"
 required-features = ["stm32g474"]
@@ -130,3 +138,10 @@ required-features = ["usb"]
 [[example]]
 name = "cordic"
 required-features = ["cordic"]
+
+[[test]]
+name = "tests"
+harness = false
+
+[lib]
+test = false

examples/utils/logger.rs

@@ -1,6 +1,6 @@
 #![allow(unsafe_code)]
 cfg_if::cfg_if! {
-    if #[cfg(all(feature = "log-rtt", feature = "defmt"))] {
+    if #[cfg(feature = "defmt")] {
         #[allow(unused_imports)]
         pub use defmt::{info, trace, warn, debug, error};
 
@@ -55,7 +55,7 @@ cfg_if::cfg_if! {
         }
 
     }
-    else if #[cfg(all(feature = "log-rtt"/*, feature = "defmt"*/))] {
+    else if #[cfg(feature = "defmt")] {
         use defmt_rtt as _; // global logger
         use panic_probe as _;
         #[allow(unused_imports)]
@@ -66,9 +66,6 @@ cfg_if::cfg_if! {
         #[allow(dead_code)]
         pub fn init() {}
     }
-    else if #[cfg(all(feature = "log-rtt", not(feature = "defmt")))] {
-        // TODO
-    }
     else if #[cfg(feature = "log-semihost")] {
         use panic_semihosting as _;
 

tests/tests.rs

@@ -0,0 +1,330 @@
+#![no_std]
+#![no_main]
+
+#[path = "../examples/utils/mod.rs"]
+mod utils;
+
+use utils::logger::debug;
+
+use core::ops::FnMut;
+use core::result::Result;
+use fugit::{ExtU32, HertzU32, MicrosDurationU32};
+use hal::delay::DelayExt;
+use hal::stm32;
+use stm32g4xx_hal as hal;
+
+pub const F_SYS: HertzU32 = HertzU32::MHz(16);
+pub const CYCLES_PER_US: u32 = F_SYS.raw() / 1_000_000;
+
+pub fn enable_timer(cp: &mut stm32::CorePeripherals) {
+    cp.DCB.enable_trace();
+    cp.DWT.enable_cycle_counter();
+}
+
+pub fn now() -> MicrosDurationU32 {
+    (stm32::DWT::cycle_count() / CYCLES_PER_US).micros()
+}
+
+#[defmt_test::tests]
+mod tests {
+    use embedded_hal::{
+        delay::DelayNs,
+        digital::{InputPin, OutputPin},
+        pwm::SetDutyCycle,
+    };
+    use fixed::types::I1F15;
+    use fugit::RateExtU32;
+    use stm32g4xx_hal::{
+        adc::{self, AdcClaim, Temperature, Vref},
+        cordic::{
+            op::{dynamic::Mode, Magnitude, SinCos, Sqrt},
+            prec::P60,
+            scale::N0,
+            types::{Q15, Q31},
+            Ext,
+        },
+        dac::{DacExt, DacOut},
+        delay::SYSTDelayExt,
+        gpio::{GpioExt, AF6},
+        pwm::PwmExt,
+        rcc::RccExt,
+        signature::{VrefCal, VDDA_CALIB},
+        stm32::GPIOA,
+    };
+
+    #[test]
+    fn gpio_push_pull() {
+        use super::*;
+
+        // TODO: Is it ok to steal these?
+        let cp = unsafe { stm32::CorePeripherals::steal() };
+        let dp = unsafe { stm32::Peripherals::steal() };
+        let mut rcc = dp.RCC.constrain();
+        let mut delay = cp.SYST.delay(&rcc.clocks);
+        defmt::dbg!(rcc.clocks.sys_clk);
+
+        let gpioa = dp.GPIOA.split(&mut rcc);
+        let mut pin = gpioa.pa8.into_push_pull_output();
+
+        pin.set_high().unwrap();
+        delay.delay(1.millis()); // Give the pin plenty of time to go high
+        assert!(pin.is_high().unwrap());
+        {
+            let gpioa = unsafe { &*GPIOA::PTR };
+            assert!(!is_pax_low(gpioa, 8));
+        }
+
+        pin.set_low().unwrap();
+        delay.delay(1.millis()); // Give the pin plenty of time to go low
+        assert!(pin.is_low().unwrap());
+        {
+            let gpioa = unsafe { &*GPIOA::PTR };
+            assert!(is_pax_low(gpioa, 8));
+        }
+    }
+
+    #[test]
+    fn gpio_open_drain() {
+        use super::*;
+
+        // TODO: Is it ok to steal these?
+        let cp = unsafe { stm32::CorePeripherals::steal() };
+        let dp = unsafe { stm32::Peripherals::steal() };
+        let mut rcc = dp.RCC.constrain();
+        let mut delay = cp.SYST.delay(&rcc.clocks);
+
+        let gpioa = dp.GPIOA.split(&mut rcc);
+        let mut pin = gpioa.pa8.into_open_drain_output();
+
+        // Enable pull-up resistor
+        {
+            let gpioa = unsafe { &*GPIOA::PTR };
+            gpioa.pupdr().modify(|_, w| w.pupdr8().pull_up());
+        }
+
+        pin.set_high().unwrap();
+        delay.delay(1.millis()); // Give the pin plenty of time to go high
+        assert!(pin.is_high().unwrap());
+        {
+            let gpioa = unsafe { &*GPIOA::PTR };
+            assert!(!is_pax_low(gpioa, 8));
+        }
+
+        pin.set_low().unwrap();
+        delay.delay(1.millis()); // Give the pin plenty of time to go low
+        assert!(pin.is_low().unwrap());
+        {
+            let gpioa = unsafe { &*GPIOA::PTR };
+            assert!(is_pax_low(gpioa, 8));
+        }
+    }
+
+    #[test]
+    fn pwm() {
+        use super::*;
+
+        // TODO: Is it ok to steal these?
+        let mut cp = unsafe { stm32::CorePeripherals::steal() };
+        let dp = unsafe { stm32::Peripherals::steal() };
+        enable_timer(&mut cp);
+
+        let mut rcc = dp.RCC.constrain();
+        assert_eq!(rcc.clocks.sys_clk, F_SYS);
+
+        let gpioa = dp.GPIOA.split(&mut rcc);
+        let pin: stm32g4xx_hal::gpio::gpioa::PA8<stm32g4xx_hal::gpio::Alternate<AF6>> =
+            gpioa.pa8.into_alternate();
+
+        let mut pwm = dp.TIM1.pwm(pin, 1000u32.Hz(), &mut rcc);
+
+        pwm.set_duty_cycle_percent(50).unwrap();
+        pwm.enable();
+
+        let gpioa = unsafe { &*GPIOA::PTR };
+
+        let min: MicrosDurationU32 = 495u32.micros();
+        let max: MicrosDurationU32 = 505u32.micros();
+
+        debug!("Awaiting first rising edge...");
+        let duration_until_lo = await_lo(&gpioa, max).unwrap();
+        let first_lo_duration = await_hi(&gpioa, max).unwrap();
+
+        let mut hi_duration = 0.micros();
+        let mut lo_duration = 0.micros();
+
+        for _ in 0..10 {
+            // Make sure the timer half periods are within 495-505us
+
+            hi_duration = await_lo(&gpioa, max).unwrap();
+            assert!(
+                hi_duration > min && hi_duration < max,
+                "hi: {} < {} < {}",
+                min,
+                hi_duration,
+                max
+            );
+
+            lo_duration = await_hi(&gpioa, max).unwrap();
+            assert!(
+                lo_duration > min && lo_duration < max,
+                "lo: {} < {} < {}",
+                min,
+                lo_duration,
+                max
+            );
+        }
+
+        // Prints deferred until here to not mess up timing
+        debug!("Waited ~{} until low", duration_until_lo);
+        debug!("First low half period: {}", first_lo_duration);
+
+        debug!("High half period: {}", hi_duration);
+        debug!("Low half period: {}", lo_duration);
+
+        debug!("Done!");
+
+        pwm.disable();
+    }
+
+    #[test]
+    fn cordic() {
+        fn is_almost_equals(a: f32, b: f32) -> bool {
+            (a - b).abs() < 0.001
+        }
+
+        use super::*;
+
+        let dp = unsafe { stm32::Peripherals::steal() };
+        let mut rcc = dp.RCC.constrain();
+
+        let mut cordic = dp
+            .CORDIC
+            .constrain(&mut rcc)
+            .freeze::<Q15, Q31, P60, SinCos>(); // 16 bit arguments, 32 bit results, compute sine and cosine, 60 iterations
+
+        // static operation (zero overhead)
+
+        cordic.start(I1F15::from_num(-0.25 /* -45 degreees */));
+
+        let (sin, cos) = cordic.result();
+
+        debug!("sin: {}, cos: {}", sin.to_num::<f32>(), cos.to_num::<f32>());
+        assert!(is_almost_equals(sin.to_num::<f32>(), -0.707));
+        assert!(is_almost_equals(cos.to_num::<f32>(), 0.707));
+
+        // dynamic operation
+
+        let mut cordic = cordic.into_dynamic();
+
+        let sqrt = cordic.run::<Sqrt<N0>>(I1F15::from_num(0.25));
+        debug!("sqrt: {}", sqrt.to_num::<f32>());
+        assert!(is_almost_equals(sqrt.to_num::<f32>(), 0.5));
+        let magnitude = cordic.run::<Magnitude>((I1F15::from_num(0.25), I1F15::from_num(0.5)));
+        debug!("magnitude: {}", magnitude.to_num::<f32>());
+        assert!(is_almost_equals(magnitude.to_num::<f32>(), 0.559));
+    }
+
+    #[test]
+    fn adc() {
+        use super::*;
+
+        // TODO: Is it ok to steal these?
+        let cp = unsafe { stm32::CorePeripherals::steal() };
+        let dp = unsafe { stm32::Peripherals::steal() };
+        let rcc = dp.RCC.constrain();
+        let mut delay = cp.SYST.delay(&rcc.clocks);
+
+        let mut adc = dp
+            .ADC1
+            .claim(adc::ClockSource::SystemClock, &rcc, &mut delay, true);
+
+        adc.enable_temperature(&dp.ADC12_COMMON);
+        adc.enable_vref(&dp.ADC12_COMMON);
+        let sample_time = adc::config::SampleTime::Cycles_640_5;
+
+        let vref = adc.convert(&Vref, sample_time);
+        let vref_cal = VrefCal::get().read();
+        let vdda = VDDA_CALIB * vref_cal as u32 / vref as u32;
+        debug!("vdda: {}mV", vdda);
+        assert!((3200..3400).contains(&vdda));
+
+        let vref = Vref::sample_to_millivolts_ext(vref, vdda, adc::config::Resolution::Twelve);
+        debug!("vref: {}mV", vref);
+        assert!((1182..1232).contains(&vref)); // From G474 datasheet
+
+        let temperature_reading = adc.convert(&Temperature, sample_time);
+        let temp = Temperature::temperature_to_degrees_centigrade(
+            temperature_reading,
+            vdda as f32 / 1000.,
+            adc::config::Resolution::Twelve,
+        );
+        debug!("temp: {}°C", temp);
+        assert!((20.0..30.0).contains(&temp), "20.0 < {} < 30.0", temp);
+    }
+
+    #[test]
+    fn dac() {
+        use super::*;
+
+        // TODO: Is it ok to steal these?
+        let cp = unsafe { stm32::CorePeripherals::steal() };
+        let dp = unsafe { stm32::Peripherals::steal() };
+        let mut rcc = dp.RCC.constrain();
+        let mut delay = cp.SYST.delay(&rcc.clocks);
+
+        let gpioa = dp.GPIOA.split(&mut rcc);
+        let pa4 = gpioa.pa4.into_floating_input();
+        let dac1ch1 = dp.DAC1.constrain(pa4, &mut rcc);
+
+        let gpioa = unsafe { &*GPIOA::PTR };
+
+        // dac_manual will have its value set manually
+        let mut dac = dac1ch1.calibrate_buffer(&mut delay).enable();
+
+        dac.set_value(0);
+        delay.delay_ms(1);
+        assert!(is_pax_low(&gpioa, 4));
+
+        dac.set_value(4095);
+        delay.delay_ms(1);
+        assert!(!is_pax_low(&gpioa, 4));
+    }
+}
+
+fn is_pax_low(gpioa: &stm32::gpioa::RegisterBlock, x: u8) -> bool {
+    gpioa.idr().read().idr(x).is_low()
+}
+
+#[derive(Debug, defmt::Format)]
+struct ErrorTimedOut;
+
+fn await_lo(
+    gpioa: &stm32::gpioa::RegisterBlock,
+    timeout: MicrosDurationU32,
+) -> Result<MicrosDurationU32, ErrorTimedOut> {
+    await_p(|| is_pax_low(gpioa, 8), timeout)
+}
+
+fn await_hi(
+    gpioa: &stm32::gpioa::RegisterBlock,
+    timeout: MicrosDurationU32,
+) -> Result<MicrosDurationU32, ErrorTimedOut> {
+    await_p(|| !is_pax_low(gpioa, 8), timeout)
+}
+
+fn await_p(
+    mut p: impl FnMut() -> bool,
+    timeout: MicrosDurationU32,
+) -> Result<MicrosDurationU32, ErrorTimedOut> {
+    let before = now();
+
+    loop {
+        let passed_time = now() - before;
+        if p() {
+            return Ok(passed_time);
+        }
+        if passed_time > timeout {
+            return Err(ErrorTimedOut);
+        }
+    }
+}