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Dash tests for 2025 #17

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0542f3a
Some notes from the rules?
LelsersLasers Feb 19, 2025
1191e1e
Cleaning all the tests
LelsersLasers Feb 19, 2025
c04b82c
High key confused about what I am supposed to be doing
LelsersLasers Feb 19, 2025
9a26340
Throttle uses DACs for 2025
LelsersLasers Feb 20, 2025
7606e51
Throttle tests (write AO voltage, read MCU pin check if equal)
LelsersLasers Feb 20, 2025
c671aea
parameterize for test_throttle
LelsersLasers Feb 22, 2025
66fdb1d
Deleting unused code
LelsersLasers Feb 22, 2025
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4 changes: 2 additions & 2 deletions configurations/config_system_hil_attached.json
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Original file line number Diff line number Diff line change
Expand Up @@ -15,8 +15,8 @@
{"board":"Dashboard", "harness_connections":[
{"dut":{"connector":"J1","pin":9}, "hil":{"device":"FrontTester", "port":"DAC1"}},
{"dut":{"connector":"J1","pin":10}, "hil":{"device":"FrontTester", "port":"DAC2"}},
{"dut":{"connector":"J1","pin":11}, "hil":{"device":"FrontTester", "port":"POT1"}},
{"dut":{"connector":"J1","pin":12}, "hil":{"device":"FrontTester", "port":"POT2"}}
{"dut":{"connector":"J1","pin":11}, "hil":{"device":"FrontTester", "port":"DAC1", "_": "can't do breaks and throttle at once, not enough DACs"}},
{"dut":{"connector":"J1","pin":12}, "hil":{"device":"FrontTester", "port":"DAC2"}}
]}
],
"hil_devices":[
Expand Down
153 changes: 90 additions & 63 deletions scripts/node_specific/scripts/test_dash.py
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Original file line number Diff line number Diff line change
Expand Up @@ -31,50 +31,49 @@ def hil():
# ---------------------------------------------------------------------------- #
BRK_SWEEP_DELAY = 0.1

def test_bspd(hil):
# Begin the test
# hil.start_test(test_bspd.__name__)

# Outputs
brk1 = hil.aout("Dashboard", "BRK1_RAW")
brk2 = hil.aout("Dashboard", "BRK2_RAW")
def test_bspd(hil):
# HIL outputs (hil writes)
brk1 = hil.aout("Dashboard", "BRK1_RAW")
brk2 = hil.aout("Dashboard", "BRK2_RAW")

# Inputs
# HIL inputs (hil reads)
brk_fail_tap = hil.mcu_pin("Dashboard", "BRK_FAIL_TAP")
brk_stat_tap = hil.mcu_pin("Dashboard", "BRK_STAT_TAP")

# Brake threshold check
# Brakes 1 and 2 are at rest
brk1.state = BRK_1_REST_V
brk2.state = BRK_2_REST_V
# hil.check(brk_stat_tap.state == 0, "Brake stat starts low")
check.equal(brk_stat_tap.state, 0, "Brake stat starts low")
time.sleep(0.1)
check.equal(brk_stat_tap.state, 0, f"Brakes 1 ({BRK_1_REST_V}) and 2 ({BRK_2_REST_V}) -> rests")

# Brake 1 trips
brk1.state = BRK_1_THRESH_V
time.sleep(0.1)
# hil.check(brk_stat_tap.state == 1, "Brake stat goes high at brk 1 thresh")
check.equal(brk_stat_tap.state, 1, "Brake stat goes high at brk 1 thresh")
check.equal(brk_stat_tap.state, 1, f"Brake 1 ({BRK_1_THRESH_V}) -> trips")

# Brake 1 resets -> rest
brk1.state = BRK_1_REST_V
# hil.check(brk_stat_tap.state == 0, "Brake stat starts low")
check.equal(brk_stat_tap.state, 0, "Brake stat starts low")
time.sleep(0.1)
check.equal(brk_stat_tap.state, 0, f"Brake 1 ({BRK_1_REST_V}) -> rests")

# Brake 2 trips
brk2.state = BRK_2_THRESH_V
time.sleep(0.1)
# hil.check(brk_stat_tap.state == 1, "Brake stat goes high at brk 2 thresh")
check.equal(brk_stat_tap.state, 1, "Brake stat goes high at brk 2 thresh")
check.equal(brk_stat_tap.state, 1, f"Brake 2 ({BRK_2_THRESH_V}) -> trips")

# Brake 1 high -> still tripped
brk1.state = BRK_1_THRESH_V
# hil.check(brk_stat_tap.state == 1, "Brake stat stays high for both brakes")
check.equal(brk_stat_tap.state, 1, "Brake stat stays high for both brakes")

time.sleep(0.1)
check.equal(brk_stat_tap.state, 1, f"Brakes (1 -> {BRK_1_REST_V}) stay tripped")

# Brake threshold scan
# Reset both brakes
brk1.state = BRK_MIN_OUT_V
brk2.state = BRK_MIN_OUT_V
time.sleep(0.1)
# hil.check(brk_stat_tap.state == 0, "Brake Stat Starts Low Brk 1")
check.equal(brk_stat_tap.state, 0, "Brake Stat Starts Low Brk 1")
check.equal(brk_stat_tap.state, 0, f"Brakes 1 ({BRK_MIN_OUT_V}) and 2 ({BRK_MIN_OUT_V}) -> rests")

# Brake 1 trips at the correct voltage
start = BRK_MIN_OUT_V
stop = BRK_MAX_OUT_V
step = 0.1
Expand All @@ -83,98 +82,126 @@ def test_bspd(hil):
BRK_SWEEP_DELAY,
brk_stat_tap, is_falling=False)
print(f"Brake 1 braking threshold: {thresh}")
# hil.check_within(thresh, BRK_1_THRESH_V, 0.2, "Brake 1 trip voltage")
# hil.check(brk_stat_tap.state == 1, "Brake Stat Tripped for Brk 1")
check.almost_equal(
thresh, BRK_1_THRESH_V,
abs=0.2, rel=0.0,
msg="Brake 1 trip voltage"
msg="Brake 1 trips at correct voltage"
)
check.equal(brk_stat_tap.state, 1, "Brake Stat Tripped for Brk 1")
check.equal(brk_stat_tap.state, 1, "Brake 1 tripped")

# Reset both brakes
brk1.state = BRK_MIN_OUT_V
brk2.state = BRK_MIN_OUT_V
hil.check(brk_stat_tap.state == 0, "Brake Stat Starts Low Brk 2")
time.sleep(0.1)
hil.check(brk_stat_tap.state == 0, f"Brakes 1 ({BRK_MIN_OUT_V}) and 2 ({BRK_MIN_OUT_V}) -> rests")

# Brake 2 trips at the correct voltage
thresh = utils.measure_trip_thresh(brk2, start, stop, step,
BRK_SWEEP_DELAY,
brk_stat_tap, is_falling=False)
print(f"Brake 2 braking threshold: {thresh}")
# hil.check_within(thresh, BRK_2_THRESH_V, 0.2, "Brake 2 trip voltage")
# hil.check(brk_stat_tap.state == 1, "Brake Stat Tripped for Brk 2")
check.almost_equal(
thresh, BRK_2_THRESH_V,
abs=0.2, rel=0.0,
msg="Brake 2 trip voltage"
msg="Brake 2 trips at correct voltage"
)
check.equal(brk_stat_tap.state, 1, "Brake Stat Tripped for Brk 2")
check.equal(brk_stat_tap.state, 1, "Brake 2 tripped")


# Brake Fail scan
# Brakes at rest
brk1.state = BRK_1_REST_V
brk2.state = BRK_2_REST_V
time.sleep(0.1)
# hil.check(brk_fail_tap.state == 0, "Brake Fail Check 1 Starts 0")
check.equal(brk_fail_tap.state, 0, "Brake Fail Check 1 Starts 0")
check.equal(brk_fail_tap.state, 0, f"Brakes 1 ({BRK_1_REST_V}) and 2 ({BRK_2_REST_V}) -> no fail")

brk1.state = 0.0 # Force 0
# Brake 1 forced to 0V (short to GND)
brk1.state = 0.0
time.sleep(0.1)
# hil.check(brk_fail_tap.state == 1, "Brake Fail Brk 1 Short GND")
check.equal(brk_fail_tap.state, 1, "Brake Fail Brk 1 Short GND")
check.equal(brk_fail_tap.state, 1, "Brake 1 short to GND -> fail")

# Reset brake 1
brk1.state = BRK_1_REST_V
time.sleep(0.1)
# hil.check(brk_fail_tap.state == 0, "Brake Fail Check 2 Starts 0")
check.equal(brk_fail_tap.state, 0, "Brake Fail Check 2 Starts 0")
check.equal(brk_fail_tap.state, 0, "Brake 1 reset -> no fail")

brk2.state = 0.0 # Force 0
# Brake 2 forced to 0V (short to GND)
brk2.state = 0.0
time.sleep(0.1)
hil.check(brk_fail_tap.state == 1, "Brake Fail Brk 2 Short GND")
check.equal(brk_fail_tap.state, 1, "Brake Fail Brk 2 Short GND")
check.equal(brk_fail_tap.state, 1, "Brake 2 short to GND -> fail")

# Reset brake 2
brk2.state = BRK_2_REST_V
time.sleep(0.1)
# hil.check(brk_fail_tap.state == 0, "Brake Fail Check 3 Starts 0")
check.equal(brk_fail_tap.state, 0, "Brake Fail Check 3 Starts 0")
check.equal(brk_fail_tap.state, 0, "Brake 2 reset -> no fail")

brk1.state = 5.0 # Short VCC
# Brake 1 forced to 5V (short to VCC)
brk1.state = 5.0
time.sleep(0.1)
# hil.check(brk_fail_tap.state == 1, "Brake Fail Brk 1 Short VCC")
check.equal(brk_fail_tap.state, 1, "Brake Fail Brk 1 Short VCC")
check.equal(brk_fail_tap.state, 1, "Brake 1 short to VCC -> fail")

# Reset brake 1
brk1.state = BRK_1_REST_V
time.sleep(0.1)
# hil.check(brk_fail_tap.state == 0, "Brake Fail Check 4 Starts 0")
check.equal(brk_fail_tap.state, 0, "Brake Fail Check 4 Starts 0")
check.equal(brk_fail_tap.state, 0, "Brake 1 reset -> no fail")

brk2.state = 5.0 # Short VCC
# Brake 2 forced to 5V (short to VCC)
brk2.state = 5.0
time.sleep(0.1)
# hil.check(brk_fail_tap.state == 1, "Brake Fail Brk 2 Short VCC")
check.equal(brk_fail_tap.state, 1, "Brake Fail Brk 2 Short VCC")
check.equal(brk_fail_tap.state, 1, "Brake 2 short to VCC -> fail")

# Reset brake 2
brk2.state = BRK_2_REST_V
time.sleep(0.1)
# hil.check(brk_fail_tap.state == 0, "Brake Fail Check 5 Starts 0")
check.equal(brk_fail_tap.state, 0, "Brake Fail Check 5 Starts 0")
check.equal(brk_fail_tap.state, 0, "Brake 2 reset -> no fail")

# Brake 1 Hi-Z
brk1.hiZ()
time.sleep(0.1)
# hil.check(brk_fail_tap.state == 1, "Brake Fail Brk 1 Hi-Z")
check.equal(brk_fail_tap.state, 1, "Brake Fail Brk 1 Hi-Z")
check.equal(brk_fail_tap.state, 1, "Brake 1 Hi-Z -> fail")

# Reset brake 1
brk1.state = BRK_1_REST_V
time.sleep(0.1)
# hil.check(brk_fail_tap.state == 0, "Brake Fail Check 6 Starts 0")
check.equal(brk_fail_tap.state, 0, "Brake Fail Check 6 Starts 0")
check.equal(brk_fail_tap.state, 0, "Brake 1 reset -> no fail")

# Brake 2 Hi-Z
brk2.hiZ()
time.sleep(0.1)
# hil.check(brk_fail_tap.state == 1, "Brake Fail Brk 2 Hi-Z")
check.equal(brk_fail_tap.state, 1, "Brake Fail Brk 2 Hi-Z")
check.equal(brk_fail_tap.state, 1, "Brake 2 Hi-Z -> fail")

# Reset brake 2
brk2.state = BRK_2_REST_V
# ---------------------------------------------------------------------------- #


# End the test
# hil.end_test()
# ---------------------------------------------------------------------------- #
THROTTLE_VARIANCE = 0.1

# 0-5V throttle sweep with 0.2 step
@pytest.mark.parametrize("voltage", [x / 10.0 for x in range(0, 52, 2)])
def test_throttle(hil, voltage):
# HIL outputs (hil writes)
thrtl1 = hil.aout("Dashboard", "THRTL1_RAW")
thrtl2 = hil.aout("Dashboard", "THRTL2_RAW")

# HIL inputs (hil reads)
thrtl1_flt = hil.mcu_pin("Dashboard", "THRTL1_FLT")
thrtl2_flt = hil.mcu_pin("Dashboard", "THRTL2_FLT")

thrtl1.state = voltage
time.sleep(0.1)
check.almost_equal(
thrtl1_flt.state, voltage,
abs=THROTTLE_VARIANCE, rel=0.0,
msg=f"Throttle 1: {voltage}V"
)

thrtl2.state = voltage
time.sleep(0.1)
check.almost_equal(
thrtl2_flt.state, voltage,
abs=THROTTLE_VARIANCE, rel=0.0,
msg=f"Throttle 2: {voltage}V"
)
# ---------------------------------------------------------------------------- #

# TODO: add throttle checks