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simulation_core/tests/platforms/Renesas_RA6M5.robot

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*** Variables ***
${URL} https://dl.antmicro.com/projects/renode
${AGT_ELF} ${URL}/renesas_ra6m5--agt.elf-s_303444-613fbe7bc11ecbc13afa7a8a907682bbbb2a3458
${HELLO_WORLD_ELF} ${URL}/ra6m5-hello_world.elf-s_310112-5e896556c868826bc8d25d695202ebe0beed7df2
${AWS_SCI_ICP10101_ELF} ${URL}/renesas_ra6m5--aws-icp10101.elf-s_795916-3d68631f0fdfc3838fdba768d3a6d46312707ae3
${AWS_SCI_HS3001_ELF} ${URL}/renesas_ra6m5--aws-hs3001.elf-s_758320-642c83fb428d4ccc1e35c2908178de232744dbad
${AWS_ZMOD4510_ELF} ${URL}/renesas_ra6m5--aws-zmod4510.elf-s_807176-4b4d580be7d9876f822205349432d3ea68172a17
${AWS_ZMOD4410_ELF} ${URL}/renesas_ra6m5--aws-zmod4410.elf-s_808224-8d79f1a1ff242d00131c12298f64420df21bc1d3
${SCI_SPI_ELF} ${URL}/renesas_ra6m5--sci_spi.elf-s_346192-72cd95f5c506423a29f654be7fb7471b3b230ed0
${AWS_ICM20948_ELF} ${URL}/renesas_ra6m5--aws-icm20948.elf-s_799636-492407caeb09cadd9b5bab867955ce9dc6d7229e
# SCI_UART demo is slightly modified version with additional printfs for better testability
${SCI_UART_ELF} ${URL}/renesas_ra6m5--sci_uart.elf-s_413420-158250896f48de6bf28e409c99cdda0b2b21e43e
${IIC_MASTER_ELF} ${URL}/renesas_ra6m5--iic_master.elf-s_322744-232a1bea524059a7170c97c7fa698c5efff39f03
${AWS_CC_ELF} ${URL}/renesas_ra6m5--aws.elf-s_1022068-eb223bcbec23d091f52980a36dea325060d046f7
${CSV2RESD} ${RENODETOOLS}/csv2resd/csv2resd.py
${ICM20948_SAMPLES_CSV} ${CURDIR}/ICM20948-samples.csv
${RA6M5_REPL} platforms/cpus/renesas-r7fa6m5b.repl
${CK_BOARD_REPL} platforms/boards/renesas-ck_ra6m5.repl
${CK_SCI_SENSORS_BOARD_REPL} @tests/platforms/renesas-ck_ra6m5-sensors_example.repl
${LED_REPL} SEPARATOR=\n
... """
... led: Miscellaneous.LED @ port6 10
...
... port6:
... ${SPACE*4}10 -> led@0
... """
${BUTTON_REPL} SEPARATOR=\n
... """
... button: Miscellaneous.Button @ port8 4
... ${SPACE*4}-> port8@4
... """
*** Keywords ***
Create Machine
[Arguments] ${bin} ${repl}
Execute Command using sysbus
Execute Command mach create "ra6m5"
Execute Command machine LoadPlatformDescription @${repl}
Execute Command set bin @${bin}
Execute Command macro reset "sysbus LoadELF $bin"
Execute Command runMacro $reset
Prepare Machine
[Arguments] ${bin}
Create Machine ${bin} ${RA6M5_REPL}
Prepare Machine With SCI Sensors Board
[Arguments] ${bin}
Create Machine ${bin} ${CK_SCI_SENSORS_BOARD_REPL}
Prepare Machine With CK Board
[Arguments] ${bin}
Create Machine ${bin} ${CK_BOARD_REPL}
Prepare Segger RTT
[Arguments] ${with_has_key}=False ${with_read}=False
Execute Command machine CreateVirtualConsole "segger_rtt"
Execute Command include @scripts/single-node/segger-rtt.py
Execute Command setup_segger_rtt sysbus.segger_rtt ${with_has_key} ${with_read}
Create Terminal Tester sysbus.segger_rtt
Prepare LED Tester
Execute Command machine LoadPlatformDescriptionFromString ${LED_REPL}
Create Led Tester sysbus.port6.led
Prepare UART Tester
Create Terminal Tester sysbus.sci0
Create ICM20948 RESD File
[Arguments] ${path}
${resd_path}= Allocate Temporary File
${args}= Catenate SEPARATOR=,
... "--input", r"${path}"
... "--map", "angular_rate:angular_rate_x,angular_rate_y,angular_rate_z:x,y,z"
... "--map", "acceleration:acceleration_x,acceleration_y,acceleration_z:x,y,z"
... "--map", "magnetic_flux_density:magnetic_flux_density_x,magnetic_flux_density_y,magnetic_flux_density_z:x,y,z"
... "--start-time", "200000000"
... "--frequency", "5"
... r"${resd_path}"
Evaluate subprocess.run([sys.executable, "${CSV2RESD}", ${args}]) sys,subprocess
RETURN ${resd_path}
*** Test Cases ***
Should Run Periodically Blink LED
Prepare Machine ${AGT_ELF}
Prepare LED Tester
Prepare Segger RTT with_has_key=True with_read=True
Execute Command agt0 IRQ AddStateChangedHook "Antmicro.Renode.Logging.Logger.Log(LogLevel.Error, 'AGT0 ' + str(state))"
# Timeout is only used for checking whether the IRQ has been handled
Create Log Tester 0.001
# Configuration is roughly in ms
Wait For Prompt On Uart One-shot mode:
Write Line To Uart 10 waitForEcho=false
Wait For Line On Uart Time period for one-shot mode timer: 10
Wait For Prompt On Uart Periodic mode:
Write Line To Uart 5 waitForEcho=false
Wait For Line On Uart Time period for periodic mode timer: 5
Wait For Prompt On Uart Enter any key to start or stop the timers
Write Line To Uart waitForEcho=false
# Timeout is extended by an additional 1ms to account for rounding errors
Wait For Log Entry AGT0 True level=Error pauseEmulation=true timeout=0.011
Wait For Log Entry AGT0 False level=Error pauseEmulation=true
# move to the begining of a True state
Assert Led State True timeout=0.01 pauseEmulation=true
# Run test for 5 cycles
Assert Led Is Blinking testDuration=0.05 onDuration=0.005 offDuration=0.005 tolerance=0.2 pauseEmulation=true
Assert Led State True timeout=0.005 pauseEmulation=true
# Stop timers, clear log tester history and check whether the periodic timer stops
Write Line To Uart waitForEcho=false
Wait For Line On Uart Periodic timer stopped. Enter any key to start timers. pauseEmulation=true
Assert And Hold Led State True 0.0 0.05
Should Run Hello World Demo
Prepare Machine ${HELLO_WORLD_ELF}
Execute Command machine LoadPlatformDescriptionFromString ${BUTTON_REPL}
Prepare UART Tester
Start Emulation
Wait For Line On Uart Hello world!
Wait For Line On Uart Blinking available LEDs with 1Hz frequency: P1546, P1545, P1537, P1538, P1539, P1541
Wait For Line On Uart LEDS OFF
Wait For Line On Uart LEDS ON
Wait For Line On Uart LEDS OFF
Wait For Line On Uart LEDS ON
# Test GPIO IRQ, button (PORT8.4) allows to toggle blinking
# Stop blinking
Execute Command port8.button PressAndRelease
Wait For Line On Uart Blinking has been disabled
# LEDS OFF and LEDS ON messages shouldn't be printed anymore
Should Not Be On Uart LEDS OFF timeout=1
Should Not Be On Uart LEDS ON timeout=1
# Star blinking again
Execute Command port8.button PressAndRelease
Wait For Line On Uart Blinking has been enabled
Wait For Line On Uart LEDS OFF
Wait For Line On Uart LEDS ON
Wait For Line On Uart LEDS OFF
Wait For Line On Uart LEDS ON
Should Get Correct Temperature Readouts From ICP10101
Prepare Machine With SCI Sensors Board ${AWS_SCI_ICP10101_ELF}
Prepare SEGGER_RTT
Start Emulation
Wait For Line On Uart Renesas FSP Application Project
Wait For Line On Uart I2C bus setup success
Wait For Line On Uart ICP Sensor Data
Wait For Line On Uart Temperature -000.000
Wait For Line On Uart Pressure\\s+ 29999.820 treatAsRegex=true
Execute Command sysbus.sci0.barometer_sci DefaultTemperature 13.5
Execute Command sysbus.sci0.barometer_sci DefaultPressure 40000
Wait For Line On Uart Temperature\\s+013.498 treatAsRegex=true
Wait For Line On Uart Pressure\\s+ 39999.929 treatAsRegex=true
Should Get Correct Readouts from the HS3001
Prepare Machine With SCI Sensors Board ${AWS_SCI_HS3001_ELF}
Prepare SEGGER RTT
# Due to rounding precision, some errors in the measured values are expected
Wait For Line On Uart HS3001 sensor setup success
Wait For Line On Uart HS3001 Sensor Data
Wait For Line On Uart Temperature:\\s+000.000 treatAsRegex=true
Wait For Line On Uart Humidity:\\s+000.000 treatAsRegex=true
Execute Command sysbus.sci0.hs3001_sci Temperature 13.5
Execute Command sysbus.sci0.hs3001_sci Humidity 50
Wait For Line On Uart Temperature:\\s+013.500 treatAsRegex=true
Wait For Line On Uart Humidity:\\s+050.099 treatAsRegex=true
Execute Command sysbus.sci0.hs3001_sci Temperature -40
Wait For Line On Uart Temperature:\\s-039.950 treatAsRegex=true
Wait For Line On Uart Humidity:\\s+050.099 treatAsRegex=true
Execute Command sysbus.sci0.hs3001_sci Temperature 125
Execute Command sysbus.sci0.hs3001_sci Humidity 100
Wait For Line On Uart Temperature:\\s+125.000 treatAsRegex=true
Wait For Line On Uart Humidity:\\s+100.000 treatAsRegex=true
Should Read From The ZMOD4510 Sensor
Prepare Machine With SCI Sensors Board ${AWS_ZMOD4510_ELF}
Prepare SEGGER_RTT
Wait For Line On Uart ZMOD4510 sensor setup success
# Sensor readouts depend on the "InitConfigurationRValue", "Rvalue" and "Configuration".
# This test uses the default values, but it can be set using those properties
# As the algorithm for calculating the final result is proprietary, we expose a way of providing the complete RField input vector
Wait For Line On Uart OAQ: 231.935
Wait For Line On Uart OAQ: 099.132
Should Read From The ZMOD4410 Sensor
Prepare Machine With SCI Sensors Board ${AWS_ZMOD4410_ELF}
Prepare SEGGER_RTT
Wait For Line On Uart ZMOD4410 sensor setup success
# Sensor readouts depend on the "InitConfigurationRValue", "Rvalue" , "ProductionData" and "Configuration".
# This test uses the default values, but it can be set using those properties
# As the algorithm for calculating the final result is proprietary, we expose a way of providing the complete RField input vector
Wait For Line On Uart TVOC: 000.014
Wait For Line On Uart ETOH: 000.007
Wait For Line On Uart ECO2: 401.176
# Readouts should soon stabilize
Wait For Line On Uart TVOC: 000.015
Wait For Line On Uart ETOH: 000.008
Wait For Line On Uart ECO2: 404.523
Should Read Temperature From SPI Sensor
Prepare Machine ${SCI_SPI_ELF}
Prepare Segger RTT
# Sample expects the MAX31723PMB1 temperature sensor which there is no model for in Renode
Execute Command machine LoadPlatformDescriptionFromString "sensor: Sensors.GenericSPISensor @ sci0"
# Sensor initialization values
Execute Command sci0.sensor FeedSample 0x80
Execute Command sci0.sensor FeedSample 0x6
Execute Command sci0.sensor FeedSample 0x0
# Temperature of 15 °C
Execute Command sci0.sensor FeedSample 0x0
Execute Command sci0.sensor FeedSample 0xF
Execute Command sci0.sensor FeedSample 0x0
# Temperature of 10 °C
Execute Command sci0.sensor FeedSample 0x0
Execute Command sci0.sensor FeedSample 0xA
Execute Command sci0.sensor FeedSample 0x0
# Temperature of 2 °C
Execute Command sci0.sensor FeedSample 0x0
Execute Command sci0.sensor FeedSample 0x2
Execute Command sci0.sensor FeedSample 0x0
Wait For Line On Uart Temperature:${SPACE*2}15.000000 *C
Wait For Line On Uart Temperature:${SPACE*2}10.000000 *C
Wait For Line On Uart Temperature:${SPACE*2}2.000000 *C
Wait For Line On Uart Temperature:${SPACE*2}0.000000 *C
Should Read And Write On UART
Prepare Machine ${SCI_UART_ELF}
Create Terminal Tester sysbus.sci0
Wait For Line On Uart Starting UART demo
Write Line To Uart 56 waitForEcho=false
Wait For Line On Uart Setting intensity to: 56
Wait For Line On Uart Set next value
Write Line To Uart 1 waitForEcho=false
Wait For Line On Uart Setting intensity to: 1
Wait For Line On Uart Set next value
Write Line To Uart 100 waitForEcho=false
Wait For Line On Uart Setting intensity to: 100
Wait For Line On Uart Set next value
Write Line To Uart 371 waitForEcho=false
Wait For Line On Uart Invalid input. Input range is from 1 - 100
Write Line To Uart 74 waitForEcho=false
Wait For Line On Uart Setting intensity to: 74
Wait For Line On Uart Set next value
Should Read Default Values From ICM20948
Prepare Machine With SCI Sensors Board ${AWS_ICM20948_ELF}
Prepare Segger RTT
Execute Command sci0.icm_sci DefaultAccelerationX 0.3183098861837907
Execute Command sci0.icm_sci DefaultAccelerationY 1.618033988749895
Execute Command sci0.icm_sci DefaultAccelerationZ -0.36787944117144233
Execute Command sci0.icm_sci DefaultAngularRateX 10.604
Execute Command sci0.icm_sci DefaultAngularRateY 200.002
Execute Command sci0.icm_sci DefaultAngularRateZ -3.1
Execute Command sysbus.sci0.icm_sci.magnetometer_sci DefaultMagneticFluxDensityX 150
Execute Command sysbus.sci0.icm_sci.magnetometer_sci DefaultMagneticFluxDensityY 300
Execute Command sysbus.sci0.icm_sci.magnetometer_sci DefaultMagneticFluxDensityZ 450
Wait For Line On Uart ICM Sensor Data
Wait For Line On Uart AccX 000.318
Wait For Line On Uart AccY 001.618
Wait For Line On Uart AccZ -000.367
Wait For Line On Uart GyrX 010.597
Wait For Line On Uart GyrY 199.890
Wait For Line On Uart GyrZ -003.097
Wait For Line On Uart MagX 000.149
Wait For Line On Uart MagY 000.298
Wait For Line On Uart MagZ 000.448
Should Read Values From ICM20948 Fed From RESD File
Prepare Machine With SCI Sensors Board ${AWS_ICM20948_ELF}
Prepare Segger RTT
${resd_path}= Create ICM20948 RESD File ${ICM20948_SAMPLES_CSV}
Execute Command sysbus.sci0.icm_sci FeedAccelerationSamplesFromRESD @${resd_path}
Execute Command sysbus.sci0.icm_sci FeedAngularRateSamplesFromRESD @${resd_path}
Execute Command sysbus.sci0.icm_sci.magnetometer_sci FeedMagneticSamplesFromRESD @${resd_path}
Wait For Line On Uart ICM Sensor Data
Wait For Line On Uart AccX 000.001
Wait For Line On Uart AccY 001.002
Wait For Line On Uart AccZ -004.000
Wait For Line On Uart GyrX 249.862
Wait For Line On Uart GyrY -249.862
Wait For Line On Uart GyrZ 003.143
Wait For Line On Uart MagX 000.149
Wait For Line On Uart MagY 000.298
Wait For Line On Uart MagZ 000.448
Wait For Line On Uart ICM Sensor Data
Wait For Line On Uart AccX 000.002
Wait For Line On Uart AccY 000.998
Wait For Line On Uart AccZ 003.999
Wait For Line On Uart GyrX 243.499
Wait For Line On Uart GyrY -249.549
Wait For Line On Uart GyrZ 003.280
Wait For Line On Uart MagX 000.298
Wait For Line On Uart MagY 000.448
Wait For Line On Uart MagZ 000.597
Should Communicate Over IIC
Prepare Machine ${IIC_MASTER_ELF}
Execute Command machine LoadPlatformDescriptionFromString "adxl345: Sensors.ADXL345 @ iic1 0x1D"
Prepare Segger RTT
# Sample displays raw data from the sensor, so printed values are different from loaded samples
Execute Command iic1.adxl345 FeedSample 1000 1000 1000
Wait For Line On Uart X-axis = 250.00, Y-axis = 250.00, Z-axis = 250.00
Execute Command iic1.adxl345 FeedSample 2000 3000 4000
Wait For Line On Uart X-axis = 500.00, Y-axis = 750.00, Z-axis = 1000.00
Execute Command iic1.adxl345 FeedSample 1468 745 8921
Wait For Line On Uart X-axis = 367.00, Y-axis = 186.00, Z-axis = 2230.00
Execute Command iic1.adxl345 FeedSample 3912 8888 5456
Wait For Line On Uart X-axis = 978.00, Y-axis = 2222.00, Z-axis = 1364.00
Execute Command iic1.adxl345 FeedSample 0 5000 0
Wait For Line On Uart X-axis = 0.00, Y-axis = 1250.00, Z-axis = 0.00
Wait For Line On Uart X-axis = 0.00, Y-axis = 0.00, Z-axis = 0.00
CK IIC Board Should Work
Prepare Machine With CK Board ${AWS_CC_ELF}
Prepare Segger RTT
Execute Command sysbus.iic0.hs3001 Temperature 13.5
Execute Command sysbus.iic0.hs3001 Humidity 50
Execute Command sysbus.iic0.barometer DefaultTemperature 13.5
Execute Command sysbus.iic0.barometer DefaultPressure 40000
Execute Command sysbus.iic0.icm DefaultAccelerationX 0.3183098861837907
Execute Command sysbus.iic0.icm DefaultAccelerationY 1.618033988749895
Execute Command sysbus.iic0.icm DefaultAccelerationZ -0.36787944117144233
Execute Command sysbus.iic0.icm DefaultAngularRateX 10.604
Execute Command sysbus.iic0.icm DefaultAngularRateY 200.002
Execute Command sysbus.iic0.icm DefaultAngularRateZ -3.1
Execute Command sysbus.iic0.icm.magnetometer DefaultMagneticFluxDensityX 150
Execute Command sysbus.iic0.icm.magnetometer DefaultMagneticFluxDensityY 300
Execute Command sysbus.iic0.icm.magnetometer DefaultMagneticFluxDensityZ 450
Wait For Line On Uart IAQ Sensor Data
Wait For Line On Uart TVOC: 000.015
Wait For Line On Uart ETOH: 000.008
Wait For Line On Uart ECO2: 404.384
Wait For Line On Uart OAQ Sensor Data
Wait For Line On Uart OAQ: 231.935
Wait For Line On Uart HS3001 Sensor Data
Wait For Line On Uart Humidity: 050.099
Wait For Line On Uart Temperature: 013.500
Wait For Line On Uart ICM Sensor Data
Wait For Line On Uart AccX 000.318
Wait For Line On Uart AccY 001.618
Wait For Line On Uart AccZ -000.367
Wait For Line On Uart GyrX 010.597
Wait For Line On Uart GyrY 199.890
Wait For Line On Uart GyrZ -003.097
Wait For Line On Uart MagX 000.149
Wait For Line On Uart MagY 000.298
Wait For Line On Uart MagZ 000.448
Wait For Line On Uart ICP Sensor Data
Wait For Line On Uart Temperature: 013.498
Wait For Line On Uart Pressure: 39999.929
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