1*** Variables *** 2${URL} https://dl.antmicro.com/projects/renode 3${AGT_ELF} ${URL}/renesas_ra6m5--agt.elf-s_303444-613fbe7bc11ecbc13afa7a8a907682bbbb2a3458 4${HELLO_WORLD_ELF} ${URL}/ra6m5-hello_world.elf-s_310112-5e896556c868826bc8d25d695202ebe0beed7df2 5${AWS_SCI_ICP10101_ELF} ${URL}/renesas_ra6m5--aws-icp10101.elf-s_795916-3d68631f0fdfc3838fdba768d3a6d46312707ae3 6${AWS_SCI_HS3001_ELF} ${URL}/renesas_ra6m5--aws-hs3001.elf-s_758320-642c83fb428d4ccc1e35c2908178de232744dbad 7${AWS_ZMOD4510_ELF} ${URL}/renesas_ra6m5--aws-zmod4510.elf-s_807176-4b4d580be7d9876f822205349432d3ea68172a17 8${AWS_ZMOD4410_ELF} ${URL}/renesas_ra6m5--aws-zmod4410.elf-s_808224-8d79f1a1ff242d00131c12298f64420df21bc1d3 9${SCI_SPI_ELF} ${URL}/renesas_ra6m5--sci_spi.elf-s_346192-72cd95f5c506423a29f654be7fb7471b3b230ed0 10${AWS_ICM20948_ELF} ${URL}/renesas_ra6m5--aws-icm20948.elf-s_799636-492407caeb09cadd9b5bab867955ce9dc6d7229e 11# SCI_UART demo is slightly modified version with additional printfs for better testability 12${SCI_UART_ELF} ${URL}/renesas_ra6m5--sci_uart.elf-s_413420-158250896f48de6bf28e409c99cdda0b2b21e43e 13${IIC_MASTER_ELF} ${URL}/renesas_ra6m5--iic_master.elf-s_322744-232a1bea524059a7170c97c7fa698c5efff39f03 14${AWS_CC_ELF} ${URL}/renesas_ra6m5--aws.elf-s_1022068-eb223bcbec23d091f52980a36dea325060d046f7 15 16${CSV2RESD} ${RENODETOOLS}/csv2resd/csv2resd.py 17${ICM20948_SAMPLES_CSV} ${CURDIR}/ICM20948-samples.csv 18 19${RA6M5_REPL} platforms/cpus/renesas-r7fa6m5b.repl 20${CK_BOARD_REPL} platforms/boards/renesas-ck_ra6m5.repl 21${CK_SCI_SENSORS_BOARD_REPL} @tests/platforms/renesas-ck_ra6m5-sensors_example.repl 22 23${LED_REPL} SEPARATOR=\n 24... """ 25... led: Miscellaneous.LED @ port6 10 26... 27... port6: 28... ${SPACE*4}10 -> led@0 29... """ 30 31${BUTTON_REPL} SEPARATOR=\n 32... """ 33... button: Miscellaneous.Button @ port8 4 34... ${SPACE*4}-> port8@4 35... """ 36 37*** Keywords *** 38Create Machine 39 [Arguments] ${bin} ${repl} 40 Execute Command using sysbus 41 Execute Command mach create "ra6m5" 42 43 Execute Command machine LoadPlatformDescription @${repl} 44 45 Execute Command set bin @${bin} 46 Execute Command macro reset "sysbus LoadELF $bin" 47 Execute Command runMacro $reset 48 49Prepare Machine 50 [Arguments] ${bin} 51 Create Machine ${bin} ${RA6M5_REPL} 52 53Prepare Machine With SCI Sensors Board 54 [Arguments] ${bin} 55 Create Machine ${bin} ${CK_SCI_SENSORS_BOARD_REPL} 56 57Prepare Machine With CK Board 58 [Arguments] ${bin} 59 Create Machine ${bin} ${CK_BOARD_REPL} 60 61Prepare Segger RTT 62 [Arguments] ${with_has_key}=False ${with_read}=False 63 Execute Command machine CreateVirtualConsole "segger_rtt" 64 Execute Command include @scripts/single-node/segger-rtt.py 65 Execute Command setup_segger_rtt sysbus.segger_rtt ${with_has_key} ${with_read} 66 Create Terminal Tester sysbus.segger_rtt 67 68Prepare LED Tester 69 Execute Command machine LoadPlatformDescriptionFromString ${LED_REPL} 70 Create Led Tester sysbus.port6.led 71 72Prepare UART Tester 73 Create Terminal Tester sysbus.sci0 74 75Create ICM20948 RESD File 76 [Arguments] ${path} 77 ${resd_path}= Allocate Temporary File 78 ${args}= Catenate SEPARATOR=, 79 ... "--input", r"${path}" 80 ... "--map", "angular_rate:angular_rate_x,angular_rate_y,angular_rate_z:x,y,z" 81 ... "--map", "acceleration:acceleration_x,acceleration_y,acceleration_z:x,y,z" 82 ... "--map", "magnetic_flux_density:magnetic_flux_density_x,magnetic_flux_density_y,magnetic_flux_density_z:x,y,z" 83 ... "--start-time", "200000000" 84 ... "--frequency", "5" 85 ... r"${resd_path}" 86 Evaluate subprocess.run([sys.executable, "${CSV2RESD}", ${args}]) sys,subprocess 87 RETURN ${resd_path} 88 89*** Test Cases *** 90Should Run Periodically Blink LED 91 Prepare Machine ${AGT_ELF} 92 Prepare LED Tester 93 Prepare Segger RTT with_has_key=True with_read=True 94 95 Execute Command agt0 IRQ AddStateChangedHook "Antmicro.Renode.Logging.Logger.Log(LogLevel.Error, 'AGT0 ' + str(state))" 96 # Timeout is only used for checking whether the IRQ has been handled 97 Create Log Tester 0.001 98 99 # Configuration is roughly in ms 100 Wait For Prompt On Uart One-shot mode: 101 Write Line To Uart 10 waitForEcho=false 102 Wait For Line On Uart Time period for one-shot mode timer: 10 103 104 Wait For Prompt On Uart Periodic mode: 105 Write Line To Uart 5 waitForEcho=false 106 Wait For Line On Uart Time period for periodic mode timer: 5 107 108 Wait For Prompt On Uart Enter any key to start or stop the timers 109 Write Line To Uart waitForEcho=false 110 111 # Timeout is extended by an additional 1ms to account for rounding errors 112 Wait For Log Entry AGT0 True level=Error pauseEmulation=true timeout=0.011 113 Wait For Log Entry AGT0 False level=Error pauseEmulation=true 114 # move to the begining of a True state 115 Assert Led State True timeout=0.01 pauseEmulation=true 116 # Run test for 5 cycles 117 Assert Led Is Blinking testDuration=0.05 onDuration=0.005 offDuration=0.005 tolerance=0.2 pauseEmulation=true 118 Assert Led State True timeout=0.005 pauseEmulation=true 119 120 # Stop timers, clear log tester history and check whether the periodic timer stops 121 Write Line To Uart waitForEcho=false 122 Wait For Line On Uart Periodic timer stopped. Enter any key to start timers. pauseEmulation=true 123 Assert And Hold Led State True 0.0 0.05 124 125Should Run Hello World Demo 126 Prepare Machine ${HELLO_WORLD_ELF} 127 Execute Command machine LoadPlatformDescriptionFromString ${BUTTON_REPL} 128 Prepare UART Tester 129 130 Start Emulation 131 Wait For Line On Uart Hello world! 132 Wait For Line On Uart Blinking available LEDs with 1Hz frequency: P1546, P1545, P1537, P1538, P1539, P1541 133 Wait For Line On Uart LEDS OFF 134 Wait For Line On Uart LEDS ON 135 Wait For Line On Uart LEDS OFF 136 Wait For Line On Uart LEDS ON 137 138 # Test GPIO IRQ, button (PORT8.4) allows to toggle blinking 139 140 # Stop blinking 141 Execute Command port8.button PressAndRelease 142 Wait For Line On Uart Blinking has been disabled 143 # LEDS OFF and LEDS ON messages shouldn't be printed anymore 144 Should Not Be On Uart LEDS OFF timeout=1 145 Should Not Be On Uart LEDS ON timeout=1 146 147 # Star blinking again 148 Execute Command port8.button PressAndRelease 149 Wait For Line On Uart Blinking has been enabled 150 Wait For Line On Uart LEDS OFF 151 Wait For Line On Uart LEDS ON 152 Wait For Line On Uart LEDS OFF 153 Wait For Line On Uart LEDS ON 154 155Should Get Correct Temperature Readouts From ICP10101 156 Prepare Machine With SCI Sensors Board ${AWS_SCI_ICP10101_ELF} 157 Prepare SEGGER_RTT 158 159 Start Emulation 160 Wait For Line On Uart Renesas FSP Application Project 161 Wait For Line On Uart I2C bus setup success 162 Wait For Line On Uart ICP Sensor Data 163 Wait For Line On Uart Temperature -000.000 164 Wait For Line On Uart Pressure\\s+ 29999.820 treatAsRegex=true 165 166 Execute Command sysbus.sci0.barometer_sci DefaultTemperature 13.5 167 Execute Command sysbus.sci0.barometer_sci DefaultPressure 40000 168 Wait For Line On Uart Temperature\\s+013.498 treatAsRegex=true 169 Wait For Line On Uart Pressure\\s+ 39999.929 treatAsRegex=true 170 171Should Get Correct Readouts from the HS3001 172 173 Prepare Machine With SCI Sensors Board ${AWS_SCI_HS3001_ELF} 174 Prepare SEGGER RTT 175 176 # Due to rounding precision, some errors in the measured values are expected 177 Wait For Line On Uart HS3001 sensor setup success 178 Wait For Line On Uart HS3001 Sensor Data 179 Wait For Line On Uart Temperature:\\s+000.000 treatAsRegex=true 180 Wait For Line On Uart Humidity:\\s+000.000 treatAsRegex=true 181 182 Execute Command sysbus.sci0.hs3001_sci Temperature 13.5 183 Execute Command sysbus.sci0.hs3001_sci Humidity 50 184 Wait For Line On Uart Temperature:\\s+013.500 treatAsRegex=true 185 Wait For Line On Uart Humidity:\\s+050.099 treatAsRegex=true 186 187 Execute Command sysbus.sci0.hs3001_sci Temperature -40 188 Wait For Line On Uart Temperature:\\s-039.950 treatAsRegex=true 189 Wait For Line On Uart Humidity:\\s+050.099 treatAsRegex=true 190 191 Execute Command sysbus.sci0.hs3001_sci Temperature 125 192 Execute Command sysbus.sci0.hs3001_sci Humidity 100 193 Wait For Line On Uart Temperature:\\s+125.000 treatAsRegex=true 194 Wait For Line On Uart Humidity:\\s+100.000 treatAsRegex=true 195 196Should Read From The ZMOD4510 Sensor 197 Prepare Machine With SCI Sensors Board ${AWS_ZMOD4510_ELF} 198 Prepare SEGGER_RTT 199 200 Wait For Line On Uart ZMOD4510 sensor setup success 201 # Sensor readouts depend on the "InitConfigurationRValue", "Rvalue" and "Configuration". 202 # This test uses the default values, but it can be set using those properties 203 # As the algorithm for calculating the final result is proprietary, we expose a way of providing the complete RField input vector 204 Wait For Line On Uart OAQ: 231.935 205 Wait For Line On Uart OAQ: 099.132 206 207Should Read From The ZMOD4410 Sensor 208 Prepare Machine With SCI Sensors Board ${AWS_ZMOD4410_ELF} 209 Prepare SEGGER_RTT 210 211 Wait For Line On Uart ZMOD4410 sensor setup success 212 # Sensor readouts depend on the "InitConfigurationRValue", "Rvalue" , "ProductionData" and "Configuration". 213 # This test uses the default values, but it can be set using those properties 214 # As the algorithm for calculating the final result is proprietary, we expose a way of providing the complete RField input vector 215 Wait For Line On Uart TVOC: 000.014 216 Wait For Line On Uart ETOH: 000.007 217 Wait For Line On Uart ECO2: 401.176 218 # Readouts should soon stabilize 219 Wait For Line On Uart TVOC: 000.015 220 Wait For Line On Uart ETOH: 000.008 221 Wait For Line On Uart ECO2: 404.523 222 223Should Read Temperature From SPI Sensor 224 Prepare Machine ${SCI_SPI_ELF} 225 Prepare Segger RTT 226 227 # Sample expects the MAX31723PMB1 temperature sensor which there is no model for in Renode 228 Execute Command machine LoadPlatformDescriptionFromString "sensor: Sensors.GenericSPISensor @ sci0" 229 230 # Sensor initialization values 231 Execute Command sci0.sensor FeedSample 0x80 232 Execute Command sci0.sensor FeedSample 0x6 233 Execute Command sci0.sensor FeedSample 0x0 234 235 # Temperature of 15 °C 236 Execute Command sci0.sensor FeedSample 0x0 237 Execute Command sci0.sensor FeedSample 0xF 238 Execute Command sci0.sensor FeedSample 0x0 239 240 # Temperature of 10 °C 241 Execute Command sci0.sensor FeedSample 0x0 242 Execute Command sci0.sensor FeedSample 0xA 243 Execute Command sci0.sensor FeedSample 0x0 244 245 # Temperature of 2 °C 246 Execute Command sci0.sensor FeedSample 0x0 247 Execute Command sci0.sensor FeedSample 0x2 248 Execute Command sci0.sensor FeedSample 0x0 249 250 Wait For Line On Uart Temperature:${SPACE*2}15.000000 *C 251 Wait For Line On Uart Temperature:${SPACE*2}10.000000 *C 252 Wait For Line On Uart Temperature:${SPACE*2}2.000000 *C 253 Wait For Line On Uart Temperature:${SPACE*2}0.000000 *C 254 255Should Read And Write On UART 256 Prepare Machine ${SCI_UART_ELF} 257 258 Create Terminal Tester sysbus.sci0 259 260 Wait For Line On Uart Starting UART demo 261 262 Write Line To Uart 56 waitForEcho=false 263 Wait For Line On Uart Setting intensity to: 56 264 Wait For Line On Uart Set next value 265 266 Write Line To Uart 1 waitForEcho=false 267 Wait For Line On Uart Setting intensity to: 1 268 Wait For Line On Uart Set next value 269 270 Write Line To Uart 100 waitForEcho=false 271 Wait For Line On Uart Setting intensity to: 100 272 Wait For Line On Uart Set next value 273 274 Write Line To Uart 371 waitForEcho=false 275 Wait For Line On Uart Invalid input. Input range is from 1 - 100 276 277 Write Line To Uart 74 waitForEcho=false 278 Wait For Line On Uart Setting intensity to: 74 279 Wait For Line On Uart Set next value 280 281Should Read Default Values From ICM20948 282 Prepare Machine With SCI Sensors Board ${AWS_ICM20948_ELF} 283 Prepare Segger RTT 284 285 Execute Command sci0.icm_sci DefaultAccelerationX 0.3183098861837907 286 Execute Command sci0.icm_sci DefaultAccelerationY 1.618033988749895 287 Execute Command sci0.icm_sci DefaultAccelerationZ -0.36787944117144233 288 289 Execute Command sci0.icm_sci DefaultAngularRateX 10.604 290 Execute Command sci0.icm_sci DefaultAngularRateY 200.002 291 Execute Command sci0.icm_sci DefaultAngularRateZ -3.1 292 293 Execute Command sysbus.sci0.icm_sci.magnetometer_sci DefaultMagneticFluxDensityX 150 294 Execute Command sysbus.sci0.icm_sci.magnetometer_sci DefaultMagneticFluxDensityY 300 295 Execute Command sysbus.sci0.icm_sci.magnetometer_sci DefaultMagneticFluxDensityZ 450 296 297 Wait For Line On Uart ICM Sensor Data 298 Wait For Line On Uart AccX 000.318 299 Wait For Line On Uart AccY 001.618 300 Wait For Line On Uart AccZ -000.367 301 302 Wait For Line On Uart GyrX 010.597 303 Wait For Line On Uart GyrY 199.890 304 Wait For Line On Uart GyrZ -003.097 305 306 Wait For Line On Uart MagX 000.149 307 Wait For Line On Uart MagY 000.298 308 Wait For Line On Uart MagZ 000.448 309 310 311Should Read Values From ICM20948 Fed From RESD File 312 Prepare Machine With SCI Sensors Board ${AWS_ICM20948_ELF} 313 Prepare Segger RTT 314 315 ${resd_path}= Create ICM20948 RESD File ${ICM20948_SAMPLES_CSV} 316 Execute Command sysbus.sci0.icm_sci FeedAccelerationSamplesFromRESD @${resd_path} 317 Execute Command sysbus.sci0.icm_sci FeedAngularRateSamplesFromRESD @${resd_path} 318 Execute Command sysbus.sci0.icm_sci.magnetometer_sci FeedMagneticSamplesFromRESD @${resd_path} 319 320 Wait For Line On Uart ICM Sensor Data 321 Wait For Line On Uart AccX 000.001 322 Wait For Line On Uart AccY 001.002 323 Wait For Line On Uart AccZ -004.000 324 325 Wait For Line On Uart GyrX 249.862 326 Wait For Line On Uart GyrY -249.862 327 Wait For Line On Uart GyrZ 003.143 328 329 Wait For Line On Uart MagX 000.149 330 Wait For Line On Uart MagY 000.298 331 Wait For Line On Uart MagZ 000.448 332 333 Wait For Line On Uart ICM Sensor Data 334 Wait For Line On Uart AccX 000.002 335 Wait For Line On Uart AccY 000.998 336 Wait For Line On Uart AccZ 003.999 337 338 Wait For Line On Uart GyrX 243.499 339 Wait For Line On Uart GyrY -249.549 340 Wait For Line On Uart GyrZ 003.280 341 342 Wait For Line On Uart MagX 000.298 343 Wait For Line On Uart MagY 000.448 344 Wait For Line On Uart MagZ 000.597 345 346Should Communicate Over IIC 347 Prepare Machine ${IIC_MASTER_ELF} 348 Execute Command machine LoadPlatformDescriptionFromString "adxl345: Sensors.ADXL345 @ iic1 0x1D" 349 Prepare Segger RTT 350 351 # Sample displays raw data from the sensor, so printed values are different from loaded samples 352 Execute Command iic1.adxl345 FeedSample 1000 1000 1000 353 Wait For Line On Uart X-axis = 250.00, Y-axis = 250.00, Z-axis = 250.00 354 355 Execute Command iic1.adxl345 FeedSample 2000 3000 4000 356 Wait For Line On Uart X-axis = 500.00, Y-axis = 750.00, Z-axis = 1000.00 357 358 Execute Command iic1.adxl345 FeedSample 1468 745 8921 359 Wait For Line On Uart X-axis = 367.00, Y-axis = 186.00, Z-axis = 2230.00 360 361 Execute Command iic1.adxl345 FeedSample 3912 8888 5456 362 Wait For Line On Uart X-axis = 978.00, Y-axis = 2222.00, Z-axis = 1364.00 363 364 Execute Command iic1.adxl345 FeedSample 0 5000 0 365 Wait For Line On Uart X-axis = 0.00, Y-axis = 1250.00, Z-axis = 0.00 366 367 Wait For Line On Uart X-axis = 0.00, Y-axis = 0.00, Z-axis = 0.00 368 369CK IIC Board Should Work 370 Prepare Machine With CK Board ${AWS_CC_ELF} 371 Prepare Segger RTT 372 373 Execute Command sysbus.iic0.hs3001 Temperature 13.5 374 Execute Command sysbus.iic0.hs3001 Humidity 50 375 376 Execute Command sysbus.iic0.barometer DefaultTemperature 13.5 377 Execute Command sysbus.iic0.barometer DefaultPressure 40000 378 379 Execute Command sysbus.iic0.icm DefaultAccelerationX 0.3183098861837907 380 Execute Command sysbus.iic0.icm DefaultAccelerationY 1.618033988749895 381 Execute Command sysbus.iic0.icm DefaultAccelerationZ -0.36787944117144233 382 383 Execute Command sysbus.iic0.icm DefaultAngularRateX 10.604 384 Execute Command sysbus.iic0.icm DefaultAngularRateY 200.002 385 Execute Command sysbus.iic0.icm DefaultAngularRateZ -3.1 386 387 Execute Command sysbus.iic0.icm.magnetometer DefaultMagneticFluxDensityX 150 388 Execute Command sysbus.iic0.icm.magnetometer DefaultMagneticFluxDensityY 300 389 Execute Command sysbus.iic0.icm.magnetometer DefaultMagneticFluxDensityZ 450 390 391 Wait For Line On Uart IAQ Sensor Data 392 Wait For Line On Uart TVOC: 000.015 393 Wait For Line On Uart ETOH: 000.008 394 Wait For Line On Uart ECO2: 404.384 395 396 Wait For Line On Uart OAQ Sensor Data 397 Wait For Line On Uart OAQ: 231.935 398 399 Wait For Line On Uart HS3001 Sensor Data 400 Wait For Line On Uart Humidity: 050.099 401 Wait For Line On Uart Temperature: 013.500 402 403 Wait For Line On Uart ICM Sensor Data 404 Wait For Line On Uart AccX 000.318 405 Wait For Line On Uart AccY 001.618 406 Wait For Line On Uart AccZ -000.367 407 408 Wait For Line On Uart GyrX 010.597 409 Wait For Line On Uart GyrY 199.890 410 Wait For Line On Uart GyrZ -003.097 411 412 Wait For Line On Uart MagX 000.149 413 Wait For Line On Uart MagY 000.298 414 Wait For Line On Uart MagZ 000.448 415 416 Wait For Line On Uart ICP Sensor Data 417 Wait For Line On Uart Temperature: 013.498 418 Wait For Line On Uart Pressure: 39999.929 419
