refactored test_dir_step_en function

Chr157i4n · Oct 26, 2024 · 51f94f1 · 51f94f1
1 parent e6bab4a
commit 51f94f1
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Showing 2 changed files with 26 additions and 45 deletions.
diff --git a/src/TMC_2209/TMC_2209_StepperDriver.py b/src/TMC_2209/TMC_2209_StepperDriver.py
@@ -55,7 +55,7 @@ class TMC_2209:
     )
 
     from ._TMC_2209_test import (
-        test_dir_step_en, test_step, test_uart, test_stallguard_threshold
+        test_pin, test_dir_step_en, test_step, test_uart, test_stallguard_threshold
     )
 
     BOARD = BOARD

diff --git a/src/TMC_2209/_TMC_2209_test.py b/src/TMC_2209/_TMC_2209_test.py
@@ -16,61 +16,42 @@
 
 
 
-def test_dir_step_en(self):
-    """tests the EN, DIR and STEP pin
+def test_pin(self, pin, ioin_reg):
+    """tests one pin
 
-    this sets the EN, DIR and STEP pin to HIGH, LOW and HIGH
-    and checks the IOIN Register of the TMC meanwhile
+    this function checks the connection to a pin
+    by toggling it and reading the IOIN register
     """
-    pin_dir_ok = pin_step_ok = pin_en_ok = True
+    pin_ok = True
 
     TMC_gpio.gpio_output(self._pin_dir, Gpio.HIGH)
     TMC_gpio.gpio_output(self._pin_step, Gpio.HIGH)
     TMC_gpio.gpio_output(self._pin_en, Gpio.HIGH)
-    time.sleep(0.1)
-    ioin = self.read_ioin()
-    if not ioin & tmc_reg.io_dir:
-        pin_dir_ok = False
-    if not ioin & tmc_reg.io_step:
-        pin_step_ok = False
-    if not ioin & tmc_reg.io_enn:
-        pin_en_ok = False
 
-    TMC_gpio.gpio_output(self._pin_dir, Gpio.HIGH)
-    TMC_gpio.gpio_output(self._pin_step, Gpio.LOW)
-    TMC_gpio.gpio_output(self._pin_en, Gpio.HIGH)
-    time.sleep(0.1)
-    ioin = self.read_ioin()
-    if not ioin & tmc_reg.io_dir:
-        pin_dir_ok = False
-    if ioin & tmc_reg.io_step:
-        pin_step_ok = False
-    if not ioin & tmc_reg.io_enn:
-        pin_en_ok = False
-
-    TMC_gpio.gpio_output(self._pin_dir, Gpio.LOW)
-    TMC_gpio.gpio_output(self._pin_step, Gpio.HIGH)
-    TMC_gpio.gpio_output(self._pin_en, Gpio.HIGH)
-    time.sleep(0.1)
     ioin = self.read_ioin()
-    if ioin & tmc_reg.io_dir:
-        pin_dir_ok = False
-    if not ioin & tmc_reg.io_step:
-        pin_step_ok = False
-    if not ioin & tmc_reg.io_enn:
-        pin_en_ok = False
+    if not ioin & ioin_reg:
+        pin_ok = False
 
-    TMC_gpio.gpio_output(self._pin_dir, Gpio.HIGH)
-    TMC_gpio.gpio_output(self._pin_step, Gpio.HIGH)
-    TMC_gpio.gpio_output(self._pin_en, Gpio.LOW)
+    TMC_gpio.gpio_output(pin, Gpio.LOW)
     time.sleep(0.1)
+
     ioin = self.read_ioin()
-    if not ioin & tmc_reg.io_dir:
-        pin_dir_ok = False
-    if not ioin & tmc_reg.io_step:
-        pin_step_ok = False
-    if ioin & tmc_reg.io_enn:
-        pin_en_ok = False
+    if ioin & ioin_reg:
+        pin_ok = False
+
+    return pin_ok
+
+
+
+def test_dir_step_en(self):
+    """tests the EN, DIR and STEP pin
+
+    this sets the EN, DIR and STEP pin to HIGH, LOW and HIGH
+    and checks the IOIN Register of the TMC meanwhile
+    """
+    pin_dir_ok = self.test_pin(self._pin_dir, tmc_reg.io_dir)
+    pin_step_ok = self.test_pin(self._pin_step, tmc_reg.io_step)
+    pin_en_ok = self.test_pin(self._pin_en, tmc_reg.io_enn)
 
     self.set_motor_enabled(False)