# 9. The test firmware

The test firmware turns the board into a bench instrument. At power-on it checks the six stepper drivers over SPI
and prints the result, then turns all six motors slowly, blinks the LEDs and toggles the two outputs; on request it
prints the E-stop, the inputs, the supply voltage and the limit switches over USB. It is what every board ships
with, and the right tool for a freshly wired robot before the base is closed.

!!! danger "The motors turn as soon as it starts"
    The test firmware enables all six drivers when it boots and turns every motor slowly, at 1000 steps per second,
    without being asked, with no limits and no homing, until the power is switched off. No command stops them:
    `#STOP` only ends a printout. Use it with the arm free to move or the motors unmounted, never on a robot folded
    against its stops.

## Connecting

Upload the firmware if the board does not have it ([Firmware](https://docs.source-robotics.com/PAROL-docs/1.1/board/08-firmware/)), then open a serial terminal on the
board's USB port: PlatformIO's monitor, PuTTY or `screen`. The board is a USB device, so the baud rate does not
matter; PlatformIO's monitor uses the 3000000 set in the project's `platformio.ini`. Make the terminal send a line
feed at the end of each line: the firmware acts on a command only when the line feed arrives, so a terminal that
sends only a carriage return on Enter gets no answer. Two ways to power the board for the test:

- the programming adapter's 3.3 V, with the 24 V supply disconnected: the board talks, but the drivers have no
  power and report errors;
- the 24 V supply: the board is off until you press the power button, or supply 3.3 V from the adapter as well.

## What it does by itself

- **About three seconds after power-on** it reads every driver over SPI and prints a report per joint: `joint N
  Connection is: GOOD` or `BAD`, then the driver's current, hold and run current settings and its fault flags.
- **From then on** all six motors turn slowly and keep turning.
- **Every second** the two LEDs blink and outputs 1 and 2 toggle.

## Commands

`#` followed by the name, case as written, and the line feed. Four commands do something:

| Command | What it does |
|---|---|
| `#IO` | Prints, once a second, the E-stop input, input 1, input 2 and the supply voltage in millivolts |
| `#LIMIT` | Prints, once a second, `Joint N is pressed` for every limit switch that is triggered, numbered by joint |
| `#STOP` | Ends the `#IO` or `#LIMIT` printout; the motors keep turning |
| `#start` | Toggles the two LEDs |

Every other name, including `#STATUS`, `#STEP1` to `#STEP6`, `#FLASH` and `#CAN`, is answered with `Unknown
command`: the parser knows the names, but the firmware does nothing with them. [Test firmware
commands](https://docs.source-robotics.com/PAROL-docs/1.1/reference/test-firmware/) is the reference list.

## Testing CAN

CAN has its own test, next to the test firmware in the repository's `PAROL6 control board test code` folder and not
part of its build: the sketch `can_12_12` sends a frame with ID 0x446 every 500 ms at 1 Mbit/s and prints every
frame it receives, and `can_parol6_test.py` is the PC side, a python-can script for a USB-CAN adapter (slcan, 1
Mbit/s; set its port, `COM44` in the file) that prints the frames it receives with their node and command IDs.

## What good looks like

All six drivers answering, in the report at power-on:

![Serial output with all drivers responding](https://docs.source-robotics.com/PAROL-docs/1.1/assets/STEPPER_GOOD.PNG){ width="600" }

A driver missing or faulty:

![Serial output with a faulty driver](https://docs.source-robotics.com/PAROL-docs/1.1/assets/BAD_STEPPER_DRIVER.PNG){ width="600" }

With good drivers and the 24 V on, the motors turn slowly at 200 to 300 mA. A triggered limit switch, with
`#LIMIT`:

![A limit switch triggered](https://docs.source-robotics.com/PAROL-docs/1.1/assets/LIMIT_GOOD.PNG){ width="550" }

The I/O report, with `#IO`; change the E-stop or an input and the values follow:

![The IO report](https://docs.source-robotics.com/PAROL-docs/1.1/assets/GOOD_IO.PNG){ width="550" }

Outputs 1 and 2 toggle every second, and the two LEDs blink.