Merge branch 'dev/prot_pfc'

2026-08-07 14:20:52 +08:00
parent 6666e852b2 1b6db67805
commit 87959b20e6
1 changed files with 341 additions and 0 deletions
@@ -0,0 +1,341 @@
+import csv
+import time
+from dataclasses import dataclass
+from pathlib import Path
+
+import pytest
+
+from common.config_loader import load_jig_registers
+from common.error_codes import RpuErrorCode, TpuErrorCode
+from drivers.eload import Eload
+from drivers.jig import Jig, Position
+from drivers.rpu import Rpu
+from drivers.tpu import Tpu
+
+RESULTS_DIR = Path(__file__).resolve().parent.parent / "results"
+
+# Vac_in (AC source input) is set manually by the test operator before running
+# this file - not controlled by the script.
+POSITION = Position(0, 0, 40)
+VELOAD = 48.0
+IOUT_REF = 30.0
+
+DEFAULT_PFC_CURRENT_MAX = 30.0
+DEFAULT_PFC_VDC_BUS_MIN = 350.0
+DEFAULT_PFC_VDC_BUS_MAX = 425.0
+
+FAULT_PFC_CURRENT_MAX = 8.0
+FAULT_PFC_VDC_BUS_MAX = 395.0
+FAULT_PFC_VDC_BUS_MIN = 445.0
+AC_VOLTAGE_CALI_INCREASE_PCT = 0.10
+
+EXPECTED_TPU_OUT_OVERCURRENT = TpuErrorCode.PFC_IL_OVER_CURRENT
+EXPECTED_RPU_OUT_OVERCURRENT = RpuErrorCode.TPU_PFC_FAILURE
+
+EXPECTED_TPU_DC_OVERVOLTAGE = TpuErrorCode.PFC_DC_OVER_VOLTAGE
+EXPECTED_RPU_DC_OVERVOLTAGE = RpuErrorCode.BLE_UART_LOSS
+
+EXPECTED_TPU_DC_UNDERVOLTAGE = TpuErrorCode.PFC_DC_UNDER_VOLTAGE
+EXPECTED_RPU_DC_UNDERVOLTAGE = 0
+
+EXPECTED_TPU_START_TIMEOUT = TpuErrorCode.PFC_START_TIMEOUT
+EXPECTED_RPU_START_TIMEOUT = 0
+
+START_CHARGING_WAIT_S = 1
+CHARGING_RAMP_WAIT_S = 20  # wait for Iout to ramp up to the 30A target before recording
+STOP_CHARGING_SETTLE_WAIT_S = 3
+CONFIG_SETTLE_WAIT_S = 5  # settle wait for cases that don't need charging enabled
+
+STABILITY_SAMPLE_DURATION_S = 5.0
+STABILITY_SAMPLE_INTERVAL_S = 0.2
+STABILITY_FIELDS = ["PFC_Vout", "PFC_iL_peak"]
+
+
+def _hex32(value):
+    return f"0x{value:08X}"
+
+
+def _hex16(value):
+    return f"0x{value:04X}"
+
+
+def _error_ok(actual, actual_shadow, expected):
+    return actual == expected or actual_shadow == expected
+
+
+@dataclass
+class PfcBaseline:
+    """Shared connections + helpers for every PROT-PFC test case in this file."""
+    jig: Jig
+    tpu: Tpu
+    rpu: Rpu
+    eload: Eload
+    writer: object
+    csv_file: object
+
+    def sample_min_max(self, labels, duration=STABILITY_SAMPLE_DURATION_S, interval=STABILITY_SAMPLE_INTERVAL_S):
+        """Poll `labels` every `interval` seconds for `duration` seconds and
+        return {label_min, label_max} - same pattern as vac_coil_estimation.py's
+        sample_stability()."""
+        samples = {label: [] for label in labels}
+        start = time.time()
+        while time.time() - start < duration:
+            for label in labels:
+                samples[label].append(self.tpu.read(label))
+            time.sleep(interval)
+
+        stats = {}
+        for label, vals in samples.items():
+            stats[f"{label}_min"] = min(vals)
+            stats[f"{label}_max"] = max(vals)
+        return stats
+
+    def log_row(self, phase, setting_label, setting_value, stability_fields=STABILITY_FIELDS, pass_fail=""):
+        # The 5s sampling window IS the "record" step for this row. Only the
+        # fields relevant to this test case are sampled - others stay blank.
+        stats = self.sample_min_max(stability_fields)
+        self.writer.writerow([
+            phase, setting_label, setting_value,
+            stats.get("PFC_Vout_min", ""), stats.get("PFC_Vout_max", ""),
+            stats.get("PFC_iL_peak_min", ""), stats.get("PFC_iL_peak_max", ""),
+            self.tpu.read("RPU_output_voltage"), self.tpu.read("RPU_output_current"),
+            self.tpu.read("PFC_state"), self.tpu.read("Main_state"), self.tpu.read("Main_pre_state"),
+            _hex32(self.tpu.read_error_code()), _hex32(self.tpu.read_shadow_error_code()),
+            _hex16(self.tpu.read("Issue code")),
+            _hex32(self.rpu.read_error_code()), _hex32(self.rpu.read_shadow_error_code()),
+            pass_fail,
+        ])
+        self.csv_file.flush()
+
+    def start_charging(self):
+        self.rpu.set_charging(True)
+        time.sleep(START_CHARGING_WAIT_S)
+        self.rpu.set_runtime_voltage(VELOAD)
+        self.rpu.set_runtime_current(IOUT_REF)
+        time.sleep(CHARGING_RAMP_WAIT_S)
+
+    def stop_charging_and_wait_config_writable(self):
+        # PFC_Current_max (and other "Debug" dataset config) is only committed
+        # by the firmware while TPU is NOT actively charging (TPU_RUN_INV is
+        # excluded from the config-writable states).
+        self.rpu.set_charging(False)
+        time.sleep(STOP_CHARGING_SETTLE_WAIT_S)
+        self.tpu.wait_until_config_writable()
+
+    def restore_config(self, label, value):
+        self.stop_charging_and_wait_config_writable()
+        self.tpu.write(label, value)
+        self.tpu.rewrite_config()
+
+
+@pytest.fixture(scope="module")
+def pfc_baseline(jig_port, tpu_port, rpu_port, eload_resource):
+    jig_registers = load_jig_registers()
+    jig = Jig(jig_port, jig_registers)
+    tpu = Tpu(tpu_port)
+    rpu = Rpu(rpu_port)
+    eload = Eload(eload_resource)
+
+    RESULTS_DIR.mkdir(exist_ok=True)
+    csv_path = RESULTS_DIR / f"prot_pfc_{time.strftime('%Y%m%d_%H%M%S')}.csv"
+    csv_file = open(csv_path, "w", newline="", encoding="utf-8")
+    writer = csv.writer(csv_file)
+    writer.writerow([
+        "phase", "setting_label", "setting_value", "pfc_vout_min", "pfc_vout_max",
+        "pfc_il_peak_min", "pfc_il_peak_max", "rpu_output_voltage", "rpu_output_current",
+        "pfc_state", "main_state", "main_pre_state", "tpu_error_code", "tpu_shadow_error_code",
+        "tpu_issue_code", "rpu_error_code", "rpu_shadow_error_code", "pass_fail",
+    ])
+
+    baseline = PfcBaseline(jig=jig, tpu=tpu, rpu=rpu, eload=eload, writer=writer, csv_file=csv_file)
+
+    try:
+        rpu.set_charging(False)
+        jig.move_to_position(POSITION)
+
+        eload.set_remote()
+        eload.set_mode_cv()
+        eload.set_voltage(VELOAD)
+        eload.output_on()
+
+        pfc_current_max = tpu.read("PFC_Current_max")
+        pfc_vdc_bus_min = tpu.read("PFC_Vdc_bus_min")
+        pfc_vdc_bus_max = tpu.read("PFC_Vdc_bus_max")
+        assert pfc_current_max == pytest.approx(DEFAULT_PFC_CURRENT_MAX, abs=0.5), \
+            f"PFC_Current_max not at default: {pfc_current_max}"
+        assert pfc_vdc_bus_min == pytest.approx(DEFAULT_PFC_VDC_BUS_MIN, abs=1), \
+            f"PFC_Vdc_bus_min not at default: {pfc_vdc_bus_min}"
+        assert pfc_vdc_bus_max == pytest.approx(DEFAULT_PFC_VDC_BUS_MAX, abs=1), \
+            f"PFC_Vdc_bus_max not at default: {pfc_vdc_bus_max}"
+
+        # Enable charging, wait for Iout to ramp up to 30A, then record for 5s
+        # (both PFC_Vout and PFC_iL_peak are relevant as a healthy reference).
+        baseline.start_charging()
+        baseline.log_row("baseline", "PFC_Imax", pfc_current_max)
+
+        yield baseline
+
+    finally:
+        rpu.set_charging(False)
+        eload.output_off()
+        eload.set_local()
+        csv_file.close()
+        jig.close()
+        tpu.close()
+        rpu.close()
+        eload.disconnect()
+
+
+def test_pfc_out_overcurrent(pfc_baseline):
+    tpu = pfc_baseline.tpu
+    rpu = pfc_baseline.rpu
+
+    try:
+        pfc_baseline.stop_charging_and_wait_config_writable()
+        tpu.write("PFC_Current_max", FAULT_PFC_CURRENT_MAX)
+        tpu.rewrite_config()
+
+        # This case needs charging active to push real output current above
+        # the lowered threshold - wait for ramp-up same as baseline.
+        pfc_baseline.start_charging()
+
+        tpu_error = tpu.read_error_code()
+        tpu_shadow_error = tpu.read_shadow_error_code()
+        rpu_error = rpu.read_error_code()
+        rpu_shadow_error = rpu.read_shadow_error_code()
+
+        tpu_error_ok = _error_ok(tpu_error, tpu_shadow_error, EXPECTED_TPU_OUT_OVERCURRENT)
+        rpu_error_ok = _error_ok(rpu_error, rpu_shadow_error, EXPECTED_RPU_OUT_OVERCURRENT)
+        pass_fail = "PASS" if (tpu_error_ok and rpu_error_ok) else "FAIL"
+
+        # Current-protection case - only PFC_iL_peak is relevant, PFC_Vout stays blank.
+        pfc_baseline.log_row("pfc_out_overcurrent", "PFC_Imax", FAULT_PFC_CURRENT_MAX,
+                              stability_fields=["PFC_iL_peak"], pass_fail=pass_fail)
+
+        assert tpu_error_ok, (
+            f"TPU error code mismatch: got {_hex32(tpu_error)}/{_hex32(tpu_shadow_error)}, "
+            f"expected {_hex32(EXPECTED_TPU_OUT_OVERCURRENT)}"
+        )
+        assert rpu_error_ok, (
+            f"RPU error code mismatch: got {_hex32(rpu_error)}/{_hex32(rpu_shadow_error)}, "
+            f"expected {_hex32(EXPECTED_RPU_OUT_OVERCURRENT)}"
+        )
+
+    finally:
+        pfc_baseline.restore_config("PFC_Current_max", DEFAULT_PFC_CURRENT_MAX)
+
+
+def test_pfc_dc_overvoltage(pfc_baseline):
+    tpu = pfc_baseline.tpu
+    rpu = pfc_baseline.rpu
+
+    try:
+        pfc_baseline.stop_charging_and_wait_config_writable()
+        tpu.write("PFC_Vdc_bus_max", FAULT_PFC_VDC_BUS_MAX)
+        tpu.rewrite_config()
+
+        # No charging needed - the DC bus is already regulated by PFC before
+        # RPU enables charging, just settle then sample.
+        time.sleep(CONFIG_SETTLE_WAIT_S)
+
+        tpu_error = tpu.read_error_code()
+        tpu_shadow_error = tpu.read_shadow_error_code()
+        rpu_error = rpu.read_error_code()
+        rpu_shadow_error = rpu.read_shadow_error_code()
+
+        tpu_error_ok = _error_ok(tpu_error, tpu_shadow_error, EXPECTED_TPU_DC_OVERVOLTAGE)
+        rpu_error_ok = _error_ok(rpu_error, rpu_shadow_error, EXPECTED_RPU_DC_OVERVOLTAGE)
+        pass_fail = "PASS" if (tpu_error_ok and rpu_error_ok) else "FAIL"
+
+        pfc_baseline.log_row("pfc_dc_overvoltage", "Vdc_bus_max", FAULT_PFC_VDC_BUS_MAX,
+                              stability_fields=["PFC_Vout"], pass_fail=pass_fail)
+
+        assert tpu_error_ok, (
+            f"TPU error code mismatch: got {_hex32(tpu_error)}/{_hex32(tpu_shadow_error)}, "
+            f"expected {_hex32(EXPECTED_TPU_DC_OVERVOLTAGE)}"
+        )
+        assert rpu_error_ok, (
+            f"RPU error code mismatch: got {_hex32(rpu_error)}/{_hex32(rpu_shadow_error)}, "
+            f"expected {_hex32(EXPECTED_RPU_DC_OVERVOLTAGE)}"
+        )
+
+    finally:
+        pfc_baseline.restore_config("PFC_Vdc_bus_max", DEFAULT_PFC_VDC_BUS_MAX)
+
+
+def test_pfc_dc_undervoltage(pfc_baseline):
+    tpu = pfc_baseline.tpu
+    rpu = pfc_baseline.rpu
+
+    try:
+        pfc_baseline.stop_charging_and_wait_config_writable()
+        tpu.write("PFC_Vdc_bus_min", FAULT_PFC_VDC_BUS_MIN)
+        tpu.rewrite_config()
+
+        time.sleep(CONFIG_SETTLE_WAIT_S)
+
+        tpu_error = tpu.read_error_code()
+        tpu_shadow_error = tpu.read_shadow_error_code()
+        rpu_error = rpu.read_error_code()
+        rpu_shadow_error = rpu.read_shadow_error_code()
+
+        tpu_error_ok = _error_ok(tpu_error, tpu_shadow_error, EXPECTED_TPU_DC_UNDERVOLTAGE)
+        rpu_error_ok = _error_ok(rpu_error, rpu_shadow_error, EXPECTED_RPU_DC_UNDERVOLTAGE)
+        pass_fail = "PASS" if (tpu_error_ok and rpu_error_ok) else "FAIL"
+
+        pfc_baseline.log_row("pfc_dc_undervoltage", "Vdc_bus_min", FAULT_PFC_VDC_BUS_MIN,
+                              stability_fields=["PFC_Vout"], pass_fail=pass_fail)
+
+        assert tpu_error_ok, (
+            f"TPU error code mismatch: got {_hex32(tpu_error)}/{_hex32(tpu_shadow_error)}, "
+            f"expected {_hex32(EXPECTED_TPU_DC_UNDERVOLTAGE)}"
+        )
+        assert rpu_error_ok, (
+            f"RPU error code mismatch: got {_hex32(rpu_error)}/{_hex32(rpu_shadow_error)}, "
+            f"expected {_hex32(EXPECTED_RPU_DC_UNDERVOLTAGE)}"
+        )
+
+    finally:
+        pfc_baseline.restore_config("PFC_Vdc_bus_min", DEFAULT_PFC_VDC_BUS_MIN)
+
+
+def test_pfc_start_timeout(pfc_baseline):
+    tpu = pfc_baseline.tpu
+    rpu = pfc_baseline.rpu
+
+    # PFC_AC_Voltage_Cali_A default varies per unit - read the current value
+    # first (before the try block) so `finally` can always restore it exactly,
+    # even if something below fails before the fault value is written.
+    pfc_baseline.stop_charging_and_wait_config_writable()
+    default_cali_a = tpu.read("PFC_AC_Voltage_Cali_A")
+
+    try:
+        fault_cali_a = default_cali_a * (1 + AC_VOLTAGE_CALI_INCREASE_PCT)
+        tpu.write("PFC_AC_Voltage_Cali_A", fault_cali_a)
+        tpu.rewrite_config()
+
+        time.sleep(CONFIG_SETTLE_WAIT_S)
+
+        tpu_error = tpu.read_error_code()
+        tpu_shadow_error = tpu.read_shadow_error_code()
+        rpu_error = rpu.read_error_code()
+        rpu_shadow_error = rpu.read_shadow_error_code()
+
+        tpu_error_ok = _error_ok(tpu_error, tpu_shadow_error, EXPECTED_TPU_START_TIMEOUT)
+        rpu_error_ok = _error_ok(rpu_error, rpu_shadow_error, EXPECTED_RPU_START_TIMEOUT)
+        pass_fail = "PASS" if (tpu_error_ok and rpu_error_ok) else "FAIL"
+
+        pfc_baseline.log_row("pfc_start_timeout", "PFC_AC_Voltage_Cali_A", fault_cali_a,
+                              stability_fields=["PFC_Vout"], pass_fail=pass_fail)
+
+        assert tpu_error_ok, (
+            f"TPU error code mismatch: got {_hex32(tpu_error)}/{_hex32(tpu_shadow_error)}, "
+            f"expected {_hex32(EXPECTED_TPU_START_TIMEOUT)}"
+        )
+        assert rpu_error_ok, (
+            f"RPU error code mismatch: got {_hex32(rpu_error)}/{_hex32(rpu_shadow_error)}, "
+            f"expected {_hex32(EXPECTED_RPU_START_TIMEOUT)}"
+        )
+
+    finally:
+        pfc_baseline.restore_config("PFC_AC_Voltage_Cali_A", default_cali_a)