amiro-os / unittests / periphery-lld / src / ut_alld_a3906.c @ 2e69d671
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1 | e545e620 | Thomas Schöpping | /*
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2 | AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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3 | Copyright (C) 2016..2018 Thomas Schöpping et al.
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4 | |||
5 | This program is free software: you can redistribute it and/or modify
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6 | it under the terms of the GNU General Public License as published by
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7 | the Free Software Foundation, either version 3 of the License, or
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8 | (at your option) any later version.
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9 | |||
10 | This program is distributed in the hope that it will be useful,
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11 | but WITHOUT ANY WARRANTY; without even the implied warranty of
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12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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13 | GNU General Public License for more details.
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14 | |||
15 | You should have received a copy of the GNU General Public License
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16 | along with this program. If not, see <http://www.gnu.org/licenses/>.
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17 | */
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18 | |||
19 | #include <ut_alld_a3906.h> |
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20 | |||
21 | #if ((AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_USE_A3906)) || defined(__DOXYGEN__) |
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22 | |||
23 | #include <aos_debug.h> |
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24 | #include <chprintf.h> |
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25 | #include <alld_a3906.h> |
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26 | #include <aos_thread.h> |
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27 | #include <stdlib.h> |
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28 | #include <math.h> |
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29 | |||
30 | /**
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31 | * @brief Interval to poll QEI in certain tests.
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32 | */
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33 | 2e69d671 | Thomas Schöpping | #define QEI_POLL_INTERVAL_MS 100 |
34 | e545e620 | Thomas Schöpping | |
35 | /**
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36 | * @brief Threshold for QEI differences.
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37 | * @details Differences smaller tahn or equal to this value are neglected (interpreted as zero).
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38 | */
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39 | #define QEI_DIFF_THRESHOLD 4 |
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40 | |||
41 | /**
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42 | * @brief Enumerator to distinguish between left and right wheel.
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43 | */
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44 | typedef enum { |
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45 | WHEEL_LEFT = 0, /**< left wheel identifier */ |
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46 | WHEEL_RIGHT = 1, /**< right wheel identifier */ |
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47 | } wheel_t; |
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48 | |||
49 | /**
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50 | * @brief Enumerator to distinguish directions.
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51 | */
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52 | typedef enum { |
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53 | DIRECTION_FORWARD = 0, /**< forward direction identifier */ |
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54 | DIRECTION_BACKWARD = 1, /**< backward direction identifier */ |
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55 | } direction_t; |
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56 | |||
57 | /**
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58 | * @brief helper function to test each wheel and direction separately.
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59 | *
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60 | * @param[in] stream Stream for input/output.
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61 | * @param[in] data Unit test meta data.
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62 | * @param[in] wheel Wheel to test.
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63 | * @param[in] direction Direction to test.
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64 | * @param[in,out] result Result variable to modify.
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65 | */
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66 | void _wheelDirectionTest(BaseSequentialStream* stream, ut_a3906data_t* data, wheel_t wheel, direction_t direction, aos_utresult_t* result)
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67 | { |
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68 | // local variables
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69 | uint32_t status; |
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70 | bool qei_valid;
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71 | apalQEICount_t qei_count[2];
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72 | apalQEIDirection_t qei_direction; |
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73 | uint32_t timeout_counter; |
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74 | |||
75 | chprintf(stream, "%s wheel %s...\n", (wheel == WHEEL_LEFT) ? "left" : "right", (direction == DIRECTION_FORWARD) ? "forward" : "backward"); |
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76 | qei_valid = false;
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77 | status = apalQEIGetPosition((wheel == WHEEL_LEFT) ? data->qei.left : data->qei.right, &qei_count[0]);
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78 | // increase PWM incrementally and read QEI data
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79 | for (apalPWMwidth_t pwm_width = APAL_PWM_WIDTH_MIN; pwm_width < APAL_PWM_WIDTH_MAX; ++pwm_width) {
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80 | status |= a3906_lld_set_pwm(data->pwm.driver, (wheel == WHEEL_LEFT) ? |
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81 | ((direction == DIRECTION_FORWARD) ? data->pwm.channel.left_forward : data->pwm.channel.left_backward) : |
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82 | ((direction == DIRECTION_FORWARD) ? data->pwm.channel.right_forward : data->pwm.channel.right_backward), |
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83 | pwm_width); |
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84 | status |= apalQEIGetPosition((wheel == WHEEL_LEFT) ? data->qei.left : data->qei.right, &qei_count[1]);
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85 | qei_valid = qei_valid || (qei_count[0] != qei_count[1]); |
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86 | aosThdUSleep(5 * MICROSECONDS_PER_SECOND / (APAL_PWM_WIDTH_MAX - APAL_PWM_WIDTH_MIN));
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87 | qei_count[0] = qei_count[1]; |
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88 | } |
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89 | status |= qei_valid ? 0x00 : 0x10; |
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90 | status |= apalQEIGetDirection((wheel == WHEEL_LEFT) ? data->qei.left : data->qei.right, &qei_direction); |
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91 | status |= (qei_direction == ((direction == DIRECTION_FORWARD) ? APAL_QEI_DIRECTION_UP : APAL_QEI_DIRECTION_DOWN)) ? 0x00 : 0x20; |
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92 | |||
93 | // let the wheel spin free until it stops
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94 | status |= a3906_lld_set_pwm(data->pwm.driver, (wheel == WHEEL_LEFT) ? |
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95 | ((direction == DIRECTION_FORWARD) ? data->pwm.channel.left_forward : data->pwm.channel.left_backward) : |
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96 | ((direction == DIRECTION_FORWARD) ? data->pwm.channel.right_forward : data->pwm.channel.right_backward), |
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97 | 0);
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98 | qei_count[0] = 0; |
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99 | qei_count[1] = 0; |
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100 | timeout_counter = 0;
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101 | do {
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102 | status |= apalQEIGetPosition((wheel == WHEEL_LEFT) ? data->qei.left : data->qei.right, &qei_count[0]);
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103 | aosThdMSleep(1);
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104 | status |= apalQEIGetPosition((wheel == WHEEL_LEFT) ? data->qei.left : data->qei.right, &qei_count[1]);
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105 | ++timeout_counter; |
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106 | } while ((qei_count[0] != qei_count[1]) && (timeout_counter * MICROSECONDS_PER_MILLISECOND <= data->timeout)); |
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107 | status |= (timeout_counter * MICROSECONDS_PER_MILLISECOND > data->timeout) ? APAL_STATUS_TIMEOUT : 0x00;
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108 | |||
109 | // report result
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110 | if (status == APAL_STATUS_SUCCESS) {
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111 | aosUtPassed(stream, result); |
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112 | } else {
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113 | aosUtFailedMsg(stream, result, "0x%08X\n", status);
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114 | } |
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115 | |||
116 | return;
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117 | } |
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118 | |||
119 | 47680f67 | Thomas Schöpping | void _wheelSpeedTest(BaseSequentialStream* stream, ut_a3906data_t* data, wheel_t wheel, direction_t direction, aos_utresult_t* result)
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120 | { |
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121 | // local variables
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122 | uint32_t status; |
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123 | apalQEICount_t qei_range; |
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124 | apalQEICount_t qei_count[2] = {0}; |
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125 | apalQEICount_t qei_increments[2] = {0}; |
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126 | apalQEICount_t qei_increments_diff = 0;
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127 | uint32_t timeout_counter = 0;
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128 | uint32_t stable_counter = 0;
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129 | |||
130 | chprintf(stream, "%s wheel full speed %s...\n", (wheel == WHEEL_LEFT) ? "left" : "right", (direction == DIRECTION_FORWARD) ? "forward" : "backward"); |
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131 | // spin up the wheel with full speed
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132 | status = apalQEIGetRange((wheel == WHEEL_LEFT) ? data->qei.left : data->qei.right, &qei_range); |
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133 | status |= a3906_lld_set_pwm(data->pwm.driver, (wheel == WHEEL_LEFT) ? |
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134 | ((direction == DIRECTION_FORWARD) ? data->pwm.channel.left_forward : data->pwm.channel.left_backward) : |
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135 | ((direction == DIRECTION_FORWARD) ? data->pwm.channel.right_forward : data->pwm.channel.right_backward), |
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136 | APAL_PWM_WIDTH_MAX); |
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137 | aosThdMSleep(100);
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138 | do {
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139 | // read QEI data to determine speed
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140 | status |= apalQEIGetPosition((wheel == WHEEL_LEFT) ? data->qei.left : data->qei.right, &qei_count[0]);
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141 | aosThdMSleep(QEI_POLL_INTERVAL_MS); |
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142 | status |= apalQEIGetPosition((wheel == WHEEL_LEFT) ? data->qei.left : data->qei.right, &qei_count[1]);
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143 | timeout_counter += QEI_POLL_INTERVAL_MS; |
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144 | qei_increments[0] = qei_increments[1]; |
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145 | qei_increments[1] = (direction == DIRECTION_FORWARD) ?
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146 | ((qei_count[1] > qei_count[0]) ? (qei_count[1] - qei_count[0]) : (qei_count[1] + (qei_range - qei_count[0]))) : |
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147 | ((qei_count[0] > qei_count[1]) ? (qei_count[0] - qei_count[1]) : (qei_count[0] + (qei_range - qei_count[1]))); |
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148 | qei_increments_diff = abs((int32_t)qei_increments[0] - (int32_t)qei_increments[1]); |
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149 | stable_counter = (qei_increments[1] != 0 && qei_increments_diff <= QEI_DIFF_THRESHOLD) ? stable_counter+1 : 0; |
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150 | } while ((stable_counter* QEI_POLL_INTERVAL_MS < MILLISECONDS_PER_SECOND) && (timeout_counter * MICROSECONDS_PER_MILLISECOND <= data->timeout));
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151 | status |= a3906_lld_set_pwm(data->pwm.driver, (wheel == WHEEL_LEFT) ? |
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152 | ((direction == DIRECTION_FORWARD) ? data->pwm.channel.left_forward : data->pwm.channel.left_backward) : |
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153 | ((direction == DIRECTION_FORWARD) ? data->pwm.channel.right_forward : data->pwm.channel.right_backward), |
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154 | APAL_PWM_WIDTH_OFF); |
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155 | status |= (timeout_counter * MICROSECONDS_PER_MILLISECOND > data->timeout) ? APAL_STATUS_TIMEOUT : 0x00;
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156 | |||
157 | // report results
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158 | if (status == APAL_STATUS_SUCCESS) {
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159 | aosUtPassed(stream, result); |
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160 | const float tps = qei_increments[1] * ((float)MILLISECONDS_PER_SECOND / (float)QEI_POLL_INTERVAL_MS); |
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161 | const float rpm = tps * SECONDS_PER_MINUTE / (float)data->qei.increments_per_revolution; |
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162 | const float velocity = tps / (float)data->qei.increments_per_revolution * ((wheel == WHEEL_LEFT) ? data->wheel_diameter.left : data->wheel_diameter.right) * acos(-1); |
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163 | chprintf(stream, "\t%f tps\n", tps);
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164 | chprintf(stream, "\t%f RPM\n", rpm);
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165 | chprintf(stream, "\t%f m/s\n", velocity);
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166 | chprintf(stream, "\n");
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167 | } |
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168 | else {
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169 | aosUtFailedMsg(stream, result, "0x%08X\n", status);
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170 | } |
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171 | } |
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172 | |||
173 | e545e620 | Thomas Schöpping | /**
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174 | * @brief A3905 unit test function.
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175 | *
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176 | * @param[in] stream Stream for input/output.
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177 | * @param[in] ut Unit test object.
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178 | *
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179 | * @return Unit test result value.
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180 | */
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181 | aos_utresult_t utAlldA3906Func(BaseSequentialStream* stream, aos_unittest_t* ut) |
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182 | { |
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183 | aosDbgCheck((ut->data != NULL) &&
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184 | (((ut_a3906data_t*)ut->data)->driver != NULL) &&
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185 | (((ut_a3906data_t*)ut->data)->pwm.driver != NULL) &&
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186 | (((ut_a3906data_t*)ut->data)->qei.left != NULL) &&
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187 | (((ut_a3906data_t*)ut->data)->qei.right != NULL));
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188 | |||
189 | |||
190 | |||
191 | // local variables
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192 | aos_utresult_t result = {0, 0}; |
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193 | uint32_t status = 0;
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194 | a3906_lld_power_t power_state; |
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195 | apalQEICount_t qei_count[2][2]; |
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196 | uint32_t timeout_counter; |
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197 | uint32_t stable_counter; |
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198 | |||
199 | chprintf(stream, "enable power...\n");
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200 | power_state = A3906_LLD_POWER_ON; |
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201 | status = a3906_lld_set_power(((ut_a3906data_t*)ut->data)->driver, power_state); |
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202 | status |= a3906_lld_get_power(((ut_a3906data_t*)ut->data)->driver, &power_state); |
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203 | status |= (power_state != A3906_LLD_POWER_ON) ? 0x10 : 0x00; |
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204 | if (status == APAL_STATUS_SUCCESS) {
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205 | aosUtPassed(stream, &result); |
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206 | } else {
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207 | aosUtFailedMsg(stream, &result, "0x%08X\n", status);
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208 | } |
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209 | |||
210 | _wheelDirectionTest(stream, (ut_a3906data_t*)ut->data, WHEEL_LEFT, DIRECTION_FORWARD, &result); |
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211 | |||
212 | _wheelDirectionTest(stream, (ut_a3906data_t*)ut->data, WHEEL_RIGHT, DIRECTION_FORWARD, &result); |
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213 | |||
214 | 47680f67 | Thomas Schöpping | _wheelDirectionTest(stream, (ut_a3906data_t*)ut->data, WHEEL_LEFT, DIRECTION_BACKWARD, &result); |
215 | |||
216 | e545e620 | Thomas Schöpping | _wheelDirectionTest(stream, (ut_a3906data_t*)ut->data, WHEEL_RIGHT, DIRECTION_BACKWARD, &result); |
217 | |||
218 | 47680f67 | Thomas Schöpping | _wheelSpeedTest(stream, (ut_a3906data_t*)ut->data, WHEEL_LEFT, DIRECTION_FORWARD, &result); |
219 | |||
220 | _wheelSpeedTest(stream, (ut_a3906data_t*)ut->data, WHEEL_RIGHT, DIRECTION_FORWARD, &result); |
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221 | |||
222 | _wheelSpeedTest(stream, (ut_a3906data_t*)ut->data, WHEEL_LEFT, DIRECTION_BACKWARD, &result); |
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223 | |||
224 | _wheelSpeedTest(stream, (ut_a3906data_t*)ut->data, WHEEL_RIGHT, DIRECTION_BACKWARD, &result); |
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225 | e545e620 | Thomas Schöpping | |
226 | chprintf(stream, "disable power... \n");
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227 | power_state = A3906_LLD_POWER_OFF; |
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228 | status = a3906_lld_set_power(((ut_a3906data_t*)ut->data)->driver, power_state); |
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229 | status |= a3906_lld_get_power(((ut_a3906data_t*)ut->data)->driver, &power_state); |
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230 | status |= (power_state != A3906_LLD_POWER_OFF) ? 0x10 : 0x00; |
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231 | qei_count[WHEEL_LEFT][0] = 0; |
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232 | qei_count[WHEEL_LEFT][1] = 0; |
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233 | qei_count[WHEEL_RIGHT][0] = 0; |
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234 | qei_count[WHEEL_RIGHT][1] = 0; |
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235 | timeout_counter = 0;
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236 | stable_counter = 0;
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237 | do {
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238 | status |= apalQEIGetPosition(((ut_a3906data_t*)ut->data)->qei.left, &qei_count[WHEEL_LEFT][0]);
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239 | status |= apalQEIGetPosition(((ut_a3906data_t*)ut->data)->qei.right, &qei_count[WHEEL_RIGHT][0]);
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240 | aosThdMSleep(1);
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241 | status |= apalQEIGetPosition(((ut_a3906data_t*)ut->data)->qei.left, &qei_count[WHEEL_LEFT][1]);
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242 | status |= apalQEIGetPosition(((ut_a3906data_t*)ut->data)->qei.right, &qei_count[WHEEL_RIGHT][1]);
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243 | ++timeout_counter; |
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244 | stable_counter = (qei_count[WHEEL_LEFT][0] == qei_count[WHEEL_LEFT][1] && qei_count[WHEEL_RIGHT][0] == qei_count[WHEEL_RIGHT][1]) ? stable_counter+1 : 0; |
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245 | } while((stable_counter < 100) && (timeout_counter * MICROSECONDS_PER_MILLISECOND <= ((ut_a3906data_t*)ut->data)->timeout)); |
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246 | status |= (timeout_counter * MICROSECONDS_PER_MILLISECOND > ((ut_a3906data_t*)ut->data)->timeout) ? APAL_STATUS_TIMEOUT : 0x00;
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247 | if (status == APAL_STATUS_SUCCESS) {
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248 | aosUtPassed(stream, &result); |
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249 | } else {
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250 | aosUtFailedMsg(stream, &result, "0x%08X\n", status);
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251 | } |
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252 | |||
253 | // stop the PWM
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254 | a3906_lld_set_pwm(((ut_a3906data_t*)ut->data)->pwm.driver, ((ut_a3906data_t*)ut->data)->pwm.channel.left_forward, APAL_PWM_WIDTH_OFF); |
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255 | a3906_lld_set_pwm(((ut_a3906data_t*)ut->data)->pwm.driver, ((ut_a3906data_t*)ut->data)->pwm.channel.left_backward, APAL_PWM_WIDTH_OFF); |
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256 | a3906_lld_set_pwm(((ut_a3906data_t*)ut->data)->pwm.driver, ((ut_a3906data_t*)ut->data)->pwm.channel.right_forward, APAL_PWM_WIDTH_OFF); |
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257 | a3906_lld_set_pwm(((ut_a3906data_t*)ut->data)->pwm.driver, ((ut_a3906data_t*)ut->data)->pwm.channel.right_backward, APAL_PWM_WIDTH_OFF); |
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258 | |||
259 | aosUtInfoMsg(stream,"driver object memory footprint: %u bytes\n", sizeof(A3906Driver)); |
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260 | |||
261 | return result;
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262 | } |
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263 | |||
264 | #endif /* (AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_USE_A3906) */ |