amiro-os / unittests / periphery-lld / src / ut_alld_a3906.c @ 88f4bcc5
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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 | 84f0ce9e | Thomas Schöpping | Copyright (C) 2016..2019 Thomas Schöpping et al.
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| 4 | e545e620 | Thomas Schöpping | |
| 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 <stdlib.h> |
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| 24 | #include <math.h> |
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| 25 | |||
| 26 | f3ac1c96 | Thomas Schöpping | /******************************************************************************/
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| 27 | /* LOCAL DEFINITIONS */
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| 28 | /******************************************************************************/
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| 29 | |||
| 30 | e545e620 | Thomas Schöpping | /**
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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 | b033b3ae | Thomas Schöpping | * @details Differences smaller than or equal to this value are neglected (interpreted as zero).
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| 38 | * The value can be interpreted as encoder ticks per second (tps).
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| 39 | * @note The expected value is about 7000 tps and a jitter of up to ±2% is ok.
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| 40 | e545e620 | Thomas Schöpping | */
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| 41 | b033b3ae | Thomas Schöpping | #define QEI_DIFF_THRESHOLD (apalQEICount_t)(7000 * 0.02f) |
| 42 | e545e620 | Thomas Schöpping | |
| 43 | f3ac1c96 | Thomas Schöpping | /******************************************************************************/
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| 44 | /* EXPORTED VARIABLES */
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| 45 | /******************************************************************************/
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| 46 | |||
| 47 | /******************************************************************************/
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| 48 | /* LOCAL TYPES */
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| 49 | /******************************************************************************/
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| 50 | |||
| 51 | e545e620 | Thomas Schöpping | /**
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| 52 | * @brief Enumerator to distinguish between left and right wheel.
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| 53 | */
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| 54 | typedef enum { |
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| 55 | WHEEL_LEFT = 0, /**< left wheel identifier */ |
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| 56 | WHEEL_RIGHT = 1, /**< right wheel identifier */ |
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| 57 | } wheel_t; |
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| 58 | |||
| 59 | /**
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| 60 | * @brief Enumerator to distinguish directions.
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| 61 | */
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| 62 | typedef enum { |
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| 63 | DIRECTION_FORWARD = 0, /**< forward direction identifier */ |
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| 64 | DIRECTION_BACKWARD = 1, /**< backward direction identifier */ |
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| 65 | } direction_t; |
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| 66 | |||
| 67 | f3ac1c96 | Thomas Schöpping | /******************************************************************************/
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| 68 | /* LOCAL VARIABLES */
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| 69 | /******************************************************************************/
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| 70 | |||
| 71 | /******************************************************************************/
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| 72 | /* LOCAL FUNCTIONS */
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| 73 | /******************************************************************************/
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| 74 | |||
| 75 | e545e620 | Thomas Schöpping | /**
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| 76 | * @brief helper function to test each wheel and direction separately.
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| 77 | *
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| 78 | * @param[in] stream Stream for input/output.
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| 79 | * @param[in] data Unit test meta data.
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| 80 | * @param[in] wheel Wheel to test.
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| 81 | * @param[in] direction Direction to test.
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| 82 | * @param[in,out] result Result variable to modify.
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| 83 | */
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| 84 | void _wheelDirectionTest(BaseSequentialStream* stream, ut_a3906data_t* data, wheel_t wheel, direction_t direction, aos_utresult_t* result)
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| 85 | {
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| 86 | // local variables
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| 87 | uint32_t status; |
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| 88 | bool qei_valid;
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| 89 | apalQEICount_t qei_count[2];
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| 90 | apalQEIDirection_t qei_direction; |
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| 91 | uint32_t timeout_counter; |
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| 92 | |||
| 93 | chprintf(stream, "%s wheel %s...\n", (wheel == WHEEL_LEFT) ? "left" : "right", (direction == DIRECTION_FORWARD) ? "forward" : "backward"); |
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| 94 | qei_valid = false;
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| 95 | status = apalQEIGetPosition((wheel == WHEEL_LEFT) ? data->qei.left : data->qei.right, &qei_count[0]);
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| 96 | // increase PWM incrementally and read QEI data
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| 97 | for (apalPWMwidth_t pwm_width = APAL_PWM_WIDTH_MIN; pwm_width < APAL_PWM_WIDTH_MAX; ++pwm_width) {
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| 98 | status |= a3906_lld_set_pwm(data->pwm.driver, (wheel == WHEEL_LEFT) ? |
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| 99 | ((direction == DIRECTION_FORWARD) ? data->pwm.channel.left_forward : data->pwm.channel.left_backward) : |
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| 100 | ((direction == DIRECTION_FORWARD) ? data->pwm.channel.right_forward : data->pwm.channel.right_backward), |
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| 101 | pwm_width); |
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| 102 | status |= apalQEIGetPosition((wheel == WHEEL_LEFT) ? data->qei.left : data->qei.right, &qei_count[1]);
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| 103 | qei_valid = qei_valid || (qei_count[0] != qei_count[1]); |
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| 104 | aosThdUSleep(5 * MICROSECONDS_PER_SECOND / (APAL_PWM_WIDTH_MAX - APAL_PWM_WIDTH_MIN));
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| 105 | qei_count[0] = qei_count[1]; |
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| 106 | } |
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| 107 | status |= qei_valid ? 0x00 : 0x10; |
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| 108 | status |= apalQEIGetDirection((wheel == WHEEL_LEFT) ? data->qei.left : data->qei.right, &qei_direction); |
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| 109 | status |= (qei_direction == ((direction == DIRECTION_FORWARD) ? APAL_QEI_DIRECTION_UP : APAL_QEI_DIRECTION_DOWN)) ? 0x00 : 0x20; |
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| 110 | |||
| 111 | // let the wheel spin free until it stops
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| 112 | status |= a3906_lld_set_pwm(data->pwm.driver, (wheel == WHEEL_LEFT) ? |
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| 113 | ((direction == DIRECTION_FORWARD) ? data->pwm.channel.left_forward : data->pwm.channel.left_backward) : |
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| 114 | ((direction == DIRECTION_FORWARD) ? data->pwm.channel.right_forward : data->pwm.channel.right_backward), |
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| 115 | 0);
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| 116 | qei_count[0] = 0; |
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| 117 | qei_count[1] = 0; |
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| 118 | timeout_counter = 0;
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| 119 | do {
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| 120 | status |= apalQEIGetPosition((wheel == WHEEL_LEFT) ? data->qei.left : data->qei.right, &qei_count[0]);
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| 121 | aosThdMSleep(1);
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| 122 | status |= apalQEIGetPosition((wheel == WHEEL_LEFT) ? data->qei.left : data->qei.right, &qei_count[1]);
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| 123 | ++timeout_counter; |
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| 124 | } while ((qei_count[0] != qei_count[1]) && (timeout_counter * MICROSECONDS_PER_MILLISECOND <= data->timeout)); |
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| 125 | status |= (timeout_counter * MICROSECONDS_PER_MILLISECOND > data->timeout) ? APAL_STATUS_TIMEOUT : 0x00;
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| 126 | |||
| 127 | // report result
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| 128 | if (status == APAL_STATUS_SUCCESS) {
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| 129 | aosUtPassed(stream, result); |
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| 130 | } else {
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| 131 | aosUtFailedMsg(stream, result, "0x%08X\n", status);
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| 132 | } |
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| 133 | |||
| 134 | return;
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| 135 | } |
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| 136 | |||
| 137 | 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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| 138 | {
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| 139 | // local variables
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| 140 | uint32_t status; |
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| 141 | apalQEICount_t qei_range; |
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| 142 | apalQEICount_t qei_count[2] = {0}; |
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| 143 | apalQEICount_t qei_increments[2] = {0}; |
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| 144 | apalQEICount_t qei_increments_diff = 0;
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| 145 | uint32_t timeout_counter = 0;
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| 146 | uint32_t stable_counter = 0;
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| 147 | |||
| 148 | chprintf(stream, "%s wheel full speed %s...\n", (wheel == WHEEL_LEFT) ? "left" : "right", (direction == DIRECTION_FORWARD) ? "forward" : "backward"); |
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| 149 | // spin up the wheel with full speed
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| 150 | status = apalQEIGetRange((wheel == WHEEL_LEFT) ? data->qei.left : data->qei.right, &qei_range); |
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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_MAX); |
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| 155 | aosThdMSleep(100);
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| 156 | do {
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| 157 | // read QEI data to determine speed
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| 158 | status |= apalQEIGetPosition((wheel == WHEEL_LEFT) ? data->qei.left : data->qei.right, &qei_count[0]);
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| 159 | aosThdMSleep(QEI_POLL_INTERVAL_MS); |
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| 160 | status |= apalQEIGetPosition((wheel == WHEEL_LEFT) ? data->qei.left : data->qei.right, &qei_count[1]);
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| 161 | timeout_counter += QEI_POLL_INTERVAL_MS; |
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| 162 | qei_increments[0] = qei_increments[1]; |
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| 163 | qei_increments[1] = (direction == DIRECTION_FORWARD) ?
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| 164 | ((qei_count[1] > qei_count[0]) ? (qei_count[1] - qei_count[0]) : (qei_count[1] + (qei_range - qei_count[0]))) : |
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| 165 | ((qei_count[0] > qei_count[1]) ? (qei_count[0] - qei_count[1]) : (qei_count[0] + (qei_range - qei_count[1]))); |
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| 166 | b033b3ae | Thomas Schöpping | qei_increments_diff = abs((int32_t)qei_increments[0] - (int32_t)qei_increments[1]) * ((float)MILLISECONDS_PER_SECOND / (float)QEI_POLL_INTERVAL_MS); |
| 167 | stable_counter = ((qei_increments[0] != 0 || qei_increments[1] != 0) && qei_increments_diff <= QEI_DIFF_THRESHOLD) ? stable_counter+1 : 0; |
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| 168 | if (qei_increments[0] != 0 && stable_counter == 0) { |
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| 169 | chprintf(stream, "\tunstable speed? jitter of %u tps is above threshold (%u tps).\n", qei_increments_diff, QEI_DIFF_THRESHOLD);
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| 170 | } |
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| 171 | 47680f67 | Thomas Schöpping | } while ((stable_counter* QEI_POLL_INTERVAL_MS < MILLISECONDS_PER_SECOND) && (timeout_counter * MICROSECONDS_PER_MILLISECOND <= data->timeout));
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| 172 | status |= a3906_lld_set_pwm(data->pwm.driver, (wheel == WHEEL_LEFT) ? |
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| 173 | ((direction == DIRECTION_FORWARD) ? data->pwm.channel.left_forward : data->pwm.channel.left_backward) : |
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| 174 | ((direction == DIRECTION_FORWARD) ? data->pwm.channel.right_forward : data->pwm.channel.right_backward), |
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| 175 | APAL_PWM_WIDTH_OFF); |
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| 176 | status |= (timeout_counter * MICROSECONDS_PER_MILLISECOND > data->timeout) ? APAL_STATUS_TIMEOUT : 0x00;
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| 177 | |||
| 178 | // report results
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| 179 | if (status == APAL_STATUS_SUCCESS) {
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| 180 | aosUtPassed(stream, result); |
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| 181 | const float tps = qei_increments[1] * ((float)MILLISECONDS_PER_SECOND / (float)QEI_POLL_INTERVAL_MS); |
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| 182 | const float rpm = tps * SECONDS_PER_MINUTE / (float)data->qei.increments_per_revolution; |
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| 183 | 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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| 184 | chprintf(stream, "\t%f tps\n", tps);
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| 185 | chprintf(stream, "\t%f RPM\n", rpm);
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| 186 | chprintf(stream, "\t%f m/s\n", velocity);
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| 187 | chprintf(stream, "\n");
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| 188 | } |
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| 189 | else {
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| 190 | aosUtFailedMsg(stream, result, "0x%08X\n", status);
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| 191 | } |
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| 192 | } |
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| 193 | |||
| 194 | f3ac1c96 | Thomas Schöpping | /******************************************************************************/
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| 195 | /* EXPORTED FUNCTIONS */
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| 196 | /******************************************************************************/
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| 197 | |||
| 198 | e545e620 | Thomas Schöpping | /**
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| 199 | * @brief A3905 unit test function.
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| 200 | *
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| 201 | * @param[in] stream Stream for input/output.
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| 202 | * @param[in] ut Unit test object.
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| 203 | *
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| 204 | * @return Unit test result value.
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| 205 | */
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| 206 | aos_utresult_t utAlldA3906Func(BaseSequentialStream* stream, aos_unittest_t* ut) |
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| 207 | {
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| 208 | aosDbgCheck((ut->data != NULL) &&
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| 209 | (((ut_a3906data_t*)ut->data)->driver != NULL) &&
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| 210 | (((ut_a3906data_t*)ut->data)->pwm.driver != NULL) &&
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| 211 | (((ut_a3906data_t*)ut->data)->qei.left != NULL) &&
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| 212 | (((ut_a3906data_t*)ut->data)->qei.right != NULL));
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| 213 | |||
| 214 | |||
| 215 | |||
| 216 | // local variables
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| 217 | aos_utresult_t result = {0, 0};
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| 218 | uint32_t status = 0;
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| 219 | a3906_lld_power_t power_state; |
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| 220 | apalQEICount_t qei_count[2][2]; |
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| 221 | uint32_t timeout_counter; |
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| 222 | uint32_t stable_counter; |
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| 223 | |||
| 224 | chprintf(stream, "enable power...\n");
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| 225 | power_state = A3906_LLD_POWER_ON; |
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| 226 | status = a3906_lld_set_power(((ut_a3906data_t*)ut->data)->driver, power_state); |
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| 227 | status |= a3906_lld_get_power(((ut_a3906data_t*)ut->data)->driver, &power_state); |
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| 228 | status |= (power_state != A3906_LLD_POWER_ON) ? 0x10 : 0x00; |
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| 229 | if (status == APAL_STATUS_SUCCESS) {
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| 230 | aosUtPassed(stream, &result); |
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| 231 | } else {
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| 232 | aosUtFailedMsg(stream, &result, "0x%08X\n", status);
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| 233 | } |
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| 234 | |||
| 235 | _wheelDirectionTest(stream, (ut_a3906data_t*)ut->data, WHEEL_LEFT, DIRECTION_FORWARD, &result); |
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| 236 | |||
| 237 | _wheelDirectionTest(stream, (ut_a3906data_t*)ut->data, WHEEL_RIGHT, DIRECTION_FORWARD, &result); |
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| 238 | |||
| 239 | 47680f67 | Thomas Schöpping | _wheelDirectionTest(stream, (ut_a3906data_t*)ut->data, WHEEL_LEFT, DIRECTION_BACKWARD, &result); |
| 240 | |||
| 241 | e545e620 | Thomas Schöpping | _wheelDirectionTest(stream, (ut_a3906data_t*)ut->data, WHEEL_RIGHT, DIRECTION_BACKWARD, &result); |
| 242 | |||
| 243 | 47680f67 | Thomas Schöpping | _wheelSpeedTest(stream, (ut_a3906data_t*)ut->data, WHEEL_LEFT, DIRECTION_FORWARD, &result); |
| 244 | |||
| 245 | _wheelSpeedTest(stream, (ut_a3906data_t*)ut->data, WHEEL_RIGHT, DIRECTION_FORWARD, &result); |
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| 246 | |||
| 247 | _wheelSpeedTest(stream, (ut_a3906data_t*)ut->data, WHEEL_LEFT, DIRECTION_BACKWARD, &result); |
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| 248 | |||
| 249 | _wheelSpeedTest(stream, (ut_a3906data_t*)ut->data, WHEEL_RIGHT, DIRECTION_BACKWARD, &result); |
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| 250 | e545e620 | Thomas Schöpping | |
| 251 | chprintf(stream, "disable power... \n");
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| 252 | power_state = A3906_LLD_POWER_OFF; |
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| 253 | status = a3906_lld_set_power(((ut_a3906data_t*)ut->data)->driver, power_state); |
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| 254 | status |= a3906_lld_get_power(((ut_a3906data_t*)ut->data)->driver, &power_state); |
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| 255 | status |= (power_state != A3906_LLD_POWER_OFF) ? 0x10 : 0x00; |
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| 256 | qei_count[WHEEL_LEFT][0] = 0; |
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| 257 | qei_count[WHEEL_LEFT][1] = 0; |
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| 258 | qei_count[WHEEL_RIGHT][0] = 0; |
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| 259 | qei_count[WHEEL_RIGHT][1] = 0; |
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| 260 | timeout_counter = 0;
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| 261 | stable_counter = 0;
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| 262 | do {
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| 263 | status |= apalQEIGetPosition(((ut_a3906data_t*)ut->data)->qei.left, &qei_count[WHEEL_LEFT][0]);
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| 264 | status |= apalQEIGetPosition(((ut_a3906data_t*)ut->data)->qei.right, &qei_count[WHEEL_RIGHT][0]);
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| 265 | aosThdMSleep(1);
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| 266 | status |= apalQEIGetPosition(((ut_a3906data_t*)ut->data)->qei.left, &qei_count[WHEEL_LEFT][1]);
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| 267 | status |= apalQEIGetPosition(((ut_a3906data_t*)ut->data)->qei.right, &qei_count[WHEEL_RIGHT][1]);
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| 268 | ++timeout_counter; |
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| 269 | 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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| 270 | } while((stable_counter < 100) && (timeout_counter * MICROSECONDS_PER_MILLISECOND <= ((ut_a3906data_t*)ut->data)->timeout)); |
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| 271 | status |= (timeout_counter * MICROSECONDS_PER_MILLISECOND > ((ut_a3906data_t*)ut->data)->timeout) ? APAL_STATUS_TIMEOUT : 0x00;
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| 272 | if (status == APAL_STATUS_SUCCESS) {
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| 273 | aosUtPassed(stream, &result); |
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| 274 | } else {
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| 275 | aosUtFailedMsg(stream, &result, "0x%08X\n", status);
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| 276 | } |
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| 277 | |||
| 278 | // stop the PWM
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| 279 | 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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| 280 | 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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| 281 | 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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| 282 | 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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| 283 | |||
| 284 | aosUtInfoMsg(stream,"driver object memory footprint: %u bytes\n", sizeof(A3906Driver)); |
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| 285 | |||
| 286 | return result;
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| 287 | } |
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| 288 | |||
| 289 | #endif /* (AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_USE_A3906) */ |