amiro-os / test / periphery-lld / A3906_v1 / aos_test_A3906.c @ b23ca7cc
History | View | Annotate | Download (14.232 KB)
| 1 |
/*
|
|---|---|
| 2 |
AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
|
| 3 |
Copyright (C) 2016..2019 Thomas Schöpping et al.
|
| 4 |
|
| 5 |
This program is free software: you can redistribute it and/or modify
|
| 6 |
it under the terms of the GNU General Public License as published by
|
| 7 |
the Free Software Foundation, either version 3 of the License, or
|
| 8 |
(at your option) any later version.
|
| 9 |
|
| 10 |
This program is distributed in the hope that it will be useful,
|
| 11 |
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
| 12 |
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
| 13 |
GNU General Public License for more details.
|
| 14 |
|
| 15 |
You should have received a copy of the GNU General Public License
|
| 16 |
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
| 17 |
*/
|
| 18 |
|
| 19 |
#include <amiroos.h> |
| 20 |
#include <aos_test_A3906.h> |
| 21 |
|
| 22 |
#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
| 23 |
|
| 24 |
#include <stdlib.h> |
| 25 |
#include <math.h> |
| 26 |
|
| 27 |
/******************************************************************************/
|
| 28 |
/* LOCAL DEFINITIONS */
|
| 29 |
/******************************************************************************/
|
| 30 |
|
| 31 |
/**
|
| 32 |
* @brief Interval to poll QEI in certain tests.
|
| 33 |
*/
|
| 34 |
#define QEI_POLL_INTERVAL_MS 100 |
| 35 |
|
| 36 |
/**
|
| 37 |
* @brief Threshold for QEI differences.
|
| 38 |
* @details Differences smaller than or equal to this value are neglected (interpreted as zero).
|
| 39 |
* The value can be interpreted as encoder ticks per second (tps).
|
| 40 |
* @note The expected value is about 7000 tps and a jitter of up to ±2% is ok.
|
| 41 |
*/
|
| 42 |
#define QEI_DIFF_THRESHOLD (apalQEICount_t)(7000 * 0.02f) |
| 43 |
|
| 44 |
/******************************************************************************/
|
| 45 |
/* EXPORTED VARIABLES */
|
| 46 |
/******************************************************************************/
|
| 47 |
|
| 48 |
/******************************************************************************/
|
| 49 |
/* LOCAL TYPES */
|
| 50 |
/******************************************************************************/
|
| 51 |
|
| 52 |
/**
|
| 53 |
* @brief Enumerator to distinguish between left and right wheel.
|
| 54 |
*/
|
| 55 |
typedef enum { |
| 56 |
WHEEL_LEFT = 0, /**< left wheel identifier */ |
| 57 |
WHEEL_RIGHT = 1, /**< right wheel identifier */ |
| 58 |
} wheel_t; |
| 59 |
|
| 60 |
/**
|
| 61 |
* @brief Enumerator to distinguish directions.
|
| 62 |
*/
|
| 63 |
typedef enum { |
| 64 |
DIRECTION_FORWARD = 0, /**< forward direction identifier */ |
| 65 |
DIRECTION_BACKWARD = 1, /**< backward direction identifier */ |
| 66 |
} direction_t; |
| 67 |
|
| 68 |
/******************************************************************************/
|
| 69 |
/* LOCAL VARIABLES */
|
| 70 |
/******************************************************************************/
|
| 71 |
|
| 72 |
/******************************************************************************/
|
| 73 |
/* LOCAL FUNCTIONS */
|
| 74 |
/******************************************************************************/
|
| 75 |
|
| 76 |
/**
|
| 77 |
* @brief helper function to test each wheel and direction separately.
|
| 78 |
*
|
| 79 |
* @param[in] stream Stream for input/output.
|
| 80 |
* @param[in] data Test meta data.
|
| 81 |
* @param[in] wheel Wheel to test.
|
| 82 |
* @param[in] direction Direction to test.
|
| 83 |
* @param[in,out] result Result variable to modify.
|
| 84 |
*/
|
| 85 |
void _wheelDirectionTest(BaseSequentialStream* stream, aos_test_a3906data_t* data, wheel_t wheel, direction_t direction, aos_testresult_t* result)
|
| 86 |
{
|
| 87 |
// local variables
|
| 88 |
int32_t status; |
| 89 |
bool qei_valid;
|
| 90 |
apalQEICount_t qei_count[2];
|
| 91 |
apalQEIDirection_t qei_direction; |
| 92 |
uint32_t timeout_counter; |
| 93 |
|
| 94 |
chprintf(stream, "%s wheel %s...\n", (wheel == WHEEL_LEFT) ? "left" : "right", (direction == DIRECTION_FORWARD) ? "forward" : "backward"); |
| 95 |
qei_valid = false;
|
| 96 |
status = apalQEIGetPosition((wheel == WHEEL_LEFT) ? data->qei.left : data->qei.right, &qei_count[0]);
|
| 97 |
// increase PWM incrementally and read QEI data
|
| 98 |
for (apalPWMwidth_t pwm_width = APAL_PWM_WIDTH_MIN; pwm_width < APAL_PWM_WIDTH_MAX; ++pwm_width) {
|
| 99 |
status = a3906_lld_set_pwm(data->pwm.driver, (wheel == WHEEL_LEFT) ? |
| 100 |
((direction == DIRECTION_FORWARD) ? data->pwm.channel.left_forward : data->pwm.channel.left_backward) : |
| 101 |
((direction == DIRECTION_FORWARD) ? data->pwm.channel.right_forward : data->pwm.channel.right_backward), |
| 102 |
pwm_width); |
| 103 |
status |= apalQEIGetPosition((wheel == WHEEL_LEFT) ? data->qei.left : data->qei.right, &qei_count[1]);
|
| 104 |
qei_valid = qei_valid || (qei_count[0] != qei_count[1]); |
| 105 |
aosThdUSleep(5 * MICROSECONDS_PER_SECOND / (APAL_PWM_WIDTH_MAX - APAL_PWM_WIDTH_MIN));
|
| 106 |
qei_count[0] = qei_count[1]; |
| 107 |
} |
| 108 |
status |= qei_valid ? 0x00 : 0x10; |
| 109 |
status |= apalQEIGetDirection((wheel == WHEEL_LEFT) ? data->qei.left : data->qei.right, &qei_direction); |
| 110 |
status |= (qei_direction == ((direction == DIRECTION_FORWARD) ? APAL_QEI_DIRECTION_UP : APAL_QEI_DIRECTION_DOWN)) ? 0x00 : 0x20; |
| 111 |
|
| 112 |
// let the wheel spin free until it stops
|
| 113 |
status |= a3906_lld_set_pwm(data->pwm.driver, (wheel == WHEEL_LEFT) ? |
| 114 |
((direction == DIRECTION_FORWARD) ? data->pwm.channel.left_forward : data->pwm.channel.left_backward) : |
| 115 |
((direction == DIRECTION_FORWARD) ? data->pwm.channel.right_forward : data->pwm.channel.right_backward), |
| 116 |
0);
|
| 117 |
qei_count[0] = 0; |
| 118 |
qei_count[1] = 0; |
| 119 |
timeout_counter = 0;
|
| 120 |
do {
|
| 121 |
status |= apalQEIGetPosition((wheel == WHEEL_LEFT) ? data->qei.left : data->qei.right, &qei_count[0]);
|
| 122 |
aosThdMSleep(1);
|
| 123 |
status |= apalQEIGetPosition((wheel == WHEEL_LEFT) ? data->qei.left : data->qei.right, &qei_count[1]);
|
| 124 |
++timeout_counter; |
| 125 |
} while ((qei_count[0] != qei_count[1]) && (timeout_counter * MICROSECONDS_PER_MILLISECOND <= data->timeout)); |
| 126 |
status |= (timeout_counter * MICROSECONDS_PER_MILLISECOND > data->timeout) ? APAL_STATUS_TIMEOUT : 0x00;
|
| 127 |
|
| 128 |
// report result
|
| 129 |
if (status == APAL_STATUS_SUCCESS) {
|
| 130 |
aosTestPassed(stream, result); |
| 131 |
} else {
|
| 132 |
aosTestFailedMsg(stream, result, "0x%08X\n", status);
|
| 133 |
} |
| 134 |
|
| 135 |
return;
|
| 136 |
} |
| 137 |
|
| 138 |
void _wheelSpeedTest(BaseSequentialStream* stream, aos_test_a3906data_t* data, wheel_t wheel, direction_t direction, aos_testresult_t* result)
|
| 139 |
{
|
| 140 |
// local variables
|
| 141 |
int32_t status; |
| 142 |
apalQEICount_t qei_range; |
| 143 |
apalQEICount_t qei_count[2] = {0}; |
| 144 |
apalQEICount_t qei_increments[2] = {0}; |
| 145 |
apalQEICount_t qei_increments_diff = 0;
|
| 146 |
uint32_t timeout_counter = 0;
|
| 147 |
uint32_t stable_counter = 0;
|
| 148 |
|
| 149 |
chprintf(stream, "%s wheel full speed %s...\n", (wheel == WHEEL_LEFT) ? "left" : "right", (direction == DIRECTION_FORWARD) ? "forward" : "backward"); |
| 150 |
// spin up the wheel with full speed
|
| 151 |
status = apalQEIGetRange((wheel == WHEEL_LEFT) ? data->qei.left : data->qei.right, &qei_range); |
| 152 |
status |= a3906_lld_set_pwm(data->pwm.driver, (wheel == WHEEL_LEFT) ? |
| 153 |
((direction == DIRECTION_FORWARD) ? data->pwm.channel.left_forward : data->pwm.channel.left_backward) : |
| 154 |
((direction == DIRECTION_FORWARD) ? data->pwm.channel.right_forward : data->pwm.channel.right_backward), |
| 155 |
APAL_PWM_WIDTH_MAX); |
| 156 |
aosThdMSleep(100);
|
| 157 |
do {
|
| 158 |
// read QEI data to determine speed
|
| 159 |
status |= apalQEIGetPosition((wheel == WHEEL_LEFT) ? data->qei.left : data->qei.right, &qei_count[0]);
|
| 160 |
aosThdMSleep(QEI_POLL_INTERVAL_MS); |
| 161 |
status |= apalQEIGetPosition((wheel == WHEEL_LEFT) ? data->qei.left : data->qei.right, &qei_count[1]);
|
| 162 |
timeout_counter += QEI_POLL_INTERVAL_MS; |
| 163 |
qei_increments[0] = qei_increments[1]; |
| 164 |
qei_increments[1] = (direction == DIRECTION_FORWARD) ?
|
| 165 |
((qei_count[1] > qei_count[0]) ? (qei_count[1] - qei_count[0]) : (qei_count[1] + (qei_range - qei_count[0]))) : |
| 166 |
((qei_count[0] > qei_count[1]) ? (qei_count[0] - qei_count[1]) : (qei_count[0] + (qei_range - qei_count[1]))); |
| 167 |
qei_increments_diff = abs((int32_t)qei_increments[0] - (int32_t)qei_increments[1]) * ((float)MILLISECONDS_PER_SECOND / (float)QEI_POLL_INTERVAL_MS); |
| 168 |
stable_counter = ((qei_increments[0] != 0 || qei_increments[1] != 0) && qei_increments_diff <= QEI_DIFF_THRESHOLD) ? stable_counter+1 : 0; |
| 169 |
if (qei_increments[0] != 0 && stable_counter == 0) { |
| 170 |
chprintf(stream, "\tunstable speed? jitter of %u tps is above threshold (%u tps).\n", qei_increments_diff, QEI_DIFF_THRESHOLD);
|
| 171 |
} |
| 172 |
} while ((stable_counter* QEI_POLL_INTERVAL_MS < MILLISECONDS_PER_SECOND) && (timeout_counter * MICROSECONDS_PER_MILLISECOND <= data->timeout));
|
| 173 |
status |= a3906_lld_set_pwm(data->pwm.driver, (wheel == WHEEL_LEFT) ? |
| 174 |
((direction == DIRECTION_FORWARD) ? data->pwm.channel.left_forward : data->pwm.channel.left_backward) : |
| 175 |
((direction == DIRECTION_FORWARD) ? data->pwm.channel.right_forward : data->pwm.channel.right_backward), |
| 176 |
APAL_PWM_WIDTH_OFF); |
| 177 |
status |= (timeout_counter * MICROSECONDS_PER_MILLISECOND > data->timeout) ? APAL_STATUS_TIMEOUT : 0x00;
|
| 178 |
|
| 179 |
// report results
|
| 180 |
if (status == APAL_STATUS_SUCCESS) {
|
| 181 |
aosTestPassed(stream, result); |
| 182 |
const float tps = qei_increments[1] * ((float)MILLISECONDS_PER_SECOND / (float)QEI_POLL_INTERVAL_MS); |
| 183 |
const float rpm = tps * SECONDS_PER_MINUTE / (float)data->qei.increments_per_revolution; |
| 184 |
const float velocity = tps / (float)data->qei.increments_per_revolution * ((wheel == WHEEL_LEFT) ? data->wheel_diameter.left : data->wheel_diameter.right) * acos(-1); |
| 185 |
chprintf(stream, "\t%f tps\n", tps);
|
| 186 |
chprintf(stream, "\t%f RPM\n", rpm);
|
| 187 |
chprintf(stream, "\t%f m/s\n", velocity);
|
| 188 |
chprintf(stream, "\n");
|
| 189 |
} |
| 190 |
else {
|
| 191 |
aosTestFailedMsg(stream, result, "0x%08X\n", status);
|
| 192 |
} |
| 193 |
} |
| 194 |
|
| 195 |
/******************************************************************************/
|
| 196 |
/* EXPORTED FUNCTIONS */
|
| 197 |
/******************************************************************************/
|
| 198 |
|
| 199 |
/**
|
| 200 |
* @brief A3905 test function.
|
| 201 |
*
|
| 202 |
* @param[in] stream Stream for input/output.
|
| 203 |
* @param[in] test Test object.
|
| 204 |
*
|
| 205 |
* @return Test result value.
|
| 206 |
*/
|
| 207 |
aos_testresult_t aosTestA3906Func(BaseSequentialStream* stream, const aos_test_t* test)
|
| 208 |
{
|
| 209 |
aosDbgCheck((test->data != NULL) &&
|
| 210 |
(((aos_test_a3906data_t*)test->data)->driver != NULL) &&
|
| 211 |
(((aos_test_a3906data_t*)test->data)->pwm.driver != NULL) &&
|
| 212 |
(((aos_test_a3906data_t*)test->data)->qei.left != NULL) &&
|
| 213 |
(((aos_test_a3906data_t*)test->data)->qei.right != NULL));
|
| 214 |
|
| 215 |
|
| 216 |
|
| 217 |
// local variables
|
| 218 |
aos_testresult_t result = {0, 0};
|
| 219 |
int32_t status; |
| 220 |
a3906_lld_power_t power_state; |
| 221 |
apalQEICount_t qei_count[2][2]; |
| 222 |
uint32_t timeout_counter; |
| 223 |
uint32_t stable_counter; |
| 224 |
|
| 225 |
chprintf(stream, "enable power...\n");
|
| 226 |
power_state = A3906_LLD_POWER_ON; |
| 227 |
status = a3906_lld_set_power(((aos_test_a3906data_t*)test->data)->driver, power_state); |
| 228 |
status |= a3906_lld_get_power(((aos_test_a3906data_t*)test->data)->driver, &power_state); |
| 229 |
status |= (power_state != A3906_LLD_POWER_ON) ? 0x10 : 0x00; |
| 230 |
if (status == APAL_STATUS_SUCCESS) {
|
| 231 |
aosTestPassed(stream, &result); |
| 232 |
} else {
|
| 233 |
aosTestFailedMsg(stream, &result, "0x%08X\n", status);
|
| 234 |
} |
| 235 |
|
| 236 |
_wheelDirectionTest(stream, (aos_test_a3906data_t*)test->data, WHEEL_LEFT, DIRECTION_FORWARD, &result); |
| 237 |
|
| 238 |
_wheelDirectionTest(stream, (aos_test_a3906data_t*)test->data, WHEEL_RIGHT, DIRECTION_FORWARD, &result); |
| 239 |
|
| 240 |
_wheelDirectionTest(stream, (aos_test_a3906data_t*)test->data, WHEEL_LEFT, DIRECTION_BACKWARD, &result); |
| 241 |
|
| 242 |
_wheelDirectionTest(stream, (aos_test_a3906data_t*)test->data, WHEEL_RIGHT, DIRECTION_BACKWARD, &result); |
| 243 |
|
| 244 |
_wheelSpeedTest(stream, (aos_test_a3906data_t*)test->data, WHEEL_LEFT, DIRECTION_FORWARD, &result); |
| 245 |
|
| 246 |
_wheelSpeedTest(stream, (aos_test_a3906data_t*)test->data, WHEEL_RIGHT, DIRECTION_FORWARD, &result); |
| 247 |
|
| 248 |
_wheelSpeedTest(stream, (aos_test_a3906data_t*)test->data, WHEEL_LEFT, DIRECTION_BACKWARD, &result); |
| 249 |
|
| 250 |
_wheelSpeedTest(stream, (aos_test_a3906data_t*)test->data, WHEEL_RIGHT, DIRECTION_BACKWARD, &result); |
| 251 |
|
| 252 |
chprintf(stream, "disable power...\n");
|
| 253 |
power_state = A3906_LLD_POWER_OFF; |
| 254 |
status = a3906_lld_set_power(((aos_test_a3906data_t*)test->data)->driver, power_state); |
| 255 |
status |= a3906_lld_get_power(((aos_test_a3906data_t*)test->data)->driver, &power_state); |
| 256 |
status |= (power_state != A3906_LLD_POWER_OFF) ? 0x10 : 0x00; |
| 257 |
qei_count[WHEEL_LEFT][0] = 0; |
| 258 |
qei_count[WHEEL_LEFT][1] = 0; |
| 259 |
qei_count[WHEEL_RIGHT][0] = 0; |
| 260 |
qei_count[WHEEL_RIGHT][1] = 0; |
| 261 |
timeout_counter = 0;
|
| 262 |
stable_counter = 0;
|
| 263 |
do {
|
| 264 |
status |= apalQEIGetPosition(((aos_test_a3906data_t*)test->data)->qei.left, &qei_count[WHEEL_LEFT][0]);
|
| 265 |
status |= apalQEIGetPosition(((aos_test_a3906data_t*)test->data)->qei.right, &qei_count[WHEEL_RIGHT][0]);
|
| 266 |
aosThdMSleep(1);
|
| 267 |
status |= apalQEIGetPosition(((aos_test_a3906data_t*)test->data)->qei.left, &qei_count[WHEEL_LEFT][1]);
|
| 268 |
status |= apalQEIGetPosition(((aos_test_a3906data_t*)test->data)->qei.right, &qei_count[WHEEL_RIGHT][1]);
|
| 269 |
++timeout_counter; |
| 270 |
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; |
| 271 |
} while((stable_counter < 100) && (timeout_counter * MICROSECONDS_PER_MILLISECOND <= ((aos_test_a3906data_t*)test->data)->timeout)); |
| 272 |
status |= (timeout_counter * MICROSECONDS_PER_MILLISECOND > ((aos_test_a3906data_t*)test->data)->timeout) ? APAL_STATUS_TIMEOUT : 0x00;
|
| 273 |
if (status == APAL_STATUS_SUCCESS) {
|
| 274 |
aosTestPassed(stream, &result); |
| 275 |
} else {
|
| 276 |
aosTestFailedMsg(stream, &result, "0x%08X\n", status);
|
| 277 |
} |
| 278 |
|
| 279 |
// stop the PWM
|
| 280 |
a3906_lld_set_pwm(((aos_test_a3906data_t*)test->data)->pwm.driver, ((aos_test_a3906data_t*)test->data)->pwm.channel.left_forward, APAL_PWM_WIDTH_OFF); |
| 281 |
a3906_lld_set_pwm(((aos_test_a3906data_t*)test->data)->pwm.driver, ((aos_test_a3906data_t*)test->data)->pwm.channel.left_backward, APAL_PWM_WIDTH_OFF); |
| 282 |
a3906_lld_set_pwm(((aos_test_a3906data_t*)test->data)->pwm.driver, ((aos_test_a3906data_t*)test->data)->pwm.channel.right_forward, APAL_PWM_WIDTH_OFF); |
| 283 |
a3906_lld_set_pwm(((aos_test_a3906data_t*)test->data)->pwm.driver, ((aos_test_a3906data_t*)test->data)->pwm.channel.right_backward, APAL_PWM_WIDTH_OFF); |
| 284 |
|
| 285 |
aosTestInfoMsg(stream,"driver object memory footprint: %u bytes\n", sizeof(A3906Driver)); |
| 286 |
|
| 287 |
return result;
|
| 288 |
} |
| 289 |
|
| 290 |
#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */ |