amiro-os / unittests / periphery-lld / src / ut_alld_a3906.c @ d871cc15
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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) */ |