amiro-os / unittests / periphery-lld / src / ut_alld_a3906.c @ d871cc15
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/*
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AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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Copyright (C) 2016..2019 Thomas Schöpping et al.
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <ut_alld_a3906.h> |
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#if ((AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_USE_A3906)) || defined(__DOXYGEN__) |
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#include <stdlib.h> |
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#include <math.h> |
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/******************************************************************************/
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/* LOCAL DEFINITIONS */
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/******************************************************************************/
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/**
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* @brief Interval to poll QEI in certain tests.
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*/
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#define QEI_POLL_INTERVAL_MS 100 |
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/**
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* @brief Threshold for QEI differences.
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* @details Differences smaller than or equal to this value are neglected (interpreted as zero).
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* The value can be interpreted as encoder ticks per second (tps).
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* @note The expected value is about 7000 tps and a jitter of up to ±2% is ok.
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*/
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#define QEI_DIFF_THRESHOLD (apalQEICount_t)(7000 * 0.02f) |
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/******************************************************************************/
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/* EXPORTED VARIABLES */
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/******************************************************************************/
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/******************************************************************************/
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/* LOCAL TYPES */
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/******************************************************************************/
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/**
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* @brief Enumerator to distinguish between left and right wheel.
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*/
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typedef enum { |
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WHEEL_LEFT = 0, /**< left wheel identifier */ |
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WHEEL_RIGHT = 1, /**< right wheel identifier */ |
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} wheel_t; |
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/**
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* @brief Enumerator to distinguish directions.
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*/
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typedef enum { |
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DIRECTION_FORWARD = 0, /**< forward direction identifier */ |
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DIRECTION_BACKWARD = 1, /**< backward direction identifier */ |
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} direction_t; |
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/******************************************************************************/
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/* LOCAL VARIABLES */
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/******************************************************************************/
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/******************************************************************************/
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/* LOCAL FUNCTIONS */
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/******************************************************************************/
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/**
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* @brief helper function to test each wheel and direction separately.
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*
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* @param[in] stream Stream for input/output.
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* @param[in] data Unit test meta data.
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* @param[in] wheel Wheel to test.
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* @param[in] direction Direction to test.
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* @param[in,out] result Result variable to modify.
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*/
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void _wheelDirectionTest(BaseSequentialStream* stream, ut_a3906data_t* data, wheel_t wheel, direction_t direction, aos_utresult_t* result)
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{
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// local variables
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uint32_t status; |
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bool qei_valid;
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apalQEICount_t qei_count[2];
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apalQEIDirection_t qei_direction; |
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uint32_t timeout_counter; |
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chprintf(stream, "%s wheel %s...\n", (wheel == WHEEL_LEFT) ? "left" : "right", (direction == DIRECTION_FORWARD) ? "forward" : "backward"); |
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qei_valid = false;
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status = apalQEIGetPosition((wheel == WHEEL_LEFT) ? data->qei.left : data->qei.right, &qei_count[0]);
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// increase PWM incrementally and read QEI data
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for (apalPWMwidth_t pwm_width = APAL_PWM_WIDTH_MIN; pwm_width < APAL_PWM_WIDTH_MAX; ++pwm_width) {
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status |= a3906_lld_set_pwm(data->pwm.driver, (wheel == WHEEL_LEFT) ? |
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((direction == DIRECTION_FORWARD) ? data->pwm.channel.left_forward : data->pwm.channel.left_backward) : |
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((direction == DIRECTION_FORWARD) ? data->pwm.channel.right_forward : data->pwm.channel.right_backward), |
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pwm_width); |
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status |= apalQEIGetPosition((wheel == WHEEL_LEFT) ? data->qei.left : data->qei.right, &qei_count[1]);
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qei_valid = qei_valid || (qei_count[0] != qei_count[1]); |
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aosThdUSleep(5 * MICROSECONDS_PER_SECOND / (APAL_PWM_WIDTH_MAX - APAL_PWM_WIDTH_MIN));
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qei_count[0] = qei_count[1]; |
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} |
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status |= qei_valid ? 0x00 : 0x10; |
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status |= apalQEIGetDirection((wheel == WHEEL_LEFT) ? data->qei.left : data->qei.right, &qei_direction); |
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status |= (qei_direction == ((direction == DIRECTION_FORWARD) ? APAL_QEI_DIRECTION_UP : APAL_QEI_DIRECTION_DOWN)) ? 0x00 : 0x20; |
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// let the wheel spin free until it stops
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status |= a3906_lld_set_pwm(data->pwm.driver, (wheel == WHEEL_LEFT) ? |
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((direction == DIRECTION_FORWARD) ? data->pwm.channel.left_forward : data->pwm.channel.left_backward) : |
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((direction == DIRECTION_FORWARD) ? data->pwm.channel.right_forward : data->pwm.channel.right_backward), |
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0);
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qei_count[0] = 0; |
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qei_count[1] = 0; |
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timeout_counter = 0;
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do {
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status |= apalQEIGetPosition((wheel == WHEEL_LEFT) ? data->qei.left : data->qei.right, &qei_count[0]);
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aosThdMSleep(1);
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status |= apalQEIGetPosition((wheel == WHEEL_LEFT) ? data->qei.left : data->qei.right, &qei_count[1]);
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++timeout_counter; |
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} while ((qei_count[0] != qei_count[1]) && (timeout_counter * MICROSECONDS_PER_MILLISECOND <= data->timeout)); |
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status |= (timeout_counter * MICROSECONDS_PER_MILLISECOND > data->timeout) ? APAL_STATUS_TIMEOUT : 0x00;
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// report result
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if (status == APAL_STATUS_SUCCESS) {
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aosUtPassed(stream, result); |
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} else {
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aosUtFailedMsg(stream, result, "0x%08X\n", status);
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} |
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return;
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} |
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void _wheelSpeedTest(BaseSequentialStream* stream, ut_a3906data_t* data, wheel_t wheel, direction_t direction, aos_utresult_t* result)
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{
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// local variables
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uint32_t status; |
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apalQEICount_t qei_range; |
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apalQEICount_t qei_count[2] = {0}; |
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apalQEICount_t qei_increments[2] = {0}; |
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apalQEICount_t qei_increments_diff = 0;
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uint32_t timeout_counter = 0;
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uint32_t stable_counter = 0;
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chprintf(stream, "%s wheel full speed %s...\n", (wheel == WHEEL_LEFT) ? "left" : "right", (direction == DIRECTION_FORWARD) ? "forward" : "backward"); |
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// spin up the wheel with full speed
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status = apalQEIGetRange((wheel == WHEEL_LEFT) ? data->qei.left : data->qei.right, &qei_range); |
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status |= a3906_lld_set_pwm(data->pwm.driver, (wheel == WHEEL_LEFT) ? |
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((direction == DIRECTION_FORWARD) ? data->pwm.channel.left_forward : data->pwm.channel.left_backward) : |
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((direction == DIRECTION_FORWARD) ? data->pwm.channel.right_forward : data->pwm.channel.right_backward), |
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APAL_PWM_WIDTH_MAX); |
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aosThdMSleep(100);
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do {
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// read QEI data to determine speed
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status |= apalQEIGetPosition((wheel == WHEEL_LEFT) ? data->qei.left : data->qei.right, &qei_count[0]);
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aosThdMSleep(QEI_POLL_INTERVAL_MS); |
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status |= apalQEIGetPosition((wheel == WHEEL_LEFT) ? data->qei.left : data->qei.right, &qei_count[1]);
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timeout_counter += QEI_POLL_INTERVAL_MS; |
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qei_increments[0] = qei_increments[1]; |
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qei_increments[1] = (direction == DIRECTION_FORWARD) ?
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((qei_count[1] > qei_count[0]) ? (qei_count[1] - qei_count[0]) : (qei_count[1] + (qei_range - qei_count[0]))) : |
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((qei_count[0] > qei_count[1]) ? (qei_count[0] - qei_count[1]) : (qei_count[0] + (qei_range - qei_count[1]))); |
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qei_increments_diff = abs((int32_t)qei_increments[0] - (int32_t)qei_increments[1]) * ((float)MILLISECONDS_PER_SECOND / (float)QEI_POLL_INTERVAL_MS); |
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stable_counter = ((qei_increments[0] != 0 || qei_increments[1] != 0) && qei_increments_diff <= QEI_DIFF_THRESHOLD) ? stable_counter+1 : 0; |
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if (qei_increments[0] != 0 && stable_counter == 0) { |
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chprintf(stream, "\tunstable speed? jitter of %u tps is above threshold (%u tps).\n", qei_increments_diff, QEI_DIFF_THRESHOLD);
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} |
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} while ((stable_counter* QEI_POLL_INTERVAL_MS < MILLISECONDS_PER_SECOND) && (timeout_counter * MICROSECONDS_PER_MILLISECOND <= data->timeout));
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status |= a3906_lld_set_pwm(data->pwm.driver, (wheel == WHEEL_LEFT) ? |
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((direction == DIRECTION_FORWARD) ? data->pwm.channel.left_forward : data->pwm.channel.left_backward) : |
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((direction == DIRECTION_FORWARD) ? data->pwm.channel.right_forward : data->pwm.channel.right_backward), |
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APAL_PWM_WIDTH_OFF); |
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status |= (timeout_counter * MICROSECONDS_PER_MILLISECOND > data->timeout) ? APAL_STATUS_TIMEOUT : 0x00;
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// report results
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if (status == APAL_STATUS_SUCCESS) {
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aosUtPassed(stream, result); |
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const float tps = qei_increments[1] * ((float)MILLISECONDS_PER_SECOND / (float)QEI_POLL_INTERVAL_MS); |
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const float rpm = tps * SECONDS_PER_MINUTE / (float)data->qei.increments_per_revolution; |
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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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chprintf(stream, "\t%f tps\n", tps);
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chprintf(stream, "\t%f RPM\n", rpm);
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chprintf(stream, "\t%f m/s\n", velocity);
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chprintf(stream, "\n");
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} |
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else {
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aosUtFailedMsg(stream, result, "0x%08X\n", status);
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} |
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} |
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/******************************************************************************/
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/* EXPORTED FUNCTIONS */
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/******************************************************************************/
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/**
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* @brief A3905 unit test function.
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*
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* @param[in] stream Stream for input/output.
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* @param[in] ut Unit test object.
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*
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* @return Unit test result value.
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*/
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aos_utresult_t utAlldA3906Func(BaseSequentialStream* stream, aos_unittest_t* ut) |
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{
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aosDbgCheck((ut->data != NULL) &&
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(((ut_a3906data_t*)ut->data)->driver != NULL) &&
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(((ut_a3906data_t*)ut->data)->pwm.driver != NULL) &&
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(((ut_a3906data_t*)ut->data)->qei.left != NULL) &&
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(((ut_a3906data_t*)ut->data)->qei.right != NULL));
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// local variables
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aos_utresult_t result = {0, 0};
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uint32_t status = 0;
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a3906_lld_power_t power_state; |
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apalQEICount_t qei_count[2][2]; |
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uint32_t timeout_counter; |
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uint32_t stable_counter; |
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chprintf(stream, "enable power...\n");
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power_state = A3906_LLD_POWER_ON; |
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status = a3906_lld_set_power(((ut_a3906data_t*)ut->data)->driver, power_state); |
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status |= a3906_lld_get_power(((ut_a3906data_t*)ut->data)->driver, &power_state); |
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status |= (power_state != A3906_LLD_POWER_ON) ? 0x10 : 0x00; |
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if (status == APAL_STATUS_SUCCESS) {
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aosUtPassed(stream, &result); |
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} else {
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aosUtFailedMsg(stream, &result, "0x%08X\n", status);
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} |
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_wheelDirectionTest(stream, (ut_a3906data_t*)ut->data, WHEEL_LEFT, DIRECTION_FORWARD, &result); |
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_wheelDirectionTest(stream, (ut_a3906data_t*)ut->data, WHEEL_RIGHT, DIRECTION_FORWARD, &result); |
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_wheelDirectionTest(stream, (ut_a3906data_t*)ut->data, WHEEL_LEFT, DIRECTION_BACKWARD, &result); |
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_wheelDirectionTest(stream, (ut_a3906data_t*)ut->data, WHEEL_RIGHT, DIRECTION_BACKWARD, &result); |
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_wheelSpeedTest(stream, (ut_a3906data_t*)ut->data, WHEEL_LEFT, DIRECTION_FORWARD, &result); |
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_wheelSpeedTest(stream, (ut_a3906data_t*)ut->data, WHEEL_RIGHT, DIRECTION_FORWARD, &result); |
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_wheelSpeedTest(stream, (ut_a3906data_t*)ut->data, WHEEL_LEFT, DIRECTION_BACKWARD, &result); |
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_wheelSpeedTest(stream, (ut_a3906data_t*)ut->data, WHEEL_RIGHT, DIRECTION_BACKWARD, &result); |
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chprintf(stream, "disable power... \n");
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power_state = A3906_LLD_POWER_OFF; |
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status = a3906_lld_set_power(((ut_a3906data_t*)ut->data)->driver, power_state); |
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status |= a3906_lld_get_power(((ut_a3906data_t*)ut->data)->driver, &power_state); |
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status |= (power_state != A3906_LLD_POWER_OFF) ? 0x10 : 0x00; |
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qei_count[WHEEL_LEFT][0] = 0; |
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qei_count[WHEEL_LEFT][1] = 0; |
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qei_count[WHEEL_RIGHT][0] = 0; |
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qei_count[WHEEL_RIGHT][1] = 0; |
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timeout_counter = 0;
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stable_counter = 0;
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do {
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status |= apalQEIGetPosition(((ut_a3906data_t*)ut->data)->qei.left, &qei_count[WHEEL_LEFT][0]);
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status |= apalQEIGetPosition(((ut_a3906data_t*)ut->data)->qei.right, &qei_count[WHEEL_RIGHT][0]);
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aosThdMSleep(1);
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status |= apalQEIGetPosition(((ut_a3906data_t*)ut->data)->qei.left, &qei_count[WHEEL_LEFT][1]);
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status |= apalQEIGetPosition(((ut_a3906data_t*)ut->data)->qei.right, &qei_count[WHEEL_RIGHT][1]);
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++timeout_counter; |
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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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} while((stable_counter < 100) && (timeout_counter * MICROSECONDS_PER_MILLISECOND <= ((ut_a3906data_t*)ut->data)->timeout)); |
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status |= (timeout_counter * MICROSECONDS_PER_MILLISECOND > ((ut_a3906data_t*)ut->data)->timeout) ? APAL_STATUS_TIMEOUT : 0x00;
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if (status == APAL_STATUS_SUCCESS) {
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aosUtPassed(stream, &result); |
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} else {
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aosUtFailedMsg(stream, &result, "0x%08X\n", status);
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} |
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// stop the PWM
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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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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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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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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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aosUtInfoMsg(stream,"driver object memory footprint: %u bytes\n", sizeof(A3906Driver)); |
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return result;
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} |
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#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_USE_A3906) */ |