amiro-os / unittests / periphery-lld / src / ut_alld_a3906.c @ f3ac1c96
History | View | Annotate | Download (14.1 KB)
| 1 | e545e620 | Thomas Schöpping | /*
|
|---|---|---|---|
| 2 | AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
|
||
| 3 | 84f0ce9e | Thomas Schöpping | Copyright (C) 2016..2019 Thomas Schöpping et al.
|
| 4 | e545e620 | Thomas Schöpping | |
| 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 <ut_alld_a3906.h> |
||
| 20 | |||
| 21 | #if ((AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_USE_A3906)) || defined(__DOXYGEN__) |
||
| 22 | |||
| 23 | #include <aos_debug.h> |
||
| 24 | #include <chprintf.h> |
||
| 25 | #include <alld_a3906.h> |
||
| 26 | #include <aos_thread.h> |
||
| 27 | #include <stdlib.h> |
||
| 28 | #include <math.h> |
||
| 29 | |||
| 30 | f3ac1c96 | Thomas Schöpping | /******************************************************************************/
|
| 31 | /* LOCAL DEFINITIONS */
|
||
| 32 | /******************************************************************************/
|
||
| 33 | |||
| 34 | e545e620 | Thomas Schöpping | /**
|
| 35 | * @brief Interval to poll QEI in certain tests.
|
||
| 36 | */
|
||
| 37 | 2e69d671 | Thomas Schöpping | #define QEI_POLL_INTERVAL_MS 100 |
| 38 | e545e620 | Thomas Schöpping | |
| 39 | /**
|
||
| 40 | * @brief Threshold for QEI differences.
|
||
| 41 | b033b3ae | Thomas Schöpping | * @details Differences smaller than or equal to this value are neglected (interpreted as zero).
|
| 42 | * The value can be interpreted as encoder ticks per second (tps).
|
||
| 43 | * @note The expected value is about 7000 tps and a jitter of up to ±2% is ok.
|
||
| 44 | e545e620 | Thomas Schöpping | */
|
| 45 | b033b3ae | Thomas Schöpping | #define QEI_DIFF_THRESHOLD (apalQEICount_t)(7000 * 0.02f) |
| 46 | e545e620 | Thomas Schöpping | |
| 47 | f3ac1c96 | Thomas Schöpping | /******************************************************************************/
|
| 48 | /* EXPORTED VARIABLES */
|
||
| 49 | /******************************************************************************/
|
||
| 50 | |||
| 51 | /******************************************************************************/
|
||
| 52 | /* LOCAL TYPES */
|
||
| 53 | /******************************************************************************/
|
||
| 54 | |||
| 55 | e545e620 | Thomas Schöpping | /**
|
| 56 | * @brief Enumerator to distinguish between left and right wheel.
|
||
| 57 | */
|
||
| 58 | typedef enum { |
||
| 59 | WHEEL_LEFT = 0, /**< left wheel identifier */ |
||
| 60 | WHEEL_RIGHT = 1, /**< right wheel identifier */ |
||
| 61 | } wheel_t; |
||
| 62 | |||
| 63 | /**
|
||
| 64 | * @brief Enumerator to distinguish directions.
|
||
| 65 | */
|
||
| 66 | typedef enum { |
||
| 67 | DIRECTION_FORWARD = 0, /**< forward direction identifier */ |
||
| 68 | DIRECTION_BACKWARD = 1, /**< backward direction identifier */ |
||
| 69 | } direction_t; |
||
| 70 | |||
| 71 | f3ac1c96 | Thomas Schöpping | /******************************************************************************/
|
| 72 | /* LOCAL VARIABLES */
|
||
| 73 | /******************************************************************************/
|
||
| 74 | |||
| 75 | /******************************************************************************/
|
||
| 76 | /* LOCAL FUNCTIONS */
|
||
| 77 | /******************************************************************************/
|
||
| 78 | |||
| 79 | e545e620 | Thomas Schöpping | /**
|
| 80 | * @brief helper function to test each wheel and direction separately.
|
||
| 81 | *
|
||
| 82 | * @param[in] stream Stream for input/output.
|
||
| 83 | * @param[in] data Unit test meta data.
|
||
| 84 | * @param[in] wheel Wheel to test.
|
||
| 85 | * @param[in] direction Direction to test.
|
||
| 86 | * @param[in,out] result Result variable to modify.
|
||
| 87 | */
|
||
| 88 | void _wheelDirectionTest(BaseSequentialStream* stream, ut_a3906data_t* data, wheel_t wheel, direction_t direction, aos_utresult_t* result)
|
||
| 89 | {
|
||
| 90 | // local variables
|
||
| 91 | uint32_t status; |
||
| 92 | bool qei_valid;
|
||
| 93 | apalQEICount_t qei_count[2];
|
||
| 94 | apalQEIDirection_t qei_direction; |
||
| 95 | uint32_t timeout_counter; |
||
| 96 | |||
| 97 | chprintf(stream, "%s wheel %s...\n", (wheel == WHEEL_LEFT) ? "left" : "right", (direction == DIRECTION_FORWARD) ? "forward" : "backward"); |
||
| 98 | qei_valid = false;
|
||
| 99 | status = apalQEIGetPosition((wheel == WHEEL_LEFT) ? data->qei.left : data->qei.right, &qei_count[0]);
|
||
| 100 | // increase PWM incrementally and read QEI data
|
||
| 101 | for (apalPWMwidth_t pwm_width = APAL_PWM_WIDTH_MIN; pwm_width < APAL_PWM_WIDTH_MAX; ++pwm_width) {
|
||
| 102 | status |= a3906_lld_set_pwm(data->pwm.driver, (wheel == WHEEL_LEFT) ? |
||
| 103 | ((direction == DIRECTION_FORWARD) ? data->pwm.channel.left_forward : data->pwm.channel.left_backward) : |
||
| 104 | ((direction == DIRECTION_FORWARD) ? data->pwm.channel.right_forward : data->pwm.channel.right_backward), |
||
| 105 | pwm_width); |
||
| 106 | status |= apalQEIGetPosition((wheel == WHEEL_LEFT) ? data->qei.left : data->qei.right, &qei_count[1]);
|
||
| 107 | qei_valid = qei_valid || (qei_count[0] != qei_count[1]); |
||
| 108 | aosThdUSleep(5 * MICROSECONDS_PER_SECOND / (APAL_PWM_WIDTH_MAX - APAL_PWM_WIDTH_MIN));
|
||
| 109 | qei_count[0] = qei_count[1]; |
||
| 110 | } |
||
| 111 | status |= qei_valid ? 0x00 : 0x10; |
||
| 112 | status |= apalQEIGetDirection((wheel == WHEEL_LEFT) ? data->qei.left : data->qei.right, &qei_direction); |
||
| 113 | status |= (qei_direction == ((direction == DIRECTION_FORWARD) ? APAL_QEI_DIRECTION_UP : APAL_QEI_DIRECTION_DOWN)) ? 0x00 : 0x20; |
||
| 114 | |||
| 115 | // let the wheel spin free until it stops
|
||
| 116 | status |= a3906_lld_set_pwm(data->pwm.driver, (wheel == WHEEL_LEFT) ? |
||
| 117 | ((direction == DIRECTION_FORWARD) ? data->pwm.channel.left_forward : data->pwm.channel.left_backward) : |
||
| 118 | ((direction == DIRECTION_FORWARD) ? data->pwm.channel.right_forward : data->pwm.channel.right_backward), |
||
| 119 | 0);
|
||
| 120 | qei_count[0] = 0; |
||
| 121 | qei_count[1] = 0; |
||
| 122 | timeout_counter = 0;
|
||
| 123 | do {
|
||
| 124 | status |= apalQEIGetPosition((wheel == WHEEL_LEFT) ? data->qei.left : data->qei.right, &qei_count[0]);
|
||
| 125 | aosThdMSleep(1);
|
||
| 126 | status |= apalQEIGetPosition((wheel == WHEEL_LEFT) ? data->qei.left : data->qei.right, &qei_count[1]);
|
||
| 127 | ++timeout_counter; |
||
| 128 | } while ((qei_count[0] != qei_count[1]) && (timeout_counter * MICROSECONDS_PER_MILLISECOND <= data->timeout)); |
||
| 129 | status |= (timeout_counter * MICROSECONDS_PER_MILLISECOND > data->timeout) ? APAL_STATUS_TIMEOUT : 0x00;
|
||
| 130 | |||
| 131 | // report result
|
||
| 132 | if (status == APAL_STATUS_SUCCESS) {
|
||
| 133 | aosUtPassed(stream, result); |
||
| 134 | } else {
|
||
| 135 | aosUtFailedMsg(stream, result, "0x%08X\n", status);
|
||
| 136 | } |
||
| 137 | |||
| 138 | return;
|
||
| 139 | } |
||
| 140 | |||
| 141 | 47680f67 | Thomas Schöpping | void _wheelSpeedTest(BaseSequentialStream* stream, ut_a3906data_t* data, wheel_t wheel, direction_t direction, aos_utresult_t* result)
|
| 142 | {
|
||
| 143 | // local variables
|
||
| 144 | uint32_t status; |
||
| 145 | apalQEICount_t qei_range; |
||
| 146 | apalQEICount_t qei_count[2] = {0}; |
||
| 147 | apalQEICount_t qei_increments[2] = {0}; |
||
| 148 | apalQEICount_t qei_increments_diff = 0;
|
||
| 149 | uint32_t timeout_counter = 0;
|
||
| 150 | uint32_t stable_counter = 0;
|
||
| 151 | |||
| 152 | chprintf(stream, "%s wheel full speed %s...\n", (wheel == WHEEL_LEFT) ? "left" : "right", (direction == DIRECTION_FORWARD) ? "forward" : "backward"); |
||
| 153 | // spin up the wheel with full speed
|
||
| 154 | status = apalQEIGetRange((wheel == WHEEL_LEFT) ? data->qei.left : data->qei.right, &qei_range); |
||
| 155 | status |= a3906_lld_set_pwm(data->pwm.driver, (wheel == WHEEL_LEFT) ? |
||
| 156 | ((direction == DIRECTION_FORWARD) ? data->pwm.channel.left_forward : data->pwm.channel.left_backward) : |
||
| 157 | ((direction == DIRECTION_FORWARD) ? data->pwm.channel.right_forward : data->pwm.channel.right_backward), |
||
| 158 | APAL_PWM_WIDTH_MAX); |
||
| 159 | aosThdMSleep(100);
|
||
| 160 | do {
|
||
| 161 | // read QEI data to determine speed
|
||
| 162 | status |= apalQEIGetPosition((wheel == WHEEL_LEFT) ? data->qei.left : data->qei.right, &qei_count[0]);
|
||
| 163 | aosThdMSleep(QEI_POLL_INTERVAL_MS); |
||
| 164 | status |= apalQEIGetPosition((wheel == WHEEL_LEFT) ? data->qei.left : data->qei.right, &qei_count[1]);
|
||
| 165 | timeout_counter += QEI_POLL_INTERVAL_MS; |
||
| 166 | qei_increments[0] = qei_increments[1]; |
||
| 167 | qei_increments[1] = (direction == DIRECTION_FORWARD) ?
|
||
| 168 | ((qei_count[1] > qei_count[0]) ? (qei_count[1] - qei_count[0]) : (qei_count[1] + (qei_range - qei_count[0]))) : |
||
| 169 | ((qei_count[0] > qei_count[1]) ? (qei_count[0] - qei_count[1]) : (qei_count[0] + (qei_range - qei_count[1]))); |
||
| 170 | 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); |
| 171 | stable_counter = ((qei_increments[0] != 0 || qei_increments[1] != 0) && qei_increments_diff <= QEI_DIFF_THRESHOLD) ? stable_counter+1 : 0; |
||
| 172 | if (qei_increments[0] != 0 && stable_counter == 0) { |
||
| 173 | chprintf(stream, "\tunstable speed? jitter of %u tps is above threshold (%u tps).\n", qei_increments_diff, QEI_DIFF_THRESHOLD);
|
||
| 174 | } |
||
| 175 | 47680f67 | Thomas Schöpping | } while ((stable_counter* QEI_POLL_INTERVAL_MS < MILLISECONDS_PER_SECOND) && (timeout_counter * MICROSECONDS_PER_MILLISECOND <= data->timeout));
|
| 176 | status |= a3906_lld_set_pwm(data->pwm.driver, (wheel == WHEEL_LEFT) ? |
||
| 177 | ((direction == DIRECTION_FORWARD) ? data->pwm.channel.left_forward : data->pwm.channel.left_backward) : |
||
| 178 | ((direction == DIRECTION_FORWARD) ? data->pwm.channel.right_forward : data->pwm.channel.right_backward), |
||
| 179 | APAL_PWM_WIDTH_OFF); |
||
| 180 | status |= (timeout_counter * MICROSECONDS_PER_MILLISECOND > data->timeout) ? APAL_STATUS_TIMEOUT : 0x00;
|
||
| 181 | |||
| 182 | // report results
|
||
| 183 | if (status == APAL_STATUS_SUCCESS) {
|
||
| 184 | aosUtPassed(stream, result); |
||
| 185 | const float tps = qei_increments[1] * ((float)MILLISECONDS_PER_SECOND / (float)QEI_POLL_INTERVAL_MS); |
||
| 186 | const float rpm = tps * SECONDS_PER_MINUTE / (float)data->qei.increments_per_revolution; |
||
| 187 | const float velocity = tps / (float)data->qei.increments_per_revolution * ((wheel == WHEEL_LEFT) ? data->wheel_diameter.left : data->wheel_diameter.right) * acos(-1); |
||
| 188 | chprintf(stream, "\t%f tps\n", tps);
|
||
| 189 | chprintf(stream, "\t%f RPM\n", rpm);
|
||
| 190 | chprintf(stream, "\t%f m/s\n", velocity);
|
||
| 191 | chprintf(stream, "\n");
|
||
| 192 | } |
||
| 193 | else {
|
||
| 194 | aosUtFailedMsg(stream, result, "0x%08X\n", status);
|
||
| 195 | } |
||
| 196 | } |
||
| 197 | |||
| 198 | f3ac1c96 | Thomas Schöpping | /******************************************************************************/
|
| 199 | /* EXPORTED FUNCTIONS */
|
||
| 200 | /******************************************************************************/
|
||
| 201 | |||
| 202 | e545e620 | Thomas Schöpping | /**
|
| 203 | * @brief A3905 unit test function.
|
||
| 204 | *
|
||
| 205 | * @param[in] stream Stream for input/output.
|
||
| 206 | * @param[in] ut Unit test object.
|
||
| 207 | *
|
||
| 208 | * @return Unit test result value.
|
||
| 209 | */
|
||
| 210 | aos_utresult_t utAlldA3906Func(BaseSequentialStream* stream, aos_unittest_t* ut) |
||
| 211 | {
|
||
| 212 | aosDbgCheck((ut->data != NULL) &&
|
||
| 213 | (((ut_a3906data_t*)ut->data)->driver != NULL) &&
|
||
| 214 | (((ut_a3906data_t*)ut->data)->pwm.driver != NULL) &&
|
||
| 215 | (((ut_a3906data_t*)ut->data)->qei.left != NULL) &&
|
||
| 216 | (((ut_a3906data_t*)ut->data)->qei.right != NULL));
|
||
| 217 | |||
| 218 | |||
| 219 | |||
| 220 | // local variables
|
||
| 221 | aos_utresult_t result = {0, 0};
|
||
| 222 | uint32_t status = 0;
|
||
| 223 | a3906_lld_power_t power_state; |
||
| 224 | apalQEICount_t qei_count[2][2]; |
||
| 225 | uint32_t timeout_counter; |
||
| 226 | uint32_t stable_counter; |
||
| 227 | |||
| 228 | chprintf(stream, "enable power...\n");
|
||
| 229 | power_state = A3906_LLD_POWER_ON; |
||
| 230 | status = a3906_lld_set_power(((ut_a3906data_t*)ut->data)->driver, power_state); |
||
| 231 | status |= a3906_lld_get_power(((ut_a3906data_t*)ut->data)->driver, &power_state); |
||
| 232 | status |= (power_state != A3906_LLD_POWER_ON) ? 0x10 : 0x00; |
||
| 233 | if (status == APAL_STATUS_SUCCESS) {
|
||
| 234 | aosUtPassed(stream, &result); |
||
| 235 | } else {
|
||
| 236 | aosUtFailedMsg(stream, &result, "0x%08X\n", status);
|
||
| 237 | } |
||
| 238 | |||
| 239 | _wheelDirectionTest(stream, (ut_a3906data_t*)ut->data, WHEEL_LEFT, DIRECTION_FORWARD, &result); |
||
| 240 | |||
| 241 | _wheelDirectionTest(stream, (ut_a3906data_t*)ut->data, WHEEL_RIGHT, DIRECTION_FORWARD, &result); |
||
| 242 | |||
| 243 | 47680f67 | Thomas Schöpping | _wheelDirectionTest(stream, (ut_a3906data_t*)ut->data, WHEEL_LEFT, DIRECTION_BACKWARD, &result); |
| 244 | |||
| 245 | e545e620 | Thomas Schöpping | _wheelDirectionTest(stream, (ut_a3906data_t*)ut->data, WHEEL_RIGHT, DIRECTION_BACKWARD, &result); |
| 246 | |||
| 247 | 47680f67 | Thomas Schöpping | _wheelSpeedTest(stream, (ut_a3906data_t*)ut->data, WHEEL_LEFT, DIRECTION_FORWARD, &result); |
| 248 | |||
| 249 | _wheelSpeedTest(stream, (ut_a3906data_t*)ut->data, WHEEL_RIGHT, DIRECTION_FORWARD, &result); |
||
| 250 | |||
| 251 | _wheelSpeedTest(stream, (ut_a3906data_t*)ut->data, WHEEL_LEFT, DIRECTION_BACKWARD, &result); |
||
| 252 | |||
| 253 | _wheelSpeedTest(stream, (ut_a3906data_t*)ut->data, WHEEL_RIGHT, DIRECTION_BACKWARD, &result); |
||
| 254 | e545e620 | Thomas Schöpping | |
| 255 | chprintf(stream, "disable power... \n");
|
||
| 256 | power_state = A3906_LLD_POWER_OFF; |
||
| 257 | status = a3906_lld_set_power(((ut_a3906data_t*)ut->data)->driver, power_state); |
||
| 258 | status |= a3906_lld_get_power(((ut_a3906data_t*)ut->data)->driver, &power_state); |
||
| 259 | status |= (power_state != A3906_LLD_POWER_OFF) ? 0x10 : 0x00; |
||
| 260 | qei_count[WHEEL_LEFT][0] = 0; |
||
| 261 | qei_count[WHEEL_LEFT][1] = 0; |
||
| 262 | qei_count[WHEEL_RIGHT][0] = 0; |
||
| 263 | qei_count[WHEEL_RIGHT][1] = 0; |
||
| 264 | timeout_counter = 0;
|
||
| 265 | stable_counter = 0;
|
||
| 266 | do {
|
||
| 267 | status |= apalQEIGetPosition(((ut_a3906data_t*)ut->data)->qei.left, &qei_count[WHEEL_LEFT][0]);
|
||
| 268 | status |= apalQEIGetPosition(((ut_a3906data_t*)ut->data)->qei.right, &qei_count[WHEEL_RIGHT][0]);
|
||
| 269 | aosThdMSleep(1);
|
||
| 270 | status |= apalQEIGetPosition(((ut_a3906data_t*)ut->data)->qei.left, &qei_count[WHEEL_LEFT][1]);
|
||
| 271 | status |= apalQEIGetPosition(((ut_a3906data_t*)ut->data)->qei.right, &qei_count[WHEEL_RIGHT][1]);
|
||
| 272 | ++timeout_counter; |
||
| 273 | 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; |
||
| 274 | } while((stable_counter < 100) && (timeout_counter * MICROSECONDS_PER_MILLISECOND <= ((ut_a3906data_t*)ut->data)->timeout)); |
||
| 275 | status |= (timeout_counter * MICROSECONDS_PER_MILLISECOND > ((ut_a3906data_t*)ut->data)->timeout) ? APAL_STATUS_TIMEOUT : 0x00;
|
||
| 276 | if (status == APAL_STATUS_SUCCESS) {
|
||
| 277 | aosUtPassed(stream, &result); |
||
| 278 | } else {
|
||
| 279 | aosUtFailedMsg(stream, &result, "0x%08X\n", status);
|
||
| 280 | } |
||
| 281 | |||
| 282 | // stop the PWM
|
||
| 283 | a3906_lld_set_pwm(((ut_a3906data_t*)ut->data)->pwm.driver, ((ut_a3906data_t*)ut->data)->pwm.channel.left_forward, APAL_PWM_WIDTH_OFF); |
||
| 284 | a3906_lld_set_pwm(((ut_a3906data_t*)ut->data)->pwm.driver, ((ut_a3906data_t*)ut->data)->pwm.channel.left_backward, APAL_PWM_WIDTH_OFF); |
||
| 285 | a3906_lld_set_pwm(((ut_a3906data_t*)ut->data)->pwm.driver, ((ut_a3906data_t*)ut->data)->pwm.channel.right_forward, APAL_PWM_WIDTH_OFF); |
||
| 286 | a3906_lld_set_pwm(((ut_a3906data_t*)ut->data)->pwm.driver, ((ut_a3906data_t*)ut->data)->pwm.channel.right_backward, APAL_PWM_WIDTH_OFF); |
||
| 287 | |||
| 288 | aosUtInfoMsg(stream,"driver object memory footprint: %u bytes\n", sizeof(A3906Driver)); |
||
| 289 | |||
| 290 | return result;
|
||
| 291 | } |
||
| 292 | |||
| 293 | #endif /* (AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_USE_A3906) */ |