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-rw-r--r--digital/avr/modules/motor/encoder/test/Makefile15
-rw-r--r--digital/avr/modules/motor/encoder/test/avrconfig_io.h110
-rw-r--r--digital/avr/modules/motor/encoder/test/avrconfig_xmem.h102
-rw-r--r--digital/avr/modules/motor/encoder/test/test_encoder.c192
4 files changed, 419 insertions, 0 deletions
diff --git a/digital/avr/modules/motor/encoder/test/Makefile b/digital/avr/modules/motor/encoder/test/Makefile
new file mode 100644
index 00000000..0d15f5dc
--- /dev/null
+++ b/digital/avr/modules/motor/encoder/test/Makefile
@@ -0,0 +1,15 @@
+BASE = ../../../..
+PROGS = test_encoder_ext
+test_encoder_ext_SOURCES = test_encoder.c
+MODULES = utils uart proto math/fixed motor/encoder motor/encoder/ext
+CONFIGFILE = avrconfig_xmem.h
+# atmega8, atmega8535, atmega128...
+AVR_MCU = atmega128
+# -O2 : speed
+# -Os : size
+OPTIMIZE = -Os
+
+TEST_MCU = atmega128
+TEST_CONFIGFILES = avrconfig_xmem.h avrconfig_io.h
+
+include $(BASE)/make/Makefile.gen
diff --git a/digital/avr/modules/motor/encoder/test/avrconfig_io.h b/digital/avr/modules/motor/encoder/test/avrconfig_io.h
new file mode 100644
index 00000000..5476afdc
--- /dev/null
+++ b/digital/avr/modules/motor/encoder/test/avrconfig_io.h
@@ -0,0 +1,110 @@
+#ifndef avrconfig_h
+#define avrconfig_h
+/* avrconfig.h */
+/* motor - Motor control module. {{{
+ *
+ * Copyright (C) 2010 Nicolas Schodet
+ *
+ * APBTeam:
+ * Web: http://apbteam.org/
+ * Email: team AT apbteam DOT org
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+ *
+ * }}} */
+
+/* global */
+/** AVR Frequency : 1000000, 1843200, 2000000, 3686400, 4000000, 7372800,
+ * 8000000, 11059200, 14745600, 16000000, 18432000, 20000000. */
+#define AC_FREQ 14745600
+
+/* uart - UART module. */
+/** Select hardware uart for primary uart: 0, 1 or -1 to disable. */
+#define AC_UART0_PORT 1
+/** Baudrate: 2400, 4800, 9600, 14400, 19200, 28800, 38400, 57600, 76800,
+ * 115200, 230400, 250000, 500000, 1000000. */
+#define AC_UART0_BAUDRATE 38400
+/** Send mode:
+ * - POLLING: no interrupts.
+ * - RING: interrupts, ring buffer. */
+#define AC_UART0_SEND_MODE RING
+/** Recv mode, same as send mode. */
+#define AC_UART0_RECV_MODE RING
+/** Character size: 5, 6, 7, 8, 9 (only 8 implemented). */
+#define AC_UART0_CHAR_SIZE 8
+/** Parity : ODD, EVEN, NONE. */
+#define AC_UART0_PARITY EVEN
+/** Stop bits : 1, 2. */
+#define AC_UART0_STOP_BITS 1
+/** Send buffer size, should be power of 2 for RING mode. */
+#define AC_UART0_SEND_BUFFER_SIZE 32
+/** Recv buffer size, should be power of 2 for RING mode. */
+#define AC_UART0_RECV_BUFFER_SIZE 32
+/** If the send buffer is full when putc:
+ * - DROP: drop the new byte.
+ * - WAIT: wait until there is room in the send buffer. */
+#define AC_UART0_SEND_BUFFER_FULL DROP
+/** In HOST compilation:
+ * - STDIO: use stdin/out.
+ * - PTS: use pseudo terminal. */
+#define AC_UART0_HOST_DRIVER STDIO
+/** Same thing for secondary port. */
+#define AC_UART1_PORT -1
+#define AC_UART1_BAUDRATE 115200
+#define AC_UART1_SEND_MODE RING
+#define AC_UART1_RECV_MODE RING
+#define AC_UART1_CHAR_SIZE 8
+#define AC_UART1_PARITY EVEN
+#define AC_UART1_STOP_BITS 1
+#define AC_UART1_SEND_BUFFER_SIZE 32
+#define AC_UART1_RECV_BUFFER_SIZE 32
+#define AC_UART1_SEND_BUFFER_FULL WAIT
+#define AC_UART1_HOST_DRIVER PTS
+
+/* proto - Protocol module. */
+/** Maximum argument size. */
+#define AC_PROTO_ARGS_MAX_SIZE 8
+/** Callback function name. */
+#define AC_PROTO_CALLBACK proto_callback
+/** Putchar function name. */
+#define AC_PROTO_PUTC uart0_putc
+/** Support for quote parameter. */
+#define AC_PROTO_QUOTE 1
+
+/* motor/encoder - Encoder module. */
+/** Use external encoder module. */
+#define AC_ENCODER_USE_EXT 1
+
+/* motor/encoder/ext - External encoder module. */
+/** Number of encoders. */
+#define AC_ENCODER_EXT_NB 4
+/** Use external memory hardware interface. */
+#define AC_ENCODER_EXT_USE_XMEM 0
+/** If not using XMEM, address/data bus, see io_bus.h. */
+#define AC_ENCODER_EXT_AD_BUS A, 8, 0
+/** If not using XMEM, address latch enable IO. */
+#define AC_ENCODER_EXT_ALE_IO B, 0
+/** If not using XMEM, read enable IO, valid low. */
+#define AC_ENCODER_EXT_RD_IO B, 1
+/** If not using XMEM and write available, write enable IO, valid low. */
+#define AC_ENCODER_EXT_WR_IO B, 2
+/** Reverse flag for each encoder (1 to reverse direction). */
+#define AC_ENCODER_EXT_REVERSE 1, 0, 1, 1
+/** Right shift for all encoders to lower resolution. */
+#define AC_ENCODER_EXT_SHIFT 1
+/** For debug purpose only! */
+#define AC_ENCODER_EXT_EXPORT_READ 1
+
+#endif /* avrconfig_h */
diff --git a/digital/avr/modules/motor/encoder/test/avrconfig_xmem.h b/digital/avr/modules/motor/encoder/test/avrconfig_xmem.h
new file mode 100644
index 00000000..e96299fe
--- /dev/null
+++ b/digital/avr/modules/motor/encoder/test/avrconfig_xmem.h
@@ -0,0 +1,102 @@
+#ifndef avrconfig_h
+#define avrconfig_h
+/* avrconfig.h */
+/* motor - Motor control module. {{{
+ *
+ * Copyright (C) 2010 Nicolas Schodet
+ *
+ * APBTeam:
+ * Web: http://apbteam.org/
+ * Email: team AT apbteam DOT org
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+ *
+ * }}} */
+
+/* global */
+/** AVR Frequency : 1000000, 1843200, 2000000, 3686400, 4000000, 7372800,
+ * 8000000, 11059200, 14745600, 16000000, 18432000, 20000000. */
+#define AC_FREQ 14745600
+
+/* uart - UART module. */
+/** Select hardware uart for primary uart: 0, 1 or -1 to disable. */
+#define AC_UART0_PORT 1
+/** Baudrate: 2400, 4800, 9600, 14400, 19200, 28800, 38400, 57600, 76800,
+ * 115200, 230400, 250000, 500000, 1000000. */
+#define AC_UART0_BAUDRATE 38400
+/** Send mode:
+ * - POLLING: no interrupts.
+ * - RING: interrupts, ring buffer. */
+#define AC_UART0_SEND_MODE RING
+/** Recv mode, same as send mode. */
+#define AC_UART0_RECV_MODE RING
+/** Character size: 5, 6, 7, 8, 9 (only 8 implemented). */
+#define AC_UART0_CHAR_SIZE 8
+/** Parity : ODD, EVEN, NONE. */
+#define AC_UART0_PARITY EVEN
+/** Stop bits : 1, 2. */
+#define AC_UART0_STOP_BITS 1
+/** Send buffer size, should be power of 2 for RING mode. */
+#define AC_UART0_SEND_BUFFER_SIZE 32
+/** Recv buffer size, should be power of 2 for RING mode. */
+#define AC_UART0_RECV_BUFFER_SIZE 32
+/** If the send buffer is full when putc:
+ * - DROP: drop the new byte.
+ * - WAIT: wait until there is room in the send buffer. */
+#define AC_UART0_SEND_BUFFER_FULL DROP
+/** In HOST compilation:
+ * - STDIO: use stdin/out.
+ * - PTS: use pseudo terminal. */
+#define AC_UART0_HOST_DRIVER STDIO
+/** Same thing for secondary port. */
+#define AC_UART1_PORT -1
+#define AC_UART1_BAUDRATE 115200
+#define AC_UART1_SEND_MODE RING
+#define AC_UART1_RECV_MODE RING
+#define AC_UART1_CHAR_SIZE 8
+#define AC_UART1_PARITY EVEN
+#define AC_UART1_STOP_BITS 1
+#define AC_UART1_SEND_BUFFER_SIZE 32
+#define AC_UART1_RECV_BUFFER_SIZE 32
+#define AC_UART1_SEND_BUFFER_FULL WAIT
+#define AC_UART1_HOST_DRIVER PTS
+
+/* proto - Protocol module. */
+/** Maximum argument size. */
+#define AC_PROTO_ARGS_MAX_SIZE 8
+/** Callback function name. */
+#define AC_PROTO_CALLBACK proto_callback
+/** Putchar function name. */
+#define AC_PROTO_PUTC uart0_putc
+/** Support for quote parameter. */
+#define AC_PROTO_QUOTE 1
+
+/* motor/encoder - Encoder module. */
+/** Use external encoder module. */
+#define AC_ENCODER_USE_EXT 1
+
+/* motor/encoder/ext - External encoder module. */
+/** Number of encoders. */
+#define AC_ENCODER_EXT_NB 4
+/** Use external memory hardware interface. */
+#define AC_ENCODER_EXT_USE_XMEM 1
+/** Reverse flag for each encoder (1 to reverse direction). */
+#define AC_ENCODER_EXT_REVERSE 1, 0, 1, 1
+/** Right shift for all encoders to lower resolution. */
+#define AC_ENCODER_EXT_SHIFT 1
+/** For debug purpose only! */
+#define AC_ENCODER_EXT_EXPORT_READ 1
+
+#endif /* avrconfig_h */
diff --git a/digital/avr/modules/motor/encoder/test/test_encoder.c b/digital/avr/modules/motor/encoder/test/test_encoder.c
new file mode 100644
index 00000000..efa4a787
--- /dev/null
+++ b/digital/avr/modules/motor/encoder/test/test_encoder.c
@@ -0,0 +1,192 @@
+/* test_encoder.c */
+/* motor - Motor control module. {{{
+ *
+ * Copyright (C) 2011 Nicolas Schodet
+ *
+ * APBTeam:
+ * Web: http://apbteam.org/
+ * Email: team AT apbteam DOT org
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+ *
+ * }}} */
+#include "common.h"
+#include "io.h"
+#include "modules/utils/utils.h"
+#include "modules/uart/uart.h"
+#include "modules/proto/proto.h"
+
+#include "modules/motor/encoder/encoder.h"
+#include "modules/motor/encoder/encoder_corrector.h"
+
+uint8_t read, read_cpt, read_mode;
+uint8_t ind, ind_cpt, ind_init;
+uint8_t count, count_cpt;
+
+encoder_t encoder[AC_ENCODER_EXT_NB];
+encoder_corrector_t encoder_corrector_right;
+
+#define TIMER_TOP 255
+#define TIMER_STEPS 4
+#define TIMER_STEP ((TIMER_TOP + 1) / TIMER_STEPS)
+
+void
+timer_init (void)
+{
+#ifndef HOST
+ TCCR0 = regv (FOC0, WGM00, COM01, COM0, WGM01, CS02, CS01, CS00,
+ 0, 0, 0, 0, 0, 1, 1, 0);
+#endif
+}
+
+void
+timer_wait (void)
+{
+#ifndef HOST
+ uint8_t i;
+ /* Make small steps with counter updates. */
+ for (i = 1; i < TIMER_STEPS; i++)
+ {
+ while (TCNT0 < i * TIMER_STEP)
+ ;
+ if (count)
+ encoder_update_step ();
+ }
+ /* Wait overflow. */
+ while (!(TIFR & _BV (TOV0)))
+ ;
+ /* Write 1 to clear. */
+ TIFR = _BV (TOV0);
+#else
+ if (count)
+ encoder_update_step ();
+#endif
+}
+
+int
+main (void)
+{
+ uint8_t i;
+#ifndef HOST
+ uint8_t read_old = 0;
+ uint8_t old_ind = 0;
+ const int total = 5000;
+#endif
+ timer_init ();
+ for (i = 0; i < AC_ENCODER_EXT_NB; i++)
+ encoder_init (i, &encoder[i]);
+ encoder_corrector_init (&encoder_corrector_right);
+ uart0_init ();
+ proto_send0 ('z');
+ sei ();
+ while (1)
+ {
+ timer_wait ();
+ if (count)
+ {
+ encoder_update ();
+ encoder_corrector_update (&encoder_corrector_right, &encoder[1]);
+ }
+#ifndef HOST
+ if (read && !--read_cpt)
+ {
+ uint8_t r0, r1, r2, r3;
+ r0 = encoder_ext_read (0);
+ r1 = encoder_ext_read (1);
+ r2 = encoder_ext_read (2);
+ r3 = encoder_ext_read (3);
+ if (read_mode == 0 || (read_mode == 1 && r3 != read_old)
+ || (read_mode == 2
+ && (r0 == 0 || r1 == 0 || r2 == 0 || r3 == 0)))
+ {
+ proto_send4b ('r', r0, r1, r2, r3);
+ read_old = r3;
+ }
+ read_cpt = read;
+ }
+ if (ind && !--ind_cpt)
+ {
+ i = encoder_ext_read (3);
+ if (!ind_init && i != old_ind)
+ {
+ uint8_t eip = old_ind + total;
+ uint8_t eim = old_ind - total;
+ proto_send7b ('i', old_ind, i, eip, eim, i - eip, i - eim,
+ i == eip || i == eim);
+ }
+ old_ind = i;
+ ind_init = 0;
+ ind_cpt = ind;
+ }
+#endif
+ if (count && !--count_cpt)
+ {
+ proto_send4w ('C', encoder[0].cur, encoder[1].cur,
+ encoder[2].cur, encoder[3].cur);
+ count_cpt = count;
+ }
+ while (uart0_poll ())
+ proto_accept (uart0_getc ());
+ }
+}
+
+/** Handle incoming messages. */
+void
+proto_callback (uint8_t cmd, uint8_t size, uint8_t *args)
+{
+#define c(cmd, size) (cmd << 8 | size)
+ switch (c (cmd, size))
+ {
+ case c ('z', 0):
+ /* Reset. */
+ utils_reset ();
+ break;
+ case c ('r', 1):
+ /* Output encoders raw value after every read. */
+ read_cpt = read = args[0];
+ read_mode = 0;
+ break;
+ case c ('R', 1):
+ /* Output encoders raw value only if last encoder changed. */
+ read_cpt = read = args[0];
+ read_mode = 1;
+ break;
+ case c ('Z', 1):
+ /* Output encoders raw value if any encoder is null. */
+ read_cpt = read = args[0];
+ read_mode = 2;
+ break;
+ case c ('i', 1):
+ /* Index checking mode. Require counter_index_test. */
+ ind_cpt = ind = args[0];
+ ind_init = 1;
+ break;
+ case c ('C', 1):
+ /* Regular encoder output, use encoder module code. */
+ count_cpt = count = args[0];
+ break;
+ case c ('c', 4):
+ /* Set correction. */
+ encoder_corrector_set_correction (&encoder_corrector_right,
+ v8_to_v32 (args[0], args[1],
+ args[2], args[3]));
+ break;
+ default:
+ proto_send0 ('?');
+ return;
+ }
+ proto_send (cmd, size, args);
+#undef c
+}