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-rw-r--r--digital/io/src/test/testgetsamples/Makefile2
-rw-r--r--digital/io/src/test/testgetsamples/avrconfig.h95
-rw-r--r--digital/io/src/test/testgetsamples/main.c80
3 files changed, 163 insertions, 14 deletions
diff --git a/digital/io/src/test/testgetsamples/Makefile b/digital/io/src/test/testgetsamples/Makefile
index ad659fdd..b0a3a7a3 100644
--- a/digital/io/src/test/testgetsamples/Makefile
+++ b/digital/io/src/test/testgetsamples/Makefile
@@ -1,4 +1,4 @@
-BASE= ..
+BASE= ../..
all: main.c $(BASE)/getsamples.c $(BASE)/getsamples_cb.c
gcc -g -O2 -Wall main.c $(BASE)/getsamples.c $(BASE)/getsamples_cb.c -o fsm
diff --git a/digital/io/src/test/testgetsamples/avrconfig.h b/digital/io/src/test/testgetsamples/avrconfig.h
new file mode 100644
index 00000000..c4d9f159
--- /dev/null
+++ b/digital/io/src/test/testgetsamples/avrconfig.h
@@ -0,0 +1,95 @@
+#ifndef avrconfig_h
+#define avrconfig_h
+/* avrconfig.h */
+/* avr.spi - SPI AVR module. {{{
+ *
+ * Copyright (C) 2008 NĂ©lio Laranjeiro
+ *
+ * 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 POLLING
+/** Recv mode, same as send mode. */
+#define AC_UART0_RECV_MODE POLLING
+/** 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 WAIT
+/** 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
+
+/* flash - Flash SPI AVR module. */
+/** Flash PORT used. */
+#define AC_FLASH_PORT PORTD
+/** Flash DDR used. */
+#define AC_FLASH_DDR DDRD
+/** Flash SS pin. */
+#define AC_FLASH_BIT_SS 5
+
+
+#endif /* avrconfig_h */
diff --git a/digital/io/src/test/testgetsamples/main.c b/digital/io/src/test/testgetsamples/main.c
index 33a3fd80..4e156e05 100644
--- a/digital/io/src/test/testgetsamples/main.c
+++ b/digital/io/src/test/testgetsamples/main.c
@@ -22,33 +22,31 @@
* Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
*
* }}} */
-#define uint32_t (unsigned int)
-#define uint16_t (unsigned short)
-#define uint8_t (unsigned char)
+#include "common.h"
+#include "modules/proto/proto.h"
+#include "modules/utils/utils.h"
-#include "../getsamples.h"
-#include "../getsamples_robo.h"
-
-#include <stdio.h>
+#include "../../getsamples.h"
+#include "../../getsamples_robo.h"
void
getsamples_print_test (getsamples_t *getsamples)
{
- printf ("Machine state ");
-
+ printf ("STATE ");
switch (getsamples->fsm)
{
case GETSAMPLES_STATE_START:
printf ("START");
+ break;
case GETSAMPLES_STATE_PREPARE_ARM:
- printf ("PREPARE_ARM");
+ printf ("PREPEARE_ARM");
break;
case GETSAMPLES_STATE_END:
printf ("END");
break;
case GETSAMPLES_STATE_FORWARD_CONTROL:
- printf ("FORWARD CONTROL");
+ printf ("FORWARD_CONTROL");
break;
case GETSAMPLES_STATE_TAKE_SAMPLES:
printf ("TAKE_SAMPLES");
@@ -57,10 +55,10 @@ getsamples_print_test (getsamples_t *getsamples)
printf ("BACKWARD");
break;
case GETSAMPLES_STATE_GO_TO_POSITION:
- printf ("GO TO POSITION");
+ printf ("GO_TO_POSITION");
break;
case GETSAMPLES_STATE_NB:
- printf ("NB");
+ printf ("STATE_NB");
}
printf ("\n");
}
@@ -73,6 +71,15 @@ main (void)
getsamples_init (&getsamples_fsm);
getsamples_print_test (&getsamples_fsm);
+ getsamples_fsm.distributor_x = 700;
+ getsamples_fsm.distributor_y = 2100;
+ getsamples_fsm.samples = 3;
+
+ getsamples_handle_event (&getsamples_fsm,
+ GETSAMPLES_EVENT_ok);
+
+ getsamples_print_test (&getsamples_fsm);
+
getsamples_handle_event (&getsamples_fsm,
GETSAMPLES_EVENT_position_failed);
@@ -84,5 +91,52 @@ main (void)
getsamples_print_test (&getsamples_fsm);
+ getsamples_handle_event (&getsamples_fsm,
+ GETSAMPLES_EVENT_arm_moved);
+
+
+ getsamples_print_test (&getsamples_fsm);
+
+ getsamples_handle_event (&getsamples_fsm,
+ GETSAMPLES_EVENT_position_reached);
+
+ getsamples_print_test (&getsamples_fsm);
+
+ for (getsamples_fsm.samples--; getsamples_fsm.samples; getsamples_fsm.samples --)
+ {
+ getsamples_handle_event (&getsamples_fsm,
+ GETSAMPLES_EVENT_sample_took);
+
+ getsamples_print_test (&getsamples_fsm);
+ }
+
+ getsamples_handle_event (&getsamples_fsm,
+ GETSAMPLES_EVENT_sample_took);
+
+ getsamples_print_test (&getsamples_fsm);
+
+ getsamples_handle_event (&getsamples_fsm,
+ GETSAMPLES_EVENT_position_reached);
+
+ getsamples_print_test (&getsamples_fsm);
+
return 0;
}
+
+void
+asserv_set_x_position (uint32_t position)
+{
+ printf ("X position : %d\n", position);
+}
+
+void
+asserv_move_arm (uint16_t position, uint8_t speed)
+{
+ printf ("Move arm, position : %d, speed : %d\n", position, speed);
+}
+
+void
+asserv_set_y_position (int32_t y)
+{
+ printf ("Y position : %d\n", y);
+}