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Diffstat (limited to 'n/line-follower/src/test_dsp.c')
-rw-r--r--n/line-follower/src/test_dsp.c208
1 files changed, 208 insertions, 0 deletions
diff --git a/n/line-follower/src/test_dsp.c b/n/line-follower/src/test_dsp.c
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+++ b/n/line-follower/src/test_dsp.c
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+/* test_dsp.c */
+/* asserv - Position & speed motor control on a ATmega128. {{{
+ *
+ * Copyright (C) 2004 Nicolas Schodet
+ *
+ * Robot APB Team/Efrei 2005.
+ * Web: http://assos.efrei.fr/robot/
+ * Email: robot AT efrei DOT fr
+ *
+ * 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 "dsp.h"
+
+#include <n/avr/rs232/rs232.h>
+#include <n/avr/proto/proto.h>
+#include <n/avr/utils/utils.h>
+#include <avr/io.h>
+
+/* +AutoDec */
+/* -AutoDec */
+
+void
+proto_callback (uint8_t c, uint8_t argc, proto_arg_t argv[])
+{
+ int16_t a;
+ uint16_t b;
+ int16_t r;
+ int16_t i, j, k;
+ uint16_t w = 0xa66a;
+ int32_t al, bl, rl;
+ uint32_t wl[] = { 0xa66a6aa6, 0xffffffff };
+ static int32_t sa, sb;
+ switch (c | argc << 8)
+ {
+ case 'a' | 4 << 8:
+ sa = argv[0];
+ sa = sa << 8 | argv[1];
+ sa = sa << 8 | argv[2];
+ sa = sa << 8 | argv[3];
+ proto_send ('a', argc, argv);
+ break;
+ case 'b' | 4 << 8:
+ sb = argv[0];
+ sb = sb << 8 | argv[1];
+ sb = sb << 8 | argv[2];
+ sb = sb << 8 | argv[3];
+ proto_send ('b', argc, argv);
+ break;
+ case 'm' | 0 << 8:
+ for (i = 16; i > 0; i--)
+ {
+ a = w >> i;
+ for (j = 16; j >= 0; j--)
+ {
+ b = w >> j;
+ proto_send4 ('m',
+ (a >> 8) & 0xff, a & 0xff,
+ (b >> 8) & 0xff, b & 0xff);
+ r = dsp_mul_i16f88 (a, b);
+ proto_send2 ('r',
+ (r >> 8) & 0xff, r & 0xff);
+ r = dsp_mul_i16f88 (-a, b);
+ proto_send2 ('R',
+ (r >> 8) & 0xff, r & 0xff);
+ }
+ }
+ break;
+ case 'M' | 1 << 8:
+ rl = dsp_mul_f824 (sa, sb);
+ proto_send4 ('r',
+ (rl >> 24) & 0xff, (rl >> 16) & 0xff,
+ (rl >> 8) & 0xff, rl & 0xff);
+ break;
+ case 'c' | 1 << 8:
+ rl = dsp_cos (sa);
+ proto_send4 ('r',
+ (rl >> 24) & 0xff, (rl >> 16) & 0xff,
+ (rl >> 8) & 0xff, rl & 0xff);
+ rl = dsp_sin (sa);
+ proto_send4 ('r',
+ (rl >> 24) & 0xff, (rl >> 16) & 0xff,
+ (rl >> 8) & 0xff, rl & 0xff);
+ break;
+ case 'M' | 0 << 8:
+ for (k = 0; k < 2; k++)
+ {
+ for (i = 32; i > 0; i--)
+ {
+ al = wl[k] >> i;
+ for (j = 32; j >= 0; j--)
+ {
+ bl = wl[k] >> j;
+ proto_send4 ('A',
+ (al >> 24) & 0xff, (al >> 16) & 0xff,
+ (al >> 8) & 0xff, al & 0xff);
+ proto_send4 ('B',
+ (bl >> 24) & 0xff, (bl >> 16) & 0xff,
+ (bl >> 8) & 0xff, bl & 0xff);
+ rl = dsp_mul_f824 (al, bl);
+ proto_send4 ('r',
+ (rl >> 24) & 0xff, (rl >> 16) & 0xff,
+ (rl >> 8) & 0xff, rl & 0xff);
+ rl = dsp_mul_f824 (-al, bl);
+ proto_send4 ('r',
+ (rl >> 24) & 0xff, (rl >> 16) & 0xff,
+ (rl >> 8) & 0xff, rl & 0xff);
+ rl = dsp_mul_f824 (al, -bl);
+ proto_send4 ('r',
+ (rl >> 24) & 0xff, (rl >> 16) & 0xff,
+ (rl >> 8) & 0xff, rl & 0xff);
+ rl = dsp_mul_f824 (-al, -bl);
+ proto_send4 ('r',
+ (rl >> 24) & 0xff, (rl >> 16) & 0xff,
+ (rl >> 8) & 0xff, rl & 0xff);
+ }
+ }
+ }
+ break;
+ case 'd' | 0 << 8:
+ for (k = 0; k < 2; k++)
+ {
+ for (i = 32; i > 0; i--)
+ {
+ al = wl[k] >> i;
+ for (j = 32; j >= 0; j--)
+ {
+ bl = wl[k] >> j;
+ proto_send4 ('d',
+ (al >> 24) & 0xff, (al >> 16) & 0xff,
+ (al >> 8) & 0xff, al & 0xff);
+ proto_send4 ('v',
+ (bl >> 24) & 0xff, (bl >> 16) & 0xff,
+ (bl >> 8) & 0xff, bl & 0xff);
+ rl = dsp_div_f824 (al, bl);
+ proto_send4 ('r',
+ (rl >> 24) & 0xff, (rl >> 16) & 0xff,
+ (rl >> 8) & 0xff, rl & 0xff);
+ rl = dsp_div_f824 (-al, bl);
+ proto_send4 ('r',
+ (rl >> 24) & 0xff, (rl >> 16) & 0xff,
+ (rl >> 8) & 0xff, rl & 0xff);
+ rl = dsp_div_f824 (al, -bl);
+ proto_send4 ('r',
+ (rl >> 24) & 0xff, (rl >> 16) & 0xff,
+ (rl >> 8) & 0xff, rl & 0xff);
+ rl = dsp_div_f824 (-al, -bl);
+ proto_send4 ('r',
+ (rl >> 24) & 0xff, (rl >> 16) & 0xff,
+ (rl >> 8) & 0xff, rl & 0xff);
+ }
+ }
+ }
+ break;
+ case 'c' | 0 << 8:
+ for (al = 0; al < (1L << 24) + (1L << 21); al += 32 << 8)
+ {
+ proto_send4 ('c',
+ (al >> 24) & 0xff, (al >> 16) & 0xff,
+ (al >> 8) & 0xff, al & 0xff);
+ rl = dsp_cos (al);
+ proto_send4 ('r',
+ (rl >> 24) & 0xff, (rl >> 16) & 0xff,
+ (rl >> 8) & 0xff, rl & 0xff);
+ rl = dsp_sin (al);
+ proto_send4 ('r',
+ (rl >> 24) & 0xff, (rl >> 16) & 0xff,
+ (rl >> 8) & 0xff, rl & 0xff);
+ }
+ break;
+ case 'z' | 0 << 8:
+ reset ();
+ default:
+ proto_send0 ('e');
+ return;
+ }
+}
+
+int
+main (void)
+{
+ rs232_init ();
+ proto_init (proto_callback, rs232_putc);
+ rs232_putc ('!');
+ rs232_putc ('z');
+ rs232_putc ('d');
+ rs232_putc ('s');
+ rs232_putc ('p');
+ rs232_putc ('\r');
+ while (1)
+ {
+ uint8_t c = rs232_getc ();
+ proto_accept (c);
+ }
+ return 0;
+}