/* 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 #include #include #include /* +AutoDec */ /* -AutoDec */ void proto_callback (uint8_t cmd, uint8_t size, uint8_t *args) { 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 (cmd | size << 8) { case 'a' | 4 << 8: sa = args[0]; sa = sa << 8 | args[1]; sa = sa << 8 | args[2]; sa = sa << 8 | args[3]; proto_send ('a', size, args); break; case 'b' | 4 << 8: sb = args[0]; sb = sb << 8 | args[1]; sb = sb << 8 | args[2]; sb = sb << 8 | args[3]; proto_send ('b', size, args); break; case 'm' | 0 << 8: for (i = 16; i > 0; i--) { a = w >> i; for (j = 16; j >= 0; j--) { b = w >> j; proto_send2w ('m', a, b); r = dsp_mul_i16f88 (a, b); proto_send1w ('r', r); r = dsp_mul_i16f88 (-a, b); proto_send1w ('R', r); } } break; case 'M' | 1 << 8: rl = dsp_mul_f824 (sa, sb); proto_send1d ('r', rl); break; case 'c' | 1 << 8: rl = dsp_cos_f824 (sa); proto_send1d ('r', rl); rl = dsp_sin_f824 (sa); proto_send1d ('r', rl); 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_send1d ('A', al); proto_send1d ('B', bl); rl = dsp_mul_f824 (al, bl); proto_send1d ('r', rl); rl = dsp_mul_f824 (-al, bl); proto_send1d ('r', rl); rl = dsp_mul_f824 (al, -bl); proto_send1d ('r', rl); rl = dsp_mul_f824 (-al, -bl); proto_send1d ('r', rl); } } } 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_send1d ('d', al); proto_send1d ('v', bl); rl = dsp_div_f824 (al, bl); proto_send1d ('r', rl); rl = dsp_div_f824 (-al, bl); proto_send1d ('r', rl); rl = dsp_div_f824 (al, -bl); proto_send1d ('r', rl); rl = dsp_div_f824 (-al, -bl); proto_send1d ('r', rl); } } } break; case 'c' | 0 << 8: for (al = 0; al < (1L << 24) + (1L << 21); al += 32 << 8) { proto_send1d ('c', al); rl = dsp_cos_f824 (al); proto_send1d ('r', rl); rl = dsp_sin_f824 (al); proto_send1d ('r', rl); } break; case 's' | 0 << 8: for (k = 0; k < 2; k++) { for (i = 32; i > 0; i--) { al = wl[k] >> i; proto_send1d ('s', al); rl = dsp_sqrt_f248 (al); proto_send1d ('r', rl); } } break; case 'z' | 0 << 8: reset (); default: proto_send0 ('e'); return; } } int main (void) { rs232_init (); 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; }