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-rw-r--r--digital/avr/modules/motor/output/test/Makefile23
-rw-r--r--digital/avr/modules/motor/output/test/avrconfig_both.h136
-rw-r--r--digital/avr/modules/motor/output/test/avrconfig_mp.h109
-rw-r--r--digital/avr/modules/motor/output/test/avrconfig_ocr.h117
-rw-r--r--digital/avr/modules/motor/output/test/test_output.c154
5 files changed, 539 insertions, 0 deletions
diff --git a/digital/avr/modules/motor/output/test/Makefile b/digital/avr/modules/motor/output/test/Makefile
new file mode 100644
index 00000000..33c13d9c
--- /dev/null
+++ b/digital/avr/modules/motor/output/test/Makefile
@@ -0,0 +1,23 @@
+BASE = ../../../..
+PROGS = test_output
+test_output_SOURCES = test_output.c
+MODULES = utils uart proto motor/output $(OUTPUT_MODULE)
+CONFIGFILE = avrconfig_ocr.h
+# atmega8, atmega8535, atmega128...
+AVR_MCU = atmega32
+# -O2 : speed
+# -Os : size
+OPTIMIZE = -Os
+
+ifeq ($(CONFIGFILE),avrconfig_ocr.h)
+OUTPUT_MODULE = motor/output/pwm_ocr
+else ifeq ($(CONFIGFILE),avrconfig_mp.h)
+OUTPUT_MODULE = motor/output/pwm_mp spi
+else
+OUTPUT_MODULE = motor/output/pwm_ocr motor/output/pwm_mp spi
+endif
+
+TEST_MCU = atmega128
+TEST_CONFIGFILES = avrconfig_mp.h avrconfig_both.h
+
+include $(BASE)/make/Makefile.gen
diff --git a/digital/avr/modules/motor/output/test/avrconfig_both.h b/digital/avr/modules/motor/output/test/avrconfig_both.h
new file mode 100644
index 00000000..7ef23ac3
--- /dev/null
+++ b/digital/avr/modules/motor/output/test/avrconfig_both.h
@@ -0,0 +1,136 @@
+#ifndef avrconfig_both_h
+#define avrconfig_both_h
+/* avrconfig_both.h */
+/* 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.
+ *
+ * }}} */
+
+/* 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/output - Output module. */
+/** Use Output Compare PWM output. */
+#define AC_OUTPUT_USE_PWM_OCR 1
+/** Use Motor Power PWM output. */
+#define AC_OUTPUT_USE_PWM_MP 1
+/** Define module and module index for each output. */
+#define AC_OUTPUT_LIST \
+ (pwm_ocr, 0), (pwm_ocr, 1), (pwm_ocr, 2), (pwm_ocr, 3), \
+ (pwm_mp, 0), (pwm_mp, 1), (pwm_mp, 2), (pwm_mp, 3)
+
+/* motor/output/pwm_ocr - Output Compare PWM output module. */
+/** For each output, define output parameters:
+ *
+ * (timer, ocr, pwm_io, dir_io[, brake_io])
+ *
+ * With:
+ * - timer: timer number (ex: 1 for TIMER1)
+ * - ocr: output compare (ex: A for output compare A)
+ * - mode: compare output mode (ex: 2, see datasheet)
+ * - pwm_io: corresponding io port (ex: B, 1)
+ * - dir_io: io port used for direction (ex: B, 2)
+ * - brake_io: optional io port used for brake (ex: B, 3)
+ */
+#define AC_OUTPUT_PWM_OCR_LIST \
+ (1, B, 2, B,6, B,4), \
+ (1, C, 2, B,7, B,5), \
+ (3, B, 2, E,4, E,2), \
+ (3, C, 2, E,5, E,3)
+/** Clock select for each used timer. */
+#define AC_OUTPUT_PWM_OCR_CS_1 0b0001
+/** Waveform Generation Mode for each used timer. */
+#define AC_OUTPUT_PWM_OCR_WGM_1 0b0111
+/** Offset added to PWM value to compensate for H-bridge weakness. */
+#define AC_OUTPUT_PWM_OCR_OFFSET 0
+
+/* motor/output/pwm_mp - Motor Power board PWM output module. */
+/** Number of outputs, there is two outputs per board. */
+#define AC_OUTPUT_PWM_MP_NB 4
+/** Slave select for first Motor Power board.
+ * WARNING: this must match hardware SS pin if using hardware SPI! */
+#define AC_OUTPUT_PWM_MP_SPI_SS_IO_0 B, 0
+/** Slave select for next Motor Power boards. */
+#define AC_OUTPUT_PWM_MP_SPI_SS_IO_1 E, 4
+
+/* spi - SPI module. */
+/** Select driver: HARD, SOFT, or NONE. */
+#define AC_SPI0_DRIVER HARD
+/** Same thing for an optionnal second SPI driver. */
+#define AC_SPI1_DRIVER NONE
+
+#endif /* avrconfig_both_h */
diff --git a/digital/avr/modules/motor/output/test/avrconfig_mp.h b/digital/avr/modules/motor/output/test/avrconfig_mp.h
new file mode 100644
index 00000000..1cafe775
--- /dev/null
+++ b/digital/avr/modules/motor/output/test/avrconfig_mp.h
@@ -0,0 +1,109 @@
+#ifndef avrconfig_mp_h
+#define avrconfig_mp_h
+/* avrconfig_mp.h */
+/* 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.
+ *
+ * }}} */
+
+/* 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/output - Output module. */
+/** Use Output Compare PWM output. */
+#define AC_OUTPUT_USE_PWM_OCR 0
+/** Use Motor Power PWM output. */
+#define AC_OUTPUT_USE_PWM_MP 1
+/** Define module and module index for each output. */
+#define AC_OUTPUT_LIST (pwm_mp, 0), (pwm_mp, 1), (pwm_mp, 3), (pwm_mp, 2)
+
+/* motor/output/pwm_mp - Motor Power board PWM output module. */
+/** Number of outputs, there is two outputs per board. */
+#define AC_OUTPUT_PWM_MP_NB 4
+/** Slave select for first Motor Power board.
+ * WARNING: this must match hardware SS pin if using hardware SPI! */
+#define AC_OUTPUT_PWM_MP_SPI_SS_IO_0 B, 0
+/** Slave select for next Motor Power boards. */
+#define AC_OUTPUT_PWM_MP_SPI_SS_IO_1 E, 4
+
+/* spi - SPI module. */
+/** Select driver: HARD, SOFT, or NONE. */
+#define AC_SPI0_DRIVER HARD
+/** Same thing for an optionnal second SPI driver. */
+#define AC_SPI1_DRIVER NONE
+
+#endif /* avrconfig_mp_h */
diff --git a/digital/avr/modules/motor/output/test/avrconfig_ocr.h b/digital/avr/modules/motor/output/test/avrconfig_ocr.h
new file mode 100644
index 00000000..0eb3463a
--- /dev/null
+++ b/digital/avr/modules/motor/output/test/avrconfig_ocr.h
@@ -0,0 +1,117 @@
+#ifndef avrconfig_ocr_h
+#define avrconfig_ocr_h
+/* avrconfig_ocr.h */
+/* 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.
+ *
+ * }}} */
+
+/* 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 0
+/** 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/output - Output module. */
+/** Use Output Compare PWM output. */
+#define AC_OUTPUT_USE_PWM_OCR 1
+/** Use Motor Power PWM output. */
+#define AC_OUTPUT_USE_PWM_MP 0
+/** Define module and module index for each output. */
+#define AC_OUTPUT_LIST (pwm_ocr, 0), (pwm_ocr, 1)
+
+/* motor/output/pwm_ocr - Output Compare PWM output module. */
+/** For each output, define output parameters:
+ *
+ * (timer, ocr, pwm_io, dir_io[, brake_io])
+ *
+ * With:
+ * - timer: timer number (ex: 1 for TIMER1)
+ * - ocr: output compare (ex: A for output compare A)
+ * - mode: compare output mode (ex: 2, see datasheet)
+ * - pwm_io: corresponding io port (ex: B, 1)
+ * - dir_io: io port used for direction (ex: B, 2)
+ * - brake_io: optional io port used for brake (ex: B, 3)
+ */
+#define AC_OUTPUT_PWM_OCR_LIST \
+ (1, A, 2, D,5, D,3, A,4), \
+ (1, B, 2, D,4, D,2, A,5)
+/** Clock select for each used timer. */
+#define AC_OUTPUT_PWM_OCR_CS_1 0b0001
+/** Waveform Generation Mode for each used timer. */
+#define AC_OUTPUT_PWM_OCR_WGM_1 0b0011
+/** Offset added to PWM value to compensate for H-bridge weakness. */
+#define AC_OUTPUT_PWM_OCR_OFFSET 0x40
+
+#endif /* avrconfig_ocr_h */
diff --git a/digital/avr/modules/motor/output/test/test_output.c b/digital/avr/modules/motor/output/test/test_output.c
new file mode 100644
index 00000000..f38c7383
--- /dev/null
+++ b/digital/avr/modules/motor/output/test/test_output.c
@@ -0,0 +1,154 @@
+/* test_output.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 "modules/utils/utils.h"
+#include "modules/uart/uart.h"
+#include "modules/proto/proto.h"
+
+#include "modules/motor/output/output.h"
+
+#include "io.h"
+
+output_t output[OUTPUT_NB];
+
+int16_t target[OUTPUT_NB];
+int16_t current[OUTPUT_NB];
+
+uint16_t output_speed_cpt = 1, output_speed = 250;
+uint16_t output_stat_cpt, output_stat;
+
+int
+main (void)
+{
+ uint8_t i;
+ for (i = 0; i < OUTPUT_NB; i++)
+ {
+ output[i].min = 0x10;
+ output[i].max = OUTPUT_MAX;
+ output_init (i, &output[i]);
+ }
+ uart0_init ();
+ proto_send0 ('z');
+ sei ();
+ while (1)
+ {
+ utils_delay_ms (4);
+ if (output_speed && !--output_speed_cpt)
+ {
+ for (i = 0; i < OUTPUT_NB; i++)
+ {
+ if (target[i] < current[i])
+ current[i]--;
+ else if (target[i] > output[i].cur)
+ current[i]++;
+ output_set (&output[i], current[i]);
+ }
+ output_speed_cpt = output_speed;
+ }
+ if (output_stat && !--output_stat_cpt)
+ {
+ proto_send2w ('W', output[0].cur, output[1].cur);
+ output_stat_cpt = output_stat;
+ }
+ while (uart0_poll ())
+ proto_accept (uart0_getc ());
+ }
+}
+
+/** Handle incoming messages. */
+void
+proto_callback (uint8_t cmd, uint8_t size, uint8_t *args)
+{
+ uint8_t i;
+ uint8_t ok = 1;
+ uint8_t index = args[0];
+ int16_t value = v8_to_v16 (args[1], args[2]);
+#define c(cmd, size) (cmd << 8 | size)
+ switch (c (cmd, size))
+ {
+ case c ('z', 0):
+ /* Reset. */
+ utils_reset ();
+ break;
+ case c ('w', 0):
+ /* Set zero value. */
+ for (i = 0; i < OUTPUT_NB; i++)
+ {
+ output_set (&output[index], 0);
+ current[index] = target[index] = 0;
+ }
+ case c ('w', 3):
+ /* Set direct value.
+ * - b: output index.
+ * - w: output value. */
+ if (index < OUTPUT_NB)
+ {
+ output_set (&output[index], value);
+ target[index] = current[index];
+ }
+ else
+ ok = 0;
+ break;
+ case c ('t', 3):
+ /* Set target.
+ * - b: output index.
+ * - w: output target. */
+ if (index < OUTPUT_NB)
+ {
+ current[index] = output[index].cur;
+ target[index] = value;
+ }
+ else
+ ok = 0;
+ break;
+ case c ('s', 2):
+ /* Set targeting speed.
+ * - w: loops between update. */
+ output_speed_cpt = output_speed = v8_to_v16 (args[0], args[1]);
+ break;
+ case c ('r', 2):
+ /* Set reverse flag.
+ * - b: output index.
+ * - b: reverse flag. */
+ if (index < OUTPUT_NB)
+ output_set_reverse (&output[index], args[1]);
+ else
+ ok = 0;
+ break;
+ case c ('W', 2):
+ /* Output stats. */
+ output_stat_cpt = output_stat = v8_to_v16 (args[0], args[1]);
+ break;
+ default:
+ ok = 0;
+ break;
+ }
+ if (ok)
+ proto_send (cmd, size, args);
+ else
+ proto_send0 ('?');
+#undef c
+}