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tests.c
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tests.c
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/*
* Copyright (c) 2011, Franklin W. Olin College of Engineering
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* - Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* - Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* - Neither the name of the University of California, Berkeley nor the names
* of its contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
*
* Series of test functions to test the functionality of the
* ImageProc/CrawlerProc class of microcontroller-based robotics boards.
*
* by Aaron M. Hoover
*
* v.0.1
*
* Revisions:
* Aaron M. Hoover 2011-05-02 Initial release
*
* Notes:
* A basic set of tests for testing all the functionality of the board.
* Every test function must take four arguments - char type, unsigned char
* status, unsigned char length, and unsigned char* data. This is because
* pointers to these functions are stored in the function pointer queue
* that is the primary queue that's serviced by the main loop.
* For simplicity, if each function is called with the same type and number of
* arguments, we can always use the same call structure in the main loop.
*/
#include "tests.h"
#include "init.h"
#include "consts.h"
#include "utils.h"
#include "radio.h"
#include "pwm.h"
#include "gyro.h"
#include "xl.h"
#include "dfmem.h"
#include "mpu6000.h"
#include <string.h>
#include <stdlib.h>
#include "radio_settings.h"
#include "carray.h"
/*****************************************************************************
* Function Name : test_radio
* Description : Send out a packet containing the data in the array pointed to
* by the 'data' argument passed in.
* Parameters : type - The type field of the radio test packet
* status - Status field of radio test packet (not yet used)
* length - The length of the payload data array
* data - Pointer to the character array containing the payload
* data to send back
* Return Value : success indicator - 0 for failed, 1 for succeeded
*****************************************************************************/
unsigned char test_radio(unsigned char type, unsigned char status,\
unsigned char length, unsigned char* data)
{
MacPacket packet;
Payload pld;
// Get a new packet from the pool
packet = radioRequestPacket(length);
if(packet == NULL) return 0;
macSetDestAddr(packet, RADIO_DEST_ADDR);
// Prepare the payload
pld = packet->payload;
paySetType(pld, type);
paySetStatus(pld, status);
paySetData(pld, length, data);
// Enqueue the packet for broadcast
while(!radioEnqueueTxPacket(packet));
// Return the packet
radioReturnPacket(packet);
return 1; //success
}
/*****************************************************************************
* Function Name : test_gyro
* Description : Create and send out over the radio a number of test packets that
* contain the three X,Y, and Z values read from the gyro.
* Parameters : type - The type field of the gyro test packet
* status - Status field of gyro test packet (not yet used)
* length - The length of the payload data array
* data - not used
* Return Value : success indicator - 0 for failed, 1 for succeeded
*****************************************************************************/
unsigned char test_gyro(unsigned char type, unsigned char status,\
unsigned char length, unsigned char* data)
{
/*
int i;
Payload pld;
WordVal dest_addr;
dest_addr = radioGetDestAddr();
for(i=0; i < data[0]; i++){
pld = payCreateEmpty(6);
paySetType(pld, type);
paySetStatus(pld, 0);
paySetData(pld, 6, gyroReadXYZ());
radioSendPayload(dest_addr, pld);
delay_ms(TEST_PACKET_INTERVAL_MS);
}
*/
return 1; //success
}
/*****************************************************************************
* Function Name : test_accel
* Description : Create and send out over the radio a number of test packets that
* contain the three X,Y, and Z values read from the
* accelerometer.
* Parameters : type - The type field of the accelerometer test packet
* status - Status field of the accelerometer test packet (not yet used)
* length - The length of the payload data array
* data - not used
* Return Value : success indicator - 0 for failed, 1 for succeeded
*****************************************************************************/
unsigned char test_accel(unsigned char type, unsigned char status,\
unsigned char length, unsigned char* data)
{
/*
MacPacket packet;
Payload pld;
for(int i=0; i < data[0]; i++) {
// Get a new packet from the pool
packet = radioRequestPacket(6);
if(packet == NULL) return;
macSetDestAddr(packet, RADIO_DEST_ADDR);
// Toggle LED
LED_1 = ~LED_1;
// Fill the payload
pld = packet->payload;
paySetType(pld, type);
paySetStatus(pld, 0);
paySetData(pld, 6, xlReadXYZ());
// Enqueue the packet for broadcast
while(!radioEnqueueTxPacket(packet));
// Return the packet
radioReturnPacket(packet);
// Wait around for a while
delay_ms(TEST_PACKET_INTERVAL_MS);
}
LED_1 = OFF;
*/
return 1; //success
}
/*****************************************************************************
* Function Name : test_dflash
* Description : Write four different strings to a page in the data flash,
* then read them back and send their contents out over the
* radio. Bonus points if you can identify the film without
* reverting to the internet.
* Parameters : type - The type field of the dflash test packet
* status - Status field of the dflash test packet (not yet used)
* length - The length of the payload data array
* data - not used
* Return Value : success indicator - 0 for failed, 1 for succeeded
*****************************************************************************/
unsigned char test_dflash(unsigned char type, unsigned char status,
unsigned char length, unsigned char* data)
{
MacPacket packet;
Payload pld;
char mem_data[256] = {};
char str1[] = "You must be here to fix the cable."; // 38+1
char str2[] = "Lord. You can imagine where it goes from here."; //46+1
char str3[] = "He fixes the cable?"; //19+1
char str4[] = "Don't be fatuous, Jeffrey."; //26+1
int page = 0x100;
strcpy(mem_data, str1);
strcpy(mem_data + strlen(str1), str2);
strcpy(mem_data + strlen(str1) + strlen(str2), str3);
strcpy(mem_data + strlen(str1) + strlen(str2) + strlen(str3), str4);
// Write into dfmem
dfmemWrite((unsigned char *)(mem_data), sizeof(mem_data), page, 0, 1);
// ---------- string 1 -----------------------------------------------------
// Get a new packet from the pool
packet = radioRequestPacket(strlen(str1));
if(packet == NULL) return 0;
macSetDestAddr(packet, RADIO_DEST_ADDR);
// Prepare the payload
pld = packet->payload;
paySetStatus(pld, STATUS_UNUSED);
paySetType(pld, type);
// Read out dfmem into the payload
dfmemRead(page, 0, strlen(str1), payGetData(pld));
// Enqueue the packet for broadcast
while(!radioEnqueueTxPacket(packet));
// Return the packet
radioReturnPacket(packet);
// Wait around a while
delay_ms(100);
// ---------- string 2 -----------------------------------------------------
// Get a new packet from the pool
packet = radioRequestPacket(strlen(str2));
if(packet == NULL) return 0;
macSetDestAddr(packet, RADIO_DEST_ADDR);
// Prepare the payload
pld = packet->payload;
paySetStatus(pld, STATUS_UNUSED);
paySetType(pld, type);
// Read out dfmem into the payload
dfmemRead(page, strlen(str1), strlen(str2), payGetData(pld));
// Enqueue the packet for broadcast
while(!radioEnqueueTxPacket(packet));
// Return the packet
radioReturnPacket(packet);
// Wait around a while
delay_ms(100);
// ---------- string 3 -----------------------------------------------------
// Get a new packet from the pool
packet = radioRequestPacket(strlen(str3));
if(packet == NULL) return 0;
macSetDestAddr(packet, RADIO_DEST_ADDR);
// Prepare the payload
pld = packet->payload;
paySetStatus(pld, STATUS_UNUSED);
paySetType(pld, type);
// Read out dfmem into the payload
dfmemRead(page, strlen(str1) + strlen(str2), strlen(str3),
payGetData(pld));
// Enqueue the packet for broadcast
while(!radioEnqueueTxPacket(packet));
// Return the packet
radioReturnPacket(packet);
// Wait around a while
delay_ms(100);
// ---------- string 4 -----------------------------------------------------
// Get a new packet from the pool
packet = radioRequestPacket(strlen(str4));
if(packet == NULL) return 0;
macSetDestAddr(packet, RADIO_DEST_ADDR);
// Prepare the payload
pld = packet->payload;
paySetStatus(pld, STATUS_UNUSED);
paySetType(pld, type);
// Read out dfmem into the payload
dfmemRead(page, strlen(str1) + strlen(str2) + strlen(str3), strlen(str4),
payGetData(pld));
// Enqueue the packet for broadcast
while(!radioEnqueueTxPacket(packet));
// Return the packet
radioReturnPacket(packet);
// Wait around a while
delay_ms(100);
return 1; //success
}
/*****************************************************************************
* Function Name : test_motor
* Description : Turns on a specified motor for a specified period of time
* and duty cycle
* Parameters : type - The type field of the motor test packet
* status - Status field of the motor test packet (not yet used)
* length - The length of the payload data array
* data - data[0] = motor number
* data[1] = on time (secs)
* data[1] = duty cycle (percent)
* Return Value : success indicator - 0 for failed, 1 for succeeded
*****************************************************************************/
unsigned char test_motor(unsigned char type, unsigned char status, \
unsigned char length, unsigned char* data)
{
/*
Payload pld;
WordVal dest_addr;
dest_addr = radioGetDestAddr();
intT emf;
unsigned char motor_id, on_time, duty_cycle, direction, return_emf;
unsigned char emf_data[100];
motor_id = data[0];
on_time = data[1];
//Duty cycle must be set to 100 - data[2] because the Freescale M17529 motor
//controller uses H/H inputs to set the high impedance output state.
// duty_cycle = 100 - data[2];
duty_cycle = data[2];
direction = data[3];
return_emf = data[4];
LED_1 = 1;
//Only accept valid motor_id numbers
if (motor_id != 1 && motor_id != 2){
LED_1 = 0;
return 0;
}
set_motor_direction(motor_id, direction);
SetDCMCPWM(motor_id, (2 * (long)PTPERvalue * (long)duty_cycle)/100, 0);
int i,j,k;
for (i=0; i < on_time; i++){
if(return_emf){
//Sample EMF data every 10ms
for(j=0; j < 2; j++){
pld = payCreateEmpty(100);
for(k=0; k < 50; k++){
AD1CON1bits.SAMP = 1;
while(!AD1CON1bits.DONE);
emf.i = ADC1BUF0 + 6;
//emf.i = (ADC1BUF0 + motor_id - 1);
emf_data[2*k] = emf.c[0];
emf_data[2*k+1] = emf.c[1];
delay_ms(10);
}
paySetType(pld, type);
paySetStatus(pld, 0);
paySetData(pld, 100, emf_data);
radioSendPayload(dest_addr, pld);
}
}else{
delay_ms(1000);
}
}
//Brake motor
set_motor_direction(motor_id, BRAKE);
SetDCMCPWM(motor_id, 0, 0);
LED_1 = 0;
*/
return 1;
}
unsigned char test_sma(unsigned char type, unsigned char status, \
unsigned char length, unsigned char* data)
{
/*
WordVal dest_addr;
dest_addr = radioGetDestAddr();
unsigned char chan_id, on_time, duty_cycle;
chan_id = data[0];
on_time = data[1];
duty_cycle = data[2];
if(chan_id == 1)
{
P1OVDCONbits.POVD3H = 1;
P1OVDCONbits.POVD3L = 0;
P1OVDCONbits.POUT3L = 0;
}else
{
P1OVDCONbits.POVD3L = 1;
P1OVDCONbits.POVD3H = 0;
P1OVDCONbits.POUT3H = 0;
}
SetDCMCPWM(3, (2 * (long)PTPERvalue * (long)duty_cycle)/100, 0);
if (chan_id == SMA_1)
{
MD_LED_1 = 1;
} else if (chan_id == SMA_2)
{
MD_LED_2 = 1;
}
int i;
for (i=0; i < on_time; i++)
{
delay_ms(1000);
}
SetDCMCPWM(3, 0, 0);
MD_LED_1 = 0;
MD_LED_2 = 0;
*/
return 1;
}
unsigned char test_mpu(unsigned char type, unsigned char status, \
unsigned char length, unsigned char* data)
{
MacPacket packet;
Payload pld;
mpuBeginUpdate();
int buf[7];
mpuGetGyro(&(buf[0]));
mpuGetXl(&(buf[3]));
mpuGetTemp(&(buf[6]));
packet = radioRequestPacket(14);
if(packet == NULL) return 0;
macSetDestAddr(packet, RADIO_DEST_ADDR);
// Prepare the payload
pld = packet->payload;
paySetStatus(pld, STATUS_UNUSED);
paySetType(pld, type);
paySetData(pld, 14, (unsigned char *)buf);
// Enqueue the packet for broadcast
while(!radioEnqueueTxPacket(packet));
// Return the packet
radioReturnPacket(packet);
return 1;
}
extern volatile MacPacket uart_tx_packet;
extern volatile unsigned char uart_tx_flag;
#include "ppool.h"
unsigned char test_mpu_uart(unsigned char type, unsigned char status, \
unsigned char length, unsigned char* data)
{
MacPacket packet;
Payload pld;
mpuBeginUpdate();
int buf[7];
mpuGetGyro(&(buf[0]));
mpuGetXl(&(buf[3]));
mpuGetTemp(&(buf[6]));
packet = ppoolRequestFullPacket(14);
if(packet == NULL) return 0;
// Prepare the payload
pld = packet->payload;
paySetStatus(pld, STATUS_UNUSED);
paySetType(pld, type);
paySetData(pld, 14, (unsigned char *)buf);
// Enqueue the packet for broadcast
uart_tx_packet = packet;
uart_tx_flag = 1;
return 1;
}
/*
* This version is for controlling the Freescale motor controller. The aim is
* to phase the controller out for the Toshiba TB6612FNG.
*/
unsigned char set_motor_direction(unsigned char chan_num, unsigned char\
direction)
{
/*
switch(chan_num){
case 1:
//Braking case: override both and set both to low
if (direction == BRAKE){
P1OVDCONbits.POVD1L = 0;
P1OVDCONbits.POUT1L = 0;
P1OVDCONbits.POVD1H = 0;
P1OVDCONbits.POUT1H = 0;
//Reverse case: set 1L to PWM, override 1H and set high (to enable high impedance during off times)
}else if (direction == REVERSE){
P1OVDCONbits.POVD1L = 1;
P1OVDCONbits.POVD1H = 0;
P1OVDCONbits.POUT1H = 1;
//Forward case: set 1H to PWM, override 1L and set high
}else if(direction == FORWARD){
P1OVDCONbits.POVD1L = 0;
P1OVDCONbits.POVD1H = 1;
P1OVDCONbits.POUT1L = 1;
}
break;
case 2:
//Braking case: override both and set both to low
if (direction == BRAKE){
P1OVDCONbits.POVD2L = 0;
P1OVDCONbits.POUT2L = 0;
P1OVDCONbits.POVD2H = 0;
P1OVDCONbits.POUT2H = 0;
//Reverse case: set 1L to PWM, override 1H and set high
}else if (direction == REVERSE){
P1OVDCONbits.POVD2L = 1;
P1OVDCONbits.POVD2H = 0;
P1OVDCONbits.POUT2H = 1;
//Forward case: set 1H to PWM, override 1L and set low
}else if (direction == FORWARD){
P1OVDCONbits.POVD2L = 0;
P1OVDCONbits.POVD2H = 1;
P1OVDCONbits.POUT2L = 1;
}
break;
default:
return 0;
}
*/
return 1;
}
/*
* This version is for the TB6612 hardware which has a very different
* configuration for controlling the motor direction.
*
* Forward = CW: PWM1H = High, PWM1L = Low.
* Reverse = CCW: PWM1H = Low, PWM1L = High.
*/
/*
unsigned char set_motor_direction(unsigned char chan_num, unsigned char\
direction)
{
switch(chan_num){
case 1:
//Reverse case: set 1L to PWM, override 1H and set (to enable high impedance during off times)
if (direction == REVERSE){
P1OVDCONbits.POVD1L = 1;
P1OVDCONbits.POVD1H = 0;
P1OVDCONbits.POUT1H = 0;
//Forward case: set 1H to PWM, override 1L and set high
}else if(direction == FORWARD){
P1OVDCONbits.POVD1L = 0;
P1OVDCONbits.POVD1H = 1;
P1OVDCONbits.POUT1L = 0;
}
break;
case 2:
//Braking case: override both and set both to low
if (direction == BRAKE){
P1OVDCONbits.POVD2L = 0;
P1OVDCONbits.POUT2L = 0;
P1OVDCONbits.POVD2H = 0;
P1OVDCONbits.POUT2H = 0;
//Reverse case: set 2L to PWM, override 2H and set high
}else if (direction == REVERSE){
P1OVDCONbits.POVD2L = 1;
P1OVDCONbits.POVD2H = 0;
P1OVDCONbits.POUT2H = 1;
//Forward case: set 2H to PWM, override 2L and set low
}else if (direction == FORWARD){
P1OVDCONbits.POVD2L = 0;
P1OVDCONbits.POVD2H = 1;
P1OVDCONbits.POUT2L = 1;
}
break;
default:
return 0;
}
return 1;
}
*/