dc_motor_hwtest.c

Go to the documentation of this file.

#include <cfg/cfg_dc_motor.h>

#include <cfg/debug.h>
// Define logging setting (for cfg/log.h module).
#define LOG_LEVEL         DC_MOTOR_LOG_LEVEL
#define LOG_VERBOSITY     DC_MOTOR_LOG_FORMAT
#include <cfg/log.h>


#include <algo/pid_control.h>

#include <drv/timer.h>
#include <drv/dc_motor.h>
#include <drv/adc.h>
#include <drv/pwm.h>
#include <drv/dc_motor.h>

#include <kern/proc.h>

#include <cpu/irq.h>

#include <verstag.h>
#include <buildrev.h>

static DCMotorConfig motor =
{
    /* PID */
    {
        .kp = 1,           /* Proportional coefficient */
        .ki = 4,           /* Integral coefficient */
        .kd = 0.008,         /* Derivate coefficient */
        .i_max = 2E33,       /* Integrale max error value */
        .i_min = -2E33,      /* Integrale min error value */
        .out_max = 65535,    /* Max output value */
        .out_min = 0,        /* Min output value */
        .sample_period = 0  /* Millisecod between 2 output singal sampling */
    },
    .pid_enable = true,      /* Enable or disable pid control */

    /* PWM */
    .pwm_dev = 2,            /* PWM channel */
    .freq = 3000,            /* Frquency of PWM output waveform */

    /* ADC */
    .adc_ch = 2,             /* ADC channel */
    .adc_max = 65535,        /* Max range value for ADC */
    .adc_min = 0,            /* Min range value for ADC */

    /* DC Motor */
    .dir = 1,                 /* Default spin direction of DC motor */
    .braked = true,

    .speed = 10000,          /* Fixed speed value for seldc_motor_enableect DC motor, if enable_dev_speed flag is false */
    .speed_dev_id = 7,        /* Index of the device where read speed */
};

int dc_motor_testSetUp(void)
{
    IRQ_ENABLE;
    kdbg_init();
    timer_init();
    proc_init();
#if !CFG_PWM_ENABLE_OLD_API
    pwm_init();
#endif
    adc_init();

    return 0;
}

#define MOTOR      2

void NORETURN dc_motor_testRun(void)
{
    dc_motor_init();

    /*
     * Assign the configuration to motor.
     */
    dc_motor_setup(MOTOR, &motor);

    while (1)
    {
        /*
         * Using enable and disable
         */
        dc_motor_setDir(MOTOR, 1);
        dc_motor_setSpeed(MOTOR, 10000);
        dc_motor_enable(MOTOR, true);
        timer_delay(500);
        dc_motor_enable(MOTOR, false);


        dc_motor_setDir(MOTOR, 0);
        dc_motor_setSpeed(MOTOR, 60000);
        dc_motor_enable(MOTOR, true);
        timer_delay(150);
        dc_motor_enable(MOTOR, false);

        /*
         * Using timer
         */
        dc_motor_setDir(MOTOR, 1);
        dc_motor_setSpeed(MOTOR, 60000);
        dc_motor_startTimer(MOTOR, 150);
        dc_motor_waitStop(MOTOR);

        dc_motor_setDir(MOTOR, 0);
        dc_motor_setSpeed(MOTOR, 10000);
        dc_motor_startTimer(MOTOR, 500);
        dc_motor_waitStop(MOTOR);
    }

}

int dc_motor_testTearDown(void)
{
    return 0;
}