175 lines
4.0 KiB
C
175 lines
4.0 KiB
C
/**
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* \file
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* <!--
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* This file is part of BeRTOS.
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*
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* Bertos is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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*
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* As a special exception, you may use this file as part of a free software
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* library without restriction. Specifically, if other files instantiate
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* templates or use macros or inline functions from this file, or you compile
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* this file and link it with other files to produce an executable, this
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* file does not by itself cause the resulting executable to be covered by
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* the GNU General Public License. This exception does not however
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* invalidate any other reasons why the executable file might be covered by
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* the GNU General Public License.
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*
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* Copyright 2008 Develer S.r.l. (http://www.develer.com/)
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* All Rights Reserved.
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* -->
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*
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* \brief Low level test for stepper driver interface implementation.
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*
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*
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* \author Daniele Basile <asterix@develer.com>
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*/
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#include "stepper_at91.h"
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#include "cfg/cfg_stepper.h"
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#include <cfg/macros.h>
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#include <cfg/debug.h>
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#include <cpu/types.h>
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#include <cpu/irq.h>
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#include <io/arm.h>
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#warning FIXME:This test is incomplete.. you MUST review..
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#if 0
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static void stepper_test_irq_schedule(struct Stepper *motor, stepper_time_t delay)
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{
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stepper_tc_doPulse(motor->timer);
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stepper_tc_setDelay(motor->timer, delay);
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}
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static void stepper_test_irq(struct Stepper *motor)
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{
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stepper_test_irq_schedule(motor, 300);
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}
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/*
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* Test a timer couter driver
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*/
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void stepper_timer_test_prestepper(struct Stepper *local_motor, struct StepperConfig *local_cfg, int index)
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{
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local_cfg->pulse = 300;
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local_motor->cfg = local_cfg;
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stepper_tc_init(index, &stepper_test_irq, local_motor);
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stepper_tc_irq_enable(local_motor->timer);
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}
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bool su = true;
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bool sub = true;
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uint16_t periodo_st0 = 100;
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uint16_t periodo_st1 = 233;
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static void tc_irq(void) __attribute__ ((interrupt));
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static void tc_irq(void)
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{
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uint32_t status_reg = TC2_SR & TC2_IMR;
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if (status_reg & BV(TC_CPAS))
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{
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TC2_CMR &= ~TC_ACPA_MASK;
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if (su)
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{
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TC2_CMR |= TC_ACPA_CLEAR_OUTPUT;
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TC2_RA += periodo_st0;
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}
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else
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{
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TC2_CMR |= TC_ACPA_SET_OUTPUT;
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TC2_RA += periodo_st1;
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}
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su = !su;
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}
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if (status_reg & BV(TC_CPBS))
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{
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TC2_CMR &= ~TC_BCPB_MASK ;
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if (sub)
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{
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TC2_CMR |= TC_BCPB_CLEAR_OUTPUT;
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TC2_RB += periodo_st0;
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}
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else
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{
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TC2_CMR |= TC_BCPB_SET_OUTPUT;
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TC2_RB += periodo_st1;
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}
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sub = !sub;
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}
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/* Inform hw that we have served the IRQ */
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AIC_EOICR = 0;
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}
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/*
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* Test a timer couter hardware
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*/
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void stepper_timer_test_brute(void)
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{
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PIOA_PDR |= BV(26) | BV(27);
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PIOA_BSR |= BV(26) | BV(27);
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// Power on TCLK0
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PMC_PCER |= BV(TC2_ID);// | BV(TC1_ID) | BV(TC2_ID);
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TC_BCR = 1;
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TC_BMR |= TC_NONEXC2;
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// Select waveform mode
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TC2_CMR = BV(TC_WAVE);
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TC2_CMR |= TC_EEVT_XC2;
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TC2_CMR |= TC_WAVSEL_UP;
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TC2_CMR |= TC_CLKS_MCK8;
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//Set waveform on TIOA and TIOB
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TC2_CMR |= TC_ACPA_SET_OUTPUT;
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TC2_CMR |= TC_BCPB_SET_OUTPUT;
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//Reset all comp_reg register
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TC2_RA = 0;
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TC2_RB = 0;
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cpuflags_t flags;
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IRQ_SAVE_DISABLE(flags);
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/* Set the vector. */
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AIC_SVR(TC2_ID) = tc_irq;
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/* Initialize to edge triggered with defined priority. */
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AIC_SMR(TC2_ID) = AIC_SRCTYPE_INT_EDGE_TRIGGERED;
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/* Enable the USART IRQ */
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AIC_IECR = BV(TC2_ID);
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IRQ_RESTORE(flags);
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// Disable all interrupt
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TC2_IDR = 0xFFFFFFFF;
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//Enable interrupt on RA, RB
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TC2_IER = BV(TC_CPAS) | BV(TC_CPBS);
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//Enable timer and trig it
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TC2_CCR = BV(TC_CLKEN) | BV(TC_SWTRG);
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}
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#endif
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