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bertos/cpu/arm/drv/stepper_at91_hwtest.c

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