+/**
+ * \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 2005 Develer S.r.l. (http://www.develer.com/)
+ * -->
+ *
+ *
+ * \brief Test for PWM driver (implementation)
+ *
+ * This is a simple test for PWM driver. This module
+ * is target independent, so you can test all target that
+ * BeRTOS support.
+ * To use this test you should include a pwm_map.h header where
+ * are defined the PWM channels for your target. Then you should add
+ * or remove a test setting in pwm_test_cfg array, and edit a value for
+ * your specific test.
+ * Afther this, all is ready and you can test PWM driver.
+ *
+ * The test check first if all PWM channel starts, and then try
+ * to change a PWM duty cicle for all channel.
+ * The change of duty cycle is operate when a PWM channel is enable,
+ * in this way you can see if a pwm signal is clean and work properly.
+ * The duty value is change incrementaly, and when it arrive to 100% or 0%,
+ * we reset the duty value and restart the test.
+ * Further the duty test, we check also a PWM polarity, infact when we
+ * reach a reset duty value, we invert a polary of PWM wavform.
+ * So you can see if the hardware manage correctly this situation.
+ *
+ * Note: To be simple and target independently we not use a timer module,
+ * and so the delay is do with a for cycle.
+ *
+ * \author Daniele Basile <asterix@develer.com>
+ *
+ * \brief HW test for DC Motor.
+ */
+
+#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();
+ pwm_init();
+ 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;
+}