apps/rpp-test-suite/hbr.c

   1 /* Copyright (C) 2013 Czech Technical University in Prague
   2  *
   3  * Authors:
   4  *     - Carlos Jenkins <carlos@jenkins.co.cr>
   5  *
   6  * This document contains proprietary information belonging to Czech
   7  * Technical University in Prague. Passing on and copying of this
   8  * document, and communication of its contents is not permitted
   9  * without prior written authorization.
  10  *
  11  * File : aout.c
  12  * Abstract:
  13  *     RPP test suite - module for testing AOUT.
  14  *
  15  * References:
  16  *     test.h
  17  */
  18
  19
  20 #include <math.h> // sin()
  21
  22 #include "rpp/rpp.h"
  23 #include "test.h"
  24
  25 #define SINE_FREQ_HZ     0.05
  26 #define SAMPLE_RATE_HZ     20
  27 // Which means 1% increment of duty cycle per sample
  28
  29 // Task control
  30 static boolean_t stop_tasks = FALSE;
  31 static uint8_t tasks_running = 0;
  32
  33 /**
  34  * FreeRTOS Task that controls the H-Bridge following a sine wave.
  35  */
  36 void hbr_test_task(void *par)
  37 {
  38         rpp_sci_printf((const char *)
  39                                    "H-Bridge Test at %1.2f Hz:\r\n", SINE_FREQ_HZ
  40                                    );
  41         rpp_sci_printf((const char *)
  42                                    "===========================================================\r\n"
  43                                    );
  44         rpp_sci_printf((const char *)"Samples: 0");
  45
  46         // Calculate wait time in OS ticks
  47         static const portTickType freq_ticks = configTICK_RATE_HZ / SAMPLE_RATE_HZ;
  48         portTickType last_wake_time = xTaskGetTickCount();
  49
  50         // Constant trigonometric variables
  51         const double two_pi = 2.0 * (4.0 * atan(1.0)); // Just 2pi
  52         /*
  53          * A little bit of math:
  54          * In this example we want to generate a 0.05Hz (one period each 20s)
  55          * sinusoid wave with a sampling rate of 20Hz so duty cycle increments or
  56          * decrements 1% per sample.
  57          */
  58         const double step = (two_pi * SINE_FREQ_HZ) / SAMPLE_RATE_HZ;
  59
  60         uint64_t samples = 0;
  61         int i = 0;
  62         while (!stop_tasks) {
  63
  64                 for (i = 0; (i < SAMPLE_RATE_HZ) && !stop_tasks; i++, samples++) {
  65
  66                         // Update H-Bridge
  67                         if (rpp_hbr_control(sin(samples * step)) != SUCCESS)
  68                                 rpp_sci_printf((const char *)
  69                                                            "ERROR: Input error on H-Bridge control signal.\r\n"
  70                                                            );
  71
  72                         // Wait until next step
  73                         if (!stop_tasks)
  74                                 vTaskDelayUntil(&last_wake_time, freq_ticks);
  75                 }
  76
  77                 rpp_sci_printf((const char *)
  78                                            "\b\b\b\b\b\b\b\b\b\b\b\b\b\b\b\b\b\b\b\b"
  79                                            "Samples: %lu", samples + 1
  80                                            );
  81
  82         }
  83
  84         // Delete myself
  85         tasks_running--;
  86         vTaskDelete(NULL);
  87 }
  88
  89
  90 /**
  91  * HBR Test entry point.
  92  */
  93 void test_hbr()
  94 {
  95         /// Configure module
  96         // Configure H-Bridge at default frequency
  97         if (rpp_hbr_enable(-1) != SUCCESS) {
  98                 rpp_sci_printf((const char *)
  99                                            "ERROR: H-Bridge could not be started.\r\n"
 100                                            );
 101                 wait_for_quit();
 102                 return;
 103         }
 104
 105
 106         /// Spawn tasks
 107         xTaskHandle test_task_handle;
 108
 109         portBASE_TYPE task_created = xTaskCreate(hbr_test_task,
 110                                                                                          (const signed char *)"hbr_test_task",
 111                                                                                          TEST_TASK_STACK, NULL, TEST_TASK_PRIORITY,
 112                                                                                          &test_task_handle
 113                                                                                          );
 114
 115         if (task_created != pdPASS) {
 116
 117                 rpp_sci_printf((const char *)
 118                                            "ERROR: Problem spawning the test task. "
 119                                            "Error code: %d\r\n", (uint32_t)task_created
 120                                            );
 121                 if (rpp_hbr_disable() != SUCCESS)
 122                         rpp_sci_printf((const char *)
 123                                                    "ERROR: Could not stop H-Bridge module.\r\n"
 124                                                    );
 125                 wait_for_quit();
 126                 return;
 127         }
 128         tasks_running++;
 129
 130
 131         // Wait for user exit
 132         wait_for_quit();
 133         stop_tasks = TRUE;
 134         while (tasks_running > 0)
 135                 taskYIELD();
 136         stop_tasks = FALSE;
 137
 138
 139         /// Reset module configuration
 140         if (rpp_hbr_disable() != SUCCESS)
 141                 rpp_sci_printf((const char *)
 142                                            "ERROR: Could not stop H-Bridge module.\r\n"
 143                                            );
 144
 145
 146         rpp_sci_printf((const char *)"\r\n");
 147
 148         return;
 149 }