1 #include <system_def.h>
11 #include <hal_machperiph.h>
19 #include <ul_logreg.h>
21 #include "appl_defs.h"
22 #include "appl_fpga.h"
23 #include "appl_pxmc.h"
24 #include "pxmcc_types.h"
25 #include "pxmcc_interface.h"
27 int cmd_do_test_memusage(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
34 snprintf(str, sizeof(str), "memusage maxaddr 0x%08lx\n", (unsigned long)maxaddr);
35 cmd_io_write(cmd_io, str, strlen(str));
40 int cmd_do_test_adc(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
42 printf("ADC: %ld %ld %ld %ld %ld\n", (LPC_ADC->DR[0] & 0xFFF0) >> 4,
43 (LPC_ADC->DR[1] & 0xFFF0) >> 4,
44 (LPC_ADC->DR[2] & 0xFFF0) >> 4,
45 (LPC_ADC->DR[3] & 0xFFF0) >> 4,
46 (LPC_ADC->DR[7] & 0xFFF0) >> 4);
50 #ifdef APPL_WITH_DISTORE_EEPROM_USER
51 int cmd_do_test_distore(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
53 appl_distore_user_set_check4change();
57 int cmd_do_test_diload(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
59 appl_distore_user_restore();
62 #endif /*APPL_WITH_DISTORE_EEPROM_USER*/
64 int cmd_do_test_loglevel_cb(ul_log_domain_t *domain, void *context)
67 cmd_io_t *cmd_io = (cmd_io_t *)context;
70 snprintf(s, sizeof(s) - 1, "%s (%d)\n\r", domain->name, domain->level);
71 cmd_io_puts(cmd_io, s);
75 int cmd_do_test_loglevel(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
81 if (!line || (si_skspace(&line), !*line))
83 ul_logreg_for_each_domain(cmd_do_test_loglevel_cb, cmd_io);
87 res = ul_log_domain_arg2levels(line);
90 return res >= 0 ? 0 : CMDERR_BADPAR;
93 int cmd_do_spimst_blocking(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
98 int spi_chan = (int)(intptr_t)des->info[0];
99 uint8_t *tx_buff = NULL;
100 uint8_t *rx_buff = NULL;
105 if ((opchar = cmd_opchar_check(cmd_io, des, param)) < 0)
109 return -CMDERR_OPCHAR;
112 spi_chan = *param[1] - '0';
114 spi_drv = spi_find_drv(NULL, spi_chan);
117 return -CMDERR_BADSUF;
123 if (isdigit((int)*p))
125 if (si_long(&p, &addr, 16) < 0)
126 return -CMDERR_BADPAR;
129 if (si_fndsep(&p, "({") < 0)
130 return -CMDERR_BADSEP;
132 if ((res = si_add_to_arr(&p, (void **)&tx_buff, &len, 16, 1, "})")) < 0)
133 return -CMDERR_BADPAR;
135 rx_buff = malloc(len);
140 res = spi_transfer(spi_drv, addr, len, tx_buff, rx_buff);
144 printf("SPI! %02lX ERROR\n", addr);
149 printf("SPI! %02lX ", addr);
152 for (i = 0; i < len; i++)
153 printf("%s%02X", i ? "," : "", tx_buff[i]);
157 for (i = 0; i < len; i++)
158 printf("%s%02X", i ? "," : "", rx_buff[i]);
175 int sdram_access_test(void)
178 unsigned int pattern;
179 size_t ramsz = SDRAM_SIZE;
187 pattern = 0x12abcdef;
189 for (cnt = ramsz / sizeof(*ptr), ptr = (typeof(ptr))SDRAM_BASE; cnt--;)
192 pattern = pattern + 0x87654321;
196 printf("SDRAM write %d ms\n", (int)(lt_msdiff_t)(actual_msec - tic));
201 pattern = 0x12abcdef;
203 for (cnt = ramsz / sizeof(*ptr), ptr = (typeof(ptr))SDRAM_BASE; cnt--;)
207 printf("SDRAM error modify at %p (%08x)\n", ptr, *ptr ^ pattern);
212 pattern = pattern + 0x87654321;
216 printf("SDRAM modify %d ms\n", (int)(lt_msdiff_t)(actual_msec - tic));
221 pattern = 0x12abcdef;
223 for (cnt = ramsz / sizeof(*ptr), ptr = (typeof(ptr))SDRAM_BASE; cnt--;)
225 if (*(ptr++) != ~pattern)
227 printf("SDRAM error read at %p (%08x)\n", ptr, *ptr ^ pattern);
231 pattern = pattern + 0x87654321;
235 printf("SDRAM read %d ms\n", (int)(lt_msdiff_t)(actual_msec - tic));
242 for (cnt = ramsz / sizeof(*ptr), ptr = (typeof(ptr))SDRAM_BASE; cnt--;)
248 printf("SDRAM sum %d ms res 0x%08x\n", (int)(lt_msdiff_t)(actual_msec - tic), pattern);
250 for (blksz = 1; blksz < 256 ; blksz *= 2)
257 for (cnt = ramsz / sizeof(*ptr); cnt; cnt -= blksz)
259 ptr = (typeof(ptr))SDRAM_BASE;
261 //ptr = (typeof(ptr))cmd_do_test_memusage;
262 //ptr = (typeof(ptr))&ptr;
263 for (i = blksz; i--;)
268 printf("SDRAM sum %d blksz %d ms res 0x%08x\n", (int)(lt_msdiff_t)(actual_msec - tic), (int)blksz, pattern);
274 int cmd_do_testsdram(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
279 #endif /*SDRAM_BASE*/
281 int cmd_do_testlxpwrrx(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
290 if (si_ulong(&ps, &mode, 0) < 0)
291 return -CMDERR_BADPAR;
294 pxmc_rocon_rx_data_hist_buff = NULL;
295 pxmc_rocon_rx_data_hist_mode = mode;
297 #ifndef PXMC_ROCON_TIMED_BY_RX_DONE
298 pxmc_rocon_rx_done_isr_setup(pxmc_rocon_rx_done_isr);
299 #endif /*PXMC_ROCON_TIMED_BY_RX_DONE*/
300 pxmc_rocon_rx_data_hist_buff_end = (void *)(FPGA_CONFIGURATION_FILE_ADDRESS +
302 ptr = (void *)FPGA_CONFIGURATION_FILE_ADDRESS;
307 pxmc_rocon_rx_data_hist_buff = (void *)ptr;
311 int cmd_do_testlxpwrstat(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
313 printf("lxpwrrx period %ld latency %ld max %ld\n",
314 (long)pxmc_rocon_rx_cycle_time, (long)pxmc_rocon_rx_irq_latency,
315 (long)pxmc_rocon_rx_irq_latency_max);
321 int cmd_do_testfncapprox(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
335 long step = 1 << (30-7-18+1 +4);
338 if (si_ulong(&ps, &fnc, 0) < 0)
339 return -CMDERR_BADPAR;
342 if (!strcmp(ps, "all")) {
344 count = 0x80000000UL / step;
349 if (si_ulong(&ps, &val, 0) < 0)
350 return -CMDERR_BADPAR;
353 for (; count--; val += step) {
357 xb = __builtin_clz(x);
363 fpga_fncapprox_base[fnc] = xl;
365 /* dummy read to provide time to function aproximator to proceed computation */
366 res = fpga_fncapprox_base[fnc];
367 res = fpga_fncapprox_base[fnc];
373 yl = (1LL << 62) / xl;
376 xf = (double)xl * M_PI / 2.0 / (1UL << 30);
377 yl = round(sin(xf) * (1UL << 16));
380 xf = (double)xl * M_PI / 2.0 / (1UL << 30);
381 yl = round(cos(xf) * (1UL << 16));
389 if ((diff > 0) && (diff > diff_max))
391 else if ((diff < 0) && (-diff > diff_max))
398 printf("fnc=%ld val=0x%08lx res=0x%08lx ref=0x%08lx diff=%ld max %ld\n",
399 fnc, val, res, (unsigned long)yl, diff, diff_max);
404 int cmd_do_testtumblefw(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
409 pxmc_state_t *mcs = pxmc_main_list.pxml_arr[0];
410 volatile pxmcc_data_t *mcc_data = pxmc_rocon_mcc_data();
412 pxmcc_axis_enable(mcs, 0);
415 if (si_long(&ps, &pwm_d, 0) < 0)
416 return -CMDERR_BADPAR;
419 if (si_ulong(&ps, &pwm_q, 0) < 0)
420 return -CMDERR_BADPAR;
424 pxmcc_axis_setup(mcs, PXMCC_MODE_BLDC);
426 pxmc_clear_flags(mcs,PXMS_ENO_m|PXMS_ENG_m|PXMS_ENR_m|PXMS_BSY_m);
427 pxmcc_axis_pwm_dq_out(mcs, pwm_d, pwm_q);
428 pxmcc_axis_enable(mcs, 1);
431 mcc_data->axis[1].inp_info = 0;
432 mcc_data->axis[1].out_info = 3;
433 mcc_data->axis[1].pwmtx_info = (12 << 0) | (13 << 8) | (14 << 16);
434 mcc_data->axis[1].mode = PXMCC_MODE_BLDC;
435 mcc_data->axis[1].ccflg = 1;
436 mcc_data->axis[2].inp_info = 0;
437 mcc_data->axis[2].out_info = 6;
438 mcc_data->axis[2].pwmtx_info = (15 << 0) | (16 << 8) | (18 << 16);
439 mcc_data->axis[2].mode = PXMCC_MODE_BLDC;
440 mcc_data->axis[2].ccflg = 1;
441 mcc_data->axis[3].inp_info = 0;
442 mcc_data->axis[3].out_info = 9;
443 mcc_data->axis[3].pwmtx_info = (19 << 0) | (20 << 8) | (21 << 16);
444 mcc_data->axis[3].mode = PXMCC_MODE_BLDC;
445 mcc_data->axis[3].ccflg = 1;
448 printf("spd %ld act_idle %"PRIu32" min_idle %"PRIu32" avail %lu pwm_cycle %"PRIu32"\n",
449 mcs->pxms_as, mcc_data->common.act_idle, mcc_data->common.min_idle,
450 (mcc_data->common.pwm_cycle + 6) / 6, mcc_data->common.pwm_cycle);
451 mcc_data->common.min_idle = 0x7fff;
456 #define CK_IRC_WORDS 16
457 #define CK_TX_WORDS 16
458 #define CK_RX_WORDS 16
460 #define CK_IRC_START ((uint32_t*)fpga_irc[0])
461 #define CK_TX_START (fpga_lx_master_transmitter_base+9)
462 #define CK_RX_START (fpga_lx_master_receiver_base+44)
464 typedef struct ck_state_t {
465 uint32_t ck_irc_base[CK_IRC_WORDS];
466 uint32_t ck_irc_read[CK_IRC_WORDS];
467 uint32_t ck_tx_base[CK_TX_WORDS];
468 uint32_t ck_tx_read[CK_TX_WORDS];
469 uint32_t ck_rx_base[CK_RX_WORDS];
470 uint32_t ck_rx_read[CK_RX_WORDS];
477 int cmd_do_testtumblebus(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
481 static ck_state_t *ckst = NULL;
483 ckst = malloc(sizeof(*ckst));
487 ckst->ck_irc_err = 0;
491 for (i = 0; i < CK_IRC_WORDS; i++)
492 ckst->ck_irc_base[i] = CK_IRC_START[i];
494 for (i = 0; i < CK_TX_WORDS; i++)
495 ckst->ck_tx_base[i] = CK_TX_START[i];
497 for (i = 0; i < CK_RX_WORDS; i++)
498 ckst->ck_rx_base[i] = CK_RX_START[i];
501 if (!ckst->ck_irc_err) {
502 for (i = 0; i < CK_IRC_WORDS; i++)
503 ckst->ck_irc_read[i] = CK_IRC_START[i];
504 for (i = 0; i < CK_IRC_WORDS; i++)
505 if (ckst->ck_irc_read[i] != ckst->ck_irc_base[i]) {
507 printf("irc+%x %08"PRIx32" != %08"PRIx32"\n",
508 i, ckst->ck_irc_read[i], ckst->ck_irc_base[i]);
512 if (!ckst->ck_tx_err) {
513 for (i = 0; i < CK_TX_WORDS; i++)
514 ckst->ck_tx_read[i] = CK_TX_START[i];
515 for (i = 0; i < CK_TX_WORDS; i++)
516 if (ckst->ck_tx_read[i] != ckst->ck_tx_base[i]) {
518 printf("tx+%x %08"PRIx32" != %08"PRIx32"\n",
519 i, ckst->ck_tx_read[i], ckst->ck_tx_base[i]);
523 if (!ckst->ck_rx_err) {
524 for (i = 0; i < CK_RX_WORDS; i++)
525 ckst->ck_rx_read[i] = CK_RX_START[i];
526 for (i = 0; i < CK_RX_WORDS; i++)
527 if (ckst->ck_rx_read[i] != ckst->ck_rx_base[i]) {
529 printf("rx+%x %08"PRIx32" != %08"PRIx32"\n",
530 i, ckst->ck_rx_read[i], ckst->ck_rx_base[i]);
538 int cmd_do_testcuradc(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
545 volatile pxmcc_data_t *mcc_data = pxmc_rocon_mcc_data();
549 long pwm_cycle = mcc_data->common.pwm_cycle;
552 if (si_long(&ps, &pwm_chan_a, 0) < 0)
553 return -CMDERR_BADPAR;
556 if (si_ulong(&ps, &pwm_chan_b, 0) < 0)
557 return -CMDERR_BADPAR;
561 if (si_ulong(&ps, &pwm_b, 0) < 0)
562 return -CMDERR_BADPAR;
563 pxmc_for_each_mcs(i, mcs) {
564 /* PXMS_ENI_m - check if input (IRC) update is enabled */
565 if (mcs->pxms_flg & (PXMS_ENR_m | PXMS_ENO_m)) {
566 pxmc_set_const_out(mcs,0);
567 pxmc_clear_flag(mcs, PXMS_ENO_b);
571 for (i = 0; i < 16; i++) {
572 if (i == pwm_chan_a) {
573 if (pxmc_rocon_pwm_direct_wr(i, 0, 1) < 0)
575 } else if (i == pwm_chan_b) {
576 if (pxmc_rocon_pwm_direct_wr(i, pwm_b, 1) < 0)
579 pxmc_rocon_pwm_direct_wr(i, 0, 0);
584 cur_a = mcc_data->curadc[pwm_chan_a].cur_val;
585 cur_b = mcc_data->curadc[pwm_chan_b].cur_val;
586 if (pwm_b < pwm_cycle)
587 cur_b = (pwm_cycle * cur_b + pwm_cycle / 2) / (pwm_cycle - pwm_b);
589 printf("ch %2ld pwm %5ld cur %7ld\n", pwm_chan_a, 0l, cur_a);
590 printf("ch %2ld pwm %5ld cur %7ld\n", pwm_chan_b, pwm_b, cur_b);
595 cmd_des_t const cmd_des_test_memusage = {0, 0,
596 "memusage", "report memory usage", cmd_do_test_memusage,
603 cmd_des_t const cmd_des_test_adc = {0, 0,
604 "testadc", "adc test", cmd_do_test_adc,
611 #ifdef APPL_WITH_DISTORE_EEPROM_USER
612 cmd_des_t const cmd_des_test_distore = {0, 0,
613 "testdistore", "test DINFO store", cmd_do_test_distore,
620 cmd_des_t const cmd_des_test_diload = {0, 0,
621 "testdiload", "test DINFO load", cmd_do_test_diload,
627 #endif /*APPL_WITH_DISTORE_EEPROM_USER*/
629 cmd_des_t const cmd_des_test_loglevel = {0, 0,
630 "loglevel", "select logging level",
631 cmd_do_test_loglevel, {}
634 cmd_des_t const cmd_des_spimst = {0, CDESM_OPCHR | CDESM_WR,
635 "SPIMST", "SPI master communication request",
636 cmd_do_spimst_blocking, {(void *)0}
639 cmd_des_t const cmd_des_spimstx = {0, CDESM_OPCHR | CDESM_WR,
640 "SPIMST#", "SPI# master communication request",
641 cmd_do_spimst_blocking, {(void *) - 1}
645 cmd_des_t const cmd_des_testsdram = {0, 0,
646 "testsdram", "test SDRAM",
647 cmd_do_testsdram, {(void *)0}
649 #endif /*SDRAM_BASE*/
652 cmd_des_t const cmd_des_testlxpwrrx = {0, 0,
653 "testlxpwrrx", "capture data stream from lxpwr",
654 cmd_do_testlxpwrrx, {(void *)0}
657 cmd_des_t const cmd_des_testlxpwrstat = {0, 0,
658 "testlxpwrstat", "lxpwr interrupt statistic",
659 cmd_do_testlxpwrstat, {(void *)0}
662 cmd_des_t const cmd_des_testfncapprox = {0, 0,
663 "testfncapprox", "test of function approximator",
664 cmd_do_testfncapprox, {(void *)0}
667 cmd_des_t const cmd_des_testtumblefw = {0, 0,
668 "testtumblefw", "test Tumble coprocesor firmware",
669 cmd_do_testtumblefw, {(void *)0}
672 cmd_des_t const cmd_des_testtumblebus = {0, 0,
673 "testtumblebus", "test Tumble coprocesor bus",
674 cmd_do_testtumblebus, {(void *)0}
677 cmd_des_t const cmd_des_testcuradc = {0, 0,
678 "testcuradc", "test current adc channel calibration",
679 cmd_do_testcuradc, {(void *)0}
682 cmd_des_t const *const cmd_appl_tests[] =
684 &cmd_des_test_memusage,
686 #ifdef APPL_WITH_DISTORE_EEPROM_USER
687 &cmd_des_test_distore,
688 &cmd_des_test_diload,
689 #endif /*APPL_WITH_DISTORE_EEPROM_USER*/
690 &cmd_des_test_loglevel,
695 #endif /*SDRAM_BASE*/
696 &cmd_des_testlxpwrrx,
697 &cmd_des_testlxpwrstat,
698 &cmd_des_testfncapprox,
699 &cmd_des_testtumblefw,
700 &cmd_des_testtumblebus,