RoCoN: add test commands to calibrate offsets of current ADCs.

Signed-off-by: Pavel Pisa <ppisa@pikron.com>

diff --git a/sw/app/rocon/appl_tests.c b/sw/app/rocon/appl_tests.c
index ed8df1aa4d795e9f879e821799fb0755241c96b1..42b0334e44d5f143c719f135b284d62de6b72f4d 100644 (file)
--- a/sw/app/rocon/appl_tests.c
+++ b/sw/app/rocon/appl_tests.c
@@ -556,6 +556,12 @@ int cmd_do_testcuradc(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[]
   if (si_ulong(&ps, &pwm_chan_b, 0) < 0)
         return -CMDERR_BADPAR;
 
+  if (pwm_chan_a >= PXMCC_CURADC_CHANNELS)
+    return -CMDERR_BADPAR;
+
+  if (pwm_chan_b >= PXMCC_CURADC_CHANNELS)
+    return -CMDERR_BADPAR;
+
   si_skspace(&ps);
   if (*ps) {
     if (si_ulong(&ps, &pwm_b, 0) < 0)
@@ -592,6 +598,34 @@ int cmd_do_testcuradc(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[]
   return 0;
 }
 
+int cmd_do_curadc(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
+{
+  int chan;
+  volatile pxmcc_data_t *mcc_data = pxmc_rocon_mcc_data();
+  volatile pxmcc_curadc_data_t *curadc;
+  int subcmd = (int)des->info[0];
+
+  for (chan = 0; chan < PXMCC_CURADC_CHANNELS; chan++) {
+    curadc = mcc_data->curadc + chan;
+    switch (subcmd) {
+      case 0:
+        printf("%s%ld", chan?",":"", (long)curadc->cur_val);
+        break;
+      case 1:
+        printf("%s%ld", chan?",":"", (long)curadc->siroladc_offs);
+        break;
+      case 2:
+        curadc->siroladc_offs += curadc->cur_val;
+        break;
+    }
+  }
+
+  if (subcmd < 2)
+    printf("\n");
+
+  return 0;
+}
+
 cmd_des_t const cmd_des_test_memusage = {0, 0,
                 "memusage", "report memory usage", cmd_do_test_memusage,
 {
@@ -679,6 +713,21 @@ cmd_des_t const cmd_des_testcuradc = {0, 0,
                                      cmd_do_testcuradc, {(void *)0}
                                     };
 
+cmd_des_t const cmd_des_showcuradc = {0, 0,
+                                     "showcuradc", "print current ADC offsets",
+                                     cmd_do_curadc, {(void *)0}
+                                    };
+
+cmd_des_t const cmd_des_showcuradcoffs = {0, 0,
+                                     "showcuradcoffs", "print current ADC offsets",
+                                     cmd_do_curadc, {(void *)1}
+                                    };
+
+cmd_des_t const cmd_des_calcuradcoffs = {0, 0,
+                                     "calcuradcoffs", "calibrate current ADC offsets",
+                                     cmd_do_curadc, {(void *)2}
+                                    };
+
 cmd_des_t const *const cmd_appl_tests[] =
 {
   &cmd_des_test_memusage,
@@ -699,5 +748,8 @@ cmd_des_t const *const cmd_appl_tests[] =
   &cmd_des_testtumblefw,
   &cmd_des_testtumblebus,
   &cmd_des_testcuradc,
+  &cmd_des_showcuradc,
+  &cmd_des_showcuradcoffs,
+  &cmd_des_calcuradcoffs,
   NULL
 };