131 lines
3.9 KiB
C
131 lines
3.9 KiB
C
//=============================================================================
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//
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//
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// Gertboard tests
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//
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// This code is part of the Gertboard test suite
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// motor control part
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//
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//
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// Copyright (C) Gert Jan van Loo & Myra VanInwegen 2012
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// No rights reserved
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// You may treat this program as if it was in the public domain
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// POSSIBILITY OF SUCH DAMAGE.
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//
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//
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// Try to strike a balance between keep code simple for
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// novice programmers but still have reasonable quality code
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//
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#include "gb_common.h"
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#include "gb_pwm.h"
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// motor test GPIO mapping:
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// Function Mode
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// GPIO0= unused
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// GPIO1= unused
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// GPIO4= unused
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// GPIO7= unused
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// GPIO8= unused
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// GPIO9= unused
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// GPIO10= unused
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// GPIO11= unused
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// GPIO14= unused (preset to be UART)
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// GPIO15= unused (preset to be UART)
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// GPIO17= motor control B Output
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// GPIO18= PWM (motor A) alt ftn 5
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// GPIO21= unused
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// GPIO22= unused
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// GPIO23= unused
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// GPIO24= unused
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// GPIO25= unused
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void setup_gpio(void)
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{
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INP_GPIO(17); OUT_GPIO(17);
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INP_GPIO(18); SET_GPIO_ALT(18, 5);
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} // setup_gpio
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void main()
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{ int r,s;
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printf ("These are the connections for the motor test:\n");
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printf ("GP17 in J2 --- MOTB (just above GP1)\n");
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printf ("GP18 in J2 --- MOTA (just above GP4)\n");
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printf ("+ of external power source --- MOT+ in J19\n");
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printf ("ground of external power source --- GND (any)\n");
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printf ("one wire for your motor in MOTA in J19\n");
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printf ("the other wire for your motor in MOTB in J19\n");
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printf ("When ready hit enter.\n");
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(void) getchar();
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// Map the I/O sections
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setup_io();
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// Set GPIO pin 18 to use PWM and pin 17 to output mode
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setup_gpio();
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// set pin controlling the non-PWM driver to low and get PWM ready
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GPIO_CLR0 = 1<<17; // Set GPIO pin LOW
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setup_pwm(17);
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printf("\n>>> "); fflush(stdout);
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// motor B input is still low, so motor gets power when pwm input A is high
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force_pwm0(0,PWM0_ENABLE);
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// start motor off slow (low most of the time) then ramp up speed
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// (increasing the high part of the pulses)
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for (s=0x0; s<=400; s+=10)
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{ long_wait(6);
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set_pwm0(s);
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putchar('+'); fflush(stdout);
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}
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long_wait(10);
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// now slow the motor down by decreasing the time the pwm is high
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for (s=400; s>=0x00; s-=10)
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{ long_wait(6);
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set_pwm0(s);
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putchar('-'); fflush(stdout);
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}
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// make sure motor is stopped
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pwm_off();
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// same in reverse direction
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// set motor B input to high, so motor gets power when pwm input A is low
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GPIO_SET0 = 1<<17;
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// when we enable pwm with reverse polarity, a pwm value near 0 means
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// that the LOW phase is only done for a short period amount of time
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// and a pwm value near 0x400 (the max we set in setup_pwm) means
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// that the LOW phase is done for a long period amount of time
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force_pwm0(0,PWM0_ENABLE|PWM0_REVPOLAR);
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printf("\n<<< ");
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// as before we ramp up speed of motor
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for (s=0; s<=400; s+=10)
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{ long_wait(6);
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set_pwm0(s);
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putchar('+'); fflush(stdout);
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}
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long_wait(10);
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// then slow it down
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for (s=400; s>=0; s-=10)
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{ long_wait(6);
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set_pwm0(s);
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putchar('-'); fflush(stdout);
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}
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GPIO_CLR0 = 1<<17;
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pwm_off();
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putchar('\n');
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restore_io();
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}
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