David Giles
This is a complete listing of the RS-EDP software for the mbed module to support the RS-EDP platform.
Diff: SourceFiles/RSEDP_Test.cpp
- Revision:
- 0:5b7639d1f2c4
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/SourceFiles/RSEDP_Test.cpp Fri Nov 19 09:49:16 2010 +0000
@@ -0,0 +1,1393 @@
+/* Hardware Tests for RS-EDP Platform Using MBED Module */
+/* ************** */
+
+/* Version 3.0 */
+
+
+/* This module is to test the hardware on the MCBSTR91x Module. */
+
+
+#include "mbed.h" /* Header file for mbed module */
+#include "misra_types.h" /* MISRA Types */
+#include "defines.h" /* User defines */
+#include "RSEDP_Slave_Address_Defines.h" /* Slave address of I2C Devices defined hhere */
+
+#include "RSEDP_Mbed_Module.h" /* all the low level peripheral drivers on te mbed module - IO ports, UART, SPI, I2C etc */
+#include "RSEDP_Base_Board.h" /* All the base board functions - EEPROM and erial latch */
+#include "RSEDP_Comms_Module.h" /* Functions to control the real time clock */
+#include "RSEDP_Digital_IO_Module.h" /* All the functions to control the serial input and output latches */
+#include "RSEDP_Analogue_Module.h" /* Functions to control digital pot and serial ADC */
+#include "RSEDP_MC1.h" /* Brushed DC Motor Drive MC1 Module */
+#include "RSEDP_Test_MC2.h"
+
+
+
+
+/* Global Function prototype Here */
+void RSEDP_test_all(void);
+
+
+/* Local Menu functions */
+static void Test_Processor_Module_Menu(void);
+static void Test_Base_Board_Menu(void);
+static void Test_Comms_Module_Menu(void);
+static void Test_Digital_IO_Module_Menu(void);
+static void Test_Analogue_Module_Menu(void);
+static void Test_MC1_Module_Menu(void);
+
+/*Processor Board Tests */
+static void test_mbed_LEDs(void);
+static void test_mbed_UART0(void);
+static void test_mbed_UART1(void);
+static void test_mbed_CNTRL_I2C_Master_Mode(void);
+static void test_mbed_CNTRL_SPI_Master_Mode(void);
+
+/* Base Board Tests */
+static void test_BB_24LC32(uint8_t Slave_Address);
+static void test_BB_PCA9675(uint8_t Slave_Address);
+static void test_BB_RESET_Button(void);
+
+/* Communication Board Tests */
+static void test_PCF8583(uint8_t Slave_Address);
+
+/* Digital I/O board Tests */
+static void test_digital_output_PCA9555(uint8_t Slave_Address);
+static void test_digital_input_PCA9555(uint8_t Slave_Address);
+
+/* Analogue Module Tests */
+static void test_MAX1x3x(uint8_t Slave_Address);
+static void test_AD5263(uint8_t Slave_Address);
+
+/* MC1 Tests */
+static void test_MC1_VDCLINK(void);
+static void test_MC1_VSENSE(void);
+static void test_MC1_Read_Encoders(void);
+static void test_MC1_Brakes(void);
+static void test_MC1_Set_Direction(void);
+static void test_MC1_Speed_Ramp_UpDown(void);
+static void test_MC1_Set_Speed_PWM_Duty(void);
+static void test_MC1_Stop_Motor(void);
+
+
+static void delay_ms(uint16_t time_delay);
+
+
+
+
+/* Main Test Selection Menu */
+void RSEDP_test_all(void)
+ {
+ uint16_t keypress = 0u;
+
+ while(1)
+ {
+ pc.printf("\n\n\rMain Top Level Test Menu\n\n\r");
+ pc.printf("1. Processor Module Test\n\r");
+ pc.printf("2. Base Board Tests\n\r");
+
+ if (COMMS_MODULE_FITTED == YES)
+ {
+ pc.printf("3. Communications Module Tests\n\r");
+ }
+ if (DIGITAL_IO_MODULE_FITTED == YES)
+ {
+ pc.printf("4. Digital I/O Module Tests\n\r");
+ }
+ if (ANALOGUE_MODULE_FITTED == YES)
+ {
+ pc.printf("5. Analogue Module Tests\n\r");
+ }
+ if (MOTOR_MC1_MODULE_FITTED == YES)
+ {
+ pc.printf("6. Brushed DC Motor Drive MC1 Module Tests\n\r");
+ }
+ if (MOTOR_MC2_MODULE_FITTED == YES)
+ {
+ pc.printf("7. Brushless DC Motor Drive MC2 Module Tests\n\r");
+ }
+ pc.printf("\n\rPlease select one of the above tests\r\n");
+
+ keypress = pc.getc();
+
+ if (keypress == '1') Test_Processor_Module_Menu();
+ if (keypress == '2') Test_Base_Board_Menu();
+ if (COMMS_MODULE_FITTED == YES)
+ {
+ if (keypress == '3') Test_Comms_Module_Menu();
+ }
+ if (DIGITAL_IO_MODULE_FITTED == YES)
+ {
+ if (keypress == '4') Test_Digital_IO_Module_Menu();
+ }
+ if (ANALOGUE_MODULE_FITTED == YES)
+ {
+ if (keypress == '5') Test_Analogue_Module_Menu();
+ }
+ if (MOTOR_MC1_MODULE_FITTED == YES)
+ {
+ if (keypress == '6') Test_MC1_Module_Menu();
+ }
+ if (MOTOR_MC2_MODULE_FITTED == YES)
+ {
+ if (keypress == '7') I2C_MMSC_Test_Suite();
+ }
+
+ }
+ }
+
+
+/* Test The Microprocessor Module */
+static void Test_Processor_Module_Menu(void)
+ {
+ uint16_t keypress=0;
+
+ while(1)
+ {
+ pc.printf("\n\n\rProcessor Module Test Menu\n\n\r");
+ pc.printf("1. LED Test\n\r");
+ pc.printf("2. UART0 Test\n\r");
+ pc.printf("3. UART1 Test\n\r");
+ pc.printf("4. CNTRL I2C Master Mode Test\n\r");
+ pc.printf("5. CNTRL SPI Master Mode Test\n\r");
+
+ pc.printf("\n\rPlease select one of the above tests\r\n");
+
+ keypress = pc.getc();
+
+ if (keypress=='1') test_mbed_LEDs();
+ if (keypress=='2') test_mbed_UART0();
+ if (keypress=='3') test_mbed_UART1();
+ if (keypress=='4') test_mbed_CNTRL_I2C_Master_Mode();
+ if (keypress=='5') test_mbed_CNTRL_SPI_Master_Mode();
+ if (keypress=='\r') break;
+
+ }
+ }
+
+
+/* This is the menu for the Base Board Tests */
+static void Test_Base_Board_Menu(void)
+ {
+ uint16_t keypress = 0u;
+
+ while(1)
+ {
+ pc.printf("\n\n\rBase Board Test Menu\n\n\r");
+ pc.printf("1. DIP Switch via PCA9675 Serial Input Latch\n\r");
+ pc.printf("2. 24LC32 Serial EEPROM Test\n\r");
+ pc.printf("3. Reset Button Test\n\r");
+ pc.printf("\n\rPlease select one of the above tests\r\n");
+
+ keypress = pc.getc();
+
+ if (keypress == '1') test_BB_PCA9675(PCA9675_BASE_BOARD);
+ if (keypress == '2') test_BB_24LC32(M24C32_BASE_BOARD);
+ if (keypress == '3') test_BB_RESET_Button();
+ if (keypress == '\r') break;
+ }
+ }
+
+/* Test The Communications Module */
+static void Test_Comms_Module_Menu(void)
+ {
+ uint16_t keypress=0;
+
+ while(1)
+ {
+ pc.printf("\n\n\rCommunications Module Test Menu\n\r");
+ pc.printf("1 PCF8385 Real Time Clock Test\n\r");
+// pc.printf("2 CAN2.0B Test\n\r");
+ pc.printf("\n\rPlease select one of the above tests\r\n");
+
+ keypress = pc.getc();
+
+ if (keypress=='1') test_PCF8583(PCF8583_COMMS_MODULE);
+// if (keypress=='2') test_CAN();
+ if (keypress=='\r') break;
+ }
+ }
+
+/* Test The Digital I/O Module */
+static void Test_Digital_IO_Module_Menu(void)
+ {
+ uint16_t keypress=0;
+
+ while(1)
+ {
+ pc.printf("\n\n\rDigital I/O Module Test Menu\n\n\r");
+ pc.printf("1. Serial Digital Output OUT_P0(x) & OUT_P1(x)\n\r");
+ pc.printf("2. Serial Digital Input IN_P0(x) & IN_P1(x)\n\r");
+ pc.printf("\n\rPlease select one of the above tests\r\n");
+
+ keypress = pc.getc();
+ if (keypress == '1') test_digital_output_PCA9555(PCA9555_DIGITAL_IO_OUT);
+ if (keypress == '2') test_digital_input_PCA9555(PCA9555_DIGITAL_IO_IN);
+ if (keypress == '\r') break;
+
+ }
+ }
+
+
+/* Test The Analogue Module */
+static void Test_Analogue_Module_Menu(void)
+ {
+ uint16_t keypress=0;
+
+ while(1)
+ {
+ pc.printf("\n\n\rAnalogue Module Test Menu\n\n\r");
+ pc.printf("1. MAX1x38 I2C Serial A to D Converter\n\r"); /* Production 10 bit ADC option */
+ pc.printf("2. AD5263 I2C Digital Potentiometer\n\r");
+ pc.printf("\n\rPlease select one of the above tests\r\n");
+
+ keypress = pc.getc();
+
+ if (keypress == '1') test_MAX1x3x(MAX1X3X_ANALOGUE_ADC);
+ if (keypress == '2') test_AD5263(AD5263_ANALOGUE_DIGITAL_POT);
+ if (keypress == '\r') break;
+
+ }
+ }
+
+
+/* This is the menu for the Brushed DC Motor Control MC! Module Tests */
+static void Test_MC1_Module_Menu(void)
+ {
+ uint16_t keypress = 0u;
+
+ while(1)
+ {
+ pc.printf("\n\n\rBrushed DC Motor Drive Module MC1 Test Menu\n\n\r");
+ pc.printf("1. Read the VDCLINK Voltage\n\r");
+ pc.printf("2. Read the VSENSE Voltage\n\r");
+ pc.printf("3. Read the Encoder0 & Encoder 1 Input Signals\n\r");
+ pc.printf("4 Test the Brake ON & OFF Signal\n\r");
+ pc.printf("5 Set the direction of rotation\n\r");
+ pc.printf("6 Ramp the Motor Speed PWM Duty Up & Down\n\r");
+ pc.printf("7 Set the Motor PWM Duty\n\r");
+ pc.printf("8 Stop the motor\n\r");
+
+ pc.printf("\n\rPlease select one of the above tests\r\n");
+
+ keypress = pc.getc();
+
+ if (keypress == '1') test_MC1_VDCLINK();
+ if (keypress == '2') test_MC1_VSENSE();
+ if (keypress == '3') test_MC1_Read_Encoders();
+ if (keypress == '4') test_MC1_Brakes();
+ if (keypress == '5') test_MC1_Set_Direction();
+ if (keypress == '6') test_MC1_Speed_Ramp_UpDown();
+ if (keypress == '7') test_MC1_Set_Speed_PWM_Duty();
+ if (keypress == '8') test_MC1_Stop_Motor();
+ if (keypress == '\r') break;
+ }
+ }
+
+
+
+
+
+
+
+/* Processor Board Tests Starts Here */
+/* LED Tests on the Processor Card */
+static void test_mbed_LEDs(void)
+ {
+ uint8_t n = 0;
+
+
+ pc.printf("\n\n\n\rTesting the LEDs on the mbed module...\n\n\r");
+ for (n = 0; n < 5; n++)
+ {
+ User_Led1 = LED_ON; /* Flash the LED to signal the world the firmware is running */
+ User_Led2 = LED_ON; /* Flash the LED to signal the world the firmware is running */
+ User_Led3 = LED_ON; /* Flash the LED to signal the world the firmware is running */
+ User_Led4 = LED_ON; /* Flash the LED to signal the world the firmware is running */
+ wait(0.5);
+
+ User_Led1 = LED_OFF; /* Flash the LED to signal the world the firmware is running */
+ User_Led2 = LED_OFF; /* Flash the LED to signal the world the firmware is running */
+ User_Led3 = LED_OFF; /* Flash the LED to signal the world the firmware is running */
+ User_Led4 = LED_OFF; /* Flash the LED to signal the world the firmware is running */
+ wait(0.5);
+
+ }
+ pc.printf("Finished testing the LEDs...\n\n\r");
+ }
+
+
+
+/* UART0 Tests */
+static void test_mbed_UART0(void)
+ {
+ sint32_t keypress = 0;
+
+ pc.printf("\n\n\n\rTesting UART0\n\n\r");
+ UART0.printf("\n\n\rIf you can read this information then UART0 TRANSMIT is working correctly...\n\r");
+ UART0.printf("Now to test the UART0 RECEIVE Input...\n\r");
+ pc.printf("Now please keys on the keyboard and see if they are echoed on the monitor...\n\r");
+ UART0.printf("Now please keys on the keyboard and see if they are echoed on the monitor...\n\r");
+ UART0.printf("Press the Return key to quit...\n\r");
+ pc.printf("Press the Return key to quit...\n\r");
+
+ do {
+ keypress = UART0.getc(); /* get a keypress */
+
+ UART0.putc(keypress);
+ UART0.printf("\r");
+
+ } while(keypress != '\r');
+
+ pc.printf("\n\rTest finished\n\r");
+ UART0.printf("\n\rTest finished\n\r");
+ }
+
+
+/* UART1 Tests */
+static void test_mbed_UART1(void)
+ {
+ sint32_t keypress = 0;
+
+ pc.printf("\n\n\n\rTesting UART1\n\n\r");
+ UART1.printf("\n\n\rIf you can read this information then UART1 TRANSMIT is working correctly...\n\r");
+ UART1.printf("Now to test the UART1 RECEIVE Input...\n\r");
+ pc.printf("Now please keys on the keyboard and see if they are echoed on the monitor...\n\r");
+ UART1.printf("Now please keys on the keyboard and see if they are echoed on the monitor...\n\r");
+ UART1.printf("Press the Return key to quit...\n\r");
+ pc.printf("Press the Return key to quit...\n\r");
+
+ do {
+ keypress = UART1.getc(); /* get a keypress */
+
+ UART1.putc(keypress);
+ UART1.printf("\r");
+
+ } while(keypress != '\r');
+
+ pc.printf("\n\rTest finished\n\r");
+ UART1.printf("\n\rTest finished\n\r");
+ }
+
+
+
+
+
+/* Test The CNTRL I2C in Master Mode */
+static void test_mbed_CNTRL_I2C_Master_Mode(void)
+ {
+ sint8_t cmd[1] = {0};
+ sint8_t keypress = 0;
+ sint32_t Ack_Status = 0;
+ uint8_t n = 0;
+
+ pc.printf("\n\n\n\rTesting the CNTRL I2C Peripheral...\n\r");
+ pc.printf("Press return key to finish test.\n\n\r");
+ cmd[0] = 0x0; /* dummy data to transmit */
+
+
+ do {
+ pc.printf("Sending out the byte 0x00 to 8 bit address : %d \n\r", n);
+
+ Ack_Status = CNTRL_i2c.write(n, cmd, 1); /* Send an I2C byte */
+ if (Ack_Status == ACK)
+ {
+ pc.printf("Acknowledge received\n\r");
+ }
+ else{
+ pc.printf("No Acknowledge received\n\r");
+ }
+
+ n++;
+ keypress = pc.getc(); /* get a keypress */
+
+ } while (keypress != '\r');
+
+ pc.printf("Finished testing CNTRL I2C Peripheral.\n\n\r");
+ }
+
+
+
+/* Test The CNTRL SPI in Master Mode */
+static void test_mbed_CNTRL_SPI_Master_Mode(void)
+ {
+ uint8_t n = 1;
+ sint8_t keypress = 0;
+
+ pc.printf("\n\n\n\rTesting the CNTRL SPI Peripheral...\n\r");
+ pc.printf("Press return key to finish test.\n\n\r");
+
+ do {
+ pc.printf("Sending out the byte:%d...\n\r",n);
+
+ CNTRL_SPI_Write_Byte(n);
+ n++;
+
+ keypress = pc.getc(); /* get a keypress */
+
+ } while (keypress != '\r');
+
+ pc.printf("Finished testing CNTRL SPI Peripheral.\n\n\r");
+ }
+
+
+
+
+
+
+
+
+/* Base Board Tests Start Here */
+/* *************************** */
+
+/* Test The I2C PCA9675 Serial Latch Device on the base board */
+static void test_BB_PCA9675(uint8_t Slave_Address)
+ {
+
+ uint8_t port_zero = 0;
+ uint8_t port_one = 0;
+ uint16_t keypress = 0;
+ uint8_t n = 0;
+ sint32_t Ack_Status = 0;
+ uint8_t Switch_Status = 0;
+
+ pc.printf("\n\n\n\rTest The DIP Switches Via The PCA9675 Serial Input Latch\n\n\r");
+
+ pc.printf("Writing to the latch, to configure the chip for input...\n\r");
+ Ack_Status = RSEDP_BB_PCA9675_write_data(Slave_Address, 0xff,0xff); /* Write 0xff to the output latches so we can read the dip switches */
+ if (Ack_Status == ACK)
+ {
+ pc.printf("\n\rReading from the latch...\n\r");
+ Ack_Status = RSEDP_BB_PCA9675_read_data(Slave_Address, &port_zero, &port_one); /* Read two bytes from the device */
+ if (Ack_Status == ACK)
+ {
+ pc.printf("Value read...Port0: 0x%.2X",port_zero);
+ pc.printf(" and Port1: 0x%.2X\r\n",port_one);
+
+ pc.printf("Turn each bit on and off independantly and press space bar to update screen...\n\r");
+ pc.printf("To terminate this test press the Return key\n\r");
+
+ do {
+ for (n = 1; n < 9; n++)
+ {
+ Ack_Status = RS_EDP_BB_Read_DIP_Switch(n, &Switch_Status);
+ if (Switch_Status == DIP_SWITCH_CLOSED)
+ {
+ pc.printf("%.1d:ON ",n);
+ }
+ else{
+ pc.printf("%.1d:OFF ",n);
+ }
+ }
+
+ pc.printf("\r");
+
+ delay_ms(500);
+
+ keypress = pc.getc(); /* get a keypress */
+
+ } while ((keypress != '\r') && (Ack_Status == ACK));
+ }
+ }
+ if (Ack_Status != ACK)
+ {
+ pc.printf("*** NO Acknowledge Received ***\n\r");
+ pc.printf("Operation aborted\n\r");
+ }
+
+ }
+
+
+
+/* Test The 32k bit 24LC32 Serial EEPROM on the Base Board */
+static void test_BB_24LC32(uint8_t Slave_Address)
+ {
+ sint32_t Ack_Status = 0;
+ sint8_t I2C_Tx_Array[32];
+ sint8_t I2C_Rx_Array[256];
+ sint8_t n = 0;
+ uint16_t nn = 0;
+ uint8_t error_flag = 0;
+
+
+ pc.printf("\n\n\n\rTesting the 24LC32 Device....\n\n\r");
+
+ for (n=0;n<32;n++)
+ {
+ I2C_Tx_Array[n] = 255 - (n*4); /* Configure the array we want to write to the EEPROM */
+ }
+
+ n=0;
+ while(1) /* Clear receieve array */
+ {
+ I2C_Rx_Array[n] = 0;
+ n++;
+ if (n == 0) break;
+ }
+
+
+ pc.printf("Writing one byte of data to the 24LC32 Device....\n\r");
+ pc.printf("Writing the value 0x%.2X \n\r", EEPROM_TEST_BYTE);
+ Ack_Status = RSEDP_BB_eeprom_store_byte(Slave_Address, EEPROM_TEST_BYTE, 0x00); /* Store one byte in one location */
+ if (Ack_Status == ACK)
+ {
+ pc.printf("Reading one byte from the EEPROM.\n\r");
+ Ack_Status = RSEDP_BB_eeprom_read_byte(Slave_Address, &n, 0x0); /* Read one byte from one location */
+ if (Ack_Status == ACK)
+ {
+ pc.printf("Value read...0x%.2X\n\r", n);
+
+
+ if (n != EEPROM_TEST_BYTE)
+ {
+ pc.printf("FAILED...Data read was different from the data written\n\r");
+ while(1);
+ }
+ else{
+ pc.printf("PASSED - Value read was the same as value written.\n\r");
+ }
+
+
+ /* Writing Pages To The EEPROM */
+
+ pc.printf("\n\rWriting pages of data to the 24LC32 Device using page write....\n\r");
+ Ack_Status = RSEDP_BB_eeprom_store_bytes(Slave_Address, I2C_Tx_Array, 32, 0x00); /* Write a 32 byte byte page to the I2C serial EEPROM. Note On a page boundary ! */
+
+ if (Ack_Status == ACK)
+ {
+ pc.printf("Reading back 32 bytes from the EEPROM.\n\r");
+ Ack_Status = RSEDP_BB_eeprom_read_bytes(Slave_Address, I2C_Rx_Array,32, 0x0); /* Read multiple bytes back from the EEPROM */
+ if (Ack_Status == ACK)
+ {
+ error_flag = 0;
+ for (n = 0; n < 32; n++)
+ {
+ if (I2C_Tx_Array[n] != I2C_Rx_Array[n])
+ {
+ error_flag = 1;
+ }
+ }
+
+ if (error_flag == 1)
+ {
+ pc.printf("FAILED...Data read was different from the data written\n\r");
+ pc.printf("The transmit array was...\n\r");
+ for (n = 0; n < 32; n++)
+ {
+ pc.printf("0x%.2X ", I2C_Tx_Array[n]);
+ }
+
+ pc.printf("\n\r");
+ pc.printf("The received array was...\n\r");
+ for (n=0;n<32;n++)
+ {
+ pc.printf("0x%.2X ", I2C_Rx_Array[n]);
+ }
+
+ while(1);
+ }
+
+ else{
+ pc.printf("PASSED - Value read was the same as value written.\n\r");
+ }
+
+
+ /* Writing To The Whole Memory Area */
+ pc.printf("\n\nWriting to the whole EEPROM memory address space...\n\r");
+
+ nn = 0;
+ do {
+ Ack_Status = RSEDP_BB_eeprom_store_byte(Slave_Address, (nn/8),nn);
+ pc.printf(".");
+ nn++;
+ wait(0.1);
+ } while ((Ack_Status == ACK) && (nn < 0x800));
+
+ pc.printf("\n\r\nChecking the EEPROM...\n\r");
+
+ if (Ack_Status == ACK)
+ {
+ error_flag = 0;
+ for (nn = 0; nn < 0x800; nn++)
+ {
+ Ack_Status = RSEDP_BB_eeprom_read_byte(Slave_Address, &n, nn);
+
+ if (n != nn / 8)
+ {
+ error_flag = 1;
+ }
+ }
+ if (error_flag == 1)
+ {
+ pc.printf("Test FAILED - Data Read did not match the data written\n\n\r");
+ while(1);
+ }
+ else{
+ pc.printf("Test PASSED - EEPROM is working correctly\n\n\r");
+ }
+
+
+ }
+ }
+ }
+ }
+ }
+ if (Ack_Status != ACK)
+ {
+ pc.printf("*** NO Acknowledge Receieve ***\n\r");
+ pc.printf("Operation aborted\n\r");
+ }
+
+ pc.printf("Finished testing the 24LC32 Device....\n\n\r");
+ }
+
+
+
+/* This funtction test the RESET Button on the base board */
+static void test_BB_RESET_Button(void)
+ {
+ pc.printf("\n\n\n\rTesting the RESET Button\n\r");
+ pc.printf("Press The RESET Button and this program should reset back to the Main Test Menu\n\r");
+ while(1); /* Wait for reset to be pressed */
+ }
+
+
+
+
+
+
+/* Communications Board Tests */
+
+/* Test the serial RTC Device */
+static void test_PCF8583(uint8_t Slave_Address)
+ {
+ sint32_t Ack_Status = 0;
+ uint8_t status_register = 0;
+ uint8_t RTC_Array[8];
+ uint16_t keypress = 0;
+ uint16_t nn = 0;
+ uint8_t value = 0;
+
+ pc.printf("\n\n\n\rTesting the PCA8583 Real Time Clock Chip...\n\r");
+ pc.printf("Testing in CLOCK mode...\n\r");
+ pc.printf("Configuring the device...\n\r");
+
+ Ack_Status = RSEDP_COM_setup_PCF8583(PCF8583_COMMS_MODULE,'C');
+
+ if (Ack_Status == ACK)
+ {
+ pc.printf("\n\rReading the status register...\n\r");
+ Ack_Status = RSEDP_COM_PCF8583_Read_Status_Register(Slave_Address, &status_register);
+ }
+ if (Ack_Status == ACK)
+ {
+ pc.printf("Status Register = 0x%2X\r\n",status_register);
+ pc.printf("\n\rReading the Real Time Clock Contents\n\r");
+ pc.printf("Press the retrun key to finish the test\n\r");
+
+ do {
+ Ack_Status = RSEDP_COM_PCF8583_Read_RTC(Slave_Address,RTC_Array);
+ pc.printf("Time is ");
+ RSEDP_COM_Print_Time_Date_Year(RTC_Array);
+ pc.printf("\r");
+
+ keypress = pc.getc();
+
+ delay_ms(100);
+
+ } while((keypress != '\r') && (Ack_Status == ACK));
+ }
+
+ if (Ack_Status == ACK)
+ {
+ pc.printf("\n\n\rWriting a new time and date to the RTC device\n\r");
+ Ack_Status = RSEDP_COM_PCF8583_Set_Clock(Slave_Address,11,59,40,1,1); // 11:59AM and 45 seconds in AM/PM mode
+ RSEDP_COM_PCF8583_Set_Date(Slave_Address,6, 31,12,2008);
+ if (Ack_Status == ACK)
+ {
+ pc.printf("\n\rReading back the Real Time Clock Contents\n\r");
+ }
+ pc.printf("Press the retrun key to finish the test\n\r");
+ }
+
+ if (Ack_Status == ACK)
+ {
+ do {
+ Ack_Status = RSEDP_COM_PCF8583_Read_RTC(Slave_Address, RTC_Array);
+ pc.printf("Time is ");
+ RSEDP_COM_Print_Time_Date_Year(RTC_Array);
+ pc.printf("\r");
+
+ keypress = pc.getc();
+
+ delay_ms(100);
+
+ } while((keypress != '\r') && (Ack_Status == ACK)) ;
+ }
+ if (Ack_Status == ACK)
+ {
+ pc.printf("\n\n\rChanging to 24 hour notation\n\r");
+ Ack_Status = RSEDP_COM_PCF8583_Set_Clock(Slave_Address,23,59,40,0,1);
+ if (Ack_Status == ACK)
+ {
+ Ack_Status = RSEDP_COM_PCF8583_Set_Date(Slave_Address,6, 31,12,2008);
+ pc.printf("\n\rReading back the Real Time Clock Contents\n\r");
+ pc.printf("Press the return key to finish the test\n\r");
+ }
+ }
+ if (Ack_Status == ACK)
+ {
+ do {
+ Ack_Status = RSEDP_COM_PCF8583_Read_RTC(Slave_Address, RTC_Array);
+ if (Ack_Status == ACK)
+ {
+ pc.printf("Time is ");
+ RSEDP_COM_Print_Time_Date_Year(RTC_Array);
+ pc.printf("\r");
+
+ keypress = pc.getc();
+
+ delay_ms(100);
+ }
+
+ } while((keypress != '\r') && (Ack_Status == ACK));
+ }
+ if (Ack_Status == ACK)
+ {
+ pc.printf("\n\n\rStopping the CLOCK\n\r\n");
+ pc.printf("Press the return key to finish the test\n\r");
+
+ Ack_Status = RSEDP_COM_PCF8583_Stop_Clock(Slave_Address);
+ do {
+ Ack_Status = RSEDP_COM_PCF8583_Read_RTC(Slave_Address, RTC_Array);
+ if (Ack_Status == ACK)
+ {
+ pc.printf("Time is ");
+ RSEDP_COM_Print_Time_Date_Year(RTC_Array);
+ pc.printf("\r");
+ keypress = pc.getc();
+
+ delay_ms(100);
+ }
+
+ } while((keypress != '\r') && (Ack_Status == ACK));
+ }
+
+ if (Ack_Status == ACK)
+ {
+ pc.printf("\n\n\rStarting the CLOCK again\n\r\n");
+ pc.printf("Press the return key to finish the test\n\r");
+
+ Ack_Status = RSEDP_COM_PCF8583_Start_Clock(Slave_Address);
+ do {
+ Ack_Status = RSEDP_COM_PCF8583_Read_RTC(Slave_Address, RTC_Array);
+ if (Ack_Status == ACK)
+ {
+ pc.printf("Time is ");
+ RSEDP_COM_Print_Time_Date_Year(RTC_Array);
+ pc.printf("\r");
+ keypress = pc.getc();
+
+ delay_ms(100);
+ }
+
+ } while((keypress != '\r') && (Ack_Status == ACK));
+ }
+
+ if (Ack_Status == ACK)
+ {
+ pc.printf("\n\n\rTesting the SRAM area of the RTC...\n\r\n");
+ pc.printf("Writing Data to the memory...\n\r");
+
+ nn = 0x10;
+ do {
+ Ack_Status = RSEDP_COM_PCF8583_Write_SRAM(Slave_Address, nn/2, nn);
+ nn++;
+ } while ((nn<0x100) && ( Ack_Status == ACK));
+
+ if (Ack_Status == ACK)
+ {
+ pc.printf("Finished writing the SRAM area of the RTC.\n\r");
+ pc.printf("Checking the SRAM area of the RTC...\n\r");
+ }
+
+ if (Ack_Status == ACK)
+ {
+ nn = 0x10;
+ do {
+ Ack_Status = RSEDP_COM_PCF8583_Read_SRAM(Slave_Address, &value, nn);
+
+ if (value != nn/2)
+ {
+ pc.printf("FAILED TEST - The data read is different from the data written\n\r");
+ pc.printf("Failed at memory location 0x%.3X\n\r",nn);
+ pc.printf("The data written was 0x%.2X\n\r",nn/2);
+ pc.printf("The data read was 0x%.2X\n\r",value);
+ while(1); /* Error reading from SRAM */
+ }
+ nn++;
+ } while((nn < 0x100) && (Ack_Status == ACK));
+ }
+ if (Ack_Status == ACK)
+ {
+ pc.printf("PASSED TEST\n\r");
+ }
+
+ }
+
+
+ if (Ack_Status != ACK)
+ {
+ pc.printf("*** NO Acknowledge Receieve ***\n\r");
+ pc.printf("Operation aborted\n\r");
+ }
+
+ pc.printf("\n\rFinished testing the PCF8583 Real Time Clock device\n\r\n");
+ }
+
+
+
+
+
+
+
+/* Digital I/O Module Tests */
+
+/* Test the ULN2003 output with the PCA9555A Device */
+static void test_digital_output_PCA9555(uint8_t Slave_Address)
+ {
+ /* assume the I2C and I/O direction have been set up */
+
+ sint32_t Ack_Status = 0;
+ uint8_t port_pin = 1;
+ uint8_t temp8 = 1;
+
+ pc.printf("\n\n\n\rTesting the Digital Outputs under I2C Control...\n\r");
+ pc.printf("Press the return key to sequence through the tests.\n\r");
+
+ Ack_Status = RSEDP_DIO_setup_PCA9555(Slave_Address, 0x00, 0x00); /* Configure Both Port 0 and Port 1 as outputs */
+
+ if (Ack_Status == ACK)
+ {
+ pc.printf("\n\rTesting the Port0 of the PCA9555...\n\r");
+
+ port_pin = 0;
+
+ do {
+ pc.printf("\n\rTurning ON the output OUT_P0(%.1d)", port_pin);
+
+ Ack_Status = RSEDP_DIO_PCA9555_Write_Word(Slave_Address, temp8,0x00);
+
+ if (Ack_Status == ACK)
+ {
+ pc.getc();
+
+ pc.printf("\n\rTurning OFF the output OUT_P0(%.1d)", port_pin);
+
+ Ack_Status = RSEDP_DIO_PCA9555_Write_Word(Slave_Address, 0x00, 0x00);
+ }
+ if (Ack_Status == ACK)
+ {
+ pc.getc();
+ }
+
+ temp8 = (temp8 << 1);
+ pc.printf("\n\r");
+ port_pin++;
+
+ } while ((port_pin < 8) && (Ack_Status == ACK));
+
+ }
+ if (Ack_Status == ACK)
+ {
+ pc.printf("\n\rTesting the Port1 of the PCA9555...\n\r");
+ temp8 = 0x01;
+
+ port_pin = 0;
+ for (port_pin = 0; port_pin < 8; port_pin++)
+ do {
+ pc.printf("\n\rTurning ON the output OUT_P1(%.1d)", port_pin);
+
+ Ack_Status = RSEDP_DIO_PCA9555_Write_Word(Slave_Address, 0x00, temp8);
+ if (Ack_Status == ACK)
+ {
+ pc.getc();
+
+ pc.printf("\n\rTurning OFF the output OUT_P1(%.1d)",port_pin);
+
+ Ack_Status = RSEDP_DIO_PCA9555_Write_Word(Slave_Address, 0x00,0x00);
+ }
+ pc.getc();
+
+ temp8 = (temp8 << 1);
+ pc.printf("\n\r");
+ port_pin++;
+ } while ((port_pin < 8) && (Ack_Status == ACK));
+ }
+
+ if (Ack_Status != ACK)
+ {
+ pc.printf("*** NO Acknowledge Receieve ***\n\r");
+ pc.printf("Operation aborted\n\r");
+ }
+ pc.printf("\n\r\nFinished testing the Digital Output under I2C Control\r\r\n");
+ }
+
+
+
+
+
+
+/* Test The Inputs to the PCA9555 serial I/O device */
+/* The device is configured as an input device. */
+static void test_digital_input_PCA9555(uint8_t Slave_Address)
+ {
+
+ sint32_t Ack_Status = 0;
+ uint8_t port_one = 0;
+ uint8_t port_zero = 0;
+ uint16_t keypress = 0;
+ uint16_t input_data = 0;
+ uint8_t n= 0;
+
+
+ pc.printf("\n\n\n\rTesting the Digital Inputs via I2C Control...\n\r");
+ pc.printf("Press the return key to sequence through the tests.\n\r");
+
+ Ack_Status = RSEDP_DIO_setup_PCA9555(Slave_Address, 0xff, 0xff); /* Configure Both Port 0 and Port 1 as inputs */
+
+ if (Ack_Status == ACK)
+ {
+ pc.printf("\n\rTesting the Ports of the I2C device in input mode...\n\r");
+
+ pc.printf("\n\rReading from the device...\n\r");
+ pc.printf("To terminate this test press the Return key\n\r\n");
+
+ pc.printf("Value read of the Port 0 and Port 1 pins are:\n\r");
+ pc.printf(" Port 0 Port 1 \n\r");
+ pc.printf("0 1 2 3 4 5 6 7 {} 0 1 2 3 4 5 6 7\n\r");
+
+
+ do {
+ Ack_Status = RSEDP_DIO_PCA9555_Read_Data(Slave_Address, &port_zero, &port_one); /* Read the DIP Switches onthe base board */
+
+ if (Ack_Status == ACK)
+ {
+ input_data = ((port_one << 8) + port_zero);
+ for (n = 0u; n < 16u; n++)
+ {
+ if (n == 8)
+ {
+ pc.printf(" ");
+ }
+ if ((input_data & 0x0001) == 0u)
+ {
+ pc.printf("O ");
+ }
+ else{
+ pc.printf("1 ");
+ }
+
+ input_data = input_data >> 1;
+ }
+
+ pc.printf("\r");
+ keypress = pc.getc();
+ }
+
+ } while ((keypress != '\r') && (Ack_Status == ACK));
+ }
+ if (Ack_Status != ACK)
+ {
+ pc.printf("*** NO Acknowledge Receieve ***\n\r");
+ pc.printf("Operation aborted\n\r");
+ }
+
+ pc.printf("\n\r\nFinished testing the Serial Digital Input\r\r\n");
+
+ }
+
+
+
+
+/* Analogue Module Tests */
+
+/* Test MAX1038 ADC On AN16 Module */
+static void test_MAX1x3x(uint8_t Slave_Address)
+ {
+ sint32_t Ack_Status = 0;
+ uint8_t uiChannel = 0u;
+ uint8_t u8Result = 0u;
+ uint16_t u16Result = 0u;
+ uint8_t keypress = 0u;
+
+ pc.printf("\n\rTesting the serial ADC on the Analogue Module...\n\r");
+
+ pc.printf("\n\rConfiguring the MAX1x3x %d bit ADC converter...\n\r",ADC_BITSIZE);
+ Ack_Status = RSEDP_AM_Init_MAX1x3x(Slave_Address) ;
+ if (Ack_Status == ACK)
+ {
+ pc.printf("\n\rMAX1x3x Now Configured");
+
+
+ /* Test all channels */
+ pc.printf("\n\rPress 'RETURN' key to terminate the test\n\rChannel Readings Are:\n\r");
+ pc.printf("CH00 CH01 CH02 CH03 CH04 CH05 CH06 CH07 CH08 CH09 CH10 CH11\n\r");
+ do {
+ for(uiChannel = 0u ; uiChannel < MAX1x3x_No_Of_Channels; uiChannel++)
+ {
+ if (ADC_BITSIZE == ADC_8BIT) /* 8 bit ADC fitted to analogue module */
+ {
+ Ack_Status = RSEDP_AM_MAX103x_ReadChannel(Slave_Address, &u8Result, uiChannel); /* this line for 8 bit ADC */
+ u16Result = u8Result;
+ }
+ else{ /* 10 bit ADC fitted to analogue module */
+ Ack_Status = RSEDP_AM_MAX113x_ReadChannel(Slave_Address, &u16Result, uiChannel); /* this line for 10bit ADC */
+ }
+
+ pc.printf("0x%.3X ", (u16Result & 0x01ff));
+ }
+
+ pc.printf("\r");
+ delay_ms(500u);
+
+ keypress = pc.getc();
+
+ } while ((keypress != '\r') && (Ack_Status == ACK));
+ }
+
+ if (Ack_Status != ACK)
+ {
+ pc.printf("*** NO Acknowledge Receieve ***\n\r");
+ pc.printf("Operation aborted\n\r");
+ }
+
+ pc.printf("\n\rfinished testing the ADC on the Analogue Module\n\r");
+ }
+
+
+
+
+/* Test AD5263 Digital Pot */
+static void test_AD5263(uint8_t Slave_Address)
+ {
+ sint32_t Ack_Status = 0;
+ uint8_t channel = 0;
+ uint32_t resistance =0;
+
+ pc.printf("\n\rTesting the serial digital potentiometer on the Analogue Module...\n\r");
+
+ pc.printf("\n\rInitialising the AD5263 device...\n\r"); /* Initialise the on board ADC */
+ Ack_Status = RSEDP_AM_Init_AD5263(Slave_Address) ;
+
+ if (Ack_Status == ACK)
+ {
+ pc.printf("\n\rAD5263 Now Configured");
+
+
+ for (channel = 1; channel < 5; channel++)
+ {
+ pc.printf("\n\rTesting the variable resistor on channel: %1d\n\r", channel);
+ resistance = 0u;
+ do {
+ pc.printf("\rSetting Resistance to: %5d ohms", resistance);
+ Ack_Status = RSEDP_AM_Set_AD5263_resistance(Slave_Address, channel, resistance);
+ resistance += (AD5263_Max_Resistance/256);
+ delay_ms(50);
+ } while ((Ack_Status == ACK) && (resistance < AD5263_Max_Resistance));
+ pc.printf("\n\r");
+ }
+ }
+
+ if (Ack_Status == ACK)
+ {
+ Ack_Status = RSEDP_AM_Init_AD5263(Slave_Address) ; /* Reset the device back to power up state */
+ }
+
+ if (Ack_Status != ACK)
+ {
+ pc.printf("*** NO Acknowledge Receieve ***\n\r");
+ pc.printf("Operation aborted\n\r");
+ }
+
+ pc.printf("\n\rFinished testing the AD5263 Device\n\r");
+ }
+
+
+
+
+
+/* Motor Control MC1 Tests */
+
+/* Test the VDCLINK Voltage */
+static void test_MC1_VDCLINK(void)
+ {
+ sint8_t keypress = 0;
+ uint16_t vdc_measured = 0;
+ float vbus_voltage = 0.0f;
+
+ pc.printf("\n\rTesting the VDCLINK Voltage on the MC1 Brushed DC Motor Module...\n\r");
+ do {
+
+ vdc_measured = RSEDP_MC1_Read_VDCLINK(AN2);
+ vbus_voltage = ((float)vdc_measured / VSENSE_DIVISOR);
+
+ pc.printf("The ADC Voltage measured is %4dmV, which is a bus voltage of %.0fV\r", vdc_measured, vbus_voltage);
+
+ keypress = pc.getc();
+ } while (keypress != '\r');
+
+ pc.printf("\n\rFinished testing the VDCLINK bus voltage\n\r");
+ }
+
+
+
+/* Test the motor current sense voltage */
+static void test_MC1_VSENSE(void)
+ {
+ sint8_t keypress = 0;
+ uint16_t vdc_measured = 0;
+ float motor_current = 0.0f;
+
+ pc.printf("\n\rTesting the VSENSE Motor Current Voltage Feedback on the MC1 Brushed DC Motor Module...\n\r");
+ do {
+
+ vdc_measured = RSEDP_MC1_Read_VSENSE(AN0);
+ motor_current =( (float)vdc_measured /(CURRENT_TRANSFER_RATIO * MOTOR_CURRENT_SENSE_RESISTOR)); /* Work out current in mA */
+
+ pc.printf("The ADC Voltage measured is %4dmV, which is aprrox motor_current of %.0fmA\r", vdc_measured, motor_current);
+
+ keypress = pc.getc();
+ } while (keypress != '\r');
+
+ pc.printf("\n\rFinished testing the VSENSE motor current sense input\n\r");
+ }
+
+
+
+
+
+
+/* Test the encoder inputs */
+static void test_MC1_Read_Encoders(void)
+ {
+ sint8_t keypress = 0;
+ uint8_t switch_status0 = 0;
+ uint8_t switch_status1 = 0;
+
+ pc.printf("\n\rTesting the Encoder0 & 1 from P301 connector Pin8 & Pin10 on the MC1 Module...\n\r");
+ pc.printf("The Encoder inputs are:\n\r");
+
+ do {
+ switch_status0 = RSEDP_MC1_Read_Encoder0_Input(EVG6_GPIO52);
+ switch_status1 = RSEDP_MC1_Read_Encoder1_Input(EVG7_GPIO54);
+
+ if (switch_status0 == 0)
+ {
+ pc.printf("Encoder0: OPEN ,");
+ }
+ else{
+ pc.printf("Encoder0: CLOSED,");
+ }
+
+ if (switch_status1 == 0)
+ {
+ pc.printf("Encoder1: OPEN \r");
+ }
+ else{
+ pc.printf("Encoder1: CLOSED\r");
+ }
+
+ keypress = pc.getc();
+ } while (keypress != '\r');
+
+ pc.printf("\n\rFinished testing the Encoder inputs from P301\n\r");
+ }
+
+
+/* test the Brake control signal */
+static void test_MC1_Brakes(void)
+ {
+ sint8_t keypress = 0;
+
+ pc.printf("\n\rTesting the Brake control signal to the motor control module...\n\r");
+
+ do {
+ pc.printf("Turning ON the brakes...\n\r");
+ RSEDP_MC1_Brake(BRAKE_ON, GPIO0); /* Brake ON */
+ pc.printf("Press any key to turn the brake OFF\n\r");
+ pc.getc();
+ RSEDP_MC1_Brake(BRAKE_OFF, GPIO0); /* Brake OFF */
+ pc.printf("Press any key to turn the brake ON again or 'Return' to terminate test\n\r");
+ keypress = pc.getc();
+ } while (keypress != '\r');
+
+ pc.printf("\n\rFinished testing the Brake control signal \n\r");
+ }
+
+/* test the direction Signal */
+static void test_MC1_Set_Direction(void)
+ {
+ uint8_t motor_direction = FORWARD;
+ uint8_t keypress = 0;
+
+ pc.printf("\n\rTesting the motor rotation direction signal...\n\r");
+
+ do {
+ pc.printf("Setting the motor direction as:");
+ if (motor_direction == FORWARD)
+ {
+ pc.printf("FORWARD\r");
+ }
+ if (motor_direction == REVERSE)
+ {
+ pc.printf("REVERSE\r");
+ }
+
+ RSEDP_MC1_Set_Motor_Direction(motor_direction, EVG1_GPIO42); /* Set the motor direction */
+
+ keypress = pc.getc();
+
+ if (motor_direction == FORWARD)
+ {
+ motor_direction = REVERSE;
+ }
+ else{
+ motor_direction = FORWARD;
+ }
+ } while (keypress != '\r');
+
+ pc.printf("\n\rFinished motor direction test\n\r");
+ }
+
+
+/* Testing the motor speed control */
+static void test_MC1_Speed_Ramp_UpDown(void)
+ {
+
+ uint8_t n= 0;
+ float motor_current = 0;
+ uint16_t vdc_measured = 0;
+
+ pc.printf("\n\rTesting the speed control of the motor control module...\n\r");
+
+ pc.printf("Brake turned OFF\n\r");
+ RSEDP_MC1_Brake(BRAKE_OFF, GPIO0); /* Brake OFF */
+
+ pc.printf("Ramping Up\n\r");
+
+ for (float ff = 0; ff < 1.0f; ff += 0.01f)
+ {
+ RSEDP_MC1_Set_Motor_Speed_Duty(ff, EVG0_GPIO40);
+ pc.printf("Duty %3.0f%%\r", (ff*100));
+ wait(0.1);
+ }
+
+ pc.printf("\n\rat full speed\n\r");
+
+ for (n = 0; n < 100; n++)
+ {
+ vdc_measured = RSEDP_MC1_Read_VSENSE(AN0);
+ motor_current =( (float)vdc_measured /(CURRENT_TRANSFER_RATIO * MOTOR_CURRENT_SENSE_RESISTOR)); /* Work out current in mA */
+
+ pc.printf("The ADC Voltage measured is %4dmV, which is aprrox motor_current of %.0fmA\r", vdc_measured, motor_current);
+ wait(0.1);
+ }
+
+
+ pc.printf("Ramping Down\n\r");
+
+ for (float ff=1.0; ff > 0.0f; ff-= 0.01f)
+ {
+ RSEDP_MC1_Set_Motor_Speed_Duty(ff, EVG0_GPIO40);
+ pc.printf("Duty %3.0f%%\r",(ff*100));
+ wait(0.1);
+ }
+
+ pc.printf("\n\rMotor Stopped\n\r");
+ RSEDP_MC1_Set_Motor_Speed_Duty(0.0f, EVG0_GPIO40);
+
+ RSEDP_MC1_Brake(BRAKE_ON, GPIO0); /* Brake ON */
+ pc.printf("Brake turned ON\n\r");
+ pc.printf("\n\rFinished testing the speed control of the motor control module\n\r");
+ }
+
+
+static void test_MC1_Set_Speed_PWM_Duty(void)
+ {
+ uint8_t keypress = 0;
+ float ff = 0.0f;
+
+ pc.printf("\n\rSet the Motor Speed PWM Duty Ratio...\n\r");
+ pc.printf("Use the '+' and '-' Keys to increase the duty and 'return' key to end.\n\r");
+
+ pc.printf("Brake turned OFF\n\r");
+ RSEDP_MC1_Brake(BRAKE_OFF, GPIO0); /* Brake OFF */
+
+
+ do {
+ keypress = pc.getc();
+ if (keypress == '+')
+ {
+ ff = (ff + 0.1f);
+ if (ff > 1.0) ff = 1.0;
+ }
+ if (keypress == '-')
+ {
+ ff = (ff - 0.1f);
+ if (ff < 0.0) ff = 0.0;
+ }
+
+ RSEDP_MC1_Set_Motor_Speed_Duty(ff, EVG0_GPIO40);
+ pc.printf("Duty %3.0f%%\r", (ff*100));
+ } while (keypress != '\r');
+
+ pc.printf("\n\rLeaving Menu option with PWM duty still set\n\r");
+
+ }
+
+
+
+/* Stopping the motor */
+static void test_MC1_Stop_Motor(void)
+ {
+ pc.printf("\n\rRamping Down the motor\n\r");
+
+ for (float ff=0.5; ff > 0.0f; ff-= 0.01f)
+ {
+ RSEDP_MC1_Set_Motor_Speed_Duty(ff, EVG0_GPIO40);
+ wait(0.1);
+ }
+
+ pc.printf("Motor Stopped\n\r");
+ RSEDP_MC1_Set_Motor_Speed_Duty(0.0f, EVG0_GPIO40);
+
+ RSEDP_MC1_Brake(BRAKE_ON, GPIO0); /* Brake ON */
+ pc.printf("Brake turned ON\n\r");
+
+ pc.printf("\n\rFinished stopping the motor\n\r");
+
+ }
+
+
+
+
+
+
+
+
+
+
+
+
+
+/* General Purpose Delay Routine */
+static void delay_ms(uint16_t time_delay)
+ {
+ uint32_t nnnn=0;
+
+ while(time_delay--!=0x0)
+ {
+ for (nnnn=0;nnnn<0x08ff;nnnn++); /* 1ms Loop */
+ }
+ }
+