David Giles
This is a complete listing of the RS-EDP software for the mbed module to support the RS-EDP platform.
SourceFiles/RSEDP_Test.cpp
- Committer:
- DavidGilesHitex
- Date:
- 2010-11-19
- Revision:
- 0:5b7639d1f2c4
File content as of revision 0:5b7639d1f2c4:
/* 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 */
}
}