Xiaohai Li / Mbed 2 deprecated RPi_MOT_HAT

Raspberry Pi MOT HAT Based on STM32F030R8. The clock needs to be changed to 8MHz after export.

Dependencies:   mbed

AplicationLayer/SelfTest.cpp@4:fb5235d39a9c, 2020-01-06 (annotated)

Committer:
nightseas
Date:
Mon Jan 06 05:45:32 2020 +0000
Revision:
4:fb5235d39a9c
Parent:
3:171f4d0ca77b 
Merge latest official mbed lib.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
nightseas 0:633cef71e6ba 1 #include "SysConfig.h"
nightseas 0:633cef71e6ba 2
nightseas 1:a6bcf44b90df 3 void SpeedTest(void)
nightseas 1:a6bcf44b90df 4 {
nightseas 3:171f4d0ca77b 5 uart_db.printf("[Speed Test]\n\rMOT1 = %drpm, MOT2 = %drpm, MOT3 = %drpm, MOT4 = %drpm.\n\r", Mot_GetSpeed(1), Mot_GetSpeed(2), Mot_GetSpeed(3), Mot_GetSpeed(4));
nightseas 1:a6bcf44b90df 6 }
nightseas 1:a6bcf44b90df 7
nightseas 1:a6bcf44b90df 8 void VoltageTest(void)
nightseas 1:a6bcf44b90df 9 {
nightseas 3:171f4d0ca77b 10 uart_db.printf("[Voltage Test]\n\rVBAT = %.2fV, VDD12V = %.2fV, VDD5V = %.2fV, VDD3V3 = %.2fV.\n\r", Vmon_ReadVolt(1), Vmon_ReadVolt(2), Vmon_ReadVolt(3), Vmon_ReadVolt(4));
nightseas 1:a6bcf44b90df 11 }
nightseas 1:a6bcf44b90df 12
nightseas 1:a6bcf44b90df 13 void MotTest(void)
nightseas 1:a6bcf44b90df 14 {
nightseas 1:a6bcf44b90df 15 int dir, turn;
nightseas 3:171f4d0ca77b 16 uart_db.printf("\n\r==== Motor Test ====\n\r");
nightseas 1:a6bcf44b90df 17 for(int i=0; i<100; i+=20)
nightseas 1:a6bcf44b90df 18 {
nightseas 3:171f4d0ca77b 19 uart_db.printf("\n\rMotor speed set to %d%%.\n\r", i);
nightseas 3:171f4d0ca77b 20 uart_db.printf("-->Motor will move forward.\n\r");
nightseas 1:a6bcf44b90df 21 dir = 'f';
nightseas 1:a6bcf44b90df 22
nightseas 3:171f4d0ca77b 23 uart_db.printf("---->Motor will move straight.\n\r");
nightseas 1:a6bcf44b90df 24 turn = 'm';
nightseas 1:a6bcf44b90df 25 Mot_Ctrl(dir, turn, (float)i / 100.0);
nightseas 1:a6bcf44b90df 26 SpeedTest();
nightseas 1:a6bcf44b90df 27 VoltageTest();
nightseas 1:a6bcf44b90df 28 LedToggle(0);
nightseas 1:a6bcf44b90df 29 wait(3);
nightseas 1:a6bcf44b90df 30
nightseas 3:171f4d0ca77b 31 uart_db.printf("---->Motor will turn left.\n\r");
nightseas 1:a6bcf44b90df 32 turn = 'l';
nightseas 1:a6bcf44b90df 33 Mot_Ctrl(dir, turn, (float)i / 100.0);
nightseas 1:a6bcf44b90df 34 SpeedTest();
nightseas 1:a6bcf44b90df 35 VoltageTest();
nightseas 1:a6bcf44b90df 36 LedToggle(0);
nightseas 1:a6bcf44b90df 37 wait(3);
nightseas 1:a6bcf44b90df 38
nightseas 3:171f4d0ca77b 39 uart_db.printf("---->Motor will turn right.\n\r");
nightseas 1:a6bcf44b90df 40 turn = 'r';
nightseas 1:a6bcf44b90df 41 Mot_Ctrl(dir, turn, (float)i / 100.0);
nightseas 1:a6bcf44b90df 42 SpeedTest();
nightseas 1:a6bcf44b90df 43 VoltageTest();
nightseas 1:a6bcf44b90df 44 LedToggle(0);
nightseas 1:a6bcf44b90df 45 wait(3);
nightseas 1:a6bcf44b90df 46
nightseas 3:171f4d0ca77b 47 uart_db.printf("-->Motor will move forward.\n\r");
nightseas 1:a6bcf44b90df 48 dir = 'b';
nightseas 1:a6bcf44b90df 49
nightseas 3:171f4d0ca77b 50 uart_db.printf("---->Motor will move straight.\n\r");
nightseas 1:a6bcf44b90df 51 turn = 'm';
nightseas 1:a6bcf44b90df 52 Mot_Ctrl(dir, turn, (float)i / 100.0);
nightseas 1:a6bcf44b90df 53 SpeedTest();
nightseas 1:a6bcf44b90df 54 VoltageTest();
nightseas 1:a6bcf44b90df 55 LedToggle(0);
nightseas 1:a6bcf44b90df 56 wait(3);
nightseas 1:a6bcf44b90df 57
nightseas 3:171f4d0ca77b 58 uart_db.printf("---->Motor will turn left.\n\r");
nightseas 1:a6bcf44b90df 59 turn = 'l';
nightseas 1:a6bcf44b90df 60 Mot_Ctrl(dir, turn, (float)i / 100.0);
nightseas 1:a6bcf44b90df 61 SpeedTest();
nightseas 1:a6bcf44b90df 62 VoltageTest();
nightseas 1:a6bcf44b90df 63 LedToggle(0);
nightseas 1:a6bcf44b90df 64 wait(3);
nightseas 1:a6bcf44b90df 65
nightseas 3:171f4d0ca77b 66 uart_db.printf("---->Motor will turn right.\n\r");
nightseas 1:a6bcf44b90df 67 turn = 'r';
nightseas 1:a6bcf44b90df 68 Mot_Ctrl(dir, turn, (float)i / 100.0);
nightseas 1:a6bcf44b90df 69 SpeedTest();
nightseas 1:a6bcf44b90df 70 VoltageTest();
nightseas 1:a6bcf44b90df 71 LedToggle(0);
nightseas 1:a6bcf44b90df 72 wait(3);
nightseas 1:a6bcf44b90df 73 }
nightseas 1:a6bcf44b90df 74 }
nightseas 1:a6bcf44b90df 75
nightseas 0:633cef71e6ba 76 void SelfTest(void)
nightseas 1:a6bcf44b90df 77 #if 1
nightseas 1:a6bcf44b90df 78 {
nightseas 3:171f4d0ca77b 79 uart_db.printf("Starting motor velocimeter...\n\r");
nightseas 1:a6bcf44b90df 80 Mot_StartVelocimeter();
nightseas 3:171f4d0ca77b 81 MotTest();
nightseas 3:171f4d0ca77b 82 Mot_StopVelocimeter();
nightseas 1:a6bcf44b90df 83 }
nightseas 4:fb5235d39a9c 84 #else
nightseas 0:633cef71e6ba 85 {
nightseas 0:633cef71e6ba 86 //Breath LED
nightseas 0:633cef71e6ba 87 int i, j;
nightseas 0:633cef71e6ba 88 led_mb = 0;
nightseas 0:633cef71e6ba 89 while(1)
nightseas 0:633cef71e6ba 90 {
nightseas 0:633cef71e6ba 91 for(j=0;j<=100;j++)
nightseas 0:633cef71e6ba 92 {
nightseas 0:633cef71e6ba 93 for(i=0;i<=100;i++)
nightseas 0:633cef71e6ba 94 {
nightseas 0:633cef71e6ba 95 led_mb = 1;
nightseas 0:633cef71e6ba 96 wait_us(j);
nightseas 0:633cef71e6ba 97 led_mb = 0;
nightseas 0:633cef71e6ba 98 wait_us(100-j);
nightseas 0:633cef71e6ba 99 }
nightseas 0:633cef71e6ba 100 }
nightseas 0:633cef71e6ba 101 for(j=100;j>=0;j--)
nightseas 0:633cef71e6ba 102 {
nightseas 0:633cef71e6ba 103 for(i=0;i<=100;i++)
nightseas 0:633cef71e6ba 104 {
nightseas 0:633cef71e6ba 105 led_mb = 1;
nightseas 0:633cef71e6ba 106 wait_us(j);
nightseas 0:633cef71e6ba 107 led_mb = 0;
nightseas 0:633cef71e6ba 108 wait_us(100-j);
nightseas 0:633cef71e6ba 109 }
nightseas 0:633cef71e6ba 110 }
nightseas 0:633cef71e6ba 111 wait_ms(200);
nightseas 0:633cef71e6ba 112 }
nightseas 1:a6bcf44b90df 113 }
nightseas 3:171f4d0ca77b 114 #endif