wip: implement hardware tests for timers and uart

quad/scripts/test_zybo_uart.py

+#!/usr/local/bin/python3.6
+
+import sys
+import time
+
+import serial
+
+if __name__ == '__main__':
+    with serial.Serial('/dev/ttyUSB0', 921600, timeout=5) as ser:
+        ser.reset_input_buffer()
+        send_bytes = b'sdflouirgaorifa;eofija;ogijasfhluiasflawieufzxcvwe'
+        ser.write(send_bytes)
+        print("Sending {} bytes".format(len(send_bytes)))
+        time.sleep(1)
+        recv_bytes = bytes()
+        while ser.in_waiting != 0:
+            recv_bytes = ser.read(len(send_bytes))
+        if recv_bytes == send_bytes:
+            print(recv_bytes);
+            print("Test Successful")
+        else:
+            print(recv_bytes);
+            print("Test Failed.")
+

quad/xsdk_workspace/modular_quad_pid/src/hw_impl_zybo_axi_timer.c

 #include "hw_impl_zybo.h"
 
-// Apparently, this is number of counts per usec
 #define PL_CLK_CNTS_PER_USEC 100
 
 int zybo_axi_timer_reset(struct TimerDriver *self) {

quad/xsdk_workspace/modular_quad_pid/src/hw_impl_zybo_tests.c

@@ -75,7 +75,7 @@ int test_zybo_i2c() {
  *
  * Instructions:
  * 1) Connect the quad Zybo board to computer using USB.
- * 2) Move jump on Zybo board to use JTAG instead of SD.
+ * 2) Move jumper on Zybo board to use JTAG instead of SD.
  * 3) Turn on Zybo board and turn on Spektrum handheld controller.
  *   - Verify receiver on quad pairs with controller (orange LED should turn on)
  * 3) Place breakpoint somewhere in the while loop of this function.
@@ -100,19 +100,16 @@ int test_zybo_pwm_inputs() {
 }
 
 /**
- * Test for the PWMInputDriver.
+ * Test for the PWMOutputDriver.
  *
  * Instructions:
  * 1) Connect the quad Zybo board to computer using USB.
- * 2) Move jump on Zybo board to use JTAG instead of SD.
- * 3) Turn on Zybo board and turn on Spektrum handheld controller.
- *   - Verify receiver on quad pairs with controller (orange LED should turn on)
- * 3) Place breakpoint somewhere in the while loop of this function.
+ * 2) Move jumper on Zybo board to use JTAG instead of SD.
+ * 3) Get an oscilloscope and observe PMOD outputs JE7-JE10
  * 4) Set the RUN_TESTS macro in main.c
  * 5) Uncomment only this test in main.c
- * 6) Debug main.
- * 7) Observe the values of pwm_inputs in debugger chaning as you use the
- *    Spektrum RC controller.
+ * 6) Run main.
+ * 7) Observe the PWM width of those PMOD pins changing with time
  */
 int test_zybo_pwm_outputs() {
   struct PWMOutputDriver pwm_outputs = create_zybo_pwm_outputs();
@@ -134,6 +131,115 @@ int test_zybo_pwm_outputs() {
     }
     continue;
   }
+  return 0;
+}
+
+/**
+ * Test for the AXI timer, using LEDDriver.
+ *
+ * This is essentially a basic "blink" program, using the mio7 LED
+ * on the Zybo board.
+ *
+ * Instructions:
+ * 1) Connect Zybo board to computer by USB cable.
+ * 2) Set the RUN_TESTS macro in main.c
+ * 3) Uncomment only this test in main.c
+ * 4) Run main.c
+ * 5) Observe MIO7 LED on board blinking at 1 second intervals.
+ */
+int test_zybo_axi_timer() {
+  struct TimerDriver axi = create_zybo_axi_timer();
+  struct LEDDriver led = create_zybo_mio7_led();
+  axi.reset(&axi);
+  led.reset(&led);
+
+  unsigned long time;
+
+  while (1) {
+    axi.restart(&axi);
+    time = 0;
+    while (time < 1000000) {
+      axi.read(&axi, &time);
+    }
+    led.turn_off(&led);
+    while (time < 2000000) {
+      axi.read(&axi, &time);
+    }
+    led.turn_on(&led);
+  }
+}
+
+/**
+ * Test for the Global timer, using LEDDriver.
+ *
+ * This is essentially a basic "blink" program, using the mio7 LED
+ * on the Zybo board.
+ *
+ * Instructions:
+ * 1) Connect Zybo board to computer by USB cable.
+ * 2) Set the RUN_TESTS macro in main.c
+ * 3) Uncomment only this test in main.c
+ * 4) Run main.c
+ * 5) Observe MIO7 LED on board blinking at 1 second intervals.
+ */
+int test_zybo_global_timer() {
+  struct TimerDriver global = create_zybo_global_timer();
+  struct LEDDriver led = create_zybo_mio7_led();
+  global.reset(&global);
+  led.reset(&led);
+
+  unsigned long time;
+
+  while (1) {
+    global.restart(&global);
+    time = 0;
+    while (time < 1000000) {
+      global.read(&global, &time);
+    }
+    led.turn_off(&led);
+    while (time < 2000000) {
+      global.read(&global, &time);
+    }
+    led.turn_on(&led);
+  }
+}
+
+/**
+ * Test for the UARTDriver.
+ *
+ * Instructions:
+ * 1) Connect Zybo board to computer by USB cable.
+ * 2) Get a FTDI Basic Sparkfun board in order to connect the UART pins
+ *    on the Zybo to the computer by USB.
+ *    - Zybo PMOD JC2 (TX) <-> Sparkfun Board RX
+ *    - Zybo PMOD JC3 (RX) <-> sparkfun Board Tx
+ *    - Zybo PMOD JC5 (GND) <-> Sparkfun Board GDN
+ * 2) Set the RUN_TESTS macro in main.c
+ * 3) Uncomment only this test in main.c
+ * 4) Run main.c
+ * 5) Execute quad/scripts/test_zybo_uart.py
+ *    - Observe test results on terminal
+ *    - You might be able to see LED MIO7 blink when it receives bytes
+ */
+int test_zybo_uart() {
+  struct UARTDriver uart = create_zybo_uart();
+  struct LEDDriver led = create_zybo_mio7_led();
+  uart.reset(&uart);
+  led.reset(&led);
+
+  unsigned char c;
+  while (1) {
+    if (uart.read(&uart, &c)) {
+      // read failed
+      led.turn_off(&led);
+    } else {
+      // read successful
+      led.turn_on(&led);
+      uart.write(&uart, c);
+    }
+  }
+
+  return 0;
 }
 
 

quad/xsdk_workspace/modular_quad_pid/src/hw_impl_zybo_uart.c

@@ -75,7 +75,7 @@ int zybo_uart_write(struct UARTDriver *self, unsigned char c) {\
 }
 
 int zybo_uart_read(struct UARTDriver *self, unsigned char *c) {
-  if (!queue_remove(&queue, c)) return -1;
+  if (queue_remove(&queue, c)) return -1;
   else return 0;
 }
 
@@ -209,7 +209,7 @@ void uart_interrupt_handler(XUartPs *InstancePtr) {
   u32 CsrRegister = XUartPs_ReadReg(InstancePtr->Config.BaseAddress,
                                     XUARTPS_SR_OFFSET);
 
-  while (0 == (CsrRegister & XUARTPS_SR_RXEMPTY) && !queue_full(&queue)) {
+  while (0 == (CsrRegister & XUARTPS_SR_RXEMPTY)) {
     u8 byte = XUartPs_ReadReg(InstancePtr->Config.BaseAddress, XUARTPS_FIFO_OFFSET);
     queue_add(&queue, byte);
     CsrRegister = XUartPs_ReadReg(InstancePtr->Config.BaseAddress, XUARTPS_SR_OFFSET);

quad/xsdk_workspace/modular_quad_pid/src/main.c

@@ -27,9 +27,10 @@ int main()
   //test_zybo_mio7_led_and_system();
   //test_zybo_i2c();
   //test_zybo_pwm_inputs();
-  test_zybo_pwm_outputs();
+  //test_zybo_pwm_outputs();
   //test_zybo_uart();
   //test_zybo_axi_timer();
+  test_zybo_uart();
   return 0;
 #endif