From f613b2764c21040314ad4922c5d8569e5695ee45 Mon Sep 17 00:00:00 2001
From: Brendan Bartels <bbartels@iastate.edu>
Date: Sun, 12 Mar 2017 16:19:20 -0500
Subject: [PATCH] wip: trying to get a test working for PWMOutputDriver
---
.../src/hw_impl_zybo_pwm_output.c | 4 +--
.../modular_quad_pid/src/hw_impl_zybo_tests.c | 33 +++++++++++++++++++
.../modular_quad_pid/src/main.c | 4 +--
3 files changed, 37 insertions(+), 4 deletions(-)
diff --git a/quad/xsdk_workspace/modular_quad_pid/src/hw_impl_zybo_pwm_output.c b/quad/xsdk_workspace/modular_quad_pid/src/hw_impl_zybo_pwm_output.c
index e4c75bd50..b5595e418 100644
--- a/quad/xsdk_workspace/modular_quad_pid/src/hw_impl_zybo_pwm_output.c
+++ b/quad/xsdk_workspace/modular_quad_pid/src/hw_impl_zybo_pwm_output.c
@@ -1,7 +1,7 @@
#include "hw_impl_zybo.h"
-#define THROTTLE_PULSE_WIDTH_LOW 1000 // us
-#define THROTTLE_PULSE_WIDTH_HIGH 2000 // us
+#define THROTTLE_PULSE_WIDTH_LOW 100000 // 1us
+#define THROTTLE_PULSE_WIDTH_HIGH 200000 // 2us
#define PERIOD_WIDTH 222222 // 100000000 ns / 450
#define PULSE_WIDTH_ADDR_OFFSET 4
diff --git a/quad/xsdk_workspace/modular_quad_pid/src/hw_impl_zybo_tests.c b/quad/xsdk_workspace/modular_quad_pid/src/hw_impl_zybo_tests.c
index 4cf1ae4d8..ca3583935 100644
--- a/quad/xsdk_workspace/modular_quad_pid/src/hw_impl_zybo_tests.c
+++ b/quad/xsdk_workspace/modular_quad_pid/src/hw_impl_zybo_tests.c
@@ -99,4 +99,37 @@ int test_zybo_pwm_inputs() {
}
}
+/**
+ * Test for the PWMInputDriver.
+ *
+ * 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.
+ * 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.
+ */
+int test_zybo_pwm_outputs() {
+ struct PWMOutputDriver pwm_outputs = create_zybo_pwm_outputs();
+ pwm_outputs.reset(&pwm_outputs);
+
+ unsigned long pwms[4];
+ pwms[0] = 1000;
+ pwms[1] = 1000;
+ pwms[2] = 1000;
+ pwms[3] = 1000;
+ while (1) {
+ int i;
+ for (i = 0; i < 4; i += 1) {
+ pwm_outputs.write(&pwm_outputs, i, pwms[i]);
+ }
+ int temp = 0;
+ }
+}
+
diff --git a/quad/xsdk_workspace/modular_quad_pid/src/main.c b/quad/xsdk_workspace/modular_quad_pid/src/main.c
index b0b7ccf45..c49e2bed8 100644
--- a/quad/xsdk_workspace/modular_quad_pid/src/main.c
+++ b/quad/xsdk_workspace/modular_quad_pid/src/main.c
@@ -26,8 +26,8 @@ int main()
#ifdef RUN_TESTS
//test_zybo_mio7_led_and_system();
//test_zybo_i2c();
- test_zybo_pwm_inputs();
- //test_zybo_pwm_outputs();
+ //test_zybo_pwm_inputs();
+ test_zybo_pwm_outputs();
//test_zybo_uart();
//test_zybo_axi_timer();
return 0;
--
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