int main(void) {
cpu_set_clock_source(cpu_32mhz_clock);
cpu_configure_interrupt_level(cpu_interrupt_level_medium, true);
cpu_configure_interrupt_level(cpu_interrupt_level_low, true);
cpu_configure_interrupt_level(cpu_interrupt_level_high, true);
uint8_t outbuffer[128];
uint8_t inbuffer[128];
uart_port_t debug_port = uart_init_port(&PORTE, &USARTE0, uart_baud_115200, outbuffer, 128, inbuffer, 128);
uart_connect_port(&debug_port, true);
printf("Menial PWM test.....\n> ");
pwm_output_t pwm_output = pwm_initilize_output(io_init_pin(&PORTC, 4), pwm_div256, 1000);
pwm_enable_output(&pwm_output);
PORTC.DIRSET = 1<<3;
while (1) {
PORTC.OUTTGL = 1<<3;
pwm_set_output(&pwm_output, 100);
_delay_ms(1000);
PORTC.OUTTGL = 1<<3;
pwm_set_output(&pwm_output, 500);
_delay_ms(1000);
}
while(1);
return 1;
}
void pwm_exit( void)
{
if (debug_flags & DEBUG_PWM) {
printf( "pwm_exit called, releasing PWM subsystem\n");
}
for (int ch = 0 ; ch < num_pwm_channels ; ++ch) {
if (pwm_channels[ ch].duty_fd != -1) {
struct pwm_channel_record* pd = &pwm_channels[ ch];
pwm_set_output( pd->id, 0);
pwm_write_int_to_file( pd->device_path, "run", 0);
pwm_write_int_to_file( pd->device_path, "request", 0);
close (pd->duty_fd);
}
}
}
int pwm_init( void)
{
if (debug_flags & DEBUG_PWM) {
printf( "pwm_init called'\n");
}
if (pwm_config_data) {
char s[ 100];
atexit( pwm_exit);
for (int ch = 0 ; ch < pwm_config_items ; ++ch) {
pwm_config_record* ps = &pwm_config_data[ ch];
struct pwm_channel_record* pd = &pwm_channels[ ch];
pd->id = ps->tag;
pd->device_path = ps->device_path;
pd->frequency = ps->frequency;
pd->duty_fd = -1;
++num_pwm_channels;
pwm_write_int_to_file( pd->device_path, "request", 1);
pwm_write_int_to_file( pd->device_path, "polarity", 0);
pwm_write_int_to_file( pd->device_path, "duty_percent", 0);
if (pd->frequency) {
pwm_write_int_to_file( pd->device_path, "period_freq", pd->frequency);
}
snprintf( s, sizeof( s), "%s/duty_percent", pwm_channels[ ch].device_path);
pwm_channels[ ch].duty_fd = open( s, O_WRONLY);
if (pwm_channels[ ch].duty_fd < 0) {
perror( "pwm_init: failed to open 'duty_percent' file");
}
pwm_set_output( pd->id, 0);
pwm_write_int_to_file( pd->device_path, "run", 1);
}
return 0;
}
fprintf( stderr, "pwm_init: no configuration data!\n");
return -1;
}
int unicorn_test(void)
{
int i = 0;
int idx = 0;
int num_fans = 0;
double celsius = 0.0;
channel_tag heater, fan, pwm;
if (bbp_board_type == BOARD_BBP1S) {
num_fans = 6;
} else if (bbp_board_type == BOARD_BBP1) {
num_fans = 5;
}
#if 0
start_test_thread();
int count = 10;
while (1) {
printf("wait evtout count=%d\n", count);
prussdrv_pru_wait_event(PRU_EVTOUT_1);
prussdrv_pru_clear_event(PRU_EVTOUT_1, PRU1_ARM_INTERRUPT);
if(count-- == 0){
return;
}
}
#endif
printf("Test 1: Fan testing...\n");
printf("\n-------------------------------------------------------------\n");
printf("Test 1: Fan testing...\n");
printf(" Please watch the led lights and leds on board\n");
printf(" 1.1 close all fans\n");
for (idx = 0; idx < num_fans; idx++) {
fan = fan_lookup_by_index(idx);
if (fan) {
fan_disable(fan);
}
}
printf(" 1.2 open each fan for 1s then close one by one\n");
for (idx = 0; idx < num_fans; idx++) {
fan = fan_lookup_by_index(idx);
if (fan) {
printf(" Open %s\n", tag_name(fan));
fan_enable(fan);
fan_set_level(fan, 80);
sleep(1);
printf(" Close %s\n", tag_name(fan));
fan_set_level(fan, 0);
fan_disable(fan);
}
}
printf(" 1.3 turn on all fans for 1s, then turn off, repeat 3 times\n");
for (i = 0; i < 2; i++) {
for (idx = 0; idx < num_fans; idx++) {
fan = fan_lookup_by_index(idx);
if (fan) {
fan_enable(fan);
fan_set_level(fan, 80);
}
}
sleep(1);
for (idx = 0; idx < num_fans; idx++) {
fan = fan_lookup_by_index(idx);
if (fan) {
fan_disable(fan);
}
}
sleep(1);
}
printf("-------------------------------------------------------------\n");
printf("\n-------------------------------------------------------------\n");
printf("Test 2: LMSW testing...\n");
printf(" 2.1 Please press min x: \n");
wait_lmsw_min_test(X_AXIS);
printf(" min_x ok\n");
printf(" 2.2 Please press min y: \n");
wait_lmsw_min_test(Y_AXIS);
printf(" min_y ok\n");
printf(" 2.3 Please press min z: \n");
wait_lmsw_min_test(Z_AXIS);
printf(" min_z ok\n");
printf(" 2.4 Please press max x: \n");
wait_lmsw_max(X_AXIS);
printf(" max_x ok\n");
printf(" 2.5 Please press max y: \n");
wait_lmsw_max(Y_AXIS);
printf(" max_y ok\n");
printf(" 2.6 Please press max z: \n");
wait_lmsw_max(Z_AXIS);
printf(" max_z ok\n");
printf("-------------------------------------------------------------\n");
printf("\n-------------------------------------------------------------\n");
printf("Test 3: Heater testing...\n");
printf(" open each heater for 1s then close\n");
printf(" Please watch the led beside the heater interface!\n");
if (bbp_board_type == BOARD_BBP1S) {
pwm = pwm_lookup_by_name("pwm_ext");
if (pwm) {
pwm_set_output(pwm, 80);
}
sleep(1);
pwm_set_output(pwm, 0);
sleep(1);
pwm = pwm_lookup_by_name("pwm_ext2");
if (pwm) {
pwm_set_output(pwm, 80);
}
sleep(1);
pwm_set_output(pwm, 0);
sleep(1);
pwm = pwm_lookup_by_name("pwm_bed");
if (pwm) {
pwm_set_output(pwm, 80);
}
sleep(1);
pwm_set_output(pwm, 0);
sleep(1);
for (i = 0; i < 2; i++) {
pwm = pwm_lookup_by_name("pwm_ext");
if (pwm) {
pwm_set_output(pwm, 80);
}
pwm = pwm_lookup_by_name("pwm_ext2");
if (pwm) {
pwm_set_output(pwm, 80);
}
pwm = pwm_lookup_by_name("pwm_bed");
if (pwm) {
pwm_set_output(pwm, 80);
}
sleep(4);
pwm = pwm_lookup_by_name("pwm_ext");
if (pwm) {
pwm_set_output(pwm, 0);
}
pwm = pwm_lookup_by_name("pwm_ext2");
if (pwm) {
pwm_set_output(pwm, 0);
}
pwm = pwm_lookup_by_name("pwm_bed");
if (pwm) {
pwm_set_output(pwm, 0);
}
sleep(2);
}
}
if (bbp_board_type == BOARD_BBP1) {
for (idx = 0; idx < NUM_HEATERS; idx++) {
heater = heater_lookup_by_index(idx);
if (heater) {
printf(" Open %s\n", tag_name(heater));
heater_enable(heater);
heater_set_raw_pwm(heater, 40);
sleep(5);
printf(" Close %s\n", tag_name(heater));
heater_set_raw_pwm(heater, 0);
heater_disable(heater);
}
}
}
printf("done.\n");
printf("-------------------------------------------------------------\n");
printf("\n-------------------------------------------------------------\n");
printf("Test 4: Stepper testing...\n");
printf(" 4.1 Turn on all stepper\n");
stepper_test();
printf(" 4.2 Stop Stepper\n");
printf(" Please press min x to stop stepper\n");
wait_lmsw_min(X_AXIS);
printf("-------------------------------------------------------------\n");
printf("\n-------------------------------------------------------------\n");
printf("Test 5: USB Host testing...\n");
printf(" 5.1 please insert U mass storage\n");
if(unicorn_test_usb_storage() == -1){
halt_test("Usb mass storage is BAD!!!!!!!!!!!!!!!\n");
}
printf("Usb mass storage is OK\n");
printf("-------------------------------------------------------------\n");
printf("\n-------------------------------------------------------------\n");
printf("Test 6: Internal emmc testing...\n");
if(unicorn_test_emmc() == -1){
halt_test("Internal emmc is BAD!!!!!!!!!!!!!!\n");
}
printf("Internal emmc is OK\n");
printf("done.\n");
printf("-------------------------------------------------------------\n");
printf("\n-------------------------------------------------------------\n");
printf("Test 7: eeprom testing...\n");
if(unicorn_test_eeprom() == -1){
halt_test("eeprom is BAD!!!!!!!!!!!!\n");
}
printf("eeprom is OK\n");
printf("done.\n");
printf("-------------------------------------------------------------\n");
printf("\n-------------------------------------------------------------\n");
printf("Test 8: rtc testing...\n");
if(unicorn_test_rtc() == -1) {
halt_test("rtc is BAD!!!!!!!!!!!!\n");
}
printf("rtc is OK\n");
printf("done.\n");
printf("-------------------------------------------------------------\n");
printf("\n-------------------------------------------------------------\n");
printf("Test 9: Network testing...\n");
printf(" Start to ping the router..\n");
if(unicorn_test_network() == -1) {
halt_test("network is BAD!!!!!!!!!!!!\n");
}
printf("done.\n");
printf("-------------------------------------------------------------\n");
printf("Test 10: USB OTG testing...\n");
printf(" 11.1 Please connect usb otg line to PC\n");
printf(" 11.2 Could you see the boot partion? If yes, Please press min_x..\n");
wait_lmsw_min_test(X_AXIS);
printf("done.\n");
printf("-------------------------------------------------------------\n");
if (bbp_board_type == BOARD_BBP1S) {
printf("Test 11: Test max6675 temperature...\n");
printf("long press min y key to exit\n");
if(unicorn_test_max6675() == -1) {
halt_test("max6675 is BAD!!!!!!!!!!!!\n");
}
printf("\n-------------------------------------------------------------\n");
}
#if 0
if (bbp_board_type == BOARD_BBP1S) {
#ifdef SERVO
printf("Test 12: Test servo...\n");
if (unicorn_test_servo()) {
halt_test("servo is BAD!!!!!!!!!!!!\n");
}
printf("\n-------------------------------------------------------------\n");
#endif
}
#endif
printf("\n-------------------------------------------------------------\n");
printf("Test 12: Temp adc testing...\n");
heater_start();
if (bbp_board_type == BOARD_BBP1S) {
char *heater_array_bbp1s[] = {"heater_ext", "heater_ext2", "heater_bed"};
for (idx = 0; idx < sizeof(heater_array_bbp1s)/sizeof(heater_array_bbp1s[0]); idx++) {
heater = heater_lookup_by_name(heater_array_bbp1s[idx]);
if (heater) {
heater_enable(heater);
heater_set_setpoint(heater, TARGET_TEMP);
}
}
for (i = 0; i < 80 && stepper_check_lmsw(X_AXIS) == 0; i++) {
for (idx = 0; idx < sizeof(heater_array_bbp1s)/sizeof(heater_array_bbp1s[0]); idx++) {
heater = heater_lookup_by_name(heater_array_bbp1s[idx]);
if (heater) {
celsius = 0.0;
heater_get_celsius(heater, &celsius);
printf("%s -> %f\n", tag_name(heater), celsius);
sleep(1);
}
}
}
} else if (bbp_board_type == BOARD_BBP1) {
for (idx = 0; idx < NUM_HEATERS; idx++) {
heater = heater_lookup_by_index(idx);
if (heater) {
heater_enable(heater);
heater_set_setpoint(heater, TARGET_TEMP);
}
}
printf("long press min x key to exit\n");
heater = heater_lookup_by_name("heater_bed");
for (i = 0; i < 80 && stepper_check_lmsw(X_AXIS) == 0; i++) {
if (heater_temp_reached(heater)) {
printf("ok\n");
break;
} else {
sleep(1);
}
for (idx = 0; idx < NUM_HEATERS; idx++) {
heater = heater_lookup_by_index(idx);
if (heater) {
celsius = 0.0;
heater_get_celsius(heater, &celsius);
printf("%s -> %f\n", tag_name(heater), celsius);
}
}
printf("\n");
}
}
heater_stop();
printf("done.\n");
printf("-------------------------------------------------------------\n");
halt_test("All is Good!\n");
return 0;
}
