HR/PEE20_motionController
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add tests

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This commit is contained in:
Mats van Reenen 2020-06-01 10:57:53 +02:00
parent 5ab3b2a635
commit 202bc86b36
1 changed files with 81 additions and 4 deletions
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85
main.c
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@ -1,5 +1,5 @@
#include <msp430.h> #include <msp430.h>
#include <math.h> //#include <math.h>
#include "SPI.h" #include "SPI.h"
#include "motorDriver.h" #include "motorDriver.h"
#include "motionController.h" #include "motionController.h"
@ -36,24 +36,101 @@
* *
* */ * */
#define TEST "nfc"
const uchar STEP_PINS = BIT4 | BIT5;
const uchar DIRr_PIN = BIT3;
const uchar DIRl_PIN = BIT2;
typedef enum Direction {Forward=0, Backward=(DIRl_PIN | DIRr_PIN), RightTurn=DIRr_PIN, LeftTurn=DIRl_PIN};
const uchar v = 36;
const ulong halfRound = 2800;
void stap(uint n, ulong t){
ulong d = t;
while(n != 0){
n--;
P2OUT |= STEP_PINS;
P2OUT &= ~STEP_PINS;
d=t;
while(d != 0){
d--;
__delay_cycles(160);
}
}
}
void dir(enum Direction d){
P2OUT &= ~(DIRr_PIN | DIRl_PIN); // set dir bits to 0
P2OUT |= d;
}
/** /**
* main.c * main.c
*/ */
int main(void) int main(void)
{ {
int i, ii;
WDTCTL = WDTPW | WDTHOLD; // stop watchdog timer WDTCTL = WDTPW | WDTHOLD; // stop watchdog timer
// set cpu op 16MHz // set cpu op 16MHz
BCSCTL1 = CALBC1_16MHZ; BCSCTL1 = CALBC1_16MHZ;
DCOCTL = CALDCO_16MHZ; DCOCTL = CALDCO_16MHZ;
P2DIR |= STEP_PINS | DIRr_PIN | DIRl_PIN;
SPIInit(); SPIInit();
MDInit(); MDInit();
MCInit(); //MCInit();
NFCInit(); NFCInit();
while (1){
uchar NFCAvailable(); __delay_cycles(16000000);
#if TEST == "nfc"
while(1){
NFCAvailable();
} }
#else
for(ii=2; ii>0; ii--){
dir(Forward);
stap(16000, v);
__delay_cycles(160000);
dir(RightTurn);
stap(halfRound, v*2);
__delay_cycles(160000);
dir(Forward);
stap(16000, v);
__delay_cycles(160000);
dir(LeftTurn);
stap(halfRound, v*2);
__delay_cycles(160000);
}
for(ii=2; ii>0; ii--){
for(i=4; i>0; i--){
dir(Forward);
stap(1600, v);
__delay_cycles(160000);
dir(RightTurn);
stap(halfRound/2, v*2);
__delay_cycles(160000);
}
for(i=4; i>0; i--){
dir(Forward);
stap(1600, v);
__delay_cycles(160000);
dir(LeftTurn);
stap(halfRound/2, v*2);
__delay_cycles(160000);
}
}
#endif
return 0; return 0;
} }