tests/drivers/motor_driver: rework test

Rework the test as the motor_driver module has been reworked to be compliant with RIOT device driver development guide. Mainly keep same behavior and use a simpler callback to illustrate post motor_set() callback use. Signed-off-by: Gilles DOFFE <[email protected]>
RIOT-OS · Apr 5, 2024 · 3e5dec2 · 3e5dec2
1 parent 5d957ee
commit 3e5dec2
Show file tree

Hide file tree

Showing 3 changed files with 102 additions and 37 deletions.
diff --git a/tests/drivers/motor_driver/Makefile b/tests/drivers/motor_driver/Makefile
@@ -1,13 +1,13 @@
 BOARD ?= native
 
+INCLUDES += -I$(APPDIR)
+
 include ../Makefile.drivers_common
 
 USEMODULE += motor_driver
 USEMODULE += shell_cmds_default
-USEMODULE += xtimer
-
-FEATURES_REQUIRED += periph_qdec
-FEATURES_REQUIRED += motor_driver
+USEMODULE += ztimer
+USEMODULE += ztimer_msec
 
 CFLAGS += -DLOG_LEVEL=LOG_DEBUG
 CFLAGS += -DDEBUG_ASSERT_VERBOSE

diff --git a/tests/drivers/motor_driver/init_dev.h b/tests/drivers/motor_driver/init_dev.h
@@ -0,0 +1,51 @@
+ /*
+ * Copyright (C) 2023 COGIP Robotics association
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ */
+
+/**
+ * @ingroup     tests
+ * @{
+ *
+ * @file
+ * @brief       Motor driver test header file.
+ *
+ * @author      Gilles DOFFE <[email protected]>
+ *
+ */
+
+#ifndef INIT_DEV_H
+#define INIT_DEV_H
+
+#include <motor_driver.h>
+
+#ifndef MOTOR_DRIVER_PARAM_MOTOR_SET_POST_CALLBACK
+/** Default callback called at end of motor_set() */
+#define MOTOR_DRIVER_PARAM_MOTOR_SET_POST_CALLBACK  motor_driver_callback_example
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @brief Simple motor_set post callback example.
+ * Just print current PWM value.
+ *
+ * @param[in] motor_driver      motor driver to which motor is attached
+ * @param[in] motor_id          motor ID on driver
+ * @param[in] pwm_duty_cycle    Signed PWM duty_cycle to set motor speed and direction
+ */
+void motor_driver_callback_example(
+    const motor_driver_t *motor_driver, uint8_t motor_id,
+    int32_t pwm_duty_cycle);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* INIT_DEV_H */
+/** @} */
diff --git a/tests/drivers/motor_driver/main.c b/tests/drivers/motor_driver/main.c
@@ -21,20 +21,36 @@
 #include <string.h>
 
 /* RIOT includes */
+#include "init_dev.h"
 #include "log.h"
 #include "motor_driver.h"
+#include "motor_driver_params.h"
 #include "test_utils/expect.h"
-#include "xtimer.h"
+#include "time_units.h"
+#include "ztimer.h"
 
-/* set interval to 20 milli-second */
-#define INTERVAL (3000 * US_PER_MS)
+void motor_driver_callback_example(
+    const motor_driver_t *motor_driver, uint8_t motor_id,
+    int32_t pwm_duty_cycle)
+{
+    LOG_DEBUG("MOTOR-DRIVER=%p" \
+        "    MOTOR_ID = %"PRIu8     \
+        "    PWM_VALUE = %"PRIi32"\n", \
+        (void*)motor_driver, motor_id,
+        pwm_duty_cycle);
+}
+
+/* Set interval to 3 seconds */
+#define INTERVAL (3 * MS_PER_SEC)
 
 #define MOTOR_0_ID  0
 #define MOTOR_1_ID  1
 
+static motor_driver_t motor_driver;
+
 void motors_control(int32_t duty_cycle)
 {
-    char str[6];
+    char str[4];
 
     if (duty_cycle >= 0) {
         strncpy(str, "CW", 3);
@@ -43,26 +59,26 @@ void motors_control(int32_t duty_cycle)
         strncpy(str, "CCW", 4);
     }
 
-    printf("Duty cycle = %" PRId32 "   Direction = %s\n", duty_cycle, str);
+    puts("\nActuate Motors");
 
-    if (motor_set(MOTOR_DRIVER_DEV(0), MOTOR_0_ID, duty_cycle)) {
-        printf("Cannot set PWM duty cycle for motor %" PRIu32 "\n", \
-               (uint32_t)MOTOR_0_ID);
+    if (motor_set(&motor_driver, MOTOR_0_ID, duty_cycle)) {
+        printf("Cannot set PWM duty cycle for motor %" PRIu8 "\n", \
+               MOTOR_0_ID);
     }
-    if (motor_set(MOTOR_DRIVER_DEV(0), MOTOR_1_ID, duty_cycle)) {
-        printf("Cannot set PWM duty cycle for motor %" PRIu32 "\n", \
-               (uint32_t)MOTOR_1_ID);
+    if (motor_set(&motor_driver, MOTOR_1_ID, duty_cycle)) {
+        printf("Cannot set PWM duty cycle for motor %" PRIu8 "\n", \
+               MOTOR_1_ID);
     }
 }
 
 void motors_brake(void)
 {
-    puts("Brake motors !!!");
+    puts("\nBrake motors");
 
-    if (motor_brake(MOTOR_DRIVER_DEV(0), MOTOR_0_ID)) {
+    if (motor_brake(&motor_driver, MOTOR_0_ID)) {
         printf("Cannot brake motor %" PRIu32 "\n", (uint32_t)MOTOR_0_ID);
     }
-    if (motor_brake(MOTOR_DRIVER_DEV(0), MOTOR_1_ID)) {
+    if (motor_brake(&motor_driver, MOTOR_1_ID)) {
         printf("Cannot brake motor %" PRIu32 "\n", (uint32_t)MOTOR_1_ID);
     }
 }
@@ -71,42 +87,40 @@ void motion_control(void)
 {
     int8_t dir = 1;
     int ret = 0;
-    xtimer_ticks32_t last_wakeup /*, start*/;
-    int32_t pwm_res = motor_driver_config[MOTOR_DRIVER_DEV(0)].pwm_resolution;
+    int32_t pwm_res = motor_driver_params->pwm_resolution;
 
-    ret = motor_driver_init(MOTOR_DRIVER_DEV(0));
+    ret = motor_driver_init(&motor_driver, &motor_driver_params[0]);
     if (ret) {
         LOG_ERROR("motor_driver_init failed with error code %d\n", ret);
     }
     expect(ret == 0);
 
-    for (;;) {
+    while (1) {
         /* BRAKE - duty cycle 100% */
-        last_wakeup = xtimer_now();
         motors_brake();
-        xtimer_periodic_wakeup(&last_wakeup, INTERVAL);
+        ztimer_sleep(ZTIMER_MSEC, INTERVAL);
 
-        /* CW - duty cycle 50% */
-        last_wakeup = xtimer_now();
+        ///* CW - duty cycle 50% */
         motors_control(dir * pwm_res / 2);
-        xtimer_periodic_wakeup(&last_wakeup, INTERVAL);
+        ztimer_sleep(ZTIMER_MSEC, INTERVAL);
 
         /* Disable motor during INTERVAL µs (motor driver must have enable
-           feature */
-        last_wakeup = xtimer_now();
-        motor_disable(MOTOR_DRIVER_DEV(0), MOTOR_0_ID);
-        motor_disable(MOTOR_DRIVER_DEV(0), MOTOR_1_ID);
-        xtimer_periodic_wakeup(&last_wakeup, INTERVAL);
-        motor_enable(MOTOR_DRIVER_DEV(0), MOTOR_0_ID);
-        motor_enable(MOTOR_DRIVER_DEV(0), MOTOR_1_ID);
+         //feature */
+        puts("\nDisable motors");
+        motor_disable(&motor_driver, MOTOR_0_ID);
+        motor_disable(&motor_driver, MOTOR_1_ID);
+        ztimer_sleep(ZTIMER_MSEC, INTERVAL);
+        puts("\nEnable motors");
+        motor_enable(&motor_driver, MOTOR_0_ID);
+        motor_enable(&motor_driver, MOTOR_1_ID);
+        ztimer_sleep(ZTIMER_MSEC, INTERVAL);
 
         /* CW - duty cycle 100% */
-        last_wakeup = xtimer_now();
         motors_control(dir * pwm_res);
-        xtimer_periodic_wakeup(&last_wakeup, INTERVAL);
+        ztimer_sleep(ZTIMER_MSEC, INTERVAL);
 
         /* Reverse direction */
-        dir = dir * -1;
+        dir *= -1;
     }
 }