From 90c4d94b13472114daab71d3e368660224423c90 Mon Sep 17 00:00:00 2001 From: Dawsyn Schraiber <32221234+dawsynth@users.noreply.github.com> Date: Thu, 9 May 2024 01:20:17 -0400 Subject: 02/24/2024 Test Launch Version (BB Black) (#11) * Adding a 90% completed, compilable but untested ADS * Made basic changes to actuator & sensor. Also added motor class * Removed unnecessary .cpp files * Updated sensor & actuator classes, finished ads, added variable time step to kalman filter, set up all tests for future assertions * Relocated 'main' to 'active-drag-system.cpp'. Added more info to README * Removed main.cpp * Added more details to README * Changed some function parameters from pass-by-pointer to pass-by-reference. Also removed the std namespace * Started writing the test cases * Updated the .gitignore file * Removed some files that should be gitignored * Up to date with Jazz's pull request * Test Launch Branch Created; PRU Servo Control with Test Program * Added I2C device class and register IDs for MPL [INCOMPLETE SENSOR IMPLEMENTATION] Needs actual data getting function implementation for both sensors and register IDs for BNO, will implement shortly. * Partial implementation of MPL sensor Added startup method, still needs fleshed out data getters and setters and finished I2C implementation. MOST LIKELY WILL HAVE COMPILATION ISSUES. * *Hypothetically* complete MPL implementation NEEDS HARDWARE TESTING * IMU Header and init() method implementation Needs like, all data handling still lol * Hypothetically functional (Definitely won't compile) * We ball? --------- Co-authored-by: Jazz Jackson Co-authored-by: Cian Capacci <46614295+BeeGuyDude@users.noreply.github.com> --- src/pru/pwm_test.c | 80 ++++++++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 80 insertions(+) create mode 100644 src/pru/pwm_test.c (limited to 'src/pru/pwm_test.c') diff --git a/src/pru/pwm_test.c b/src/pru/pwm_test.c new file mode 100644 index 0000000..df8bbf0 --- /dev/null +++ b/src/pru/pwm_test.c @@ -0,0 +1,80 @@ +/* + * + * pwm tester + * The on cycle and off cycles are stored in each PRU's Data memory + * + */ + +#include +#include +#include +#include + +#define PRU_ADDR 0x4A300000 // Start of PRU memory Page 184 am335x TRM +#define PRU_LEN 0x80000 // Length of PRU memory +#define PRU0_DRAM 0x00000 // Offset to DRAM +#define PRU1_DRAM 0x02000 +#define PRU_SHAREDMEM 0x10000 // Offset to shared memory + +#define CYCLES_PER_SECOND 200000000 +#define CYCLES_PER_PERIOD (CYCLES_PER_SECOND / 800) + +uint32_t *pru0DRAM_32int_ptr; // Points to the start of local DRAM +uint32_t *pru1DRAM_32int_ptr; // Points to the start of local DRAM +uint32_t *prusharedMem_32int_ptr; // Points to the start of the shared memory + +/******************************************************************************* +* int start_pwm_count(int ch, int countOn, int countOff) +* +* Starts a pwm pulse on for countOn and off for countOff to a single channel (ch) +*******************************************************************************/ +int start_pwm_count(uint32_t duty_cycle) { + uint32_t *pruDRAM_32int_ptr = pru0DRAM_32int_ptr; + uint32_t old_duty_cycle = pruDRAM_32int_ptr[0]; + uint32_t old_count_on = (100 - (100 - old_duty_cycle)) * CYCLES_PER_PERIOD / 100; + uint32_t old_count_off = (100 - old_duty_cycle) * CYCLES_PER_PERIOD / 100; + uint32_t new_count_on = (100 - (100 - duty_cycle)) * CYCLES_PER_PERIOD / 100; + uint32_t new_count_off = (100 - duty_cycle) * CYCLES_PER_PERIOD / 100; + + printf("old:\n\tcountOn: %d, countOff: %d, count: %d\nnew:\n\tcountOn: %d, countOff: %d, count: %d\n", old_count_on, old_count_off, old_count_off + old_count_on, new_count_on, new_count_off, new_count_off + new_count_on); + // write to PRU shared memory + pruDRAM_32int_ptr[0] = duty_cycle; // On time + return 0; +} + +int main(int argc, char *argv[]) +{ + uint32_t *pru; // Points to start of PRU memory. + int fd; + printf("Servo tester\n"); + + fd = open ("/dev/mem", O_RDWR | O_SYNC); + if (fd == -1) { + printf ("ERROR: could not open /dev/mem.\n\n"); + return 1; + } + pru = mmap (0, PRU_LEN, PROT_READ | PROT_WRITE, MAP_SHARED, fd, PRU_ADDR); + if (pru == MAP_FAILED) { + printf ("ERROR: could not map memory.\n\n"); + return 1; + } + close(fd); + printf ("Using /dev/mem.\n"); + + pru0DRAM_32int_ptr = pru + PRU0_DRAM/4 + 0x200/4; // Points to 0x200 of PRU0 memory + pru1DRAM_32int_ptr = pru + PRU1_DRAM/4 + 0x200/4; // Points to 0x200 of PRU1 memory + prusharedMem_32int_ptr = pru + PRU_SHAREDMEM/4; // Points to start of shared memory + + uint32_t desired_duty_cycle = 0; + while (1) { + printf("Enter a duty cycle: "); + scanf("%d", &desired_duty_cycle); + start_pwm_count(desired_duty_cycle); + } + + if(munmap(pru, PRU_LEN)) { + printf("munmap failed\n"); + } else { + printf("munmap succeeded\n"); + } +} -- cgit v1.2.3