URL
https://opencores.org/ocsvn/quad_decoder/quad_decoder/trunk
/*-----------------------------------------------------------------------------
* File: quad_decoder.c
* Desc: Test suite for functional verification of the quadrature
* decoder module.
* Date: Initiated Oct. 2009
* Auth: Scott Nortman, Bridge Electronic Design LLC
*
* Current Version: v1.0.0
*
* Revision History
*
*
* When Who What
* ---------------------------------------------------------------------------
* 10/2009 S. Nortman Initial development started.
* 7/2010 S. Nortman Added comments, clean code, release v1.0.0
*
*----------------------------------------------------------------------------*/
#include
#include
#include
#include
#include "devices.h"
#include "hardware.h"
#include "quad_decoder.h"
#ifndef ABS
#define ABS( x ) ( (x < 0)?(0-x):(x) )
#endif
/* Number of counts when performing random count test */
#define NUM_CNTS ( 1000 )
extern uint8_t quad_irq_flag;
extern uint32_t quad_irq_qsr;
static ioport_t *ioport;
#define QUAD_IOPORT_ID WB_PRTIO_1
void quad_dcdr_test( uint32_t base_add )
{
int32_t temp = 0;
int32_t delta, count, a, error_count;
volatile uint32_t *ptr = (volatile uint32_t *)base_add;
uint8_t errFlag = FALSE;
// Test QCR after reset; we expect 0
printf("\nTesting reset value of QCR register...\n");
temp = QUAD_DCDR_QCR_REG( Base_QUAD_DECODER);
if( temp != 0 )
printf("QCR register [ FAILED ], value is 0x%08X.\n", temp);
else
printf("QCR register [ PASSED ], value is 0x%08X.\n", temp);
//Test QSR after reset; we expect a 0
printf("\nTesting reset value of QSR register...\n");
temp = QUAD_DCDR_QSR_REG( Base_QUAD_DECODER );
if( temp != 0 )
printf("QSR register [ FAILED ], value is 0x%08X.\n", temp);
else
printf("QSR register [ PASSED ], value is 0x%08X.\n", temp);
//Test QRW want 0
printf("\nTesting reset value of QRW register...\n");
temp = QUAD_DCDR_QRW_REG( Base_QUAD_DECODER );
if( temp != 0 )
printf("QRW register [ FAILED ], value is 0x%08X.\n", temp);
else
printf("QRW register [ PASSED ], value is 0x%08X.\n", temp);
printf("Writing all zeros...\n");
QUAD_DCDR_QCR_REG( Base_QUAD_DECODER) = 0;
QUAD_DCDR_QSR_REG( Base_QUAD_DECODER ) = 0;
QUAD_DCDR_QRW_REG( Base_QUAD_DECODER ) = 0;
printf("\nTesting zero value of QCR register...\n");
temp = QUAD_DCDR_QCR_REG( Base_QUAD_DECODER);
if( temp != 0 )
printf("QCR register [ FAILED ], value is 0x%08X.\n", temp);
else
printf("QCR register [ PASSED ], value is 0x%08X.\n", temp);
printf("\nTesting zero value of QSR register...\n");
temp = QUAD_DCDR_QSR_REG( Base_QUAD_DECODER );
if( temp != 0 )
printf("QSR register [ FAILED ], value is 0x%08X.\n", temp);
else
printf("QSR register [ PASSED ], value is 0x%08X.\n", temp);
printf("\nTesting zero value of QRW register...\n");
//temp = QUAD_DCDR_QRW_REG( ptr );
temp = QUAD_DCDR_QRW_REG( Base_QUAD_DECODER );
if( temp != 0 )
printf("QRW register [ FAILED ], value is 0x%08X.\n", temp);
else
printf("QRW register [ PASSED ], value is 0x%08X.\n", temp);
printf("\nWriting to bit locations in QCR register...\n");
printf("Writing 1 to bit 0...\n");
QUAD_DCDR_QCR_REG( Base_QUAD_DECODER) |= (1<>7 ){
printf("IRQ error, expected flag to be false...\n");
quad_irq_flag = 0;
}
else
printf("IRQ flag FALSE, triggering error...\n");
//enable int
QUAD_DCDR_QCR_REG( Base_QUAD_DECODER) |= (1<>7 ){
printf("IRQ [ PASSED ], QSR: 0x%02X.\n", QUAD_DCDR_QSR_REG( Base_QUAD_DECODER));
}
else
printf("IRQ [ FAILED ], flag false...\n");
//clear int
QUAD_DCDR_QSR_REG( Base_QUAD_DECODER ) |= (1<>7 ){
printf("IRQ [ FAILED ], QSR: 0x%02X.\n", QUAD_DCDR_QSR_REG( Base_QUAD_DECODER));
}
else
printf("IRQ [ PASSED ], QSR: 0x%02X.\n", QUAD_DCDR_QSR_REG( Base_QUAD_DECODER));
//gen underflow interrupt
QUAD_DCDR_QCR_REG( Base_QUAD_DECODER) |= (1<>7 ){
printf("IRQ [ PASSED ], QSR: 0x%02X.\n", QUAD_DCDR_QSR_REG( Base_QUAD_DECODER));
}
else
printf("IRQ [ FAILED ], QSR: 0x%02X.\n", QUAD_DCDR_QSR_REG( Base_QUAD_DECODER));
//clear int
QUAD_DCDR_QSR_REG( Base_QUAD_DECODER ) |= (1<>7 ){
printf("IRQ [ FAILED ], QSR: 0x%02X.\n", QUAD_DCDR_QSR_REG( Base_QUAD_DECODER));
}
else
printf("IRQ [ PASSED ], QSR: 0x%02X.\n", QUAD_DCDR_QSR_REG( Base_QUAD_DECODER));
//gen over interrupt
QUAD_DCDR_QCR_REG( Base_QUAD_DECODER) |= (1<>7 ){
printf("IRQ [ PASSED ], QSR: 0x%02X.\n", QUAD_DCDR_QSR_REG( Base_QUAD_DECODER));
}
else
printf("IRQ [ FAILED ], QSR: 0x%02X.\n", QUAD_DCDR_QSR_REG( Base_QUAD_DECODER));
//clear int
QUAD_DCDR_QSR_REG( Base_QUAD_DECODER ) |= (1<>7 ){
printf("IRQ [ FAILED ], QSR: 0x%02X.\n", QUAD_DCDR_QSR_REG( Base_QUAD_DECODER));
}
else
printf("IRQ [ PASSED ], QSR: 0x%02X.\n", QUAD_DCDR_QSR_REG( Base_QUAD_DECODER));
//test index input
//set value manually
QUAD_DCDR_QCR_REG( Base_QUAD_DECODER) &= ~( (1<>7 )
printf("IRQ [ PASSED ], QSR: 0x%02X.\n", QUAD_DCDR_QSR_REG( Base_QUAD_DECODER));
else
printf("IRQ [ FAILED ], QSR: 0x%02X.\n", QUAD_DCDR_QSR_REG( Base_QUAD_DECODER));
//leave idx asserted, clear flag, bit should still be set
QUAD_DCDR_QSR_REG( Base_QUAD_DECODER ) |= (1<>7 )
printf("IRQ [ PASSED ], QSR: 0x%02X.\n", QUAD_DCDR_QSR_REG( Base_QUAD_DECODER));
else
printf("IRQ [ FAILED ], QSR: 0x%02X.\n", QUAD_DCDR_QSR_REG( Base_QUAD_DECODER));
//Now disable index enable bit, clear the status register, and confirm that the IRQ
// is deasserted.
printf("Turn idx off...\n");
ioport_set_value( ioport, 0, 0x00 );
QUAD_DCDR_QSR_REG( Base_QUAD_DECODER ) |= (1<>7 )
printf("IRQ [ FAILED ], QSR: 0x%02X.\n", QUAD_DCDR_QSR_REG( Base_QUAD_DECODER));
else
printf("IRQ [ PASSED ], QSR: 0x%02X.\n", QUAD_DCDR_QSR_REG( Base_QUAD_DECODER));
printf("Preloading count 0x55555555...\n");
QUAD_DCDR_QRW_REG( Base_QUAD_DECODER ) = 0x55555555; //Write to QRW
QUAD_DCDR_QCR_REG( Base_QUAD_DECODER ) |= (1<>QSR_CCME;
printf("Checking QSR, pre testing...\n");
if( temp )
printf("CCME [ FAILED ], wanted 0, got %d\n", temp );
else
printf("CCME [ PASSED ], wanted 0, got %d\n", temp );
printf("CCME=0, CMIE=0, Asserting QLAT\n");
QUAD_DCDR_QCR_REG( Base_QUAD_DECODER ) |= (1<>QSR_CCME;
printf("Checking QSR...\n");
if( temp )
printf("CCME [ FAILED ], wanted 0, got %d\n", temp );
else
printf("CCME [ PASSED ], wanted 0, got %d\n", temp );
printf("Checking IRQ...\n");
temp = ioport_get_value( ioport, 0 );
if( (temp&(1<<7))>>7 )
printf("IRQ [ FAILED ], wanted 0, got 1\n");
else
printf("IRQ [ PASSED ], wanted 0, got 0\n");
QUAD_DCDR_QRW_REG( Base_QUAD_DECODER ) = 0xDEADDEAD;
QUAD_DCDR_QCR_REG( Base_QUAD_DECODER ) |= (1<>QSR_CCME;
printf("Checking QSR...\n");
if( temp )
printf("CCME [ FAILED ], wanted 0, got %d\n", temp );
else
printf("CCME [ PASSED ], wanted 0, got %d\n", temp );
printf("Quad Count =/= QRW, Checking IRQ...\n");
temp = ioport_get_value( ioport, 0 );
if( (temp&(1<<7))>>7 )
printf("IRQ [ FAILED ], wanted 0, got 1\n");
else
printf("IRQ [ PASSED ], wanted 0, got 0\n");
QUAD_DCDR_QCR_REG( Base_QUAD_DECODER ) |= (1<>QSR_CCME;
printf("Quad Count == QRW, Checking QSR...\n");
if( temp )
printf("CCME [ PASSED ], wanted 1, got %d\n", temp );
else
printf("CCME [ FAILED ], wanted 1, got %d\n", temp );
printf("Quad Count == QRW, Checking IRQ...\n");
temp = ioport_get_value( ioport, 0 );
if( (temp&(1<<7))>>7 )
printf("IRQ [ PASSED ], wanted 1, got 1\n");
else
printf("IRQ [ FAILED ], wanted 0, got 0\n");
QUAD_DCDR_QRW_REG( Base_QUAD_DECODER ) = 0x01234567;
QUAD_DCDR_QSR_REG( Base_QUAD_DECODER ) |= (1<>QSR_CCME;
printf("Quad Count =/= QRW, cleared QSR, Checking QSR...\n");
if( temp )
printf("CCME [ FAILED ], wanted 0, got %d\n", temp );
else
printf("CCME [ PASSED ], wanted 0, got %d\n", temp );
printf("Quad Count =/= QRW, cleared QSR, Checking IRQ...\n");
temp = ioport_get_value( ioport, 0 );
if( (temp&(1<<7))>>7 )
printf("IRQ [ FAILED ], wanted 0, got 1\n");
else
printf("IRQ [ PASSED ], wanted 0, got 0\n");
#endif
count = 0;
error_count = 0;
QUAD_DCDR_QRW_REG( Base_QUAD_DECODER ) = count;
QUAD_DCDR_QCR_REG( Base_QUAD_DECODER ) |= (1< ch A, port1 => ch b, port2 => index
uint8_t quad_dcdr_sim( int32_t steps, int8_t error )
{
uint32_t num_steps = ABS( steps );
int8_t direction = 0;
uint32_t current_step = 0;
uint32_t current_state = 0;
//See if we want to create an intentional error
if( error ){
current_state = ioport_get_value( ioport, 0 );
//Cause changes in both bits simultaneously for error
ioport_set_value( ioport, 0, (current_state^0x03)&0x03 );
}
else{
if (steps < 0)
direction = -1;
else
direction = 1;
for( current_step = 0; current_step < num_steps; current_step++)
{
//get current state
current_state = ioport_get_value( ioport, 0 );
switch( current_state & 0x00000003 ){
case 0x00:
if( direction == 1 )
ioport_set_value( ioport, 0, 0x01);
else
ioport_set_value( ioport, 0, 0x02);
break;
case 0x01:
if( direction == 1 )
ioport_set_value( ioport, 0, 0x03);
else
ioport_set_value( ioport, 0, 0x00);
break;
case 0x03:
if( direction == 1 )
ioport_set_value( ioport, 0, 0x02);
else
ioport_set_value( ioport, 0, 0x01);
break;
case 0x02:
if( direction == 1 )
ioport_set_value( ioport, 0, 0x00);
else
ioport_set_value( ioport, 0, 0x03);
break;
}
}
}
return( ioport_get_value( ioport, 0 ) & 0x03 );
}//end quad_dcdr_sim
