tests: add motor_driver test

Test motor_driver API by making 2 motors turn clockwise and
counter-clockwise alternatively.
Speed varies from 0 to max PWM duty cycle.

Signed-off-by: Gilles DOFFE <g.doffe@gmail.com>

tests/driver_motor_driver/Makefile

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+BOARD ?= native
+
+include ../Makefile.tests_common
+
+USEMODULE += motor_driver
+USEMODULE += shell
+USEMODULE += shell_commands
+USEMODULE += xtimer
+
+FEATURES_REQUIRED += periph_qdec
+FEATURES_REQUIRED += motor_driver
+
+CFLAGS += -DLOG_LEVEL=LOG_DEBUG
+CFLAGS += -DDEBUG_ASSERT_VERBOSE
+
+include $(RIOTBASE)/Makefile.include

tests/driver_motor_driver/README.md

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+Motor driver test
+======
+
+Background
+------
+
+Test for the high level `motor_driver` driver.
+
+Expected result
+------
+
+Should do an infinite loop :
+    1) Both motors should turn at half pwm duty cycle speed in clowkwise
+       direction.
+    2) Both motors should turn at full pwm duty cycle speed in clowkwise
+       direction.
+    3) Both motors should brake.
+    4) Both motors should turn at half pwm duty cycle speed in counter
+       clowkwise direction.
+    5) Both motors should turn at full pwm duty cycle speed in counter
+       clowkwise direction.
+    6) Both motors should brake.

tests/driver_motor_driver/main.c

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+#include <stdio.h>
+#include <string.h>
+
+/* RIOT includes */
+#include <log.h>
+#include <motor_driver.h>
+#include <xtimer.h>
+
+/* set interval to 20 milli-second */
+#define INTERVAL (3000 * US_PER_MS)
+
+#define MOTOR_0_ID  0
+#define MOTOR_1_ID  1
+
+
+void motors_control(int32_t duty_cycle)
+{
+    char str[6];
+
+    if (duty_cycle >= 0) {
+        strncpy(str, "CW", 3);
+    }
+    else {
+        strncpy(str, "CCW", 4);
+    }
+
+    printf("Duty cycle = %" PRId32 "   Direction = %s\n", duty_cycle, str);
+
+    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_DEV(0), MOTOR_1_ID, duty_cycle)) {
+        printf("Cannot set PWM duty cycle for motor %" PRIu32 "\n", \
+               (uint32_t)MOTOR_1_ID);
+    }
+}
+
+void motors_brake(void)
+{
+    puts("Brake motors !!!");
+
+    if (motor_brake(MOTOR_DRIVER_DEV(0), MOTOR_0_ID)) {
+        printf("Cannot brake motor %" PRIu32 "\n", (uint32_t)MOTOR_0_ID);
+    }
+    if (motor_brake(MOTOR_DRIVER_DEV(0), MOTOR_1_ID)) {
+        printf("Cannot brake motor %" PRIu32 "\n", (uint32_t)MOTOR_1_ID);
+    }
+}
+
+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;
+
+    ret = motor_driver_init(MOTOR_DRIVER_DEV(0));
+    if (ret) {
+        LOG_ERROR("motor_driver_init failed with error code %d\n", ret);
+    }
+    assert(ret == 0);
+
+    for (;;) {
+        /* BRAKE - duty cycle 100% */
+        last_wakeup = xtimer_now();
+        motors_brake();
+        xtimer_periodic_wakeup(&last_wakeup, INTERVAL);
+
+        /* CW - duty cycle 50% */
+        last_wakeup = xtimer_now();
+        motors_control(dir * pwm_res / 2);
+        xtimer_periodic_wakeup(&last_wakeup, 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);
+
+        /* CW - duty cycle 100% */
+        last_wakeup = xtimer_now();
+        motors_control(dir * pwm_res);
+        xtimer_periodic_wakeup(&last_wakeup, INTERVAL);
+
+        /* Reverse direction */
+        dir = dir * -1;
+    }
+}
+
+int main(void)
+{
+    xtimer_init();
+
+    motion_control();
+
+    return 0;
+}