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setexact_for_test_suite_only
#
# This siggen produces test patterns for limit3 to try to follow.
#
loadrt siggen
setp siggen.0.frequency 2
setp siggen.0.amplitude 100
setp siggen.0.offset 0
net sine <= siggen.0.sine
net cosine <= siggen.0.cosine
net square <= siggen.0.square
net sawtooth <= siggen.0.sawtooth
net triangle <= siggen.0.triangle
#
# This mux selects one of the available input patterns. Later in this
# file, after loading the limit3 component, we'll add the output of
# limit3 as another option in this mux.
#
loadrt mux_generic config=ff8
net sine => mux-gen.00.in-float-00
net cosine => mux-gen.00.in-float-01
net square => mux-gen.00.in-float-02
net sawtooth => mux-gen.00.in-float-03
net triangle => mux-gen.00.in-float-04
net input <= mux-gen.00.out-float
#
# Here's the limit3, the component under test.
#
# These pos/vel/accel limits are just a hair above the limits of the
# input sine wave.
#
loadrt limit3
setp limit3.0.min -101
setp limit3.0.max 101
setp limit3.0.maxv 1500
setp limit3.0.maxa 15800
net input => limit3.0.in
net output <= limit3.0.out
net output => mux-gen.00.in-float-05
#
# Compute the velocity and acceleration of the limit3 output.
#
loadrt ddt names=ddt.out-accel,ddt.out-vel
net output => ddt.out-vel.in
net out-vel <= ddt.out-vel.out
net out-vel => ddt.out-accel.in
net out-accel <= ddt.out-accel.out
#
# This part cycles through the muxed signals. It uses a charge pump to
# generate a high-frequency square wave, and an encoder in counter-mode,
# with a large scale, to produce a slowly growing number (the encoder
# position). The encoder position is converted from a float to a u32,
# and fed to the mux select pin.
#
loadrt charge_pump
# The heartbeat toggles every other time the thread runs (so at 500 Hz).
net heartbeat <= charge-pump.out
# The scale of the encoder makes the .position output move forward by
# about 1.0 per second.
loadrt encoder num_chan=1
encoder.0.counter-mode = 1
encoder.0.position-scale = 500
net heartbeat => encoder.0.phase-A
net encoder-position <= encoder.0.position
loadrt conv_float_u32
net encoder-position => conv-float-u32.0.in
net mux-select <= conv-float-u32.0.out
net mux-select => mux-gen.00.sel-int
#
# This sampler reports everything we care about out to disk, so we can
# validate it after the realtime part of the test completes.
#
loadrt sampler depth=1500 cfg=ffffu
net input => sampler.0.pin.0
net output => sampler.0.pin.1
net out-vel => sampler.0.pin.2
net out-accel => sampler.0.pin.3
net mux-select => sampler.0.pin.4
loadrt threads name1=t period1=1000000 fp1=1
addf charge-pump t
addf encoder.update-counters t
addf encoder.capture-position t
addf conv-float-u32.0 t
addf siggen.0.update t
addf mux-gen.00 t
addf limit3.0 t
addf ddt.out-vel t
addf ddt.out-accel t
addf sampler.0 t
start
loadusr -w halsampler -t -n 5100
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