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amiro-os / unittests / periphery-lld / src / ut_alld_INA219_v1.c @ 2a4dbf93

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/*
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AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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Copyright (C) 2016..2019  Thomas Schöpping et al.
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program.  If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <amiroos.h>
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#include <ut_alld_INA219_v1.h>
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#if ((AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_INA219) && (AMIROLLD_CFG_INA219 == 1)) || defined(__DOXYGEN__)
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#include <math.h>
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/******************************************************************************/
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/* LOCAL DEFINITIONS                                                          */
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/******************************************************************************/
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/******************************************************************************/
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/* EXPORTED VARIABLES                                                         */
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/******************************************************************************/
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/******************************************************************************/
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/* LOCAL TYPES                                                                */
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/******************************************************************************/
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/******************************************************************************/
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/* LOCAL VARIABLES                                                            */
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/******************************************************************************/
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/******************************************************************************/
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/* LOCAL FUNCTIONS                                                            */
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/******************************************************************************/
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/******************************************************************************/
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/* EXPORTED FUNCTIONS                                                         */
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/******************************************************************************/
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aos_utresult_t utAlldIna219Func(BaseSequentialStream* stream, aos_unittest_t* ut)
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{
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  aosDbgCheck(ut->data != NULL && ((ut_ina219data_t*)(ut->data))->inad != NULL);
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  // local variables
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  aos_utresult_t result = {0, 0};
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  uint32_t status;
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  uint16_t data[6];
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  uint16_t write_data = 0x1011;
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  uint16_t new_data[6];
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  uint16_t reset_data;
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  uint16_t test_calib = 0;
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  int16_t usensor_data = 0;
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  uint16_t busready = 0;
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  uint32_t power = 0;
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  int32_t shunt;
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  uint32_t bus;
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  chprintf(stream, "read registers...\n");
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  status = ina219_lld_read_register(((ut_ina219data_t*)ut->data)->inad, INA219_LLD_REGISTER_CONFIGURATION, data, 6, ((ut_ina219data_t*)ut->data)->timeout);
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  if (status == APAL_STATUS_SUCCESS) {
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    aosUtPassed(stream, &result);
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  } else {
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    aosUtFailed(stream, &result);
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  }
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  chprintf(stream, "write registers...\n");
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  status = ina219_lld_write_register(((ut_ina219data_t*)ut->data)->inad, INA219_LLD_REGISTER_CONFIGURATION, &write_data, 1, ((ut_ina219data_t*)ut->data)->timeout);
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  status |= ina219_lld_read_register(((ut_ina219data_t*)ut->data)->inad, INA219_LLD_REGISTER_CONFIGURATION, new_data, 6, ((ut_ina219data_t*)ut->data)->timeout);
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  if (status == APAL_STATUS_SUCCESS && new_data[0] == write_data) {
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    uint8_t errors = 0;
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    for (uint8_t dataIdx = 1; dataIdx < 6; dataIdx++) {
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      if (new_data[dataIdx] != data[dataIdx]) {
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        ++errors;
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      }
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    }
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    if (errors == 0) {
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      aosUtPassed(stream, &result);
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    } else {
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      aosUtFailed(stream, &result);
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    }
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  } else {
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    aosUtFailed(stream, &result);
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  }
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  chprintf(stream, "reset...\n");
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  status = ina219_lld_reset(((ut_ina219data_t*)ut->data)->inad, ((ut_ina219data_t*)ut->data)->timeout);
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  status |= ina219_lld_read_register(((ut_ina219data_t*)ut->data)->inad, INA219_LLD_REGISTER_CONFIGURATION, &reset_data, 1, ((ut_ina219data_t*)ut->data)->timeout);
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  if (status == APAL_STATUS_SUCCESS && reset_data == 0x399F) {
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    aosUtPassed(stream, &result);
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  } else {
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    chprintf(stream, "\tfailed\n");
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    ++result.failed;
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  }
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  chprintf(stream, "read config...\n");
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  ina219_lld_cfg_t ina_config;
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  status = ina219_lld_read_config(((ut_ina219data_t*)ut->data)->inad, &ina_config, ((ut_ina219data_t*)ut->data)->timeout);
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  if (status == APAL_STATUS_SUCCESS) {
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    aosUtPassed(stream, &result);
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  } else {
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    aosUtFailed(stream, &result);
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  }
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  chprintf(stream, "write config...\n");
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  ina_config.data = 0x7FFu;
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  status = ina219_lld_write_config(((ut_ina219data_t*)ut->data)->inad, ina_config, ((ut_ina219data_t*)ut->data)->timeout);
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  if (status == APAL_STATUS_SUCCESS) {
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    aosUtPassed(stream, &result);
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  } else {
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    aosUtFailed(stream, &result);
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  }
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  chprintf(stream, "calibrate...\n");
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  ina219_lld_calib_input_t calib_in;
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  calib_in.shunt_resistance_0 = 0.1;
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  calib_in.max_expected_current_A = 0.075;
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  calib_in.current_lsb_uA = 10;
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  calib_in.cfg_reg = ina_config;
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  ina219_lld_calib_output_t calib_out;
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  status = ina219_lld_calibration(((ut_ina219data_t*)ut->data)->inad, &calib_in, &calib_out);
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  status |= ina219_lld_write_calibration(((ut_ina219data_t*)ut->data)->inad, calib_out.calibration & 0xFFFEu, ((ut_ina219data_t*)ut->data)->timeout);
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  status |= ina219_lld_write_calibration(((ut_ina219data_t*)ut->data)->inad, 0xA000, ((ut_ina219data_t*)ut->data)->timeout);
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  ina219_lld_cfg_t test_config;
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  ((ut_ina219data_t*)ut->data)->inad->current_lsb_uA = 0xA;
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  status |= ina219_lld_read_config(((ut_ina219data_t*)ut->data)->inad, &test_config, ((ut_ina219data_t*)ut->data)->timeout);
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  status |= ina219_lld_read_calibration(((ut_ina219data_t*)ut->data)->inad, &test_calib, ((ut_ina219data_t*)ut->data)->timeout);
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  while (!busready || power == 0) {
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    aosThdMSleep(20);
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    status |= ina219_lld_bus_conversion_ready(((ut_ina219data_t*)ut->data)->inad, &busready, ((ut_ina219data_t*)ut->data)->timeout);
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    status |= ina219_lld_read_power(((ut_ina219data_t*)ut->data)->inad, &power, ((ut_ina219data_t*)ut->data)->timeout);
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  }
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  if (status == APAL_STATUS_SUCCESS) {
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    aosUtPassed(stream, &result);
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  } else {
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    aosUtFailed(stream, &result);
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  }
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  chprintf(stream, "read shunt voltage...\n");
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  status = ina219_lld_read_shunt_voltage(((ut_ina219data_t*)ut->data)->inad, &shunt, ((ut_ina219data_t*)ut->data)->timeout);
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  chprintf(stream, "\t\tshunt voltage: %fV\n", (float)shunt/1000000.f);
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  if (status == APAL_STATUS_SUCCESS) {
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    aosUtPassed(stream, &result);
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  } else {
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    aosUtFailed(stream, &result);
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  }
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  chprintf(stream, "read bus voltage (%u%% tolerance)...\n", (uint8_t)(((ut_ina219data_t*)ut->data)->tolerance * 100.f + 0.5f));
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  status = ina219_lld_read_bus_voltage(((ut_ina219data_t*)ut->data)->inad, &bus, ((ut_ina219data_t*)ut->data)->timeout);
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  chprintf(stream, "\t\tbus voltage: %fV\n", (float)bus/1000000.f);
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  if ((status == APAL_STATUS_SUCCESS) && (fabs(((float)bus/1000000.f) - ((ut_ina219data_t*)ut->data)->v_expected) < ((ut_ina219data_t*)ut->data)->v_expected * ((ut_ina219data_t*)ut->data)->tolerance)) {
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    aosUtPassed(stream, &result);
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  } else {
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    aosUtFailed(stream, &result);
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  }
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  chprintf(stream, "read power...\n");
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  status = ina219_lld_read_power(((ut_ina219data_t*)ut->data)->inad, &power, ((ut_ina219data_t*)ut->data)->timeout);
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  chprintf(stream, "\t\tpower: %fW\n", (float)(power)/1000000.f);
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  if (status == APAL_STATUS_SUCCESS) {
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    aosUtPassed(stream, &result);
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  } else {
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    aosUtFailed(stream, &result);
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  }
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  chprintf(stream, "read current...\n");
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  status = ina219_lld_read_current(((ut_ina219data_t*)ut->data)->inad, &usensor_data, ((ut_ina219data_t*)ut->data)->timeout);
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  chprintf(stream, "\t\tcurrent: %fA\n", (float)(usensor_data)/1000000.f);
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  if (status == APAL_STATUS_SUCCESS) {
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    aosUtPassed(stream, &result);
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  } else {
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    aosUtFailed(stream, &result);
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  }
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  aosUtInfoMsg(stream, "driver object memory footprint: %u bytes\n", sizeof(INA219Driver));
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  return result;
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}
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#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_INA219) && (AMIROLLD_CFG_INA219 == 1) */
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