AMiRo-OS

/*

AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.

Copyright (C) 2016..2018  Thomas Schöpping et al.

This program is free software: you can redistribute it and/or modify

it under the terms of the GNU General Public License as published by

the Free Software Foundation, either version 3 of the License, or

(at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

GNU General Public License for more details.

You should have received a copy of the GNU General Public License

along with this program.  If not, see <http://www.gnu.org/licenses/>.

*/

#include <ut_alld_bq27500.h>

#if ((AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_USE_BQ27500)) || defined(__DOXYGEN__)

#include <string.h>

#include <aos_debug.h>

#include <chprintf.h>

#include <aos_thread.h>

#include <alld_bq27500.h>

aos_utresult_t utAlldBq27500Func(BaseSequentialStream* stream, aos_unittest_t* ut)

{

  aosDbgCheck(ut->data != NULL && ((ut_bq27500data_t*)(ut->data))->driver != NULL);

  // local variables

  aos_utresult_t result = {0, 0};

  uint32_t status;

  bq27500_lld_batlow_t bl;

  bq27500_lld_batgood_t bg;

  uint16_t dst;

  bq27500_lld_flags_t flags;

  uint16_t subdata = 0;

  uint8_t original_length;

  char original_name[8+1];

  uint8_t val = 0x00;

  uint8_t block[32];

  char new_name[] = "test";

  uint8_t new_lenght;

  char name[8+1] = {'\0'};

  uint8_t sum = 0;

  bool success;

  bool success2;

  chprintf(stream, "read battery low gpio...\n");

  status = bq27500_lld_read_batlow(((ut_bq27500data_t*)ut->data)->driver, &bl);

  chprintf(stream, "\t\tbattery low: 0x%X\n", bl);

  if (status == APAL_STATUS_SUCCESS) {

    aosUtPassed(stream, &result);

  } else {

    aosUtFailedMsg(stream, &result, "0x%08X\n", status);

  }

  chprintf(stream, "read battery good gpio...\n");

  status = bq27500_lld_read_batgood(((ut_bq27500data_t*)ut->data)->driver, &bg);

  chprintf(stream, "\t\tbattery good: 0x%X\n", bg);

  if (status == APAL_STATUS_SUCCESS) {

    aosUtPassed(stream, &result);

  } else {

    aosUtFailedMsg(stream, &result, "0x%08X\n", status);

  }

  chprintf(stream, "std command FLAGS...\n");

  status = bq27500_lld_std_command(((ut_bq27500data_t*)ut->data)->driver, BQ27500_LLD_STD_CMD_Flags, &flags.value, ((ut_bq27500data_t*)ut->data)->timeout);

  chprintf(stream, "\t\tflags: 0x%04X\n", flags.value);

  chprintf(stream, "\t\tbattery detected: 0x%X\n", flags.content.bat_det);

  chprintf(stream, "\t\tbattery fully charged: 0x%X\n", flags.content.fc);

  if (status == APAL_STATUS_SUCCESS) {

    aosUtPassed(stream, &result);

  } else {

    aosUtFailedMsg(stream, &result, "0x%08X\n", status);

  }

  chprintf(stream, "std command CTNL...\n");

  status = bq27500_lld_std_command(((ut_bq27500data_t*)ut->data)->driver, BQ27500_LLD_STD_CMD_Control, &dst, ((ut_bq27500data_t*)ut->data)->timeout);

  if (status == APAL_STATUS_SUCCESS) {

    aosUtPassed(stream, &result);

  } else {

    aosUtFailedMsg(stream, &result, "0x%08X\n", status);

  }

  chprintf(stream, "sub command: CTRL Status...\n");

  aosThdMSleep(5);

  status = bq27500_lld_sub_command_call(((ut_bq27500data_t*)ut->data)->driver, BQ27500_LLD_SUB_CMD_CONTROL_STATUS, ((ut_bq27500data_t*)ut->data)->timeout);

  aosThdMSleep(5);

  status |= bq27500_lld_std_command(((ut_bq27500data_t*)ut->data)->driver, BQ27500_LLD_STD_CMD_Control, &dst, ((ut_bq27500data_t*)ut->data)->timeout);

  aosThdMSleep(5);

  bq27500_lld_control_status_t ctrl;

  status |= bq27500_lld_sub_command_read(((ut_bq27500data_t*)ut->data)->driver, &ctrl.value, ((ut_bq27500data_t*)ut->data)->timeout);

  chprintf(stream, "\t\tdst: 0x%X\n", ctrl.value);

  chprintf(stream, "\t\tsleep: 0x%X\n", ctrl.content.sleep);

  chprintf(stream, "\t\thibernate: 0x%X\n", ctrl.content.hibernate);

  if (status == APAL_STATUS_SUCCESS) {

    aosUtPassed(stream, &result);

  } else {

    aosUtFailedMsg(stream, &result, "0x%08X\n", status);

  }

  chprintf(stream, "sub command: firmware version...\n");

  status = bq27500_lld_sub_command_call(((ut_bq27500data_t*)ut->data)->driver, BQ27500_LLD_SUB_CMD_FW_VERSION, ((ut_bq27500data_t*)ut->data)->timeout);

  aosThdMSleep(1);

  bq27500_lld_version_t version;

  status |= bq27500_lld_sub_command_read(((ut_bq27500data_t*)ut->data)->driver, &version.value, ((ut_bq27500data_t*)ut->data)->timeout);

  chprintf(stream, "\t\tfirmware version: %X%X-%X%X\n", version.content.major_high, version.content.major_low, version.content.minor_high, version.content.minor_low);

  if (status == APAL_STATUS_SUCCESS) {

    aosUtPassed(stream, &result);

  } else {

    aosUtFailedMsg(stream, &result, "0x%08X\n", status);

  }

  chprintf(stream, "sub command: hardware version...\n");

  status = bq27500_lld_sub_command_call(((ut_bq27500data_t*)ut->data)->driver, BQ27500_LLD_SUB_CMD_HW_VERSION, ((ut_bq27500data_t*)ut->data)->timeout);

  aosThdMSleep(1);

  status |= bq27500_lld_sub_command_read(((ut_bq27500data_t*)ut->data)->driver, &version.value, ((ut_bq27500data_t*)ut->data)->timeout);

  chprintf(stream, "\t\thardware version: %X%X-%X%X\n", version.content.major_high, version.content.major_low, version.content.minor_high, version.content.minor_low);

  if (status == APAL_STATUS_SUCCESS) {

    aosUtPassed(stream, &result);

  } else {

    aosUtFailedMsg(stream, &result, "0x%08X\n", status);

  }

  chprintf(stream, "ext command: device name length...\n");

  status = bq27500_lld_ext_command(((ut_bq27500data_t*)ut->data)->driver, BQ27500_LLD_EXT_CMD_DeviceNameLength, BQ27500_LLD_EXT_CMD_READ, &original_length, 1, 0, ((ut_bq27500data_t*)ut->data)->timeout);

  chprintf(stream, "\t\tdevice name length: %d \n", original_length);

  if (status == APAL_STATUS_SUCCESS && original_length <= 8) {

    aosUtPassed(stream, &result);

  } else {

    aosUtFailedMsg(stream, &result, "0x%08X\n", status);

    original_length = 8;

  }

  chprintf(stream, "ext command: device name (read)...\n");

  status = bq27500_lld_ext_command(((ut_bq27500data_t*)ut->data)->driver, BQ27500_LLD_EXT_CMD_DeviceName, BQ27500_LLD_EXT_CMD_READ, (uint8_t*)original_name, original_length, 0, ((ut_bq27500data_t*)ut->data)->timeout);

  original_name[original_length] = '\0';

  chprintf(stream, "\t\tdevice name: %s\n", original_name);

  if (status == APAL_STATUS_SUCCESS) {

    aosUtPassed(stream, &result);

  } else {

    aosUtFailedMsg(stream, &result, "0x%08X\n", status);

  }

  chprintf(stream, "battery info std commands...\n");

  status = bq27500_lld_std_command(((ut_bq27500data_t*)ut->data)->driver, BQ27500_LLD_STD_CMD_Temperatur, &dst, ((ut_bq27500data_t*)ut->data)->timeout);

  chprintf(stream, "\t\ttemperature: %fK (%fC) \n", (float)dst/10.0f, (float)dst/10.0f-273.5f);

  status |= bq27500_lld_std_command(((ut_bq27500data_t*)ut->data)->driver, BQ27500_LLD_STD_CMD_FullAvailableCapacity, &dst, ((ut_bq27500data_t*)ut->data)->timeout);

  chprintf(stream, "\t\tfull available capacity: %umAh \n", dst);

  status |= bq27500_lld_std_command(((ut_bq27500data_t*)ut->data)->driver, BQ27500_LLD_STD_CMD_FullChargeCapacity, &dst, ((ut_bq27500data_t*)ut->data)->timeout);

  chprintf(stream, "\t\tfull charge capacity: %umAh \n", dst);

  status |= bq27500_lld_std_command(((ut_bq27500data_t*)ut->data)->driver, BQ27500_LLD_STD_CMD_RemainingCapacity, &dst, ((ut_bq27500data_t*)ut->data)->timeout);

  chprintf(stream, "\t\tremaining capacity: %umAh \n", dst);

  status |= bq27500_lld_std_command(((ut_bq27500data_t*)ut->data)->driver, BQ27500_LLD_STD_CMD_Voltage, &dst, ((ut_bq27500data_t*)ut->data)->timeout);

  chprintf(stream, "\t\tvoltage: %umV \n", dst);

  status |= bq27500_lld_std_command(((ut_bq27500data_t*)ut->data)->driver, BQ27500_LLD_STD_CMD_AverageCurrent, &dst, ((ut_bq27500data_t*)ut->data)->timeout);

  chprintf(stream, "\t\taverage current: %dmA \n", (int8_t)dst);

  status |= bq27500_lld_std_command(((ut_bq27500data_t*)ut->data)->driver, BQ27500_LLD_STD_CMD_AveragePower, &dst, ((ut_bq27500data_t*)ut->data)->timeout);

  chprintf(stream, "\t\taverage power: %dmW \n", (int8_t)dst);

  status |= bq27500_lld_std_command(((ut_bq27500data_t*)ut->data)->driver, BQ27500_LLD_STD_CMD_TimeToFull, &dst, ((ut_bq27500data_t*)ut->data)->timeout);

  if (dst != (uint16_t)~0) {

    chprintf(stream, "\t\ttime to full: %umin \n", dst);

  } else {

    chprintf(stream, "\t\ttime to full: (not charging) \n", dst);

  }

  status |= bq27500_lld_std_command(((ut_bq27500data_t*)ut->data)->driver, BQ27500_LLD_STD_CMD_TimeToEmpty, &dst, ((ut_bq27500data_t*)ut->data)->timeout);

  if (dst != (uint16_t)~0) {

    chprintf(stream, "\t\ttime to empty: %umin \n", dst);

  } else {

    chprintf(stream, "\t\ttime to empty: (not discharging) \n", dst);

  }

  if (status == APAL_STATUS_SUCCESS) {

    aosUtPassed(stream, &result);

  } else {

    aosUtFailedMsg(stream, &result, "0x%08X\n", status);

  }

  chprintf(stream, "check sealed state...\n");

  status = bq27500_lld_std_command(((ut_bq27500data_t*)ut->data)->driver, BQ27500_LLD_STD_CMD_Control, &dst, ((ut_bq27500data_t*)ut->data)->timeout);

  status |= bq27500_lld_sub_command_call(((ut_bq27500data_t*)ut->data)->driver, BQ27500_LLD_SUB_CMD_CONTROL_STATUS, ((ut_bq27500data_t*)ut->data)->timeout);

  aosThdMSleep(1);

  status |= bq27500_lld_sub_command_read(((ut_bq27500data_t*)ut->data)->driver, &ctrl.value, ((ut_bq27500data_t*)ut->data)->timeout);

  chprintf(stream, "\t\tsealed: 0x%X\n", ctrl.content.ss);

  chprintf(stream, "\t\tfull access sealed: 0x%X\n", ctrl.content.fas);

  if (status == APAL_STATUS_SUCCESS) {

    aosUtPassed(stream, &result);

  } else {

    aosUtFailedMsg(stream, &result, "0x%08X\n", status);

  }

  chprintf(stream, "unseale...\n");

  status = bq27500_lld_send_ctnl_data(((ut_bq27500data_t*)ut->data)->driver, BQ27500_LLD_DEFAULT_UNSEAL_KEY1, ((ut_bq27500data_t*)ut->data)->timeout);

  aosThdMSleep(50);

  status |= bq27500_lld_send_ctnl_data(((ut_bq27500data_t*)ut->data)->driver, BQ27500_LLD_DEFAULT_UNSEAL_KEY0, ((ut_bq27500data_t*)ut->data)->timeout);

  aosThdMSleep(50);

  status |= bq27500_lld_sub_command_call(((ut_bq27500data_t*)ut->data)->driver, BQ27500_LLD_SUB_CMD_CONTROL_STATUS, ((ut_bq27500data_t*)ut->data)->timeout);

  aosThdMSleep(50);

  status |= bq27500_lld_std_command(((ut_bq27500data_t*)ut->data)->driver, BQ27500_LLD_STD_CMD_Control, &dst, ((ut_bq27500data_t*)ut->data)->timeout);

  status |= bq27500_lld_sub_command_read(((ut_bq27500data_t*)ut->data)->driver, &ctrl.value, ((ut_bq27500data_t*)ut->data)->timeout);

  if (status == APAL_STATUS_SUCCESS && ctrl.content.ss == 0x0) {

    aosUtPassed(stream, &result);

  } else {

    aosUtFailedMsg(stream, &result, "0x%08X\n", status);

  }

  chprintf(stream, "read device name from data flash...\n");

  status = bq27500_lld_ext_command(((ut_bq27500data_t*)ut->data)->driver, BQ27500_LLD_EXT_CMD_BlockDataControl, BQ27500_LLD_EXT_CMD_WRITE, &val, 1, 0, ((ut_bq27500data_t*)ut->data)->timeout);

  aosThdMSleep(50);

  val = 0x30;

  status |= bq27500_lld_ext_command(((ut_bq27500data_t*)ut->data)->driver, BQ27500_LLD_EXT_CMD_DataFlashClass, BQ27500_LLD_EXT_CMD_WRITE, &val, 1, 0, ((ut_bq27500data_t*)ut->data)->timeout);

  aosThdMSleep(50);

  val = 0;

  status |= bq27500_lld_ext_command(((ut_bq27500data_t*)ut->data)->driver, BQ27500_LLD_EXT_CMD_DataFlashBlock, BQ27500_LLD_EXT_CMD_WRITE, &val, 1, 0, ((ut_bq27500data_t*)ut->data)->timeout);

  aosThdMSleep(50);

  status |= bq27500_lld_ext_command(((ut_bq27500data_t*)ut->data)->driver, BQ27500_LLD_EXT_CMD_BlockData, BQ27500_LLD_EXT_CMD_READ, (uint8_t*)block, original_length, 13, ((ut_bq27500data_t*)ut->data)->timeout);

  block[original_length] = '\0';

  chprintf(stream, "\t\tdevice name: %s\n", block);

  if (status == APAL_STATUS_SUCCESS && (strcmp((char*)block, (char*)original_name) == 0)) {

    aosUtPassed(stream, &result);

  } else {

    chprintf(stream, "\t\tread data: ");

    for (uint8_t blockIdx = 0; blockIdx < original_length; blockIdx++) {

      chprintf(stream, "0x%02X\n", block[blockIdx]);

    }

    aosUtFailedMsg(stream, &result, "0x%08X\n", status);

  }

  chprintf(stream, "change device name in data flash to \"test\"...\n");

  status = bq27500_lld_ext_command(((ut_bq27500data_t*)ut->data)->driver, BQ27500_LLD_EXT_CMD_BlockData, BQ27500_LLD_EXT_CMD_WRITE, (uint8_t*)new_name, 5, 13, ((ut_bq27500data_t*)ut->data)->timeout);

  aosThdMSleep(50);

  status |= bq27500_lld_ext_command(((ut_bq27500data_t*)ut->data)->driver, BQ27500_LLD_EXT_CMD_BlockData, BQ27500_LLD_EXT_CMD_READ, (uint8_t*)block, 32, 0, ((ut_bq27500data_t*)ut->data)->timeout);

  // compute blockdata checksum

  status |= bq27500_lld_compute_blockdata_checksum(block, &sum);

  // write checksum to BlockDataChecksum, triggering the write of BlackData

  status |= bq27500_lld_ext_command(((ut_bq27500data_t*)ut->data)->driver, BQ27500_LLD_EXT_CMD_BlockDataCheckSum, BQ27500_LLD_EXT_CMD_WRITE, &sum, 1, 0, ((ut_bq27500data_t*)ut->data)->timeout);

  aosThdMSleep(50);

  status |= bq27500_lld_ext_command(((ut_bq27500data_t*)ut->data)->driver, BQ27500_LLD_EXT_CMD_DeviceNameLength, BQ27500_LLD_EXT_CMD_READ, &new_lenght, 1, 0, ((ut_bq27500data_t*)ut->data)->timeout);

  aosThdMSleep(50);

  // read out device name, to see if changing it was successfull

  status |= bq27500_lld_ext_command(((ut_bq27500data_t*)ut->data)->driver, BQ27500_LLD_EXT_CMD_DeviceName, BQ27500_LLD_EXT_CMD_READ, (uint8_t*)name, new_lenght, 0, ((ut_bq27500data_t*)ut->data)->timeout);

  name[new_lenght] = '\0';

  chprintf(stream, "\t\tdevice name: %s\n", name);

  success = (strcmp(name, new_name) == 0);

  // change device name back to original name

  val = 0x00;

  status = bq27500_lld_ext_command(((ut_bq27500data_t*)ut->data)->driver, BQ27500_LLD_EXT_CMD_BlockDataControl, BQ27500_LLD_EXT_CMD_WRITE, &val, 1, 0, ((ut_bq27500data_t*)ut->data)->timeout);

  aosThdMSleep(50);

  val = 0x30;

  status |= bq27500_lld_ext_command(((ut_bq27500data_t*)ut->data)->driver, BQ27500_LLD_EXT_CMD_DataFlashClass, BQ27500_LLD_EXT_CMD_WRITE, &val, 1, 0, ((ut_bq27500data_t*)ut->data)->timeout);

  aosThdMSleep(50);

  val = 0;

  status |= bq27500_lld_ext_command(((ut_bq27500data_t*)ut->data)->driver, BQ27500_LLD_EXT_CMD_DataFlashBlock, BQ27500_LLD_EXT_CMD_WRITE, &val, 1, 0, ((ut_bq27500data_t*)ut->data)->timeout);

  aosThdMSleep(50);

  status |= bq27500_lld_ext_command(((ut_bq27500data_t*)ut->data)->driver, BQ27500_LLD_EXT_CMD_BlockData, BQ27500_LLD_EXT_CMD_WRITE, (uint8_t*)original_name, 7, 13, ((ut_bq27500data_t*)ut->data)->timeout);

  aosThdMSleep(50);

  status |= bq27500_lld_ext_command(((ut_bq27500data_t*)ut->data)->driver, BQ27500_LLD_EXT_CMD_BlockData, BQ27500_LLD_EXT_CMD_READ, (uint8_t*)block, 32, 0, ((ut_bq27500data_t*)ut->data)->timeout);

  // compute blockdata checksum

  sum = 0;

  status |= bq27500_lld_compute_blockdata_checksum(block, &sum);

  // write checksum to BlockDataChecksum, triggering the write of BlackData

  status |= bq27500_lld_ext_command(((ut_bq27500data_t*)ut->data)->driver, BQ27500_LLD_EXT_CMD_BlockDataCheckSum, BQ27500_LLD_EXT_CMD_WRITE, &sum, 1, 0, ((ut_bq27500data_t*)ut->data)->timeout);

  aosThdMSleep(1000);

  status |= bq27500_lld_ext_command(((ut_bq27500data_t*)ut->data)->driver, BQ27500_LLD_EXT_CMD_DeviceNameLength, BQ27500_LLD_EXT_CMD_READ, &original_length, 1, 0, ((ut_bq27500data_t*)ut->data)->timeout);

  aosThdMSleep(50);

  // read device name, to see if changing it back to the original name was successfull

  status |= bq27500_lld_ext_command(((ut_bq27500data_t*)ut->data)->driver, BQ27500_LLD_EXT_CMD_DeviceName, BQ27500_LLD_EXT_CMD_READ, (uint8_t*)name, original_length, 0, ((ut_bq27500data_t*)ut->data)->timeout);

  success2 = (strcmp(name, original_name) == 0);

  name[original_length] = '\0';

  chprintf(stream, "\t\tchanged back to name: %s, original_name: %s\n", name, original_name);

  if (status == APAL_STATUS_OK && ((success && success2) || (ctrl.content.sleep == 0))) {

    aosUtPassed(stream, &result);

  } else {

    aosUtFailedMsg(stream, &result, "0x%08X, changing: 0x%X - changing back: 0x%X\n", status, success, success2);

  }

  chprintf(stream, "seal...\n");

  status = bq27500_lld_std_command(((ut_bq27500data_t*)ut->data)->driver, BQ27500_LLD_STD_CMD_Control, &dst, ((ut_bq27500data_t*)ut->data)->timeout);

  aosThdMSleep(50);

  status |= bq27500_lld_sub_command_call(((ut_bq27500data_t*)ut->data)->driver, BQ27500_LLD_SUB_CMD_SEALED, ((ut_bq27500data_t*)ut->data)->timeout);

  aosThdMSleep(50);

  status |= bq27500_lld_std_command(((ut_bq27500data_t*)ut->data)->driver, BQ27500_LLD_STD_CMD_Control, &dst, ((ut_bq27500data_t*)ut->data)->timeout);

  aosThdMSleep(50);

  status |= bq27500_lld_sub_command_call(((ut_bq27500data_t*)ut->data)->driver, BQ27500_LLD_SUB_CMD_CONTROL_STATUS, ((ut_bq27500data_t*)ut->data)->timeout);

  aosThdMSleep(50);

  status |= bq27500_lld_sub_command_read(((ut_bq27500data_t*)ut->data)->driver, &ctrl.value, ((ut_bq27500data_t*)ut->data)->timeout);

  if (status == APAL_STATUS_SUCCESS && ctrl.content.ss == 0x1) {

    aosUtPassed(stream, &result);

  } else {

    chprintf(stream, "\tfailed (0x%X)\n", status);

    aosUtFailedMsg(stream, &result, "0x%08X, ctrl 0x%X\n", status, subdata);

    ++result.failed;

  }

  aosUtInfoMsg(stream,"driver object memory footprint: %u bytes\n", sizeof(BQ27500Driver));

  return result;

}

#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_USE_BQ27500) */