Revision 4c72a54c modules/DiWheelDrive_1-2/module.c
modules/DiWheelDrive_1-2/module.c | ||
---|---|---|
127 | 127 |
/* GPIO */ &_gpioLed, |
128 | 128 |
/* meta */ { |
129 | 129 |
/* direction */ APAL_GPIO_DIRECTION_OUTPUT, |
130 |
/* active state */ LED_LLD_GPIO_ACTIVE_STATE,
|
|
130 |
/* active state */ APAL_GPIO_ACTIVE_LOW,
|
|
131 | 131 |
/* interrupt edge */ APAL_GPIO_EDGE_NONE, |
132 | 132 |
}, |
133 | 133 |
}; |
... | ... | |
367 | 367 |
/* I²C address */ AT24C01B_LLD_I2C_ADDR_FIXED, |
368 | 368 |
}; |
369 | 369 |
|
370 |
// TODO: BNO055 |
|
371 |
|
|
370 | 372 |
INA219Driver moduleLldPowerMonitorVdd = { |
371 | 373 |
/* I2C Driver */ &MODULE_HAL_I2C_PROX_EEPROM_PWRMTR, |
372 | 374 |
/* I²C address */ INA219_LLD_I2C_ADDR_FIXED, |
... | ... | |
400 | 402 |
|
401 | 403 |
/*===========================================================================*/ |
402 | 404 |
/** |
403 |
* @name Unit tests (UT)
|
|
405 |
* @name Tests
|
|
404 | 406 |
* @{ |
405 | 407 |
*/ |
406 | 408 |
/*===========================================================================*/ |
407 | 409 |
#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
408 |
#include <string.h> |
|
409 | 410 |
|
410 | 411 |
/* |
411 | 412 |
* A3906 (motor driver) |
412 | 413 |
*/ |
413 |
static int _utShellCmdCb_AlldA3906(BaseSequentialStream* stream, int argc, char* argv[]) |
|
414 |
#include <module_test_A3906.h> |
|
415 |
static int _testA3906ShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
|
414 | 416 |
{ |
415 |
(void)argc; |
|
416 |
(void)argv; |
|
417 |
aosUtRun(stream, &moduleUtAlldA3906, NULL); |
|
418 |
return AOS_OK; |
|
417 |
return moduleTestA3906ShellCb(stream, argc, argv, NULL); |
|
419 | 418 |
} |
420 |
static ut_a3906data_t _utA3906Data = { |
|
421 |
/* driver */ &moduleLldMotors, |
|
422 |
/* PWM information */ { |
|
423 |
/* driver */ &MODULE_HAL_PWM_DRIVE, |
|
424 |
/* channels */ { |
|
425 |
/* left wheel forward */ MODULE_HAL_PWM_DRIVE_CHANNEL_LEFT_FORWARD, |
|
426 |
/* left wheel backward */ MODULE_HAL_PWM_DRIVE_CHANNEL_LEFT_BACKWARD, |
|
427 |
/* right wheel forward */ MODULE_HAL_PWM_DRIVE_CHANNEL_RIGHT_FORWARD, |
|
428 |
/* right wheel backward */ MODULE_HAL_PWM_DRIVE_CHANNEL_RIGHT_BACKWARD, |
|
429 |
}, |
|
430 |
}, |
|
431 |
/* QEI information */ { |
|
432 |
/* left wheel */ &MODULE_HAL_QEI_LEFT_WHEEL, |
|
433 |
/* right wheel */ &MODULE_HAL_QEI_RIGHT_WHEEL, |
|
434 |
/* increment per revolution */ MODULE_HAL_QEI_INCREMENTS_PER_REVOLUTION, |
|
435 |
}, |
|
436 |
/* Wheel diameter */ { |
|
437 |
/* left wheel */ 0.05571f, |
|
438 |
/* right wheel */ 0.05571f, |
|
439 |
}, |
|
440 |
/* timeout */ 10 * MICROSECONDS_PER_SECOND, |
|
441 |
}; |
|
442 |
aos_unittest_t moduleUtAlldA3906 = { |
|
443 |
/* name */ "A3906", |
|
444 |
/* info */ "motor driver", |
|
445 |
/* test function */ utAlldA3906Func, |
|
446 |
/* shell command */ { |
|
447 |
/* name */ "unittest:MotorDriver", |
|
448 |
/* callback */ _utShellCmdCb_AlldA3906, |
|
449 |
/* next */ NULL, |
|
450 |
}, |
|
451 |
/* data */ &_utA3906Data, |
|
452 |
}; |
|
419 |
AOS_SHELL_COMMAND(moduleTestA3906ShellCmd, "test:MotorDriver", _testA3906ShellCmdCb); |
|
453 | 420 |
|
454 | 421 |
/* |
455 |
* AT24C01B (EEPROM) |
|
422 |
* AT24C01BN-SH-B (EEPROM)
|
|
456 | 423 |
*/ |
457 |
static int _utShellCmdCb_AlldAt24c01b(BaseSequentialStream* stream, int argc, char* argv[]) |
|
424 |
#include <module_test_AT24C01B.h> |
|
425 |
static int _testAt24co1bShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
|
458 | 426 |
{ |
459 |
(void)argc; |
|
460 |
(void)argv; |
|
461 |
aosUtRun(stream, &moduleUtAlldAt24c01b, NULL); |
|
462 |
return AOS_OK; |
|
427 |
return moduleTestAt24c01bShellCb(stream, argc, argv, NULL); |
|
463 | 428 |
} |
464 |
static ut_at24c01bdata_t _utAlldAt24c01bData = { |
|
465 |
/* driver */ &moduleLldEeprom, |
|
466 |
/* timeout */ MICROSECONDS_PER_SECOND, |
|
467 |
}; |
|
468 |
aos_unittest_t moduleUtAlldAt24c01b = { |
|
469 |
/* name */ "AT24C01B", |
|
470 |
/* info */ "1kbit EEPROM", |
|
471 |
/* test function */ utAlldAt24c01bFunc, |
|
472 |
/* shell command */ { |
|
473 |
/* name */ "unittest:EEPROM", |
|
474 |
/* callback */ _utShellCmdCb_AlldAt24c01b, |
|
475 |
/* next */ NULL, |
|
476 |
}, |
|
477 |
/* data */ &_utAlldAt24c01bData, |
|
478 |
}; |
|
429 |
AOS_SHELL_COMMAND(moduleTestAt24c01bShellCmd, "test:EEPROM", _testAt24co1bShellCmdCb); |
|
430 |
|
|
431 |
// TODO: BNO055 |
|
479 | 432 |
|
480 | 433 |
/* |
481 | 434 |
* INA219 (power monitor) |
482 | 435 |
*/ |
483 |
static int _utShellCmdCb_AlldIna219(BaseSequentialStream* stream, int argc, char* argv[]) |
|
436 |
#include <module_test_INA219.h> |
|
437 |
static int _testIna219ShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
|
484 | 438 |
{ |
485 |
(void)argc; |
|
486 |
(void)argv; |
|
487 |
aosUtRun(stream, &moduleUtAlldIna219, "VDD (3.3V)"); |
|
488 |
return AOS_OK; |
|
439 |
return moduleTestIna219ShellCb(stream, argc, argv, NULL); |
|
489 | 440 |
} |
490 |
static ut_ina219data_t _utIna219Data = { |
|
491 |
/* driver */ &moduleLldPowerMonitorVdd, |
|
492 |
/* expected voltage */ 3.3f, |
|
493 |
/* tolerance */ 0.05f, |
|
494 |
/* timeout */ MICROSECONDS_PER_SECOND, |
|
495 |
}; |
|
496 |
aos_unittest_t moduleUtAlldIna219 = { |
|
497 |
/* name */ "INA219", |
|
498 |
/* info */ "power monitor", |
|
499 |
/* test function */ utAlldIna219Func, |
|
500 |
/* shell command */ { |
|
501 |
/* name */ "unittest:PowerMonitor", |
|
502 |
/* callback */ _utShellCmdCb_AlldIna219, |
|
503 |
/* next */ NULL, |
|
504 |
}, |
|
505 |
/* data */ &_utIna219Data, |
|
506 |
}; |
|
441 |
AOS_SHELL_COMMAND(moduleTestIna219ShellCmd, "test:PowerMonitor", _testIna219ShellCmdCb); |
|
507 | 442 |
|
508 | 443 |
/* |
509 | 444 |
* Status LED |
510 | 445 |
*/ |
511 |
static int _utShellCmdCb_AlldLed(BaseSequentialStream* stream, int argc, char* argv[]) |
|
446 |
#include <module_test_LED.h> |
|
447 |
static int _testLedShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
|
512 | 448 |
{ |
513 |
(void)argc; |
|
514 |
(void)argv; |
|
515 |
aosUtRun(stream, &moduleUtAlldLed, NULL); |
|
516 |
return AOS_OK; |
|
449 |
return moduleTestLedShellCb(stream, argc, argv, NULL); |
|
517 | 450 |
} |
518 |
aos_unittest_t moduleUtAlldLed = { |
|
519 |
/* name */ "LED", |
|
520 |
/* info */ NULL, |
|
521 |
/* test function */ utAlldLedFunc, |
|
522 |
/* shell command */ { |
|
523 |
/* name */ "unittest:StatusLED", |
|
524 |
/* callback */ _utShellCmdCb_AlldLed, |
|
525 |
/* next */ NULL, |
|
526 |
}, |
|
527 |
/* data */ &moduleLldStatusLed, |
|
528 |
}; |
|
451 |
AOS_SHELL_COMMAND(moduleTestLedShellCmd, "test:StatusLED", _testLedShellCmdCb); |
|
529 | 452 |
|
530 | 453 |
/* |
531 | 454 |
* LTC4412 (power path controller) |
532 | 455 |
*/ |
533 |
static int _utShellCmdCb_AlldLtc4412(BaseSequentialStream* stream, int argc, char* argv[]) |
|
456 |
#include <module_test_LTC4412.h> |
|
457 |
static int _testLtc4412ShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
|
534 | 458 |
{ |
535 |
(void)argc; |
|
536 |
(void)argv; |
|
537 |
aosUtRun(stream, &moduleUtAlldLtc4412, NULL); |
|
538 |
return AOS_OK; |
|
459 |
return moduleTestLtc4412ShellCb(stream, argc, argv, NULL); |
|
539 | 460 |
} |
540 |
aos_unittest_t moduleUtAlldLtc4412 = { |
|
541 |
/* name */ "LTC4412", |
|
542 |
/* info */ "Power path controller", |
|
543 |
/* test function */ utAlldLtc4412Func, |
|
544 |
/* shell command */ { |
|
545 |
/* name */ "unittest:PowerPathController", |
|
546 |
/* callback */ _utShellCmdCb_AlldLtc4412, |
|
547 |
/* next */ NULL, |
|
548 |
}, |
|
549 |
/* data */ &moduleLldPowerPathController, |
|
550 |
}; |
|
461 |
AOS_SHELL_COMMAND(moduleTestLtc4412ShellCmd, "test:PowerPathController", _testLtc4412ShellCmdCb); |
|
551 | 462 |
|
552 | 463 |
/* |
553 | 464 |
* PCA9544A (I2C multiplexer) |
554 | 465 |
*/ |
555 |
static int _utShellCmdCb_AlldPca9544a(BaseSequentialStream* stream, int argc, char* argv[]) |
|
466 |
#include <module_test_PCA9544A.h> |
|
467 |
static int _testPca9544aShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
|
556 | 468 |
{ |
557 |
(void)argc; |
|
558 |
(void)argv; |
|
559 |
aosUtRun(stream, &moduleUtAlldPca9544a, NULL); |
|
560 |
return AOS_OK; |
|
469 |
return moduleTestPca9544aShellCb(stream, argc, argv, NULL); |
|
561 | 470 |
} |
562 |
static ut_pca9544adata_t _utPca9544aData = { |
|
563 |
/* driver */ &moduleLldI2cMultiplexer, |
|
564 |
/* timeout */ MICROSECONDS_PER_SECOND, |
|
565 |
}; |
|
566 |
aos_unittest_t moduleUtAlldPca9544a = { |
|
567 |
/* name */ "PCA9544A", |
|
568 |
/* info */ "I2C multiplexer", |
|
569 |
/* test function */ utAlldPca9544aFunc, |
|
570 |
/* shell command */ { |
|
571 |
/* name */ "unittest:I2CMultiplexer", |
|
572 |
/* callback */ _utShellCmdCb_AlldPca9544a, |
|
573 |
/* next */ NULL, |
|
574 |
}, |
|
575 |
/* data */ &_utPca9544aData, |
|
576 |
}; |
|
471 |
AOS_SHELL_COMMAND(moduleTestPca9544aShellCmd, "test:I2CMultiplexer", _testPca9544aShellCmdCb); |
|
577 | 472 |
|
578 | 473 |
/* |
579 | 474 |
* TPS62113 (step-down converter) |
580 | 475 |
*/ |
581 |
static int _utShellCmdCb_AlldTps62113(BaseSequentialStream* stream, int argc, char* argv[]) |
|
476 |
#include <module_test_TPS6211x.h> |
|
477 |
static int _testTps6211xShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
|
582 | 478 |
{ |
583 |
(void)argc; |
|
584 |
(void)argv; |
|
585 |
aosUtRun(stream, &moduleUtAlldTps62113, NULL); |
|
586 |
return AOS_OK; |
|
479 |
return moduleTestTps6211xShellCb(stream, argc, argv, NULL); |
|
587 | 480 |
} |
588 |
aos_unittest_t moduleUtAlldTps62113 = { |
|
589 |
/* name */ "TPS62113", |
|
590 |
/* info */ "Step down converter", |
|
591 |
/* test function */ utAlldTps6211xFunc, |
|
592 |
/* shell command */ { |
|
593 |
/* name */ "unittest:StepDownConverter", |
|
594 |
/* callback */ _utShellCmdCb_AlldTps62113, |
|
595 |
/* next */ NULL, |
|
596 |
}, |
|
597 |
/* data */ &moduleLldStepDownConverterVdrive, |
|
598 |
}; |
|
481 |
AOS_SHELL_COMMAND(moduleTestTps62113ShellCmd, "test:StepDownConverter", _testTps6211xShellCmdCb); |
|
599 | 482 |
|
600 | 483 |
/* |
601 | 484 |
* VCNL4020 (proximity sensor) |
602 | 485 |
*/ |
603 |
static void _utAlldVcnl4020_disableInterrupt(VCNL4020Driver* vcnl) |
|
486 |
#include <module_test_VCNL4020.h> |
|
487 |
static int _testVcnl4020ShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
|
604 | 488 |
{ |
605 |
uint8_t intstatus; |
|
606 |
vcnl4020_lld_writereg(vcnl, VCNL4020_LLD_REGADDR_INTCTRL, 0, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
|
607 |
vcnl4020_lld_readreg(vcnl, VCNL4020_LLD_REGADDR_INTSTATUS, &intstatus, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
|
608 |
if (intstatus) { |
|
609 |
vcnl4020_lld_writereg(vcnl, VCNL4020_LLD_REGADDR_INTSTATUS, intstatus, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
|
610 |
} |
|
611 |
return; |
|
489 |
return moduleTestVcnl4020ShellCb(stream, argc, argv, NULL); |
|
612 | 490 |
} |
613 |
static int _utShellCmdCb_AlldVcnl4020(BaseSequentialStream* stream, int argc, char* argv[]) |
|
491 |
AOS_SHELL_COMMAND(moduleTestVcnl4020ShellCmd, "test:ProximitySensor", _testVcnl4020ShellCmdCb); |
|
492 |
|
|
493 |
/* |
|
494 |
* entire module |
|
495 |
*/ |
|
496 |
static int _testAllShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
|
614 | 497 |
{ |
615 |
enum { |
|
616 |
UNKNOWN, |
|
617 |
FL, FR, WL, WR, |
|
618 |
} sensor = UNKNOWN; |
|
619 |
// evaluate arguments |
|
620 |
if (argc == 2) { |
|
621 |
if (strcmp(argv[1], "--frontleft") == 0 || strcmp(argv[1], "-fl") == 0) { |
|
622 |
sensor = FL; |
|
623 |
} else if (strcmp(argv[1], "--frontright") == 0 || strcmp(argv[1], "-fr") == 0) { |
|
624 |
sensor = FR; |
|
625 |
} else if (strcmp(argv[1], "--wheelleft") == 0 || strcmp(argv[1], "-wl") == 0) { |
|
626 |
sensor = WL; |
|
627 |
} else if (strcmp(argv[1], "--wheelright") == 0 || strcmp(argv[1], "-wr") == 0) { |
|
628 |
sensor = WR; |
|
629 |
} |
|
630 |
} |
|
631 |
if (sensor != UNKNOWN) { |
|
632 |
pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH0, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
|
633 |
_utAlldVcnl4020_disableInterrupt(((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->vcnld); |
|
634 |
pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH1, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
|
635 |
_utAlldVcnl4020_disableInterrupt(((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->vcnld); |
|
636 |
pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH2, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
|
637 |
_utAlldVcnl4020_disableInterrupt(((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->vcnld); |
|
638 |
pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH3, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
|
639 |
_utAlldVcnl4020_disableInterrupt(((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->vcnld); |
|
640 |
switch (sensor) { |
|
641 |
case FL: |
|
642 |
pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH3, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
|
643 |
aosUtRun(stream, &moduleUtAlldVcnl4020, "front left sensor"); |
|
644 |
break; |
|
645 |
case FR: |
|
646 |
pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH0, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
|
647 |
aosUtRun(stream, &moduleUtAlldVcnl4020, "front right sensor"); |
|
648 |
break; |
|
649 |
case WL: |
|
650 |
pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH2, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
|
651 |
aosUtRun(stream, &moduleUtAlldVcnl4020, "left wheel sensor"); |
|
652 |
break; |
|
653 |
case WR: |
|
654 |
pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH1, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
|
655 |
aosUtRun(stream, &moduleUtAlldVcnl4020, "right wheel sensor"); |
|
656 |
break; |
|
657 |
default: |
|
658 |
break; |
|
659 |
} |
|
660 |
return AOS_OK; |
|
661 |
} |
|
662 |
// print help |
|
663 |
chprintf(stream, "Usage: %s OPTION\n", argv[0]); |
|
664 |
chprintf(stream, "Options:\n"); |
|
665 |
chprintf(stream, " --frontleft, -fl\n"); |
|
666 |
chprintf(stream, " Test front left proximity sensor.\n"); |
|
667 |
chprintf(stream, " --frontrigt, -fr\n"); |
|
668 |
chprintf(stream, " Test front right proximity sensor.\n"); |
|
669 |
chprintf(stream, " --wheelleft, -wl\n"); |
|
670 |
chprintf(stream, " Test left wheel proximity sensor.\n"); |
|
671 |
chprintf(stream, " --wheelright, -wr\n"); |
|
672 |
chprintf(stream, " Test right wheel proximity sensor.\n"); |
|
673 |
return AOS_INVALIDARGUMENTS; |
|
498 |
(void)argc; |
|
499 |
(void)argv; |
|
500 |
|
|
501 |
int status = AOS_OK; |
|
502 |
char* targv[AMIROOS_CFG_SHELL_MAXARGS] = {NULL}; |
|
503 |
aos_testresult_t result_test = {0, 0}; |
|
504 |
aos_testresult_t result_total = {0, 0}; |
|
505 |
|
|
506 |
/* A3906 (motor driver) */ |
|
507 |
status |= moduleTestA3906ShellCb(stream, 0, targv, &result_test); |
|
508 |
result_total = aosTestResultAdd(result_total, result_test); |
|
509 |
|
|
510 |
/* AT24C01B (EEPROM) */ |
|
511 |
status |= moduleTestAt24c01bShellCb(stream, 0, targv, &result_test); |
|
512 |
result_total = aosTestResultAdd(result_total, result_test); |
|
513 |
|
|
514 |
// TODO: BNO055 |
|
515 |
|
|
516 |
/* INA219 (power monitor) */ |
|
517 |
status |= moduleTestIna219ShellCb(stream, 0, targv, &result_test); |
|
518 |
result_total = aosTestResultAdd(result_total, result_test); |
|
519 |
|
|
520 |
/* Status LED */ |
|
521 |
status |= moduleTestLedShellCb(stream, 0, targv, &result_test); |
|
522 |
result_total = aosTestResultAdd(result_total, result_test); |
|
523 |
|
|
524 |
/* LTC4412 (power path controller) */ |
|
525 |
status |= moduleTestLtc4412ShellCb(stream, 0, targv, &result_test); |
|
526 |
result_total = aosTestResultAdd(result_total, result_test); |
|
527 |
|
|
528 |
/* PCA9544A (I2C multiplexer) */ |
|
529 |
status |= moduleTestPca9544aShellCb(stream, 0, targv, &result_test); |
|
530 |
result_total = aosTestResultAdd(result_total, result_test); |
|
531 |
|
|
532 |
/* TPS62113 (step-down converter) */ |
|
533 |
status |= moduleTestTps6211xShellCb(stream, 0, targv, &result_test); |
|
534 |
result_total = aosTestResultAdd(result_total, result_test); |
|
535 |
|
|
536 |
/* VCNL4020 (proximity sensor) */ |
|
537 |
// wheel left |
|
538 |
targv[1] = "-wl"; |
|
539 |
status |= moduleTestVcnl4020ShellCb(stream, 2, targv, &result_test); |
|
540 |
result_total = aosTestResultAdd(result_total, result_test); |
|
541 |
// front left |
|
542 |
targv[1] = "-fl"; |
|
543 |
status |= moduleTestVcnl4020ShellCb(stream, 2, targv, &result_test); |
|
544 |
result_total = aosTestResultAdd(result_total, result_test); |
|
545 |
// front right |
|
546 |
targv[1] = "-fr"; |
|
547 |
status |= moduleTestVcnl4020ShellCb(stream, 2, targv, &result_test); |
|
548 |
result_total = aosTestResultAdd(result_total, result_test); |
|
549 |
// wheel right |
|
550 |
targv[1] = "-wr"; |
|
551 |
status |= moduleTestVcnl4020ShellCb(stream, 2, targv, &result_test); |
|
552 |
result_total = aosTestResultAdd(result_total, result_test); |
|
553 |
targv[1] = ""; |
|
554 |
|
|
555 |
// print total result |
|
556 |
chprintf(stream, "\n"); |
|
557 |
aosTestResultPrintSummary(stream, &result_total, "entire module"); |
|
558 |
|
|
559 |
return status; |
|
674 | 560 |
} |
675 |
static ut_vcnl4020data_t _utVcnl4020Data = { |
|
676 |
/* driver */ &moduleLldProximity, |
|
677 |
/* timeout */ MICROSECONDS_PER_SECOND, |
|
678 |
/* event source */ &aos.events.io, |
|
679 |
/* event flags */ MODULE_OS_IOEVENTFLAGS_IRINT, |
|
680 |
}; |
|
681 |
aos_unittest_t moduleUtAlldVcnl4020 = { |
|
682 |
/* name */ "VCNL4020", |
|
683 |
/* info */ "proximity sensor", |
|
684 |
/* test function */ utAlldVcnl4020Func, |
|
685 |
/* shell command */ { |
|
686 |
/* name */ "unittest:Proximity", |
|
687 |
/* callback */ _utShellCmdCb_AlldVcnl4020, |
|
688 |
/* next */ NULL, |
|
689 |
}, |
|
690 |
/* data */ &_utVcnl4020Data, |
|
691 |
}; |
|
561 |
AOS_SHELL_COMMAND(moduleTestAllShellCmd, "test:all", _testAllShellCmdCb); |
|
692 | 562 |
|
693 | 563 |
#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */ |
694 | 564 |
|
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