/unittests/periphery-lld/src/ut_alld_TLC5947_v1.c - Annotate - AMiRo-OS - Research for Cognitive Interaction

amiro-os / unittests / periphery-lld / src / ut_alld_TLC5947_v1.c @ 5668089d

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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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+            Thomas Schöpping
 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/>.
 */
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+#include <amiroos.h>
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+#include <ut_alld_TLC5947_v1.h>
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+            Thomas Schöpping
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+#if ((AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_TLC5947) && (AMIROLLD_CFG_TLC5947 == 1)) || defined(__DOXYGEN__)
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+            Thomas Schöpping
 #include <string.h>
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+            Thomas Schöpping
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+/******************************************************************************/
 /* LOCAL DEFINITIONS                                                          */
 /******************************************************************************/
 /******************************************************************************/
 /* EXPORTED VARIABLES                                                         */
 /******************************************************************************/
 /******************************************************************************/
 /* LOCAL TYPES                                                                */
 /******************************************************************************/
 /******************************************************************************/
 /* LOCAL VARIABLES                                                            */
 /******************************************************************************/
 /******************************************************************************/
 /* LOCAL FUNCTIONS                                                            */
 /******************************************************************************/
 /******************************************************************************/
 /* EXPORTED FUNCTIONS                                                         */
 /******************************************************************************/
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+            Thomas Schöpping
 /**
  * @brief   TLC9547 unit test function
+ *
  * @param[in] stream  Stream for input/output.
  * @param[in] ut      Unit test object.
+ *
  * @return            Unit test result value.
  */
 aos_utresult_t utAlldTlc5947Func(BaseSequentialStream *stream, aos_unittest_t *ut)
+{
   aosDbgCheck(ut->data != NULL);
   // local variables
   aos_utresult_t result = {0, 0};
   uint32_t status = 0;
   tlc5947_lld_blank_t blank;
   tlc5947_lld_buffer_t buffer;
   chprintf(stream, "reading blank pin...\n");
   status = tlc5947_lld_getBlank((TLC5947Driver*)ut->data, &blank);
   if (status == APAL_STATUS_OK) {
     aosUtPassedMsg(stream, &result, "blank is %s\n", (blank == TLC5947_LLD_BLANK_ENABLE) ? "enabled" : "disabled");
   } else {
     aosUtFailedMsg(stream, &result, "0x%08X\n", status);
+  }
   // enabling/disabling blank pin
   for (uint8_t i = 0; i < 2; ++i) {
     blank = (blank == TLC5947_LLD_BLANK_ENABLE) ? TLC5947_LLD_BLANK_DISABLE : TLC5947_LLD_BLANK_ENABLE;
     tlc5947_lld_blank_t blank_after = (blank == TLC5947_LLD_BLANK_ENABLE) ? TLC5947_LLD_BLANK_DISABLE : TLC5947_LLD_BLANK_ENABLE;
     chprintf(stream, "%s blank pin...\n", (blank == TLC5947_LLD_BLANK_ENABLE) ? "enabling" : "disabling");
     status = tlc5947_lld_setBlank((TLC5947Driver*)ut->data, blank);
     status |= tlc5947_lld_getBlank((TLC5947Driver*)ut->data, &blank_after);
     if (status == APAL_STATUS_OK && blank_after == blank) {
       aosUtPassed(stream, &result);
     } else {
       aosUtFailedMsg(stream, &result, "0x%08X\n", status);
+    }
+  }
   chprintf(stream, "setting all black and dimming white...\n");
   status = tlc5947_lld_setBlank((TLC5947Driver*)ut->data, TLC5947_LLD_BLANK_ENABLE);
   memset(buffer.data, 0, TLC5947_LLD_BUFFER_SIZE);
   status |= tlc5947_lld_write((TLC5947Driver*)ut->data, &buffer);
   status |= tlc5947_lld_update((TLC5947Driver*)ut->data);
   status |= tlc5947_lld_setBlank((TLC5947Driver*)ut->data, TLC5947_LLD_BLANK_DISABLE);
   for (uint8_t bit = 0; bit < TLC5947_LLD_PWM_RESOLUTION_BITS; ++bit) {
     for (uint8_t channel = 0; channel < TLC5947_LLD_NUM_CHANNELS; ++channel) {
       tlc5947_lld_setBuffer(&buffer, channel, (1 << (bit+1)) - 1);
+    }
     status |= tlc5947_lld_write((TLC5947Driver*)ut->data, &buffer);
     status |= tlc5947_lld_update((TLC5947Driver*)ut->data);
     aosThdMSleep(100);
+  }
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+  if (status == APAL_STATUS_OK || status == APAL_STATUS_WARNING) {
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+    aosUtPassed(stream, &result);
   } else {
     aosUtFailedMsg(stream, &result, "0x%08X\n", status);
+  }
   chprintf(stream, "NOT dimming black again...\n");
   status = APAL_STATUS_OK;
   for (uint8_t bit = TLC5947_LLD_PWM_RESOLUTION_BITS; bit > 0; --bit) {
     for (uint8_t channel = 0; channel < TLC5947_LLD_NUM_CHANNELS; ++channel) {
       tlc5947_lld_setBuffer(&buffer, channel, (1 << bit) - 1);
+    }
     status |= tlc5947_lld_setBlank((TLC5947Driver*)ut->data, TLC5947_LLD_BLANK_ENABLE);
     status |= tlc5947_lld_write((TLC5947Driver*)ut->data, &buffer);
     status |= tlc5947_lld_setBlank((TLC5947Driver*)ut->data, TLC5947_LLD_BLANK_ENABLE);
     // Grayscale data is not updated this time (tlc5947_lld_update() not called).
     // TODO: For some reason the PWMs are updated nevertheless.
     aosThdMSleep(100);
+  }
   status |= tlc5947_lld_setBlank((TLC5947Driver*)ut->data, TLC5947_LLD_BLANK_ENABLE);
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+  if (status == APAL_STATUS_OK || status == APAL_STATUS_WARNING) {
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+    aosUtPassed(stream, &result);
   } else {
     aosUtFailedMsg(stream, &result, "0x%08X\n", status);
+  }
   chprintf(stream, "setting each channel incrementally...\n");
   status = APAL_STATUS_OK;
   memset(buffer.data, 0, TLC5947_LLD_BUFFER_SIZE);
   status |= tlc5947_lld_write((TLC5947Driver*)ut->data, &buffer);
   status |= tlc5947_lld_update((TLC5947Driver*)ut->data);
   status |= tlc5947_lld_setBlank((TLC5947Driver*)ut->data, TLC5947_LLD_BLANK_DISABLE);
   for (uint8_t channel = 0; channel < TLC5947_LLD_NUM_CHANNELS; ++channel) {
     uint16_t value = 0x0000u;
     for (uint8_t byte = 0; byte < 3; ++byte) {
       switch (byte) {
         case 0:
           value |= 0x00Fu;
           break;
         case 1:
           value |= 0x0F0u;
           break;
         case 2:
           value |= 0xF00u;
           break;
+      }
       tlc5947_lld_setBuffer(&buffer, channel, value);
       status |= tlc5947_lld_write((TLC5947Driver*)ut->data, &buffer);
       status |= tlc5947_lld_update((TLC5947Driver*)ut->data);
       aosThdSleep(1.0f / 3.0f);
       tlc5947_lld_setBuffer(&buffer, channel, 0);
+    }
+  }
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+  if (status == APAL_STATUS_OK || status == APAL_STATUS_WARNING) {
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+    aosUtPassed(stream, &result);
   } else {
     aosUtFailedMsg(stream, &result, "0x%08X\n", status);
+  }
   chprintf(stream, "setting one color after another...\n");
   status = APAL_STATUS_OK;
   for (int8_t color = 0; color < 3; ++color) {
     for (uint8_t channel = color; channel < TLC5947_LLD_NUM_CHANNELS; channel += 3) {
       const uint16_t val = 0xAF5u; // some deterministic value with high entropy
       tlc5947_lld_setBuffer(&buffer, channel, val);
       status |= tlc5947_lld_write((TLC5947Driver*)ut->data, &buffer);
       status |= tlc5947_lld_update((TLC5947Driver*)ut->data);
       status |= (tlc5947_lld_getBuffer(&buffer, channel) != val) ? (1 << 31) : 0;
       if (status != APAL_STATUS_OK) {
         break;
       } else {
         aosThdSleep(1.0f / 8.0f);
+      }
+    }
     for (uint8_t channel = 0; channel < TLC5947_LLD_NUM_CHANNELS; ++channel) {
       tlc5947_lld_setBuffer(&buffer, channel, 0);
+    }
+  }
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+  if (status == APAL_STATUS_OK || status == APAL_STATUS_WARNING) {
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+    aosUtPassed(stream, &result);
   } else {
     aosUtFailedMsg(stream, &result, "0x%08X\n", status);
+  }
   // turn LEDs off
   tlc5947_lld_setBlank((TLC5947Driver*)ut->data, TLC5947_LLD_BLANK_ENABLE);
   memset(buffer.data, 0, TLC5947_LLD_BUFFER_SIZE);
   tlc5947_lld_write((TLC5947Driver*)ut->data, &buffer);
   tlc5947_lld_update((TLC5947Driver*)ut->data);
   aosUtInfoMsg(stream, "driver object memory footprint: %u bytes\n", sizeof(TLC5947Driver));
   return result;
+}
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+#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_TLC5947) && (AMIROLLD_CFG_TLC5947 == 1) */