AMiRo-OS

/*

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

Copyright (C) 2016..2019  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 <amiroos.h>

#include <ut_alld_P9221R_v1.h>

#if ((AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_P9221R) && (AMIROLLD_CFG_P9221R == 1)) || defined(__DOXYGEN__)

#include <math.h>

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/* LOCAL DEFINITIONS                                                          */

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/* EXPORTED VARIABLES                                                         */

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/* LOCAL TYPES                                                                */

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/* LOCAL VARIABLES                                                            */

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/* LOCAL FUNCTIONS                                                            */

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/* EXPORTED FUNCTIONS                                                         */

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aos_utresult_t utAlldP9221rFunc(BaseSequentialStream* stream, aos_unittest_t* ut)

{

    aosDbgCheck(ut->data != NULL && ((ut_p9221rdata_t*)(ut->data))->PRd != NULL);

    // local variables

    aos_utresult_t result = {0, 0};

    uint32_t status;

    uint8_t data[79] = {0xA5};

    int8_t x_alignment[2] = {0xA5};

    int8_t y_alignment[2] = {0xA5};

    float voltage[1];

    float current[1];

    chprintf(stream, "read all registers...\n");

    status = p9221r_lld_read_register(((ut_p9221rdata_t*)ut->data)->PRd, P9221R_LLD_REGISTER_PARTNUMBER, data, 79, ((ut_p9221rdata_t*)ut->data)->timeout);

    if (status == APAL_STATUS_SUCCESS) {

      aosUtPassed(stream, &result);

      for(int i=0; i<79; i++){

          chprintf(stream, "register: 0x%02x, data: 0x%02X \n", 0x00+i, data[i]);

      }

    } else {

      aosUtFailed(stream, &result);

    }

    chprintf(stream, "read x_alignment for five seconds, move receiver ... \n");

    status = APAL_STATUS_SUCCESS;

    for (uint32_t i = 0; i <= 5; i++) {

        status |=   p9221r_lld_read_x_alignment(((ut_p9221rdata_t*)ut->data)->PRd, x_alignment, ((ut_p9221rdata_t*)ut->data)->timeout);

        chprintf(stream, "x_alignment %d \n", x_alignment[0]);

        //aosUtPassed(stream, &result);

        aosThdSSleep(1);

    }

    if(status == APAL_STATUS_SUCCESS) {

      aosUtPassed(stream, &result);

    } else {

      aosUtFailed(stream, &result);

    }

    chprintf(stream, "read y_alignment for five seconds, move receiver ... \n");

    status = APAL_STATUS_SUCCESS;

    for (uint32_t i = 0; i <= 5; i++) {

        status |= p9221r_lld_read_y_alignment(((ut_p9221rdata_t*)ut->data)->PRd, y_alignment, ((ut_p9221rdata_t*)ut->data)->timeout);

        chprintf(stream, "y_alignment: %d \n", y_alignment[0]);

        //aosUtPassed(stream, &result);

        aosThdSSleep(1);

    }

    if(status == APAL_STATUS_SUCCESS) {

      aosUtPassed(stream, &result);

    } else {

      aosUtFailed(stream, &result);

    }

     chprintf(stream, "read the voltage... \n");

     status =   p9221r_lld_read_voltage(((ut_p9221rdata_t*)ut->data)->PRd, voltage, ((ut_p9221rdata_t*)ut->data)->timeout);

     if (status == APAL_STATUS_SUCCESS) {

       aosUtPassed(stream, &result);

       chprintf(stream, "voltage: %.2f \n", *voltage);

     } else {

       aosUtFailed(stream, &result);

     }

     chprintf(stream, "read the current... \n");

     status =  p9221r_lld_read_current(((ut_p9221rdata_t*)ut->data)->PRd, current, ((ut_p9221rdata_t*)ut->data)->timeout);

     if (status == APAL_STATUS_SUCCESS) {

       aosUtPassed(stream, &result);

       chprintf(stream, "current: %.2f \n", *current);

     } else {

       aosUtFailed(stream, &result);

     }

    return result;

}

#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_P9221R) && (AMIROLLD_CFG_P9221R == 1) */