amiro-os / unittests / periphery-lld / src / ut_alld_P9221R_v1.c @ 77a3b16a
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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_P9221R_v1.h> |
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#if ((AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_P9221R) && (AMIROLLD_CFG_P9221R == 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 utAlldP9221rFunc(BaseSequentialStream* stream, aos_unittest_t* ut) |
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{
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aosDbgCheck(ut->data != NULL && ((ut_p9221rdata_t*)(ut->data))->PRd != 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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uint8_t data[79] = {0xA5}; |
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int8_t x_alignment[2] = {0xA5}; |
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int8_t y_alignment[2] = {0xA5}; |
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float voltage[1]; |
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float current[1]; |
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chprintf(stream, "read all registers...\n");
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status = p9221r_lld_read_register(((ut_p9221rdata_t*)ut->data)->PRd, P9221R_LLD_REGISTER_PARTNUMBER, data, 79, ((ut_p9221rdata_t*)ut->data)->timeout);
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if (status == APAL_STATUS_SUCCESS) {
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aosUtPassed(stream, &result); |
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for(int i=0; i<79; i++){ |
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chprintf(stream, "register: 0x%02x, data: 0x%02X \n", 0x00+i, data[i]); |
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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, "read x_alignment for five seconds, move receiver ... \n");
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status = APAL_STATUS_SUCCESS; |
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for (uint32_t i = 0; i <= 5; i++) { |
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status |= p9221r_lld_read_x_alignment(((ut_p9221rdata_t*)ut->data)->PRd, x_alignment, ((ut_p9221rdata_t*)ut->data)->timeout); |
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chprintf(stream, "x_alignment %d \n", x_alignment[0]); |
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//aosUtPassed(stream, &result);
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aosThdSSleep(1);
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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 y_alignment for five seconds, move receiver ... \n");
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status = APAL_STATUS_SUCCESS; |
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for (uint32_t i = 0; i <= 5; i++) { |
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status |= p9221r_lld_read_y_alignment(((ut_p9221rdata_t*)ut->data)->PRd, y_alignment, ((ut_p9221rdata_t*)ut->data)->timeout); |
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chprintf(stream, "y_alignment: %d \n", y_alignment[0]); |
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//aosUtPassed(stream, &result);
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aosThdSSleep(1);
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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 the voltage... \n");
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status = p9221r_lld_read_voltage(((ut_p9221rdata_t*)ut->data)->PRd, voltage, ((ut_p9221rdata_t*)ut->data)->timeout); |
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if (status == APAL_STATUS_SUCCESS) {
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aosUtPassed(stream, &result); |
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chprintf(stream, "voltage: %.2f \n", *voltage);
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} else {
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aosUtFailed(stream, &result); |
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} |
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chprintf(stream, "read the current... \n");
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status = p9221r_lld_read_current(((ut_p9221rdata_t*)ut->data)->PRd, current, ((ut_p9221rdata_t*)ut->data)->timeout); |
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if (status == APAL_STATUS_SUCCESS) {
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aosUtPassed(stream, &result); |
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chprintf(stream, "current: %.2f \n", *current);
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} else {
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aosUtFailed(stream, &result); |
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} |
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return result;
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} |
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#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_P9221R) && (AMIROLLD_CFG_P9221R == 1) */ |