amiro-os / unittests / periphery-lld / src / ut_alld_ina219.c @ 7da800ab
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| 1 | e545e620 | Thomas Schöpping | /*
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| 2 | AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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| 3 | 84f0ce9e | Thomas Schöpping | Copyright (C) 2016..2019 Thomas Schöpping et al.
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| 4 | e545e620 | Thomas Schöpping | |
| 5 | This program is free software: you can redistribute it and/or modify
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| 6 | it under the terms of the GNU General Public License as published by
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| 7 | the Free Software Foundation, either version 3 of the License, or
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| 8 | (at your option) any later version.
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| 9 | |||
| 10 | This program is distributed in the hope that it will be useful,
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| 11 | but WITHOUT ANY WARRANTY; without even the implied warranty of
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| 12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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| 13 | GNU General Public License for more details.
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| 14 | |||
| 15 | You should have received a copy of the GNU General Public License
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| 16 | along with this program. If not, see <http://www.gnu.org/licenses/>.
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| 17 | */
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| 18 | |||
| 19 | #include <ut_alld_ina219.h> |
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| 20 | |||
| 21 | #if ((AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_USE_INA219)) || defined(__DOXYGEN__) |
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| 22 | |||
| 23 | #include <math.h> |
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| 24 | |||
| 25 | f3ac1c96 | Thomas Schöpping | /******************************************************************************/
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| 26 | /* LOCAL DEFINITIONS */
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| 27 | /******************************************************************************/
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| 28 | |||
| 29 | /******************************************************************************/
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| 30 | /* EXPORTED VARIABLES */
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| 31 | /******************************************************************************/
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| 32 | |||
| 33 | /******************************************************************************/
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| 34 | /* LOCAL TYPES */
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| 35 | /******************************************************************************/
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| 36 | |||
| 37 | /******************************************************************************/
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| 38 | /* LOCAL VARIABLES */
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| 39 | /******************************************************************************/
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| 40 | |||
| 41 | /******************************************************************************/
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| 42 | /* LOCAL FUNCTIONS */
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| 43 | /******************************************************************************/
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| 44 | |||
| 45 | /******************************************************************************/
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| 46 | /* EXPORTED FUNCTIONS */
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| 47 | /******************************************************************************/
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| 48 | |||
| 49 | e545e620 | Thomas Schöpping | aos_utresult_t utAlldIna219Func(BaseSequentialStream* stream, aos_unittest_t* ut) |
| 50 | {
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| 51 | aosDbgCheck(ut->data != NULL && ((ut_ina219data_t*)(ut->data))->inad != NULL); |
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| 52 | |||
| 53 | // local variables
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| 54 | aos_utresult_t result = {0, 0};
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| 55 | uint32_t status; |
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| 56 | uint16_t data[6];
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| 57 | uint16_t write_data = 0x1011;
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| 58 | uint16_t new_data[6];
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| 59 | uint16_t reset_data; |
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| 60 | uint16_t test_calib = 0;
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| 61 | int16_t usensor_data = 0;
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| 62 | uint16_t busready = 0;
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| 63 | uint32_t power = 0;
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| 64 | int32_t shunt; |
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| 65 | uint32_t bus; |
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| 66 | |||
| 67 | chprintf(stream, "read registers...\n");
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| 68 | status = ina219_lld_read_register(((ut_ina219data_t*)ut->data)->inad, INA219_LLD_REGISTER_CONFIGURATION, data, 6, ((ut_ina219data_t*)ut->data)->timeout);
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| 69 | if (status == APAL_STATUS_SUCCESS) {
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| 70 | aosUtPassed(stream, &result); |
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| 71 | } else {
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| 72 | aosUtFailed(stream, &result); |
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| 73 | } |
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| 74 | |||
| 75 | chprintf(stream, "write registers...\n");
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| 76 | status = ina219_lld_write_register(((ut_ina219data_t*)ut->data)->inad, INA219_LLD_REGISTER_CONFIGURATION, &write_data, 1, ((ut_ina219data_t*)ut->data)->timeout);
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| 77 | status |= ina219_lld_read_register(((ut_ina219data_t*)ut->data)->inad, INA219_LLD_REGISTER_CONFIGURATION, new_data, 6, ((ut_ina219data_t*)ut->data)->timeout);
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| 78 | if (status == APAL_STATUS_SUCCESS && new_data[0] == write_data) { |
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| 79 | uint8_t errors = 0;
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| 80 | for (uint8_t dataIdx = 1; dataIdx < 6; dataIdx++) { |
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| 81 | if (new_data[dataIdx] != data[dataIdx]) {
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| 82 | ++errors; |
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| 83 | } |
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| 84 | } |
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| 85 | if (errors == 0) { |
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| 86 | aosUtPassed(stream, &result); |
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| 87 | } else {
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| 88 | aosUtFailed(stream, &result); |
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| 89 | } |
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| 90 | } else {
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| 91 | aosUtFailed(stream, &result); |
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| 92 | } |
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| 93 | |||
| 94 | chprintf(stream, "reset...\n");
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| 95 | status = ina219_lld_reset(((ut_ina219data_t*)ut->data)->inad, ((ut_ina219data_t*)ut->data)->timeout); |
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| 96 | status |= ina219_lld_read_register(((ut_ina219data_t*)ut->data)->inad, INA219_LLD_REGISTER_CONFIGURATION, &reset_data, 1, ((ut_ina219data_t*)ut->data)->timeout);
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| 97 | if (status == APAL_STATUS_SUCCESS && reset_data == 0x399F) { |
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| 98 | aosUtPassed(stream, &result); |
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| 99 | } else {
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| 100 | chprintf(stream, "\tfailed\n");
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| 101 | ++result.failed; |
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| 102 | } |
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| 103 | |||
| 104 | chprintf(stream, "read config...\n");
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| 105 | ina219_lld_cfg_t ina_config; |
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| 106 | status = ina219_lld_read_config(((ut_ina219data_t*)ut->data)->inad, &ina_config, ((ut_ina219data_t*)ut->data)->timeout); |
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| 107 | if (status == APAL_STATUS_SUCCESS) {
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| 108 | aosUtPassed(stream, &result); |
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| 109 | } else {
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| 110 | aosUtFailed(stream, &result); |
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| 111 | } |
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| 112 | |||
| 113 | chprintf(stream, "write config...\n");
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| 114 | ina_config.data = 0x7FFu;
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| 115 | status = ina219_lld_write_config(((ut_ina219data_t*)ut->data)->inad, ina_config, ((ut_ina219data_t*)ut->data)->timeout); |
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| 116 | if (status == APAL_STATUS_SUCCESS) {
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| 117 | aosUtPassed(stream, &result); |
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| 118 | } else {
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| 119 | aosUtFailed(stream, &result); |
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| 120 | } |
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| 121 | |||
| 122 | |||
| 123 | chprintf(stream, "calibrate...\n");
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| 124 | ina219_lld_calib_input_t calib_in; |
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| 125 | calib_in.shunt_resistance_0 = 0.1; |
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| 126 | calib_in.max_expected_current_A = 0.075; |
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| 127 | calib_in.current_lsb_uA = 10;
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| 128 | calib_in.cfg_reg = ina_config; |
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| 129 | ina219_lld_calib_output_t calib_out; |
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| 130 | status = ina219_lld_calibration(((ut_ina219data_t*)ut->data)->inad, &calib_in, &calib_out); |
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| 131 | status |= ina219_lld_write_calibration(((ut_ina219data_t*)ut->data)->inad, calib_out.calibration & 0xFFFEu, ((ut_ina219data_t*)ut->data)->timeout);
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| 132 | status |= ina219_lld_write_calibration(((ut_ina219data_t*)ut->data)->inad, 0xA000, ((ut_ina219data_t*)ut->data)->timeout);
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| 133 | ina219_lld_cfg_t test_config; |
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| 134 | ((ut_ina219data_t*)ut->data)->inad->current_lsb_uA = 0xA;
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| 135 | status |= ina219_lld_read_config(((ut_ina219data_t*)ut->data)->inad, &test_config, ((ut_ina219data_t*)ut->data)->timeout); |
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| 136 | status |= ina219_lld_read_calibration(((ut_ina219data_t*)ut->data)->inad, &test_calib, ((ut_ina219data_t*)ut->data)->timeout); |
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| 137 | while (!busready || power == 0) { |
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| 138 | aosThdMSleep(20);
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| 139 | status |= ina219_lld_bus_conversion_ready(((ut_ina219data_t*)ut->data)->inad, &busready, ((ut_ina219data_t*)ut->data)->timeout); |
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| 140 | status |= ina219_lld_read_power(((ut_ina219data_t*)ut->data)->inad, &power, ((ut_ina219data_t*)ut->data)->timeout); |
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| 141 | } |
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| 142 | if (status == APAL_STATUS_SUCCESS) {
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| 143 | aosUtPassed(stream, &result); |
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| 144 | } else {
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| 145 | aosUtFailed(stream, &result); |
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| 146 | } |
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| 147 | |||
| 148 | chprintf(stream, "read shunt voltage...\n");
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| 149 | status = ina219_lld_read_shunt_voltage(((ut_ina219data_t*)ut->data)->inad, &shunt, ((ut_ina219data_t*)ut->data)->timeout); |
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| 150 | chprintf(stream, "\t\tshunt voltage: %fV\n", (float)shunt/1000000.f); |
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| 151 | if (status == APAL_STATUS_SUCCESS) {
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| 152 | aosUtPassed(stream, &result); |
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| 153 | } else {
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| 154 | aosUtFailed(stream, &result); |
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| 155 | } |
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| 156 | |||
| 157 | chprintf(stream, "read bus voltage (%u%% tolerance)...\n", (uint8_t)(((ut_ina219data_t*)ut->data)->tolerance * 100.f + 0.5f)); |
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| 158 | status = ina219_lld_read_bus_voltage(((ut_ina219data_t*)ut->data)->inad, &bus, ((ut_ina219data_t*)ut->data)->timeout); |
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| 159 | chprintf(stream, "\t\tbus voltage: %fV\n", (float)bus/1000000.f); |
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| 160 | if ((status == APAL_STATUS_SUCCESS) && (fabs(((float)bus/1000000.f) - ((ut_ina219data_t*)ut->data)->v_expected) < ((ut_ina219data_t*)ut->data)->v_expected * ((ut_ina219data_t*)ut->data)->tolerance)) { |
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| 161 | aosUtPassed(stream, &result); |
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| 162 | } else {
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| 163 | aosUtFailed(stream, &result); |
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| 164 | } |
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| 165 | |||
| 166 | chprintf(stream, "read power...\n");
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| 167 | status = ina219_lld_read_power(((ut_ina219data_t*)ut->data)->inad, &power, ((ut_ina219data_t*)ut->data)->timeout); |
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| 168 | chprintf(stream, "\t\tpower: %fW\n", (float)(power)/1000000.f); |
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| 169 | if (status == APAL_STATUS_SUCCESS) {
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| 170 | aosUtPassed(stream, &result); |
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| 171 | } else {
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| 172 | aosUtFailed(stream, &result); |
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| 173 | } |
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| 174 | |||
| 175 | chprintf(stream, "read current...\n");
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| 176 | status = ina219_lld_read_current(((ut_ina219data_t*)ut->data)->inad, &usensor_data, ((ut_ina219data_t*)ut->data)->timeout); |
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| 177 | chprintf(stream, "\t\tcurrent: %fA\n", (float)(usensor_data)/1000000.f); |
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| 178 | if (status == APAL_STATUS_SUCCESS) {
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| 179 | aosUtPassed(stream, &result); |
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| 180 | } else {
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| 181 | aosUtFailed(stream, &result); |
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| 182 | } |
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| 183 | |||
| 184 | aosUtInfoMsg(stream, "driver object memory footprint: %u bytes\n", sizeof(INA219Driver)); |
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| 185 | |||
| 186 | return result;
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| 187 | } |
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| 188 | |||
| 189 | #endif /* (AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_USE_INA219) */ |