amiro-os / test / periphery-lld / P9221R_v1 / aos_test_P9221R.c @ 7e674331
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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 <aos_test_P9221R.h> |
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#if (AMIROOS_CFG_TESTS_ENABLE == true) || 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_testresult_t aosTestP9221rFunc(BaseSequentialStream* stream, const aos_test_t* test)
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{
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aosDbgCheck(test->data != NULL && ((aos_test_p9221rdata_t*)(test->data))->PRd != NULL); |
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// local variables
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aos_testresult_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 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(((aos_test_p9221rdata_t*)test->data)->PRd, P9221R_LLD_REGISTER_PARTNUMBER, data, 79, ((aos_test_p9221rdata_t*)test->data)->timeout);
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if (status == APAL_STATUS_SUCCESS) {
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aosTestPassed(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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aosTestFailed(stream, &result); |
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} |
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chprintf(stream, "read 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_alignment(((aos_test_p9221rdata_t*)test->data)->PRd, alignment, ((aos_test_p9221rdata_t*)test->data)->timeout); |
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chprintf(stream, "x_alignment %2d \n", alignment[0]); |
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chprintf(stream, "y_alignment %2d \n", alignment[1]); |
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//aosTestPassed(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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aosTestPassed(stream, &result); |
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} else {
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aosTestFailed(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(((aos_test_p9221rdata_t*)test->data)->PRd, voltage, ((aos_test_p9221rdata_t*)test->data)->timeout); |
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if (status == APAL_STATUS_SUCCESS) {
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aosTestPassed(stream, &result); |
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chprintf(stream, "voltage: %.2f \n", *voltage);
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} else {
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aosTestFailed(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(((aos_test_p9221rdata_t*)test->data)->PRd, current, ((aos_test_p9221rdata_t*)test->data)->timeout); |
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if (status == APAL_STATUS_SUCCESS) {
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aosTestPassed(stream, &result); |
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chprintf(stream, "current: %.2f \n", *current);
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} else {
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aosTestFailed(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 */ |