amiro-os / unittests / periphery-lld / src / ut_alld_ina219.c @ 8376530c
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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 | Copyright (C) 2016..2018 Thomas Schöpping et al.
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4 | |||
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 <aos_debug.h> |
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24 | #include <chprintf.h> |
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25 | #include <aos_thread.h> |
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26 | #include <alld_ina219.h> |
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27 | #include <math.h> |
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28 | |||
29 | aos_utresult_t utAlldIna219Func(BaseSequentialStream* stream, aos_unittest_t* ut) |
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30 | { |
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31 | aosDbgCheck(ut->data != NULL && ((ut_ina219data_t*)(ut->data))->inad != NULL); |
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32 | |||
33 | // local variables
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34 | aos_utresult_t result = {0, 0}; |
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35 | uint32_t status; |
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36 | uint16_t data[6];
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37 | uint16_t write_data = 0x1011;
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38 | uint16_t new_data[6];
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39 | uint16_t reset_data; |
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40 | uint16_t test_calib = 0;
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41 | int16_t usensor_data = 0;
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42 | uint16_t busready = 0;
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43 | uint32_t power = 0;
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44 | int32_t shunt; |
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45 | uint32_t bus; |
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46 | |||
47 | chprintf(stream, "read registers...\n");
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48 | 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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49 | if (status == APAL_STATUS_SUCCESS) {
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50 | aosUtPassed(stream, &result); |
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51 | } else {
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52 | aosUtFailed(stream, &result); |
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53 | } |
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54 | |||
55 | chprintf(stream, "write registers...\n");
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56 | 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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57 | 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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58 | if (status == APAL_STATUS_SUCCESS && new_data[0] == write_data) { |
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59 | uint8_t errors = 0;
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60 | for (uint8_t dataIdx = 1; dataIdx < 6; dataIdx++) { |
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61 | if (new_data[dataIdx] != data[dataIdx]) {
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62 | ++errors; |
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63 | } |
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64 | } |
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65 | if (errors == 0) { |
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66 | aosUtPassed(stream, &result); |
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67 | } else {
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68 | aosUtFailed(stream, &result); |
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69 | } |
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70 | } else {
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71 | aosUtFailed(stream, &result); |
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72 | } |
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73 | |||
74 | chprintf(stream, "reset...\n");
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75 | status = ina219_lld_reset(((ut_ina219data_t*)ut->data)->inad, ((ut_ina219data_t*)ut->data)->timeout); |
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76 | 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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77 | if (status == APAL_STATUS_SUCCESS && reset_data == 0x399F) { |
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78 | aosUtPassed(stream, &result); |
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79 | } else {
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80 | chprintf(stream, "\tfailed\n");
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81 | ++result.failed; |
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82 | } |
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83 | |||
84 | chprintf(stream, "read config...\n");
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85 | ina219_lld_cfg_t ina_config; |
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86 | status = ina219_lld_read_config(((ut_ina219data_t*)ut->data)->inad, &ina_config, ((ut_ina219data_t*)ut->data)->timeout); |
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87 | if (status == APAL_STATUS_SUCCESS) {
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88 | aosUtPassed(stream, &result); |
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89 | } else {
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90 | aosUtFailed(stream, &result); |
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91 | } |
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92 | |||
93 | chprintf(stream, "write config...\n");
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94 | ina_config.data = 0x7FFu;
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95 | status = ina219_lld_write_config(((ut_ina219data_t*)ut->data)->inad, ina_config, ((ut_ina219data_t*)ut->data)->timeout); |
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96 | if (status == APAL_STATUS_SUCCESS) {
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97 | aosUtPassed(stream, &result); |
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98 | } else {
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99 | aosUtFailed(stream, &result); |
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100 | } |
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101 | |||
102 | |||
103 | chprintf(stream, "calibrate...\n");
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104 | ina219_lld_calib_input_t calib_in; |
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105 | calib_in.shunt_resistance_0 = 0.1; |
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106 | calib_in.max_expected_current_A = 0.075; |
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107 | calib_in.current_lsb_uA = 10;
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108 | calib_in.cfg_reg = ina_config; |
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109 | ina219_lld_calib_output_t calib_out; |
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110 | status = ina219_lld_calibration(((ut_ina219data_t*)ut->data)->inad, &calib_in, &calib_out); |
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111 | 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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112 | status |= ina219_lld_write_calibration(((ut_ina219data_t*)ut->data)->inad, 0xA000, ((ut_ina219data_t*)ut->data)->timeout);
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113 | ina219_lld_cfg_t test_config; |
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114 | ((ut_ina219data_t*)ut->data)->inad->current_lsb_uA = 0xA;
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115 | status |= ina219_lld_read_config(((ut_ina219data_t*)ut->data)->inad, &test_config, ((ut_ina219data_t*)ut->data)->timeout); |
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116 | status |= ina219_lld_read_calibration(((ut_ina219data_t*)ut->data)->inad, &test_calib, ((ut_ina219data_t*)ut->data)->timeout); |
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117 | while (!busready || power == 0) { |
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118 | aosThdMSleep(20);
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119 | status |= ina219_lld_bus_conversion_ready(((ut_ina219data_t*)ut->data)->inad, &busready, ((ut_ina219data_t*)ut->data)->timeout); |
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120 | status |= ina219_lld_read_power(((ut_ina219data_t*)ut->data)->inad, &power, ((ut_ina219data_t*)ut->data)->timeout); |
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121 | } |
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122 | if (status == APAL_STATUS_SUCCESS) {
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123 | aosUtPassed(stream, &result); |
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124 | } else {
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125 | aosUtFailed(stream, &result); |
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126 | } |
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127 | |||
128 | chprintf(stream, "read shunt voltage...\n");
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129 | status = ina219_lld_read_shunt_voltage(((ut_ina219data_t*)ut->data)->inad, &shunt, ((ut_ina219data_t*)ut->data)->timeout); |
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130 | chprintf(stream, "\t\tshunt voltage: %fV\n", (float)shunt/1000000.f); |
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131 | if (status == APAL_STATUS_SUCCESS) {
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132 | aosUtPassed(stream, &result); |
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133 | } else {
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134 | aosUtFailed(stream, &result); |
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135 | } |
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136 | |||
137 | chprintf(stream, "read bus voltage (%u%% tolerance)...\n", (uint8_t)(((ut_ina219data_t*)ut->data)->tolerance * 100.f + 0.5f)); |
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138 | status = ina219_lld_read_bus_voltage(((ut_ina219data_t*)ut->data)->inad, &bus, ((ut_ina219data_t*)ut->data)->timeout); |
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139 | chprintf(stream, "\t\tbus voltage: %fV\n", (float)bus/1000000.f); |
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140 | 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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141 | aosUtPassed(stream, &result); |
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142 | } else {
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143 | aosUtFailed(stream, &result); |
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144 | } |
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145 | |||
146 | chprintf(stream, "read power...\n");
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147 | status = ina219_lld_read_power(((ut_ina219data_t*)ut->data)->inad, &power, ((ut_ina219data_t*)ut->data)->timeout); |
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148 | chprintf(stream, "\t\tpower: %fW\n", (float)(power)/1000000.f); |
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149 | if (status == APAL_STATUS_SUCCESS) {
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150 | aosUtPassed(stream, &result); |
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151 | } else {
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152 | aosUtFailed(stream, &result); |
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153 | } |
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154 | |||
155 | chprintf(stream, "read current...\n");
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156 | status = ina219_lld_read_current(((ut_ina219data_t*)ut->data)->inad, &usensor_data, ((ut_ina219data_t*)ut->data)->timeout); |
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157 | chprintf(stream, "\t\tcurrent: %fA\n", (float)(usensor_data)/1000000.f); |
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158 | if (status == APAL_STATUS_SUCCESS) {
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159 | aosUtPassed(stream, &result); |
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160 | } else {
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161 | aosUtFailed(stream, &result); |
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162 | } |
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163 | |||
164 | aosUtInfoMsg(stream, "driver object memory footprint: %u bytes\n", sizeof(INA219Driver)); |
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165 | |||
166 | return result;
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167 | } |
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168 | |||
169 | #endif /* (AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_USE_INA219) */ |