AMiRo-OS

/*

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

Copyright (C) 2016..2018  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 <ut_alld_tlc5947.h>

#if ((AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_USE_TLC5947)) || defined(__DOXYGEN__)

#include <aos_debug.h>

#include <chprintf.h>

#include <alld_tlc5947.h>

#include <string.h>

#include <aos_thread.h>

/**

 * @brief   TLC9547 unit test function

 *

 * @param[in] stream  Stream for input/output.

 * @param[in] ut      Unit test object.

 *

 * @return            Unit test result value.

 */

aos_utresult_t utAlldTlc5947Func(BaseSequentialStream *stream, aos_unittest_t *ut)

{

  aosDbgCheck(ut->data != NULL);

  // local variables

  aos_utresult_t result = {0, 0};

  uint32_t status = 0;

  tlc5947_lld_blank_t blank;

  tlc5947_lld_buffer_t buffer;

  chprintf(stream, "reading blank pin...\n");

  status = tlc5947_lld_getBlank((TLC5947Driver*)ut->data, &blank);

  if (status == APAL_STATUS_OK) {

    aosUtPassedMsg(stream, &result, "blank is %s\n", (blank == TLC5947_LLD_BLANK_ENABLE) ? "enabled" : "disabled");

  } else {

    aosUtFailedMsg(stream, &result, "0x%08X\n", status);

  }

  // enabling/disabling blank pin

  for (uint8_t i = 0; i < 2; ++i) {

    blank = (blank == TLC5947_LLD_BLANK_ENABLE) ? TLC5947_LLD_BLANK_DISABLE : TLC5947_LLD_BLANK_ENABLE;

    tlc5947_lld_blank_t blank_after = (blank == TLC5947_LLD_BLANK_ENABLE) ? TLC5947_LLD_BLANK_DISABLE : TLC5947_LLD_BLANK_ENABLE;

    chprintf(stream, "%s blank pin...\n", (blank == TLC5947_LLD_BLANK_ENABLE) ? "enabling" : "disabling");

    status = tlc5947_lld_setBlank((TLC5947Driver*)ut->data, blank);

    status |= tlc5947_lld_getBlank((TLC5947Driver*)ut->data, &blank_after);

    if (status == APAL_STATUS_OK && blank_after == blank) {

      aosUtPassed(stream, &result);

    } else {

      aosUtFailedMsg(stream, &result, "0x%08X\n", status);

    }

  }

  chprintf(stream, "setting all black and dimming white...\n");

  status = tlc5947_lld_setBlank((TLC5947Driver*)ut->data, TLC5947_LLD_BLANK_ENABLE);

  memset(buffer.data, 0, TLC5947_LLD_BUFFER_SIZE);

  status |= tlc5947_lld_write((TLC5947Driver*)ut->data, &buffer);

  status |= tlc5947_lld_update((TLC5947Driver*)ut->data);

  status |= tlc5947_lld_setBlank((TLC5947Driver*)ut->data, TLC5947_LLD_BLANK_DISABLE);

  for (uint8_t bit = 0; bit < TLC5947_LLD_PWM_RESOLUTION_BITS; ++bit) {

    for (uint8_t channel = 0; channel < TLC5947_LLD_NUM_CHANNELS; ++channel) {

      tlc5947_lld_setBuffer(&buffer, channel, (1 << (bit+1)) - 1);

    }

    status |= tlc5947_lld_write((TLC5947Driver*)ut->data, &buffer);

    status |= tlc5947_lld_update((TLC5947Driver*)ut->data);

    aosThdMSleep(100);

  }

  if (status == APAL_STATUS_OK) {

    aosUtPassed(stream, &result);

  } else {

    aosUtFailedMsg(stream, &result, "0x%08X\n", status);

  }

  chprintf(stream, "NOT dimming black again...\n");

  status = APAL_STATUS_OK;

  for (uint8_t bit = TLC5947_LLD_PWM_RESOLUTION_BITS; bit > 0; --bit) {

    for (uint8_t channel = 0; channel < TLC5947_LLD_NUM_CHANNELS; ++channel) {

      tlc5947_lld_setBuffer(&buffer, channel, (1 << bit) - 1);

    }

    status |= tlc5947_lld_setBlank((TLC5947Driver*)ut->data, TLC5947_LLD_BLANK_ENABLE);

    status |= tlc5947_lld_write((TLC5947Driver*)ut->data, &buffer);

    status |= tlc5947_lld_setBlank((TLC5947Driver*)ut->data, TLC5947_LLD_BLANK_ENABLE);

    // Grayscale data is not updated this time (tlc5947_lld_update() not called).

    // TODO: For some reason the PWMs are updated nevertheless.

    aosThdMSleep(100);

  }

  status |= tlc5947_lld_setBlank((TLC5947Driver*)ut->data, TLC5947_LLD_BLANK_ENABLE);

  if (status == APAL_STATUS_OK) {

    aosUtPassed(stream, &result);

  } else {

    aosUtFailedMsg(stream, &result, "0x%08X\n", status);

  }

  chprintf(stream, "setting each channel incrementally...\n");

  status = APAL_STATUS_OK;

  memset(buffer.data, 0, TLC5947_LLD_BUFFER_SIZE);

  status |= tlc5947_lld_write((TLC5947Driver*)ut->data, &buffer);

  status |= tlc5947_lld_update((TLC5947Driver*)ut->data);

  status |= tlc5947_lld_setBlank((TLC5947Driver*)ut->data, TLC5947_LLD_BLANK_DISABLE);

  for (uint8_t channel = 0; channel < TLC5947_LLD_NUM_CHANNELS; ++channel) {

    uint16_t value = 0x0000u;

    for (uint8_t byte = 0; byte < 3; ++byte) {

      switch (byte) {

        case 0:

          value |= 0x00Fu;

          break;

        case 1:

          value |= 0x0F0u;

          break;

        case 2:

          value |= 0xF00u;

          break;

      }

      tlc5947_lld_setBuffer(&buffer, channel, value);

      status |= tlc5947_lld_write((TLC5947Driver*)ut->data, &buffer);

      status |= tlc5947_lld_update((TLC5947Driver*)ut->data);

      aosThdSleep(1.0f / 3.0f);

      tlc5947_lld_setBuffer(&buffer, channel, 0);

    }

  }

  if (status == APAL_STATUS_OK) {

    aosUtPassed(stream, &result);

  } else {

    aosUtFailedMsg(stream, &result, "0x%08X\n", status);

  }

  chprintf(stream, "setting one color after another...\n");

  status = APAL_STATUS_OK;

  for (int8_t color = 0; color < 3; ++color) {

    for (uint8_t channel = color; channel < TLC5947_LLD_NUM_CHANNELS; channel += 3) {

      const uint16_t val = 0xAF5u; // some deterministic value with high entropy

      tlc5947_lld_setBuffer(&buffer, channel, val);

      status |= tlc5947_lld_write((TLC5947Driver*)ut->data, &buffer);

      status |= tlc5947_lld_update((TLC5947Driver*)ut->data);

      status |= (tlc5947_lld_getBuffer(&buffer, channel) != val) ? (1 << 31) : 0;

      if (status != APAL_STATUS_OK) {

        break;

      } else {

        aosThdSleep(1.0f / 8.0f);

      }

    }

    for (uint8_t channel = 0; channel < TLC5947_LLD_NUM_CHANNELS; ++channel) {

      tlc5947_lld_setBuffer(&buffer, channel, 0);

    }

  }

  if (status == APAL_STATUS_OK) {

    aosUtPassed(stream, &result);

  } else {

    aosUtFailedMsg(stream, &result, "0x%08X\n", status);

  }

  // turn LEDs off

  tlc5947_lld_setBlank((TLC5947Driver*)ut->data, TLC5947_LLD_BLANK_ENABLE);

  memset(buffer.data, 0, TLC5947_LLD_BUFFER_SIZE);

  tlc5947_lld_write((TLC5947Driver*)ut->data, &buffer);

  tlc5947_lld_update((TLC5947Driver*)ut->data);

  aosUtInfoMsg(stream, "driver object memory footprint: %u bytes\n", sizeof(TLC5947Driver));

  return result;

}

#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_USE_TLC5947) */