/unittests/lld/src/ut_lld_adc.c - Annotate - AMiRo-OS - Research for Cognitive Interaction

amiro-os / unittests / lld / src / ut_lld_adc.c @ 83ca1b95

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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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+            Thomas Schöpping
 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_lld_adc.h>
 #if ((AMIROOS_CFG_TESTS_ENABLE == true) && (HAL_USE_ADC == TRUE))|| defined(__DOXYGEN__)
 #include <aos_debug.h>
 #include <aos_thread.h>
 #include <chprintf.h>
 /**
  * @brief   Event mask of the ADC analog watchdog event.
  */
 #define _adcWdgEventmask                        EVENT_MASK(31)
 /**
  * @brief   ADC analog watchdog threshold (9.0V).
  */
 #define _adcWdgThreshold                        (uint16_t)(9.0f / 5.0f / 3.3f * ((1 << 12) - 1) + 0.5f)
 /**
  * @brief   Pointer to the thread listening for an ADC analog watchdog event.
  */
 static thread_t* _listener;
 /**
  * @brief   Helper function to convert ADC sample value to volts.
+ *
  * @param[in] adc   ADC sample value.
+ *
  * @return          Converted value in volts.
  */
 static inline float _adc2volt(adcsample_t adc) {
   return (float)adc / ((1 << 12) - 1) * 3.3f * 5.0f;
+}
 /**
  * @brief   ADC analog watchdog callback function.
+ *
  * @param[in] adcp  ADC driver.
  * @param[in] err   ADC error value.
  */
 static void _adcAwdCb(ADCDriver* adcp, adcerror_t err)
+{
   (void)adcp;
   if (err == ADC_ERR_WATCHDOG) {
     chSysLockFromISR();
     if (_listener != NULL) {
       chEvtSignalI(_listener, _adcWdgEventmask);
       _listener = NULL;
+    }
     chSysUnlockFromISR();
+  }
   return;
+}
 /**
  * @brief   ADC unit test function.
+ *
  * @param[in] stream  Stream for input/output.
  * @param[in] ut      Unit test object.
+ *
  * @return            Unit test result value.
  */
 aos_utresult_t utAdcFunc(BaseSequentialStream* stream, aos_unittest_t* ut)
+{
   aosDbgCheck(ut->data != NULL && ((ut_adcdata_t*)(ut->data))->driver != NULL && ((ut_adcdata_t*)(ut->data))->convgroup != NULL);
   // local variables
   aos_utresult_t result = {0, 0};
   adcsample_t buffer[1] = {0};
   bool wdgpassed = false;
   eventmask_t eventmask = 0;
   ADCConversionGroup conversionGroup = *(((ut_adcdata_t*)(ut->data))->convgroup);
   conversionGroup.circular = true;
   conversionGroup.end_cb = NULL;
   conversionGroup.end_cb = NULL;
   conversionGroup.htr = ADC_HTR_HT;
   conversionGroup.ltr = 0;
   chprintf(stream, "reading voltage for five seconds...\n");
   adcStartConversion(((ut_adcdata_t*)(ut->data))->driver, &conversionGroup, buffer, 1);
   for (uint8_t s = 0; s < 5; ++s) {
     aosThdSSleep(1);
     chprintf(stream, "\tVSYS = %fV\n", _adc2volt(buffer[0]));
+  }
   adcStopConversion(((ut_adcdata_t*)(ut->data))->driver);
   if (buffer[0] != 0) {
     aosUtPassed(stream, &result);
   } else {
     aosUtFailed(stream, &result);
+  }
   chprintf(stream, "detecting external power...\n");
   conversionGroup.error_cb = _adcAwdCb;
   conversionGroup.htr = _adcWdgThreshold;
   conversionGroup.ltr = _adcWdgThreshold;
   _listener = chThdGetSelfX();
   adcStartConversion(((ut_adcdata_t*)(ut->data))->driver, &conversionGroup, buffer, 1);
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+  eventmask = chEvtWaitOneTimeout(_adcWdgEventmask, chTimeS2I(5));
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+  if (eventmask == _adcWdgEventmask) {
     aosUtPassedMsg(stream, &result, "%fV %c 9V\n", _adc2volt(buffer[0]), (buffer[0] > _adcWdgThreshold) ? '>' : '<');
     wdgpassed = true;
   } else {
     adcStopConversion(((ut_adcdata_t*)(ut->data))->driver);
     aosUtFailed(stream, &result);
     wdgpassed = false;
+  }
   if (wdgpassed) {
     for (uint8_t i = 0; i < 2; ++i) {
       if (buffer[0] > _adcWdgThreshold) {
         chprintf(stream, "Remove external power within ten seconds.\n");
         conversionGroup.htr = ADC_HTR_HT;
         conversionGroup.ltr = _adcWdgThreshold;
       } else {
         chprintf(stream, "Connect external power within ten seconds.\n");
         conversionGroup.htr = _adcWdgThreshold;
         conversionGroup.ltr = 0;
+      }
       aosThdMSleep(100); // wait some time so the ADC wil trigger again immediately due to noise
       _listener = chThdGetSelfX();
       adcStartConversion(((ut_adcdata_t*)(ut->data))->driver, &conversionGroup, buffer, 1);
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+      eventmask = chEvtWaitOneTimeout(_adcWdgEventmask, chTimeS2I(10));
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+      if (eventmask == _adcWdgEventmask) {
         aosUtPassedMsg(stream, &result, "%fV %c 9V\n", _adc2volt(buffer[0]), (buffer[0] > _adcWdgThreshold) ? '>' : '<');
       } else {
         adcStopConversion(((ut_adcdata_t*)(ut->data))->driver);
         aosUtFailed(stream, &result);
         break;
+      }
+    }
+  }
   return result;
+}
 #endif /* (AMIROOS_CFG_TESTS_ENABLE == true) && (HAL_USE_ADC == TRUE) */