amiro-os / unittests / periphery-lld / src / ut_alld_pcal6524.c @ 8a93b752
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| 1 | bffb3465 | 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..2019 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_pcal6524.h> |
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| 20 | |||
| 21 | #if ((AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_USE_PCAL6524)) || defined(__DOXYGEN__) |
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| 22 | |||
| 23 | #include <string.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 | bffb3465 | Thomas Schöpping | aos_utresult_t utAlldPcal6524Func(BaseSequentialStream* stream, aos_unittest_t *ut) |
| 50 | {
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| 51 | aosDbgCheck((ut->data != NULL) &&
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| 52 | (((ut_pcal6524data_t*)ut->data)->pcal6524d != NULL));
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| 53 | |||
| 54 | // local variables
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| 55 | aos_utresult_t result = {0, 0};
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| 56 | uint32_t status; |
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| 57 | uint8_t buffer[24];
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| 58 | memset(buffer, 0xAA, sizeof(buffer)); |
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| 59 | |||
| 60 | // This test is currently not supported. See PCAL6524 driver implementation for further information.
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| 61 | // chprintf(stream, "reading device ID...\n");
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| 62 | // status = pcal6524_lld_read_id(((ut_pcal6524data_t*)ut->data)->pcal6524d, buffer, ((ut_pcal6524data_t*)ut->data)->timeout);
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| 63 | // chprintf(stream, "\t\traw: 0x%02X 0x%02X 0x%02X\n", buffer[0], buffer[1], buffer[2]);
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| 64 | // chprintf(stream, "\t\tname: 0x%03X\n", ((pcal6524_lld_deviceid_t*)buffer)->name);
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| 65 | // chprintf(stream, "\t\tpart: 0x%03X\n", ((pcal6524_lld_deviceid_t*)buffer)->part);
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| 66 | // chprintf(stream, "\t\trevision: 0x%01X\n", ((pcal6524_lld_deviceid_t*)buffer)->revision);
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| 67 | // if ((status == APAL_STATUS_OK) || (status == APAL_STATUS_WARNING)) {
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| 68 | // aosUtPassed(stream, &result);
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| 69 | // } else {
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| 70 | // aosUtFailedMsg(stream, &result, "0x%08X\n", status);
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| 71 | // }
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| 72 | |||
| 73 | chprintf(stream, "reading register...\n");
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| 74 | status = pcal6524_lld_read_reg(((ut_pcal6524data_t*)ut->data)->pcal6524d, PCAL6524_LLD_CMD_SWITCHDEBOUNCECOUNT, buffer, ((ut_pcal6524data_t*)ut->data)->timeout); |
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| 75 | chprintf(stream, "\t\tdebounce count: %u\n", buffer[0]); |
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| 76 | if ((status == APAL_STATUS_OK) || (status == APAL_STATUS_WARNING)) {
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| 77 | aosUtPassed(stream, &result); |
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| 78 | } else {
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| 79 | aosUtFailedMsg(stream, &result, "0x%08X\n", status);
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| 80 | } |
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| 81 | |||
| 82 | chprintf(stream, "writing register...\n");
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| 83 | buffer[3] = 0xFF; |
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| 84 | status = pcal6524_lld_write_reg(((ut_pcal6524data_t*)ut->data)->pcal6524d, PCAL6524_LLD_CMD_SWITCHDEBOUNCECOUNT, buffer[3], ((ut_pcal6524data_t*)ut->data)->timeout);
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| 85 | status |= pcal6524_lld_read_reg(((ut_pcal6524data_t*)ut->data)->pcal6524d, PCAL6524_LLD_CMD_SWITCHDEBOUNCECOUNT, &buffer[4], ((ut_pcal6524data_t*)ut->data)->timeout);
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| 86 | status |= pcal6524_lld_write_reg(((ut_pcal6524data_t*)ut->data)->pcal6524d, PCAL6524_LLD_CMD_SWITCHDEBOUNCECOUNT, buffer[0], ((ut_pcal6524data_t*)ut->data)->timeout);
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| 87 | status |= pcal6524_lld_read_reg(((ut_pcal6524data_t*)ut->data)->pcal6524d, PCAL6524_LLD_CMD_SWITCHDEBOUNCECOUNT, &buffer[1], ((ut_pcal6524data_t*)ut->data)->timeout);
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| 88 | if (((status == APAL_STATUS_OK) || (status == APAL_STATUS_WARNING)) &&
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| 89 | ((buffer[1] == buffer[0]) && (buffer[4] == buffer[3]))) { |
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| 90 | aosUtPassed(stream, &result); |
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| 91 | } else {
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| 92 | aosUtFailedMsg(stream, &result, "0x%08X\n", status);
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| 93 | } |
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| 94 | |||
| 95 | chprintf(stream, "reading group...\n");
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| 96 | status = pcal6524_lld_read_group(((ut_pcal6524data_t*)ut->data)->pcal6524d, PCAL6524_LLD_CMD_OUTPUTDRIVESTRENGTH_P0A, buffer, ((ut_pcal6524data_t*)ut->data)->timeout); |
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| 97 | chprintf(stream, "\t\toutput drive strength: 0x%04X 0x%04X 0x%04X\n",
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| 98 | (((uint16_t)buffer[0]) << 8) | buffer[1], |
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| 99 | (((uint16_t)buffer[2]) << 8) | buffer[3], |
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| 100 | (((uint16_t)buffer[4]) << 8) | buffer[5]); |
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| 101 | if ((status == APAL_STATUS_OK) || (status == APAL_STATUS_WARNING)) {
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| 102 | aosUtPassed(stream, &result); |
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| 103 | } else {
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| 104 | aosUtFailedMsg(stream, &result, "0x%08X\n", status);
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| 105 | } |
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| 106 | |||
| 107 | chprintf(stream, "writing group...\n");
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| 108 | memset(&buffer[6], PCAL6524_LL_OUTPUTDRIVESTRENGTH_0_25, 6); |
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| 109 | status = pcal6524_lld_write_group(((ut_pcal6524data_t*)ut->data)->pcal6524d, PCAL6524_LLD_CMD_OUTPUTDRIVESTRENGTH_P0A, &buffer[6], ((ut_pcal6524data_t*)ut->data)->timeout);
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| 110 | status |= pcal6524_lld_read_group(((ut_pcal6524data_t*)ut->data)->pcal6524d, PCAL6524_LLD_CMD_OUTPUTDRIVESTRENGTH_P0A, &buffer[12], ((ut_pcal6524data_t*)ut->data)->timeout);
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| 111 | status |= pcal6524_lld_write_group(((ut_pcal6524data_t*)ut->data)->pcal6524d, PCAL6524_LLD_CMD_OUTPUTDRIVESTRENGTH_P0A, &buffer[0], ((ut_pcal6524data_t*)ut->data)->timeout);
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| 112 | status |= pcal6524_lld_read_group(((ut_pcal6524data_t*)ut->data)->pcal6524d, PCAL6524_LLD_CMD_OUTPUTDRIVESTRENGTH_P0A, &buffer[18], ((ut_pcal6524data_t*)ut->data)->timeout);
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| 113 | if (((status == APAL_STATUS_OK) || (status == APAL_STATUS_WARNING)) &&
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| 114 | ((memcmp(&buffer[12], &buffer[6], 6) == 0) && (memcmp(&buffer[18], &buffer[0], 6) == 0))) { |
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| 115 | aosUtPassed(stream, &result); |
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| 116 | } else {
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| 117 | aosUtFailedMsg(stream, &result, "0x%08X\n", status);
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| 118 | } |
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| 119 | |||
| 120 | chprintf(stream, "reading continuously...\n");
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| 121 | // read the following registers continously (24 bytes):
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| 122 | // output 0-3 + polarity inversions 0-3 + configuration 0-3 + output drive strength 0A-2B + input latch 0-3 + pupd enable 0-3 + pupd selection 0-3
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| 123 | status = pcal6524_lld_read_continuous(((ut_pcal6524data_t*)ut->data)->pcal6524d, PCAL6524_LLD_CMD_OUTPUT_P0, buffer, 24, ((ut_pcal6524data_t*)ut->data)->timeout);
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| 124 | chprintf(stream, "\t\toutput: 0x%02X 0x%02X 0x%02X\n", buffer[0], buffer[1], buffer[2]); |
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| 125 | chprintf(stream, "\t\tpolarity inversion: 0x%02X 0x%02X 0x%02X\n", buffer[3], buffer[4], buffer[5]); |
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| 126 | chprintf(stream, "\t\tconfiguration: 0x%02X 0x%02X 0x%02X\n", buffer[6], buffer[7], buffer[8]); |
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| 127 | chprintf(stream, "\t\toutput drive strength: 0x%04X 0x%04X 0x%04X\n",
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| 128 | (((uint16_t)buffer[9]) << 8) | buffer[10], |
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| 129 | (((uint16_t)buffer[11]) << 8) | buffer[12], |
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| 130 | (((uint16_t)buffer[13]) << 8) | buffer[14]); |
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| 131 | chprintf(stream, "\t\tinput latch: 0x%02X 0x%02X 0x%02X\n", buffer[15], buffer[16], buffer[17]); |
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| 132 | chprintf(stream, "\t\tpupd enable: 0x%02X 0x%02X 0x%02X\n", buffer[18], buffer[19], buffer[20]); |
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| 133 | chprintf(stream, "\t\tpupd selection: 0x%02X 0x%02X 0x%02X\n", buffer[21], buffer[22], buffer[23]); |
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| 134 | if ((status == APAL_STATUS_OK) || (status == APAL_STATUS_WARNING)) {
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| 135 | aosUtPassed(stream, &result); |
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| 136 | } else {
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| 137 | aosUtFailedMsg(stream, &result, "0x%08X\n", status);
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| 138 | } |
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| 139 | |||
| 140 | chprintf(stream, "writing continuously...\n");
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| 141 | {
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| 142 | uint8_t writebuffer[24];
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| 143 | uint8_t readbuffer[2][24]; |
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| 144 | // copy the read configuration but set the output drive strength to factor 0.25
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| 145 | memcpy(writebuffer, buffer, sizeof(buffer));
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| 146 | memset(&writebuffer[9], PCAL6524_LL_OUTPUTDRIVESTRENGTH_0_25, 6); |
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| 147 | status = pcal6524_lld_write_continuous(((ut_pcal6524data_t*)ut->data)->pcal6524d, PCAL6524_LLD_CMD_OUTPUT_P0, writebuffer, 24, ((ut_pcal6524data_t*)ut->data)->timeout);
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| 148 | status |= pcal6524_lld_read_continuous(((ut_pcal6524data_t*)ut->data)->pcal6524d, PCAL6524_LLD_CMD_OUTPUT_P0, readbuffer[0], 24, ((ut_pcal6524data_t*)ut->data)->timeout); |
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| 149 | status |= pcal6524_lld_write_continuous(((ut_pcal6524data_t*)ut->data)->pcal6524d, PCAL6524_LLD_CMD_OUTPUT_P0, buffer, 24, ((ut_pcal6524data_t*)ut->data)->timeout);
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| 150 | status |= pcal6524_lld_read_continuous(((ut_pcal6524data_t*)ut->data)->pcal6524d, PCAL6524_LLD_CMD_OUTPUT_P0, readbuffer[1], 24, ((ut_pcal6524data_t*)ut->data)->timeout); |
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| 151 | if (((status == APAL_STATUS_OK) || (status == APAL_STATUS_WARNING)) &&
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| 152 | ((memcmp(writebuffer, readbuffer[0], 24) == 0) && (memcmp(buffer, readbuffer[1], 24) == 0))) { |
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| 153 | aosUtPassed(stream, &result); |
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| 154 | } else {
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| 155 | aosUtFailedMsg(stream, &result, "0x%08X\n", status);
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| 156 | } |
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| 157 | } |
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| 158 | |||
| 159 | aosUtInfoMsg(stream, "driver object memory footprint: %u bytes\n", sizeof(PCAL6524Driver)); |
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| 160 | |||
| 161 | return result;
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| 162 | } |
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| 163 | |||
| 164 | #endif /* (AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_USE_PCAL6524) */ |