AMiRo-OS

/*

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

Copyright (C) 2016..2019  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_pca9544a.h>

#if ((AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_USE_PCA9544A)) || defined(__DOXYGEN__)

#include <aos_debug.h>

#include <chprintf.h>

#include <aos_thread.h>

#include <alld_pca9544a.h>

aos_utresult_t utAlldPca9544aFunc(BaseSequentialStream* stream, aos_unittest_t* ut)

{

  aosDbgCheck(ut->data != NULL && ((ut_pca9544adata_t*)ut->data)->driver != NULL);

  // local variables

  aos_utresult_t result = {0,0};

  uint32_t status;

  uint8_t ctrlreg;

  pca9544a_lld_intstatus_t interrupt;

  pca9544a_lld_chid_t channel;

  uint8_t test_mask = 0x00u;

  chprintf(stream, "reading control register...\n");

  status = pca9544a_lld_read(((ut_pca9544adata_t*)ut->data)->driver, &ctrlreg, ((ut_pca9544adata_t*)ut->data)->timeout);

  if (status == APAL_STATUS_OK || status == APAL_STATUS_WARNING) {

    aosUtPassed(stream, &result);

  } else {

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

  }

  chprintf(stream, "writing control register...\n");

  status = APAL_STATUS_OK;

  status |= pca9544a_lld_write(((ut_pca9544adata_t*)ut->data)->driver, (uint8_t)(PCA9544A_LLD_CTRLREG_EN), ((ut_pca9544adata_t*)ut->data)->timeout);

  status |= pca9544a_lld_read(((ut_pca9544adata_t*)ut->data)->driver, &ctrlreg, ((ut_pca9544adata_t*)ut->data)->timeout);

  if ((status == APAL_STATUS_OK  || status == APAL_STATUS_WARNING) && ctrlreg == PCA9544A_LLD_CTRLREG_EN) {

    aosUtPassed(stream, &result);

  } else {

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

  }

  chprintf(stream, "reading interrupt status...\n");

  status = pca9544a_lld_getintstatus(((ut_pca9544adata_t*)ut->data)->driver, &interrupt, ((ut_pca9544adata_t*)ut->data)->timeout);

  if (status == APAL_STATUS_OK || status == APAL_STATUS_WARNING) {

    aosUtPassedMsg(stream, &result, "0x%08X\n", interrupt);

  } else {

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

  }

  chprintf(stream, "reading current channel...\n");

  status = pca9544a_lld_getcurrentchannel(((ut_pca9544adata_t*)ut->data)->driver, &channel, ((ut_pca9544adata_t*)ut->data)->timeout);

  if (status == APAL_STATUS_OK || status == APAL_STATUS_WARNING) {

    aosUtPassedMsg(stream, &result, "0x%08X\n", channel);

  } else {

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

  }

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

  status = APAL_STATUS_OK;

  status |= pca9544a_lld_setchannel(((ut_pca9544adata_t*)ut->data)->driver, PCA9544A_LLD_CH0, ((ut_pca9544adata_t*)ut->data)->timeout);

  status |= pca9544a_lld_getcurrentchannel(((ut_pca9544adata_t*)ut->data)->driver, &channel, ((ut_pca9544adata_t*)ut->data)->timeout);

  test_mask |= (channel != PCA9544A_LLD_CH0) ? 0x01u : 0x00u;

  status |= pca9544a_lld_setchannel(((ut_pca9544adata_t*)ut->data)->driver, PCA9544A_LLD_CH1, ((ut_pca9544adata_t*)ut->data)->timeout);

  status |= pca9544a_lld_getcurrentchannel(((ut_pca9544adata_t*)ut->data)->driver, &channel, ((ut_pca9544adata_t*)ut->data)->timeout);

  test_mask |= (channel != PCA9544A_LLD_CH1) ? 0x02u : 0x00u;

  status |= pca9544a_lld_setchannel(((ut_pca9544adata_t*)ut->data)->driver, PCA9544A_LLD_CH2, ((ut_pca9544adata_t*)ut->data)->timeout);

  status |= pca9544a_lld_getcurrentchannel(((ut_pca9544adata_t*)ut->data)->driver, &channel, ((ut_pca9544adata_t*)ut->data)->timeout);

  test_mask |= (channel != PCA9544A_LLD_CH2) ? 0x04u : 0x00u;

  status |= pca9544a_lld_setchannel(((ut_pca9544adata_t*)ut->data)->driver, PCA9544A_LLD_CH3, ((ut_pca9544adata_t*)ut->data)->timeout);

  status |= pca9544a_lld_getcurrentchannel(((ut_pca9544adata_t*)ut->data)->driver, &channel, ((ut_pca9544adata_t*)ut->data)->timeout);

  test_mask |= (channel != PCA9544A_LLD_CH3) ? 0x08u : 0x00u;

  status |= pca9544a_lld_setchannel(((ut_pca9544adata_t*)ut->data)->driver, PCA9544A_LLD_CH_NONE, ((ut_pca9544adata_t*)ut->data)->timeout);

  status |= pca9544a_lld_getcurrentchannel(((ut_pca9544adata_t*)ut->data)->driver, &channel, ((ut_pca9544adata_t*)ut->data)->timeout);

  test_mask |= (channel != PCA9544A_LLD_CH_NONE) ? 0x10u : 0x00u;

  if ((status == APAL_STATUS_OK || status == APAL_STATUS_WARNING) && test_mask == 0x00u) {

    aosUtPassed(stream, &result);

  } else {

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

  }

  aosUtInfoMsg(stream,"driver object memory footprint: %u bytes\n", sizeof(PCA9544ADriver));

  return result;

}

#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_USE_PCA9544A) */