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 <amiroos.h>

#if ((AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_PCAL6524) && (AMIROLLD_CFG_PCAL6524 == 1)) || defined(__DOXYGEN__)

#include <ut_alld_PCAL6524_v1.h>

#include <string.h>

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/* LOCAL DEFINITIONS                                                          */

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/* EXPORTED VARIABLES                                                         */

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/* LOCAL TYPES                                                                */

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/* LOCAL VARIABLES                                                            */

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/* LOCAL FUNCTIONS                                                            */

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/* EXPORTED FUNCTIONS                                                         */

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aos_utresult_t utAlldPcal6524Func(BaseSequentialStream* stream, aos_unittest_t *ut)

{

  aosDbgCheck((ut->data != NULL) &&

              (((ut_pcal6524data_t*)ut->data)->pcal6524d != NULL));

  // local variables

  aos_utresult_t result = {0, 0};

  uint32_t status;

  uint8_t buffer[24];

  memset(buffer, 0xAA, sizeof(buffer));

// This test is currently not supported. See PCAL6524 driver implementation for further information.

//  chprintf(stream, "reading device ID...\n");

//  status = pcal6524_lld_read_id(((ut_pcal6524data_t*)ut->data)->pcal6524d, buffer, ((ut_pcal6524data_t*)ut->data)->timeout);

//  chprintf(stream, "\t\traw: 0x%02X 0x%02X 0x%02X\n", buffer[0], buffer[1], buffer[2]);

//  chprintf(stream, "\t\tname:     0x%03X\n", ((pcal6524_lld_deviceid_t*)buffer)->name);

//  chprintf(stream, "\t\tpart:     0x%03X\n", ((pcal6524_lld_deviceid_t*)buffer)->part);

//  chprintf(stream, "\t\trevision: 0x%01X\n", ((pcal6524_lld_deviceid_t*)buffer)->revision);

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

//    aosUtPassed(stream, &result);

//  } else {

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

//  }

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

  status = pcal6524_lld_read_reg(((ut_pcal6524data_t*)ut->data)->pcal6524d, PCAL6524_LLD_CMD_SWITCHDEBOUNCECOUNT, buffer, ((ut_pcal6524data_t*)ut->data)->timeout);

  chprintf(stream, "\t\tdebounce count: %u\n", buffer[0]);

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

    aosUtPassed(stream, &result);

  } else {

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

  }

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

  buffer[3] = 0xFF;

  status = pcal6524_lld_write_reg(((ut_pcal6524data_t*)ut->data)->pcal6524d, PCAL6524_LLD_CMD_SWITCHDEBOUNCECOUNT, buffer[3], ((ut_pcal6524data_t*)ut->data)->timeout);

  status |= pcal6524_lld_read_reg(((ut_pcal6524data_t*)ut->data)->pcal6524d, PCAL6524_LLD_CMD_SWITCHDEBOUNCECOUNT, &buffer[4], ((ut_pcal6524data_t*)ut->data)->timeout);

  status |= pcal6524_lld_write_reg(((ut_pcal6524data_t*)ut->data)->pcal6524d, PCAL6524_LLD_CMD_SWITCHDEBOUNCECOUNT, buffer[0], ((ut_pcal6524data_t*)ut->data)->timeout);

  status |= pcal6524_lld_read_reg(((ut_pcal6524data_t*)ut->data)->pcal6524d, PCAL6524_LLD_CMD_SWITCHDEBOUNCECOUNT, &buffer[1], ((ut_pcal6524data_t*)ut->data)->timeout);

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

      ((buffer[1] == buffer[0]) && (buffer[4] == buffer[3]))) {

    aosUtPassed(stream, &result);

  } else {

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

  }

  chprintf(stream, "reading group...\n");

  status = pcal6524_lld_read_group(((ut_pcal6524data_t*)ut->data)->pcal6524d, PCAL6524_LLD_CMD_OUTPUTDRIVESTRENGTH_P0A, buffer, ((ut_pcal6524data_t*)ut->data)->timeout);

  chprintf(stream, "\t\toutput drive strength: 0x%04X 0x%04X 0x%04X\n",

           (((uint16_t)buffer[0]) << 8) | buffer[1],

           (((uint16_t)buffer[2]) << 8) | buffer[3],

           (((uint16_t)buffer[4]) << 8) | buffer[5]);

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

    aosUtPassed(stream, &result);

  } else {

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

  }

  chprintf(stream, "writing group...\n");

  memset(&buffer[6], PCAL6524_LL_OUTPUTDRIVESTRENGTH_0_25, 6);

  status = pcal6524_lld_write_group(((ut_pcal6524data_t*)ut->data)->pcal6524d, PCAL6524_LLD_CMD_OUTPUTDRIVESTRENGTH_P0A, &buffer[6], ((ut_pcal6524data_t*)ut->data)->timeout);

  status |= pcal6524_lld_read_group(((ut_pcal6524data_t*)ut->data)->pcal6524d, PCAL6524_LLD_CMD_OUTPUTDRIVESTRENGTH_P0A, &buffer[12], ((ut_pcal6524data_t*)ut->data)->timeout);

  status |= pcal6524_lld_write_group(((ut_pcal6524data_t*)ut->data)->pcal6524d, PCAL6524_LLD_CMD_OUTPUTDRIVESTRENGTH_P0A, &buffer[0], ((ut_pcal6524data_t*)ut->data)->timeout);

  status |= pcal6524_lld_read_group(((ut_pcal6524data_t*)ut->data)->pcal6524d, PCAL6524_LLD_CMD_OUTPUTDRIVESTRENGTH_P0A, &buffer[18], ((ut_pcal6524data_t*)ut->data)->timeout);

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

      ((memcmp(&buffer[12], &buffer[6], 6) == 0) && (memcmp(&buffer[18], &buffer[0], 6) == 0))) {

    aosUtPassed(stream, &result);

  } else {

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

  }

  chprintf(stream, "reading continuously...\n");

  // read the following registers continously (24 bytes):

  // 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

  status = pcal6524_lld_read_continuous(((ut_pcal6524data_t*)ut->data)->pcal6524d, PCAL6524_LLD_CMD_OUTPUT_P0, buffer, 24, ((ut_pcal6524data_t*)ut->data)->timeout);

  chprintf(stream, "\t\toutput: 0x%02X 0x%02X 0x%02X\n", buffer[0], buffer[1], buffer[2]);

  chprintf(stream, "\t\tpolarity inversion: 0x%02X 0x%02X 0x%02X\n", buffer[3], buffer[4], buffer[5]);

  chprintf(stream, "\t\tconfiguration: 0x%02X 0x%02X 0x%02X\n", buffer[6], buffer[7], buffer[8]);

  chprintf(stream, "\t\toutput drive strength: 0x%04X 0x%04X 0x%04X\n",

           (((uint16_t)buffer[9]) << 8) | buffer[10],

           (((uint16_t)buffer[11]) << 8) | buffer[12],

           (((uint16_t)buffer[13]) << 8) | buffer[14]);

  chprintf(stream, "\t\tinput latch: 0x%02X 0x%02X 0x%02X\n", buffer[15], buffer[16], buffer[17]);

  chprintf(stream, "\t\tpupd enable: 0x%02X 0x%02X 0x%02X\n", buffer[18], buffer[19], buffer[20]);

  chprintf(stream, "\t\tpupd selection: 0x%02X 0x%02X 0x%02X\n", buffer[21], buffer[22], buffer[23]);

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

    aosUtPassed(stream, &result);

  } else {

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

  }

  chprintf(stream, "writing continuously...\n");

  {

    uint8_t writebuffer[24];

    uint8_t readbuffer[2][24];

    // copy the read configuration but set the output drive strength to factor 0.25

    memcpy(writebuffer, buffer, sizeof(buffer));

    memset(&writebuffer[9], PCAL6524_LL_OUTPUTDRIVESTRENGTH_0_25, 6);

    status = pcal6524_lld_write_continuous(((ut_pcal6524data_t*)ut->data)->pcal6524d, PCAL6524_LLD_CMD_OUTPUT_P0, writebuffer, 24, ((ut_pcal6524data_t*)ut->data)->timeout);

    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);

    status |= pcal6524_lld_write_continuous(((ut_pcal6524data_t*)ut->data)->pcal6524d, PCAL6524_LLD_CMD_OUTPUT_P0, buffer, 24, ((ut_pcal6524data_t*)ut->data)->timeout);

    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);

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

        ((memcmp(writebuffer, readbuffer[0], 24) == 0) && (memcmp(buffer, readbuffer[1], 24) == 0))) {

      aosUtPassed(stream, &result);

    } else {

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

    }

  }

  aosUtInfoMsg(stream, "driver object memory footprint: %u bytes\n", sizeof(PCAL6524Driver));

  return result;

}

#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_PCAL6524) && (AMIROLLD_CFG_PCAL6524 == 1) */