AMiRo-OS

/*

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

Copyright (C) 2016..2020  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(__DOXYGEN__)

#include <module_test_VCNL4020.h>

#include <aos_test_VCNL4020.h>

#include <string.h>

/******************************************************************************/

/* LOCAL DEFINITIONS                                                          */

/******************************************************************************/

/******************************************************************************/

/* EXPORTED VARIABLES                                                         */

/******************************************************************************/

/******************************************************************************/

/* LOCAL TYPES                                                                */

/******************************************************************************/

/******************************************************************************/

/* LOCAL VARIABLES                                                            */

/******************************************************************************/

static aos_test_vcnl4020data_t _data = {

  /* driver       */ &moduleLldProximity,

  /* timeout      */ MICROSECONDS_PER_SECOND,

  /* event source */ &aos.events.gpio,

  /* event flags  */ MODULE_OS_GPIOEVENTFLAG_IRINT,

};

static AOS_TEST(_test, "VCNL4020", "proximity sensor", moduleTestVcnl4020ShellCb, aosTestVcnl4020Func, &_data);

/******************************************************************************/

/* LOCAL FUNCTIONS                                                            */

/******************************************************************************/

static void _disableInterrupt(VCNL4020Driver* vcnl)

{

  uint8_t intstatus;

  vcnl4020_lld_writereg(vcnl, VCNL4020_LLD_REGADDR_INTCTRL, 0, _data.timeout);

  vcnl4020_lld_readreg(vcnl, VCNL4020_LLD_REGADDR_INTSTATUS, &intstatus, _data.timeout);

  if (intstatus) {

    vcnl4020_lld_writereg(vcnl, VCNL4020_LLD_REGADDR_INTSTATUS, intstatus, _data.timeout);

  }

  return;

}

/******************************************************************************/

/* EXPORTED FUNCTIONS                                                         */

/******************************************************************************/

int moduleTestVcnl4020ShellCb(BaseSequentialStream* stream, int argc, char* argv[], aos_testresult_t* result)

{

  enum {

    UNKNOWN,

    FL, FR, WL, WR,

  } sensor = UNKNOWN;

  // evaluate arguments

  if (argc == 2) {

    if (strcmp(argv[1], "--frontleft") == 0 || strcmp(argv[1], "-fl") == 0) {

      sensor = FL;

    } else if (strcmp(argv[1], "--frontright") == 0 || strcmp(argv[1], "-fr") == 0) {

      sensor = FR;

    } else if (strcmp(argv[1], "--wheelleft") == 0 || strcmp(argv[1], "-wl") == 0) {

      sensor = WL;

    } else if (strcmp(argv[1], "--wheelright") == 0 || strcmp(argv[1], "-wr") == 0) {

      sensor = WR;

    }

  }

  // handle valid sensor

  if (sensor != UNKNOWN) {

    aos_testresult_t res = {0, 0};

    pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH0, _data.timeout);

    _disableInterrupt(_data.vcnld);

    pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH1, _data.timeout);

    _disableInterrupt(_data.vcnld);

    pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH2, _data.timeout);

    _disableInterrupt(_data.vcnld);

    pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH3, _data.timeout);

    _disableInterrupt(_data.vcnld);

    switch (sensor) {

      case FL:

        pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH3, _data.timeout);

        res = aosTestRun(stream, &_test, "front left");

        break;

      case FR:

        pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH0, _data.timeout);

        res = aosTestRun(stream, &_test, "front right");

        break;

      case WL:

        pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH2, _data.timeout);

        res = aosTestRun(stream, &_test, "left wheel");

        break;

      case WR:

        pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH1, _data.timeout);

        res = aosTestRun(stream, &_test, "right wheel");

        break;

      default:

        break;

    }

    if (result != NULL) {

      *result = res;

    }

    return AOS_OK;

  }

  // handle invalid arguments

  else {

    // print help

    chprintf(stream, "Usage: %s OPTION\n", argv[0]);

    chprintf(stream, "Options:\n");

    chprintf(stream, "  --frontleft, -fl\n");

    chprintf(stream, "    Test front left proximity sensor.\n");

    chprintf(stream, "  --frontrigt, -fr\n");

    chprintf(stream, "    Test front right proximity sensor.\n");

    chprintf(stream, "  --wheelleft, -wl\n");

    chprintf(stream, "    Test left wheel proximity sensor.\n");

    chprintf(stream, "  --wheelright, -wr\n");

    chprintf(stream, "    Test right wheel proximity sensor.\n");

    if (result != NULL) {

      result->passed = 0;

      result->failed = 0;

    }

    return AOS_INVALIDARGUMENTS;

  }

}

#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */