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amiro-os / test / lld / adc / aos_test_adc.c @ 96621a83

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/*
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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..2020  Thomas Schöpping et al.
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program.  If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <amiroos.h>
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#include <aos_test_adc.h>
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#if (AMIROOS_CFG_TESTS_ENABLE == TRUE) || defined(__DOXYGEN__)
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/******************************************************************************/
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/* LOCAL DEFINITIONS                                                          */
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/******************************************************************************/
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/**
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 * @brief   Event mask of the ADC analog watchdog event.
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 */
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#define _adcWdgEventmask                        EVENT_MASK(31)
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/**
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 * @brief   ADC analog watchdog threshold (9.0V).
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 */
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#define _adcWdgThreshold                        (uint16_t)(9.0f / 5.0f / 3.3f * ((1 << 12) - 1) + 0.5f)
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/******************************************************************************/
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/* EXPORTED VARIABLES                                                         */
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/******************************************************************************/
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/******************************************************************************/
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/* LOCAL TYPES                                                                */
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/******************************************************************************/
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/******************************************************************************/
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/* LOCAL VARIABLES                                                            */
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/******************************************************************************/
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/**
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 * @brief   Pointer to the thread listening for an ADC analog watchdog event.
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 */
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static thread_t* _listener;
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/******************************************************************************/
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/* LOCAL FUNCTIONS                                                            */
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/******************************************************************************/
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/**
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 * @brief   Helper function to convert ADC sample value to volts.
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 *
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 * @param[in] adc   ADC sample value.
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 *
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 * @return          Converted value in volts.
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 */
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static inline float _adc2volt(adcsample_t adc) {
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  return (float)adc / ((1 << 12) - 1) * 3.3f * 5.0f;
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}
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/**
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 * @brief   ADC analog watchdog callback function.
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 *
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 * @param[in] adcp  ADC driver.
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 * @param[in] err   ADC error value.
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 */
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static void _adcAwdCb(ADCDriver* adcp, adcerror_t err)
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{
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  (void)adcp;
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  if (err == ADC_ERR_WATCHDOG) {
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    chSysLockFromISR();
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    if (_listener != NULL) {
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      chEvtSignalI(_listener, _adcWdgEventmask);
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      _listener = NULL;
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    }
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    chSysUnlockFromISR();
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  }
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  return;
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}
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/******************************************************************************/
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/* EXPORTED FUNCTIONS                                                         */
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/******************************************************************************/
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/**
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 * @brief   ADC test function.
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 *
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 * @param[in] stream  Stream for input/output.
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 * @param[in] test    Test object.
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 *
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 * @return            Test result value.
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 */
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aos_testresult_t aosTestAdcFunc(BaseSequentialStream* stream, const aos_test_t* test)
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{
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  aosDbgCheck(test->data != NULL && ((aos_test_adcdata_t*)(test->data))->driver != NULL && ((aos_test_adcdata_t*)(test->data))->convgroup != NULL);
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  // local variables
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  aos_testresult_t result = {0, 0};
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  adcsample_t buffer[1] = {0};
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  bool wdgpassed = false;
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  eventmask_t eventmask = 0;
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  ADCConversionGroup conversionGroup = *(((aos_test_adcdata_t*)(test->data))->convgroup);
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  conversionGroup.circular = true;
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  conversionGroup.end_cb = NULL;
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  conversionGroup.end_cb = NULL;
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  conversionGroup.htr = ADC_HTR_HT;
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  conversionGroup.ltr = 0;
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  chprintf(stream, "reading voltage for five seconds...\n");
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  adcStartConversion(((aos_test_adcdata_t*)(test->data))->driver, &conversionGroup, buffer, 1);
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  for (uint8_t s = 0; s < 5; ++s) {
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    aosThdSSleep(1);
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    chprintf(stream, "\tVSYS = %fV\n", _adc2volt(buffer[0]));
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  }
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  adcStopConversion(((aos_test_adcdata_t*)(test->data))->driver);
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  if (buffer[0] != 0) {
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    aosTestPassed(stream, &result);
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  } else {
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    aosTestFailed(stream, &result);
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  }
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  chprintf(stream, "detecting external power...\n");
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  conversionGroup.error_cb = _adcAwdCb;
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  conversionGroup.htr = _adcWdgThreshold;
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  conversionGroup.ltr = _adcWdgThreshold;
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  _listener = chThdGetSelfX();
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  adcStartConversion(((aos_test_adcdata_t*)(test->data))->driver, &conversionGroup, buffer, 1);
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  eventmask = chEvtWaitOneTimeout(_adcWdgEventmask, chTimeS2I(5));
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  if (eventmask == _adcWdgEventmask) {
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    aosTestPassedMsg(stream, &result, "%fV %c 9V\n", _adc2volt(buffer[0]), (buffer[0] > _adcWdgThreshold) ? '>' : '<');
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    wdgpassed = true;
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  } else {
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    adcStopConversion(((aos_test_adcdata_t*)(test->data))->driver);
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    aosTestFailed(stream, &result);
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    wdgpassed = false;
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  }
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  if (wdgpassed) {
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    for (uint8_t i = 0; i < 2; ++i) {
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      if (buffer[0] > _adcWdgThreshold) {
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        chprintf(stream, "Remove external power within ten seconds.\n");
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        conversionGroup.htr = ADC_HTR_HT;
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        conversionGroup.ltr = _adcWdgThreshold;
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      } else {
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        chprintf(stream, "Connect external power within ten seconds.\n");
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        conversionGroup.htr = _adcWdgThreshold;
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        conversionGroup.ltr = 0;
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      }
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      aosThdMSleep(100); // wait some time so the ADC wil trigger again immediately due to noise
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      _listener = chThdGetSelfX();
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      adcStartConversion(((aos_test_adcdata_t*)(test->data))->driver, &conversionGroup, buffer, 1);
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      eventmask = chEvtWaitOneTimeout(_adcWdgEventmask, chTimeS2I(10));
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      if (eventmask == _adcWdgEventmask) {
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        aosTestPassedMsg(stream, &result, "%fV %c 9V\n", _adc2volt(buffer[0]), (buffer[0] > _adcWdgThreshold) ? '>' : '<');
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      } else {
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        adcStopConversion(((aos_test_adcdata_t*)(test->data))->driver);
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        aosTestFailed(stream, &result);
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        break;
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      }
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    }
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  }
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  return result;
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}
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#endif /* (AMIROOS_CFG_TESTS_ENABLE == TRUE) */