amiro-os / unittests / periphery-lld / src / ut_alld_PCAL6524_v1.c @ a193bcf1
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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 | ddf34c3d | Thomas Schöpping | #include <amiroos.h> |
20 | 2a4dbf93 | Thomas Schöpping | #include <ut_alld_PCAL6524_v1.h> |
21 | bffb3465 | Thomas Schöpping | |
22 | ddf34c3d | Thomas Schöpping | #if ((AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_PCAL6524) && (AMIROLLD_CFG_PCAL6524 == 1)) || defined(__DOXYGEN__) |
23 | bffb3465 | Thomas Schöpping | |
24 | #include <string.h> |
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25 | |||
26 | f3ac1c96 | Thomas Schöpping | /******************************************************************************/
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27 | /* LOCAL DEFINITIONS */
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28 | /******************************************************************************/
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29 | |||
30 | /******************************************************************************/
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31 | /* EXPORTED VARIABLES */
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32 | /******************************************************************************/
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33 | |||
34 | /******************************************************************************/
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35 | /* LOCAL TYPES */
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36 | /******************************************************************************/
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37 | |||
38 | /******************************************************************************/
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39 | /* LOCAL VARIABLES */
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40 | /******************************************************************************/
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41 | |||
42 | /******************************************************************************/
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43 | /* LOCAL FUNCTIONS */
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44 | /******************************************************************************/
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45 | |||
46 | /******************************************************************************/
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47 | /* EXPORTED FUNCTIONS */
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48 | /******************************************************************************/
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49 | |||
50 | bffb3465 | Thomas Schöpping | aos_utresult_t utAlldPcal6524Func(BaseSequentialStream* stream, aos_unittest_t *ut) |
51 | { |
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52 | aosDbgCheck((ut->data != NULL) &&
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53 | (((ut_pcal6524data_t*)ut->data)->pcal6524d != NULL));
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54 | |||
55 | // local variables
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56 | aos_utresult_t result = {0, 0}; |
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57 | uint32_t status; |
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58 | uint8_t buffer[24];
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59 | memset(buffer, 0xAA, sizeof(buffer)); |
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60 | |||
61 | // This test is currently not supported. See PCAL6524 driver implementation for further information.
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62 | // chprintf(stream, "reading device ID...\n");
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63 | // status = pcal6524_lld_read_id(((ut_pcal6524data_t*)ut->data)->pcal6524d, buffer, ((ut_pcal6524data_t*)ut->data)->timeout);
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64 | // chprintf(stream, "\t\traw: 0x%02X 0x%02X 0x%02X\n", buffer[0], buffer[1], buffer[2]);
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65 | // chprintf(stream, "\t\tname: 0x%03X\n", ((pcal6524_lld_deviceid_t*)buffer)->name);
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66 | // chprintf(stream, "\t\tpart: 0x%03X\n", ((pcal6524_lld_deviceid_t*)buffer)->part);
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67 | // chprintf(stream, "\t\trevision: 0x%01X\n", ((pcal6524_lld_deviceid_t*)buffer)->revision);
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68 | // if ((status == APAL_STATUS_OK) || (status == APAL_STATUS_WARNING)) {
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69 | // aosUtPassed(stream, &result);
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70 | // } else {
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71 | // aosUtFailedMsg(stream, &result, "0x%08X\n", status);
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72 | // }
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73 | |||
74 | chprintf(stream, "reading register...\n");
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75 | 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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76 | chprintf(stream, "\t\tdebounce count: %u\n", buffer[0]); |
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77 | if ((status == APAL_STATUS_OK) || (status == APAL_STATUS_WARNING)) {
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78 | aosUtPassed(stream, &result); |
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79 | } else {
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80 | aosUtFailedMsg(stream, &result, "0x%08X\n", status);
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81 | } |
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82 | |||
83 | chprintf(stream, "writing register...\n");
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84 | buffer[3] = 0xFF; |
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85 | 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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86 | 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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87 | 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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88 | 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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89 | if (((status == APAL_STATUS_OK) || (status == APAL_STATUS_WARNING)) &&
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90 | ((buffer[1] == buffer[0]) && (buffer[4] == buffer[3]))) { |
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91 | aosUtPassed(stream, &result); |
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92 | } else {
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93 | aosUtFailedMsg(stream, &result, "0x%08X\n", status);
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94 | } |
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95 | |||
96 | chprintf(stream, "reading group...\n");
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97 | 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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98 | chprintf(stream, "\t\toutput drive strength: 0x%04X 0x%04X 0x%04X\n",
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99 | (((uint16_t)buffer[0]) << 8) | buffer[1], |
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100 | (((uint16_t)buffer[2]) << 8) | buffer[3], |
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101 | (((uint16_t)buffer[4]) << 8) | buffer[5]); |
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102 | if ((status == APAL_STATUS_OK) || (status == APAL_STATUS_WARNING)) {
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103 | aosUtPassed(stream, &result); |
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104 | } else {
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105 | aosUtFailedMsg(stream, &result, "0x%08X\n", status);
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106 | } |
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107 | |||
108 | chprintf(stream, "writing group...\n");
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109 | memset(&buffer[6], PCAL6524_LL_OUTPUTDRIVESTRENGTH_0_25, 6); |
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110 | 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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111 | 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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112 | 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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113 | 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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114 | if (((status == APAL_STATUS_OK) || (status == APAL_STATUS_WARNING)) &&
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115 | ((memcmp(&buffer[12], &buffer[6], 6) == 0) && (memcmp(&buffer[18], &buffer[0], 6) == 0))) { |
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116 | aosUtPassed(stream, &result); |
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117 | } else {
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118 | aosUtFailedMsg(stream, &result, "0x%08X\n", status);
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119 | } |
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120 | |||
121 | chprintf(stream, "reading continuously...\n");
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122 | // read the following registers continously (24 bytes):
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123 | // 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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124 | 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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125 | chprintf(stream, "\t\toutput: 0x%02X 0x%02X 0x%02X\n", buffer[0], buffer[1], buffer[2]); |
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126 | chprintf(stream, "\t\tpolarity inversion: 0x%02X 0x%02X 0x%02X\n", buffer[3], buffer[4], buffer[5]); |
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127 | chprintf(stream, "\t\tconfiguration: 0x%02X 0x%02X 0x%02X\n", buffer[6], buffer[7], buffer[8]); |
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128 | chprintf(stream, "\t\toutput drive strength: 0x%04X 0x%04X 0x%04X\n",
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129 | (((uint16_t)buffer[9]) << 8) | buffer[10], |
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130 | (((uint16_t)buffer[11]) << 8) | buffer[12], |
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131 | (((uint16_t)buffer[13]) << 8) | buffer[14]); |
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132 | chprintf(stream, "\t\tinput latch: 0x%02X 0x%02X 0x%02X\n", buffer[15], buffer[16], buffer[17]); |
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133 | chprintf(stream, "\t\tpupd enable: 0x%02X 0x%02X 0x%02X\n", buffer[18], buffer[19], buffer[20]); |
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134 | chprintf(stream, "\t\tpupd selection: 0x%02X 0x%02X 0x%02X\n", buffer[21], buffer[22], buffer[23]); |
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135 | if ((status == APAL_STATUS_OK) || (status == APAL_STATUS_WARNING)) {
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136 | aosUtPassed(stream, &result); |
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137 | } else {
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138 | aosUtFailedMsg(stream, &result, "0x%08X\n", status);
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139 | } |
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140 | |||
141 | chprintf(stream, "writing continuously...\n");
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142 | { |
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143 | uint8_t writebuffer[24];
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144 | uint8_t readbuffer[2][24]; |
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145 | // copy the read configuration but set the output drive strength to factor 0.25
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146 | memcpy(writebuffer, buffer, sizeof(buffer));
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147 | memset(&writebuffer[9], PCAL6524_LL_OUTPUTDRIVESTRENGTH_0_25, 6); |
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148 | 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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149 | 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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150 | 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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151 | 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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152 | if (((status == APAL_STATUS_OK) || (status == APAL_STATUS_WARNING)) &&
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153 | ((memcmp(writebuffer, readbuffer[0], 24) == 0) && (memcmp(buffer, readbuffer[1], 24) == 0))) { |
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154 | aosUtPassed(stream, &result); |
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155 | } else {
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156 | aosUtFailedMsg(stream, &result, "0x%08X\n", status);
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157 | } |
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158 | } |
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159 | |||
160 | aosUtInfoMsg(stream, "driver object memory footprint: %u bytes\n", sizeof(PCAL6524Driver)); |
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161 | |||
162 | return result;
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163 | } |
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164 | |||
165 | ddf34c3d | Thomas Schöpping | #endif /* (AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_PCAL6524) && (AMIROLLD_CFG_PCAL6524 == 1) */ |