/ - Diff - AMiRo-OS - Research for Cognitive Interaction

periphery-lld/AMiRo-LLD
1		Subproject commit 018286168437c08c9d93afc9ffab9fcb11fd9339
	1	Subproject commit 1473a57f96b8bcbcac3400ca3458b7a08fed5881

       _wheelSpeedTest(stream, (ut_a3906data_t*)ut->data, WHEEL_RIGHT, DIRECTION_BACKWARD, &result);
       chprintf(stream, "disable power... \n");
       chprintf(stream, "disable power...\n");
       power_state = A3906_LLD_POWER_OFF;
       status = a3906_lld_set_power(((ut_a3906data_t*)ut->data)->driver, power_state);
       status |= a3906_lld_get_power(((ut_a3906data_t*)ut->data)->driver, &power_state);

       port_DisableEXT_IRQ();
       setHighSpeed_SPI(false, (DW1000Driver*) ut->data);
       chprintf(stream, "expected device ID (LS SPI): 0xDECA0130 \n");
       chprintf(stream, "expected device ID (LS SPI): 0xDECA0130\n");
       aosThdMSleep(5);
       actual_deviceId = instancereaddeviceid();
       chprintf(stream, "actual read ID: 0x%x\n", actual_deviceId);
-...
         if(DWT_DEVICE_ID != actual_deviceId){
           chprintf(stream, "SPI is not working or Unsupported Device ID\n");
           chprintf(stream, "actual device ID is: 0x%x\n", actual_deviceId);
           chprintf(stream, "expected device ID: 0xDECA0130 \n");
           chprintf(stream, "expected device ID: 0xDECA0130\n");
           aosThdMSleep(5);
+        }
-...
       reset_DW1000();
       chprintf(stream, "initialise instance for DW1000 \n");
       chprintf(stream, "initialise instance for DW1000\n");
       aosThdSleep(1);
       int x_init = instance_init((DW1000Driver*) ut->data) ;
       if (0 != x_init){
         chprintf(stream, "init error with return value: %d \n", x_init);
         chprintf(stream, "init error with return value: %d\n", x_init);
         aosThdSleep(1);
+      }
       else {
         chprintf(stream, "init success with return value: %d \n", x_init);
         chprintf(stream, "init success with return value: %d\n", x_init);
         aosThdSleep(1);
+      }
-...
       port_EnableEXT_IRQ();
       reset_DW1000();
       chprintf(stream, "initialise the configuration for UWB application \n");
       chprintf(stream, "initialise the configuration for UWB application\n");
       aosThdSleep(1);
       int uwb_init = UWB_Init((DW1000Driver*) ut->data);
       if (0 != uwb_init){
         chprintf(stream, "UWB config error with return value: %d \n", uwb_init);
         chprintf(stream, "UWB config error with return value: %d\n", uwb_init);
         aosThdSleep(1);
+      }
       else {
         chprintf(stream, "UWB config success with return value: %d \n", uwb_init);
         chprintf(stream, "UWB config success with return value: %d\n", uwb_init);
         aosThdSleep(1);
+      }
-...
       /*! RUN THE STATE MACHINE DEMO APP (RTLS) */
       chprintf(stream, "initialise the State Machine \n");
       chprintf(stream, "initialise the State Machine\n");
       aosThdSleep(2);
       /* Initialize UWB system with user defined configuration  */
       int uwb_init = UWB_Init((DW1000Driver*) ut->data);
       if (0 != uwb_init){
         chprintf(stream, "error in UWB config with return value: %d \n", uwb_init);
         chprintf(stream, "error in UWB config with return value: %d\n", uwb_init);
+      }
       else {
         chprintf(stream, "succeed the init of UWB config \n");
         chprintf(stream, "succeed the init of UWB config\n");
+      }
       aosThdSleep(1);
       chprintf(stream, "running the RTLS demo application ... \n");
       chprintf(stream, "running the RTLS demo application ...\n");
       aosThdSleep(1);
       /*! Run the localization system demo app as a thread */

       aos_utresult_t result = {0,0};
       uint32_t status;
       chprintf(stream, "read ctrl pin... \n");
       chprintf(stream, "read ctrl pin...\n");
       ltc4412_lld_ctrl_t ctrl;
       status = ltc4412_lld_get_ctrl((LTC4412Driver*)ut->data, &ctrl);
       if(status == APAL_STATUS_SUCCESS){
-...
         aosUtFailedMsg(stream, &result, "0x%08X\n", status);
+      }
       chprintf(stream, "write ctrl pin... \n");
       chprintf(stream, "write ctrl pin...\n");
       status = ltc4412_lld_set_ctrl((LTC4412Driver*)ut->data, LTC4412_LLD_CTRL_ACTIVE);
       status |= ltc4412_lld_get_ctrl((LTC4412Driver*)ut->data, &ctrl);
       if (status == APAL_STATUS_SUCCESS && ctrl == LTC4412_LLD_CTRL_ACTIVE) {
-...
         aosUtFailedMsg(stream, &result, "0x%08X\n", status);
+      }
       chprintf(stream, "read stat pin... \n");
       chprintf(stream, "read stat pin...\n");
       ltc4412_lld_stat_t stat;
       status = ltc4412_lld_get_stat((LTC4412Driver*)ut->data, &stat);
       if(status == APAL_STATUS_SUCCESS){

       uint32_t status;
       tps6211x_lld_power_en_t power;
       chprintf(stream, "read pin... \n");
       chprintf(stream, "read pin...\n");
       status = tps6211x_lld_get_power_en((TPS6211xDriver*)ut->data, &power);
       if(status == APAL_STATUS_SUCCESS){
         aosUtPassed(stream, &result);
-...
         aosUtFailedMsg(stream, &result, "0x%08X\n", status);
+      }
       chprintf(stream, "write pin... \n");
       chprintf(stream, "write pin...\n");
       status = tps6211x_lld_set_power_en((TPS6211xDriver*)ut->data, TPS6211x_LLD_POWER_ENABLED);
       status |= tps6211x_lld_get_power_en((TPS6211xDriver*)ut->data, &power);
       if(status == APAL_STATUS_SUCCESS && power == TPS6211x_LLD_POWER_ENABLED){

       tps6211x_lld_power_en_t power;
       uint32_t v_buson, v_busoff;
       chprintf(stream, "read pin... \n");
       chprintf(stream, "read pin...\n");
       status = tps6211x_lld_get_power_en(((ut_tps6211xina219data_t*)ut->data)->tps6211x, &power);
       aosThdSSleep(1);
       status |= ina219_lld_read_bus_voltage(((ut_tps6211xina219data_t*)ut->data)->ina219, &v_buson, ((ut_tps6211xina219data_t*)ut->data)->timeout);
-...
         aosUtFailedMsg(stream, &result, "0x%08X\n", status);
+      }
       chprintf(stream, "write pin... \n");
       chprintf(stream, "write pin...\n");
       status = tps6211x_lld_set_power_en(((ut_tps6211xina219data_t*)ut->data)->tps6211x, TPS6211x_LLD_POWER_DISABLED);
       status |= tps6211x_lld_get_power_en(((ut_tps6211xina219data_t*)ut->data)->tps6211x, &power);
       aosThdSSleep(1);

       chprintf(stream, "ext command: device name length...\n");
       status = bq27500_lld_ext_command(((ut_bq27500data_t*)ut->data)->driver, BQ27500_LLD_EXT_CMD_DeviceNameLength, BQ27500_LLD_EXT_CMD_READ, &original_length, 1, 0, ((ut_bq27500data_t*)ut->data)->timeout);
       chprintf(stream, "\t\tdevice name length: %d \n", original_length);
       chprintf(stream, "\t\tdevice name length: %d\n", original_length);
       if (status == APAL_STATUS_SUCCESS && original_length <= 8) {
         aosUtPassed(stream, &result);
       } else {
-...
+      }
       chprintf(stream, "battery info std commands...\n");
       status = bq27500_lld_std_command(((ut_bq27500data_t*)ut->data)->driver, BQ27500_LLD_STD_CMD_Temperatur, &dst, ((ut_bq27500data_t*)ut->data)->timeout);
       chprintf(stream, "\t\ttemperature: %fK (%fC) \n", (float)dst/10.0f, (float)dst/10.0f-273.5f);
       status = bq27500_lld_std_command(((ut_bq27500data_t*)ut->data)->driver, BQ27500_LLD_STD_CMD_Temperature, &dst, ((ut_bq27500data_t*)ut->data)->timeout);
       chprintf(stream, "\t\ttemperature: %fK (%fC)\n", (float)dst/10.0f, (float)dst/10.0f-273.5f);
       status |= bq27500_lld_std_command(((ut_bq27500data_t*)ut->data)->driver, BQ27500_LLD_STD_CMD_FullAvailableCapacity, &dst, ((ut_bq27500data_t*)ut->data)->timeout);
       chprintf(stream, "\t\tfull available capacity: %umAh \n", dst);
       chprintf(stream, "\t\tfull available capacity: %umAh\n", dst);
       status |= bq27500_lld_std_command(((ut_bq27500data_t*)ut->data)->driver, BQ27500_LLD_STD_CMD_FullChargeCapacity, &dst, ((ut_bq27500data_t*)ut->data)->timeout);
       chprintf(stream, "\t\tfull charge capacity: %umAh \n", dst);
       chprintf(stream, "\t\tfull charge capacity: %umAh\n", dst);
       status |= bq27500_lld_std_command(((ut_bq27500data_t*)ut->data)->driver, BQ27500_LLD_STD_CMD_RemainingCapacity, &dst, ((ut_bq27500data_t*)ut->data)->timeout);
       chprintf(stream, "\t\tremaining capacity: %umAh \n", dst);
       chprintf(stream, "\t\tremaining capacity: %umAh\n", dst);
       status |= bq27500_lld_std_command(((ut_bq27500data_t*)ut->data)->driver, BQ27500_LLD_STD_CMD_Voltage, &dst, ((ut_bq27500data_t*)ut->data)->timeout);
       chprintf(stream, "\t\tvoltage: %umV \n", dst);
       chprintf(stream, "\t\tvoltage: %umV\n", dst);
       status |= bq27500_lld_std_command(((ut_bq27500data_t*)ut->data)->driver, BQ27500_LLD_STD_CMD_AverageCurrent, &dst, ((ut_bq27500data_t*)ut->data)->timeout);
       chprintf(stream, "\t\taverage current: %dmA \n", (int8_t)dst);
       chprintf(stream, "\t\taverage current: %dmA\n", (int8_t)dst);
       status |= bq27500_lld_std_command(((ut_bq27500data_t*)ut->data)->driver, BQ27500_LLD_STD_CMD_AveragePower, &dst, ((ut_bq27500data_t*)ut->data)->timeout);
       chprintf(stream, "\t\taverage power: %dmW \n", (int8_t)dst);
       chprintf(stream, "\t\taverage power: %dmW\n", (int8_t)dst);
       status |= bq27500_lld_std_command(((ut_bq27500data_t*)ut->data)->driver, BQ27500_LLD_STD_CMD_StateOfCharge, &dst, ((ut_bq27500data_t*)ut->data)->timeout);
       chprintf(stream, "\t\tstate of charge: %u%%\n", dst);
       status |= bq27500_lld_std_command(((ut_bq27500data_t*)ut->data)->driver, BQ27500_LLD_STD_CMD_TimeToFull, &dst, ((ut_bq27500data_t*)ut->data)->timeout);
       if (dst != (uint16_t)~0) {
         chprintf(stream, "\t\ttime to full: %umin \n", dst);
         chprintf(stream, "\t\ttime to full: %umin\n", dst);
       } else {
         chprintf(stream, "\t\ttime to full: (not charging) \n", dst);
         chprintf(stream, "\t\ttime to full: (not charging)\n", dst);
+      }
       status |= bq27500_lld_std_command(((ut_bq27500data_t*)ut->data)->driver, BQ27500_LLD_STD_CMD_TimeToEmpty, &dst, ((ut_bq27500data_t*)ut->data)->timeout);
       if (dst != (uint16_t)~0) {
         chprintf(stream, "\t\ttime to empty: %umin \n", dst);
         chprintf(stream, "\t\ttime to empty: %umin\n", dst);
       } else {
         chprintf(stream, "\t\ttime to empty: (not discharging) \n", dst);
         chprintf(stream, "\t\ttime to empty: (not discharging)\n", dst);
+      }
       if (status == APAL_STATUS_SUCCESS) {
         aosUtPassed(stream, &result);

AMiRo-OS

Revision a193bcf1