amiro-os / unittests / periphery-lld / src / ut_alld_P9221R_v1.c @ adcbcf83
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| 1 | da1c10ac | Julia Niermann | /*
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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 | a2cdc4ae | Julia Niermann | #include <amiroos.h> |
| 20 | #include <ut_alld_P9221R_v1.h> |
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| 21 | |||
| 22 | da1c10ac | Julia Niermann | #if ((AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_P9221R) && (AMIROLLD_CFG_P9221R == 1)) || defined(__DOXYGEN__) |
| 23 | |||
| 24 | #include <math.h> |
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| 25 | |||
| 26 | /******************************************************************************/
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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 | 7a333f53 | Julia Niermann | |
| 51 | a2cdc4ae | Julia Niermann | aos_utresult_t utAlldP9221rFunc(BaseSequentialStream* stream, aos_unittest_t* ut) |
| 52 | {
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| 53 | da1c10ac | Julia Niermann | aosDbgCheck(ut->data != NULL && ((ut_p9221rdata_t*)(ut->data))->PRd != NULL); |
| 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 | adcbcf83 | Julia Niermann | uint8_t data[80];
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| 59 | 7a333f53 | Julia Niermann | int32_t x_alignment; |
| 60 | int32_t y_alignment; |
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| 61 | adcbcf83 | Julia Niermann | int32_t voltage; |
| 62 | int32_t current; |
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| 63 | da1c10ac | Julia Niermann | |
| 64 | chprintf(stream, "read registers...\n");
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| 65 | 7a333f53 | Julia Niermann | status = p9221r_lld_read_register(((ut_p9221rdata_t*)ut->data)->PRd, P9221R_LLD_REGISTER_PARTNUMBER, data, 80, ((ut_p9221rdata_t*)ut->data)->timeout);
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| 66 | da1c10ac | Julia Niermann | if (status == APAL_STATUS_SUCCESS) {
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| 67 | aosUtPassed(stream, &result); |
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| 68 | adcbcf83 | Julia Niermann | for(int i=0; i<80; i++){ |
| 69 | chprintf(stream, "register: 0x%02x, data: 0x%02X \n", 0x00+i, data[i]); |
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| 70 | da1c10ac | Julia Niermann | } |
| 71 | } else {
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| 72 | aosUtFailed(stream, &result); |
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| 73 | } |
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| 74 | |||
| 75 | adcbcf83 | Julia Niermann | chprintf(stream, "read x_alignment... \n");
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| 76 | status = p9221r_lld_read_x_alignment(((ut_p9221rdata_t*)ut->data)->PRd, x_alignment, ((ut_p9221rdata_t*)ut->data)->timeout); |
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| 77 | if (status == APAL_STATUS_SUCCESS) {
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| 78 | aosUtPassed(stream, &result); |
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| 79 | chprintf(stream, "x_alignment %d \n", x_alignment);
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| 80 | } else {
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| 81 | aosUtFailed(stream, &result); |
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| 82 | } |
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| 83 | |||
| 84 | chprintf(stream, "read y_alignment... \n");
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| 85 | status = p9221r_lld_read_y_alignment(((ut_p9221rdata_t*)ut->data)->PRd, y_alignment, ((ut_p9221rdata_t*)ut->data)->timeout); |
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| 86 | if (status == APAL_STATUS_SUCCESS) {
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| 87 | aosUtPassed(stream, &result); |
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| 88 | chprintf(stream, "y_alignment: %d \n", y_alignment);
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| 89 | } else {
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| 90 | aosUtFailed(stream, &result); |
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| 91 | } |
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| 92 | |||
| 93 | chprintf(stream, "read the voltage... \n");
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| 94 | status = p9221r_lld_read_voltage(const P9221RDriver* const p9221r, int32_t const voltage, const apalTime_t timeout); |
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| 95 | if (status == APAL_STATUS_SUCCESS) {
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| 96 | aosUtPassed(stream, &result); |
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| 97 | chprintf(stream, "voltage: %d \n", voltage);
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| 98 | } else {
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| 99 | aosUtFailed(stream, &result); |
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| 100 | } |
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| 101 | |||
| 102 | chprintf(stream, "read the current... \n");
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| 103 | status = p9221r_lld_read_current(const P9221RDriver* const p9221r, int32_t const current, const apalTime_t timeout); |
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| 104 | if (status == APAL_STATUS_SUCCESS) {
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| 105 | aosUtPassed(stream, &result); |
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| 106 | chprintf(stream, "current: %d \n", current);
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| 107 | } else {
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| 108 | aosUtFailed(stream, &result); |
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| 109 | } |
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| 110 | b49ed442 | Julia Niermann | |
| 111 | 8cbe3240 | Julia Niermann | return result;
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| 112 | a2cdc4ae | Julia Niermann | } |
| 113 | da1c10ac | Julia Niermann | #endif /* (AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_P9221R) && (AMIROLLD_CFG_P9221R == 1) */ |