amiro-os / unittests / periphery-lld / src / ut_alld_P9221R_v1.c @ adcbcf83
History | View | Annotate | Download (4.73 KB)
1 |
/*
|
---|---|
2 |
AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
|
3 |
Copyright (C) 2016..2019 Thomas Schöpping et al.
|
4 |
|
5 |
This program is free software: you can redistribute it and/or modify
|
6 |
it under the terms of the GNU General Public License as published by
|
7 |
the Free Software Foundation, either version 3 of the License, or
|
8 |
(at your option) any later version.
|
9 |
|
10 |
This program is distributed in the hope that it will be useful,
|
11 |
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
12 |
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
13 |
GNU General Public License for more details.
|
14 |
|
15 |
You should have received a copy of the GNU General Public License
|
16 |
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
17 |
*/
|
18 |
|
19 |
#include <amiroos.h> |
20 |
#include <ut_alld_P9221R_v1.h> |
21 |
|
22 |
#if ((AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_P9221R) && (AMIROLLD_CFG_P9221R == 1)) || defined(__DOXYGEN__) |
23 |
|
24 |
#include <math.h> |
25 |
|
26 |
/******************************************************************************/
|
27 |
/* LOCAL DEFINITIONS */
|
28 |
/******************************************************************************/
|
29 |
|
30 |
/******************************************************************************/
|
31 |
/* EXPORTED VARIABLES */
|
32 |
/******************************************************************************/
|
33 |
|
34 |
/******************************************************************************/
|
35 |
/* LOCAL TYPES */
|
36 |
/******************************************************************************/
|
37 |
|
38 |
/******************************************************************************/
|
39 |
/* LOCAL VARIABLES */
|
40 |
/******************************************************************************/
|
41 |
|
42 |
/******************************************************************************/
|
43 |
/* LOCAL FUNCTIONS */
|
44 |
/******************************************************************************/
|
45 |
|
46 |
/******************************************************************************/
|
47 |
/* EXPORTED FUNCTIONS */
|
48 |
/******************************************************************************/
|
49 |
|
50 |
|
51 |
aos_utresult_t utAlldP9221rFunc(BaseSequentialStream* stream, aos_unittest_t* ut) |
52 |
{ |
53 |
aosDbgCheck(ut->data != NULL && ((ut_p9221rdata_t*)(ut->data))->PRd != NULL); |
54 |
|
55 |
// local variables
|
56 |
aos_utresult_t result = {0, 0}; |
57 |
uint32_t status; |
58 |
uint8_t data[80];
|
59 |
int32_t x_alignment; |
60 |
int32_t y_alignment; |
61 |
int32_t voltage; |
62 |
int32_t current; |
63 |
|
64 |
chprintf(stream, "read registers...\n");
|
65 |
status = p9221r_lld_read_register(((ut_p9221rdata_t*)ut->data)->PRd, P9221R_LLD_REGISTER_PARTNUMBER, data, 80, ((ut_p9221rdata_t*)ut->data)->timeout);
|
66 |
if (status == APAL_STATUS_SUCCESS) {
|
67 |
aosUtPassed(stream, &result); |
68 |
for(int i=0; i<80; i++){ |
69 |
chprintf(stream, "register: 0x%02x, data: 0x%02X \n", 0x00+i, data[i]); |
70 |
} |
71 |
} else {
|
72 |
aosUtFailed(stream, &result); |
73 |
} |
74 |
|
75 |
chprintf(stream, "read x_alignment... \n");
|
76 |
status = p9221r_lld_read_x_alignment(((ut_p9221rdata_t*)ut->data)->PRd, x_alignment, ((ut_p9221rdata_t*)ut->data)->timeout); |
77 |
if (status == APAL_STATUS_SUCCESS) {
|
78 |
aosUtPassed(stream, &result); |
79 |
chprintf(stream, "x_alignment %d \n", x_alignment);
|
80 |
} else {
|
81 |
aosUtFailed(stream, &result); |
82 |
} |
83 |
|
84 |
chprintf(stream, "read y_alignment... \n");
|
85 |
status = p9221r_lld_read_y_alignment(((ut_p9221rdata_t*)ut->data)->PRd, y_alignment, ((ut_p9221rdata_t*)ut->data)->timeout); |
86 |
if (status == APAL_STATUS_SUCCESS) {
|
87 |
aosUtPassed(stream, &result); |
88 |
chprintf(stream, "y_alignment: %d \n", y_alignment);
|
89 |
} else {
|
90 |
aosUtFailed(stream, &result); |
91 |
} |
92 |
|
93 |
chprintf(stream, "read the voltage... \n");
|
94 |
status = p9221r_lld_read_voltage(const P9221RDriver* const p9221r, int32_t const voltage, const apalTime_t timeout); |
95 |
if (status == APAL_STATUS_SUCCESS) {
|
96 |
aosUtPassed(stream, &result); |
97 |
chprintf(stream, "voltage: %d \n", voltage);
|
98 |
} else {
|
99 |
aosUtFailed(stream, &result); |
100 |
} |
101 |
|
102 |
chprintf(stream, "read the current... \n");
|
103 |
status = p9221r_lld_read_current(const P9221RDriver* const p9221r, int32_t const current, const apalTime_t timeout); |
104 |
if (status == APAL_STATUS_SUCCESS) {
|
105 |
aosUtPassed(stream, &result); |
106 |
chprintf(stream, "current: %d \n", current);
|
107 |
} else {
|
108 |
aosUtFailed(stream, &result); |
109 |
} |
110 |
|
111 |
return result;
|
112 |
} |
113 |
#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_P9221R) && (AMIROLLD_CFG_P9221R == 1) */ |