AMiRo-OS

/*

AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.

Copyright (C) 2016..2019  Thomas Schöpping et al.

This program is free software: you can redistribute it and/or modify

it under the terms of the GNU General Public License as published by

the Free Software Foundation, either version 3 of the License, or

(at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

GNU General Public License for more details.

You should have received a copy of the GNU General Public License

along with this program.  If not, see <http://www.gnu.org/licenses/>.

*/

#include <amiroos.h>

#include <aos_test_P9221R.h>

#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)

#include <math.h>

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/* LOCAL DEFINITIONS                                                          */

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/* EXPORTED VARIABLES                                                         */

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/* LOCAL TYPES                                                                */

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/* LOCAL VARIABLES                                                            */

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/* LOCAL FUNCTIONS                                                            */

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/* EXPORTED FUNCTIONS                                                         */

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aos_testresult_t aosTestP9221rFunc(BaseSequentialStream* stream, const aos_test_t* test)

{

    aosDbgCheck(test->data != NULL && ((aos_test_p9221rdata_t*)(test->data))->PRd != NULL);

    // local variables

    aos_testresult_t result = {0, 0};

    uint32_t status;

    uint8_t data[79] = {0xA5};

    int8_t alignment[2] = {0xA5};

    float voltage[1];

    float current[1];

    chprintf(stream, "read all registers...\n");

    status = p9221r_lld_read_register(((aos_test_p9221rdata_t*)test->data)->PRd, P9221R_LLD_REGISTER_PARTNUMBER, data, 79, ((aos_test_p9221rdata_t*)test->data)->timeout);

    if (status == APAL_STATUS_SUCCESS) {

      aosTestPassed(stream, &result);

      for(int i=0; i<79; i++){

          chprintf(stream, "register: 0x%02x, data: 0x%02X \n", 0x00+i, data[i]);

      }

    } else {

      aosTestFailed(stream, &result);

    }

    chprintf(stream, "read alignment for five seconds, move receiver ... \n");

    status = APAL_STATUS_SUCCESS;

    for (uint32_t i = 0; i <= 5; i++) {

        status |=   p9221r_lld_read_alignment(((aos_test_p9221rdata_t*)test->data)->PRd, alignment, ((aos_test_p9221rdata_t*)test->data)->timeout);

        chprintf(stream, "x_alignment %2d \n", alignment[0]);

        chprintf(stream, "y_alignment %2d \n", alignment[1]);

        //aosTestPassed(stream, &result);

        aosThdSSleep(1);

    }

    if(status == APAL_STATUS_SUCCESS) {

      aosTestPassed(stream, &result);

    } else {

      aosTestFailed(stream, &result);

    }

     chprintf(stream, "read the voltage... \n");

     status =   p9221r_lld_read_voltage(((aos_test_p9221rdata_t*)test->data)->PRd, voltage, ((aos_test_p9221rdata_t*)test->data)->timeout);

     if (status == APAL_STATUS_SUCCESS) {

       aosTestPassed(stream, &result);

       chprintf(stream, "voltage: %.2f \n", *voltage);

     } else {

       aosTestFailed(stream, &result);

     }

     chprintf(stream, "read the current... \n");

     status =  p9221r_lld_read_current(((aos_test_p9221rdata_t*)test->data)->PRd, current, ((aos_test_p9221rdata_t*)test->data)->timeout);

     if (status == APAL_STATUS_SUCCESS) {

       aosTestPassed(stream, &result);

       chprintf(stream, "current: %.2f \n", *current);

     } else {

       aosTestFailed(stream, &result);

     }

    return result;

}

#endif /* AMIROOS_CFG_TESTS_ENABLE == true */