Statistics
| Branch: | Tag: | Revision:

amiro-os / test / periphery-lld / P9221R_v1 / aos_test_P9221R.c @ c60ee2dd

History | View | Annotate | Download (4.58 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 <aos_test_P9221R.h>
21

    
22
#if (AMIROOS_CFG_TESTS_ENABLE == true) || 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_testresult_t aosTestP9221rFunc(BaseSequentialStream* stream, const aos_test_t* test)
52
{
53
    aosDbgCheck(test->data != NULL && ((aos_test_p9221rdata_t*)(test->data))->PRd != NULL);
54

    
55
    // local variables
56
    aos_testresult_t result = {0, 0};
57
    uint32_t status;
58
    uint8_t data[79] = {0xA5};
59
    int8_t alignment[2] = {0xA5};
60
    float voltage[1];
61
    float current[1];
62

    
63
    chprintf(stream, "read all registers...\n");
64
    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);
65
    if (status == APAL_STATUS_SUCCESS) {
66
      aosTestPassed(stream, &result);
67
      for(int i=0; i<79; i++){
68
          chprintf(stream, "register: 0x%02x, data: 0x%02X \n", 0x00+i, data[i]);
69
      }
70
    } else {
71
      aosTestFailed(stream, &result);
72
    }
73

    
74
    chprintf(stream, "read alignment for five seconds, move receiver ... \n");
75
    status = APAL_STATUS_SUCCESS;
76
    for (uint32_t i = 0; i <= 5; i++) {
77
        status |=   p9221r_lld_read_alignment(((aos_test_p9221rdata_t*)test->data)->PRd, alignment, ((aos_test_p9221rdata_t*)test->data)->timeout);
78
        chprintf(stream, "x_alignment %2d \n", alignment[0]);
79
        chprintf(stream, "y_alignment %2d \n", alignment[1]);
80
        //aosTestPassed(stream, &result);
81
        aosThdSSleep(1);
82
    }
83
    if(status == APAL_STATUS_SUCCESS) {
84
      aosTestPassed(stream, &result);
85
    } else {
86
      aosTestFailed(stream, &result);
87
    }
88

    
89
     chprintf(stream, "read the voltage... \n");
90
     status =   p9221r_lld_read_voltage(((aos_test_p9221rdata_t*)test->data)->PRd, voltage, ((aos_test_p9221rdata_t*)test->data)->timeout);
91
     if (status == APAL_STATUS_SUCCESS) {
92
       aosTestPassed(stream, &result);
93
       chprintf(stream, "voltage: %.2f \n", *voltage);
94
     } else {
95
       aosTestFailed(stream, &result);
96
     }
97

    
98
     chprintf(stream, "read the current... \n");
99
     status =  p9221r_lld_read_current(((aos_test_p9221rdata_t*)test->data)->PRd, current, ((aos_test_p9221rdata_t*)test->data)->timeout);
100
     if (status == APAL_STATUS_SUCCESS) {
101
       aosTestPassed(stream, &result);
102
       chprintf(stream, "current: %.2f \n", *current);
103
     } else {
104
       aosTestFailed(stream, &result);
105
     }
106

    
107
    return result;
108
}
109

    
110
#endif /* AMIROOS_CFG_TESTS_ENABLE == true */