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>

#if ((AMIROOS_CFG_TESTS_ENABLE == true) && (HAL_USE_ADC == TRUE))|| defined(__DOXYGEN__)

#include <ut_lld_adc.h>

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/* LOCAL DEFINITIONS                                                          */

/******************************************************************************/

/**

 * @brief   Event mask of the ADC analog watchdog event.

 */

#define _adcWdgEventmask                        EVENT_MASK(31)

/**

 * @brief   ADC analog watchdog threshold (9.0V).

 */

#define _adcWdgThreshold                        (uint16_t)(9.0f / 5.0f / 3.3f * ((1 << 12) - 1) + 0.5f)

/******************************************************************************/

/* EXPORTED VARIABLES                                                         */

/******************************************************************************/

/******************************************************************************/

/* LOCAL TYPES                                                                */

/******************************************************************************/

/******************************************************************************/

/* LOCAL VARIABLES                                                            */

/******************************************************************************/

/**

 * @brief   Pointer to the thread listening for an ADC analog watchdog event.

 */

static thread_t* _listener;

/******************************************************************************/

/* LOCAL FUNCTIONS                                                            */

/******************************************************************************/

/**

 * @brief   Helper function to convert ADC sample value to volts.

 *

 * @param[in] adc   ADC sample value.

 *

 * @return          Converted value in volts.

 */

static inline float _adc2volt(adcsample_t adc) {

  return (float)adc / ((1 << 12) - 1) * 3.3f * 5.0f;

}

/**

 * @brief   ADC analog watchdog callback function.

 *

 * @param[in] adcp  ADC driver.

 * @param[in] err   ADC error value.

 */

static void _adcAwdCb(ADCDriver* adcp, adcerror_t err)

{

  (void)adcp;

  if (err == ADC_ERR_WATCHDOG) {

    chSysLockFromISR();

    if (_listener != NULL) {

      chEvtSignalI(_listener, _adcWdgEventmask);

      _listener = NULL;

    }

    chSysUnlockFromISR();

  }

  return;

}

/******************************************************************************/

/* EXPORTED FUNCTIONS                                                         */

/******************************************************************************/

/**

 * @brief   ADC unit test function.

 *

 * @param[in] stream  Stream for input/output.

 * @param[in] ut      Unit test object.

 *

 * @return            Unit test result value.

 */

aos_utresult_t utAdcFunc(BaseSequentialStream* stream, aos_unittest_t* ut)

{

  aosDbgCheck(ut->data != NULL && ((ut_adcdata_t*)(ut->data))->driver != NULL && ((ut_adcdata_t*)(ut->data))->convgroup != NULL);

  // local variables

  aos_utresult_t result = {0, 0};

  adcsample_t buffer[1] = {0};

  bool wdgpassed = false;

  eventmask_t eventmask = 0;

  ADCConversionGroup conversionGroup = *(((ut_adcdata_t*)(ut->data))->convgroup);

  conversionGroup.circular = true;

  conversionGroup.end_cb = NULL;

  conversionGroup.end_cb = NULL;

  conversionGroup.htr = ADC_HTR_HT;

  conversionGroup.ltr = 0;

  chprintf(stream, "reading voltage for five seconds...\n");

  adcStartConversion(((ut_adcdata_t*)(ut->data))->driver, &conversionGroup, buffer, 1);

  for (uint8_t s = 0; s < 5; ++s) {

    aosThdSSleep(1);

    chprintf(stream, "\tVSYS = %fV\n", _adc2volt(buffer[0]));

  }

  adcStopConversion(((ut_adcdata_t*)(ut->data))->driver);

  if (buffer[0] != 0) {

    aosUtPassed(stream, &result);

  } else {

    aosUtFailed(stream, &result);

  }

  chprintf(stream, "detecting external power...\n");

  conversionGroup.error_cb = _adcAwdCb;

  conversionGroup.htr = _adcWdgThreshold;

  conversionGroup.ltr = _adcWdgThreshold;

  _listener = chThdGetSelfX();

  adcStartConversion(((ut_adcdata_t*)(ut->data))->driver, &conversionGroup, buffer, 1);

  eventmask = chEvtWaitOneTimeout(_adcWdgEventmask, chTimeS2I(5));

  if (eventmask == _adcWdgEventmask) {

    aosUtPassedMsg(stream, &result, "%fV %c 9V\n", _adc2volt(buffer[0]), (buffer[0] > _adcWdgThreshold) ? '>' : '<');

    wdgpassed = true;

  } else {

    adcStopConversion(((ut_adcdata_t*)(ut->data))->driver);

    aosUtFailed(stream, &result);

    wdgpassed = false;

  }

  if (wdgpassed) {

    for (uint8_t i = 0; i < 2; ++i) {

      if (buffer[0] > _adcWdgThreshold) {

        chprintf(stream, "Remove external power within ten seconds.\n");

        conversionGroup.htr = ADC_HTR_HT;

        conversionGroup.ltr = _adcWdgThreshold;

      } else {

        chprintf(stream, "Connect external power within ten seconds.\n");

        conversionGroup.htr = _adcWdgThreshold;

        conversionGroup.ltr = 0;

      }

      aosThdMSleep(100); // wait some time so the ADC wil trigger again immediately due to noise

      _listener = chThdGetSelfX();

      adcStartConversion(((ut_adcdata_t*)(ut->data))->driver, &conversionGroup, buffer, 1);

      eventmask = chEvtWaitOneTimeout(_adcWdgEventmask, chTimeS2I(10));

      if (eventmask == _adcWdgEventmask) {

        aosUtPassedMsg(stream, &result, "%fV %c 9V\n", _adc2volt(buffer[0]), (buffer[0] > _adcWdgThreshold) ? '>' : '<');

      } else {

        adcStopConversion(((ut_adcdata_t*)(ut->data))->driver);

        aosUtFailed(stream, &result);

        break;

      }

    }

  }

  return result;

}

#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) && (HAL_USE_ADC == TRUE) */