amiro-os / unittests / periphery-lld / src / ut_alld_ina219.c @ f3ac1c96
History | View | Annotate | Download (8.22 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 <ut_alld_ina219.h> |
| 20 |
|
| 21 |
#if ((AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_USE_INA219)) || defined(__DOXYGEN__) |
| 22 |
|
| 23 |
#include <aos_debug.h> |
| 24 |
#include <chprintf.h> |
| 25 |
#include <aos_thread.h> |
| 26 |
#include <alld_ina219.h> |
| 27 |
#include <math.h> |
| 28 |
|
| 29 |
/******************************************************************************/
|
| 30 |
/* LOCAL DEFINITIONS */
|
| 31 |
/******************************************************************************/
|
| 32 |
|
| 33 |
/******************************************************************************/
|
| 34 |
/* EXPORTED VARIABLES */
|
| 35 |
/******************************************************************************/
|
| 36 |
|
| 37 |
/******************************************************************************/
|
| 38 |
/* LOCAL TYPES */
|
| 39 |
/******************************************************************************/
|
| 40 |
|
| 41 |
/******************************************************************************/
|
| 42 |
/* LOCAL VARIABLES */
|
| 43 |
/******************************************************************************/
|
| 44 |
|
| 45 |
/******************************************************************************/
|
| 46 |
/* LOCAL FUNCTIONS */
|
| 47 |
/******************************************************************************/
|
| 48 |
|
| 49 |
/******************************************************************************/
|
| 50 |
/* EXPORTED FUNCTIONS */
|
| 51 |
/******************************************************************************/
|
| 52 |
|
| 53 |
aos_utresult_t utAlldIna219Func(BaseSequentialStream* stream, aos_unittest_t* ut) |
| 54 |
{
|
| 55 |
aosDbgCheck(ut->data != NULL && ((ut_ina219data_t*)(ut->data))->inad != NULL); |
| 56 |
|
| 57 |
// local variables
|
| 58 |
aos_utresult_t result = {0, 0};
|
| 59 |
uint32_t status; |
| 60 |
uint16_t data[6];
|
| 61 |
uint16_t write_data = 0x1011;
|
| 62 |
uint16_t new_data[6];
|
| 63 |
uint16_t reset_data; |
| 64 |
uint16_t test_calib = 0;
|
| 65 |
int16_t usensor_data = 0;
|
| 66 |
uint16_t busready = 0;
|
| 67 |
uint32_t power = 0;
|
| 68 |
int32_t shunt; |
| 69 |
uint32_t bus; |
| 70 |
|
| 71 |
chprintf(stream, "read registers...\n");
|
| 72 |
status = ina219_lld_read_register(((ut_ina219data_t*)ut->data)->inad, INA219_LLD_REGISTER_CONFIGURATION, data, 6, ((ut_ina219data_t*)ut->data)->timeout);
|
| 73 |
if (status == APAL_STATUS_SUCCESS) {
|
| 74 |
aosUtPassed(stream, &result); |
| 75 |
} else {
|
| 76 |
aosUtFailed(stream, &result); |
| 77 |
} |
| 78 |
|
| 79 |
chprintf(stream, "write registers...\n");
|
| 80 |
status = ina219_lld_write_register(((ut_ina219data_t*)ut->data)->inad, INA219_LLD_REGISTER_CONFIGURATION, &write_data, 1, ((ut_ina219data_t*)ut->data)->timeout);
|
| 81 |
status |= ina219_lld_read_register(((ut_ina219data_t*)ut->data)->inad, INA219_LLD_REGISTER_CONFIGURATION, new_data, 6, ((ut_ina219data_t*)ut->data)->timeout);
|
| 82 |
if (status == APAL_STATUS_SUCCESS && new_data[0] == write_data) { |
| 83 |
uint8_t errors = 0;
|
| 84 |
for (uint8_t dataIdx = 1; dataIdx < 6; dataIdx++) { |
| 85 |
if (new_data[dataIdx] != data[dataIdx]) {
|
| 86 |
++errors; |
| 87 |
} |
| 88 |
} |
| 89 |
if (errors == 0) { |
| 90 |
aosUtPassed(stream, &result); |
| 91 |
} else {
|
| 92 |
aosUtFailed(stream, &result); |
| 93 |
} |
| 94 |
} else {
|
| 95 |
aosUtFailed(stream, &result); |
| 96 |
} |
| 97 |
|
| 98 |
chprintf(stream, "reset...\n");
|
| 99 |
status = ina219_lld_reset(((ut_ina219data_t*)ut->data)->inad, ((ut_ina219data_t*)ut->data)->timeout); |
| 100 |
status |= ina219_lld_read_register(((ut_ina219data_t*)ut->data)->inad, INA219_LLD_REGISTER_CONFIGURATION, &reset_data, 1, ((ut_ina219data_t*)ut->data)->timeout);
|
| 101 |
if (status == APAL_STATUS_SUCCESS && reset_data == 0x399F) { |
| 102 |
aosUtPassed(stream, &result); |
| 103 |
} else {
|
| 104 |
chprintf(stream, "\tfailed\n");
|
| 105 |
++result.failed; |
| 106 |
} |
| 107 |
|
| 108 |
chprintf(stream, "read config...\n");
|
| 109 |
ina219_lld_cfg_t ina_config; |
| 110 |
status = ina219_lld_read_config(((ut_ina219data_t*)ut->data)->inad, &ina_config, ((ut_ina219data_t*)ut->data)->timeout); |
| 111 |
if (status == APAL_STATUS_SUCCESS) {
|
| 112 |
aosUtPassed(stream, &result); |
| 113 |
} else {
|
| 114 |
aosUtFailed(stream, &result); |
| 115 |
} |
| 116 |
|
| 117 |
chprintf(stream, "write config...\n");
|
| 118 |
ina_config.data = 0x7FFu;
|
| 119 |
status = ina219_lld_write_config(((ut_ina219data_t*)ut->data)->inad, ina_config, ((ut_ina219data_t*)ut->data)->timeout); |
| 120 |
if (status == APAL_STATUS_SUCCESS) {
|
| 121 |
aosUtPassed(stream, &result); |
| 122 |
} else {
|
| 123 |
aosUtFailed(stream, &result); |
| 124 |
} |
| 125 |
|
| 126 |
|
| 127 |
chprintf(stream, "calibrate...\n");
|
| 128 |
ina219_lld_calib_input_t calib_in; |
| 129 |
calib_in.shunt_resistance_0 = 0.1; |
| 130 |
calib_in.max_expected_current_A = 0.075; |
| 131 |
calib_in.current_lsb_uA = 10;
|
| 132 |
calib_in.cfg_reg = ina_config; |
| 133 |
ina219_lld_calib_output_t calib_out; |
| 134 |
status = ina219_lld_calibration(((ut_ina219data_t*)ut->data)->inad, &calib_in, &calib_out); |
| 135 |
status |= ina219_lld_write_calibration(((ut_ina219data_t*)ut->data)->inad, calib_out.calibration & 0xFFFEu, ((ut_ina219data_t*)ut->data)->timeout);
|
| 136 |
status |= ina219_lld_write_calibration(((ut_ina219data_t*)ut->data)->inad, 0xA000, ((ut_ina219data_t*)ut->data)->timeout);
|
| 137 |
ina219_lld_cfg_t test_config; |
| 138 |
((ut_ina219data_t*)ut->data)->inad->current_lsb_uA = 0xA;
|
| 139 |
status |= ina219_lld_read_config(((ut_ina219data_t*)ut->data)->inad, &test_config, ((ut_ina219data_t*)ut->data)->timeout); |
| 140 |
status |= ina219_lld_read_calibration(((ut_ina219data_t*)ut->data)->inad, &test_calib, ((ut_ina219data_t*)ut->data)->timeout); |
| 141 |
while (!busready || power == 0) { |
| 142 |
aosThdMSleep(20);
|
| 143 |
status |= ina219_lld_bus_conversion_ready(((ut_ina219data_t*)ut->data)->inad, &busready, ((ut_ina219data_t*)ut->data)->timeout); |
| 144 |
status |= ina219_lld_read_power(((ut_ina219data_t*)ut->data)->inad, &power, ((ut_ina219data_t*)ut->data)->timeout); |
| 145 |
} |
| 146 |
if (status == APAL_STATUS_SUCCESS) {
|
| 147 |
aosUtPassed(stream, &result); |
| 148 |
} else {
|
| 149 |
aosUtFailed(stream, &result); |
| 150 |
} |
| 151 |
|
| 152 |
chprintf(stream, "read shunt voltage...\n");
|
| 153 |
status = ina219_lld_read_shunt_voltage(((ut_ina219data_t*)ut->data)->inad, &shunt, ((ut_ina219data_t*)ut->data)->timeout); |
| 154 |
chprintf(stream, "\t\tshunt voltage: %fV\n", (float)shunt/1000000.f); |
| 155 |
if (status == APAL_STATUS_SUCCESS) {
|
| 156 |
aosUtPassed(stream, &result); |
| 157 |
} else {
|
| 158 |
aosUtFailed(stream, &result); |
| 159 |
} |
| 160 |
|
| 161 |
chprintf(stream, "read bus voltage (%u%% tolerance)...\n", (uint8_t)(((ut_ina219data_t*)ut->data)->tolerance * 100.f + 0.5f)); |
| 162 |
status = ina219_lld_read_bus_voltage(((ut_ina219data_t*)ut->data)->inad, &bus, ((ut_ina219data_t*)ut->data)->timeout); |
| 163 |
chprintf(stream, "\t\tbus voltage: %fV\n", (float)bus/1000000.f); |
| 164 |
if ((status == APAL_STATUS_SUCCESS) && (fabs(((float)bus/1000000.f) - ((ut_ina219data_t*)ut->data)->v_expected) < ((ut_ina219data_t*)ut->data)->v_expected * ((ut_ina219data_t*)ut->data)->tolerance)) { |
| 165 |
aosUtPassed(stream, &result); |
| 166 |
} else {
|
| 167 |
aosUtFailed(stream, &result); |
| 168 |
} |
| 169 |
|
| 170 |
chprintf(stream, "read power...\n");
|
| 171 |
status = ina219_lld_read_power(((ut_ina219data_t*)ut->data)->inad, &power, ((ut_ina219data_t*)ut->data)->timeout); |
| 172 |
chprintf(stream, "\t\tpower: %fW\n", (float)(power)/1000000.f); |
| 173 |
if (status == APAL_STATUS_SUCCESS) {
|
| 174 |
aosUtPassed(stream, &result); |
| 175 |
} else {
|
| 176 |
aosUtFailed(stream, &result); |
| 177 |
} |
| 178 |
|
| 179 |
chprintf(stream, "read current...\n");
|
| 180 |
status = ina219_lld_read_current(((ut_ina219data_t*)ut->data)->inad, &usensor_data, ((ut_ina219data_t*)ut->data)->timeout); |
| 181 |
chprintf(stream, "\t\tcurrent: %fA\n", (float)(usensor_data)/1000000.f); |
| 182 |
if (status == APAL_STATUS_SUCCESS) {
|
| 183 |
aosUtPassed(stream, &result); |
| 184 |
} else {
|
| 185 |
aosUtFailed(stream, &result); |
| 186 |
} |
| 187 |
|
| 188 |
aosUtInfoMsg(stream, "driver object memory footprint: %u bytes\n", sizeof(INA219Driver)); |
| 189 |
|
| 190 |
return result;
|
| 191 |
} |
| 192 |
|
| 193 |
#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_USE_INA219) */ |