A3：INA226 驱动 + 六片地址表
地址表按设计文档 §8.2 钉死（0x40/41/44/45/42 + 输入侧 0x43），只走 ina226_rail_addr()，并有一条测试专门拦「ina_addr = 0x40 + ch」这一手 （CH3/CH4/CH5 三路全错，需求 §10.4）。 驱动只经 hal_i2c_*：认件（MFG/DIE ID）、写 Config 0x4327 + CAL 2048 并 回读校验、读 V/I/分流/功率。电流有符号，反灌为负（SW-8 判据）。 巡检走 read_vi()，每片两次事务，对应 §10.3 的 8% I²C 占用。 两条留给下次的坑：寄存器指针不依赖自增（sim 会自增、真件不会，靠自增 在宿主机上测不出来）；CAL 丢了不报错只让 Current/Power 恒读 0，所以 有 ina226_check()。 Co-Authored-By: Claude Opus 5 <[email protected]> Claude-Session: https://claude.ai/code/session_01QYuExfgyYa6DzRRcUso8M8
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zhou yang
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/* A3：INA226 驱动 + 六片地址表。
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两个验收主项：①六个地址就是 0x40/41/44/45/42/43；②通道号 ≠ 地址低位。 */
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#include "ina226.h"
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#include "sim_hal.h"
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#include "unity.h"
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void setUp(void) { sim_hal_reset(); }
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void tearDown(void) {}
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/* 挂一片假 INA226 并预置 ID，返回地址。 */
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static uint8_t mount(uint8_t addr)
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{
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sim_i2c_add(addr, 2);
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sim_i2c_set_reg(addr, INA226_REG_MFG_ID, INA226_MFG_ID);
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sim_i2c_set_reg(addr, INA226_REG_DIE_ID, INA226_DIE_ID);
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TEST_ASSERT_EQUAL_INT(HAL_OK, hal_i2c_init(NULL));
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return addr;
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}
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/* ---- 地址表 -------------------------------------------------------------- */
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/* ⭐ 验收主项一：设计文档 §8.2 的六个地址，逐个钉死。 */
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static void test_addr_table_is_the_one_from_8_2(void)
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{
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TEST_ASSERT_EQUAL_HEX8(0x40, ina226_rail_addr(1));
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TEST_ASSERT_EQUAL_HEX8(0x41, ina226_rail_addr(2));
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TEST_ASSERT_EQUAL_HEX8(0x44, ina226_rail_addr(3));
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TEST_ASSERT_EQUAL_HEX8(0x45, ina226_rail_addr(4));
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TEST_ASSERT_EQUAL_HEX8(0x42, ina226_rail_addr(5));
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TEST_ASSERT_EQUAL_HEX8(0x43, INA226_ADDR_INPUT);
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static const uint8_t want[INA226_COUNT] = { 0x40, 0x41, 0x44, 0x45, 0x42, 0x43 };
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TEST_ASSERT_EQUAL_HEX8_ARRAY(want, ina226_all_addr, INA226_COUNT);
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}
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/* ⭐ 验收主项二：`0x40 + ch` 这行代码一定会被写出来（需求 §10.4），
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这条测试就是拦它的 —— 五路里有三路对不上，把表改成算式必红。 */
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static void test_channel_index_is_not_the_address_low_bits(void)
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{
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int mismatches = 0;
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for (int rail = 1; rail <= INA226_RAIL_COUNT; rail++) {
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uint8_t naive = (uint8_t)(0x40 + (rail - 1));
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if (ina226_rail_addr(rail) != naive) {
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mismatches++;
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}
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}
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TEST_ASSERT_EQUAL_INT_MESSAGE(3, mismatches, "CH3/CH4/CH5 三路必须与顺排不同");
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/* 反过来也钉一遍：拿地址低位算回通道号同样会算错。 */
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TEST_ASSERT_NOT_EQUAL(0x42, ina226_rail_addr(3)); /* CH3 是 0x44，不是 0x42 */
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TEST_ASSERT_NOT_EQUAL(0x44, ina226_rail_addr(5)); /* CH5 是 0x42，不是 0x44 */
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}
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static void test_addr_table_has_no_collisions(void)
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{
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TEST_ASSERT_TRUE(ina226_addr_table_ok()); /* 含与 DAC/PCA9555/LM75 的撞车检查 */
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}
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/* ---- 认件 ---------------------------------------------------------------- */
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static void test_probe_accepts_real_ina226(void)
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{
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TEST_ASSERT_EQUAL_INT(HAL_OK, ina226_probe(mount(0x40)));
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}
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/* 应答了但 ID 不对 = 贴错件或地址跳线焊错，必须和「没这个器件」区分开。 */
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static void test_probe_rejects_wrong_die_id(void)
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{
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uint8_t a = mount(0x41);
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sim_i2c_set_reg(a, INA226_REG_DIE_ID, 0x1234);
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TEST_ASSERT_EQUAL_INT(HAL_ERR_BUS, ina226_probe(a));
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}
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static void test_probe_absent_device_naks(void)
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{
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mount(0x40);
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TEST_ASSERT_EQUAL_INT(HAL_ERR_NAK, ina226_probe(0x44)); /* 没挂 */
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sim_i2c_set_present(0x40, false);
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TEST_ASSERT_EQUAL_INT(HAL_ERR_NAK, ina226_probe(0x40)); /* 失联 */
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}
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/* 需求 §12.1 步 2：六片全应答。 */
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static void test_all_six_answer_scan(void)
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{
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for (int i = 0; i < INA226_COUNT; i++) {
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mount(ina226_all_addr[i]);
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}
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for (int i = 0; i < INA226_COUNT; i++) {
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TEST_ASSERT_EQUAL_INT(HAL_OK, ina226_probe(ina226_all_addr[i]));
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}
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}
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static void test_bus_not_initialised_propagates(void)
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{
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sim_i2c_add(0x40, 2);
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int32_t mv = 0;
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TEST_ASSERT_EQUAL_INT(HAL_ERR_STATE, ina226_read_bus_mv(0x40, &mv));
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}
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/* ---- 初始化 -------------------------------------------------------------- */
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static void test_init_writes_config_and_calibration(void)
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{
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uint8_t a = mount(0x45);
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TEST_ASSERT_EQUAL_INT(HAL_OK, ina226_init(a));
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TEST_ASSERT_EQUAL_HEX16(INA226_CONFIG, sim_i2c_get_reg(a, INA226_REG_CONFIG));
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TEST_ASSERT_EQUAL_HEX16(2048, sim_i2c_get_reg(a, INA226_REG_CALIB));
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/* 两个寄存器都是「写完立刻回读校验」：4 次写（两次三字节的写 + 两次一字节的
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读指针）、2 次读。最后落下的那次写就是 CAL 的读指针。 */
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const sim_i2c_dev_t *d = sim_i2c_dev(a);
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TEST_ASSERT_EQUAL_UINT32(4, d->n_write);
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TEST_ASSERT_EQUAL_UINT32(2, d->n_read);
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TEST_ASSERT_EQUAL_UINT8(1, d->last_write_len);
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TEST_ASSERT_EQUAL_HEX8(INA226_REG_CALIB, d->last_write[0]);
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}
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/* CAL 掉了的现象是 Current/Power 恒读 0，不是报错 —— 所以要能查出来。 */
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static void test_check_catches_lost_calibration(void)
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{
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uint8_t a = mount(0x40);
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TEST_ASSERT_EQUAL_INT(HAL_OK, ina226_init(a));
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TEST_ASSERT_EQUAL_INT(HAL_OK, ina226_check(a));
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sim_i2c_set_reg(a, INA226_REG_CALIB, 0); /* 器件掉过一次电 */
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TEST_ASSERT_EQUAL_INT(HAL_ERR_BUS, ina226_check(a));
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}
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/* ---- 换算 ---------------------------------------------------------------- */
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/* 满载一路：4.010 V / 4 A / 16 W。5 mΩ + 0.5 mA LSB 下分流码与电流码同值。 */
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static void test_readings_at_full_load(void)
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{
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uint8_t a = mount(0x44);
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sim_i2c_set_reg(a, INA226_REG_BUS_V, 3208); /* ×1.25 mV */
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sim_i2c_set_reg(a, INA226_REG_SHUNT_V, 8000); /* ×2.5 µV = 20 mV */
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sim_i2c_set_reg(a, INA226_REG_CURRENT, 8000); /* ×0.5 mA */
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sim_i2c_set_reg(a, INA226_REG_POWER, 1280); /* ×12.5 mW */
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ina226_sample_t s = { 0, 0, 0, 0 };
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TEST_ASSERT_EQUAL_INT(HAL_OK, ina226_read_all(a, &s));
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TEST_ASSERT_EQUAL_INT32(4010, s.bus_mv);
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TEST_ASSERT_EQUAL_INT32(20000, s.shunt_uv);
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TEST_ASSERT_EQUAL_INT32(4000000, s.current_ua);
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TEST_ASSERT_EQUAL_INT32(16000, s.power_mw);
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}
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/* ⭐ 反灌（SW-8）：电流寄存器是**有符号**的。当成无符号会得到 +32 A 这种数，
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而判据是「电流为负」，于是保护永远不触发。 */
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static void test_reverse_current_is_negative(void)
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{
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uint8_t a = mount(0x42);
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sim_i2c_set_reg(a, INA226_REG_CURRENT, (uint16_t)(int16_t)-120); /* −60 mA */
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sim_i2c_set_reg(a, INA226_REG_SHUNT_V, (uint16_t)(int16_t)-120); /* −300 µV */
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int32_t ua = 0, uv = 0;
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TEST_ASSERT_EQUAL_INT(HAL_OK, ina226_read_current_ua(a, &ua));
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TEST_ASSERT_EQUAL_INT(HAL_OK, ina226_read_shunt_uv(a, &uv));
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TEST_ASSERT_EQUAL_INT32(-60000, ua);
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TEST_ASSERT_EQUAL_INT32(-300, uv);
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}
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/* 3.90 V 出厂默认值那一点，顺带看四舍五入。3120 × 1.25 = 3900 mV 整。 */
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static void test_bus_voltage_rounding(void)
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{
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uint8_t a = mount(0x40);
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sim_i2c_set_reg(a, INA226_REG_BUS_V, 3120);
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int32_t mv = 0;
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TEST_ASSERT_EQUAL_INT(HAL_OK, ina226_read_bus_mv(a, &mv));
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TEST_ASSERT_EQUAL_INT32(3900, mv);
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sim_i2c_set_reg(a, INA226_REG_BUS_V, 3121); /* 3901.25 → 3901 */
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TEST_ASSERT_EQUAL_INT(HAL_OK, ina226_read_bus_mv(a, &mv));
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TEST_ASSERT_EQUAL_INT32(3901, mv);
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}
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/* ⚠️ 驱动不许依赖寄存器指针自增：sim 的假器件会自增，INA226 按 datasheet 不会。
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靠自增省事的写法在这里会绿，到板上四个量全读成同一个。 */
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static void test_pointer_is_rewritten_before_every_read(void)
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{
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uint8_t a = mount(0x41);
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ina226_sample_t s = { 0, 0, 0, 0 };
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sim_i2c_dev(a)->n_write = 0;
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sim_i2c_dev(a)->n_read = 0;
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TEST_ASSERT_EQUAL_INT(HAL_OK, ina226_read_all(a, &s));
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TEST_ASSERT_EQUAL_UINT32(4, sim_i2c_dev(a)->n_write);
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TEST_ASSERT_EQUAL_UINT32(4, sim_i2c_dev(a)->n_read);
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}
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/* 巡检主路径：只读两个量（§10.3 那 8 % I²C 占用是按这个算的）。 */
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static void test_read_vi_uses_two_transactions(void)
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{
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uint8_t a = mount(0x40);
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sim_i2c_set_reg(a, INA226_REG_BUS_V, 3120);
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sim_i2c_set_reg(a, INA226_REG_CURRENT, 4000);
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sim_i2c_dev(a)->n_read = 0;
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ina226_vi_t vi = { 0, 0 };
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TEST_ASSERT_EQUAL_INT(HAL_OK, ina226_read_vi(a, &vi));
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TEST_ASSERT_EQUAL_INT32(3900, vi.bus_mv);
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TEST_ASSERT_EQUAL_INT32(2000000, vi.current_ua);
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TEST_ASSERT_EQUAL_UINT32(2, sim_i2c_dev(a)->n_read);
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}
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/* 器件中途失联：错误必须一路传上去，不能返回一个看着正常的 0。 */
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static void test_read_propagates_nak(void)
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{
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uint8_t a = mount(0x45);
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sim_i2c_inject_nak(a, -1);
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ina226_vi_t vi = { 123, 456 };
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TEST_ASSERT_EQUAL_INT(HAL_ERR_NAK, ina226_read_vi(a, &vi));
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}
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static void test_null_output_rejected(void)
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{
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mount(0x40);
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TEST_ASSERT_EQUAL_INT(HAL_ERR_ARG, ina226_read_vi(0x40, NULL));
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TEST_ASSERT_EQUAL_INT(HAL_ERR_ARG, ina226_read_all(0x40, NULL));
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TEST_ASSERT_EQUAL_INT(HAL_ERR_ARG, ina226_read_bus_mv(0x40, NULL));
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}
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int main(void)
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{
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UNITY_BEGIN();
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RUN_TEST(test_addr_table_is_the_one_from_8_2);
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RUN_TEST(test_channel_index_is_not_the_address_low_bits);
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RUN_TEST(test_addr_table_has_no_collisions);
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RUN_TEST(test_probe_accepts_real_ina226);
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RUN_TEST(test_probe_rejects_wrong_die_id);
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RUN_TEST(test_probe_absent_device_naks);
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RUN_TEST(test_all_six_answer_scan);
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RUN_TEST(test_bus_not_initialised_propagates);
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RUN_TEST(test_init_writes_config_and_calibration);
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RUN_TEST(test_check_catches_lost_calibration);
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RUN_TEST(test_readings_at_full_load);
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RUN_TEST(test_reverse_current_is_negative);
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RUN_TEST(test_bus_voltage_rounding);
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RUN_TEST(test_pointer_is_rewritten_before_every_read);
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RUN_TEST(test_read_vi_uses_two_transactions);
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RUN_TEST(test_read_propagates_nak);
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RUN_TEST(test_null_output_rejected);
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return UNITY_END();
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}
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