1 /*
2 * Copyright 2024 Trackunit Corporation
3 *
4 * SPDX-License-Identifier: Apache-2.0
5 */
6
7 #include <zephyr/drivers/gnss.h>
8 #include <zephyr/kernel.h>
9 #include <zephyr/sys/atomic.h>
10 #include <zephyr/ztest.h>
11
12 static const struct device *dev = DEVICE_DT_GET(DT_ALIAS(gnss));
13 static const enum gnss_navigation_mode nav_modes[] = {
14 GNSS_NAVIGATION_MODE_ZERO_DYNAMICS,
15 GNSS_NAVIGATION_MODE_LOW_DYNAMICS,
16 GNSS_NAVIGATION_MODE_BALANCED_DYNAMICS,
17 GNSS_NAVIGATION_MODE_HIGH_DYNAMICS,
18 };
19
test_set_nav_mode(enum gnss_navigation_mode nav_mode)20 static bool test_set_nav_mode(enum gnss_navigation_mode nav_mode)
21 {
22 int ret;
23
24 ret = gnss_set_navigation_mode(dev, nav_mode);
25 if (ret == -ENOSYS) {
26 ztest_test_skip();
27 }
28 if (ret == -EINVAL) {
29 return false;
30 }
31 zassert_ok(ret, "failed to set navigation mode %u", nav_mode);
32 return true;
33 }
34
test_validate_nav_mode(enum gnss_navigation_mode nav_mode)35 static void test_validate_nav_mode(enum gnss_navigation_mode nav_mode)
36 {
37 int ret;
38 enum gnss_navigation_mode set_nav_mode;
39
40 ret = gnss_get_navigation_mode(dev, &set_nav_mode);
41 if (ret == -ENOSYS) {
42 return;
43 }
44 zassert_ok(ret, "failed to get navigation mode %u", nav_mode);
45 }
46
ZTEST(gnss_api,test_navigation_mode)47 ZTEST(gnss_api, test_navigation_mode)
48 {
49 enum gnss_navigation_mode nav_mode;
50
51 for (uint8_t i = 0; i < ARRAY_SIZE(nav_modes); i++) {
52 nav_mode = nav_modes[i];
53
54 if (!test_set_nav_mode(nav_mode)) {
55 continue;
56 }
57
58 test_validate_nav_mode(nav_mode);
59 }
60 }
61
