AMiRo-OS

/*

AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.

Copyright (C) 2016..2018  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 <ut_alld_mpr121.h>

#if ((AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_USE_MPR121)) || defined(__DOXYGEN__)

#include <aos_debug.h>

#include <chprintf.h>

#include <aos_thread.h>

#include <amiroos.h>

#define INTERRUPT_EVENT_ID            1

aos_utresult_t utAlldMpr121Func(BaseSequentialStream* stream, aos_unittest_t* ut)

{

  aosDbgCheck(ut->data != NULL && ((ut_mpr121data_t*)ut->data)->mprd != NULL);

  // local variables

  aos_utresult_t result = {0, 0};

  uint32_t status;

  mpr121_lld_config_t cfg;

  uint8_t data, wdata, rdata;

  uint16_t edata[4];

  uint8_t tstate = 0;

  event_listener_t event_listener;

  aos_timestamp_t tstart, tcurrent, tend;

  chprintf(stream, "soft reset...\n");

  status = mpr121_lld_soft_reset(((ut_mpr121data_t*)ut->data)->mprd, ((ut_mpr121data_t*)ut->data)->timeout);

  status |= mpr121_lld_read_config(((ut_mpr121data_t*)ut->data)->mprd, &cfg, ((ut_mpr121data_t*)ut->data)->timeout);

  if (status == APAL_STATUS_SUCCESS && cfg.registers.ele_config == 0) {

    aosUtPassed(stream, &result);

  } else {

    aosUtFailedMsg(stream, &result, "0x%08X\n", status);

  }

  chprintf(stream, "read register...\n");

  status = mpr121_lld_read_register(((ut_mpr121data_t*)ut->data)->mprd, MPR121_LLD_REGISTER_CONFIG_2, 0, 1, &data, ((ut_mpr121data_t*)ut->data)->timeout);

  chprintf(stream, "\t\tdata: 0x%02X\n", data);

  if (status == APAL_STATUS_SUCCESS && data == (MPR121_LLD_CDT_0_5 | MPR121_LLD_ESI_16)) {

    aosUtPassed(stream, &result);

  } else {

    aosUtFailedMsg(stream, &result, "0x%08X\n", status);

  }

  chprintf(stream, "write register...\n");

  wdata = MPR121_LLD_CDT_32 | MPR121_LLD_SFI_10 | MPR121_LLD_ESI_16;

  status = mpr121_lld_write_register(((ut_mpr121data_t*)ut->data)->mprd, MPR121_LLD_REGISTER_CONFIG_2, 0, 1, &wdata, ((ut_mpr121data_t*)ut->data)->timeout);

  aosThdMSleep(500);

  status |= mpr121_lld_read_register(((ut_mpr121data_t*)ut->data)->mprd, MPR121_LLD_REGISTER_CONFIG_2, 0, 1, &rdata, ((ut_mpr121data_t*)ut->data)->timeout);

  chprintf(stream, "\t\tdata: 0x%02X\n", rdata);

  status |= mpr121_lld_write_register(((ut_mpr121data_t*)ut->data)->mprd, MPR121_LLD_REGISTER_CONFIG_2, 0, 1, &data, ((ut_mpr121data_t*)ut->data)->timeout);

  if (status == APAL_STATUS_SUCCESS && rdata == wdata) {

    aosUtPassed(stream, &result);

  } else {

    aosUtFailedMsg(stream, &result, "0x%08X\n", status);

  }

  chprintf(stream, "read config...\n");

  status = mpr121_lld_read_config(((ut_mpr121data_t*)ut->data)->mprd, &cfg, ((ut_mpr121data_t*)ut->data)->timeout);

  if (status == APAL_STATUS_SUCCESS && cfg.registers.config_1 == 0x10 && cfg.registers.config_2 == 0x24) {

    aosUtPassed(stream, &result);

  } else {

    chprintf(stream, "\t\tconfig 1: 0x%02X\n", cfg.registers.config_1);

    chprintf(stream, "\t\tconfig 2: 0x%02X\n", cfg.registers.config_2);

    mpr121_lld_read_register(((ut_mpr121data_t*)ut->data)->mprd, MPR121_LLD_REGISTER_CONFIG_1, 0, 1, &rdata, ((ut_mpr121data_t*)ut->data)->timeout);

    chprintf(stream, "\t\tconfig 1: 0x%02X\n", rdata);

    mpr121_lld_read_register(((ut_mpr121data_t*)ut->data)->mprd, MPR121_LLD_REGISTER_CONFIG_2, 0, 1, &rdata, ((ut_mpr121data_t*)ut->data)->timeout);

    chprintf(stream, "\t\tconfig 2: 0x%02X\n", rdata);

    for (uint8_t valueIdx = 0; valueIdx < 8; valueIdx++) {

      chprintf(stream, "\t\tdata %d: 0x%02X\n", valueIdx, cfg.values[valueIdx]);

    }

    chprintf(stream, "ele_config: 0x%02X\n", cfg.registers.ele_config);

    chprintf(stream, "config_1: 0x%02X\n", cfg.registers.config_1);

    chprintf(stream, "config_2: 0x%02X\n", cfg.registers.config_2);

    chprintf(stream, "target_level: 0x%02X\n", cfg.registers.target_level);

    chprintf(stream, "low_side_limit: 0x%02X\n", cfg.registers.low_side_limit);

    chprintf(stream, "up_side_limit: 0x%02X\n", cfg.registers.up_side_limit);

    chprintf(stream, "auto_config_2: 0x%02X\n", cfg.registers.auto_config_2);

    chprintf(stream, "auto_config_1: 0x%02X\n", cfg.registers.auto_config_1);

    aosUtFailedMsg(stream, &result, "0x%08X\n", status);

  }

  chprintf(stream, "write config...\n");

  cfg.registers.ele_config = MPR121_LLD_CL_ON_ALL | MPR121_LLD_ELEPROX_0 | 4;

  cfg.registers.config_1 = MPR121_LLD_FFI_18 | 16;

  cfg.registers.config_2 = MPR121_LLD_CDT_1 | MPR121_LLD_SFI_10 | MPR121_LLD_ESI_32;

  cfg.registers.up_side_limit = 0x96u;

  cfg.registers.low_side_limit = 0x58u;

  cfg.registers.target_level = 0x68u;

  cfg.registers.auto_config_1 = MPR121_LLD_FFI_18 | MPR121_LLD_RETRY_2 | MPR121_LLD_BVA_ON_ALL | MPR121_LLD_AC_RECONF_EN;

  status = mpr121_lld_write_config(((ut_mpr121data_t*)ut->data)->mprd, cfg, ((ut_mpr121data_t*)ut->data)->timeout);

  aosThdMSleep(500);

  status |= mpr121_lld_read_config(((ut_mpr121data_t*)ut->data)->mprd, &cfg, ((ut_mpr121data_t*)ut->data)->timeout);

  if (status == APAL_STATUS_SUCCESS && cfg.registers.up_side_limit == 0x96u) {

    aosUtPassed(stream, &result);

  } else {

    aosUtFailedMsg(stream, &result, "0x%08X\n", status);

  }

  chprintf(stream, "read filtered data for ten seconds...\n");

  chprintf(stream, "(values should change if you touch the sensors now)\n");

  for (uint8_t i = 0; i < 10; i++) {

    status = mpr121_lld_read_filtered_data(((ut_mpr121data_t*)ut->data)->mprd, 0, 4, edata, ((ut_mpr121data_t*)ut->data)->timeout);

    chprintf(stream, "\t\t0x%04X | 0x%04X | 0x%04X | 0x%04X\n", edata[0], edata[1], edata[2], edata[3]);

    aosThdSSleep(1);

  }

  if (status == APAL_STATUS_SUCCESS) {

    aosUtPassed(stream, &result);

  } else {

    aosUtFailedMsg(stream, &result, "0x%08X\n", status);

  }

  chprintf(stream, "test interrupts...\n");

  status = AOS_OK;

  chEvtRegister(((ut_mpr121data_t*)ut->data)->evtsource, &event_listener, INTERRUPT_EVENT_ID);

  aosSysGetUptime(&tstart);

  tend = tstart + (30 * MICROSECONDS_PER_SECOND);

  do {

    aosSysGetUptime(&tcurrent);

    const aos_timestamp_t ttimeout = MICROSECONDS_PER_SECOND - ((tcurrent - tstart) % MICROSECONDS_PER_SECOND);

    const eventmask_t emask = chEvtWaitOneTimeout(EVENT_MASK(INTERRUPT_EVENT_ID), TIME_US2I(ttimeout));

    const eventflags_t eflags = chEvtGetAndClearFlags(&event_listener);

    if (emask == EVENT_MASK(INTERRUPT_EVENT_ID) && eflags == ((ut_mpr121data_t*)ut->data)->evtflags) {

      // interrupt detected

      status |= mpr121_lld_read_register(((ut_mpr121data_t*)ut->data)->mprd, MPR121_LLD_REGISTER_TOUCH_STATUS, 0, 1, &tstate, ((ut_mpr121data_t*)ut->data)->timeout);

      chprintf(stream, "\t\tinterrupt detected\n");

      chprintf(stream, "\t\ttstate: %X %X %X %X\n", tstate & 1, (tstate >> 1) & 1, (tstate >> 2) & 1, (tstate >> 3) & 1);

    }

    else if (emask == 0) {

      // timeout

      status |= mpr121_lld_read_register(((ut_mpr121data_t*)ut->data)->mprd, MPR121_LLD_REGISTER_TOUCH_STATUS, 0, 1, &tstate, ((ut_mpr121data_t*)ut->data)->timeout);

      chprintf(stream, "\t\ttstate: %X %X %X %X\n", tstate & 1, (tstate >> 1) & 1, (tstate >> 2) & 1, (tstate >> 3) & 1);

    }

    aosSysGetUptime(&tcurrent);

  } while (tcurrent < tend);

  chEvtUnregister(((ut_mpr121data_t*)ut->data)->evtsource, &event_listener);

  if (status == APAL_STATUS_SUCCESS) {

    aosUtPassed(stream, &result);

  } else {

    aosUtFailedMsg(stream, &result, "0x%08X\n", status);

  }

  aosUtInfoMsg(stream,"driver object memory footprint: %u bytes\n", sizeof(MPR121Driver));

  return result;

}

#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_USE_MPR121) */