amiro-os / os / unittests / periphery-lld / src / ut_alld_mpr121.c @ 0128be0f
History | View | Annotate | Download (7.99 KB)
1 | e545e620 | Thomas Schöpping | /*
|
---|---|---|---|
2 | AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
|
||
3 | Copyright (C) 2016..2018 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_mpr121.h> |
||
20 | |||
21 | #if ((AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_USE_MPR121)) || defined(__DOXYGEN__) |
||
22 | |||
23 | #include <aos_debug.h> |
||
24 | #include <chprintf.h> |
||
25 | #include <aos_thread.h> |
||
26 | #include <amiroos.h> |
||
27 | |||
28 | #define INTERRUPT_EVENT_ID 1 |
||
29 | |||
30 | aos_utresult_t utAlldMpr121Func(BaseSequentialStream* stream, aos_unittest_t* ut) |
||
31 | { |
||
32 | aosDbgCheck(ut->data != NULL && ((ut_mpr121data_t*)ut->data)->mprd != NULL); |
||
33 | |||
34 | // local variables
|
||
35 | aos_utresult_t result = {0, 0}; |
||
36 | uint32_t status; |
||
37 | mpr121_lld_config_t cfg; |
||
38 | uint8_t data, wdata, rdata; |
||
39 | uint16_t edata[4];
|
||
40 | uint8_t tstate = 0;
|
||
41 | event_listener_t event_listener; |
||
42 | aos_timestamp_t tstart, tcurrent, tend; |
||
43 | |||
44 | chprintf(stream, "soft reset...\n");
|
||
45 | status = mpr121_lld_soft_reset(((ut_mpr121data_t*)ut->data)->mprd, ((ut_mpr121data_t*)ut->data)->timeout); |
||
46 | status |= mpr121_lld_read_config(((ut_mpr121data_t*)ut->data)->mprd, &cfg, ((ut_mpr121data_t*)ut->data)->timeout); |
||
47 | if (status == APAL_STATUS_SUCCESS && cfg.registers.ele_config == 0) { |
||
48 | aosUtPassed(stream, &result); |
||
49 | } else {
|
||
50 | aosUtFailedMsg(stream, &result, "0x%08X\n", status);
|
||
51 | } |
||
52 | |||
53 | chprintf(stream, "read register...\n");
|
||
54 | 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); |
||
55 | chprintf(stream, "\t\tdata: 0x%02X\n", data);
|
||
56 | if (status == APAL_STATUS_SUCCESS && data == (MPR121_LLD_CDT_0_5 | MPR121_LLD_ESI_16)) {
|
||
57 | aosUtPassed(stream, &result); |
||
58 | } else {
|
||
59 | aosUtFailedMsg(stream, &result, "0x%08X\n", status);
|
||
60 | } |
||
61 | |||
62 | chprintf(stream, "write register...\n");
|
||
63 | wdata = MPR121_LLD_CDT_32 | MPR121_LLD_SFI_10 | MPR121_LLD_ESI_16; |
||
64 | 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); |
||
65 | aosThdMSleep(500);
|
||
66 | 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); |
||
67 | chprintf(stream, "\t\tdata: 0x%02X\n", rdata);
|
||
68 | 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); |
||
69 | if (status == APAL_STATUS_SUCCESS && rdata == wdata) {
|
||
70 | aosUtPassed(stream, &result); |
||
71 | } else {
|
||
72 | aosUtFailedMsg(stream, &result, "0x%08X\n", status);
|
||
73 | } |
||
74 | |||
75 | chprintf(stream, "read config...\n");
|
||
76 | status = mpr121_lld_read_config(((ut_mpr121data_t*)ut->data)->mprd, &cfg, ((ut_mpr121data_t*)ut->data)->timeout); |
||
77 | if (status == APAL_STATUS_SUCCESS && cfg.registers.config_1 == 0x10 && cfg.registers.config_2 == 0x24) { |
||
78 | aosUtPassed(stream, &result); |
||
79 | } else {
|
||
80 | chprintf(stream, "\t\tconfig 1: 0x%02X\n", cfg.registers.config_1);
|
||
81 | chprintf(stream, "\t\tconfig 2: 0x%02X\n", cfg.registers.config_2);
|
||
82 | mpr121_lld_read_register(((ut_mpr121data_t*)ut->data)->mprd, MPR121_LLD_REGISTER_CONFIG_1, 0, 1, &rdata, ((ut_mpr121data_t*)ut->data)->timeout); |
||
83 | chprintf(stream, "\t\tconfig 1: 0x%02X\n", rdata);
|
||
84 | mpr121_lld_read_register(((ut_mpr121data_t*)ut->data)->mprd, MPR121_LLD_REGISTER_CONFIG_2, 0, 1, &rdata, ((ut_mpr121data_t*)ut->data)->timeout); |
||
85 | chprintf(stream, "\t\tconfig 2: 0x%02X\n", rdata);
|
||
86 | for (uint8_t valueIdx = 0; valueIdx < 8; valueIdx++) { |
||
87 | chprintf(stream, "\t\tdata %d: 0x%02X\n", valueIdx, cfg.values[valueIdx]);
|
||
88 | } |
||
89 | chprintf(stream, "ele_config: 0x%02X\n", cfg.registers.ele_config);
|
||
90 | chprintf(stream, "config_1: 0x%02X\n", cfg.registers.config_1);
|
||
91 | chprintf(stream, "config_2: 0x%02X\n", cfg.registers.config_2);
|
||
92 | chprintf(stream, "target_level: 0x%02X\n", cfg.registers.target_level);
|
||
93 | chprintf(stream, "low_side_limit: 0x%02X\n", cfg.registers.low_side_limit);
|
||
94 | chprintf(stream, "up_side_limit: 0x%02X\n", cfg.registers.up_side_limit);
|
||
95 | chprintf(stream, "auto_config_2: 0x%02X\n", cfg.registers.auto_config_2);
|
||
96 | chprintf(stream, "auto_config_1: 0x%02X\n", cfg.registers.auto_config_1);
|
||
97 | aosUtFailedMsg(stream, &result, "0x%08X\n", status);
|
||
98 | } |
||
99 | |||
100 | chprintf(stream, "write config...\n");
|
||
101 | cfg.registers.ele_config = MPR121_LLD_CL_ON_ALL | MPR121_LLD_ELEPROX_0 | 4;
|
||
102 | cfg.registers.config_1 = MPR121_LLD_FFI_18 | 16;
|
||
103 | cfg.registers.config_2 = MPR121_LLD_CDT_1 | MPR121_LLD_SFI_10 | MPR121_LLD_ESI_32; |
||
104 | cfg.registers.up_side_limit = 0x96u;
|
||
105 | cfg.registers.low_side_limit = 0x58u;
|
||
106 | cfg.registers.target_level = 0x68u;
|
||
107 | cfg.registers.auto_config_1 = MPR121_LLD_FFI_18 | MPR121_LLD_RETRY_2 | MPR121_LLD_BVA_ON_ALL | MPR121_LLD_AC_RECONF_EN; |
||
108 | status = mpr121_lld_write_config(((ut_mpr121data_t*)ut->data)->mprd, cfg, ((ut_mpr121data_t*)ut->data)->timeout); |
||
109 | aosThdMSleep(500);
|
||
110 | status |= mpr121_lld_read_config(((ut_mpr121data_t*)ut->data)->mprd, &cfg, ((ut_mpr121data_t*)ut->data)->timeout); |
||
111 | if (status == APAL_STATUS_SUCCESS && cfg.registers.up_side_limit == 0x96u) { |
||
112 | aosUtPassed(stream, &result); |
||
113 | } else {
|
||
114 | aosUtFailedMsg(stream, &result, "0x%08X\n", status);
|
||
115 | } |
||
116 | |||
117 | chprintf(stream, "read filtered data for ten seconds...\n");
|
||
118 | chprintf(stream, "(values should change if you touch the sensors now)\n");
|
||
119 | for (uint8_t i = 0; i < 10; i++) { |
||
120 | status = mpr121_lld_read_filtered_data(((ut_mpr121data_t*)ut->data)->mprd, 0, 4, edata, ((ut_mpr121data_t*)ut->data)->timeout); |
||
121 | chprintf(stream, "\t\t0x%04X | 0x%04X | 0x%04X | 0x%04X\n", edata[0], edata[1], edata[2], edata[3]); |
||
122 | aosThdSSleep(1);
|
||
123 | } |
||
124 | if (status == APAL_STATUS_SUCCESS) {
|
||
125 | aosUtPassed(stream, &result); |
||
126 | } else {
|
||
127 | aosUtFailedMsg(stream, &result, "0x%08X\n", status);
|
||
128 | } |
||
129 | |||
130 | chprintf(stream, "test interrupts...\n");
|
||
131 | status = AOS_OK; |
||
132 | chEvtRegister(((ut_mpr121data_t*)ut->data)->evtsource, &event_listener, INTERRUPT_EVENT_ID); |
||
133 | aosSysGetUptime(&tstart); |
||
134 | tend = tstart + (30 * MICROSECONDS_PER_SECOND);
|
||
135 | do {
|
||
136 | aosSysGetUptime(&tcurrent); |
||
137 | const aos_timestamp_t ttimeout = MICROSECONDS_PER_SECOND - ((tcurrent - tstart) % MICROSECONDS_PER_SECOND);
|
||
138 | 0128be0f | Marc Rothmann | const eventmask_t emask = chEvtWaitOneTimeout(EVENT_MASK(INTERRUPT_EVENT_ID), TIME_US2I(ttimeout));
|
139 | e545e620 | Thomas Schöpping | const eventflags_t eflags = chEvtGetAndClearFlags(&event_listener);
|
140 | if (emask == EVENT_MASK(INTERRUPT_EVENT_ID) && eflags == ((ut_mpr121data_t*)ut->data)->evtflags) {
|
||
141 | // interrupt detected
|
||
142 | 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); |
||
143 | chprintf(stream, "\t\tinterrupt detected\n");
|
||
144 | chprintf(stream, "\t\ttstate: %X %X %X %X\n", tstate & 1, (tstate >> 1) & 1, (tstate >> 2) & 1, (tstate >> 3) & 1); |
||
145 | } |
||
146 | else if (emask == 0) { |
||
147 | // timeout
|
||
148 | 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); |
||
149 | chprintf(stream, "\t\ttstate: %X %X %X %X\n", tstate & 1, (tstate >> 1) & 1, (tstate >> 2) & 1, (tstate >> 3) & 1); |
||
150 | } |
||
151 | aosSysGetUptime(&tcurrent); |
||
152 | } while (tcurrent < tend);
|
||
153 | chEvtUnregister(((ut_mpr121data_t*)ut->data)->evtsource, &event_listener); |
||
154 | if (status == APAL_STATUS_SUCCESS) {
|
||
155 | aosUtPassed(stream, &result); |
||
156 | } else {
|
||
157 | aosUtFailedMsg(stream, &result, "0x%08X\n", status);
|
||
158 | } |
||
159 | |||
160 | aosUtInfoMsg(stream,"driver object memory footprint: %u bytes\n", sizeof(MPR121Driver)); |
||
161 | |||
162 | return result;
|
||
163 | } |
||
164 | |||
165 | #endif /* (AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_USE_MPR121) */ |