AMiRo-OS

/*

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

Copyright (C) 2016..2019  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 <amiroos.h>

#if ((AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_AT42QT1050) && (AMIROLLD_CFG_AT42QT1050 == 1)) || defined(__DOXYGEN__)

#include <ut_alld_AT42QT1050_v1.h>

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/* LOCAL DEFINITIONS                                                          */

/******************************************************************************/

#define INTERRUPT_EVENT_ID            1

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/* EXPORTED VARIABLES                                                         */

/******************************************************************************/

/******************************************************************************/

/* LOCAL TYPES                                                                */

/******************************************************************************/

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/* LOCAL VARIABLES                                                            */

/******************************************************************************/

/******************************************************************************/

/* LOCAL FUNCTIONS                                                            */

/******************************************************************************/

/******************************************************************************/

/* EXPORTED FUNCTIONS                                                         */

/******************************************************************************/

aos_utresult_t utAlldAt42qt1050Func(BaseSequentialStream* stream, aos_unittest_t* ut)

{

  aosDbgCheck(ut->data != NULL && ((ut_at42qt1050data_t*)ut->data)->at42qt1050d != NULL);

  // local variables

  aos_utresult_t result = {0, 0};

  uint32_t status;

  uint8_t buffer8[4] = {0, 0};

  uint16_t buffer16[5];

  event_listener_t event_listener;

  aos_timestamp_t tstart, tcurrent, tend;

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

  status = at42qt1050_lld_read_reg(((ut_at42qt1050data_t*)ut->data)->at42qt1050d, AT42QT1050_LLD_REG_CHIPID, &buffer8[0], ((ut_at42qt1050data_t*)ut->data)->timeout);

  status |= at42qt1050_lld_read_reg(((ut_at42qt1050data_t*)ut->data)->at42qt1050d, AT42QT1050_LLD_REG_FIRMWAREVERSION, &buffer8[1], ((ut_at42qt1050data_t*)ut->data)->timeout);

  chprintf(stream, "\t\tchip ID: 0x%02X\n", buffer8[0]);

  chprintf(stream, "\t\tfirmware version: %u.%u (0x%02X)\n", ((at42qt1050_lld_firmwarereg_t)buffer8[1]).major, ((at42qt1050_lld_firmwarereg_t)buffer8[1]).minor, buffer8[1]);

  if (status == APAL_STATUS_SUCCESS && buffer8[0] == AT42QT1050_LLD_CHIPID) {

    aosUtPassed(stream, &result);

  } else {

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

  }

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

  buffer8[1] = (((uint8_t)(at42qt1050_lld_samples2pulse(4096) + 0.5f)) << 4) | ((uint8_t)(at42qt1050_lld_scaling2scale(1024) + 0.5f));

  status = at42qt1050_lld_read_reg(((ut_at42qt1050data_t*)ut->data)->at42qt1050d, AT42QT1050_LLD_REG_PULSE_SCALE_1, &buffer8[0], ((ut_at42qt1050data_t*)ut->data)->timeout);

  status |= at42qt1050_lld_write_reg(((ut_at42qt1050data_t*)ut->data)->at42qt1050d, AT42QT1050_LLD_REG_PULSE_SCALE_1, buffer8[1] , ((ut_at42qt1050data_t*)ut->data)->timeout);

  status |= at42qt1050_lld_read_reg(((ut_at42qt1050data_t*)ut->data)->at42qt1050d, AT42QT1050_LLD_REG_PULSE_SCALE_1, &buffer8[2], ((ut_at42qt1050data_t*)ut->data)->timeout);

  status |= at42qt1050_lld_write_reg(((ut_at42qt1050data_t*)ut->data)->at42qt1050d, AT42QT1050_LLD_REG_PULSE_SCALE_1, buffer8[0] , ((ut_at42qt1050data_t*)ut->data)->timeout);

  status |= at42qt1050_lld_read_reg(((ut_at42qt1050data_t*)ut->data)->at42qt1050d, AT42QT1050_LLD_REG_PULSE_SCALE_1, &buffer8[3], ((ut_at42qt1050data_t*)ut->data)->timeout);

  if (status == APAL_STATUS_SUCCESS &&

      buffer8[3] == buffer8[0] &&

      buffer8[2] == buffer8[1] &&

      at42qt1050_lld_pulse2samples(((at42qt1050_lld_pulsescalereg_t)buffer8[2]).pulse) == 4096 &&

      at42qt1050_lld_scale2scaling(((at42qt1050_lld_pulsescalereg_t)buffer8[2]).scale) == 1024) {

    aosUtPassed(stream, &result);

  } else {

    aosUtFailedMsg(stream, &result, "0x%08X [0x%02X 0x%02X 0x%02X 0x%02X]\n", status, buffer8[0], buffer8[1], buffer8[2], buffer8[3]);

  }

  chprintf(stream, "read reference data...\n");

  status = APAL_STATUS_OK;

  for (uint8_t key = 0; key < AT42QT1050_LLD_NUM_KEYS; ++key) {

    status |= at42qt1050_lld_read_referencedata(((ut_at42qt1050data_t*)ut->data)->at42qt1050d, key, &buffer16[key], ((ut_at42qt1050data_t*)ut->data)->timeout);

    chprintf(stream, "\t\tkey %u: 0x%04X\n", key, buffer16[key]);

  }

  if (status == APAL_STATUS_SUCCESS) {

    aosUtPassed(stream, &result);

  } else {

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

  }

  chprintf(stream, "read key signal for ten seconds...\n");

  status = APAL_STATUS_OK;

  chprintf(stream, "\t\t key 0  key 1  key 2  key 3  key 4\n");

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

    aosThdSSleep(1);

    for (uint8_t key = 0; key < AT42QT1050_LLD_NUM_KEYS; ++key) {

      status |= at42qt1050_lld_read_keyssignal(((ut_at42qt1050data_t*)ut->data)->at42qt1050d, key, &buffer16[key], ((ut_at42qt1050data_t*)ut->data)->timeout);

    }

    chprintf(stream, "\t\t0x%04X 0x%04X 0x%04X 0x%04X 0x%04X\n", buffer16[0], buffer16[1], buffer16[2], buffer16[3], buffer16[4]);

  }

  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_at42qt1050data_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), chTimeUS2I(ttimeout));

    const eventflags_t eflags = chEvtGetAndClearFlags(&event_listener);

    if (emask == EVENT_MASK(INTERRUPT_EVENT_ID) && eflags == ((ut_at42qt1050data_t*)ut->data)->evtflags) {

      // interrupt detected

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

    } // else: timeout

    status |= at42qt1050_lld_read_reg(((ut_at42qt1050data_t*)ut->data)->at42qt1050d, AT42QT1050_LLD_REG_KEYSTATUS, &buffer8[0], ((ut_at42qt1050data_t*)ut->data)->timeout);

    chprintf(stream, "\t\tkey status: %u %u %u %u %u\n",

             (((buffer8[0] & AT42QT1050_LLD_KEYSTATUS_KEY0) == 0) ? 0 : 1),

             (((buffer8[0] & AT42QT1050_LLD_KEYSTATUS_KEY1) == 0) ? 0 : 1),

             (((buffer8[0] & AT42QT1050_LLD_KEYSTATUS_KEY2) == 0) ? 0 : 1),

             (((buffer8[0] & AT42QT1050_LLD_KEYSTATUS_KEY3) == 0) ? 0 : 1),

             (((buffer8[0] & AT42QT1050_LLD_KEYSTATUS_KEY4) == 0) ? 0 : 1));

    aosSysGetUptime(&tcurrent);

  } while (tcurrent < tend);

  chEvtUnregister(((ut_at42qt1050data_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(AT42QT1050Driver));

  return result;

}

#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_AT42QT1050) && (AMIROLLD_CFG_AT42QT1050 == 1) */