amiro-os / unittests / periphery-lld / src / ut_alld_L3G4200D_v1.c @ 1f94ac64
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| 1 | e545e620 | Thomas Schöpping | /*
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| 2 | AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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| 3 | 84f0ce9e | Thomas Schöpping | Copyright (C) 2016..2019 Thomas Schöpping et al.
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| 4 | e545e620 | Thomas Schöpping | |
| 5 | This program is free software: you can redistribute it and/or modify
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| 6 | it under the terms of the GNU General Public License as published by
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| 7 | the Free Software Foundation, either version 3 of the License, or
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| 8 | (at your option) any later version.
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| 9 | |||
| 10 | This program is distributed in the hope that it will be useful,
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| 11 | but WITHOUT ANY WARRANTY; without even the implied warranty of
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| 12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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| 13 | GNU General Public License for more details.
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| 14 | |||
| 15 | You should have received a copy of the GNU General Public License
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| 16 | along with this program. If not, see <http://www.gnu.org/licenses/>.
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| 17 | */
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| 18 | |||
| 19 | ddf34c3d | Thomas Schöpping | #include <amiroos.h> |
| 20 | e545e620 | Thomas Schöpping | |
| 21 | ddf34c3d | Thomas Schöpping | #if ((AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_L3G4200D) && (AMIROLLD_CFG_L3G4200D == 1)) || defined(__DOXYGEN__) |
| 22 | |||
| 23 | #include <ut_alld_L3G4200D_v1.h> |
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| 24 | e545e620 | Thomas Schöpping | |
| 25 | f3ac1c96 | Thomas Schöpping | /******************************************************************************/
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| 26 | /* LOCAL DEFINITIONS */
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| 27 | /******************************************************************************/
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| 28 | |||
| 29 | /******************************************************************************/
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| 30 | /* EXPORTED VARIABLES */
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| 31 | /******************************************************************************/
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| 32 | |||
| 33 | /******************************************************************************/
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| 34 | /* LOCAL TYPES */
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| 35 | /******************************************************************************/
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| 36 | |||
| 37 | /******************************************************************************/
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| 38 | /* LOCAL VARIABLES */
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| 39 | /******************************************************************************/
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| 40 | |||
| 41 | /******************************************************************************/
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| 42 | /* LOCAL FUNCTIONS */
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| 43 | /******************************************************************************/
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| 44 | |||
| 45 | /******************************************************************************/
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| 46 | /* EXPORTED FUNCTIONS */
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| 47 | /******************************************************************************/
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| 48 | e545e620 | Thomas Schöpping | |
| 49 | /**
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| 50 | * @brief L3G4200D unit test function.
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| 51 | *
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| 52 | * @param[in] stream Stream for input/output.
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| 53 | * @param[in] ut Unit test object.
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| 54 | *
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| 55 | * @return Unit test result value.
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| 56 | */
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| 57 | aos_utresult_t utAlldL3g4200dFunc(BaseSequentialStream* stream, aos_unittest_t* ut) |
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| 58 | {
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| 59 | aosDbgCheck(ut->data != NULL && ((ut_l3g4200ddata_t*)(ut->data)) != NULL); |
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| 60 | |||
| 61 | // local variables
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| 62 | aos_utresult_t result = {0, 0};
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| 63 | uint32_t status; |
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| 64 | uint8_t data = 0;
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| 65 | uint8_t write_data[5];
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| 66 | uint8_t read_data[5];
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| 67 | int16_t sdata[3];
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| 68 | uint8_t status_reg; |
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| 69 | eventmask_t event_mask; |
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| 70 | bool success = false; |
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| 71 | uint8_t fifo = 0x5F;
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| 72 | event_listener_t el; |
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| 73 | |||
| 74 | for (uint8_t dataIdx = 0; dataIdx < 4; dataIdx++) { |
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| 75 | write_data[dataIdx] = (dataIdx+1)*11; |
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| 76 | } |
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| 77 | write_data[4] = 0; |
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| 78 | |||
| 79 | chprintf(stream, "check identity...\n");
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| 80 | status = l3g4200d_lld_read_register(((ut_l3g4200ddata_t*)(ut->data))->l3gd, L3G4200D_LLD_REGISTER_WHO_AM_I, &data, 1);
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| 81 | if(status == APAL_STATUS_SUCCESS && data == L3G4200D_LLD_WHO_AM_I){
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| 82 | aosUtPassed(stream, &result); |
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| 83 | } else {
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| 84 | aosUtFailedMsg(stream, &result, "0x%08X, data: %d\n", status, data);
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| 85 | } |
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| 86 | |||
| 87 | chprintf(stream, "write register...\n");
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| 88 | status = l3g4200d_lld_write_register(((ut_l3g4200ddata_t*)(ut->data))->l3gd, L3G4200D_LLD_REGISTER_CTRL_REG1, write_data, 1);
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| 89 | if (status == APAL_STATUS_SUCCESS) {
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| 90 | aosUtPassed(stream, &result); |
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| 91 | } else {
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| 92 | aosUtFailed(stream, &result); |
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| 93 | } |
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| 94 | |||
| 95 | chprintf(stream, "read register...\n");
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| 96 | status = l3g4200d_lld_read_register(((ut_l3g4200ddata_t*)(ut->data))->l3gd, L3G4200D_LLD_REGISTER_CTRL_REG1, &data, 1);
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| 97 | if (status == APAL_STATUS_SUCCESS && data == write_data[0]) { |
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| 98 | aosUtPassed(stream, &result); |
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| 99 | } else {
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| 100 | aosUtFailedMsg(stream, &result, "0x%08X, data: %d\n", status, data);
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| 101 | } |
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| 102 | |||
| 103 | chprintf(stream, "write multiple registers...\n");
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| 104 | status = l3g4200d_lld_write_register(((ut_l3g4200ddata_t*)(ut->data))->l3gd, L3G4200D_LLD_REGISTER_CTRL_REG1, write_data, 5);
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| 105 | if (status == APAL_STATUS_SUCCESS) {
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| 106 | aosUtPassed(stream, &result); |
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| 107 | } else {
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| 108 | aosUtFailed(stream, &result); |
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| 109 | } |
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| 110 | |||
| 111 | chprintf(stream, "read multiple registers...\n");
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| 112 | status = l3g4200d_lld_read_register(((ut_l3g4200ddata_t*)(ut->data))->l3gd, L3G4200D_LLD_REGISTER_CTRL_REG1, read_data, 5);
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| 113 | uint8_t errors = 0;
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| 114 | for (uint8_t dataIdx = 0; dataIdx < 5; dataIdx++) { |
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| 115 | if (read_data[dataIdx] != write_data[dataIdx]) {
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| 116 | ++errors; |
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| 117 | } |
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| 118 | } |
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| 119 | if (status == APAL_STATUS_SUCCESS && errors == 0) { |
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| 120 | aosUtPassed(stream, &result); |
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| 121 | } else {
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| 122 | for (uint8_t dataIdx = 0; dataIdx < 5; dataIdx++) { |
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| 123 | chprintf(stream, "\t\tStatus: %d, CTRL_REG%d: %d, write_data: %d\n", status, dataIdx+1, read_data[dataIdx], write_data[dataIdx]); |
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| 124 | } |
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| 125 | aosUtFailedMsg(stream, &result, "0x%08X, errors: %d\n", status, errors);
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| 126 | } |
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| 127 | |||
| 128 | chprintf(stream, "read config...\n");
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| 129 | l3g4200d_lld_cfg_t cfg; |
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| 130 | status = l3g4200d_lld_read_config(((ut_l3g4200ddata_t*)(ut->data))->l3gd, &cfg); |
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| 131 | if (status == APAL_STATUS_SUCCESS) {
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| 132 | aosUtPassed(stream, &result); |
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| 133 | } else {
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| 134 | aosUtFailed(stream, &result); |
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| 135 | } |
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| 136 | |||
| 137 | chprintf(stream, "write config...\n");
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| 138 | cfg.registers.ctrl_reg1 = L3G4200D_LLD_PD | L3G4200D_LLD_DR_100_HZ | L3G4200D_LLD_BW_12_5 | L3G4200D_LLD_ZEN | L3G4200D_LLD_YEN | L3G4200D_LLD_XEN; |
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| 139 | //cfg.registers.ctrl_reg1 = L3G4200D_LLD_PD | L3G4200D_LLD_DR_800_HZ | L3G4200D_LLD_BW_20 | L3G4200D_LLD_ZEN | L3G4200D_LLD_YEN | L3G4200D_LLD_XEN;
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| 140 | cfg.registers.ctrl_reg3 = 0x07;
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| 141 | cfg.registers.ctrl_reg5 |= L3G4200D_LLD_FIFO_EN; |
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| 142 | status = l3g4200d_lld_write_config(((ut_l3g4200ddata_t*)(ut->data))->l3gd, cfg); |
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| 143 | uint8_t reg1 = cfg.data[0];
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| 144 | status |= l3g4200d_lld_read_config(((ut_l3g4200ddata_t*)(ut->data))->l3gd, &cfg); |
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| 145 | if (status == APAL_STATUS_SUCCESS && cfg.data[0] == reg1) { |
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| 146 | aosUtPassed(stream, &result); |
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| 147 | } else {
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| 148 | aosUtFailed(stream, &result); |
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| 149 | } |
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| 150 | |||
| 151 | chprintf(stream, "read gyro data for five seconds...\n");
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| 152 | status = APAL_STATUS_OK; |
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| 153 | for (uint8_t i = 0; i < 5; ++i) { |
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| 154 | status |= l3g4200d_lld_read_all_data(((ut_l3g4200ddata_t*)(ut->data))->l3gd, sdata, &cfg); |
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| 155 | chprintf(stream, "\t\tX = %6d\tY = %6d\tZ = %6d\n", sdata[0], sdata[1], sdata[2]); |
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| 156 | aosThdSSleep(1);
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| 157 | } |
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| 158 | if (status == APAL_STATUS_SUCCESS) {
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| 159 | aosUtPassed(stream, &result); |
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| 160 | } else {
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| 161 | aosUtFailed(stream, &result); |
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| 162 | } |
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| 163 | |||
| 164 | chprintf(stream, "read X axis for five seconds...\n");
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| 165 | status = APAL_STATUS_SUCCESS; |
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| 166 | for (uint32_t i = 0; i <= 5; i++) { |
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| 167 | status |= l3g4200d_lld_read_data(((ut_l3g4200ddata_t*)(ut->data))->l3gd, &(sdata[0]), L3G4200D_LLD_X_AXIS, &cfg);
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| 168 | chprintf(stream, "\t\tX = %6d\n", sdata[0]); |
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| 169 | aosThdSSleep(1);
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| 170 | } |
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| 171 | if (status == APAL_STATUS_SUCCESS) {
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| 172 | aosUtPassed(stream, &result); |
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| 173 | } else {
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| 174 | aosUtFailed(stream, &result); |
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| 175 | } |
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| 176 | |||
| 177 | chprintf(stream, "read Y axis for five seconds...\n");
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| 178 | status = APAL_STATUS_SUCCESS; |
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| 179 | for (uint32_t i = 0; i <= 5; i++) { |
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| 180 | status |= l3g4200d_lld_read_data(((ut_l3g4200ddata_t*)(ut->data))->l3gd, &(sdata[0]), L3G4200D_LLD_Y_AXIS, &cfg);
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| 181 | chprintf(stream, "\t\tY = %6d\n", sdata[0]); |
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| 182 | aosThdSSleep(1);
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| 183 | } |
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| 184 | if (status == APAL_STATUS_SUCCESS) {
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| 185 | aosUtPassed(stream, &result); |
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| 186 | } else {
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| 187 | aosUtFailed(stream, &result); |
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| 188 | } |
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| 189 | |||
| 190 | chprintf(stream, "read Z axis for five seconds...\n");
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| 191 | status = APAL_STATUS_SUCCESS; |
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| 192 | for (uint32_t i = 0; i <= 5; i++) { |
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| 193 | status |= l3g4200d_lld_read_data(((ut_l3g4200ddata_t*)(ut->data))->l3gd, &(sdata[0]), L3G4200D_LLD_Z_AXIS, &cfg);
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| 194 | chprintf(stream, "\t\tZ = %6d\n", sdata[0]); |
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| 195 | aosThdSSleep(1);
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| 196 | } |
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| 197 | if (status == APAL_STATUS_SUCCESS) {
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| 198 | aosUtPassed(stream, &result); |
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| 199 | } else {
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| 200 | aosUtFailed(stream, &result); |
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| 201 | } |
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| 202 | aosThdMSleep(10);
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| 203 | |||
| 204 | chprintf(stream, "read status register...\n");
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| 205 | status = l3g4200d_lld_read_status_register(((ut_l3g4200ddata_t*)(ut->data))->l3gd, &status_reg); |
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| 206 | if (status == APAL_STATUS_SUCCESS) {
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| 207 | aosUtPassed(stream, &result); |
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| 208 | } else {
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| 209 | aosUtFailed(stream, &result); |
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| 210 | } |
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| 211 | |||
| 212 | chprintf(stream, "read interrupt config...\n");
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| 213 | l3g4200d_lld_int_cfg_t int_cfg; |
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| 214 | status = l3g4200d_lld_read_int_config(((ut_l3g4200ddata_t*)(ut->data))->l3gd, &int_cfg); |
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| 215 | if (status == APAL_STATUS_SUCCESS) {
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| 216 | aosUtPassed(stream, &result); |
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| 217 | } else {
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| 218 | aosUtFailed(stream, &result); |
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| 219 | } |
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| 220 | |||
| 221 | chprintf(stream, "write interrupt config...\n");
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| 222 | int_cfg.registers.int1_tsh_xh = 10;
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| 223 | status = l3g4200d_lld_write_int_config(((ut_l3g4200ddata_t*)(ut->data))->l3gd, int_cfg); |
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| 224 | l3g4200d_lld_int_cfg_t int_cfg2; |
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| 225 | status |= l3g4200d_lld_read_int_config(((ut_l3g4200ddata_t*)(ut->data))->l3gd, &int_cfg2); |
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| 226 | if (status == APAL_STATUS_SUCCESS && int_cfg.registers.int1_tsh_xh == 10) { |
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| 227 | aosUtPassed(stream, &result); |
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| 228 | } else {
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| 229 | aosUtFailed(stream, &result); |
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| 230 | } |
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| 231 | |||
| 232 | chprintf(stream, "interrupt test: read fifo until empty...\n");
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| 233 | chEvtRegister(((ut_l3g4200ddata_t*)(ut->data))->src, &el, 0);
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| 234 | status = l3g4200d_lld_write_fifo_ctrl_register(((ut_l3g4200ddata_t*)(ut->data))->l3gd,fifo); |
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| 235 | fifo = 0;
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| 236 | status |= l3g4200d_lld_read_fifo_ctrl_register(((ut_l3g4200ddata_t*)(ut->data))->l3gd,&fifo); |
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| 237 | status |= l3g4200d_lld_read_all_data(((ut_l3g4200ddata_t*)(ut->data))->l3gd, sdata, &cfg); |
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| 238 | chEvtGetAndClearFlags(&el); |
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| 239 | aosThdSSleep(1);
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| 240 | chEvtGetAndClearFlags(&el); |
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| 241 | success = false;
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| 242 | for (uint8_t i = 0; i < 200; i++) { |
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| 243 | status |= l3g4200d_lld_read_all_data(((ut_l3g4200ddata_t*)(ut->data))->l3gd, sdata, &cfg); |
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| 244 | event_mask = chEvtWaitAnyTimeout(~0, TIME_IMMEDIATE);
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| 245 | status |= l3g4200d_lld_read_fifo_src_register(((ut_l3g4200ddata_t*)(ut->data))->l3gd,&fifo); |
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| 246 | if (event_mask != 0 && ((fifo & L3G4200D_LLD_EMPTY) || fifo == 0)) { |
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| 247 | success = true;
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| 248 | break;
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| 249 | } |
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| 250 | aosThdMSleep(1);
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| 251 | } |
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| 252 | if (status == APAL_STATUS_SUCCESS && success) {
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| 253 | aosUtPassed(stream, &result); |
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| 254 | } else {
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| 255 | aosUtFailed(stream, &result); |
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| 256 | } |
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| 257 | |||
| 258 | fifo = 0x4A;
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| 259 | status |= l3g4200d_lld_write_fifo_ctrl_register(((ut_l3g4200ddata_t*)(ut->data))->l3gd,fifo); |
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| 260 | cfg.registers.ctrl_reg1 = L3G4200D_LLD_PD | L3G4200D_LLD_DR_800_HZ | L3G4200D_LLD_BW_20 | L3G4200D_LLD_ZEN | L3G4200D_LLD_YEN | L3G4200D_LLD_XEN; |
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| 261 | cfg.registers.ctrl_reg3 = 0x04;
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| 262 | status |= l3g4200d_lld_write_config(((ut_l3g4200ddata_t*)(ut->data))->l3gd, cfg); |
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| 263 | chprintf(stream, "interrupt test: wait until wtm reached...\n");
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| 264 | for (uint8_t i = 0; i < 200; i++) { |
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| 265 | status |= l3g4200d_lld_read_all_data(((ut_l3g4200ddata_t*)(ut->data))->l3gd, sdata, &cfg); |
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| 266 | event_mask = chEvtWaitAnyTimeout(~0, TIME_IMMEDIATE);
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| 267 | status |= l3g4200d_lld_read_fifo_src_register(((ut_l3g4200ddata_t*)(ut->data))->l3gd,&fifo); |
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| 268 | if (event_mask != 0 && (fifo & L3G4200D_LLD_WTM)) { |
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| 269 | success = true;
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| 270 | break;
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| 271 | } |
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| 272 | aosThdMSleep(10);
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| 273 | } |
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| 274 | if (status == APAL_STATUS_SUCCESS && success) {
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| 275 | aosUtPassed(stream, &result); |
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| 276 | } else {
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| 277 | aosUtFailed(stream, &result); |
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| 278 | } |
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| 279 | |||
| 280 | chEvtUnregister(((ut_l3g4200ddata_t*)(ut->data))->src, &el); |
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| 281 | aosThdMSleep(10);
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| 282 | |||
| 283 | aosUtInfoMsg(stream, "driver object memory footprint: %u bytes\n", sizeof(L3G4200DDriver)); |
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| 284 | |||
| 285 | return result;
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| 286 | } |
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| 287 | |||
| 288 | ddf34c3d | Thomas Schöpping | #endif /* (AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_L3G4200D) && (AMIROLLD_CFG_L3G4200D == 1) */ |