amiro-os / test / periphery-lld / L3G4200D_v1 / aos_test_L3G4200D.c @ 2347b2ff
History | View | Annotate | Download (11.3 KB)
1 |
/*
|
---|---|
2 |
AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
|
3 |
Copyright (C) 2016..2019 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 <amiroos.h> |
20 |
#include <aos_test_L3G4200D.h> |
21 |
|
22 |
#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
23 |
|
24 |
/******************************************************************************/
|
25 |
/* LOCAL DEFINITIONS */
|
26 |
/******************************************************************************/
|
27 |
|
28 |
/******************************************************************************/
|
29 |
/* EXPORTED VARIABLES */
|
30 |
/******************************************************************************/
|
31 |
|
32 |
/******************************************************************************/
|
33 |
/* LOCAL TYPES */
|
34 |
/******************************************************************************/
|
35 |
|
36 |
/******************************************************************************/
|
37 |
/* LOCAL VARIABLES */
|
38 |
/******************************************************************************/
|
39 |
|
40 |
/******************************************************************************/
|
41 |
/* LOCAL FUNCTIONS */
|
42 |
/******************************************************************************/
|
43 |
|
44 |
/******************************************************************************/
|
45 |
/* EXPORTED FUNCTIONS */
|
46 |
/******************************************************************************/
|
47 |
|
48 |
/**
|
49 |
* @brief L3G4200D test function.
|
50 |
*
|
51 |
* @param[in] stream Stream for input/output.
|
52 |
* @param[in] test Test object.
|
53 |
*
|
54 |
* @return Test result value.
|
55 |
*/
|
56 |
aos_testresult_t aosTestL3g4200dFunc(BaseSequentialStream* stream, const aos_test_t* test)
|
57 |
{ |
58 |
aosDbgCheck(test->data != NULL && ((aos_test_l3g4200ddata_t*)(test->data)) != NULL); |
59 |
|
60 |
// local variables
|
61 |
aos_testresult_t result; |
62 |
int32_t status; |
63 |
uint8_t data = 0;
|
64 |
uint8_t write_data[5];
|
65 |
uint8_t read_data[5];
|
66 |
int16_t sdata[3];
|
67 |
uint8_t status_reg; |
68 |
eventmask_t event_mask; |
69 |
bool success = false; |
70 |
uint8_t fifo = 0x5F;
|
71 |
event_listener_t el; |
72 |
|
73 |
aosTestResultInit(&result); |
74 |
for (uint8_t dataIdx = 0; dataIdx < 4; dataIdx++) { |
75 |
write_data[dataIdx] = (dataIdx+1)*11; |
76 |
} |
77 |
write_data[4] = 0; |
78 |
|
79 |
chprintf(stream, "check identity...\n");
|
80 |
status = l3g4200d_lld_read_register(((aos_test_l3g4200ddata_t*)(test->data))->l3gd, L3G4200D_LLD_REGISTER_WHO_AM_I, &data, 1);
|
81 |
if(status == APAL_STATUS_SUCCESS && data == L3G4200D_LLD_WHO_AM_I){
|
82 |
aosTestPassed(stream, &result); |
83 |
} else {
|
84 |
aosTestFailedMsg(stream, &result, "0x%08X, data: %d\n", status, data);
|
85 |
} |
86 |
|
87 |
chprintf(stream, "write register...\n");
|
88 |
status = l3g4200d_lld_write_register(((aos_test_l3g4200ddata_t*)(test->data))->l3gd, L3G4200D_LLD_REGISTER_CTRL_REG1, write_data, 1);
|
89 |
if (status == APAL_STATUS_SUCCESS) {
|
90 |
aosTestPassed(stream, &result); |
91 |
} else {
|
92 |
aosTestFailed(stream, &result); |
93 |
} |
94 |
|
95 |
chprintf(stream, "read register...\n");
|
96 |
status = l3g4200d_lld_read_register(((aos_test_l3g4200ddata_t*)(test->data))->l3gd, L3G4200D_LLD_REGISTER_CTRL_REG1, &data, 1);
|
97 |
if (status == APAL_STATUS_SUCCESS && data == write_data[0]) { |
98 |
aosTestPassed(stream, &result); |
99 |
} else {
|
100 |
aosTestFailedMsg(stream, &result, "0x%08X, data: %d\n", status, data);
|
101 |
} |
102 |
|
103 |
chprintf(stream, "write multiple registers...\n");
|
104 |
status = l3g4200d_lld_write_register(((aos_test_l3g4200ddata_t*)(test->data))->l3gd, L3G4200D_LLD_REGISTER_CTRL_REG1, write_data, 5);
|
105 |
if (status == APAL_STATUS_SUCCESS) {
|
106 |
aosTestPassed(stream, &result); |
107 |
} else {
|
108 |
aosTestFailed(stream, &result); |
109 |
} |
110 |
|
111 |
chprintf(stream, "read multiple registers...\n");
|
112 |
status = l3g4200d_lld_read_register(((aos_test_l3g4200ddata_t*)(test->data))->l3gd, L3G4200D_LLD_REGISTER_CTRL_REG1, read_data, 5);
|
113 |
uint8_t errors = 0;
|
114 |
for (uint8_t dataIdx = 0; dataIdx < 5; dataIdx++) { |
115 |
if (read_data[dataIdx] != write_data[dataIdx]) {
|
116 |
++errors; |
117 |
} |
118 |
} |
119 |
if (status == APAL_STATUS_SUCCESS && errors == 0) { |
120 |
aosTestPassed(stream, &result); |
121 |
} else {
|
122 |
for (uint8_t dataIdx = 0; dataIdx < 5; dataIdx++) { |
123 |
chprintf(stream, "\t\tStatus: %d, CTRL_REG%d: %d, write_data: %d\n", status, dataIdx+1, read_data[dataIdx], write_data[dataIdx]); |
124 |
} |
125 |
aosTestFailedMsg(stream, &result, "0x%08X, errors: %d\n", status, errors);
|
126 |
} |
127 |
|
128 |
chprintf(stream, "read config...\n");
|
129 |
l3g4200d_lld_cfg_t cfg; |
130 |
status = l3g4200d_lld_read_config(((aos_test_l3g4200ddata_t*)(test->data))->l3gd, &cfg); |
131 |
if (status == APAL_STATUS_SUCCESS) {
|
132 |
aosTestPassed(stream, &result); |
133 |
} else {
|
134 |
aosTestFailed(stream, &result); |
135 |
} |
136 |
|
137 |
chprintf(stream, "write config...\n");
|
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; |
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;
|
140 |
cfg.registers.ctrl_reg3 = 0x07;
|
141 |
cfg.registers.ctrl_reg5 |= L3G4200D_LLD_FIFO_EN; |
142 |
status = l3g4200d_lld_write_config(((aos_test_l3g4200ddata_t*)(test->data))->l3gd, cfg); |
143 |
uint8_t reg1 = cfg.data[0];
|
144 |
status |= l3g4200d_lld_read_config(((aos_test_l3g4200ddata_t*)(test->data))->l3gd, &cfg); |
145 |
if (status == APAL_STATUS_SUCCESS && cfg.data[0] == reg1) { |
146 |
aosTestPassed(stream, &result); |
147 |
} else {
|
148 |
aosTestFailed(stream, &result); |
149 |
} |
150 |
|
151 |
chprintf(stream, "read gyro data for five seconds...\n");
|
152 |
status = APAL_STATUS_OK; |
153 |
for (uint8_t i = 0; i < 5; ++i) { |
154 |
status |= l3g4200d_lld_read_all_data(((aos_test_l3g4200ddata_t*)(test->data))->l3gd, sdata, &cfg); |
155 |
chprintf(stream, "\t\tX = %6d\tY = %6d\tZ = %6d\n", sdata[0], sdata[1], sdata[2]); |
156 |
aosThdSSleep(1);
|
157 |
} |
158 |
if (status == APAL_STATUS_SUCCESS) {
|
159 |
aosTestPassed(stream, &result); |
160 |
} else {
|
161 |
aosTestFailed(stream, &result); |
162 |
} |
163 |
|
164 |
chprintf(stream, "read X axis for five seconds...\n");
|
165 |
status = APAL_STATUS_SUCCESS; |
166 |
for (uint32_t i = 0; i <= 5; i++) { |
167 |
status |= l3g4200d_lld_read_data(((aos_test_l3g4200ddata_t*)(test->data))->l3gd, &(sdata[0]), L3G4200D_LLD_X_AXIS, &cfg);
|
168 |
chprintf(stream, "\t\tX = %6d\n", sdata[0]); |
169 |
aosThdSSleep(1);
|
170 |
} |
171 |
if (status == APAL_STATUS_SUCCESS) {
|
172 |
aosTestPassed(stream, &result); |
173 |
} else {
|
174 |
aosTestFailed(stream, &result); |
175 |
} |
176 |
|
177 |
chprintf(stream, "read Y axis for five seconds...\n");
|
178 |
status = APAL_STATUS_SUCCESS; |
179 |
for (uint32_t i = 0; i <= 5; i++) { |
180 |
status |= l3g4200d_lld_read_data(((aos_test_l3g4200ddata_t*)(test->data))->l3gd, &(sdata[0]), L3G4200D_LLD_Y_AXIS, &cfg);
|
181 |
chprintf(stream, "\t\tY = %6d\n", sdata[0]); |
182 |
aosThdSSleep(1);
|
183 |
} |
184 |
if (status == APAL_STATUS_SUCCESS) {
|
185 |
aosTestPassed(stream, &result); |
186 |
} else {
|
187 |
aosTestFailed(stream, &result); |
188 |
} |
189 |
|
190 |
chprintf(stream, "read Z axis for five seconds...\n");
|
191 |
status = APAL_STATUS_SUCCESS; |
192 |
for (uint32_t i = 0; i <= 5; i++) { |
193 |
status |= l3g4200d_lld_read_data(((aos_test_l3g4200ddata_t*)(test->data))->l3gd, &(sdata[0]), L3G4200D_LLD_Z_AXIS, &cfg);
|
194 |
chprintf(stream, "\t\tZ = %6d\n", sdata[0]); |
195 |
aosThdSSleep(1);
|
196 |
} |
197 |
if (status == APAL_STATUS_SUCCESS) {
|
198 |
aosTestPassed(stream, &result); |
199 |
} else {
|
200 |
aosTestFailed(stream, &result); |
201 |
} |
202 |
aosThdMSleep(10);
|
203 |
|
204 |
chprintf(stream, "read status register...\n");
|
205 |
status = l3g4200d_lld_read_status_register(((aos_test_l3g4200ddata_t*)(test->data))->l3gd, &status_reg); |
206 |
if (status == APAL_STATUS_SUCCESS) {
|
207 |
aosTestPassed(stream, &result); |
208 |
} else {
|
209 |
aosTestFailed(stream, &result); |
210 |
} |
211 |
|
212 |
chprintf(stream, "read interrupt config...\n");
|
213 |
l3g4200d_lld_int_cfg_t int_cfg; |
214 |
status = l3g4200d_lld_read_int_config(((aos_test_l3g4200ddata_t*)(test->data))->l3gd, &int_cfg); |
215 |
if (status == APAL_STATUS_SUCCESS) {
|
216 |
aosTestPassed(stream, &result); |
217 |
} else {
|
218 |
aosTestFailed(stream, &result); |
219 |
} |
220 |
|
221 |
chprintf(stream, "write interrupt config...\n");
|
222 |
int_cfg.registers.int1_tsh_xh = 10;
|
223 |
status = l3g4200d_lld_write_int_config(((aos_test_l3g4200ddata_t*)(test->data))->l3gd, int_cfg); |
224 |
l3g4200d_lld_int_cfg_t int_cfg2; |
225 |
status |= l3g4200d_lld_read_int_config(((aos_test_l3g4200ddata_t*)(test->data))->l3gd, &int_cfg2); |
226 |
if (status == APAL_STATUS_SUCCESS && int_cfg.registers.int1_tsh_xh == 10) { |
227 |
aosTestPassed(stream, &result); |
228 |
} else {
|
229 |
aosTestFailed(stream, &result); |
230 |
} |
231 |
|
232 |
chprintf(stream, "interrupt test: read fifo until empty...\n");
|
233 |
chEvtRegister(((aos_test_l3g4200ddata_t*)(test->data))->src, &el, 0);
|
234 |
status = l3g4200d_lld_write_fifo_ctrl_register(((aos_test_l3g4200ddata_t*)(test->data))->l3gd,fifo); |
235 |
fifo = 0;
|
236 |
status |= l3g4200d_lld_read_fifo_ctrl_register(((aos_test_l3g4200ddata_t*)(test->data))->l3gd,&fifo); |
237 |
status |= l3g4200d_lld_read_all_data(((aos_test_l3g4200ddata_t*)(test->data))->l3gd, sdata, &cfg); |
238 |
chEvtGetAndClearFlags(&el); |
239 |
aosThdSSleep(1);
|
240 |
chEvtGetAndClearFlags(&el); |
241 |
success = false;
|
242 |
for (uint8_t i = 0; i < 200; i++) { |
243 |
status |= l3g4200d_lld_read_all_data(((aos_test_l3g4200ddata_t*)(test->data))->l3gd, sdata, &cfg); |
244 |
event_mask = chEvtWaitAnyTimeout(~0, TIME_IMMEDIATE);
|
245 |
status |= l3g4200d_lld_read_fifo_src_register(((aos_test_l3g4200ddata_t*)(test->data))->l3gd,&fifo); |
246 |
if (event_mask != 0 && ((fifo & L3G4200D_LLD_EMPTY) || fifo == 0)) { |
247 |
success = true;
|
248 |
break;
|
249 |
} |
250 |
aosThdMSleep(1);
|
251 |
} |
252 |
if (status == APAL_STATUS_SUCCESS && success) {
|
253 |
aosTestPassed(stream, &result); |
254 |
} else {
|
255 |
aosTestFailed(stream, &result); |
256 |
} |
257 |
|
258 |
fifo = 0x4A;
|
259 |
status |= l3g4200d_lld_write_fifo_ctrl_register(((aos_test_l3g4200ddata_t*)(test->data))->l3gd,fifo); |
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; |
261 |
cfg.registers.ctrl_reg3 = 0x04;
|
262 |
status |= l3g4200d_lld_write_config(((aos_test_l3g4200ddata_t*)(test->data))->l3gd, cfg); |
263 |
chprintf(stream, "interrupt test: wait until wtm reached...\n");
|
264 |
for (uint8_t i = 0; i < 200; i++) { |
265 |
status |= l3g4200d_lld_read_all_data(((aos_test_l3g4200ddata_t*)(test->data))->l3gd, sdata, &cfg); |
266 |
event_mask = chEvtWaitAnyTimeout(~0, TIME_IMMEDIATE);
|
267 |
status |= l3g4200d_lld_read_fifo_src_register(((aos_test_l3g4200ddata_t*)(test->data))->l3gd,&fifo); |
268 |
if (event_mask != 0 && (fifo & L3G4200D_LLD_WTM)) { |
269 |
success = true;
|
270 |
break;
|
271 |
} |
272 |
aosThdMSleep(10);
|
273 |
} |
274 |
if (status == APAL_STATUS_SUCCESS && success) {
|
275 |
aosTestPassed(stream, &result); |
276 |
} else {
|
277 |
aosTestFailed(stream, &result); |
278 |
} |
279 |
|
280 |
chEvtUnregister(((aos_test_l3g4200ddata_t*)(test->data))->src, &el); |
281 |
aosThdMSleep(10);
|
282 |
|
283 |
aosTestInfoMsg(stream, "driver object memory footprint: %u bytes\n", sizeof(L3G4200DDriver)); |
284 |
|
285 |
return result;
|
286 |
} |
287 |
|
288 |
#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */ |
289 |
|