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amiro-os / unittests / periphery-lld / src / ut_alld_HMC5883L_v1.c @ 2a4dbf93

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/*
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AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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Copyright (C) 2016..2019  Thomas Schöpping et al.
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program.  If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <amiroos.h>
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#include <ut_alld_HMC5883L_v1.h>
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#if ((AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_HMC5883L) && (AMIROLLD_CFG_HMC5883L == 1)) || defined(__DOXYGEN__)
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/******************************************************************************/
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/* LOCAL DEFINITIONS                                                          */
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/******************************************************************************/
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/******************************************************************************/
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/* EXPORTED VARIABLES                                                         */
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/******************************************************************************/
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/******************************************************************************/
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/* LOCAL TYPES                                                                */
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/******************************************************************************/
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/******************************************************************************/
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/* LOCAL VARIABLES                                                            */
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/******************************************************************************/
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/******************************************************************************/
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/* LOCAL FUNCTIONS                                                            */
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/******************************************************************************/
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/******************************************************************************/
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/* EXPORTED FUNCTIONS                                                         */
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/******************************************************************************/
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/**
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 * @brief   HMC5338L unit test function.
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 *
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 * @param[in] stream  Stream for intput/output.
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 * @param[in] ut      Unit test object.
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 *
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 * @return            Unit test result value.
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 */
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aos_utresult_t utAlldHmc5883lFunc(BaseSequentialStream* stream, aos_unittest_t* ut)
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{
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  aosDbgCheck(ut->data != NULL && (((ut_hmc5883ldata_t*)(ut->data))->drdyEvtSrc != NULL));
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  // local variables
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  aos_utresult_t result = {0, 0};
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  uint32_t status;
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  uint8_t rxbuffer[3];
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  uint8_t data;
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  uint8_t conf = 0x70;
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  hmc5883l_lld_config_t cfg;
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  uint16_t mdata[3];
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  uint8_t state;
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  eventmask_t event_mask = 0;
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  event_listener_t el;
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  uint16_t data_reads = 0;
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  aos_timestamp_t start;
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  aos_timestamp_t t;
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  chprintf(stream, "check ID...\n");
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  status = hmc5883l_lld_check(((ut_hmc5883ldata_t*)ut->data)->driver, rxbuffer, 3, ((ut_hmc5883ldata_t*)ut->data)->timeout);
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  if (status == APAL_STATUS_SUCCESS && rxbuffer[0] == HMC5883L_LLD_IDENTIFICATION_A
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                                   && rxbuffer[1] == HMC5883L_LLD_IDENTIFICATION_B
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                                   && rxbuffer[2] == HMC5883L_LLD_IDENTIFICATION_C) {
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    aosUtPassed(stream, &result);
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  } else {
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    chprintf(stream, "\tfailed\n");
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    ++result.failed;
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    chprintf(stream, "\t\tstatus: %d, idA: %d, idB: %d, idC: %d\n", status, rxbuffer[0], rxbuffer[1], rxbuffer[2]);
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    chprintf(stream, "\t\texpected idA: %d, idB: %d, idC: %d\n", HMC5883L_LLD_IDENTIFICATION_A, HMC5883L_LLD_IDENTIFICATION_B, HMC5883L_LLD_IDENTIFICATION_C);
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  }
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  chprintf(stream, "read register...\n");
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  status = hmc5883l_lld_read_register(((ut_hmc5883ldata_t*)ut->data)->driver, HMC5883L_LLD_REGISTER_IDENTIFICATION_A, &data, 1, ((ut_hmc5883ldata_t*)ut->data)->timeout);
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  if ((status == APAL_STATUS_OK || status == APAL_STATUS_WARNING) && data == HMC5883L_LLD_IDENTIFICATION_A) {
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    aosUtPassed(stream, &result);
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  } else {
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    aosUtFailedMsg(stream, &result, "0x%08X\n", status);
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  }
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  chprintf(stream, "write register...\n");
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  status = hmc5883l_lld_write_register(((ut_hmc5883ldata_t*)ut->data)->driver, HMC5883L_LLD_REGISTER_CONFIG_A, &conf, 1, ((ut_hmc5883ldata_t*)ut->data)->timeout);
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  status |= hmc5883l_lld_read_register(((ut_hmc5883ldata_t*)ut->data)->driver, HMC5883L_LLD_REGISTER_CONFIG_A, &data, 1, ((ut_hmc5883ldata_t*)ut->data)->timeout);
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  if ((status == APAL_STATUS_SUCCESS || status == APAL_STATUS_WARNING) && data == 0x70) {
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    aosUtPassed(stream, &result);
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  } else {
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    aosUtFailedMsg(stream, &result, "0x%08X\n, data: d", status, data);
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  }
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  chprintf(stream, "read configuration\n");
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  status = hmc5883l_lld_read_config(((ut_hmc5883ldata_t*)ut->data)->driver, &cfg, ((ut_hmc5883ldata_t*)ut->data)->timeout);
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  if (status == APAL_STATUS_SUCCESS) {
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    aosUtPassed(stream, &result);
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  } else {
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    aosUtFailedMsg(stream, &result, "0x%08X\n", status);
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  }
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  chprintf(stream, "write configuration\n");
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  cfg.avg = HMC5883L_LLD_AVG1;
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  cfg.outrate = HMC5883L_LLD_75_HZ;
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  cfg.mbias = HMC5883L_LLD_MB_NORMAL;
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  cfg.gain = HMC5883L_LLD_GN_0_GA;
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  cfg.highspeed = HMC5883L_LLD_HS_DISABLE;
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  cfg.mode = HMC5883L_LLD_MM_CONTINUOUS;
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  status = hmc5883l_lld_write_config(((ut_hmc5883ldata_t*)ut->data)->driver, cfg, ((ut_hmc5883ldata_t*)ut->data)->timeout);
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  status |= hmc5883l_lld_read_config(((ut_hmc5883ldata_t*)ut->data)->driver, &cfg, ((ut_hmc5883ldata_t*)ut->data)->timeout);
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  if (status == APAL_STATUS_OK &&
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      cfg.avg == HMC5883L_LLD_AVG1 &&
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      cfg.outrate == HMC5883L_LLD_75_HZ &&
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      cfg.mbias == HMC5883L_LLD_MB_NORMAL &&
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      cfg.gain == HMC5883L_LLD_GN_0_GA &&
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      cfg.highspeed == HMC5883L_LLD_HS_DISABLE &&
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      cfg.mode == HMC5883L_LLD_MM_CONTINUOUS) {
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    aosUtPassed(stream, &result);
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  } else {
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    aosUtFailedMsg(stream, &result, "0x%08X\n", status);
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  }
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  chprintf(stream, "read all data for five seconds...\n");
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  status = hmc5883l_lld_set_register(((ut_hmc5883ldata_t*)ut->data)->driver,HMC5883L_LLD_REGISTER_MODE,HMC5883L_LLD_MM_CONTINUOUS,((ut_hmc5883ldata_t*)ut->data)->timeout);
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  for (uint8_t i = 0; i < 5; ++i) {
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    status |= hmc5883l_lld_read_data(((ut_hmc5883ldata_t*)ut->data)->driver, mdata, ((ut_hmc5883ldata_t*)ut->data)->timeout);
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    chprintf(stream, "\t\tX = 0x%04X\tY = 0x%04X\tZ = 0x%04X\n",mdata[0],mdata[1],mdata[2]);
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    aosThdSSleep(1);
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  }
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  if (status == APAL_STATUS_OK) {
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    aosUtPassed(stream, &result);
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  } else {
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    aosUtFailedMsg(stream, &result, "0x%08X\n", status);
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  }
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  chprintf(stream, "read status...\n");
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  status = hmc5883l_lld_read_lock(((ut_hmc5883ldata_t*)ut->data)->driver, &state, ((ut_hmc5883ldata_t*)ut->data)->timeout);
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  chprintf(stream, "\t\tsensor lock: %d\n", state);
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  status |= hmc5883l_lld_read_rdy(((ut_hmc5883ldata_t*)ut->data)->driver, &state, ((ut_hmc5883ldata_t*)ut->data)->timeout);
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  chprintf(stream, "\t\tsensor rdy: %d\n", state);
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  status |= hmc5883l_lld_read_status(((ut_hmc5883ldata_t*)ut->data)->driver, &state, ((ut_hmc5883ldata_t*)ut->data)->timeout);
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  chprintf(stream, "\t\tsensor status: %d\n", state);
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  if (status == APAL_STATUS_OK || status == APAL_STATUS_WARNING) {
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    aosUtPassed(stream, &result);
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  } else {
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    aosUtFailedMsg(stream, &result, "0x%08X\n", status);
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  }
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  chprintf(stream, "interrupt (partial data read)...\n");
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  chEvtRegister(((ut_hmc5883ldata_t*)ut->data)->drdyEvtSrc, &el, 0);
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  status = hmc5883l_lld_write_config(((ut_hmc5883ldata_t*)ut->data)->driver, cfg, ((ut_hmc5883ldata_t*)ut->data)->timeout);
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  aosThdSSleep(1);
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  status |= hmc5883l_lld_read_data(((ut_hmc5883ldata_t*)ut->data)->driver, mdata, ((ut_hmc5883ldata_t*)ut->data)->timeout);
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  aosThdMSleep(10);
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  event_mask = chEvtWaitOneTimeout(EVENT_MASK(0), TIME_IMMEDIATE);
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  status |= hmc5883l_lld_read_register(((ut_hmc5883ldata_t*)ut->data)->driver, HMC5883L_LLD_REGISTER_DATA_OUT_X_MSB, &data, 1, ((ut_hmc5883ldata_t*)ut->data)->timeout);
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  aosThdMSleep(10);
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  status |= hmc5883l_lld_read_register(((ut_hmc5883ldata_t*)ut->data)->driver, HMC5883L_LLD_REGISTER_DATA_OUT_X_LSB, &data, 1, ((ut_hmc5883ldata_t*)ut->data)->timeout);
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  aosThdMSleep(10);
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  event_mask = chEvtWaitOneTimeout(EVENT_MASK(0), TIME_IMMEDIATE);
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  chprintf(stream, "\t\teventmask = 0x%08X (should be 0)\n", event_mask);
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  if (event_mask != EVENT_MASK(0)) {
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    aosUtPassed(stream, &result);
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  } else {
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    aosUtFailed(stream, &result);
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  }
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  chprintf(stream, "interrupt (full data read)...\n");
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  status |= hmc5883l_lld_read_data(((ut_hmc5883ldata_t*)ut->data)->driver, mdata, ((ut_hmc5883ldata_t*)ut->data)->timeout);
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  event_mask = chEvtWaitOneTimeout(EVENT_MASK(0), chTimeUS2I(100 * MICROSECONDS_PER_MILLISECOND));
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  chprintf(stream, "\t\teventmask = 0x%08X (should be 1)\n", event_mask);
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  if (event_mask == EVENT_MASK(0)) {
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    aosUtPassed(stream, &result);
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  } else {
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    aosUtFailed(stream, &result);
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  }
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  chprintf(stream, "read data based on interrupt...\n");
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  status = hmc5883l_lld_read_config(((ut_hmc5883ldata_t*)ut->data)->driver, &cfg, ((ut_hmc5883ldata_t*)ut->data)->timeout);
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  uint8_t mode = HMC5883L_LLD_MM_SINGLE;
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  cfg.mode = mode;
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  status |= hmc5883l_lld_write_config(((ut_hmc5883ldata_t*)ut->data)->driver, cfg, ((ut_hmc5883ldata_t*)ut->data)->timeout);
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  aosSysGetUptime(&start);
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  aosSysGetUptime(&t);
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  status |= hmc5883l_lld_read_data(((ut_hmc5883ldata_t*)ut->data)->driver, mdata, ((ut_hmc5883ldata_t*)ut->data)->timeout);
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  while (t - start < MICROSECONDS_PER_SECOND) {
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    event_mask = chEvtWaitOneTimeout(EVENT_MASK(0), chTimeUS2I(1000));
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    if (event_mask == EVENT_MASK(0)) {
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      status |= hmc5883l_lld_read_data(((ut_hmc5883ldata_t*)ut->data)->driver, mdata, ((ut_hmc5883ldata_t*)ut->data)->timeout);
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      data_reads++;
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      status = hmc5883l_lld_write_register(((ut_hmc5883ldata_t*)ut->data)->driver, HMC5883L_LLD_REGISTER_CONFIG_A+2, &mode, 1, ((ut_hmc5883ldata_t*)ut->data)->timeout);
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    }
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    aosSysGetUptime(&t);
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  }
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  chEvtUnregister(((ut_hmc5883ldata_t*)ut->data)->drdyEvtSrc, &el);
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  aosUtInfoMsg(stream,"Read data %u times in a second\n", data_reads);
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  aosUtInfoMsg(stream,"driver object memory footprint: %u bytes\n", sizeof(HMC5883LDriver));
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  return result;
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}
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#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_HMC5883L) && (AMIROLLD_CFG_HMC5883L == 1) */