/*
AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
Copyright (C) 2016..2018 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 .
*/
#include
#if ((AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_USE_VCNL4020)) || defined(__DOXYGEN__)
#include
#include
#include
#include
#include
#define INTERRUPT_EVENT_ID 1
#define INTERRUPT_THRESHOLD 0x2000
aos_utresult_t utAlldVcnl4020Func(BaseSequentialStream* stream, aos_unittest_t* ut)
{
aosDbgCheck((ut->data != NULL) &&
(((ut_vcnl4020data_t*)(ut->data))->vcnld != NULL) &&
(((ut_vcnl4020data_t*)(ut->data))->evtsource != NULL));
// local variables
aos_utresult_t result = {0, 0};
uint32_t status;
uint8_t reg_buf[4];
uint8_t* reg_8 = (uint8_t*)(reg_buf);
uint16_t* reg_16 = (uint16_t*)(reg_buf);
event_listener_t event_listener;
aos_timestamp_t tcurrent, tend;
chprintf(stream, "reading register...\n");
status = vcnl4020_lld_readreg(((ut_vcnl4020data_t*)(ut->data))->vcnld, VCNL4020_LLD_REGADDR_IDREV, ®_8[0], ((ut_vcnl4020data_t*)(ut->data))->timeout);
if ((status == APAL_STATUS_OK || status == APAL_STATUS_WARNING) && reg_8[0] == 0x21u) {
aosUtPassed(stream, &result);
} else {
aosUtFailedMsg(stream, &result, "0x%08X; 0x%08X\n", status, reg_8[0]);
}
chprintf(stream, "writing register...\n");
status = vcnl4020_lld_writereg(((ut_vcnl4020data_t*)(ut->data))->vcnld, VCNL4020_LLD_REGADDR_PROXRATE, VCNL4020_LLD_PROXRATEREG_250_HZ, ((ut_vcnl4020data_t*)(ut->data))->timeout);
status |= vcnl4020_lld_readreg(((ut_vcnl4020data_t*)(ut->data))->vcnld, VCNL4020_LLD_REGADDR_PROXRATE, ®_8[0], ((ut_vcnl4020data_t*)(ut->data))->timeout);
status |= (reg_8[0] == VCNL4020_LLD_PROXRATEREG_250_HZ) ? 0x0000 : 0x0100;
status |= vcnl4020_lld_writereg(((ut_vcnl4020data_t*)(ut->data))->vcnld, VCNL4020_LLD_REGADDR_CMD, (VCNL4020_LLD_CMDREG_ALSEN | VCNL4020_LLD_CMDREG_PROXEN | VCNL4020_LLD_CMDREG_SELFTIMED), ((ut_vcnl4020data_t*)(ut->data))->timeout);
status |= vcnl4020_lld_readreg(((ut_vcnl4020data_t*)(ut->data))->vcnld, VCNL4020_LLD_REGADDR_CMD, ®_8[0], ((ut_vcnl4020data_t*)(ut->data))->timeout);
status |= (reg_8[0] & (VCNL4020_LLD_CMDREG_ALSEN | VCNL4020_LLD_CMDREG_PROXEN | VCNL4020_LLD_CMDREG_SELFTIMED)) ? 0x0000 : 0x0200;
if (status == APAL_STATUS_OK || status == APAL_STATUS_WARNING) {
aosUtPassed(stream, &result);
} else {
aosUtFailedMsg(stream, &result, "0x%08X, 0x%02X\n", status, reg_8[0]);
}
chprintf(stream, "reading ambient light for ten seconds...\n");
status = APAL_STATUS_OK;
for (uint8_t i = 0; i < 10; ++i) {
aosThdSSleep(1);
status |= vcnl4020_lld_readals(((ut_vcnl4020data_t*)(ut->data))->vcnld, ®_16[0], ((ut_vcnl4020data_t*)(ut->data))->timeout);
chprintf(stream, "\t\tambient light: 0x%04X\n", reg_16[0]);
}
status |= (reg_16[0] == 0x0000) ? 0x10 : 0x00;
if (status == APAL_STATUS_OK) {
aosUtPassed(stream, &result);
} else {
aosUtFailedMsg(stream, &result, "0x%08X\n", status);
}
chprintf(stream, "reading proximity for ten seconds...\n");
status = APAL_STATUS_OK;
for (uint8_t i = 0; i < 10; ++i) {
aosThdSSleep(1);
status |= vcnl4020_lld_readprox(((ut_vcnl4020data_t*)(ut->data))->vcnld, ®_16[1], ((ut_vcnl4020data_t*)(ut->data))->timeout);
chprintf(stream, "\t\tproximity: 0x%04X\n", reg_16[1]);
}
status |= (reg_16[1] == 0x0000) ? 0x10 : 0x00;
if (status == APAL_STATUS_OK) {
aosUtPassed(stream, &result);
} else {
aosUtFailedMsg(stream, &result, "0x%08X\n", status);
}
chprintf(stream, "reading ambient light and proximity for ten seconds...\n");
status = APAL_STATUS_OK;
for (uint8_t i = 0; i < 10; ++i) {
aosThdSSleep(1);
status |= vcnl4020_lld_readalsandprox(((ut_vcnl4020data_t*)(ut->data))->vcnld, ®_16[0], ®_16[1], ((ut_vcnl4020data_t*)(ut->data))->timeout);
chprintf(stream, "\t\tambient light: 0x%04X\tproximity: 0x%04X\n", reg_16[0], reg_16[1]);
}
status |= (reg_16[0] == 0x0000 || reg_16[1] == 0x0000) ? 0x10 : 0x00;
if (status == APAL_STATUS_OK) {
aosUtPassed(stream, &result);
} else {
aosUtFailedMsg(stream, &result, "0x%08X\n", status);
}
chprintf(stream, "reading low threshold register...\n");
status = vcnl4020_lld_readlth(((ut_vcnl4020data_t*)(ut->data))->vcnld, ®_16[0], ((ut_vcnl4020data_t*)(ut->data))->timeout);
if (status == APAL_STATUS_OK) {
aosUtPassed(stream, &result);
} else {
aosUtFailedMsg(stream, &result, "0x%08X\n", status);
}
chprintf(stream, "reading high threshold register...\n");
status = vcnl4020_lld_readhth(((ut_vcnl4020data_t*)(ut->data))->vcnld, ®_16[1], ((ut_vcnl4020data_t*)(ut->data))->timeout);
if (status == APAL_STATUS_OK) {
aosUtPassedMsg(stream, &result, "0x%04X\n", reg_16[1]);
} else {
aosUtFailedMsg(stream, &result, "0x%08X\n", status);
}
chprintf(stream, "reading both threshold registers...\n");
status = vcnl4020_lld_readth(((ut_vcnl4020data_t*)(ut->data))->vcnld, ®_16[0], ®_16[1], ((ut_vcnl4020data_t*)(ut->data))->timeout);
if (status == APAL_STATUS_OK) {
aosUtPassedMsg(stream, &result, "low: 0x%04X; high: 0x%04X\n", reg_16[0], reg_16[1]);
} else {
aosUtFailedMsg(stream, &result, "0x%08X\n", status);
}
chprintf(stream, "writing low threshold register...\n");
status = vcnl4020_lld_writelth(((ut_vcnl4020data_t*)(ut->data))->vcnld, 0xFFFFu, ((ut_vcnl4020data_t*)(ut->data))->timeout);
status |= vcnl4020_lld_readlth(((ut_vcnl4020data_t*)(ut->data))->vcnld, ®_16[0], ((ut_vcnl4020data_t*)(ut->data))->timeout);
if (status == APAL_STATUS_OK && reg_16[0] == 0xFFFFu) {
aosUtPassed(stream, &result);
} else {
aosUtFailedMsg(stream, &result, "0x%08X, 0x%04X\n", status, reg_16[0]);
}
chprintf(stream, "writing high threshold register...\n");
status = vcnl4020_lld_writehth(((ut_vcnl4020data_t*)(ut->data))->vcnld, 0xFFFFu, ((ut_vcnl4020data_t*)(ut->data))->timeout);
status |= vcnl4020_lld_readhth(((ut_vcnl4020data_t*)(ut->data))->vcnld, ®_16[1], ((ut_vcnl4020data_t*)(ut->data))->timeout);
if (status == APAL_STATUS_OK && reg_16[1] == 0xFFFFu) {
aosUtPassed(stream, &result);
} else {
aosUtFailedMsg(stream, &result, "0x%08X, 0x%04X\n", status, reg_16[1]);
}
chprintf(stream, "writing both threshold registers...\n");
status = vcnl4020_lld_writeth(((ut_vcnl4020data_t*)(ut->data))->vcnld, 0x5555u, 0xAAAAu, ((ut_vcnl4020data_t*)(ut->data))->timeout);
status |= vcnl4020_lld_readth(((ut_vcnl4020data_t*)(ut->data))->vcnld, ®_16[0], ®_16[1], ((ut_vcnl4020data_t*)(ut->data))->timeout);
if (status == APAL_STATUS_OK && reg_16[0] == 0x5555u && reg_16[1] == 0xAAAAu) {
aosUtPassed(stream, &result);
} else {
aosUtFailedMsg(stream, &result, "0x%08X, 0x%04X, 0x%04X\n", status, reg_16[0], reg_16[1]);
}
chprintf(stream, "test interrupts...\n");
chprintf(stream, "(thresholds are 0x%04X and 0x%04X)\n", 0, INTERRUPT_THRESHOLD);
chEvtRegister(((ut_vcnl4020data_t*)(ut->data))->evtsource, &event_listener, INTERRUPT_EVENT_ID);
aosSysGetUptime(&tend);
tend += 30 * MICROSECONDS_PER_SECOND;
status = vcnl4020_lld_writeth(((ut_vcnl4020data_t*)(ut->data))->vcnld, 0x0000, INTERRUPT_THRESHOLD, ((ut_vcnl4020data_t*)(ut->data))->timeout);
status |= vcnl4020_lld_writereg(((ut_vcnl4020data_t*)(ut->data))->vcnld, VCNL4020_LLD_REGADDR_INTCTRL, VCNL4020_LLD_INTCTRLREG_THRES_EN, ((ut_vcnl4020data_t*)(ut->data))->timeout);
do {
// read proximity data, interrupt event information and interrupt status
const eventmask_t emask = chEvtWaitOneTimeout(EVENT_MASK(INTERRUPT_EVENT_ID), chTimeUS2I(10*MICROSECONDS_PER_MILLISECOND));
const eventflags_t eflags = chEvtGetAndClearFlags(&event_listener);
status |= vcnl4020_lld_readprox(((ut_vcnl4020data_t*)(ut->data))->vcnld, ®_16[0], ((ut_vcnl4020data_t*)(ut->data))->timeout);
status |= vcnl4020_lld_readreg(((ut_vcnl4020data_t*)(ut->data))->vcnld, VCNL4020_LLD_REGADDR_INTSTATUS, ®_8[2], ((ut_vcnl4020data_t*)(ut->data))->timeout);
if (emask == EVENT_MASK(INTERRUPT_EVENT_ID) &&
eflags == ((ut_vcnl4020data_t*)(ut->data))->evtflags &&
reg_8[2] == VCNL4020_LLD_INTSTATUSREG_THHIGH) {
// true positive (correct case)
chprintf(stream, "\t\tinterrupt detected: prox = 0x%04X\n", reg_16[0]);
aosThdMSleep(100);
}
else if (emask != EVENT_MASK(INTERRUPT_EVENT_ID) &&
eflags != ((ut_vcnl4020data_t*)(ut->data))->evtflags &&
reg_8[2] != VCNL4020_LLD_INTSTATUSREG_THHIGH) {
// true negative (correct case)
// do nothing, just keep on looping
}
else if (emask == EVENT_MASK(INTERRUPT_EVENT_ID) &&
eflags == ((ut_vcnl4020data_t*)(ut->data))->evtflags &&
reg_8[2] != 0 ) {
// false positive
status |= 0x1000;
chprintf(stream, "\t\tfalse positive: intstatus = 0x%02X; prox = 0x%04X\n", reg_8[2], reg_16[0]);
}
else if (emask != EVENT_MASK(INTERRUPT_EVENT_ID) &&
eflags != ((ut_vcnl4020data_t*)(ut->data))->evtflags &&
reg_8[2] == 0) {
// false negative
status |= 0x2000;
chprintf(stream, "\t\tfalse negative: intstatus = 0x%02X; prox = 0x%04X\n", reg_8[2], reg_16[0]);
} // any other events are just ignored
// reset interrupt status
if (reg_8[2] != 0) {
status |= vcnl4020_lld_writereg(((ut_vcnl4020data_t*)(ut->data))->vcnld, VCNL4020_LLD_REGADDR_INTSTATUS, reg_8[2], ((ut_vcnl4020data_t*)(ut->data))->timeout);
}
aosSysGetUptime(&tcurrent);
} while (tcurrent < tend);
chEvtUnregister(((ut_vcnl4020data_t*)(ut->data))->evtsource, &event_listener);
status |= vcnl4020_lld_writereg(((ut_vcnl4020data_t*)(ut->data))->vcnld, VCNL4020_LLD_REGADDR_INTCTRL, 0, ((ut_vcnl4020data_t*)(ut->data))->timeout);
status |= vcnl4020_lld_readreg(((ut_vcnl4020data_t*)(ut->data))->vcnld, VCNL4020_LLD_REGADDR_INTSTATUS, ®_8[2], ((ut_vcnl4020data_t*)(ut->data))->timeout);
status |= vcnl4020_lld_writereg(((ut_vcnl4020data_t*)(ut->data))->vcnld, VCNL4020_LLD_REGADDR_INTSTATUS, reg_8[2], ((ut_vcnl4020data_t*)(ut->data))->timeout);
if (status == APAL_STATUS_SUCCESS || status == APAL_STATUS_WARNING) {
aosUtPassed(stream, &result);
} else {
aosUtFailedMsg(stream, &result, "0x%08X\n", status);
}
aosUtInfoMsg(stream, "driver object memory footprint: %u bytes\n", sizeof(VCNL4020Driver));
return result;
}
#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_USE_VCNL4020) */