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amiro-os / unittests / periphery-lld / src / ut_alld_lis331dlh.c @ 3940ba8a

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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 <ut_alld_lis331dlh.h>
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#if ((AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_USE_LIS331DLH)) || 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   LIS331DLH unit test function.
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 *
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 * @param[in] stream  Stream for input/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 utAlldLis331dlhFunc(BaseSequentialStream* stream, aos_unittest_t* ut)
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{
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  aosDbgCheck(ut->data != NULL && ((ut_lis331dlhdata_t*)(ut->data)) != 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 data = 0;
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  uint8_t write_data[5];
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  uint8_t read_data[5];
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  uint8_t errors = 0;
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  uint8_t reg1;
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  int16_t sdata[3];
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  uint8_t status_reg;
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  lis331dlh_lld_int_cfg_t intcfg;
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  event_listener_t el;
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  eventmask_t event_mask;
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  uint8_t success = 0;
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  for (uint8_t dataIdx = 0; dataIdx < 4; dataIdx++) {
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    write_data[dataIdx] = (dataIdx+1)*11;
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  }
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  write_data[4] = 0;
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  chprintf(stream, "check identity...\n");
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  status = lis331dlh_lld_read_register(((ut_lis331dlhdata_t*)(ut->data))->lisd, LIS331DLH_LLD_REGISTER_WHO_AM_I, &data, 1);
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  if (status == APAL_STATUS_SUCCESS &&
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      data == LIS331DLH_LLD_WHO_AM_I) {
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    aosUtPassed(stream, &result);
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  } else {
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    chprintf(stream, "\tfailed\n");
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    aosUtFailedMsg(stream, &result, "0x%08X, data: %d\n", status, data);
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    ++result.failed;
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  }
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  chprintf(stream, "write register...\n");
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  status = lis331dlh_lld_write_register(((ut_lis331dlhdata_t*)(ut->data))->lisd, LIS331DLH_LLD_REGISTER_CTRL_REG1, write_data, 1);
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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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    aosUtFailed(stream, &result);
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  }
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  chprintf(stream, "read register...\n");
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  status = lis331dlh_lld_read_register(((ut_lis331dlhdata_t*)(ut->data))->lisd, LIS331DLH_LLD_REGISTER_CTRL_REG1, &data, 1);
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  if (status == APAL_STATUS_SUCCESS && data == write_data[0]) {
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    aosUtPassed(stream, &result);
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  } else {
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    chprintf(stream, "\tfailed\n");
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    aosUtFailedMsg(stream, &result, "0x%08X, data: %d\n", status, data);
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    ++result.failed;
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  }
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  chprintf(stream, "write multiple registers...\n");
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  status = lis331dlh_lld_write_register(((ut_lis331dlhdata_t*)(ut->data))->lisd, LIS331DLH_LLD_REGISTER_CTRL_REG1, write_data, 5);
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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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    aosUtFailed(stream, &result);
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  }
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  chprintf(stream, "read multiple registers...\n");
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  status = lis331dlh_lld_read_register(((ut_lis331dlhdata_t*)(ut->data))->lisd, LIS331DLH_LLD_REGISTER_CTRL_REG1, read_data, 5);
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  for (uint8_t dataIdx = 0; dataIdx < 5; dataIdx++) {
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    if (read_data[dataIdx] != write_data[dataIdx]) {
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      ++errors;
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    }
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  }
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  if (status == APAL_STATUS_SUCCESS &&
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      errors == 0) {
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    aosUtPassed(stream, &result);
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  } else {
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    chprintf(stream, "\tfailed\n");
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    for (uint8_t dataIdx = 0; dataIdx < 5; dataIdx++) {
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      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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    }
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    aosUtFailedMsg(stream, &result, "0x%08X, errors: %d\n", status, errors);
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  }
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  chprintf(stream, "read config...\n");
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  lis331dlh_lld_cfg_t cfg;
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  status = lis331dlh_lld_read_config(((ut_lis331dlhdata_t*)(ut->data))->lisd, &cfg);
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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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    aosUtFailed(stream, &result);
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  }
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  chprintf(stream, "write config...\n");
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  cfg.registers.ctrl_reg1 = LIS331DLH_LLD_PM_ODR |
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      LIS331DLH_LLD_DR_1000HZ_780LP |
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      LIS331DLH_LLD_X_AXIS_ENABLE |
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      LIS331DLH_LLD_Y_AXIS_ENABLE |
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      LIS331DLH_LLD_Z_AXIS_ENABLE;
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  cfg.registers.ctrl_reg3 = 0x00;
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  status = lis331dlh_lld_write_config(((ut_lis331dlhdata_t*)(ut->data))->lisd, &cfg);
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  reg1 = cfg.data[0];
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  lis331dlh_lld_read_config(((ut_lis331dlhdata_t*)(ut->data))->lisd, &cfg);
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  if (status == APAL_STATUS_SUCCESS && cfg.data[0] == reg1) {
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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 acceleration for five seconds...\n");
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  status = APAL_STATUS_SUCCESS;
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  for (uint8_t i = 0; i < 5; ++i) {
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    status |= lis331dlh_lld_read_all_data(((ut_lis331dlhdata_t*)(ut->data))->lisd, sdata, &cfg);
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    chprintf(stream, "\t\tX = %6d\tY = %6d\tZ = %6d\n", sdata[0], sdata[1], sdata[2]);
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    aosThdSSleep(1);
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  }
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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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    aosUtFailed(stream, &result);
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  }
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  chprintf(stream, "read X acceleration for five seconds...\n");
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  status = APAL_STATUS_SUCCESS;
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  for (uint8_t i = 0; i < 5; ++i) {
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    status |= lis331dlh_lld_read_data(((ut_lis331dlhdata_t*)(ut->data))->lisd, &(sdata[0]), LIS331DLH_LLD_X_AXIS, &cfg);
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    chprintf(stream, "\t\tX = %6d\n", sdata[0]);
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    aosThdSSleep(1);
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  }
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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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    aosUtFailed(stream, &result);
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  }
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  chprintf(stream, "read Y acceleration for five seconds...\n");
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  status = APAL_STATUS_SUCCESS;
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  for (uint8_t i = 0; i < 5; ++i) {
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    status |= lis331dlh_lld_read_data(((ut_lis331dlhdata_t*)(ut->data))->lisd, &(sdata[0]), LIS331DLH_LLD_Y_AXIS, &cfg);
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    chprintf(stream, "\t\tY = %6d\n", sdata[0]);
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    aosThdSSleep(1);
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  }
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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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    aosUtFailed(stream, &result);
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  }
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  chprintf(stream, "read Z acceleration for five seconds...\n");
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  status = APAL_STATUS_SUCCESS;
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  for (uint8_t i = 0; i < 5; ++i) {
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    status |= lis331dlh_lld_read_data(((ut_lis331dlhdata_t*)(ut->data))->lisd, &(sdata[0]), LIS331DLH_LLD_Z_AXIS, &cfg);
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    chprintf(stream, "\t\tZ = %6d\n", sdata[0]);
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    aosThdSSleep(1);
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  }
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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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    aosUtFailed(stream, &result);
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  }
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  chprintf(stream, "read status register...\n");
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  status = lis331dlh_lld_read_status_register(((ut_lis331dlhdata_t*)(ut->data))->lisd, &status_reg);
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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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    aosUtFailed(stream, &result);
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  }
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  chprintf(stream, "interrupt...\n");
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  intcfg.cfg_reg = LIS331DLH_LLD_INT_CFG_X_HIGH_ENABLE | LIS331DLH_LLD_INT_CFG_Y_HIGH_ENABLE | LIS331DLH_LLD_INT_CFG_Z_HIGH_ENABLE;
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  intcfg.threshold = 10;
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  intcfg.duration = 1;
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  lis331dlh_lld_write_int_config(((ut_lis331dlhdata_t*)(ut->data))->lisd, &intcfg, LIS331DLH_LLD_INT1);
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  aosThdSSleep(1);
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  chEvtRegister(((ut_lis331dlhdata_t*)(ut->data))->src, &el, 3);
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  chprintf(stream, "\t\tmove the AMiRo now to generate interrupts\n");
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  aosThdSSleep(1);
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  for (uint8_t i = 0; i < 10; i++) {
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    event_mask = chEvtWaitOneTimeout(EVENT_MASK(3), TIME_IMMEDIATE);
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    status |= lis331dlh_lld_read_all_data(((ut_lis331dlhdata_t*)(ut->data))->lisd, sdata, &cfg);
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    status = lis331dlh_lld_read_register(((ut_lis331dlhdata_t*)(ut->data))->lisd, LIS331DLH_LLD_REGISTER_INT1_SOURCE, &data, 1);
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    eventflags_t flags = chEvtGetAndClearFlags(&el);
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    if (event_mask == EVENT_MASK(3) && (flags & ((ut_lis331dlhdata_t*)(ut->data))->evtflags)) {
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      ++success;
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      chprintf(stream, "\t\tX = %6d INTERRUPT\n", sdata[0]);
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    } else {
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      chprintf(stream, "\t\tX = %6d\n", sdata[0]);
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    }
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    aosThdSSleep(1);
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  }
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  event_mask = chEvtWaitOneTimeout(EVENT_MASK(3), TIME_IMMEDIATE);
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  chEvtUnregister(((ut_lis331dlhdata_t*)(ut->data))->src, &el);
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  if (status == APAL_STATUS_SUCCESS && success > 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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  aosUtInfoMsg(stream, "driver object memory footprint: %u bytes\n", sizeof(LIS331DLHDriver));
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  return result;
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}
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#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_USE_LIS331DLH) */
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