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amiro-os / unittests / periphery-lld / src / ut_alld_mpr121.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_mpr121.h>
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#if ((AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_USE_MPR121)) || defined(__DOXYGEN__)
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/******************************************************************************/
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/* LOCAL DEFINITIONS                                                          */
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/******************************************************************************/
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#define INTERRUPT_EVENT_ID            1
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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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aos_utresult_t utAlldMpr121Func(BaseSequentialStream* stream, aos_unittest_t* ut)
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{
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  aosDbgCheck(ut->data != NULL && ((ut_mpr121data_t*)ut->data)->mprd != 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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  mpr121_lld_config_t cfg;
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  uint8_t data, wdata, rdata;
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  uint16_t edata[4];
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  uint8_t tstate = 0;
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  event_listener_t event_listener;
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  aos_timestamp_t tstart, tcurrent, tend;
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  chprintf(stream, "soft reset...\n");
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  status = mpr121_lld_soft_reset(((ut_mpr121data_t*)ut->data)->mprd, ((ut_mpr121data_t*)ut->data)->timeout);
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  status |= mpr121_lld_read_config(((ut_mpr121data_t*)ut->data)->mprd, &cfg, ((ut_mpr121data_t*)ut->data)->timeout);
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  if (status == APAL_STATUS_SUCCESS && cfg.registers.ele_config == 0) {
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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 register...\n");
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  status = mpr121_lld_read_register(((ut_mpr121data_t*)ut->data)->mprd, MPR121_LLD_REGISTER_CONFIG_2, 0, 1, &data, ((ut_mpr121data_t*)ut->data)->timeout);
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  chprintf(stream, "\t\tdata: 0x%02X\n", data);
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  if (status == APAL_STATUS_SUCCESS && data == (MPR121_LLD_CDT_0_5 | MPR121_LLD_ESI_16)) {
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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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  wdata = MPR121_LLD_CDT_32 | MPR121_LLD_SFI_10 | MPR121_LLD_ESI_16;
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  status = mpr121_lld_write_register(((ut_mpr121data_t*)ut->data)->mprd, MPR121_LLD_REGISTER_CONFIG_2, 0, 1, &wdata, ((ut_mpr121data_t*)ut->data)->timeout);
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  aosThdMSleep(500);
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  status |= mpr121_lld_read_register(((ut_mpr121data_t*)ut->data)->mprd, MPR121_LLD_REGISTER_CONFIG_2, 0, 1, &rdata, ((ut_mpr121data_t*)ut->data)->timeout);
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  chprintf(stream, "\t\tdata: 0x%02X\n", rdata);
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  status |= mpr121_lld_write_register(((ut_mpr121data_t*)ut->data)->mprd, MPR121_LLD_REGISTER_CONFIG_2, 0, 1, &data, ((ut_mpr121data_t*)ut->data)->timeout);
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  if (status == APAL_STATUS_SUCCESS && rdata == wdata) {
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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 config...\n");
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  status = mpr121_lld_read_config(((ut_mpr121data_t*)ut->data)->mprd, &cfg, ((ut_mpr121data_t*)ut->data)->timeout);
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  if (status == APAL_STATUS_SUCCESS && cfg.registers.config_1 == 0x10 && cfg.registers.config_2 == 0x24) {
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    aosUtPassed(stream, &result);
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  } else {
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    chprintf(stream, "\t\tconfig 1: 0x%02X\n", cfg.registers.config_1);
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    chprintf(stream, "\t\tconfig 2: 0x%02X\n", cfg.registers.config_2);
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    mpr121_lld_read_register(((ut_mpr121data_t*)ut->data)->mprd, MPR121_LLD_REGISTER_CONFIG_1, 0, 1, &rdata, ((ut_mpr121data_t*)ut->data)->timeout);
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    chprintf(stream, "\t\tconfig 1: 0x%02X\n", rdata);
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    mpr121_lld_read_register(((ut_mpr121data_t*)ut->data)->mprd, MPR121_LLD_REGISTER_CONFIG_2, 0, 1, &rdata, ((ut_mpr121data_t*)ut->data)->timeout);
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    chprintf(stream, "\t\tconfig 2: 0x%02X\n", rdata);
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    for (uint8_t valueIdx = 0; valueIdx < 8; valueIdx++) {
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      chprintf(stream, "\t\tdata %d: 0x%02X\n", valueIdx, cfg.values[valueIdx]);
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    }
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    chprintf(stream, "ele_config: 0x%02X\n", cfg.registers.ele_config);
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    chprintf(stream, "config_1: 0x%02X\n", cfg.registers.config_1);
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    chprintf(stream, "config_2: 0x%02X\n", cfg.registers.config_2);
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    chprintf(stream, "target_level: 0x%02X\n", cfg.registers.target_level);
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    chprintf(stream, "low_side_limit: 0x%02X\n", cfg.registers.low_side_limit);
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    chprintf(stream, "up_side_limit: 0x%02X\n", cfg.registers.up_side_limit);
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    chprintf(stream, "auto_config_2: 0x%02X\n", cfg.registers.auto_config_2);
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    chprintf(stream, "auto_config_1: 0x%02X\n", cfg.registers.auto_config_1);
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    aosUtFailedMsg(stream, &result, "0x%08X\n", status);
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  }
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  chprintf(stream, "write config...\n");
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  cfg.registers.ele_config = MPR121_LLD_CL_ON_ALL | MPR121_LLD_ELEPROX_0 | 4;
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  cfg.registers.config_1 = MPR121_LLD_FFI_18 | 16;
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  cfg.registers.config_2 = MPR121_LLD_CDT_1 | MPR121_LLD_SFI_10 | MPR121_LLD_ESI_32;
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  cfg.registers.up_side_limit = 0x96u;
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  cfg.registers.low_side_limit = 0x58u;
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  cfg.registers.target_level = 0x68u;
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  cfg.registers.auto_config_1 = MPR121_LLD_FFI_18 | MPR121_LLD_RETRY_2 | MPR121_LLD_BVA_ON_ALL | MPR121_LLD_AC_RECONF_EN;
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  status = mpr121_lld_write_config(((ut_mpr121data_t*)ut->data)->mprd, cfg, ((ut_mpr121data_t*)ut->data)->timeout);
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  aosThdMSleep(500);
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  status |= mpr121_lld_read_config(((ut_mpr121data_t*)ut->data)->mprd, &cfg, ((ut_mpr121data_t*)ut->data)->timeout);
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  if (status == APAL_STATUS_SUCCESS && cfg.registers.up_side_limit == 0x96u) {
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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 filtered data for ten seconds...\n");
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  chprintf(stream, "(values should change if you touch the sensors now)\n");
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  for (uint8_t i = 0; i < 10; i++) {
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    status = mpr121_lld_read_filtered_data(((ut_mpr121data_t*)ut->data)->mprd, 0, 4, edata, ((ut_mpr121data_t*)ut->data)->timeout);
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    chprintf(stream, "\t\t0x%04X | 0x%04X | 0x%04X | 0x%04X\n", edata[0], edata[1], edata[2], edata[3]);
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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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    aosUtFailedMsg(stream, &result, "0x%08X\n", status);
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  }
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  chprintf(stream, "test interrupts...\n");
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  status = AOS_OK;
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  chEvtRegister(((ut_mpr121data_t*)ut->data)->evtsource, &event_listener, INTERRUPT_EVENT_ID);
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  aosSysGetUptime(&tstart);
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  tend = tstart + (30 * MICROSECONDS_PER_SECOND);
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  do {
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    aosSysGetUptime(&tcurrent);
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    const aos_timestamp_t ttimeout = MICROSECONDS_PER_SECOND - ((tcurrent - tstart) % MICROSECONDS_PER_SECOND);
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    const eventmask_t emask = chEvtWaitOneTimeout(EVENT_MASK(INTERRUPT_EVENT_ID), chTimeUS2I(ttimeout));
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    const eventflags_t eflags = chEvtGetAndClearFlags(&event_listener);
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    if (emask == EVENT_MASK(INTERRUPT_EVENT_ID) && eflags == ((ut_mpr121data_t*)ut->data)->evtflags) {
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      // interrupt detected
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      status |= mpr121_lld_read_register(((ut_mpr121data_t*)ut->data)->mprd, MPR121_LLD_REGISTER_TOUCH_STATUS, 0, 1, &tstate, ((ut_mpr121data_t*)ut->data)->timeout);
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      chprintf(stream, "\t\tinterrupt detected\n");
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      chprintf(stream, "\t\ttstate: %X %X %X %X\n", tstate & 1, (tstate >> 1) & 1, (tstate >> 2) & 1, (tstate >> 3) & 1);
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    }
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    else if (emask == 0) {
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      // timeout
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      status |= mpr121_lld_read_register(((ut_mpr121data_t*)ut->data)->mprd, MPR121_LLD_REGISTER_TOUCH_STATUS, 0, 1, &tstate, ((ut_mpr121data_t*)ut->data)->timeout);
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      chprintf(stream, "\t\ttstate: %X %X %X %X\n", tstate & 1, (tstate >> 1) & 1, (tstate >> 2) & 1, (tstate >> 3) & 1);
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    }
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    aosSysGetUptime(&tcurrent);
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  } while (tcurrent < tend);
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  chEvtUnregister(((ut_mpr121data_t*)ut->data)->evtsource, &event_listener);
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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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  aosUtInfoMsg(stream,"driver object memory footprint: %u bytes\n", sizeof(MPR121Driver));
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  return result;
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}
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#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_USE_MPR121) */