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amiro-os / unittests / periphery-lld / src / ut_alld_mpu6050.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..2018  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_mpu6050.h>
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#if ((AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_USE_MPU6050)) || 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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aos_utresult_t utAlldMpu6050Func(BaseSequentialStream* stream, aos_unittest_t* ut)
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{
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    aos_utresult_t result = {0, 0};
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    const mpu6050_lld_register_t addr = 0x75; // register to read from
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    uint16_t const data; // buffer for data
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    const uint8_t num = 1; // read one register
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    const apalTime_t timeout = 100; // TODO: Check units
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    mpu6050_lld_read_register(((ut_mpu6050data_t*)ut->data)->mpu, addr, &data, num, ((ut_mpu6050data_t*)ut->data)->timeout);
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            /** registers to read:
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            0x75: WHO AM I (should return I2C-Adress without the last bit, which is determined by the state of the AO pin!) returns 0x68
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                      */
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  return result; // TODO: Adjust
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}
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#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_USE_MPU6050) */