AMiRo-OS

/*

AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.

Copyright (C) 2016..2019  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 <http://www.gnu.org/licenses/>.

*/

#include <amiroos.h>

#include <aos_test_MPU6050.h>

#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)

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/* LOCAL DEFINITIONS                                                          */

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/* EXPORTED VARIABLES                                                         */

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/* LOCAL TYPES                                                                */

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/* LOCAL VARIABLES                                                            */

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/* LOCAL FUNCTIONS                                                            */

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/* EXPORTED FUNCTIONS                                                         */

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aos_testresult_t aosTestMpu6050Func(BaseSequentialStream* stream, const aos_test_t* test)

{

    aos_testresult_t result = {0, 0};

    uint8_t data[1] = {0};

    int32_t status;

    status = mpu6050_lld_read_register(((aos_test_mpu6050data_t*)test->data)->mpu, MPU6050_LLD_WHO_AM_I, data, 1, ((aos_test_mpu6050data_t*)test->data)->timeout);

    if (status == APAL_STATUS_OK && data[0] == MPU6050_I_AM) {

      aosTestPassed(stream, &result);

    } else {

      aosTestFailedMsg(stream, &result, "0x%08X | 0x%02X\n", status, data[0]);

    }

  return result;

}

#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */