amiro-os / unittests / periphery-lld / src / ut_alld_VCNL4020_v1.c @ 542939ea
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1 | e545e620 | Thomas Schöpping | /*
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2 | AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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3 | 84f0ce9e | Thomas Schöpping | Copyright (C) 2016..2019 Thomas Schöpping et al.
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4 | e545e620 | Thomas Schöpping | |
5 | This program is free software: you can redistribute it and/or modify
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6 | it under the terms of the GNU General Public License as published by
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7 | the Free Software Foundation, either version 3 of the License, or
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8 | (at your option) any later version.
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9 | |||
10 | This program is distributed in the hope that it will be useful,
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11 | but WITHOUT ANY WARRANTY; without even the implied warranty of
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12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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13 | GNU General Public License for more details.
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14 | |||
15 | You should have received a copy of the GNU General Public License
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16 | along with this program. If not, see <http://www.gnu.org/licenses/>.
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17 | */
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18 | |||
19 | ddf34c3d | Thomas Schöpping | #include <amiroos.h> |
20 | 2a4dbf93 | Thomas Schöpping | #include <ut_alld_VCNL4020_v1.h> |
21 | e545e620 | Thomas Schöpping | |
22 | ddf34c3d | Thomas Schöpping | #if ((AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_VCNL4020) && (AMIROLLD_CFG_VCNL4020 == 1)) || defined(__DOXYGEN__) |
23 | |||
24 | f3ac1c96 | Thomas Schöpping | /******************************************************************************/
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25 | /* LOCAL DEFINITIONS */
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26 | /******************************************************************************/
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27 | e545e620 | Thomas Schöpping | |
28 | #define INTERRUPT_EVENT_ID 1 |
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29 | |||
30 | #define INTERRUPT_THRESHOLD 0x2000 |
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31 | |||
32 | f3ac1c96 | Thomas Schöpping | /******************************************************************************/
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33 | /* EXPORTED VARIABLES */
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34 | /******************************************************************************/
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35 | |||
36 | /******************************************************************************/
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37 | /* LOCAL TYPES */
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38 | /******************************************************************************/
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39 | |||
40 | /******************************************************************************/
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41 | /* LOCAL VARIABLES */
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42 | /******************************************************************************/
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43 | |||
44 | /******************************************************************************/
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45 | /* LOCAL FUNCTIONS */
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46 | /******************************************************************************/
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47 | |||
48 | /******************************************************************************/
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49 | /* EXPORTED FUNCTIONS */
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50 | /******************************************************************************/
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51 | |||
52 | e545e620 | Thomas Schöpping | aos_utresult_t utAlldVcnl4020Func(BaseSequentialStream* stream, aos_unittest_t* ut) |
53 | { |
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54 | aosDbgCheck((ut->data != NULL) &&
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55 | (((ut_vcnl4020data_t*)(ut->data))->vcnld != NULL) &&
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56 | (((ut_vcnl4020data_t*)(ut->data))->evtsource != NULL));
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57 | |||
58 | // local variables
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59 | aos_utresult_t result = {0, 0}; |
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60 | uint32_t status; |
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61 | uint8_t reg_buf[4];
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62 | uint8_t* reg_8 = (uint8_t*)(reg_buf); |
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63 | uint16_t* reg_16 = (uint16_t*)(reg_buf); |
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64 | event_listener_t event_listener; |
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65 | aos_timestamp_t tcurrent, tend; |
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66 | |||
67 | chprintf(stream, "reading register...\n");
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68 | status = vcnl4020_lld_readreg(((ut_vcnl4020data_t*)(ut->data))->vcnld, VCNL4020_LLD_REGADDR_IDREV, ®_8[0], ((ut_vcnl4020data_t*)(ut->data))->timeout);
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69 | if ((status == APAL_STATUS_OK || status == APAL_STATUS_WARNING) && reg_8[0] == 0x21u) { |
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70 | aosUtPassed(stream, &result); |
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71 | } else {
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72 | aosUtFailedMsg(stream, &result, "0x%08X; 0x%08X\n", status, reg_8[0]); |
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73 | } |
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74 | |||
75 | chprintf(stream, "writing register...\n");
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76 | 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); |
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77 | status |= vcnl4020_lld_readreg(((ut_vcnl4020data_t*)(ut->data))->vcnld, VCNL4020_LLD_REGADDR_PROXRATE, ®_8[0], ((ut_vcnl4020data_t*)(ut->data))->timeout);
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78 | status |= (reg_8[0] == VCNL4020_LLD_PROXRATEREG_250_HZ) ? 0x0000 : 0x0100; |
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79 | 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); |
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80 | status |= vcnl4020_lld_readreg(((ut_vcnl4020data_t*)(ut->data))->vcnld, VCNL4020_LLD_REGADDR_CMD, ®_8[0], ((ut_vcnl4020data_t*)(ut->data))->timeout);
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81 | status |= (reg_8[0] & (VCNL4020_LLD_CMDREG_ALSEN | VCNL4020_LLD_CMDREG_PROXEN | VCNL4020_LLD_CMDREG_SELFTIMED)) ? 0x0000 : 0x0200; |
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82 | if (status == APAL_STATUS_OK || status == APAL_STATUS_WARNING) {
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83 | aosUtPassed(stream, &result); |
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84 | } else {
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85 | aosUtFailedMsg(stream, &result, "0x%08X, 0x%02X\n", status, reg_8[0]); |
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86 | } |
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87 | |||
88 | chprintf(stream, "reading ambient light for ten seconds...\n");
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89 | status = APAL_STATUS_OK; |
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90 | for (uint8_t i = 0; i < 10; ++i) { |
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91 | aosThdSSleep(1);
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92 | status |= vcnl4020_lld_readals(((ut_vcnl4020data_t*)(ut->data))->vcnld, ®_16[0], ((ut_vcnl4020data_t*)(ut->data))->timeout);
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93 | chprintf(stream, "\t\tambient light: 0x%04X\n", reg_16[0]); |
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94 | } |
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95 | status |= (reg_16[0] == 0x0000) ? 0x10 : 0x00; |
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96 | if (status == APAL_STATUS_OK) {
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97 | aosUtPassed(stream, &result); |
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98 | } else {
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99 | aosUtFailedMsg(stream, &result, "0x%08X\n", status);
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100 | } |
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101 | |||
102 | chprintf(stream, "reading proximity for ten seconds...\n");
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103 | status = APAL_STATUS_OK; |
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104 | for (uint8_t i = 0; i < 10; ++i) { |
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105 | aosThdSSleep(1);
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106 | status |= vcnl4020_lld_readprox(((ut_vcnl4020data_t*)(ut->data))->vcnld, ®_16[1], ((ut_vcnl4020data_t*)(ut->data))->timeout);
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107 | chprintf(stream, "\t\tproximity: 0x%04X\n", reg_16[1]); |
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108 | } |
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109 | status |= (reg_16[1] == 0x0000) ? 0x10 : 0x00; |
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110 | if (status == APAL_STATUS_OK) {
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111 | aosUtPassed(stream, &result); |
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112 | } else {
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113 | aosUtFailedMsg(stream, &result, "0x%08X\n", status);
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114 | } |
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115 | |||
116 | chprintf(stream, "reading ambient light and proximity for ten seconds...\n");
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117 | status = APAL_STATUS_OK; |
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118 | for (uint8_t i = 0; i < 10; ++i) { |
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119 | aosThdSSleep(1);
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120 | status |= vcnl4020_lld_readalsandprox(((ut_vcnl4020data_t*)(ut->data))->vcnld, ®_16[0], ®_16[1], ((ut_vcnl4020data_t*)(ut->data))->timeout); |
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121 | chprintf(stream, "\t\tambient light: 0x%04X\tproximity: 0x%04X\n", reg_16[0], reg_16[1]); |
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122 | } |
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123 | status |= (reg_16[0] == 0x0000 || reg_16[1] == 0x0000) ? 0x10 : 0x00; |
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124 | if (status == APAL_STATUS_OK) {
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125 | aosUtPassed(stream, &result); |
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126 | } else {
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127 | aosUtFailedMsg(stream, &result, "0x%08X\n", status);
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128 | } |
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129 | |||
130 | chprintf(stream, "reading low threshold register...\n");
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131 | status = vcnl4020_lld_readlth(((ut_vcnl4020data_t*)(ut->data))->vcnld, ®_16[0], ((ut_vcnl4020data_t*)(ut->data))->timeout);
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132 | if (status == APAL_STATUS_OK) {
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133 | aosUtPassed(stream, &result); |
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134 | } else {
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135 | aosUtFailedMsg(stream, &result, "0x%08X\n", status);
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136 | } |
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137 | |||
138 | chprintf(stream, "reading high threshold register...\n");
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139 | status = vcnl4020_lld_readhth(((ut_vcnl4020data_t*)(ut->data))->vcnld, ®_16[1], ((ut_vcnl4020data_t*)(ut->data))->timeout);
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140 | if (status == APAL_STATUS_OK) {
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141 | aosUtPassedMsg(stream, &result, "0x%04X\n", reg_16[1]); |
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142 | } else {
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143 | aosUtFailedMsg(stream, &result, "0x%08X\n", status);
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144 | } |
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145 | |||
146 | chprintf(stream, "reading both threshold registers...\n");
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147 | status = vcnl4020_lld_readth(((ut_vcnl4020data_t*)(ut->data))->vcnld, ®_16[0], ®_16[1], ((ut_vcnl4020data_t*)(ut->data))->timeout); |
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148 | if (status == APAL_STATUS_OK) {
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149 | aosUtPassedMsg(stream, &result, "low: 0x%04X; high: 0x%04X\n", reg_16[0], reg_16[1]); |
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150 | } else {
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151 | aosUtFailedMsg(stream, &result, "0x%08X\n", status);
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152 | } |
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153 | |||
154 | chprintf(stream, "writing low threshold register...\n");
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155 | status = vcnl4020_lld_writelth(((ut_vcnl4020data_t*)(ut->data))->vcnld, 0xFFFFu, ((ut_vcnl4020data_t*)(ut->data))->timeout);
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156 | status |= vcnl4020_lld_readlth(((ut_vcnl4020data_t*)(ut->data))->vcnld, ®_16[0], ((ut_vcnl4020data_t*)(ut->data))->timeout);
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157 | if (status == APAL_STATUS_OK && reg_16[0] == 0xFFFFu) { |
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158 | aosUtPassed(stream, &result); |
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159 | } else {
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160 | aosUtFailedMsg(stream, &result, "0x%08X, 0x%04X\n", status, reg_16[0]); |
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161 | } |
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162 | |||
163 | chprintf(stream, "writing high threshold register...\n");
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164 | status = vcnl4020_lld_writehth(((ut_vcnl4020data_t*)(ut->data))->vcnld, 0xFFFFu, ((ut_vcnl4020data_t*)(ut->data))->timeout);
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165 | status |= vcnl4020_lld_readhth(((ut_vcnl4020data_t*)(ut->data))->vcnld, ®_16[1], ((ut_vcnl4020data_t*)(ut->data))->timeout);
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166 | if (status == APAL_STATUS_OK && reg_16[1] == 0xFFFFu) { |
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167 | aosUtPassed(stream, &result); |
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168 | } else {
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169 | aosUtFailedMsg(stream, &result, "0x%08X, 0x%04X\n", status, reg_16[1]); |
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170 | } |
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171 | |||
172 | chprintf(stream, "writing both threshold registers...\n");
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173 | status = vcnl4020_lld_writeth(((ut_vcnl4020data_t*)(ut->data))->vcnld, 0x5555u, 0xAAAAu, ((ut_vcnl4020data_t*)(ut->data))->timeout); |
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174 | status |= vcnl4020_lld_readth(((ut_vcnl4020data_t*)(ut->data))->vcnld, ®_16[0], ®_16[1], ((ut_vcnl4020data_t*)(ut->data))->timeout); |
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175 | if (status == APAL_STATUS_OK && reg_16[0] == 0x5555u && reg_16[1] == 0xAAAAu) { |
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176 | aosUtPassed(stream, &result); |
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177 | } else {
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178 | aosUtFailedMsg(stream, &result, "0x%08X, 0x%04X, 0x%04X\n", status, reg_16[0], reg_16[1]); |
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179 | } |
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180 | |||
181 | chprintf(stream, "test interrupts...\n");
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182 | chprintf(stream, "(thresholds are 0x%04X and 0x%04X)\n", 0, INTERRUPT_THRESHOLD); |
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183 | chEvtRegister(((ut_vcnl4020data_t*)(ut->data))->evtsource, &event_listener, INTERRUPT_EVENT_ID); |
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184 | aosSysGetUptime(&tend); |
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185 | tend += 30 * MICROSECONDS_PER_SECOND;
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186 | status = vcnl4020_lld_writeth(((ut_vcnl4020data_t*)(ut->data))->vcnld, 0x0000, INTERRUPT_THRESHOLD, ((ut_vcnl4020data_t*)(ut->data))->timeout);
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187 | 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); |
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188 | do {
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189 | // read proximity data, interrupt event information and interrupt status
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190 | 1e5f7648 | Thomas Schöpping | const eventmask_t emask = chEvtWaitOneTimeout(EVENT_MASK(INTERRUPT_EVENT_ID), chTimeUS2I(10*MICROSECONDS_PER_MILLISECOND)); |
191 | e545e620 | Thomas Schöpping | const eventflags_t eflags = chEvtGetAndClearFlags(&event_listener);
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192 | status |= vcnl4020_lld_readprox(((ut_vcnl4020data_t*)(ut->data))->vcnld, ®_16[0], ((ut_vcnl4020data_t*)(ut->data))->timeout);
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193 | status |= vcnl4020_lld_readreg(((ut_vcnl4020data_t*)(ut->data))->vcnld, VCNL4020_LLD_REGADDR_INTSTATUS, ®_8[2], ((ut_vcnl4020data_t*)(ut->data))->timeout);
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194 | if (emask == EVENT_MASK(INTERRUPT_EVENT_ID) &&
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195 | eflags == ((ut_vcnl4020data_t*)(ut->data))->evtflags && |
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196 | reg_8[2] == VCNL4020_LLD_INTSTATUSREG_THHIGH) {
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197 | // true positive (correct case)
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198 | chprintf(stream, "\t\tinterrupt detected: prox = 0x%04X\n", reg_16[0]); |
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199 | aosThdMSleep(100);
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200 | } |
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201 | else if (emask != EVENT_MASK(INTERRUPT_EVENT_ID) && |
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202 | eflags != ((ut_vcnl4020data_t*)(ut->data))->evtflags && |
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203 | reg_8[2] != VCNL4020_LLD_INTSTATUSREG_THHIGH) {
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204 | // true negative (correct case)
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205 | // do nothing, just keep on looping
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206 | } |
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207 | else if (emask == EVENT_MASK(INTERRUPT_EVENT_ID) && |
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208 | eflags == ((ut_vcnl4020data_t*)(ut->data))->evtflags && |
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209 | reg_8[2] != 0 ) { |
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210 | // false positive
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211 | status |= 0x1000;
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212 | chprintf(stream, "\t\tfalse positive: intstatus = 0x%02X; prox = 0x%04X\n", reg_8[2], reg_16[0]); |
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213 | } |
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214 | else if (emask != EVENT_MASK(INTERRUPT_EVENT_ID) && |
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215 | eflags != ((ut_vcnl4020data_t*)(ut->data))->evtflags && |
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216 | reg_8[2] == 0) { |
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217 | // false negative
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218 | status |= 0x2000;
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219 | chprintf(stream, "\t\tfalse negative: intstatus = 0x%02X; prox = 0x%04X\n", reg_8[2], reg_16[0]); |
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220 | } // any other events are just ignored
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221 | // reset interrupt status
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222 | if (reg_8[2] != 0) { |
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223 | status |= vcnl4020_lld_writereg(((ut_vcnl4020data_t*)(ut->data))->vcnld, VCNL4020_LLD_REGADDR_INTSTATUS, reg_8[2], ((ut_vcnl4020data_t*)(ut->data))->timeout);
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224 | } |
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225 | aosSysGetUptime(&tcurrent); |
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226 | } while (tcurrent < tend);
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227 | chEvtUnregister(((ut_vcnl4020data_t*)(ut->data))->evtsource, &event_listener); |
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228 | status |= vcnl4020_lld_writereg(((ut_vcnl4020data_t*)(ut->data))->vcnld, VCNL4020_LLD_REGADDR_INTCTRL, 0, ((ut_vcnl4020data_t*)(ut->data))->timeout);
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229 | status |= vcnl4020_lld_readreg(((ut_vcnl4020data_t*)(ut->data))->vcnld, VCNL4020_LLD_REGADDR_INTSTATUS, ®_8[2], ((ut_vcnl4020data_t*)(ut->data))->timeout);
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230 | status |= vcnl4020_lld_writereg(((ut_vcnl4020data_t*)(ut->data))->vcnld, VCNL4020_LLD_REGADDR_INTSTATUS, reg_8[2], ((ut_vcnl4020data_t*)(ut->data))->timeout);
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231 | if (status == APAL_STATUS_SUCCESS || status == APAL_STATUS_WARNING) {
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232 | aosUtPassed(stream, &result); |
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233 | } else {
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234 | aosUtFailedMsg(stream, &result, "0x%08X\n", status);
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235 | } |
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236 | |||
237 | aosUtInfoMsg(stream, "driver object memory footprint: %u bytes\n", sizeof(VCNL4020Driver)); |
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238 | |||
239 | return result;
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240 | } |
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241 | |||
242 | ddf34c3d | Thomas Schöpping | #endif /* (AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_VCNL4020) && (AMIROLLD_CFG_VCNL4020 == 1) */ |