amiro-os / unittests / periphery-lld / src / ut_alld_AT42QT1050_v1.c @ 5668089d
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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 <amiroos.h> |
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#include <ut_alld_AT42QT1050_v1.h> |
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#if ((AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_AT42QT1050) && (AMIROLLD_CFG_AT42QT1050 == 1)) || 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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void print_settings(apalExitStatus_t* status, BaseSequentialStream* stream, aos_unittest_t* ut) {
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chprintf(stream, "settings...\n");
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uint8_t test8; |
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at42qt1050_lld_register_t txbuf; |
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*status |= at42qt1050_lld_read_reg(((ut_at42qt1050data_t*)ut->data)->at42qt1050d, AT42QT1050_LLD_REG_LOWPOWERMODE, &test8, ((ut_at42qt1050data_t*)ut->data)->timeout); |
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chprintf(stream, "\tmeasurement inverval %d ms\n", test8*8); |
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*status |= at42qt1050_lld_read_reg(((ut_at42qt1050data_t*)ut->data)->at42qt1050d, AT42QT1050_LLD_REG_MAXONDURATION, &test8, ((ut_at42qt1050data_t*)ut->data)->timeout); |
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chprintf(stream, "\tMax on duration %d ms\n", test8*160); |
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*status |= at42qt1050_lld_read_reg(((ut_at42qt1050data_t*)ut->data)->at42qt1050d, AT42QT1050_LLD_REG_FINFOUTMAXCALGUARD, &test8, ((ut_at42qt1050data_t*)ut->data)->timeout); |
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chprintf(stream, "\tFast In %d, Fast Out, %d MaxCal %d\n\tGuard channel ",
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test8 & AT42QT1050_LLD_FINFOUTMAXCALGUARD_FI, //enter fast mode whenever an unfiltered signal value is detected
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test8 & AT42QT1050_LLD_FINFOUTMAXCALGUARD_FO, //DI of 4 (global setting for all keys)
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test8 & AT42QT1050_LLD_FINFOUTMAXCALGUARD_MAXCAL);//recalibrate ALL KEYS after a Max On Duration timeout vs. individually
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//guard channel (which gets priority filtering)
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if((test8 & AT42QT1050_LLD_FINFOUTMAXCALGUARD_GUARD) > AT42QT1050_LLD_NUM_KEYS-1) |
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chprintf(stream, "off");
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else
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chprintf(stream, " %d", test8 & AT42QT1050_LLD_FINFOUTMAXCALGUARD_GUARD);
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chprintf(stream, "\n\n\tkey\tgroup\tintegr.\tdelay\tthresh.\tpulse\tscale\n");
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for (uint8_t key = 0; key < AT42QT1050_LLD_NUM_KEYS; ++key) { |
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chprintf(stream, "\t%d\t", key);
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txbuf = at42qt1050_lld_addr_calc(AT42QT1050_LLD_REG_INTEGRATOR_AKS_0, key); |
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*status |= at42qt1050_lld_read_reg(((ut_at42qt1050data_t*)ut->data)->at42qt1050d, txbuf, &test8, ((ut_at42qt1050data_t*)ut->data)->timeout); |
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if(!((at42qt1050_lld_detectionintegratoraksreg_t)test8).aks)
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chprintf(stream, "none\t");
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else
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chprintf(stream, "%d\t", ((at42qt1050_lld_detectionintegratoraksreg_t)test8).aks);
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if(!((at42qt1050_lld_detectionintegratoraksreg_t)test8).detection_integrator)
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chprintf(stream, "off");
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else
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chprintf(stream, "%d", ((at42qt1050_lld_detectionintegratoraksreg_t)test8).detection_integrator);
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txbuf = at42qt1050_lld_addr_calc(AT42QT1050_LLD_REG_CHARGESHAREDELAY_0, key); |
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*status |= at42qt1050_lld_read_reg(((ut_at42qt1050data_t*)ut->data)->at42qt1050d, txbuf, &test8, ((ut_at42qt1050data_t*)ut->data)->timeout); |
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chprintf(stream, "\t+%d", test8);
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txbuf = at42qt1050_lld_addr_calc(AT42QT1050_LLD_REG_NEGATIVETHRESHOLD_0, key); |
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*status |= at42qt1050_lld_read_reg(((ut_at42qt1050data_t*)ut->data)->at42qt1050d, txbuf, &test8, ((ut_at42qt1050data_t*)ut->data)->timeout); |
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chprintf(stream, "\t%d", test8);
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txbuf = at42qt1050_lld_addr_calc(AT42QT1050_LLD_REG_PULSE_SCALE_0, key); |
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*status |= at42qt1050_lld_read_reg(((ut_at42qt1050data_t*)ut->data)->at42qt1050d, txbuf, &test8, ((ut_at42qt1050data_t*)ut->data)->timeout); |
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chprintf(stream, "\t%d\t%d\n", ((at42qt1050_lld_pulsescalereg_t)test8).pulse, ((at42qt1050_lld_pulsescalereg_t)test8).scale);
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} |
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} |
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void show_live(const uint8_t first_key, apalExitStatus_t* status, |
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BaseSequentialStream* stream, aos_unittest_t* ut) {
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apalDbgAssert(first_key<5);
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event_listener_t event_listener; |
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aos_timestamp_t tcurrent, tend ,tdemo_end; |
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//stop demo after 15 seconds
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aosSysGetUptime(&tcurrent); |
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tdemo_end = tcurrent + 15*MICROSECONDS_PER_SECOND;
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uint8_t keyStatus, detectionStatus; |
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uint16_t signal, reference; |
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uint8_t threshold[AT42QT1050_LLD_NUM_KEYS]; |
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chprintf(stream, "key, count, ref, signal, [threshold], \033[31mtouch\n\033[0m");
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//get thresholds
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for (uint8_t key = 0; key < AT42QT1050_LLD_NUM_KEYS; ++key) { |
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const at42qt1050_lld_register_t txbuf = at42qt1050_lld_addr_calc(AT42QT1050_LLD_REG_NEGATIVETHRESHOLD_0, key);
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*status |= at42qt1050_lld_read_reg(((ut_at42qt1050data_t*)ut->data)->at42qt1050d, txbuf, &threshold[key], ((ut_at42qt1050data_t*)ut->data)->timeout); |
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} |
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chEvtRegister(((ut_at42qt1050data_t*)ut->data)->evtsource, &event_listener, INTERRUPT_EVENT_ID); |
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while(true) { |
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aosSysGetUptime(&tcurrent); |
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for (uint8_t key = first_key; key < AT42QT1050_LLD_NUM_KEYS; ++key) {
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//highlight touched key
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*status |= at42qt1050_lld_read_reg(((ut_at42qt1050data_t*)ut->data)->at42qt1050d, AT42QT1050_LLD_REG_KEYSTATUS, &keyStatus, ((ut_at42qt1050data_t*)ut->data)->timeout); |
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if((key == 0 && keyStatus&AT42QT1050_LLD_KEYSTATUS_KEY0) |
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|| (key == 1 && keyStatus&AT42QT1050_LLD_KEYSTATUS_KEY1)
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|| (key == 2 && keyStatus&AT42QT1050_LLD_KEYSTATUS_KEY2)
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|| (key == 3 && keyStatus&AT42QT1050_LLD_KEYSTATUS_KEY3)
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|| (key == 4 && keyStatus&AT42QT1050_LLD_KEYSTATUS_KEY4))
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chprintf(stream, "\033[31m"); //red |
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else
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chprintf(stream, "\033[0m"); //black |
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*status |= at42qt1050_lld_read_keyssignal(((ut_at42qt1050data_t*)ut->data)->at42qt1050d, key, &signal, ((ut_at42qt1050data_t*)ut->data)->timeout); |
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*status |= at42qt1050_lld_read_referencedata(((ut_at42qt1050data_t*)ut->data)->at42qt1050d, key, &reference, ((ut_at42qt1050data_t*)ut->data)->timeout); |
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const uint16_t dist = (signal<reference?0:signal-reference); |
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chprintf(stream, "\033[Kkey %d, %d\t0x%04X 0x%04X [", key, dist, reference, signal);
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uint16_t stars=0;
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for(; stars < dist; stars++) {
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chprintf(stream, "0");
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if(stars > 40) { //max_stars = 40 |
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chprintf(stream, "+"); //more than max_stars |
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break;
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} |
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} |
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for(; stars < threshold[key]; stars++)
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chprintf(stream, " ");
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if(stars == threshold[key])
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chprintf(stream, "]");
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chprintf(stream, "\n\033[0m");
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} |
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//wait 1/3 second for a touch event
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tend = tcurrent + (MICROSECONDS_PER_SECOND/3);
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const eventmask_t emask = chEvtWaitOneTimeout(EVENT_MASK(INTERRUPT_EVENT_ID), chTimeUS2I(tend));
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const eventflags_t eflags = chEvtGetAndClearFlags(&event_listener);
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if (emask == EVENT_MASK(INTERRUPT_EVENT_ID) && eflags == ((ut_at42qt1050data_t*)ut->data)->evtflags) {
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// interrupt detected
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chprintf(stream, "interrupt ");
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} // else: timeout
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*status |= at42qt1050_lld_read_reg(((ut_at42qt1050data_t*)ut->data)->at42qt1050d, AT42QT1050_LLD_REG_DETECTIONSTATUS, &detectionStatus, ((ut_at42qt1050data_t*)ut->data)->timeout); |
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if(detectionStatus & AT42QT1050_LLD_DETECTIONSTATUS_TOUCH)
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chprintf(stream, "touch ");
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if(detectionStatus & AT42QT1050_LLD_DETECTIONSTATUS_OVERFLOW)
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chprintf(stream, "overflow ");
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if(detectionStatus & AT42QT1050_LLD_DETECTIONSTATUS_CALIBRATE)
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chprintf(stream, "calibrate");
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chprintf(stream, "\033[K");
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if(tcurrent > tdemo_end)
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break;
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chprintf(stream, "\033[%dF", 5-first_key); //cursor up |
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} |
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chEvtUnregister(((ut_at42qt1050data_t*)ut->data)->evtsource, &event_listener); |
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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 utAlldAt42qt1050Func(BaseSequentialStream* stream, aos_unittest_t* ut) |
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{
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aosDbgCheck(ut->data != NULL && ((ut_at42qt1050data_t*)ut->data)->at42qt1050d != NULL); |
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// local variables
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aos_utresult_t result = {0, 0};
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apalExitStatus_t status; |
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uint8_t test_8; |
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bool error;
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chprintf(stream, "read register...\n");
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error = false;
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status = at42qt1050_lld_read_reg(((ut_at42qt1050data_t*)ut->data)->at42qt1050d, AT42QT1050_LLD_REG_CHIPID, &test_8, ((ut_at42qt1050data_t*)ut->data)->timeout); |
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chprintf(stream, "\t\tchip ID: 0x%02X\n", test_8);
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if (test_8 != AT42QT1050_LLD_CHIPID)
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error = true;
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status |= at42qt1050_lld_read_reg(((ut_at42qt1050data_t*)ut->data)->at42qt1050d, AT42QT1050_LLD_REG_FIRMWAREVERSION, &test_8, ((ut_at42qt1050data_t*)ut->data)->timeout); |
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chprintf(stream, "\t\tfirmware version: %u.%u (0x%02X)\n", ((at42qt1050_lld_firmwarereg_t)test_8).major, ((at42qt1050_lld_firmwarereg_t)test_8).minor, test_8);
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if (status == APAL_STATUS_SUCCESS && !error) {
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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 and readback threshold data...\n");
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status = APAL_STATUS_OK; |
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const uint8_t threshold_test = 0x40; |
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error = false;
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for (uint8_t key = 0; key < AT42QT1050_LLD_NUM_KEYS; ++key) { |
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const at42qt1050_lld_register_t txbuf = at42qt1050_lld_addr_calc(AT42QT1050_LLD_REG_NEGATIVETHRESHOLD_0, key);
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status |= at42qt1050_lld_write_reg(((ut_at42qt1050data_t*)ut->data)->at42qt1050d, txbuf, threshold_test , ((ut_at42qt1050data_t*)ut->data)->timeout); |
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status |= at42qt1050_lld_read_reg(((ut_at42qt1050data_t*)ut->data)->at42qt1050d, txbuf, &test_8, ((ut_at42qt1050data_t*)ut->data)->timeout); |
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if(test_8 != threshold_test)
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error = true;
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} |
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if (status == APAL_STATUS_SUCCESS && !error) {
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aosUtPassedMsg(stream, &result, "Set thresholds successfull to 0x%04X\n", threshold_test);
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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, "guarding...\nincrease charge_delay0\ndisable multitouch\n");
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//channel 0 is to big to be charged in the default cycle
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status = at42qt1050_lld_write_reg(((ut_at42qt1050data_t*)ut->data)->at42qt1050d, AT42QT1050_LLD_REG_CHARGESHAREDELAY_0, 128 , ((ut_at42qt1050data_t*)ut->data)->timeout);
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//set all channel to group 1 -> only 1 simultaneous touch in group = single touch
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at42qt1050_lld_detectionintegratoraksreg_t detectionintegrator; |
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for (uint8_t key = 0; key < AT42QT1050_LLD_NUM_KEYS; ++key) { |
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const at42qt1050_lld_register_t txbuf = at42qt1050_lld_addr_calc(AT42QT1050_LLD_REG_INTEGRATOR_AKS_0, key);
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detectionintegrator.aks = 1; //on touch per group-id simultaneous |
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detectionintegrator.detection_integrator = 4; //4 times > threshold => touchevent |
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status |= at42qt1050_lld_write_reg(((ut_at42qt1050data_t*)ut->data)->at42qt1050d, txbuf, detectionintegrator.raw, ((ut_at42qt1050data_t*)ut->data)->timeout); |
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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, "reset device...\n");
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status = at42qt1050_lld_reset(((ut_at42qt1050data_t*)ut->data)->at42qt1050d, ((ut_at42qt1050data_t*)ut->data)->timeout, true);
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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, "read threshold data again...\n");
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status = APAL_STATUS_OK; |
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const uint8_t threshold_default = 20; |
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error = false;
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for (uint8_t key = 0; key < AT42QT1050_LLD_NUM_KEYS; ++key) { |
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const at42qt1050_lld_register_t txbuf = at42qt1050_lld_addr_calc(AT42QT1050_LLD_REG_NEGATIVETHRESHOLD_0, key);
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status |= at42qt1050_lld_read_reg(((ut_at42qt1050data_t*)ut->data)->at42qt1050d, txbuf, &test_8, ((ut_at42qt1050data_t*)ut->data)->timeout); |
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if(test_8 != threshold_default)
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error = true;
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} |
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if (status == APAL_STATUS_SUCCESS && !error) {
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aosUtPassedMsg(stream, &result, "threshold 0x%04X = default\n", threshold_default);
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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, "demo of default configuration:\n");
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status = APAL_STATUS_OK; |
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show_live(0, &status, stream, ut);
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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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status = APAL_STATUS_OK; |
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chprintf(stream, "write configuration...\npuls + scale + threshold 8\n");
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at42qt1050_lld_pulsescalereg_t pulse_scale; |
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//values stored as exponent of 2
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pulse_scale.pulse = 0; // accumulate #pulses -> increase resolution & time to acquire |
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pulse_scale.scale = 0; // scale = average factor n: NewAvg = (NewData/n) + [OldAvg*(n-1/n)] -> decrease noise |
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status = at42qt1050_lld_write_reg(((ut_at42qt1050data_t*)ut->data)->at42qt1050d, AT42QT1050_LLD_REG_PULSE_SCALE_0, pulse_scale.raw , ((ut_at42qt1050data_t*)ut->data)->timeout); |
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pulse_scale.pulse = 1;
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status |= at42qt1050_lld_write_reg(((ut_at42qt1050data_t*)ut->data)->at42qt1050d, AT42QT1050_LLD_REG_PULSE_SCALE_3, pulse_scale.raw , ((ut_at42qt1050data_t*)ut->data)->timeout); |
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pulse_scale.pulse = 4;
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status |= at42qt1050_lld_write_reg(((ut_at42qt1050data_t*)ut->data)->at42qt1050d, AT42QT1050_LLD_REG_PULSE_SCALE_1, pulse_scale.raw , ((ut_at42qt1050data_t*)ut->data)->timeout); |
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status |= at42qt1050_lld_write_reg(((ut_at42qt1050data_t*)ut->data)->at42qt1050d, AT42QT1050_LLD_REG_PULSE_SCALE_2, pulse_scale.raw , ((ut_at42qt1050data_t*)ut->data)->timeout); |
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status |= at42qt1050_lld_write_reg(((ut_at42qt1050data_t*)ut->data)->at42qt1050d, AT42QT1050_LLD_REG_PULSE_SCALE_4, pulse_scale.raw , ((ut_at42qt1050data_t*)ut->data)->timeout); |
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for (uint8_t key = 0; key < AT42QT1050_LLD_NUM_KEYS; ++key) { |
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const at42qt1050_lld_register_t txbuf = at42qt1050_lld_addr_calc(AT42QT1050_LLD_REG_NEGATIVETHRESHOLD_0, key);
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status |= at42qt1050_lld_write_reg(((ut_at42qt1050data_t*)ut->data)->at42qt1050d, txbuf, 8, ((ut_at42qt1050data_t*)ut->data)->timeout);
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} |
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chprintf(stream, "disable guard key\n");
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status |= at42qt1050_lld_write_reg(((ut_at42qt1050data_t*)ut->data)->at42qt1050d, AT42QT1050_LLD_REG_INTEGRATOR_AKS_0, 0 , ((ut_at42qt1050data_t*)ut->data)->timeout); //disable key |
| 304 |
status |= at42qt1050_lld_write_reg(((ut_at42qt1050data_t*)ut->data)->at42qt1050d, AT42QT1050_LLD_REG_FINFOUTMAXCALGUARD, 8 , ((ut_at42qt1050data_t*)ut->data)->timeout); //disable feature |
| 305 |
|
| 306 |
chprintf(stream, "calibrate...\n");
|
| 307 |
status = at42qt1050_lld_write_reg(((ut_at42qt1050data_t*)ut->data)->at42qt1050d, AT42QT1050_LLD_REG_RESET_CALIBRATE, AT42QT1050_LLD_RESETCALIBRATE_CALIBRATE, ((ut_at42qt1050data_t*)ut->data)->timeout); |
| 308 |
|
| 309 |
|
| 310 |
|
| 311 |
//wait for calibration to complete
|
| 312 |
error = true;
|
| 313 |
for(uint8_t i=0; i<0xFF; i++) { |
| 314 |
usleep(10);
|
| 315 |
status |= at42qt1050_lld_read_reg(((ut_at42qt1050data_t*)ut->data)->at42qt1050d, AT42QT1050_LLD_REG_DETECTIONSTATUS, &test_8, ((ut_at42qt1050data_t*)ut->data)->timeout); |
| 316 |
if(!(test_8 & AT42QT1050_LLD_DETECTIONSTATUS_CALIBRATE)) {
|
| 317 |
error = false;
|
| 318 |
break;
|
| 319 |
} |
| 320 |
} |
| 321 |
if (status == APAL_STATUS_SUCCESS) {
|
| 322 |
aosUtPassed(stream, &result); |
| 323 |
} else {
|
| 324 |
aosUtFailedMsg(stream, &result, "0x%08X\n", status);
|
| 325 |
} |
| 326 |
chprintf(stream, "demo of custom configuration:\n");
|
| 327 |
status = APAL_STATUS_OK; |
| 328 |
show_live(1, &status, stream, ut);
|
| 329 |
if (status == APAL_STATUS_SUCCESS) {
|
| 330 |
aosUtPassed(stream, &result); |
| 331 |
} else {
|
| 332 |
aosUtFailedMsg(stream, &result, "0x%08X\n", status);
|
| 333 |
} |
| 334 |
|
| 335 |
status = APAL_STATUS_OK; |
| 336 |
print_settings(&status, stream, ut); |
| 337 |
if (status == APAL_STATUS_SUCCESS) {
|
| 338 |
aosUtPassed(stream, &result); |
| 339 |
} else {
|
| 340 |
aosUtFailedMsg(stream, &result, "0x%08X\n", status);
|
| 341 |
} |
| 342 |
|
| 343 |
chprintf(stream, "shutdown touch\n");
|
| 344 |
test_8 = 0; //Power down |
| 345 |
status = at42qt1050_lld_write_reg(((ut_at42qt1050data_t*)ut->data)->at42qt1050d, AT42QT1050_LLD_REG_LOWPOWERMODE, test_8, ((ut_at42qt1050data_t*)ut->data)->timeout); |
| 346 |
if (status == APAL_STATUS_SUCCESS) {
|
| 347 |
aosUtPassed(stream, &result); |
| 348 |
} else {
|
| 349 |
aosUtFailedMsg(stream, &result, "0x%08X\n", status);
|
| 350 |
} |
| 351 |
|
| 352 |
aosUtInfoMsg(stream,"driver object memory footprint: %u bytes\n", sizeof(AT42QT1050Driver)); |
| 353 |
|
| 354 |
return result;
|
| 355 |
} |
| 356 |
|
| 357 |
#endif
|