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_AT42QT1050.h>

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

/******************************************************************************/

/* LOCAL DEFINITIONS                                                          */

/******************************************************************************/

#define INTERRUPT_EVENT_ID            1

/******************************************************************************/

/* EXPORTED VARIABLES                                                         */

/******************************************************************************/

/******************************************************************************/

/* LOCAL TYPES                                                                */

/******************************************************************************/

/******************************************************************************/

/* LOCAL VARIABLES                                                            */

/******************************************************************************/

/******************************************************************************/

/* LOCAL FUNCTIONS                                                            */

/******************************************************************************/

void print_settings(int32_t* status, BaseSequentialStream* stream, const aos_test_t* test) {

    chprintf(stream, "settings...\n");

    uint8_t test8;

    at42qt1050_lld_register_t txbuf;

    *status |= at42qt1050_lld_read_reg(((aos_test_at42qt1050data_t*)test->data)->at42qt1050d, AT42QT1050_LLD_REG_LOWPOWERMODE, &test8, ((aos_test_at42qt1050data_t*)test->data)->timeout);

    chprintf(stream, "\tmeasurement inverval %d ms\n", test8*8);

    *status |= at42qt1050_lld_read_reg(((aos_test_at42qt1050data_t*)test->data)->at42qt1050d, AT42QT1050_LLD_REG_MAXONDURATION, &test8, ((aos_test_at42qt1050data_t*)test->data)->timeout);

    chprintf(stream, "\tMax on duration %d ms\n", test8*160);

    *status |= at42qt1050_lld_read_reg(((aos_test_at42qt1050data_t*)test->data)->at42qt1050d, AT42QT1050_LLD_REG_FINFOUTMAXCALGUARD, &test8, ((aos_test_at42qt1050data_t*)test->data)->timeout);

    chprintf(stream, "\tFast In %d, Fast Out, %d MaxCal %d\n\tGuard channel ",

             test8 & AT42QT1050_LLD_FINFOUTMAXCALGUARD_FI,     //enter fast mode whenever an unfiltered signal value is detected

             test8 & AT42QT1050_LLD_FINFOUTMAXCALGUARD_FO,     //DI of 4 (global setting for all keys)

             test8 & AT42QT1050_LLD_FINFOUTMAXCALGUARD_MAXCAL);//recalibrate ALL KEYS after a Max On Duration timeout vs. individually

    //guard channel (which gets priority filtering)

    if((test8 & AT42QT1050_LLD_FINFOUTMAXCALGUARD_GUARD) > AT42QT1050_LLD_NUM_KEYS-1)

        chprintf(stream, "off");

    else

        chprintf(stream, " %d", test8 & AT42QT1050_LLD_FINFOUTMAXCALGUARD_GUARD);

    chprintf(stream, "\n\n\tkey\tgroup\tintegr.\tdelay\tthresh.\tpulse\tscale\n");

    for (uint8_t key = 0; key < AT42QT1050_LLD_NUM_KEYS; ++key) {

        chprintf(stream, "\t%d\t", key);

        txbuf = at42qt1050_lld_addr_calc(AT42QT1050_LLD_REG_INTEGRATOR_AKS_0, key);

        *status |= at42qt1050_lld_read_reg(((aos_test_at42qt1050data_t*)test->data)->at42qt1050d, txbuf, &test8, ((aos_test_at42qt1050data_t*)test->data)->timeout);

        if(!((at42qt1050_lld_detectionintegratoraksreg_t)test8).aks)

            chprintf(stream, "none\t");

        else

            chprintf(stream, "%d\t", ((at42qt1050_lld_detectionintegratoraksreg_t)test8).aks);

        if(!((at42qt1050_lld_detectionintegratoraksreg_t)test8).detection_integrator)

            chprintf(stream, "off");

        else

            chprintf(stream, "%d", ((at42qt1050_lld_detectionintegratoraksreg_t)test8).detection_integrator);

        txbuf = at42qt1050_lld_addr_calc(AT42QT1050_LLD_REG_CHARGESHAREDELAY_0, key);

        *status |= at42qt1050_lld_read_reg(((aos_test_at42qt1050data_t*)test->data)->at42qt1050d, txbuf, &test8, ((aos_test_at42qt1050data_t*)test->data)->timeout);

        chprintf(stream, "\t+%d", test8);

        txbuf = at42qt1050_lld_addr_calc(AT42QT1050_LLD_REG_NEGATIVETHRESHOLD_0, key);

        *status |= at42qt1050_lld_read_reg(((aos_test_at42qt1050data_t*)test->data)->at42qt1050d, txbuf, &test8, ((aos_test_at42qt1050data_t*)test->data)->timeout);

        chprintf(stream, "\t%d", test8);

        txbuf = at42qt1050_lld_addr_calc(AT42QT1050_LLD_REG_PULSE_SCALE_0, key);

        *status |= at42qt1050_lld_read_reg(((aos_test_at42qt1050data_t*)test->data)->at42qt1050d, txbuf, &test8, ((aos_test_at42qt1050data_t*)test->data)->timeout);

        chprintf(stream, "\t%d\t%d\n", ((at42qt1050_lld_pulsescalereg_t)test8).pulse, ((at42qt1050_lld_pulsescalereg_t)test8).scale);

    }

}

void show_live(const uint8_t first_key, int32_t* status,

               BaseSequentialStream* stream, const aos_test_t* test) {

    apalDbgAssert(first_key<5);

    event_listener_t event_listener;

    aos_timestamp_t tcurrent, tend ,tdemo_end;

    //stop demo after 15 seconds

    aosSysGetUptime(&tcurrent);

    tdemo_end = tcurrent + 15*MICROSECONDS_PER_SECOND;

    uint8_t keyStatus, detectionStatus;

    uint16_t signal, reference;

    uint8_t threshold[AT42QT1050_LLD_NUM_KEYS];

    chprintf(stream, "key, count, ref, signal, [threshold], \033[31mtouch\n\033[0m");

    //get thresholds

    for (uint8_t key = 0; key < AT42QT1050_LLD_NUM_KEYS; ++key) {

        const at42qt1050_lld_register_t txbuf = at42qt1050_lld_addr_calc(AT42QT1050_LLD_REG_NEGATIVETHRESHOLD_0, key);

        *status |= at42qt1050_lld_read_reg(((aos_test_at42qt1050data_t*)test->data)->at42qt1050d, txbuf, &threshold[key], ((aos_test_at42qt1050data_t*)test->data)->timeout);

    }

    chEvtRegister(((aos_test_at42qt1050data_t*)test->data)->evtsource, &event_listener, INTERRUPT_EVENT_ID);

    while(true) {

        aosSysGetUptime(&tcurrent);

        for (uint8_t key = first_key; key < AT42QT1050_LLD_NUM_KEYS; ++key) {

            //highlight touched key

            *status |= at42qt1050_lld_read_reg(((aos_test_at42qt1050data_t*)test->data)->at42qt1050d, AT42QT1050_LLD_REG_KEYSTATUS, &keyStatus, ((aos_test_at42qt1050data_t*)test->data)->timeout);

            if((key == 0 && keyStatus&AT42QT1050_LLD_KEYSTATUS_KEY0)

                    || (key == 1 && keyStatus&AT42QT1050_LLD_KEYSTATUS_KEY1)

                    || (key == 2 && keyStatus&AT42QT1050_LLD_KEYSTATUS_KEY2)

                    || (key == 3 && keyStatus&AT42QT1050_LLD_KEYSTATUS_KEY3)

                    || (key == 4 && keyStatus&AT42QT1050_LLD_KEYSTATUS_KEY4))

                chprintf(stream, "\033[31m"); //red

            else

                chprintf(stream, "\033[0m"); //black

            *status |= at42qt1050_lld_read_keyssignal(((aos_test_at42qt1050data_t*)test->data)->at42qt1050d, key, &signal, ((aos_test_at42qt1050data_t*)test->data)->timeout);

            *status |= at42qt1050_lld_read_referencedata(((aos_test_at42qt1050data_t*)test->data)->at42qt1050d, key, &reference, ((aos_test_at42qt1050data_t*)test->data)->timeout);

            const uint16_t dist = (signal<reference?0:signal-reference);

            chprintf(stream, "\033[Kkey %d, %d\t0x%04X 0x%04X [", key, dist, reference, signal);

            uint16_t stars=0;

            for(; stars < dist; stars++) {

                chprintf(stream, "0");

                if(stars > 40) {           //max_stars = 40

                    chprintf(stream, "+"); //more than max_stars

                    break;

                }

            }

            for(; stars < threshold[key]; stars++)

                chprintf(stream, " ");

            if(stars == threshold[key])

                chprintf(stream, "]");

            chprintf(stream, "\n\033[0m");

        }

        //wait 1/3 second for a touch event

        tend = tcurrent + (MICROSECONDS_PER_SECOND/3);

        const eventmask_t emask = chEvtWaitOneTimeout(EVENT_MASK(INTERRUPT_EVENT_ID), chTimeUS2I(tend));

        const eventflags_t eflags = chEvtGetAndClearFlags(&event_listener);

        if (emask == EVENT_MASK(INTERRUPT_EVENT_ID) && eflags == ((aos_test_at42qt1050data_t*)test->data)->evtflags) {

            // interrupt detected

            chprintf(stream, "interrupt ");

        } // else: timeout

        *status |= at42qt1050_lld_read_reg(((aos_test_at42qt1050data_t*)test->data)->at42qt1050d, AT42QT1050_LLD_REG_DETECTIONSTATUS, &detectionStatus, ((aos_test_at42qt1050data_t*)test->data)->timeout);

        if(detectionStatus & AT42QT1050_LLD_DETECTIONSTATUS_TOUCH)

            chprintf(stream, "touch ");

        if(detectionStatus & AT42QT1050_LLD_DETECTIONSTATUS_OVERFLOW)

            chprintf(stream, "overflow ");

        if(detectionStatus & AT42QT1050_LLD_DETECTIONSTATUS_CALIBRATE)

            chprintf(stream, "calibrate");

        chprintf(stream, "\033[K");

        if(tcurrent > tdemo_end)

            break;

        chprintf(stream, "\033[%dF", 5-first_key); //cursor up

    }

    chEvtUnregister(((aos_test_at42qt1050data_t*)test->data)->evtsource, &event_listener);

}

/******************************************************************************/

/* EXPORTED FUNCTIONS                                                         */

/******************************************************************************/

aos_testresult_t aosTestAt42qt1050Func(BaseSequentialStream* stream, const aos_test_t* test)

{

    aosDbgCheck(test->data != NULL && ((aos_test_at42qt1050data_t*)test->data)->at42qt1050d != NULL);

    // local variables

    aos_testresult_t result = {0, 0};

    int32_t status;

    uint8_t test_8;

    bool error;

    chprintf(stream, "read register...\n");

    error = false;

    status = at42qt1050_lld_read_reg(((aos_test_at42qt1050data_t*)test->data)->at42qt1050d, AT42QT1050_LLD_REG_CHIPID, &test_8, ((aos_test_at42qt1050data_t*)test->data)->timeout);

    chprintf(stream, "\t\tchip ID: 0x%02X\n", test_8);

    if (test_8 != AT42QT1050_LLD_CHIPID)

        error = true;

    status |= at42qt1050_lld_read_reg(((aos_test_at42qt1050data_t*)test->data)->at42qt1050d, AT42QT1050_LLD_REG_FIRMWAREVERSION, &test_8, ((aos_test_at42qt1050data_t*)test->data)->timeout);

    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);

    if (status == APAL_STATUS_SUCCESS && !error) {

        aosTestPassed(stream, &result);

    } else {

        aosTestFailedMsg(stream, &result, "0x%08X\n", status);

    }

    chprintf(stream, "write and readback threshold data...\n");

    status = APAL_STATUS_OK;

    const uint8_t threshold_test = 0x40;

    error = false;

    for (uint8_t key = 0; key < AT42QT1050_LLD_NUM_KEYS; ++key) {

        const at42qt1050_lld_register_t txbuf = at42qt1050_lld_addr_calc(AT42QT1050_LLD_REG_NEGATIVETHRESHOLD_0, key);

        status |= at42qt1050_lld_write_reg(((aos_test_at42qt1050data_t*)test->data)->at42qt1050d, txbuf, threshold_test , ((aos_test_at42qt1050data_t*)test->data)->timeout);

        status |= at42qt1050_lld_read_reg(((aos_test_at42qt1050data_t*)test->data)->at42qt1050d, txbuf, &test_8, ((aos_test_at42qt1050data_t*)test->data)->timeout);

        if(test_8 != threshold_test)

            error = true;

    }

    if (status == APAL_STATUS_SUCCESS  &&  !error) {

        aosTestPassedMsg(stream, &result, "Set thresholds successfull to 0x%04X\n", threshold_test);

    } else {

        aosTestFailedMsg(stream, &result, "0x%08X\n", status);

    }

    chprintf(stream, "guarding...\nincrease charge_delay0\ndisable multitouch\n");

    //channel 0 is to big to be charged in the default cycle

    status = at42qt1050_lld_write_reg(((aos_test_at42qt1050data_t*)test->data)->at42qt1050d, AT42QT1050_LLD_REG_CHARGESHAREDELAY_0, 128 , ((aos_test_at42qt1050data_t*)test->data)->timeout);

    //set all channel to group 1 -> only 1 simultaneous touch in group = single touch

    at42qt1050_lld_detectionintegratoraksreg_t detectionintegrator;

    for (uint8_t key = 0; key < AT42QT1050_LLD_NUM_KEYS; ++key) {

        const at42qt1050_lld_register_t txbuf = at42qt1050_lld_addr_calc(AT42QT1050_LLD_REG_INTEGRATOR_AKS_0, key);

        detectionintegrator.aks = 1;                  //on touch per group-id simultaneous

        detectionintegrator.detection_integrator = 4; //4 times > threshold => touchevent

        status |= at42qt1050_lld_write_reg(((aos_test_at42qt1050data_t*)test->data)->at42qt1050d, txbuf, detectionintegrator.raw, ((aos_test_at42qt1050data_t*)test->data)->timeout);

    }

    if (status == APAL_STATUS_SUCCESS) {

        aosTestPassed(stream, &result);

    } else {

        aosTestFailedMsg(stream, &result, "0x%08X\n", status);

    }

    chprintf(stream, "reset device...\n");

    status = at42qt1050_lld_reset(((aos_test_at42qt1050data_t*)test->data)->at42qt1050d, ((aos_test_at42qt1050data_t*)test->data)->timeout, true);

    if (status == APAL_STATUS_SUCCESS) {

        aosTestPassed(stream, &result);

    } else {

        aosTestFailedMsg(stream, &result, "0x%08X\n", status);

    }

    chprintf(stream, "read threshold data again...\n");

    status = APAL_STATUS_OK;

    const uint8_t threshold_default = 20;

    error = false;

    for (uint8_t key = 0; key < AT42QT1050_LLD_NUM_KEYS; ++key) {

        const at42qt1050_lld_register_t txbuf = at42qt1050_lld_addr_calc(AT42QT1050_LLD_REG_NEGATIVETHRESHOLD_0, key);

        status |= at42qt1050_lld_read_reg(((aos_test_at42qt1050data_t*)test->data)->at42qt1050d, txbuf, &test_8, ((aos_test_at42qt1050data_t*)test->data)->timeout);

        if(test_8 != threshold_default)

            error = true;

    }

    if (status == APAL_STATUS_SUCCESS && !error) {

        aosTestPassedMsg(stream, &result, "threshold 0x%04X = default\n", threshold_default);

    } else {

        aosTestFailedMsg(stream, &result, "0x%08X\n", status);

    }

    chprintf(stream, "demo of default configuration:\n");

    status = APAL_STATUS_OK;

    show_live(0, &status, stream, test);

    if (status == APAL_STATUS_SUCCESS) {

        aosTestPassed(stream, &result);

    } else {

        aosTestFailedMsg(stream, &result, "0x%08X\n", status);

    }

    status = APAL_STATUS_OK;

    chprintf(stream, "write configuration...\npuls + scale + threshold 8\n");

    at42qt1050_lld_pulsescalereg_t pulse_scale;

    //values stored as exponent of 2

    pulse_scale.pulse = 0; // accumulate #pulses -> increase resolution & time to acquire

    pulse_scale.scale = 0; // scale = average factor n: NewAvg = (NewData/n) + [OldAvg*(n-1/n)] -> decrease noise

    status  = at42qt1050_lld_write_reg(((aos_test_at42qt1050data_t*)test->data)->at42qt1050d, AT42QT1050_LLD_REG_PULSE_SCALE_0, pulse_scale.raw , ((aos_test_at42qt1050data_t*)test->data)->timeout);

    pulse_scale.pulse = 1;

    status |= at42qt1050_lld_write_reg(((aos_test_at42qt1050data_t*)test->data)->at42qt1050d, AT42QT1050_LLD_REG_PULSE_SCALE_3, pulse_scale.raw , ((aos_test_at42qt1050data_t*)test->data)->timeout);

    pulse_scale.pulse = 4;

    status |= at42qt1050_lld_write_reg(((aos_test_at42qt1050data_t*)test->data)->at42qt1050d, AT42QT1050_LLD_REG_PULSE_SCALE_1, pulse_scale.raw , ((aos_test_at42qt1050data_t*)test->data)->timeout);

    status |= at42qt1050_lld_write_reg(((aos_test_at42qt1050data_t*)test->data)->at42qt1050d, AT42QT1050_LLD_REG_PULSE_SCALE_2, pulse_scale.raw , ((aos_test_at42qt1050data_t*)test->data)->timeout);

    status |= at42qt1050_lld_write_reg(((aos_test_at42qt1050data_t*)test->data)->at42qt1050d, AT42QT1050_LLD_REG_PULSE_SCALE_4, pulse_scale.raw , ((aos_test_at42qt1050data_t*)test->data)->timeout);

    for (uint8_t key = 0; key < AT42QT1050_LLD_NUM_KEYS; ++key) {

        const at42qt1050_lld_register_t txbuf = at42qt1050_lld_addr_calc(AT42QT1050_LLD_REG_NEGATIVETHRESHOLD_0, key);

        status |= at42qt1050_lld_write_reg(((aos_test_at42qt1050data_t*)test->data)->at42qt1050d, txbuf, 8, ((aos_test_at42qt1050data_t*)test->data)->timeout);

    }

    chprintf(stream, "disable guard key\n");

    status |= at42qt1050_lld_write_reg(((aos_test_at42qt1050data_t*)test->data)->at42qt1050d, AT42QT1050_LLD_REG_INTEGRATOR_AKS_0, 0 , ((aos_test_at42qt1050data_t*)test->data)->timeout); //disable key

    status |= at42qt1050_lld_write_reg(((aos_test_at42qt1050data_t*)test->data)->at42qt1050d, AT42QT1050_LLD_REG_FINFOUTMAXCALGUARD, 8 , ((aos_test_at42qt1050data_t*)test->data)->timeout); //disable feature

    chprintf(stream, "calibrate...\n");

    status = at42qt1050_lld_write_reg(((aos_test_at42qt1050data_t*)test->data)->at42qt1050d, AT42QT1050_LLD_REG_RESET_CALIBRATE, AT42QT1050_LLD_RESETCALIBRATE_CALIBRATE, ((aos_test_at42qt1050data_t*)test->data)->timeout);

    //wait for calibration to complete

    error = true;

    for(uint8_t i=0; i<0xFF; i++) {

        usleep(10);

        status |= at42qt1050_lld_read_reg(((aos_test_at42qt1050data_t*)test->data)->at42qt1050d, AT42QT1050_LLD_REG_DETECTIONSTATUS, &test_8, ((aos_test_at42qt1050data_t*)test->data)->timeout);

        if(!(test_8 & AT42QT1050_LLD_DETECTIONSTATUS_CALIBRATE)) {

            error = false;

            break;

        }

    }

    if (status == APAL_STATUS_SUCCESS) {

        aosTestPassed(stream, &result);

    } else {

        aosTestFailedMsg(stream, &result, "0x%08X\n", status);

    }

    chprintf(stream, "demo of custom configuration:\n");

    status = APAL_STATUS_OK;

    show_live(1, &status, stream, test);

    if (status == APAL_STATUS_SUCCESS) {

        aosTestPassed(stream, &result);

    } else {

        aosTestFailedMsg(stream, &result, "0x%08X\n", status);

    }

    status = APAL_STATUS_OK;

    print_settings(&status, stream, test);

    if (status == APAL_STATUS_SUCCESS) {

        aosTestPassed(stream, &result);

    } else {

        aosTestFailedMsg(stream, &result, "0x%08X\n", status);

    }

    chprintf(stream, "shutdown touch\n");

    test_8 = 0; //Power down

    status = at42qt1050_lld_write_reg(((aos_test_at42qt1050data_t*)test->data)->at42qt1050d, AT42QT1050_LLD_REG_LOWPOWERMODE, test_8, ((aos_test_at42qt1050data_t*)test->data)->timeout);

    if (status == APAL_STATUS_SUCCESS) {

        aosTestPassed(stream, &result);

    } else {

        aosTestFailedMsg(stream, &result, "0x%08X\n", status);

    }

    aosTestInfoMsg(stream,"driver object memory footprint: %u bytes\n", sizeof(AT42QT1050Driver));

    return result;

}

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