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_LIS331DLH.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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/**

 * @brief   LIS331DLH test function.

 *

 * @param[in] stream  Stream for input/output.

 * @param[in] test    Test object.

 *

 * @return            Test result value.

 */

aos_testresult_t aosTestLis331dlhFunc(BaseSequentialStream* stream, const aos_test_t* test)

{

  aosDbgCheck(test->data != NULL && ((aos_test_lis331dlhdata_t*)(test->data)) != NULL);

  // local variables

  aos_testresult_t result = {0, 0};

  int32_t status;

  uint8_t data = 0;

  uint8_t write_data[5];

  uint8_t read_data[5];

  uint8_t errors = 0;

  uint8_t reg1;

  int16_t sdata[3];

  uint8_t status_reg;

  lis331dlh_lld_int_cfg_t intcfg;

  event_listener_t el;

  eventmask_t event_mask;

  uint8_t success = 0;

  for (uint8_t dataIdx = 0; dataIdx < 4; dataIdx++) {

    write_data[dataIdx] = (dataIdx+1)*11;

  }

  write_data[4] = 0;

  chprintf(stream, "check identity...\n");

  status = lis331dlh_lld_read_register(((aos_test_lis331dlhdata_t*)(test->data))->lisd, LIS331DLH_LLD_REGISTER_WHO_AM_I, &data, 1);

  if (status == APAL_STATUS_SUCCESS &&

      data == LIS331DLH_LLD_WHO_AM_I) {

    aosTestPassed(stream, &result);

  } else {

    chprintf(stream, "\tfailed\n");

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

    ++result.failed;

  }

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

  status = lis331dlh_lld_write_register(((aos_test_lis331dlhdata_t*)(test->data))->lisd, LIS331DLH_LLD_REGISTER_CTRL_REG1, write_data, 1);

  if (status == APAL_STATUS_SUCCESS) {

    aosTestPassed(stream, &result);

  } else {

    aosTestFailed(stream, &result);

  }

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

  status = lis331dlh_lld_read_register(((aos_test_lis331dlhdata_t*)(test->data))->lisd, LIS331DLH_LLD_REGISTER_CTRL_REG1, &data, 1);

  if (status == APAL_STATUS_SUCCESS && data == write_data[0]) {

    aosTestPassed(stream, &result);

  } else {

    chprintf(stream, "\tfailed\n");

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

    ++result.failed;

  }

  chprintf(stream, "write multiple registers...\n");

  status = lis331dlh_lld_write_register(((aos_test_lis331dlhdata_t*)(test->data))->lisd, LIS331DLH_LLD_REGISTER_CTRL_REG1, write_data, 5);

  if (status == APAL_STATUS_SUCCESS) {

    aosTestPassed(stream, &result);

  } else {

    aosTestFailed(stream, &result);

  }

  chprintf(stream, "read multiple registers...\n");

  status = lis331dlh_lld_read_register(((aos_test_lis331dlhdata_t*)(test->data))->lisd, LIS331DLH_LLD_REGISTER_CTRL_REG1, read_data, 5);

  for (uint8_t dataIdx = 0; dataIdx < 5; dataIdx++) {

    if (read_data[dataIdx] != write_data[dataIdx]) {

      ++errors;

    }

  }

  if (status == APAL_STATUS_SUCCESS &&

      errors == 0) {

    aosTestPassed(stream, &result);

  } else {

    chprintf(stream, "\tfailed\n");

    for (uint8_t dataIdx = 0; dataIdx < 5; dataIdx++) {

      chprintf(stream, "\t\tStatus: %d, CTRL_REG%d: %d, write_data: %d\n", status, dataIdx+1, read_data[dataIdx], write_data[dataIdx]);

    }

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

  }

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

  lis331dlh_lld_cfg_t cfg;

  status = lis331dlh_lld_read_config(((aos_test_lis331dlhdata_t*)(test->data))->lisd, &cfg);

  if (status == APAL_STATUS_SUCCESS) {

    aosTestPassed(stream, &result);

  } else {

    aosTestFailed(stream, &result);

  }

  chprintf(stream, "write config...\n");

  cfg.registers.ctrl_reg1 = LIS331DLH_LLD_PM_ODR |

      LIS331DLH_LLD_DR_1000HZ_780LP |

      LIS331DLH_LLD_X_AXIS_ENABLE |

      LIS331DLH_LLD_Y_AXIS_ENABLE |

      LIS331DLH_LLD_Z_AXIS_ENABLE;

  cfg.registers.ctrl_reg3 = 0x00;

  status = lis331dlh_lld_write_config(((aos_test_lis331dlhdata_t*)(test->data))->lisd, &cfg);

  reg1 = cfg.data[0];

  lis331dlh_lld_read_config(((aos_test_lis331dlhdata_t*)(test->data))->lisd, &cfg);

  if (status == APAL_STATUS_SUCCESS && cfg.data[0] == reg1) {

    aosTestPassed(stream, &result);

  } else {

    aosTestFailed(stream, &result);

  }

  chprintf(stream, "read acceleration for five seconds...\n");

  status = APAL_STATUS_SUCCESS;

  for (uint8_t i = 0; i < 5; ++i) {

    status |= lis331dlh_lld_read_all_data(((aos_test_lis331dlhdata_t*)(test->data))->lisd, sdata, &cfg);

    chprintf(stream, "\t\tX = %6d\tY = %6d\tZ = %6d\n", sdata[0], sdata[1], sdata[2]);

    aosThdSSleep(1);

  }

  if (status == APAL_STATUS_SUCCESS) {

    aosTestPassed(stream, &result);

  } else {

    aosTestFailed(stream, &result);

  }

  chprintf(stream, "read X acceleration for five seconds...\n");

  status = APAL_STATUS_SUCCESS;

  for (uint8_t i = 0; i < 5; ++i) {

    status |= lis331dlh_lld_read_data(((aos_test_lis331dlhdata_t*)(test->data))->lisd, &(sdata[0]), LIS331DLH_LLD_X_AXIS, &cfg);

    chprintf(stream, "\t\tX = %6d\n", sdata[0]);

    aosThdSSleep(1);

  }

  if (status == APAL_STATUS_SUCCESS) {

    aosTestPassed(stream, &result);

  } else {

    aosTestFailed(stream, &result);

  }

  chprintf(stream, "read Y acceleration for five seconds...\n");

  status = APAL_STATUS_SUCCESS;

  for (uint8_t i = 0; i < 5; ++i) {

    status |= lis331dlh_lld_read_data(((aos_test_lis331dlhdata_t*)(test->data))->lisd, &(sdata[0]), LIS331DLH_LLD_Y_AXIS, &cfg);

    chprintf(stream, "\t\tY = %6d\n", sdata[0]);

    aosThdSSleep(1);

  }

  if (status == APAL_STATUS_SUCCESS) {

    aosTestPassed(stream, &result);

  } else {

    aosTestFailed(stream, &result);

  }

  chprintf(stream, "read Z acceleration for five seconds...\n");

  status = APAL_STATUS_SUCCESS;

  for (uint8_t i = 0; i < 5; ++i) {

    status |= lis331dlh_lld_read_data(((aos_test_lis331dlhdata_t*)(test->data))->lisd, &(sdata[0]), LIS331DLH_LLD_Z_AXIS, &cfg);

    chprintf(stream, "\t\tZ = %6d\n", sdata[0]);

    aosThdSSleep(1);

  }

  if (status == APAL_STATUS_SUCCESS) {

    aosTestPassed(stream, &result);

  } else {

    aosTestFailed(stream, &result);

  }

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

  status = lis331dlh_lld_read_status_register(((aos_test_lis331dlhdata_t*)(test->data))->lisd, &status_reg);

  if (status == APAL_STATUS_SUCCESS) {

    aosTestPassed(stream, &result);

  } else {

    aosTestFailed(stream, &result);

  }

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

  intcfg.cfg_reg = LIS331DLH_LLD_INT_CFG_X_HIGH_ENABLE | LIS331DLH_LLD_INT_CFG_Y_HIGH_ENABLE | LIS331DLH_LLD_INT_CFG_Z_HIGH_ENABLE;

  intcfg.threshold = 10;

  intcfg.duration = 1;

  lis331dlh_lld_write_int_config(((aos_test_lis331dlhdata_t*)(test->data))->lisd, &intcfg, LIS331DLH_LLD_INT1);

  aosThdSSleep(1);

  chEvtRegister(((aos_test_lis331dlhdata_t*)(test->data))->src, &el, 3);

  chprintf(stream, "\t\tmove the AMiRo now to generate interrupts\n");

  aosThdSSleep(1);

  for (uint8_t i = 0; i < 10; i++) {

    event_mask = chEvtWaitOneTimeout(EVENT_MASK(3), TIME_IMMEDIATE);

    status |= lis331dlh_lld_read_all_data(((aos_test_lis331dlhdata_t*)(test->data))->lisd, sdata, &cfg);

    status = lis331dlh_lld_read_register(((aos_test_lis331dlhdata_t*)(test->data))->lisd, LIS331DLH_LLD_REGISTER_INT1_SOURCE, &data, 1);

    eventflags_t flags = chEvtGetAndClearFlags(&el);

    if (event_mask == EVENT_MASK(3) && (flags & ((aos_test_lis331dlhdata_t*)(test->data))->evtflags)) {

      ++success;

      chprintf(stream, "\t\tX = %6d INTERRUPT\n", sdata[0]);

    } else {

      chprintf(stream, "\t\tX = %6d\n", sdata[0]);

    }

    aosThdSSleep(1);

  }

  event_mask = chEvtWaitOneTimeout(EVENT_MASK(3), TIME_IMMEDIATE);

  chEvtUnregister(((aos_test_lis331dlhdata_t*)(test->data))->src, &el);

  if (status == APAL_STATUS_SUCCESS && success > 0) {

    aosTestPassed(stream, &result);

  } else {

    aosTestFailed(stream, &result);

  }

  aosTestInfoMsg(stream, "driver object memory footprint: %u bytes\n", sizeof(LIS331DLHDriver));

  return result;

}

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