amiro-os / unittests / periphery-lld / src / ut_alld_mpr121.c @ 7da800ab
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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 | #include <ut_alld_mpr121.h> |
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| 20 | |||
| 21 | #if ((AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_USE_MPR121)) || defined(__DOXYGEN__) |
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| 22 | |||
| 23 | f3ac1c96 | Thomas Schöpping | /******************************************************************************/
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| 24 | /* LOCAL DEFINITIONS */
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| 25 | /******************************************************************************/
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| 26 | e545e620 | Thomas Schöpping | |
| 27 | #define INTERRUPT_EVENT_ID 1 |
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| 28 | |||
| 29 | f3ac1c96 | Thomas Schöpping | /******************************************************************************/
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| 30 | /* EXPORTED VARIABLES */
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| 31 | /******************************************************************************/
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| 32 | |||
| 33 | /******************************************************************************/
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| 34 | /* LOCAL TYPES */
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| 35 | /******************************************************************************/
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| 36 | |||
| 37 | /******************************************************************************/
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| 38 | /* LOCAL VARIABLES */
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| 39 | /******************************************************************************/
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| 40 | |||
| 41 | /******************************************************************************/
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| 42 | /* LOCAL FUNCTIONS */
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| 43 | /******************************************************************************/
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| 44 | |||
| 45 | /******************************************************************************/
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| 46 | /* EXPORTED FUNCTIONS */
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| 47 | /******************************************************************************/
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| 48 | |||
| 49 | e545e620 | Thomas Schöpping | aos_utresult_t utAlldMpr121Func(BaseSequentialStream* stream, aos_unittest_t* ut) |
| 50 | {
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| 51 | aosDbgCheck(ut->data != NULL && ((ut_mpr121data_t*)ut->data)->mprd != NULL); |
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| 52 | |||
| 53 | // local variables
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| 54 | aos_utresult_t result = {0, 0};
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| 55 | uint32_t status; |
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| 56 | mpr121_lld_config_t cfg; |
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| 57 | uint8_t data, wdata, rdata; |
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| 58 | uint16_t edata[4];
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| 59 | uint8_t tstate = 0;
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| 60 | event_listener_t event_listener; |
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| 61 | aos_timestamp_t tstart, tcurrent, tend; |
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| 62 | |||
| 63 | chprintf(stream, "soft reset...\n");
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| 64 | status = mpr121_lld_soft_reset(((ut_mpr121data_t*)ut->data)->mprd, ((ut_mpr121data_t*)ut->data)->timeout); |
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| 65 | status |= mpr121_lld_read_config(((ut_mpr121data_t*)ut->data)->mprd, &cfg, ((ut_mpr121data_t*)ut->data)->timeout); |
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| 66 | if (status == APAL_STATUS_SUCCESS && cfg.registers.ele_config == 0) { |
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| 67 | aosUtPassed(stream, &result); |
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| 68 | } else {
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| 69 | aosUtFailedMsg(stream, &result, "0x%08X\n", status);
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| 70 | } |
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| 71 | |||
| 72 | chprintf(stream, "read register...\n");
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| 73 | status = mpr121_lld_read_register(((ut_mpr121data_t*)ut->data)->mprd, MPR121_LLD_REGISTER_CONFIG_2, 0, 1, &data, ((ut_mpr121data_t*)ut->data)->timeout); |
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| 74 | chprintf(stream, "\t\tdata: 0x%02X\n", data);
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| 75 | if (status == APAL_STATUS_SUCCESS && data == (MPR121_LLD_CDT_0_5 | MPR121_LLD_ESI_16)) {
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| 76 | aosUtPassed(stream, &result); |
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| 77 | } else {
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| 78 | aosUtFailedMsg(stream, &result, "0x%08X\n", status);
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| 79 | } |
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| 80 | |||
| 81 | chprintf(stream, "write register...\n");
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| 82 | wdata = MPR121_LLD_CDT_32 | MPR121_LLD_SFI_10 | MPR121_LLD_ESI_16; |
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| 83 | status = mpr121_lld_write_register(((ut_mpr121data_t*)ut->data)->mprd, MPR121_LLD_REGISTER_CONFIG_2, 0, 1, &wdata, ((ut_mpr121data_t*)ut->data)->timeout); |
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| 84 | aosThdMSleep(500);
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| 85 | status |= mpr121_lld_read_register(((ut_mpr121data_t*)ut->data)->mprd, MPR121_LLD_REGISTER_CONFIG_2, 0, 1, &rdata, ((ut_mpr121data_t*)ut->data)->timeout); |
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| 86 | chprintf(stream, "\t\tdata: 0x%02X\n", rdata);
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| 87 | status |= mpr121_lld_write_register(((ut_mpr121data_t*)ut->data)->mprd, MPR121_LLD_REGISTER_CONFIG_2, 0, 1, &data, ((ut_mpr121data_t*)ut->data)->timeout); |
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| 88 | if (status == APAL_STATUS_SUCCESS && rdata == wdata) {
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| 89 | aosUtPassed(stream, &result); |
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| 90 | } else {
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| 91 | aosUtFailedMsg(stream, &result, "0x%08X\n", status);
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| 92 | } |
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| 93 | |||
| 94 | chprintf(stream, "read config...\n");
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| 95 | status = mpr121_lld_read_config(((ut_mpr121data_t*)ut->data)->mprd, &cfg, ((ut_mpr121data_t*)ut->data)->timeout); |
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| 96 | if (status == APAL_STATUS_SUCCESS && cfg.registers.config_1 == 0x10 && cfg.registers.config_2 == 0x24) { |
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| 97 | aosUtPassed(stream, &result); |
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| 98 | } else {
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| 99 | chprintf(stream, "\t\tconfig 1: 0x%02X\n", cfg.registers.config_1);
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| 100 | chprintf(stream, "\t\tconfig 2: 0x%02X\n", cfg.registers.config_2);
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| 101 | mpr121_lld_read_register(((ut_mpr121data_t*)ut->data)->mprd, MPR121_LLD_REGISTER_CONFIG_1, 0, 1, &rdata, ((ut_mpr121data_t*)ut->data)->timeout); |
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| 102 | chprintf(stream, "\t\tconfig 1: 0x%02X\n", rdata);
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| 103 | mpr121_lld_read_register(((ut_mpr121data_t*)ut->data)->mprd, MPR121_LLD_REGISTER_CONFIG_2, 0, 1, &rdata, ((ut_mpr121data_t*)ut->data)->timeout); |
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| 104 | chprintf(stream, "\t\tconfig 2: 0x%02X\n", rdata);
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| 105 | for (uint8_t valueIdx = 0; valueIdx < 8; valueIdx++) { |
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| 106 | chprintf(stream, "\t\tdata %d: 0x%02X\n", valueIdx, cfg.values[valueIdx]);
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| 107 | } |
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| 108 | chprintf(stream, "ele_config: 0x%02X\n", cfg.registers.ele_config);
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| 109 | chprintf(stream, "config_1: 0x%02X\n", cfg.registers.config_1);
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| 110 | chprintf(stream, "config_2: 0x%02X\n", cfg.registers.config_2);
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| 111 | chprintf(stream, "target_level: 0x%02X\n", cfg.registers.target_level);
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| 112 | chprintf(stream, "low_side_limit: 0x%02X\n", cfg.registers.low_side_limit);
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| 113 | chprintf(stream, "up_side_limit: 0x%02X\n", cfg.registers.up_side_limit);
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| 114 | chprintf(stream, "auto_config_2: 0x%02X\n", cfg.registers.auto_config_2);
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| 115 | chprintf(stream, "auto_config_1: 0x%02X\n", cfg.registers.auto_config_1);
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| 116 | aosUtFailedMsg(stream, &result, "0x%08X\n", status);
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| 117 | } |
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| 118 | |||
| 119 | chprintf(stream, "write config...\n");
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| 120 | cfg.registers.ele_config = MPR121_LLD_CL_ON_ALL | MPR121_LLD_ELEPROX_0 | 4;
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| 121 | cfg.registers.config_1 = MPR121_LLD_FFI_18 | 16;
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| 122 | cfg.registers.config_2 = MPR121_LLD_CDT_1 | MPR121_LLD_SFI_10 | MPR121_LLD_ESI_32; |
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| 123 | cfg.registers.up_side_limit = 0x96u;
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| 124 | cfg.registers.low_side_limit = 0x58u;
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| 125 | cfg.registers.target_level = 0x68u;
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| 126 | cfg.registers.auto_config_1 = MPR121_LLD_FFI_18 | MPR121_LLD_RETRY_2 | MPR121_LLD_BVA_ON_ALL | MPR121_LLD_AC_RECONF_EN; |
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| 127 | status = mpr121_lld_write_config(((ut_mpr121data_t*)ut->data)->mprd, cfg, ((ut_mpr121data_t*)ut->data)->timeout); |
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| 128 | aosThdMSleep(500);
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| 129 | status |= mpr121_lld_read_config(((ut_mpr121data_t*)ut->data)->mprd, &cfg, ((ut_mpr121data_t*)ut->data)->timeout); |
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| 130 | if (status == APAL_STATUS_SUCCESS && cfg.registers.up_side_limit == 0x96u) { |
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| 131 | aosUtPassed(stream, &result); |
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| 132 | } else {
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| 133 | aosUtFailedMsg(stream, &result, "0x%08X\n", status);
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| 134 | } |
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| 135 | |||
| 136 | chprintf(stream, "read filtered data for ten seconds...\n");
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| 137 | chprintf(stream, "(values should change if you touch the sensors now)\n");
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| 138 | for (uint8_t i = 0; i < 10; i++) { |
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| 139 | status = mpr121_lld_read_filtered_data(((ut_mpr121data_t*)ut->data)->mprd, 0, 4, edata, ((ut_mpr121data_t*)ut->data)->timeout); |
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| 140 | chprintf(stream, "\t\t0x%04X | 0x%04X | 0x%04X | 0x%04X\n", edata[0], edata[1], edata[2], edata[3]); |
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| 141 | aosThdSSleep(1);
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| 142 | } |
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| 143 | if (status == APAL_STATUS_SUCCESS) {
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| 144 | aosUtPassed(stream, &result); |
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| 145 | } else {
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| 146 | aosUtFailedMsg(stream, &result, "0x%08X\n", status);
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| 147 | } |
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| 148 | |||
| 149 | chprintf(stream, "test interrupts...\n");
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| 150 | status = AOS_OK; |
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| 151 | chEvtRegister(((ut_mpr121data_t*)ut->data)->evtsource, &event_listener, INTERRUPT_EVENT_ID); |
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| 152 | aosSysGetUptime(&tstart); |
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| 153 | tend = tstart + (30 * MICROSECONDS_PER_SECOND);
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| 154 | do {
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| 155 | aosSysGetUptime(&tcurrent); |
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| 156 | const aos_timestamp_t ttimeout = MICROSECONDS_PER_SECOND - ((tcurrent - tstart) % MICROSECONDS_PER_SECOND);
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| 157 | 1e5f7648 | Thomas Schöpping | const eventmask_t emask = chEvtWaitOneTimeout(EVENT_MASK(INTERRUPT_EVENT_ID), chTimeUS2I(ttimeout));
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| 158 | e545e620 | Thomas Schöpping | const eventflags_t eflags = chEvtGetAndClearFlags(&event_listener);
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| 159 | if (emask == EVENT_MASK(INTERRUPT_EVENT_ID) && eflags == ((ut_mpr121data_t*)ut->data)->evtflags) {
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| 160 | // interrupt detected
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| 161 | status |= mpr121_lld_read_register(((ut_mpr121data_t*)ut->data)->mprd, MPR121_LLD_REGISTER_TOUCH_STATUS, 0, 1, &tstate, ((ut_mpr121data_t*)ut->data)->timeout); |
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| 162 | chprintf(stream, "\t\tinterrupt detected\n");
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| 163 | chprintf(stream, "\t\ttstate: %X %X %X %X\n", tstate & 1, (tstate >> 1) & 1, (tstate >> 2) & 1, (tstate >> 3) & 1); |
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| 164 | } |
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| 165 | else if (emask == 0) { |
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| 166 | // timeout
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| 167 | status |= mpr121_lld_read_register(((ut_mpr121data_t*)ut->data)->mprd, MPR121_LLD_REGISTER_TOUCH_STATUS, 0, 1, &tstate, ((ut_mpr121data_t*)ut->data)->timeout); |
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| 168 | chprintf(stream, "\t\ttstate: %X %X %X %X\n", tstate & 1, (tstate >> 1) & 1, (tstate >> 2) & 1, (tstate >> 3) & 1); |
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| 169 | } |
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| 170 | aosSysGetUptime(&tcurrent); |
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| 171 | } while (tcurrent < tend);
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| 172 | chEvtUnregister(((ut_mpr121data_t*)ut->data)->evtsource, &event_listener); |
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| 173 | if (status == APAL_STATUS_SUCCESS) {
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| 174 | aosUtPassed(stream, &result); |
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| 175 | } else {
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| 176 | aosUtFailedMsg(stream, &result, "0x%08X\n", status);
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| 177 | } |
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| 178 | |||
| 179 | aosUtInfoMsg(stream,"driver object memory footprint: %u bytes\n", sizeof(MPR121Driver)); |
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| 180 | |||
| 181 | return result;
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| 182 | } |
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| 183 | |||
| 184 | #endif /* (AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_USE_MPR121) */ |