amiro-os / test / periphery-lld / VL53L1X_v1 / aos_test_VL53L1X.c @ 849b383a
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1 | 849b383a | galberding | /*
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2 | AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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3 | Copyright (C) 2016..2020 Thomas Schöpping et al.
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4 | |||
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 <amiroos.h> |
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20 | #include <aos_test_VL53L1X.h> |
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21 | |||
22 | #if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
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23 | |||
24 | /******************************************************************************/
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25 | /* LOCAL DEFINITIONS */
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26 | /******************************************************************************/
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27 | |||
28 | /******************************************************************************/
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29 | /* EXPORTED VARIABLES */
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30 | /******************************************************************************/
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31 | |||
32 | /******************************************************************************/
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33 | /* LOCAL TYPES */
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34 | /******************************************************************************/
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35 | |||
36 | /******************************************************************************/
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37 | /* LOCAL VARIABLES */
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38 | /******************************************************************************/
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39 | |||
40 | /******************************************************************************/
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41 | /* LOCAL FUNCTIONS */
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42 | /******************************************************************************/
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43 | |||
44 | /******************************************************************************/
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45 | /* EXPORTED FUNCTIONS */
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46 | /*****************************************************************************
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47 | */
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48 | |||
49 | /**
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50 | * @brief LED test function.
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51 | *
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52 | * @param[in] stream Stream for input/output.
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53 | * @param[in] test Test object.
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54 | *
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55 | * @return Test result value.
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56 | */
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57 | aos_testresult_t aosTestVL53L1XFunc(BaseSequentialStream* stream, const aos_test_t* test)
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58 | { |
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59 | // aosDbgCheck(test->data != NULL && ((aos_test_leddata_t*)test->data)->led != NULL);
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60 | |||
61 | chprintf(stream, "Peter Wurst\n");
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62 | |||
63 | // local variables
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64 | aos_testresult_t result = {0,0}; |
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65 | // int32_t status;
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66 | // chprintf(stream, "Hello World!\n");
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67 | // // aosTestResultInit(&result);
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68 | |||
69 | // VL53L1_Dev_t dev;
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70 | // dev.vl53l1x = *(((aos_test_vl53l1x_bus*)test->data)->vl53l1x);
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71 | |||
72 | // chprintf(stream, "Toggle PC2...\n");
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73 | // chprintf(stream, "On...\n");
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74 | /* vl53l1x_GPIO1_set(((aos_test_vl53l1x_bus*)test->data)->vl53l1x, GPIO_LLD_STATE_ON); */
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75 | // aosThdSSleep(5);
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76 | // chprintf(stream, "off...\n");
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77 | // status |= vl53l1x_GPIO1_set(((aos_test_vl53l1x_bus*)test->data)->vl53l1x, GPIO_LLD_STATE_OFF);
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78 | // aosThdSSleep(5);
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79 | // chprintf(stream, "On...\n");
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80 | // status |= vl53l1x_GPIO1_set(((aos_test_vl53l1x_bus*)test->data)->vl53l1x, GPIO_LLD_STATE_ON);
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81 | // aosThdSSleep(5);
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82 | // chprintf(stream, "Off...\n");
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83 | // status |= vl53l1x_GPIO1_set(((aos_test_vl53l1x_bus*)test->data)->vl53l1x, GPIO_LLD_STATE_OFF);
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84 | // // status |= led_lld_get(((aos_test_leddata_t*)test->data)->led, &state);
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85 | // if (status == APAL_STATUS_OK) {
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86 | // aosTestPassed(stream, &result);
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87 | // } else {
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88 | // aosTestFailed(stream, &result);
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89 | // }p
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90 | |||
91 | // chprintf(stream, "turning off for two seconds...\n");
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92 | // state = LED_LLD_STATE_OFF;
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93 | // status = led_lld_set(((aos_test_leddata_t*)test->data)->led, state);
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94 | // aosThdSSleep(2);
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95 | // status |= led_lld_get(((aos_test_leddata_t*)test->data)->led, &state);
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96 | // if (status == APAL_STATUS_OK && state == LED_LLD_STATE_OFF) {
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97 | // aosTestPassed(stream, &result);
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98 | // } else {
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99 | // aosTestFailed(stream, &result);
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100 | // }
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101 | |||
102 | // chprintf(stream, "toggling for two seconds...\n");
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103 | // status = led_lld_set(((aos_test_leddata_t*)test->data)->led, LED_LLD_STATE_ON);
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104 | // for (uint32_t i = 0; i < 2000/100; ++i) {
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105 | // status |= led_lld_toggle(((aos_test_leddata_t*)test->data)->led);
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106 | // status |= led_lld_get(((aos_test_leddata_t*)test->data)->led, &state);
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107 | // status |= ((uint8_t)state != (i & 0x01u)) ? APAL_STATUS_ERROR : APAL_STATUS_OK;
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108 | // aosThdMSleep(100);
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109 | // }
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110 | // status = led_lld_set(((aos_test_leddata_t*)test->data)->led, LED_LLD_STATE_OFF);
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111 | // if (status == APAL_STATUS_OK) {
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112 | // aosTestPassed(stream, &result);
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113 | // } else {
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114 | // aosTestFailed(stream, &result);
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115 | // }
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116 | |||
117 | // aosTestInfoMsg(stream,"driver object memory footprint: %u bytes\n", sizeof(LEDDriver));
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118 | |||
119 | /*
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120 | uint8_t byteData, sensorState=0;
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121 | uint16_t wordData;
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122 | uint8_t ToFSensor = 1; // 0=Left, 1=Center(default), 2=Right
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123 | uint16_t Distance;
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124 | uint16_t SignalRate;
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125 | uint16_t AmbientRate;
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126 | uint8_t RangeStatus;
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127 | uint8_t dataReady;
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128 | int32_t status;
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129 | */
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130 | |||
131 | |||
132 | // aosTestResultInit(&result);
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133 | |||
134 | VL53L1_Dev_t dev; |
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135 | dev.vl53l1x = *(((aos_test_vl53l1x_bus*)test->data)->vl53l1x); |
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136 | /* vl53l1x_GPIO1_set(&dev.vl53l1x, GPIO_LLD_STATE_ON); */
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137 | |||
138 | // status = VL53L1_RdByte(&dev, 0x010F, &byteData);
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139 | // printf("VL53L1X Model_ID: %X\n", byteData);
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140 | // status = VL53L1_RdByte(&dev, 0x0110, &byteData);
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141 | // printf("VL53L1X Module_Type: %X\n", byteData);
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142 | // status = VL53L1_RdWord(&dev, 0x010F, &wordData);
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143 | // printf("VL53L1X: %X\n", wordData);
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144 | |||
145 | // activate device
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146 | apalControlGpioState_t xshut_state; |
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147 | apalControlGpioState_t gpio_state; |
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148 | apalControlGpioGet(dev.vl53l1x.xshut, &xshut_state); |
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149 | apalControlGpioGet(dev.vl53l1x.gpio1, &gpio_state); |
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150 | if (xshut_state == APAL_GPIO_OFF) {
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151 | chprintf(stream, "XSHUT OFF -> activating\n");
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152 | apalControlGpioSet(dev.vl53l1x.xshut, APAL_GPIO_ON); |
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153 | aosThdSSleep(1);
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154 | aosThdUSleep(2 * VL53L1X_LLD_BOOTDURATION);
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155 | } else {
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156 | chprintf(stream, "XSHUT ON\n");
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157 | } |
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158 | chprintf(stream, "0x%08X | 0x%08X\n", (uint32_t)dev.vl53l1x.i2cd, (uint32_t)(&I2CD3));
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159 | chprintf(stream, "0x%02X\n", dev.vl53l1x.xshut);
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160 | if (gpio_state == APAL_GPIO_OFF) {
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161 | chprintf(stream, "Gpio OFF \n");
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162 | } |
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163 | |||
164 | uint8_t testBuf[49] = {0}; |
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165 | // Reste device
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166 | |||
167 | // printf("Resetting device! \n");
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168 | /* chprintf(stream, "Testif broken!\n"); */
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169 | |||
170 | uint8_t data[4] = {0}; |
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171 | /* Status = VL53L1_RdByte(Dev, VL53L1_PAD_I2C_HV__EXTSUP_CONFIG, &i); */
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172 | /* apalI2CMasterReceive(dev.vl53l1x.i2cd, dev.vl53l1x.addr, testBuf, 3, 10); */
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173 | /* aosThdMSleep(1000); */
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174 | /* chprintf(stream, "Start reset!\n"); */
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175 | /* apalI2CMasterTransmit(dev.vl53l1x.i2cd, dev.vl53l1x.addr, data, 3, testBuf, 0, 10); */
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176 | chprintf(stream, "Before sleep!\n");
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177 | /* apalI2CMasterTransmit() */
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178 | /* aosThdMSleep(1000); */
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179 | aosThdUSleep(2 * VL53L1X_LLD_BOOTDURATION);
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180 | /* 0x002E */
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181 | |||
182 | data[0] = 0x01; |
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183 | data[1] = 0x0f; |
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184 | uint8_t stuff[4] = { 0 }; |
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185 | /* data[3] = 0x01; */
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186 | chprintf(stream, "End reset!\n");
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187 | |||
188 | apalExitStatus_t res = apalI2CMasterTransmit(dev.vl53l1x.i2cd, dev.vl53l1x.addr, data, 2, stuff , 0, 10); |
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189 | |||
190 | |||
191 | chprintf(stream, "Res: %d\n", res);
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192 | aosThdMSleep(100);
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193 | i2cflags_t err = i2cGetErrors(dev.vl53l1x.i2cd); |
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194 | chprintf(stream, "Error: %08x\n", err);
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195 | aosThdMSleep(100);
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196 | /* apalI2CMasterReceive(dev.vl53l1x.i2cd, dev.vl53l1x.addr, testBuf, 4, 10); */
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197 | /* apalI2CMasterTransmit(dev.vl53l1x.i2cd, dev.vl53l1x.addr, data, 3, testBuf, 0, 10); */
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198 | /* /\* VL53L1_RdByte(&dev, VL53L1_IDENTIFICATION__MODEL_ID, &data); *\/ */
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199 | chprintf(stream, "0x%02\n", stuff[0]); |
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200 | chprintf(stream, "0x%02\n", stuff[1]); |
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201 | chprintf(stream, "0x%02\n", data[0]); |
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202 | chprintf(stream, "0x%02\n", data[1]); |
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203 | for(int i = 0; i < 49 ; i++){ |
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204 | chprintf(stream, "0x%02 ", testBuf[i]);
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205 | } |
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206 | chprintf(stream, "\n");
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207 | |||
208 | /* VL53L1_WrByte(&dev, 0x0000, 0x00); */
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209 | /* aosThdSSleep(2); */
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210 | /* vl53l1_WrByte(&dev, 0x0000, 0x01); */
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211 | |||
212 | |||
213 | aosTestPassed(stream, &result); |
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214 | |||
215 | |||
216 | return result;
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217 | } |
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218 | |||
219 | |||
220 | |||
221 | /**
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222 | * @brief Test if I2C was initialized correctly.
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223 | *
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224 | * @param[in] stream Stream for input/output.
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225 | * @param[in] test Test object.
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226 | *
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227 | * @return Test result value.
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228 | */
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229 | aos_testresult_t aosTestVL53L1Xi2cInit(BaseSequentialStream* stream, const aos_test_t* test)
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230 | { |
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231 | // aosDbgCheck(test->data != NULL && ((aos_test_leddata_t*)test->data)->led != NULL);
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232 | |||
233 | // local variables
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234 | aos_testresult_t result = {0,0}; |
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235 | uint8_t byteData, sensorState=0;
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236 | uint16_t wordData; |
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237 | uint8_t ToFSensor = 1; // 0=Left, 1=Center(default), 2=Right |
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238 | uint16_t Distance; |
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239 | uint16_t SignalRate; |
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240 | uint16_t AmbientRate; |
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241 | uint8_t RangeStatus; |
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242 | uint8_t dataReady; |
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243 | int32_t status; |
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244 | chprintf(stream, "Hello World!\n");
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245 | // aosTestResultInit(&result);
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246 | |||
247 | VL53L1_Dev_t dev; |
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248 | dev.vl53l1x = *(((aos_test_vl53l1x_bus*)test->data)->vl53l1x); |
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249 | // status = VL53L1_RdByte(&dev, 0x010F, &byteData);
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250 | // printf("VL53L1X Model_ID: %X\n", byteData);
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251 | // status = VL53L1_RdByte(&dev, 0x0110, &byteData);
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252 | // printf("VL53L1X Module_Type: %X\n", byteData);
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253 | // status = VL53L1_RdWord(&dev, 0x010F, &wordData);
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254 | // printf("VL53L1X: %X\n", wordData);
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255 | uint8_t testBuf[2] = {0}; |
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256 | // Reste device
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257 | printf("Resetting device! \n");
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258 | VL53L1_WrByte(&dev, 0x0000, 0x00); |
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259 | aosThdSSleep(2);
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260 | VL53L1_WrByte(&dev, 0x0000, 0x01); |
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261 | |||
262 | |||
263 | aosTestPassed(stream, &result); |
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264 | |||
265 | return result;
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266 | } |
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267 | |||
268 | #endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */ |