amiro-os / test / periphery-lld / VL53L1X_v1 / aos_test_VL53L1X.c @ 849b383a
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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..2020 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 <aos_test_VL53L1X.h> |
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#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
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/******************************************************************************/
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/* LOCAL DEFINITIONS */
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/******************************************************************************/
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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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/******************************************************************************/
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/* EXPORTED FUNCTIONS */
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/*****************************************************************************
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*/
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/**
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* @brief LED test function.
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*
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* @param[in] stream Stream for input/output.
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* @param[in] test Test object.
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*
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* @return Test result value.
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*/
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aos_testresult_t aosTestVL53L1XFunc(BaseSequentialStream* stream, const aos_test_t* test)
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{
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// aosDbgCheck(test->data != NULL && ((aos_test_leddata_t*)test->data)->led != NULL);
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chprintf(stream, "Peter Wurst\n");
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// local variables
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aos_testresult_t result = {0,0};
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// int32_t status;
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// chprintf(stream, "Hello World!\n");
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// // aosTestResultInit(&result);
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// VL53L1_Dev_t dev;
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// dev.vl53l1x = *(((aos_test_vl53l1x_bus*)test->data)->vl53l1x);
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// chprintf(stream, "Toggle PC2...\n");
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// chprintf(stream, "On...\n");
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/* vl53l1x_GPIO1_set(((aos_test_vl53l1x_bus*)test->data)->vl53l1x, GPIO_LLD_STATE_ON); */
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// aosThdSSleep(5);
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// chprintf(stream, "off...\n");
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// status |= vl53l1x_GPIO1_set(((aos_test_vl53l1x_bus*)test->data)->vl53l1x, GPIO_LLD_STATE_OFF);
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// aosThdSSleep(5);
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// chprintf(stream, "On...\n");
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// status |= vl53l1x_GPIO1_set(((aos_test_vl53l1x_bus*)test->data)->vl53l1x, GPIO_LLD_STATE_ON);
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// aosThdSSleep(5);
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// chprintf(stream, "Off...\n");
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// status |= vl53l1x_GPIO1_set(((aos_test_vl53l1x_bus*)test->data)->vl53l1x, GPIO_LLD_STATE_OFF);
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// // status |= led_lld_get(((aos_test_leddata_t*)test->data)->led, &state);
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// if (status == APAL_STATUS_OK) {
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// aosTestPassed(stream, &result);
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// } else {
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// aosTestFailed(stream, &result);
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// }p
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// chprintf(stream, "turning off for two seconds...\n");
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// state = LED_LLD_STATE_OFF;
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// status = led_lld_set(((aos_test_leddata_t*)test->data)->led, state);
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// aosThdSSleep(2);
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// status |= led_lld_get(((aos_test_leddata_t*)test->data)->led, &state);
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// if (status == APAL_STATUS_OK && state == LED_LLD_STATE_OFF) {
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// aosTestPassed(stream, &result);
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// } else {
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// aosTestFailed(stream, &result);
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// }
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// chprintf(stream, "toggling for two seconds...\n");
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// status = led_lld_set(((aos_test_leddata_t*)test->data)->led, LED_LLD_STATE_ON);
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// for (uint32_t i = 0; i < 2000/100; ++i) {
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// status |= led_lld_toggle(((aos_test_leddata_t*)test->data)->led);
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// status |= led_lld_get(((aos_test_leddata_t*)test->data)->led, &state);
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// status |= ((uint8_t)state != (i & 0x01u)) ? APAL_STATUS_ERROR : APAL_STATUS_OK;
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// aosThdMSleep(100);
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// }
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// status = led_lld_set(((aos_test_leddata_t*)test->data)->led, LED_LLD_STATE_OFF);
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// if (status == APAL_STATUS_OK) {
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// aosTestPassed(stream, &result);
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// } else {
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// aosTestFailed(stream, &result);
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// }
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// aosTestInfoMsg(stream,"driver object memory footprint: %u bytes\n", sizeof(LEDDriver));
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/*
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uint8_t byteData, sensorState=0;
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uint16_t wordData;
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uint8_t ToFSensor = 1; // 0=Left, 1=Center(default), 2=Right
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uint16_t Distance;
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uint16_t SignalRate;
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uint16_t AmbientRate;
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uint8_t RangeStatus;
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uint8_t dataReady;
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int32_t status;
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*/
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// aosTestResultInit(&result);
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VL53L1_Dev_t dev; |
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dev.vl53l1x = *(((aos_test_vl53l1x_bus*)test->data)->vl53l1x); |
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/* vl53l1x_GPIO1_set(&dev.vl53l1x, GPIO_LLD_STATE_ON); */
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// status = VL53L1_RdByte(&dev, 0x010F, &byteData);
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// printf("VL53L1X Model_ID: %X\n", byteData);
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// status = VL53L1_RdByte(&dev, 0x0110, &byteData);
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// printf("VL53L1X Module_Type: %X\n", byteData);
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// status = VL53L1_RdWord(&dev, 0x010F, &wordData);
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// printf("VL53L1X: %X\n", wordData);
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// activate device
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apalControlGpioState_t xshut_state; |
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apalControlGpioState_t gpio_state; |
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apalControlGpioGet(dev.vl53l1x.xshut, &xshut_state); |
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apalControlGpioGet(dev.vl53l1x.gpio1, &gpio_state); |
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if (xshut_state == APAL_GPIO_OFF) {
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chprintf(stream, "XSHUT OFF -> activating\n");
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apalControlGpioSet(dev.vl53l1x.xshut, APAL_GPIO_ON); |
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aosThdSSleep(1);
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aosThdUSleep(2 * VL53L1X_LLD_BOOTDURATION);
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} else {
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chprintf(stream, "XSHUT ON\n");
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} |
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chprintf(stream, "0x%08X | 0x%08X\n", (uint32_t)dev.vl53l1x.i2cd, (uint32_t)(&I2CD3));
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chprintf(stream, "0x%02X\n", dev.vl53l1x.xshut);
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if (gpio_state == APAL_GPIO_OFF) {
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chprintf(stream, "Gpio OFF \n");
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} |
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uint8_t testBuf[49] = {0}; |
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// Reste device
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// printf("Resetting device! \n");
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/* chprintf(stream, "Testif broken!\n"); */
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uint8_t data[4] = {0}; |
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/* Status = VL53L1_RdByte(Dev, VL53L1_PAD_I2C_HV__EXTSUP_CONFIG, &i); */
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/* apalI2CMasterReceive(dev.vl53l1x.i2cd, dev.vl53l1x.addr, testBuf, 3, 10); */
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/* aosThdMSleep(1000); */
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/* chprintf(stream, "Start reset!\n"); */
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/* apalI2CMasterTransmit(dev.vl53l1x.i2cd, dev.vl53l1x.addr, data, 3, testBuf, 0, 10); */
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chprintf(stream, "Before sleep!\n");
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/* apalI2CMasterTransmit() */
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/* aosThdMSleep(1000); */
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aosThdUSleep(2 * VL53L1X_LLD_BOOTDURATION);
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/* 0x002E */
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data[0] = 0x01; |
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data[1] = 0x0f; |
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uint8_t stuff[4] = { 0 }; |
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/* data[3] = 0x01; */
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chprintf(stream, "End reset!\n");
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apalExitStatus_t res = apalI2CMasterTransmit(dev.vl53l1x.i2cd, dev.vl53l1x.addr, data, 2, stuff , 0, 10); |
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chprintf(stream, "Res: %d\n", res);
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aosThdMSleep(100);
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i2cflags_t err = i2cGetErrors(dev.vl53l1x.i2cd); |
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chprintf(stream, "Error: %08x\n", err);
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aosThdMSleep(100);
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/* apalI2CMasterReceive(dev.vl53l1x.i2cd, dev.vl53l1x.addr, testBuf, 4, 10); */
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/* apalI2CMasterTransmit(dev.vl53l1x.i2cd, dev.vl53l1x.addr, data, 3, testBuf, 0, 10); */
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/* /\* VL53L1_RdByte(&dev, VL53L1_IDENTIFICATION__MODEL_ID, &data); *\/ */
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chprintf(stream, "0x%02\n", stuff[0]); |
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chprintf(stream, "0x%02\n", stuff[1]); |
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chprintf(stream, "0x%02\n", data[0]); |
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chprintf(stream, "0x%02\n", data[1]); |
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for(int i = 0; i < 49 ; i++){ |
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chprintf(stream, "0x%02 ", testBuf[i]);
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} |
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chprintf(stream, "\n");
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/* VL53L1_WrByte(&dev, 0x0000, 0x00); */
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/* aosThdSSleep(2); */
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/* vl53l1_WrByte(&dev, 0x0000, 0x01); */
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aosTestPassed(stream, &result); |
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return result;
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} |
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/**
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* @brief Test if I2C was initialized correctly.
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*
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* @param[in] stream Stream for input/output.
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* @param[in] test Test object.
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*
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* @return Test result value.
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*/
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aos_testresult_t aosTestVL53L1Xi2cInit(BaseSequentialStream* stream, const aos_test_t* test)
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{
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// aosDbgCheck(test->data != NULL && ((aos_test_leddata_t*)test->data)->led != NULL);
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// local variables
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aos_testresult_t result = {0,0};
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uint8_t byteData, sensorState=0;
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uint16_t wordData; |
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uint8_t ToFSensor = 1; // 0=Left, 1=Center(default), 2=Right |
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uint16_t Distance; |
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uint16_t SignalRate; |
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uint16_t AmbientRate; |
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uint8_t RangeStatus; |
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uint8_t dataReady; |
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int32_t status; |
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chprintf(stream, "Hello World!\n");
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// aosTestResultInit(&result);
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VL53L1_Dev_t dev; |
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dev.vl53l1x = *(((aos_test_vl53l1x_bus*)test->data)->vl53l1x); |
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// status = VL53L1_RdByte(&dev, 0x010F, &byteData);
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// printf("VL53L1X Model_ID: %X\n", byteData);
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// status = VL53L1_RdByte(&dev, 0x0110, &byteData);
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// printf("VL53L1X Module_Type: %X\n", byteData);
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// status = VL53L1_RdWord(&dev, 0x010F, &wordData);
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// printf("VL53L1X: %X\n", wordData);
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uint8_t testBuf[2] = {0}; |
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// Reste device
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printf("Resetting device! \n");
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VL53L1_WrByte(&dev, 0x0000, 0x00); |
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aosThdSSleep(2);
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VL53L1_WrByte(&dev, 0x0000, 0x01); |
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aosTestPassed(stream, &result); |
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return result;
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} |
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#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */ |