amiro-os / unittests / periphery-lld / src / ut_alld_hmc5883l.c @ 8a93b752
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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_hmc5883l.h> |
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| 20 | |||
| 21 | #if ((AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_USE_HMC5883L)) || 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 | |||
| 27 | /******************************************************************************/
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| 28 | /* EXPORTED VARIABLES */
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| 29 | /******************************************************************************/
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| 30 | |||
| 31 | /******************************************************************************/
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| 32 | /* LOCAL TYPES */
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| 33 | /******************************************************************************/
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| 34 | |||
| 35 | /******************************************************************************/
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| 36 | /* LOCAL VARIABLES */
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| 37 | /******************************************************************************/
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| 38 | |||
| 39 | /******************************************************************************/
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| 40 | /* LOCAL FUNCTIONS */
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| 41 | /******************************************************************************/
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| 42 | |||
| 43 | /******************************************************************************/
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| 44 | /* EXPORTED FUNCTIONS */
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| 45 | /******************************************************************************/
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| 46 | e545e620 | Thomas Schöpping | |
| 47 | /**
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| 48 | * @brief HMC5338L unit test function.
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| 49 | *
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| 50 | * @param[in] stream Stream for intput/output.
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| 51 | * @param[in] ut Unit test object.
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| 52 | *
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| 53 | * @return Unit test result value.
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| 54 | */
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| 55 | aos_utresult_t utAlldHmc5883lFunc(BaseSequentialStream* stream, aos_unittest_t* ut) |
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| 56 | {
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| 57 | aosDbgCheck(ut->data != NULL && (((ut_hmc5883ldata_t*)(ut->data))->drdyEvtSrc != NULL)); |
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| 58 | |||
| 59 | // local variables
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| 60 | aos_utresult_t result = {0, 0};
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| 61 | uint32_t status; |
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| 62 | uint8_t rxbuffer[3];
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| 63 | uint8_t data; |
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| 64 | uint8_t conf = 0x70;
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| 65 | hmc5883l_lld_config_t cfg; |
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| 66 | uint16_t mdata[3];
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| 67 | uint8_t state; |
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| 68 | eventmask_t event_mask = 0;
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| 69 | event_listener_t el; |
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| 70 | uint16_t data_reads = 0;
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| 71 | aos_timestamp_t start; |
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| 72 | aos_timestamp_t t; |
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| 73 | |||
| 74 | chprintf(stream, "check ID...\n");
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| 75 | status = hmc5883l_lld_check(((ut_hmc5883ldata_t*)ut->data)->driver, rxbuffer, 3, ((ut_hmc5883ldata_t*)ut->data)->timeout);
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| 76 | if (status == APAL_STATUS_SUCCESS && rxbuffer[0] == HMC5883L_LLD_IDENTIFICATION_A |
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| 77 | && rxbuffer[1] == HMC5883L_LLD_IDENTIFICATION_B
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| 78 | && rxbuffer[2] == HMC5883L_LLD_IDENTIFICATION_C) {
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| 79 | aosUtPassed(stream, &result); |
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| 80 | } else {
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| 81 | chprintf(stream, "\tfailed\n");
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| 82 | ++result.failed; |
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| 83 | chprintf(stream, "\t\tstatus: %d, idA: %d, idB: %d, idC: %d\n", status, rxbuffer[0], rxbuffer[1], rxbuffer[2]); |
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| 84 | chprintf(stream, "\t\texpected idA: %d, idB: %d, idC: %d\n", HMC5883L_LLD_IDENTIFICATION_A, HMC5883L_LLD_IDENTIFICATION_B, HMC5883L_LLD_IDENTIFICATION_C);
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| 85 | } |
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| 86 | |||
| 87 | chprintf(stream, "read register...\n");
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| 88 | status = hmc5883l_lld_read_register(((ut_hmc5883ldata_t*)ut->data)->driver, HMC5883L_LLD_REGISTER_IDENTIFICATION_A, &data, 1, ((ut_hmc5883ldata_t*)ut->data)->timeout);
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| 89 | if ((status == APAL_STATUS_OK || status == APAL_STATUS_WARNING) && data == HMC5883L_LLD_IDENTIFICATION_A) {
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| 90 | aosUtPassed(stream, &result); |
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| 91 | } else {
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| 92 | aosUtFailedMsg(stream, &result, "0x%08X\n", status);
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| 93 | } |
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| 94 | |||
| 95 | chprintf(stream, "write register...\n");
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| 96 | status = hmc5883l_lld_write_register(((ut_hmc5883ldata_t*)ut->data)->driver, HMC5883L_LLD_REGISTER_CONFIG_A, &conf, 1, ((ut_hmc5883ldata_t*)ut->data)->timeout);
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| 97 | status |= hmc5883l_lld_read_register(((ut_hmc5883ldata_t*)ut->data)->driver, HMC5883L_LLD_REGISTER_CONFIG_A, &data, 1, ((ut_hmc5883ldata_t*)ut->data)->timeout);
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| 98 | if ((status == APAL_STATUS_SUCCESS || status == APAL_STATUS_WARNING) && data == 0x70) { |
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| 99 | aosUtPassed(stream, &result); |
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| 100 | } else {
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| 101 | aosUtFailedMsg(stream, &result, "0x%08X\n, data: d", status, data);
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| 102 | } |
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| 103 | |||
| 104 | chprintf(stream, "read configuration\n");
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| 105 | status = hmc5883l_lld_read_config(((ut_hmc5883ldata_t*)ut->data)->driver, &cfg, ((ut_hmc5883ldata_t*)ut->data)->timeout); |
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| 106 | if (status == APAL_STATUS_SUCCESS) {
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| 107 | aosUtPassed(stream, &result); |
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| 108 | } else {
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| 109 | aosUtFailedMsg(stream, &result, "0x%08X\n", status);
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| 110 | } |
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| 111 | |||
| 112 | chprintf(stream, "write configuration\n");
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| 113 | cfg.avg = HMC5883L_LLD_AVG1; |
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| 114 | cfg.outrate = HMC5883L_LLD_75_HZ; |
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| 115 | cfg.mbias = HMC5883L_LLD_MB_NORMAL; |
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| 116 | cfg.gain = HMC5883L_LLD_GN_0_GA; |
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| 117 | cfg.highspeed = HMC5883L_LLD_HS_DISABLE; |
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| 118 | cfg.mode = HMC5883L_LLD_MM_CONTINUOUS; |
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| 119 | status = hmc5883l_lld_write_config(((ut_hmc5883ldata_t*)ut->data)->driver, cfg, ((ut_hmc5883ldata_t*)ut->data)->timeout); |
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| 120 | status |= hmc5883l_lld_read_config(((ut_hmc5883ldata_t*)ut->data)->driver, &cfg, ((ut_hmc5883ldata_t*)ut->data)->timeout); |
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| 121 | if (status == APAL_STATUS_OK &&
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| 122 | cfg.avg == HMC5883L_LLD_AVG1 && |
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| 123 | cfg.outrate == HMC5883L_LLD_75_HZ && |
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| 124 | cfg.mbias == HMC5883L_LLD_MB_NORMAL && |
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| 125 | cfg.gain == HMC5883L_LLD_GN_0_GA && |
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| 126 | cfg.highspeed == HMC5883L_LLD_HS_DISABLE && |
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| 127 | cfg.mode == HMC5883L_LLD_MM_CONTINUOUS) {
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| 128 | aosUtPassed(stream, &result); |
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| 129 | } else {
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| 130 | aosUtFailedMsg(stream, &result, "0x%08X\n", status);
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| 131 | } |
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| 132 | |||
| 133 | chprintf(stream, "read all data for five seconds...\n");
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| 134 | status = hmc5883l_lld_set_register(((ut_hmc5883ldata_t*)ut->data)->driver,HMC5883L_LLD_REGISTER_MODE,HMC5883L_LLD_MM_CONTINUOUS,((ut_hmc5883ldata_t*)ut->data)->timeout); |
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| 135 | for (uint8_t i = 0; i < 5; ++i) { |
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| 136 | status |= hmc5883l_lld_read_data(((ut_hmc5883ldata_t*)ut->data)->driver, mdata, ((ut_hmc5883ldata_t*)ut->data)->timeout); |
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| 137 | chprintf(stream, "\t\tX = 0x%04X\tY = 0x%04X\tZ = 0x%04X\n",mdata[0],mdata[1],mdata[2]); |
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| 138 | aosThdSSleep(1);
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| 139 | } |
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| 140 | if (status == APAL_STATUS_OK) {
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| 141 | aosUtPassed(stream, &result); |
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| 142 | } else {
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| 143 | aosUtFailedMsg(stream, &result, "0x%08X\n", status);
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| 144 | } |
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| 145 | |||
| 146 | chprintf(stream, "read status...\n");
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| 147 | status = hmc5883l_lld_read_lock(((ut_hmc5883ldata_t*)ut->data)->driver, &state, ((ut_hmc5883ldata_t*)ut->data)->timeout); |
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| 148 | chprintf(stream, "\t\tsensor lock: %d\n", state);
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| 149 | status |= hmc5883l_lld_read_rdy(((ut_hmc5883ldata_t*)ut->data)->driver, &state, ((ut_hmc5883ldata_t*)ut->data)->timeout); |
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| 150 | chprintf(stream, "\t\tsensor rdy: %d\n", state);
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| 151 | status |= hmc5883l_lld_read_status(((ut_hmc5883ldata_t*)ut->data)->driver, &state, ((ut_hmc5883ldata_t*)ut->data)->timeout); |
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| 152 | chprintf(stream, "\t\tsensor status: %d\n", state);
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| 153 | if (status == APAL_STATUS_OK || status == APAL_STATUS_WARNING) {
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| 154 | aosUtPassed(stream, &result); |
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| 155 | } else {
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| 156 | aosUtFailedMsg(stream, &result, "0x%08X\n", status);
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| 157 | } |
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| 158 | |||
| 159 | chprintf(stream, "interrupt (partial data read)...\n");
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| 160 | chEvtRegister(((ut_hmc5883ldata_t*)ut->data)->drdyEvtSrc, &el, 0);
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| 161 | status = hmc5883l_lld_write_config(((ut_hmc5883ldata_t*)ut->data)->driver, cfg, ((ut_hmc5883ldata_t*)ut->data)->timeout); |
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| 162 | aosThdSSleep(1);
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| 163 | status |= hmc5883l_lld_read_data(((ut_hmc5883ldata_t*)ut->data)->driver, mdata, ((ut_hmc5883ldata_t*)ut->data)->timeout); |
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| 164 | aosThdMSleep(10);
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| 165 | event_mask = chEvtWaitOneTimeout(EVENT_MASK(0), TIME_IMMEDIATE);
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| 166 | status |= hmc5883l_lld_read_register(((ut_hmc5883ldata_t*)ut->data)->driver, HMC5883L_LLD_REGISTER_DATA_OUT_X_MSB, &data, 1, ((ut_hmc5883ldata_t*)ut->data)->timeout);
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| 167 | aosThdMSleep(10);
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| 168 | status |= hmc5883l_lld_read_register(((ut_hmc5883ldata_t*)ut->data)->driver, HMC5883L_LLD_REGISTER_DATA_OUT_X_LSB, &data, 1, ((ut_hmc5883ldata_t*)ut->data)->timeout);
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| 169 | aosThdMSleep(10);
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| 170 | event_mask = chEvtWaitOneTimeout(EVENT_MASK(0), TIME_IMMEDIATE);
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| 171 | chprintf(stream, "\t\teventmask = 0x%08X (should be 0)\n", event_mask);
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| 172 | if (event_mask != EVENT_MASK(0)) { |
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| 173 | aosUtPassed(stream, &result); |
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| 174 | } else {
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| 175 | aosUtFailed(stream, &result); |
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| 176 | } |
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| 177 | |||
| 178 | chprintf(stream, "interrupt (full data read)...\n");
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| 179 | status |= hmc5883l_lld_read_data(((ut_hmc5883ldata_t*)ut->data)->driver, mdata, ((ut_hmc5883ldata_t*)ut->data)->timeout); |
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| 180 | 1e5f7648 | Thomas Schöpping | event_mask = chEvtWaitOneTimeout(EVENT_MASK(0), chTimeUS2I(100 * MICROSECONDS_PER_MILLISECOND)); |
| 181 | e545e620 | Thomas Schöpping | chprintf(stream, "\t\teventmask = 0x%08X (should be 1)\n", event_mask);
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| 182 | if (event_mask == EVENT_MASK(0)) { |
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| 183 | aosUtPassed(stream, &result); |
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| 184 | } else {
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| 185 | aosUtFailed(stream, &result); |
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| 186 | } |
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| 187 | |||
| 188 | chprintf(stream, "read data based on interrupt...\n");
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| 189 | status = hmc5883l_lld_read_config(((ut_hmc5883ldata_t*)ut->data)->driver, &cfg, ((ut_hmc5883ldata_t*)ut->data)->timeout); |
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| 190 | uint8_t mode = HMC5883L_LLD_MM_SINGLE; |
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| 191 | cfg.mode = mode; |
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| 192 | status |= hmc5883l_lld_write_config(((ut_hmc5883ldata_t*)ut->data)->driver, cfg, ((ut_hmc5883ldata_t*)ut->data)->timeout); |
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| 193 | aosSysGetUptime(&start); |
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| 194 | aosSysGetUptime(&t); |
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| 195 | status |= hmc5883l_lld_read_data(((ut_hmc5883ldata_t*)ut->data)->driver, mdata, ((ut_hmc5883ldata_t*)ut->data)->timeout); |
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| 196 | while (t - start < MICROSECONDS_PER_SECOND) {
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| 197 | 1e5f7648 | Thomas Schöpping | event_mask = chEvtWaitOneTimeout(EVENT_MASK(0), chTimeUS2I(1000)); |
| 198 | e545e620 | Thomas Schöpping | if (event_mask == EVENT_MASK(0)) { |
| 199 | status |= hmc5883l_lld_read_data(((ut_hmc5883ldata_t*)ut->data)->driver, mdata, ((ut_hmc5883ldata_t*)ut->data)->timeout); |
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| 200 | data_reads++; |
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| 201 | status = hmc5883l_lld_write_register(((ut_hmc5883ldata_t*)ut->data)->driver, HMC5883L_LLD_REGISTER_CONFIG_A+2, &mode, 1, ((ut_hmc5883ldata_t*)ut->data)->timeout); |
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| 202 | } |
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| 203 | aosSysGetUptime(&t); |
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| 204 | } |
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| 205 | chEvtUnregister(((ut_hmc5883ldata_t*)ut->data)->drdyEvtSrc, &el); |
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| 206 | aosUtInfoMsg(stream,"Read data %u times in a second\n", data_reads);
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| 207 | |||
| 208 | aosUtInfoMsg(stream,"driver object memory footprint: %u bytes\n", sizeof(HMC5883LDriver)); |
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| 209 | |||
| 210 | return result;
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| 211 | } |
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| 212 | |||
| 213 | #endif /* (AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_USE_HMC5883L) */ |