amiro-os / unittests / periphery-lld / src / ut_alld_mpu6050.c @ 8a93b752
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| 1 | cca61a53 | Simon Welzel | /*
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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..2018 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 <ut_alld_mpu6050.h> |
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| 20 | |||
| 21 | #if ((AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_USE_MPU6050)) || 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 | cca61a53 | Simon Welzel | |
| 47 | aos_utresult_t utAlldMpu6050Func(BaseSequentialStream* stream, aos_unittest_t* ut) |
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| 48 | {
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| 49 | aos_utresult_t result = {0, 0};
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| 50 | |||
| 51 | const mpu6050_lld_register_t addr = 0x75; // register to read from |
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| 52 | uint16_t const data; // buffer for data |
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| 53 | const uint8_t num = 1; // read one register |
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| 54 | const apalTime_t timeout = 100; // TODO: Check units |
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| 55 | |||
| 56 | |||
| 57 | mpu6050_lld_read_register(((ut_mpu6050data_t*)ut->data)->mpu, addr, &data, num, ((ut_mpu6050data_t*)ut->data)->timeout); |
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| 58 | /** registers to read:
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| 59 | 0x75: WHO AM I (should return I2C-Adress without the last bit, which is determined by the state of the AO pin!) returns 0x68
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| 60 | */
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| 61 | |||
| 62 | return result; // TODO: Adjust |
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| 63 | } |
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| 64 | |||
| 65 | #endif /* (AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_USE_MPU6050) */ |