amiro-os / unittests / periphery-lld / src / ut_alld_mpu6050.c @ 8a93b752
History | View | Annotate | Download (3.071 KB)
| 1 |
/*
|
|---|---|
| 2 |
AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
|
| 3 |
Copyright (C) 2016..2018 Thomas Schöpping et al.
|
| 4 |
|
| 5 |
This program is free software: you can redistribute it and/or modify
|
| 6 |
it under the terms of the GNU General Public License as published by
|
| 7 |
the Free Software Foundation, either version 3 of the License, or
|
| 8 |
(at your option) any later version.
|
| 9 |
|
| 10 |
This program is distributed in the hope that it will be useful,
|
| 11 |
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
| 12 |
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
| 13 |
GNU General Public License for more details.
|
| 14 |
|
| 15 |
You should have received a copy of the GNU General Public License
|
| 16 |
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
| 17 |
*/
|
| 18 |
|
| 19 |
#include <ut_alld_mpu6050.h> |
| 20 |
|
| 21 |
#if ((AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_USE_MPU6050)) || defined(__DOXYGEN__) |
| 22 |
|
| 23 |
/******************************************************************************/
|
| 24 |
/* LOCAL DEFINITIONS */
|
| 25 |
/******************************************************************************/
|
| 26 |
|
| 27 |
/******************************************************************************/
|
| 28 |
/* EXPORTED VARIABLES */
|
| 29 |
/******************************************************************************/
|
| 30 |
|
| 31 |
/******************************************************************************/
|
| 32 |
/* LOCAL TYPES */
|
| 33 |
/******************************************************************************/
|
| 34 |
|
| 35 |
/******************************************************************************/
|
| 36 |
/* LOCAL VARIABLES */
|
| 37 |
/******************************************************************************/
|
| 38 |
|
| 39 |
/******************************************************************************/
|
| 40 |
/* LOCAL FUNCTIONS */
|
| 41 |
/******************************************************************************/
|
| 42 |
|
| 43 |
/******************************************************************************/
|
| 44 |
/* EXPORTED FUNCTIONS */
|
| 45 |
/******************************************************************************/
|
| 46 |
|
| 47 |
aos_utresult_t utAlldMpu6050Func(BaseSequentialStream* stream, aos_unittest_t* ut) |
| 48 |
{
|
| 49 |
aos_utresult_t result = {0, 0};
|
| 50 |
|
| 51 |
const mpu6050_lld_register_t addr = 0x75; // register to read from |
| 52 |
uint16_t const data; // buffer for data |
| 53 |
const uint8_t num = 1; // read one register |
| 54 |
const apalTime_t timeout = 100; // TODO: Check units |
| 55 |
|
| 56 |
|
| 57 |
mpu6050_lld_read_register(((ut_mpu6050data_t*)ut->data)->mpu, addr, &data, num, ((ut_mpu6050data_t*)ut->data)->timeout); |
| 58 |
/** registers to read:
|
| 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
|
| 60 |
*/
|
| 61 |
|
| 62 |
return result; // TODO: Adjust |
| 63 |
} |
| 64 |
|
| 65 |
#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_USE_MPU6050) */ |