AMiRo-OS

/*

AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.

Copyright (C) 2016..2020  Thomas Schöpping et al.

This program is free software: you can redistribute it and/or modify

it under the terms of the GNU General Public License as published by

the Free Software Foundation, either version 3 of the License, or

(at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

GNU General Public License for more details.

You should have received a copy of the GNU General Public License

along with this program.  If not, see <http://www.gnu.org/licenses/>.

*/

#include <amiroos.h>

#include <aos_test_HMC5883L.h>

#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)

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/* LOCAL DEFINITIONS                                                          */

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/* EXPORTED VARIABLES                                                         */

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/* LOCAL TYPES                                                                */

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/* LOCAL VARIABLES                                                            */

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/* LOCAL FUNCTIONS                                                            */

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/* EXPORTED FUNCTIONS                                                         */

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/**

 * @brief   HMC5338L test function.

 *

 * @param[in] stream  Stream for intput/output.

 * @param[in] test    Test object.

 *

 * @return            Test result value.

 */

aos_testresult_t aosTestHmc5883lFunc(BaseSequentialStream* stream, const aos_test_t* test)

{

  aosDbgCheck(test->data != NULL && (((aos_test_hmc5883ldata_t*)(test->data))->drdyEvtSrc != NULL));

  // local variables

  aos_testresult_t result;

  int32_t status;

  uint8_t rxbuffer[3];

  uint8_t data;

  uint8_t conf = 0x70;

  hmc5883l_lld_config_t cfg;

  uint16_t mdata[3];

  uint8_t state;

  eventmask_t event_mask = 0;

  event_listener_t el;

  uint16_t data_reads = 0;

  aos_timestamp_t start;

  aos_timestamp_t t;

  aosTestResultInit(&result);

  chprintf(stream, "check ID...\n");

  status = hmc5883l_lld_check(((aos_test_hmc5883ldata_t*)test->data)->driver, rxbuffer, 3, ((aos_test_hmc5883ldata_t*)test->data)->timeout);

  if (status == APAL_STATUS_SUCCESS && rxbuffer[0] == HMC5883L_LLD_IDENTIFICATION_A

                                   && rxbuffer[1] == HMC5883L_LLD_IDENTIFICATION_B

                                   && rxbuffer[2] == HMC5883L_LLD_IDENTIFICATION_C) {

    aosTestPassed(stream, &result);

  } else {

    chprintf(stream, "\tfailed\n");

    ++result.failed;

    chprintf(stream, "\t\tstatus: %d, idA: %d, idB: %d, idC: %d\n", status, rxbuffer[0], rxbuffer[1], rxbuffer[2]);

    chprintf(stream, "\t\texpected idA: %d, idB: %d, idC: %d\n", HMC5883L_LLD_IDENTIFICATION_A, HMC5883L_LLD_IDENTIFICATION_B, HMC5883L_LLD_IDENTIFICATION_C);

  }

  chprintf(stream, "read register...\n");

  status = hmc5883l_lld_read_register(((aos_test_hmc5883ldata_t*)test->data)->driver, HMC5883L_LLD_REGISTER_IDENTIFICATION_A, &data, 1, ((aos_test_hmc5883ldata_t*)test->data)->timeout);

  if ((status == APAL_STATUS_OK || status == APAL_STATUS_WARNING) && data == HMC5883L_LLD_IDENTIFICATION_A) {

    aosTestPassed(stream, &result);

  } else {

    aosTestFailedMsg(stream, &result, "0x%08X\n", status);

  }

  chprintf(stream, "write register...\n");

  status = hmc5883l_lld_write_register(((aos_test_hmc5883ldata_t*)test->data)->driver, HMC5883L_LLD_REGISTER_CONFIG_A, &conf, 1, ((aos_test_hmc5883ldata_t*)test->data)->timeout);

  status |= hmc5883l_lld_read_register(((aos_test_hmc5883ldata_t*)test->data)->driver, HMC5883L_LLD_REGISTER_CONFIG_A, &data, 1, ((aos_test_hmc5883ldata_t*)test->data)->timeout);

  if ((status == APAL_STATUS_SUCCESS || status == APAL_STATUS_WARNING) && data == 0x70) {

    aosTestPassed(stream, &result);

  } else {

    aosTestFailedMsg(stream, &result, "0x%08X\n, data: d", status, data);

  }

  chprintf(stream, "read configuration\n");

  status = hmc5883l_lld_read_config(((aos_test_hmc5883ldata_t*)test->data)->driver, &cfg, ((aos_test_hmc5883ldata_t*)test->data)->timeout);

  if (status == APAL_STATUS_SUCCESS) {

    aosTestPassed(stream, &result);

  } else {

    aosTestFailedMsg(stream, &result, "0x%08X\n", status);

  }

  chprintf(stream, "write configuration\n");

  cfg.avg = HMC5883L_LLD_AVG1;

  cfg.outrate = HMC5883L_LLD_75_HZ;

  cfg.mbias = HMC5883L_LLD_MB_NORMAL;

  cfg.gain = HMC5883L_LLD_GN_0_GA;

  cfg.highspeed = HMC5883L_LLD_HS_DISABLE;

  cfg.mode = HMC5883L_LLD_MM_CONTINUOUS;

  status = hmc5883l_lld_write_config(((aos_test_hmc5883ldata_t*)test->data)->driver, cfg, ((aos_test_hmc5883ldata_t*)test->data)->timeout);

  status |= hmc5883l_lld_read_config(((aos_test_hmc5883ldata_t*)test->data)->driver, &cfg, ((aos_test_hmc5883ldata_t*)test->data)->timeout);

  if (status == APAL_STATUS_OK &&

      cfg.avg == HMC5883L_LLD_AVG1 &&

      cfg.outrate == HMC5883L_LLD_75_HZ &&

      cfg.mbias == HMC5883L_LLD_MB_NORMAL &&

      cfg.gain == HMC5883L_LLD_GN_0_GA &&

      cfg.highspeed == HMC5883L_LLD_HS_DISABLE &&

      cfg.mode == HMC5883L_LLD_MM_CONTINUOUS) {

    aosTestPassed(stream, &result);

  } else {

    aosTestFailedMsg(stream, &result, "0x%08X\n", status);

  }

  chprintf(stream, "read all data for five seconds...\n");

  status = hmc5883l_lld_set_register(((aos_test_hmc5883ldata_t*)test->data)->driver,HMC5883L_LLD_REGISTER_MODE,HMC5883L_LLD_MM_CONTINUOUS,((aos_test_hmc5883ldata_t*)test->data)->timeout);

  for (uint8_t i = 0; i < 5; ++i) {

    status |= hmc5883l_lld_read_data(((aos_test_hmc5883ldata_t*)test->data)->driver, mdata, ((aos_test_hmc5883ldata_t*)test->data)->timeout);

    chprintf(stream, "\t\tX = 0x%04X\tY = 0x%04X\tZ = 0x%04X\n",mdata[0],mdata[1],mdata[2]);

    aosThdSSleep(1);

  }

  if (status == APAL_STATUS_OK) {

    aosTestPassed(stream, &result);

  } else {

    aosTestFailedMsg(stream, &result, "0x%08X\n", status);

  }

  chprintf(stream, "read status...\n");

  status = hmc5883l_lld_read_lock(((aos_test_hmc5883ldata_t*)test->data)->driver, &state, ((aos_test_hmc5883ldata_t*)test->data)->timeout);

  chprintf(stream, "\t\tsensor lock: %d\n", state);

  status |= hmc5883l_lld_read_rdy(((aos_test_hmc5883ldata_t*)test->data)->driver, &state, ((aos_test_hmc5883ldata_t*)test->data)->timeout);

  chprintf(stream, "\t\tsensor rdy: %d\n", state);

  status |= hmc5883l_lld_read_status(((aos_test_hmc5883ldata_t*)test->data)->driver, &state, ((aos_test_hmc5883ldata_t*)test->data)->timeout);

  chprintf(stream, "\t\tsensor status: %d\n", state);

  if (status == APAL_STATUS_OK || status == APAL_STATUS_WARNING) {

    aosTestPassed(stream, &result);

  } else {

    aosTestFailedMsg(stream, &result, "0x%08X\n", status);

  }

  chprintf(stream, "interrupt (partial data read)...\n");

  chEvtRegister(((aos_test_hmc5883ldata_t*)test->data)->drdyEvtSrc, &el, 0);

  status = hmc5883l_lld_write_config(((aos_test_hmc5883ldata_t*)test->data)->driver, cfg, ((aos_test_hmc5883ldata_t*)test->data)->timeout);

  aosThdSSleep(1);

  status |= hmc5883l_lld_read_data(((aos_test_hmc5883ldata_t*)test->data)->driver, mdata, ((aos_test_hmc5883ldata_t*)test->data)->timeout);

  aosThdMSleep(10);

  event_mask = chEvtWaitOneTimeout(EVENT_MASK(0), TIME_IMMEDIATE);

  status |= hmc5883l_lld_read_register(((aos_test_hmc5883ldata_t*)test->data)->driver, HMC5883L_LLD_REGISTER_DATA_OUT_X_MSB, &data, 1, ((aos_test_hmc5883ldata_t*)test->data)->timeout);

  aosThdMSleep(10);

  status |= hmc5883l_lld_read_register(((aos_test_hmc5883ldata_t*)test->data)->driver, HMC5883L_LLD_REGISTER_DATA_OUT_X_LSB, &data, 1, ((aos_test_hmc5883ldata_t*)test->data)->timeout);

  aosThdMSleep(10);

  event_mask = chEvtWaitOneTimeout(EVENT_MASK(0), TIME_IMMEDIATE);

  chprintf(stream, "\t\teventmask = 0x%08X (should be 0)\n", event_mask);

  if (event_mask != EVENT_MASK(0)) {

    aosTestPassed(stream, &result);

  } else {

    aosTestFailed(stream, &result);

  }

  chprintf(stream, "interrupt (full data read)...\n");

  status |= hmc5883l_lld_read_data(((aos_test_hmc5883ldata_t*)test->data)->driver, mdata, ((aos_test_hmc5883ldata_t*)test->data)->timeout);

  event_mask = chEvtWaitOneTimeout(EVENT_MASK(0), chTimeUS2I(100 * MICROSECONDS_PER_MILLISECOND));

  chprintf(stream, "\t\teventmask = 0x%08X (should be 1)\n", event_mask);

  if (event_mask == EVENT_MASK(0)) {

    aosTestPassed(stream, &result);

  } else {

    aosTestFailed(stream, &result);

  }

  chprintf(stream, "read data based on interrupt...\n");

  status = hmc5883l_lld_read_config(((aos_test_hmc5883ldata_t*)test->data)->driver, &cfg, ((aos_test_hmc5883ldata_t*)test->data)->timeout);

  uint8_t mode = HMC5883L_LLD_MM_SINGLE;

  cfg.mode = mode;

  status |= hmc5883l_lld_write_config(((aos_test_hmc5883ldata_t*)test->data)->driver, cfg, ((aos_test_hmc5883ldata_t*)test->data)->timeout);

  aosSysGetUptime(&start);

  aosSysGetUptime(&t);

  status |= hmc5883l_lld_read_data(((aos_test_hmc5883ldata_t*)test->data)->driver, mdata, ((aos_test_hmc5883ldata_t*)test->data)->timeout);

  while (t - start < MICROSECONDS_PER_SECOND) {

    event_mask = chEvtWaitOneTimeout(EVENT_MASK(0), chTimeUS2I(1000));

    if (event_mask == EVENT_MASK(0)) {

      status |= hmc5883l_lld_read_data(((aos_test_hmc5883ldata_t*)test->data)->driver, mdata, ((aos_test_hmc5883ldata_t*)test->data)->timeout);

      data_reads++;

      status = hmc5883l_lld_write_register(((aos_test_hmc5883ldata_t*)test->data)->driver, HMC5883L_LLD_REGISTER_CONFIG_A+2, &mode, 1, ((aos_test_hmc5883ldata_t*)test->data)->timeout);

    }

    aosSysGetUptime(&t);

  }

  chEvtUnregister(((aos_test_hmc5883ldata_t*)test->data)->drdyEvtSrc, &el);

  aosTestInfoMsg(stream,"Read data %u times in a second\n", data_reads);

  aosTestInfoMsg(stream,"driver object memory footprint: %u bytes\n", sizeof(HMC5883LDriver));

  return result;

}

#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */