AMiRo-OS

/*

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

Copyright (C) 2016..2019  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 <ut_alld_l3g4200d.h>

#if ((AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_USE_L3G4200D)) || defined(__DOXYGEN__)

#include <aos_debug.h>

#include <chprintf.h>

#include <aos_thread.h>

#include <alld_l3g4200d.h>

/**

 * @brief   L3G4200D unit test function.

 *

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

 * @param[in] ut      Unit test object.

 *

 * @return            Unit test result value.

 */

aos_utresult_t utAlldL3g4200dFunc(BaseSequentialStream* stream, aos_unittest_t* ut)

{

  aosDbgCheck(ut->data != NULL && ((ut_l3g4200ddata_t*)(ut->data)) != NULL);

  // local variables

  aos_utresult_t result = {0, 0};

  uint32_t status;

  uint8_t data = 0;

  uint8_t write_data[5];

  uint8_t read_data[5];

  int16_t sdata[3];

  uint8_t status_reg;

  eventmask_t event_mask;

  bool success = false;

  uint8_t fifo = 0x5F;

  event_listener_t el;

  for (uint8_t dataIdx = 0; dataIdx < 4; dataIdx++) {

    write_data[dataIdx] = (dataIdx+1)*11;

  }

  write_data[4] = 0;

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

  status = l3g4200d_lld_read_register(((ut_l3g4200ddata_t*)(ut->data))->l3gd, L3G4200D_LLD_REGISTER_WHO_AM_I, &data, 1);

  if(status == APAL_STATUS_SUCCESS && data == L3G4200D_LLD_WHO_AM_I){

    aosUtPassed(stream, &result);

  } else {

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

  }

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

  status = l3g4200d_lld_write_register(((ut_l3g4200ddata_t*)(ut->data))->l3gd, L3G4200D_LLD_REGISTER_CTRL_REG1, write_data, 1);

  if (status == APAL_STATUS_SUCCESS) {

    aosUtPassed(stream, &result);

  } else {

    aosUtFailed(stream, &result);

  }

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

  status = l3g4200d_lld_read_register(((ut_l3g4200ddata_t*)(ut->data))->l3gd, L3G4200D_LLD_REGISTER_CTRL_REG1, &data, 1);

  if (status == APAL_STATUS_SUCCESS && data == write_data[0]) {

    aosUtPassed(stream, &result);

  } else {

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

  }

  chprintf(stream, "write multiple registers...\n");

  status = l3g4200d_lld_write_register(((ut_l3g4200ddata_t*)(ut->data))->l3gd, L3G4200D_LLD_REGISTER_CTRL_REG1, write_data, 5);

  if (status == APAL_STATUS_SUCCESS) {

    aosUtPassed(stream, &result);

  } else {

    aosUtFailed(stream, &result);

  }

  chprintf(stream, "read multiple registers...\n");

  status = l3g4200d_lld_read_register(((ut_l3g4200ddata_t*)(ut->data))->l3gd, L3G4200D_LLD_REGISTER_CTRL_REG1, read_data, 5);

  uint8_t errors = 0;

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

    if (read_data[dataIdx] != write_data[dataIdx]) {

      ++errors;

    }

  }

  if (status == APAL_STATUS_SUCCESS && errors == 0) {

    aosUtPassed(stream, &result);

  } else {

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

      chprintf(stream, "\t\tStatus: %d, CTRL_REG%d: %d, write_data: %d\n", status, dataIdx+1, read_data[dataIdx], write_data[dataIdx]);

    }

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

  }

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

  l3g4200d_lld_cfg_t cfg;

  status = l3g4200d_lld_read_config(((ut_l3g4200ddata_t*)(ut->data))->l3gd, &cfg);

  if (status == APAL_STATUS_SUCCESS) {

    aosUtPassed(stream, &result);

  } else {

    aosUtFailed(stream, &result);

  }

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

  cfg.registers.ctrl_reg1 = L3G4200D_LLD_PD | L3G4200D_LLD_DR_100_HZ | L3G4200D_LLD_BW_12_5 | L3G4200D_LLD_ZEN | L3G4200D_LLD_YEN | L3G4200D_LLD_XEN;

  //cfg.registers.ctrl_reg1 = L3G4200D_LLD_PD | L3G4200D_LLD_DR_800_HZ | L3G4200D_LLD_BW_20 | L3G4200D_LLD_ZEN | L3G4200D_LLD_YEN | L3G4200D_LLD_XEN;

  cfg.registers.ctrl_reg3 = 0x07;

  cfg.registers.ctrl_reg5 |= L3G4200D_LLD_FIFO_EN;

  status = l3g4200d_lld_write_config(((ut_l3g4200ddata_t*)(ut->data))->l3gd, cfg);

  uint8_t reg1 = cfg.data[0];

  status |= l3g4200d_lld_read_config(((ut_l3g4200ddata_t*)(ut->data))->l3gd, &cfg);

  if (status == APAL_STATUS_SUCCESS && cfg.data[0] == reg1) {

    aosUtPassed(stream, &result);

  } else {

    aosUtFailed(stream, &result);

  }

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

  status = APAL_STATUS_OK;

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

    status |= l3g4200d_lld_read_all_data(((ut_l3g4200ddata_t*)(ut->data))->l3gd, sdata, &cfg);

    chprintf(stream, "\t\tX = %6d\tY = %6d\tZ = %6d\n", sdata[0], sdata[1], sdata[2]);

    aosThdSSleep(1);

  }

  if (status == APAL_STATUS_SUCCESS) {

    aosUtPassed(stream, &result);

  } else {

    aosUtFailed(stream, &result);

  }

  chprintf(stream, "read X axis for five seconds...\n");

  status = APAL_STATUS_SUCCESS;

  for (uint32_t i = 0; i <= 5; i++) {

    status |= l3g4200d_lld_read_data(((ut_l3g4200ddata_t*)(ut->data))->l3gd, &(sdata[0]), L3G4200D_LLD_X_AXIS, &cfg);

    chprintf(stream, "\t\tX = %6d\n", sdata[0]);

    aosThdSSleep(1);

  }

  if (status == APAL_STATUS_SUCCESS) {

    aosUtPassed(stream, &result);

  } else {

    aosUtFailed(stream, &result);

  }

  chprintf(stream, "read Y axis for five seconds...\n");

  status = APAL_STATUS_SUCCESS;

  for (uint32_t i = 0; i <= 5; i++) {

    status |= l3g4200d_lld_read_data(((ut_l3g4200ddata_t*)(ut->data))->l3gd, &(sdata[0]), L3G4200D_LLD_Y_AXIS, &cfg);

    chprintf(stream, "\t\tY = %6d\n", sdata[0]);

    aosThdSSleep(1);

  }

  if (status == APAL_STATUS_SUCCESS) {

    aosUtPassed(stream, &result);

  } else {

    aosUtFailed(stream, &result);

  }

  chprintf(stream, "read Z axis for five seconds...\n");

  status = APAL_STATUS_SUCCESS;

  for (uint32_t i = 0; i <= 5; i++) {

    status |= l3g4200d_lld_read_data(((ut_l3g4200ddata_t*)(ut->data))->l3gd, &(sdata[0]), L3G4200D_LLD_Z_AXIS, &cfg);

    chprintf(stream, "\t\tZ = %6d\n", sdata[0]);

    aosThdSSleep(1);

  }

  if (status == APAL_STATUS_SUCCESS) {

    aosUtPassed(stream, &result);

  } else {

    aosUtFailed(stream, &result);

  }

  aosThdMSleep(10);

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

  status = l3g4200d_lld_read_status_register(((ut_l3g4200ddata_t*)(ut->data))->l3gd, &status_reg);

  if (status == APAL_STATUS_SUCCESS) {

    aosUtPassed(stream, &result);

  } else {

    aosUtFailed(stream, &result);

  }

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

  l3g4200d_lld_int_cfg_t int_cfg;

  status = l3g4200d_lld_read_int_config(((ut_l3g4200ddata_t*)(ut->data))->l3gd, &int_cfg);

  if (status == APAL_STATUS_SUCCESS) {

    aosUtPassed(stream, &result);

  } else {

    aosUtFailed(stream, &result);

  }

  chprintf(stream, "write interrupt config...\n");

  int_cfg.registers.int1_tsh_xh = 10;

  status = l3g4200d_lld_write_int_config(((ut_l3g4200ddata_t*)(ut->data))->l3gd, int_cfg);

  l3g4200d_lld_int_cfg_t int_cfg2;

  status |= l3g4200d_lld_read_int_config(((ut_l3g4200ddata_t*)(ut->data))->l3gd, &int_cfg2);

  if (status == APAL_STATUS_SUCCESS && int_cfg.registers.int1_tsh_xh == 10) {

    aosUtPassed(stream, &result);

  } else {

    aosUtFailed(stream, &result);

  }

  chprintf(stream, "interrupt test: read fifo until empty...\n");

  chEvtRegister(((ut_l3g4200ddata_t*)(ut->data))->src, &el, 0);

  status = l3g4200d_lld_write_fifo_ctrl_register(((ut_l3g4200ddata_t*)(ut->data))->l3gd,fifo);

  fifo = 0;

  status |= l3g4200d_lld_read_fifo_ctrl_register(((ut_l3g4200ddata_t*)(ut->data))->l3gd,&fifo);

  status |= l3g4200d_lld_read_all_data(((ut_l3g4200ddata_t*)(ut->data))->l3gd, sdata, &cfg);

  chEvtGetAndClearFlags(&el);

  aosThdSSleep(1);

  chEvtGetAndClearFlags(&el);

  success = false;

  for (uint8_t i = 0; i < 200; i++) {

    status |= l3g4200d_lld_read_all_data(((ut_l3g4200ddata_t*)(ut->data))->l3gd, sdata, &cfg);

    event_mask = chEvtWaitAnyTimeout(~0, TIME_IMMEDIATE);

    status |= l3g4200d_lld_read_fifo_src_register(((ut_l3g4200ddata_t*)(ut->data))->l3gd,&fifo);

    if (event_mask != 0 && ((fifo & L3G4200D_LLD_EMPTY) || fifo == 0)) {

      success = true;

      break;

    }

    aosThdMSleep(1);

  }

  if (status == APAL_STATUS_SUCCESS && success) {

    aosUtPassed(stream, &result);

  } else {

    aosUtFailed(stream, &result);

  }

  fifo = 0x4A;

  status |= l3g4200d_lld_write_fifo_ctrl_register(((ut_l3g4200ddata_t*)(ut->data))->l3gd,fifo);

  cfg.registers.ctrl_reg1 = L3G4200D_LLD_PD | L3G4200D_LLD_DR_800_HZ | L3G4200D_LLD_BW_20 | L3G4200D_LLD_ZEN | L3G4200D_LLD_YEN | L3G4200D_LLD_XEN;

  cfg.registers.ctrl_reg3 = 0x04;

  status |= l3g4200d_lld_write_config(((ut_l3g4200ddata_t*)(ut->data))->l3gd, cfg);

  chprintf(stream, "interrupt test: wait until wtm reached...\n");

  for (uint8_t i = 0; i < 200; i++) {

    status |= l3g4200d_lld_read_all_data(((ut_l3g4200ddata_t*)(ut->data))->l3gd, sdata, &cfg);

    event_mask = chEvtWaitAnyTimeout(~0, TIME_IMMEDIATE);

    status |= l3g4200d_lld_read_fifo_src_register(((ut_l3g4200ddata_t*)(ut->data))->l3gd,&fifo);

    if (event_mask != 0 && (fifo & L3G4200D_LLD_WTM)) {

      success = true;

      break;

    }

    aosThdMSleep(10);

  }

  if (status == APAL_STATUS_SUCCESS && success) {

    aosUtPassed(stream, &result);

  } else {

    aosUtFailed(stream, &result);

  }

  chEvtUnregister(((ut_l3g4200ddata_t*)(ut->data))->src, &el);

  aosThdMSleep(10);

  aosUtInfoMsg(stream, "driver object memory footprint: %u bytes\n", sizeof(L3G4200DDriver));

  return result;

}

#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_USE_L3G4200D) */