amiro-os / unittests / periphery-lld / src / ut_alld_LIS331DLH_v1.c @ 908b6fb4
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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 | ddf34c3d | Thomas Schöpping | #include <amiroos.h> |
| 20 | 2a4dbf93 | Thomas Schöpping | #include <ut_alld_LIS331DLH_v1.h> |
| 21 | e545e620 | Thomas Schöpping | |
| 22 | ddf34c3d | Thomas Schöpping | #if ((AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_LIS331DLH) && (AMIROLLD_CFG_LIS331DLH == 1)) || defined(__DOXYGEN__) |
| 23 | |||
| 24 | f3ac1c96 | Thomas Schöpping | /******************************************************************************/
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| 25 | /* LOCAL DEFINITIONS */
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| 26 | /******************************************************************************/
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| 27 | |||
| 28 | /******************************************************************************/
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| 29 | /* EXPORTED VARIABLES */
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| 30 | /******************************************************************************/
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| 31 | |||
| 32 | /******************************************************************************/
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| 33 | /* LOCAL TYPES */
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| 34 | /******************************************************************************/
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| 35 | |||
| 36 | /******************************************************************************/
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| 37 | /* LOCAL VARIABLES */
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| 38 | /******************************************************************************/
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| 39 | |||
| 40 | /******************************************************************************/
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| 41 | /* LOCAL FUNCTIONS */
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| 42 | /******************************************************************************/
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| 43 | |||
| 44 | /******************************************************************************/
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| 45 | /* EXPORTED FUNCTIONS */
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| 46 | /******************************************************************************/
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| 47 | e545e620 | Thomas Schöpping | |
| 48 | /**
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| 49 | * @brief LIS331DLH unit test function.
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| 50 | *
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| 51 | * @param[in] stream Stream for input/output.
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| 52 | * @param[in] ut Unit test object.
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| 53 | *
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| 54 | * @return Unit test result value.
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| 55 | */
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| 56 | aos_utresult_t utAlldLis331dlhFunc(BaseSequentialStream* stream, aos_unittest_t* ut) |
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| 57 | {
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| 58 | aosDbgCheck(ut->data != NULL && ((ut_lis331dlhdata_t*)(ut->data)) != NULL); |
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| 59 | |||
| 60 | // local variables
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| 61 | aos_utresult_t result = {0, 0};
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| 62 | uint32_t status; |
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| 63 | uint8_t data = 0;
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| 64 | uint8_t write_data[5];
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| 65 | uint8_t read_data[5];
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| 66 | uint8_t errors = 0;
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| 67 | uint8_t reg1; |
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| 68 | int16_t sdata[3];
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| 69 | uint8_t status_reg; |
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| 70 | lis331dlh_lld_int_cfg_t intcfg; |
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| 71 | event_listener_t el; |
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| 72 | eventmask_t event_mask; |
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| 73 | uint8_t success = 0;
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| 74 | |||
| 75 | for (uint8_t dataIdx = 0; dataIdx < 4; dataIdx++) { |
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| 76 | write_data[dataIdx] = (dataIdx+1)*11; |
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| 77 | } |
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| 78 | write_data[4] = 0; |
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| 79 | |||
| 80 | chprintf(stream, "check identity...\n");
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| 81 | status = lis331dlh_lld_read_register(((ut_lis331dlhdata_t*)(ut->data))->lisd, LIS331DLH_LLD_REGISTER_WHO_AM_I, &data, 1);
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| 82 | if (status == APAL_STATUS_SUCCESS &&
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| 83 | data == LIS331DLH_LLD_WHO_AM_I) {
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| 84 | aosUtPassed(stream, &result); |
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| 85 | } else {
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| 86 | chprintf(stream, "\tfailed\n");
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| 87 | aosUtFailedMsg(stream, &result, "0x%08X, data: %d\n", status, data);
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| 88 | ++result.failed; |
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| 89 | } |
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| 90 | |||
| 91 | chprintf(stream, "write register...\n");
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| 92 | status = lis331dlh_lld_write_register(((ut_lis331dlhdata_t*)(ut->data))->lisd, LIS331DLH_LLD_REGISTER_CTRL_REG1, write_data, 1);
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| 93 | if (status == APAL_STATUS_SUCCESS) {
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| 94 | aosUtPassed(stream, &result); |
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| 95 | } else {
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| 96 | aosUtFailed(stream, &result); |
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| 97 | } |
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| 98 | |||
| 99 | chprintf(stream, "read register...\n");
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| 100 | status = lis331dlh_lld_read_register(((ut_lis331dlhdata_t*)(ut->data))->lisd, LIS331DLH_LLD_REGISTER_CTRL_REG1, &data, 1);
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| 101 | if (status == APAL_STATUS_SUCCESS && data == write_data[0]) { |
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| 102 | aosUtPassed(stream, &result); |
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| 103 | } else {
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| 104 | chprintf(stream, "\tfailed\n");
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| 105 | aosUtFailedMsg(stream, &result, "0x%08X, data: %d\n", status, data);
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| 106 | ++result.failed; |
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| 107 | } |
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| 108 | |||
| 109 | chprintf(stream, "write multiple registers...\n");
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| 110 | status = lis331dlh_lld_write_register(((ut_lis331dlhdata_t*)(ut->data))->lisd, LIS331DLH_LLD_REGISTER_CTRL_REG1, write_data, 5);
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| 111 | if (status == APAL_STATUS_SUCCESS) {
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| 112 | aosUtPassed(stream, &result); |
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| 113 | } else {
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| 114 | aosUtFailed(stream, &result); |
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| 115 | } |
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| 116 | |||
| 117 | chprintf(stream, "read multiple registers...\n");
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| 118 | status = lis331dlh_lld_read_register(((ut_lis331dlhdata_t*)(ut->data))->lisd, LIS331DLH_LLD_REGISTER_CTRL_REG1, read_data, 5);
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| 119 | for (uint8_t dataIdx = 0; dataIdx < 5; dataIdx++) { |
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| 120 | if (read_data[dataIdx] != write_data[dataIdx]) {
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| 121 | ++errors; |
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| 122 | } |
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| 123 | } |
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| 124 | if (status == APAL_STATUS_SUCCESS &&
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| 125 | errors == 0) {
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| 126 | aosUtPassed(stream, &result); |
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| 127 | } else {
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| 128 | chprintf(stream, "\tfailed\n");
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| 129 | for (uint8_t dataIdx = 0; dataIdx < 5; dataIdx++) { |
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| 130 | chprintf(stream, "\t\tStatus: %d, CTRL_REG%d: %d, write_data: %d\n", status, dataIdx+1, read_data[dataIdx], write_data[dataIdx]); |
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| 131 | } |
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| 132 | aosUtFailedMsg(stream, &result, "0x%08X, errors: %d\n", status, errors);
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| 133 | } |
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| 134 | |||
| 135 | chprintf(stream, "read config...\n");
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| 136 | lis331dlh_lld_cfg_t cfg; |
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| 137 | status = lis331dlh_lld_read_config(((ut_lis331dlhdata_t*)(ut->data))->lisd, &cfg); |
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| 138 | if (status == APAL_STATUS_SUCCESS) {
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| 139 | aosUtPassed(stream, &result); |
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| 140 | } else {
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| 141 | aosUtFailed(stream, &result); |
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| 142 | } |
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| 143 | |||
| 144 | chprintf(stream, "write config...\n");
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| 145 | cfg.registers.ctrl_reg1 = LIS331DLH_LLD_PM_ODR | |
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| 146 | LIS331DLH_LLD_DR_1000HZ_780LP | |
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| 147 | LIS331DLH_LLD_X_AXIS_ENABLE | |
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| 148 | LIS331DLH_LLD_Y_AXIS_ENABLE | |
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| 149 | LIS331DLH_LLD_Z_AXIS_ENABLE; |
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| 150 | cfg.registers.ctrl_reg3 = 0x00;
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| 151 | status = lis331dlh_lld_write_config(((ut_lis331dlhdata_t*)(ut->data))->lisd, &cfg); |
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| 152 | reg1 = cfg.data[0];
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| 153 | lis331dlh_lld_read_config(((ut_lis331dlhdata_t*)(ut->data))->lisd, &cfg); |
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| 154 | if (status == APAL_STATUS_SUCCESS && cfg.data[0] == reg1) { |
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| 155 | aosUtPassed(stream, &result); |
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| 156 | } else {
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| 157 | aosUtFailed(stream, &result); |
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| 158 | } |
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| 159 | |||
| 160 | chprintf(stream, "read acceleration for five seconds...\n");
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| 161 | status = APAL_STATUS_SUCCESS; |
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| 162 | for (uint8_t i = 0; i < 5; ++i) { |
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| 163 | status |= lis331dlh_lld_read_all_data(((ut_lis331dlhdata_t*)(ut->data))->lisd, sdata, &cfg); |
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| 164 | chprintf(stream, "\t\tX = %6d\tY = %6d\tZ = %6d\n", sdata[0], sdata[1], sdata[2]); |
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| 165 | aosThdSSleep(1);
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| 166 | } |
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| 167 | if (status == APAL_STATUS_SUCCESS) {
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| 168 | aosUtPassed(stream, &result); |
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| 169 | } else {
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| 170 | aosUtFailed(stream, &result); |
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| 171 | } |
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| 172 | |||
| 173 | chprintf(stream, "read X acceleration for five seconds...\n");
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| 174 | status = APAL_STATUS_SUCCESS; |
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| 175 | for (uint8_t i = 0; i < 5; ++i) { |
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| 176 | status |= lis331dlh_lld_read_data(((ut_lis331dlhdata_t*)(ut->data))->lisd, &(sdata[0]), LIS331DLH_LLD_X_AXIS, &cfg);
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| 177 | chprintf(stream, "\t\tX = %6d\n", sdata[0]); |
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| 178 | aosThdSSleep(1);
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| 179 | } |
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| 180 | if (status == APAL_STATUS_SUCCESS) {
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| 181 | aosUtPassed(stream, &result); |
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| 182 | } else {
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| 183 | aosUtFailed(stream, &result); |
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| 184 | } |
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| 185 | |||
| 186 | chprintf(stream, "read Y acceleration for five seconds...\n");
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| 187 | status = APAL_STATUS_SUCCESS; |
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| 188 | for (uint8_t i = 0; i < 5; ++i) { |
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| 189 | status |= lis331dlh_lld_read_data(((ut_lis331dlhdata_t*)(ut->data))->lisd, &(sdata[0]), LIS331DLH_LLD_Y_AXIS, &cfg);
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| 190 | chprintf(stream, "\t\tY = %6d\n", sdata[0]); |
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| 191 | aosThdSSleep(1);
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| 192 | } |
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| 193 | if (status == APAL_STATUS_SUCCESS) {
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| 194 | aosUtPassed(stream, &result); |
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| 195 | } else {
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| 196 | aosUtFailed(stream, &result); |
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| 197 | } |
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| 198 | |||
| 199 | chprintf(stream, "read Z acceleration for five seconds...\n");
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| 200 | status = APAL_STATUS_SUCCESS; |
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| 201 | for (uint8_t i = 0; i < 5; ++i) { |
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| 202 | status |= lis331dlh_lld_read_data(((ut_lis331dlhdata_t*)(ut->data))->lisd, &(sdata[0]), LIS331DLH_LLD_Z_AXIS, &cfg);
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| 203 | chprintf(stream, "\t\tZ = %6d\n", sdata[0]); |
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| 204 | aosThdSSleep(1);
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| 205 | } |
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| 206 | if (status == APAL_STATUS_SUCCESS) {
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| 207 | aosUtPassed(stream, &result); |
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| 208 | } else {
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| 209 | aosUtFailed(stream, &result); |
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| 210 | } |
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| 211 | |||
| 212 | chprintf(stream, "read status register...\n");
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| 213 | status = lis331dlh_lld_read_status_register(((ut_lis331dlhdata_t*)(ut->data))->lisd, &status_reg); |
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| 214 | if (status == APAL_STATUS_SUCCESS) {
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| 215 | aosUtPassed(stream, &result); |
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| 216 | } else {
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| 217 | aosUtFailed(stream, &result); |
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| 218 | } |
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| 219 | |||
| 220 | chprintf(stream, "interrupt...\n");
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| 221 | intcfg.cfg_reg = LIS331DLH_LLD_INT_CFG_X_HIGH_ENABLE | LIS331DLH_LLD_INT_CFG_Y_HIGH_ENABLE | LIS331DLH_LLD_INT_CFG_Z_HIGH_ENABLE; |
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| 222 | intcfg.threshold = 10;
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| 223 | intcfg.duration = 1;
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| 224 | lis331dlh_lld_write_int_config(((ut_lis331dlhdata_t*)(ut->data))->lisd, &intcfg, LIS331DLH_LLD_INT1); |
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| 225 | aosThdSSleep(1);
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| 226 | chEvtRegister(((ut_lis331dlhdata_t*)(ut->data))->src, &el, 3);
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| 227 | chprintf(stream, "\t\tmove the AMiRo now to generate interrupts\n");
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| 228 | aosThdSSleep(1);
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| 229 | for (uint8_t i = 0; i < 10; i++) { |
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| 230 | event_mask = chEvtWaitOneTimeout(EVENT_MASK(3), TIME_IMMEDIATE);
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| 231 | status |= lis331dlh_lld_read_all_data(((ut_lis331dlhdata_t*)(ut->data))->lisd, sdata, &cfg); |
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| 232 | status = lis331dlh_lld_read_register(((ut_lis331dlhdata_t*)(ut->data))->lisd, LIS331DLH_LLD_REGISTER_INT1_SOURCE, &data, 1);
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| 233 | eventflags_t flags = chEvtGetAndClearFlags(&el); |
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| 234 | if (event_mask == EVENT_MASK(3) && (flags & ((ut_lis331dlhdata_t*)(ut->data))->evtflags)) { |
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| 235 | ++success; |
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| 236 | chprintf(stream, "\t\tX = %6d INTERRUPT\n", sdata[0]); |
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| 237 | } else {
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| 238 | chprintf(stream, "\t\tX = %6d\n", sdata[0]); |
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| 239 | } |
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| 240 | aosThdSSleep(1);
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| 241 | } |
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| 242 | 1e5f7648 | Thomas Schöpping | event_mask = chEvtWaitOneTimeout(EVENT_MASK(3), TIME_IMMEDIATE);
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| 243 | e545e620 | Thomas Schöpping | chEvtUnregister(((ut_lis331dlhdata_t*)(ut->data))->src, &el); |
| 244 | if (status == APAL_STATUS_SUCCESS && success > 0) { |
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| 245 | aosUtPassed(stream, &result); |
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| 246 | } else {
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| 247 | aosUtFailed(stream, &result); |
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| 248 | } |
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| 249 | |||
| 250 | aosUtInfoMsg(stream, "driver object memory footprint: %u bytes\n", sizeof(LIS331DLHDriver)); |
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| 251 | |||
| 252 | return result;
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| 253 | } |
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| 254 | |||
| 255 | ddf34c3d | Thomas Schöpping | #endif /* (AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_LIS331DLH) && (AMIROLLD_CFG_LIS331DLH == 1) */ |