amiro-os / modules / DiWheelDrive_1-2 / test / VCNL4020 / module_test_VCNL4020.c @ 96621a83
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/*
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AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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Copyright (C) 2016..2020 Thomas Schöpping et al.
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <amiroos.h> |
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#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
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#include <module_test_VCNL4020.h> |
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#include <aos_test_VCNL4020.h> |
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#include <string.h> |
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/******************************************************************************/
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/* LOCAL DEFINITIONS */
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/******************************************************************************/
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/******************************************************************************/
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/* EXPORTED VARIABLES */
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/******************************************************************************/
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/******************************************************************************/
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/* LOCAL TYPES */
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/******************************************************************************/
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/******************************************************************************/
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/* LOCAL VARIABLES */
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/******************************************************************************/
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static aos_test_vcnl4020data_t _data = {
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/* driver */ &moduleLldProximity,
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/* timeout */ MICROSECONDS_PER_SECOND,
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/* event source */ &aos.events.gpio,
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/* event flags */ MODULE_OS_GPIOEVENTFLAG_IRINT,
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}; |
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static AOS_TEST(_test, "VCNL4020", "proximity sensor", moduleTestVcnl4020ShellCb, aosTestVcnl4020Func, &_data); |
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/******************************************************************************/
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/* LOCAL FUNCTIONS */
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/******************************************************************************/
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static void _disableInterrupt(VCNL4020Driver* vcnl) |
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{ |
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uint8_t intstatus; |
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vcnl4020_lld_writereg(vcnl, VCNL4020_LLD_REGADDR_INTCTRL, 0, _data.timeout);
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vcnl4020_lld_readreg(vcnl, VCNL4020_LLD_REGADDR_INTSTATUS, &intstatus, _data.timeout); |
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if (intstatus) {
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vcnl4020_lld_writereg(vcnl, VCNL4020_LLD_REGADDR_INTSTATUS, intstatus, _data.timeout); |
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} |
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return;
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} |
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/******************************************************************************/
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/* EXPORTED FUNCTIONS */
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/******************************************************************************/
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int moduleTestVcnl4020ShellCb(BaseSequentialStream* stream, int argc, char* argv[], aos_testresult_t* result) |
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{ |
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enum {
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UNKNOWN, |
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FL, FR, WL, WR, |
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} sensor = UNKNOWN; |
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// evaluate arguments
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if (argc == 2) { |
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if (strcmp(argv[1], "--frontleft") == 0 || strcmp(argv[1], "-fl") == 0) { |
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sensor = FL; |
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} else if (strcmp(argv[1], "--frontright") == 0 || strcmp(argv[1], "-fr") == 0) { |
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sensor = FR; |
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} else if (strcmp(argv[1], "--wheelleft") == 0 || strcmp(argv[1], "-wl") == 0) { |
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sensor = WL; |
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} else if (strcmp(argv[1], "--wheelright") == 0 || strcmp(argv[1], "-wr") == 0) { |
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sensor = WR; |
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} |
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} |
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// handle valid sensor
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if (sensor != UNKNOWN) {
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aos_testresult_t res = {0, 0}; |
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pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH0, _data.timeout); |
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_disableInterrupt(_data.vcnld); |
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pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH1, _data.timeout); |
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_disableInterrupt(_data.vcnld); |
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pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH2, _data.timeout); |
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_disableInterrupt(_data.vcnld); |
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pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH3, _data.timeout); |
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_disableInterrupt(_data.vcnld); |
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switch (sensor) {
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case FL:
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pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH3, _data.timeout); |
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res = aosTestRun(stream, &_test, "front left");
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break;
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case FR:
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pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH0, _data.timeout); |
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res = aosTestRun(stream, &_test, "front right");
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break;
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case WL:
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pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH2, _data.timeout); |
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res = aosTestRun(stream, &_test, "left wheel");
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break;
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case WR:
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pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH1, _data.timeout); |
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res = aosTestRun(stream, &_test, "right wheel");
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break;
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default:
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break;
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} |
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if (result != NULL) { |
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*result = res; |
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} |
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return AOS_OK;
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} |
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// handle invalid arguments
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else {
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// print help
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chprintf(stream, "Usage: %s OPTION\n", argv[0]); |
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chprintf(stream, "Options:\n");
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chprintf(stream, " --frontleft, -fl\n");
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chprintf(stream, " Test front left proximity sensor.\n");
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chprintf(stream, " --frontrigt, -fr\n");
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chprintf(stream, " Test front right proximity sensor.\n");
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chprintf(stream, " --wheelleft, -wl\n");
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chprintf(stream, " Test left wheel proximity sensor.\n");
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chprintf(stream, " --wheelright, -wr\n");
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chprintf(stream, " Test right wheel proximity sensor.\n");
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if (result != NULL) { |
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result->passed = 0;
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result->failed = 0;
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} |
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return AOS_INVALIDARGUMENTS;
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} |
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} |
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#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */ |