amiro-os / unittests / periphery-lld / src / ut_alld_HMC5883L_v1.c @ a193bcf1
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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_HMC5883L_v1.h> |
21 | e545e620 | Thomas Schöpping | |
22 | ddf34c3d | Thomas Schöpping | #if ((AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_HMC5883L) && (AMIROLLD_CFG_HMC5883L == 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 HMC5338L unit test function.
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50 | *
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51 | * @param[in] stream Stream for intput/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 utAlldHmc5883lFunc(BaseSequentialStream* stream, aos_unittest_t* ut) |
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57 | { |
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58 | aosDbgCheck(ut->data != NULL && (((ut_hmc5883ldata_t*)(ut->data))->drdyEvtSrc != 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 rxbuffer[3];
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64 | uint8_t data; |
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65 | uint8_t conf = 0x70;
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66 | hmc5883l_lld_config_t cfg; |
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67 | uint16_t mdata[3];
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68 | uint8_t state; |
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69 | eventmask_t event_mask = 0;
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70 | event_listener_t el; |
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71 | uint16_t data_reads = 0;
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72 | aos_timestamp_t start; |
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73 | aos_timestamp_t t; |
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74 | |||
75 | chprintf(stream, "check ID...\n");
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76 | status = hmc5883l_lld_check(((ut_hmc5883ldata_t*)ut->data)->driver, rxbuffer, 3, ((ut_hmc5883ldata_t*)ut->data)->timeout);
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77 | if (status == APAL_STATUS_SUCCESS && rxbuffer[0] == HMC5883L_LLD_IDENTIFICATION_A |
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78 | && rxbuffer[1] == HMC5883L_LLD_IDENTIFICATION_B
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79 | && rxbuffer[2] == HMC5883L_LLD_IDENTIFICATION_C) {
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80 | aosUtPassed(stream, &result); |
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81 | } else {
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82 | chprintf(stream, "\tfailed\n");
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83 | ++result.failed; |
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84 | chprintf(stream, "\t\tstatus: %d, idA: %d, idB: %d, idC: %d\n", status, rxbuffer[0], rxbuffer[1], rxbuffer[2]); |
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85 | chprintf(stream, "\t\texpected idA: %d, idB: %d, idC: %d\n", HMC5883L_LLD_IDENTIFICATION_A, HMC5883L_LLD_IDENTIFICATION_B, HMC5883L_LLD_IDENTIFICATION_C);
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86 | } |
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87 | |||
88 | chprintf(stream, "read register...\n");
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89 | status = hmc5883l_lld_read_register(((ut_hmc5883ldata_t*)ut->data)->driver, HMC5883L_LLD_REGISTER_IDENTIFICATION_A, &data, 1, ((ut_hmc5883ldata_t*)ut->data)->timeout);
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90 | if ((status == APAL_STATUS_OK || status == APAL_STATUS_WARNING) && data == HMC5883L_LLD_IDENTIFICATION_A) {
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91 | aosUtPassed(stream, &result); |
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92 | } else {
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93 | aosUtFailedMsg(stream, &result, "0x%08X\n", status);
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94 | } |
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95 | |||
96 | chprintf(stream, "write register...\n");
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97 | status = hmc5883l_lld_write_register(((ut_hmc5883ldata_t*)ut->data)->driver, HMC5883L_LLD_REGISTER_CONFIG_A, &conf, 1, ((ut_hmc5883ldata_t*)ut->data)->timeout);
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98 | status |= hmc5883l_lld_read_register(((ut_hmc5883ldata_t*)ut->data)->driver, HMC5883L_LLD_REGISTER_CONFIG_A, &data, 1, ((ut_hmc5883ldata_t*)ut->data)->timeout);
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99 | if ((status == APAL_STATUS_SUCCESS || status == APAL_STATUS_WARNING) && data == 0x70) { |
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100 | aosUtPassed(stream, &result); |
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101 | } else {
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102 | aosUtFailedMsg(stream, &result, "0x%08X\n, data: d", status, data);
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103 | } |
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104 | |||
105 | chprintf(stream, "read configuration\n");
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106 | status = hmc5883l_lld_read_config(((ut_hmc5883ldata_t*)ut->data)->driver, &cfg, ((ut_hmc5883ldata_t*)ut->data)->timeout); |
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107 | if (status == APAL_STATUS_SUCCESS) {
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108 | aosUtPassed(stream, &result); |
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109 | } else {
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110 | aosUtFailedMsg(stream, &result, "0x%08X\n", status);
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111 | } |
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112 | |||
113 | chprintf(stream, "write configuration\n");
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114 | cfg.avg = HMC5883L_LLD_AVG1; |
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115 | cfg.outrate = HMC5883L_LLD_75_HZ; |
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116 | cfg.mbias = HMC5883L_LLD_MB_NORMAL; |
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117 | cfg.gain = HMC5883L_LLD_GN_0_GA; |
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118 | cfg.highspeed = HMC5883L_LLD_HS_DISABLE; |
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119 | cfg.mode = HMC5883L_LLD_MM_CONTINUOUS; |
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120 | status = hmc5883l_lld_write_config(((ut_hmc5883ldata_t*)ut->data)->driver, cfg, ((ut_hmc5883ldata_t*)ut->data)->timeout); |
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121 | status |= hmc5883l_lld_read_config(((ut_hmc5883ldata_t*)ut->data)->driver, &cfg, ((ut_hmc5883ldata_t*)ut->data)->timeout); |
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122 | if (status == APAL_STATUS_OK &&
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123 | cfg.avg == HMC5883L_LLD_AVG1 && |
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124 | cfg.outrate == HMC5883L_LLD_75_HZ && |
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125 | cfg.mbias == HMC5883L_LLD_MB_NORMAL && |
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126 | cfg.gain == HMC5883L_LLD_GN_0_GA && |
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127 | cfg.highspeed == HMC5883L_LLD_HS_DISABLE && |
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128 | cfg.mode == HMC5883L_LLD_MM_CONTINUOUS) { |
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129 | aosUtPassed(stream, &result); |
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130 | } else {
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131 | aosUtFailedMsg(stream, &result, "0x%08X\n", status);
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132 | } |
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133 | |||
134 | chprintf(stream, "read all data for five seconds...\n");
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135 | status = hmc5883l_lld_set_register(((ut_hmc5883ldata_t*)ut->data)->driver,HMC5883L_LLD_REGISTER_MODE,HMC5883L_LLD_MM_CONTINUOUS,((ut_hmc5883ldata_t*)ut->data)->timeout); |
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136 | for (uint8_t i = 0; i < 5; ++i) { |
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137 | status |= hmc5883l_lld_read_data(((ut_hmc5883ldata_t*)ut->data)->driver, mdata, ((ut_hmc5883ldata_t*)ut->data)->timeout); |
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138 | chprintf(stream, "\t\tX = 0x%04X\tY = 0x%04X\tZ = 0x%04X\n",mdata[0],mdata[1],mdata[2]); |
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139 | aosThdSSleep(1);
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140 | } |
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141 | if (status == APAL_STATUS_OK) {
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142 | aosUtPassed(stream, &result); |
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143 | } else {
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144 | aosUtFailedMsg(stream, &result, "0x%08X\n", status);
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145 | } |
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146 | |||
147 | chprintf(stream, "read status...\n");
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148 | status = hmc5883l_lld_read_lock(((ut_hmc5883ldata_t*)ut->data)->driver, &state, ((ut_hmc5883ldata_t*)ut->data)->timeout); |
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149 | chprintf(stream, "\t\tsensor lock: %d\n", state);
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150 | status |= hmc5883l_lld_read_rdy(((ut_hmc5883ldata_t*)ut->data)->driver, &state, ((ut_hmc5883ldata_t*)ut->data)->timeout); |
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151 | chprintf(stream, "\t\tsensor rdy: %d\n", state);
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152 | status |= hmc5883l_lld_read_status(((ut_hmc5883ldata_t*)ut->data)->driver, &state, ((ut_hmc5883ldata_t*)ut->data)->timeout); |
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153 | chprintf(stream, "\t\tsensor status: %d\n", state);
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154 | if (status == APAL_STATUS_OK || status == APAL_STATUS_WARNING) {
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155 | aosUtPassed(stream, &result); |
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156 | } else {
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157 | aosUtFailedMsg(stream, &result, "0x%08X\n", status);
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158 | } |
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159 | |||
160 | chprintf(stream, "interrupt (partial data read)...\n");
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161 | chEvtRegister(((ut_hmc5883ldata_t*)ut->data)->drdyEvtSrc, &el, 0);
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162 | status = hmc5883l_lld_write_config(((ut_hmc5883ldata_t*)ut->data)->driver, cfg, ((ut_hmc5883ldata_t*)ut->data)->timeout); |
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163 | aosThdSSleep(1);
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164 | status |= hmc5883l_lld_read_data(((ut_hmc5883ldata_t*)ut->data)->driver, mdata, ((ut_hmc5883ldata_t*)ut->data)->timeout); |
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165 | aosThdMSleep(10);
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166 | event_mask = chEvtWaitOneTimeout(EVENT_MASK(0), TIME_IMMEDIATE);
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167 | status |= hmc5883l_lld_read_register(((ut_hmc5883ldata_t*)ut->data)->driver, HMC5883L_LLD_REGISTER_DATA_OUT_X_MSB, &data, 1, ((ut_hmc5883ldata_t*)ut->data)->timeout);
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168 | aosThdMSleep(10);
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169 | status |= hmc5883l_lld_read_register(((ut_hmc5883ldata_t*)ut->data)->driver, HMC5883L_LLD_REGISTER_DATA_OUT_X_LSB, &data, 1, ((ut_hmc5883ldata_t*)ut->data)->timeout);
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170 | aosThdMSleep(10);
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171 | event_mask = chEvtWaitOneTimeout(EVENT_MASK(0), TIME_IMMEDIATE);
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172 | chprintf(stream, "\t\teventmask = 0x%08X (should be 0)\n", event_mask);
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173 | if (event_mask != EVENT_MASK(0)) { |
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174 | aosUtPassed(stream, &result); |
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175 | } else {
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176 | aosUtFailed(stream, &result); |
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177 | } |
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178 | |||
179 | chprintf(stream, "interrupt (full data read)...\n");
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180 | status |= hmc5883l_lld_read_data(((ut_hmc5883ldata_t*)ut->data)->driver, mdata, ((ut_hmc5883ldata_t*)ut->data)->timeout); |
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181 | 1e5f7648 | Thomas Schöpping | event_mask = chEvtWaitOneTimeout(EVENT_MASK(0), chTimeUS2I(100 * MICROSECONDS_PER_MILLISECOND)); |
182 | e545e620 | Thomas Schöpping | chprintf(stream, "\t\teventmask = 0x%08X (should be 1)\n", event_mask);
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183 | if (event_mask == EVENT_MASK(0)) { |
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184 | aosUtPassed(stream, &result); |
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185 | } else {
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186 | aosUtFailed(stream, &result); |
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187 | } |
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188 | |||
189 | chprintf(stream, "read data based on interrupt...\n");
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190 | status = hmc5883l_lld_read_config(((ut_hmc5883ldata_t*)ut->data)->driver, &cfg, ((ut_hmc5883ldata_t*)ut->data)->timeout); |
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191 | uint8_t mode = HMC5883L_LLD_MM_SINGLE; |
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192 | cfg.mode = mode; |
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193 | status |= hmc5883l_lld_write_config(((ut_hmc5883ldata_t*)ut->data)->driver, cfg, ((ut_hmc5883ldata_t*)ut->data)->timeout); |
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194 | aosSysGetUptime(&start); |
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195 | aosSysGetUptime(&t); |
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196 | status |= hmc5883l_lld_read_data(((ut_hmc5883ldata_t*)ut->data)->driver, mdata, ((ut_hmc5883ldata_t*)ut->data)->timeout); |
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197 | while (t - start < MICROSECONDS_PER_SECOND) {
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198 | 1e5f7648 | Thomas Schöpping | event_mask = chEvtWaitOneTimeout(EVENT_MASK(0), chTimeUS2I(1000)); |
199 | e545e620 | Thomas Schöpping | if (event_mask == EVENT_MASK(0)) { |
200 | status |= hmc5883l_lld_read_data(((ut_hmc5883ldata_t*)ut->data)->driver, mdata, ((ut_hmc5883ldata_t*)ut->data)->timeout); |
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201 | data_reads++; |
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202 | status = hmc5883l_lld_write_register(((ut_hmc5883ldata_t*)ut->data)->driver, HMC5883L_LLD_REGISTER_CONFIG_A+2, &mode, 1, ((ut_hmc5883ldata_t*)ut->data)->timeout); |
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203 | } |
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204 | aosSysGetUptime(&t); |
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205 | } |
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206 | chEvtUnregister(((ut_hmc5883ldata_t*)ut->data)->drdyEvtSrc, &el); |
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207 | aosUtInfoMsg(stream,"Read data %u times in a second\n", data_reads);
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208 | |||
209 | aosUtInfoMsg(stream,"driver object memory footprint: %u bytes\n", sizeof(HMC5883LDriver)); |
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210 | |||
211 | return result;
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212 | } |
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213 | |||
214 | ddf34c3d | Thomas Schöpping | #endif /* (AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_HMC5883L) && (AMIROLLD_CFG_HMC5883L == 1) */ |