amiro-os / unittests / periphery-lld / src / ut_alld_L3G4200D_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_L3G4200D_v1.h> |
21 | e545e620 | Thomas Schöpping | |
22 | ddf34c3d | Thomas Schöpping | #if ((AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_L3G4200D) && (AMIROLLD_CFG_L3G4200D == 1)) || defined(__DOXYGEN__) |
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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 L3G4200D 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 utAlldL3g4200dFunc(BaseSequentialStream* stream, aos_unittest_t* ut) |
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57 | { |
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58 | aosDbgCheck(ut->data != NULL && ((ut_l3g4200ddata_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 | int16_t sdata[3];
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67 | uint8_t status_reg; |
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68 | eventmask_t event_mask; |
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69 | bool success = false; |
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70 | uint8_t fifo = 0x5F;
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71 | event_listener_t el; |
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72 | |||
73 | for (uint8_t dataIdx = 0; dataIdx < 4; dataIdx++) { |
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74 | write_data[dataIdx] = (dataIdx+1)*11; |
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75 | } |
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76 | write_data[4] = 0; |
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77 | |||
78 | chprintf(stream, "check identity...\n");
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79 | status = l3g4200d_lld_read_register(((ut_l3g4200ddata_t*)(ut->data))->l3gd, L3G4200D_LLD_REGISTER_WHO_AM_I, &data, 1);
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80 | if(status == APAL_STATUS_SUCCESS && data == L3G4200D_LLD_WHO_AM_I){
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81 | aosUtPassed(stream, &result); |
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82 | } else {
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83 | aosUtFailedMsg(stream, &result, "0x%08X, data: %d\n", status, data);
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84 | } |
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85 | |||
86 | chprintf(stream, "write register...\n");
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87 | status = l3g4200d_lld_write_register(((ut_l3g4200ddata_t*)(ut->data))->l3gd, L3G4200D_LLD_REGISTER_CTRL_REG1, write_data, 1);
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88 | if (status == APAL_STATUS_SUCCESS) {
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89 | aosUtPassed(stream, &result); |
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90 | } else {
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91 | aosUtFailed(stream, &result); |
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92 | } |
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93 | |||
94 | chprintf(stream, "read register...\n");
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95 | status = l3g4200d_lld_read_register(((ut_l3g4200ddata_t*)(ut->data))->l3gd, L3G4200D_LLD_REGISTER_CTRL_REG1, &data, 1);
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96 | if (status == APAL_STATUS_SUCCESS && data == write_data[0]) { |
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97 | aosUtPassed(stream, &result); |
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98 | } else {
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99 | aosUtFailedMsg(stream, &result, "0x%08X, data: %d\n", status, data);
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100 | } |
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101 | |||
102 | chprintf(stream, "write multiple registers...\n");
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103 | status = l3g4200d_lld_write_register(((ut_l3g4200ddata_t*)(ut->data))->l3gd, L3G4200D_LLD_REGISTER_CTRL_REG1, write_data, 5);
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104 | if (status == APAL_STATUS_SUCCESS) {
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105 | aosUtPassed(stream, &result); |
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106 | } else {
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107 | aosUtFailed(stream, &result); |
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108 | } |
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109 | |||
110 | chprintf(stream, "read multiple registers...\n");
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111 | status = l3g4200d_lld_read_register(((ut_l3g4200ddata_t*)(ut->data))->l3gd, L3G4200D_LLD_REGISTER_CTRL_REG1, read_data, 5);
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112 | uint8_t errors = 0;
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113 | for (uint8_t dataIdx = 0; dataIdx < 5; dataIdx++) { |
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114 | if (read_data[dataIdx] != write_data[dataIdx]) {
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115 | ++errors; |
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116 | } |
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117 | } |
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118 | if (status == APAL_STATUS_SUCCESS && errors == 0) { |
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119 | aosUtPassed(stream, &result); |
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120 | } else {
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121 | for (uint8_t dataIdx = 0; dataIdx < 5; dataIdx++) { |
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122 | 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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123 | } |
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124 | aosUtFailedMsg(stream, &result, "0x%08X, errors: %d\n", status, errors);
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125 | } |
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126 | |||
127 | chprintf(stream, "read config...\n");
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128 | l3g4200d_lld_cfg_t cfg; |
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129 | status = l3g4200d_lld_read_config(((ut_l3g4200ddata_t*)(ut->data))->l3gd, &cfg); |
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130 | if (status == APAL_STATUS_SUCCESS) {
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131 | aosUtPassed(stream, &result); |
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132 | } else {
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133 | aosUtFailed(stream, &result); |
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134 | } |
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135 | |||
136 | chprintf(stream, "write config...\n");
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137 | 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; |
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138 | //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;
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139 | cfg.registers.ctrl_reg3 = 0x07;
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140 | cfg.registers.ctrl_reg5 |= L3G4200D_LLD_FIFO_EN; |
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141 | status = l3g4200d_lld_write_config(((ut_l3g4200ddata_t*)(ut->data))->l3gd, cfg); |
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142 | uint8_t reg1 = cfg.data[0];
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143 | status |= l3g4200d_lld_read_config(((ut_l3g4200ddata_t*)(ut->data))->l3gd, &cfg); |
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144 | if (status == APAL_STATUS_SUCCESS && cfg.data[0] == reg1) { |
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145 | aosUtPassed(stream, &result); |
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146 | } else {
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147 | aosUtFailed(stream, &result); |
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148 | } |
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149 | |||
150 | chprintf(stream, "read gyro data for five seconds...\n");
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151 | status = APAL_STATUS_OK; |
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152 | for (uint8_t i = 0; i < 5; ++i) { |
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153 | status |= l3g4200d_lld_read_all_data(((ut_l3g4200ddata_t*)(ut->data))->l3gd, sdata, &cfg); |
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154 | chprintf(stream, "\t\tX = %6d\tY = %6d\tZ = %6d\n", sdata[0], sdata[1], sdata[2]); |
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155 | aosThdSSleep(1);
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156 | } |
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157 | if (status == APAL_STATUS_SUCCESS) {
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158 | aosUtPassed(stream, &result); |
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159 | } else {
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160 | aosUtFailed(stream, &result); |
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161 | } |
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162 | |||
163 | chprintf(stream, "read X axis for five seconds...\n");
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164 | status = APAL_STATUS_SUCCESS; |
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165 | for (uint32_t i = 0; i <= 5; i++) { |
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166 | status |= l3g4200d_lld_read_data(((ut_l3g4200ddata_t*)(ut->data))->l3gd, &(sdata[0]), L3G4200D_LLD_X_AXIS, &cfg);
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167 | chprintf(stream, "\t\tX = %6d\n", sdata[0]); |
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168 | aosThdSSleep(1);
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169 | } |
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170 | if (status == APAL_STATUS_SUCCESS) {
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171 | aosUtPassed(stream, &result); |
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172 | } else {
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173 | aosUtFailed(stream, &result); |
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174 | } |
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175 | |||
176 | chprintf(stream, "read Y axis for five seconds...\n");
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177 | status = APAL_STATUS_SUCCESS; |
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178 | for (uint32_t i = 0; i <= 5; i++) { |
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179 | status |= l3g4200d_lld_read_data(((ut_l3g4200ddata_t*)(ut->data))->l3gd, &(sdata[0]), L3G4200D_LLD_Y_AXIS, &cfg);
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180 | chprintf(stream, "\t\tY = %6d\n", sdata[0]); |
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181 | aosThdSSleep(1);
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182 | } |
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183 | if (status == APAL_STATUS_SUCCESS) {
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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 Z axis for five seconds...\n");
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190 | status = APAL_STATUS_SUCCESS; |
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191 | for (uint32_t i = 0; i <= 5; i++) { |
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192 | status |= l3g4200d_lld_read_data(((ut_l3g4200ddata_t*)(ut->data))->l3gd, &(sdata[0]), L3G4200D_LLD_Z_AXIS, &cfg);
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193 | chprintf(stream, "\t\tZ = %6d\n", sdata[0]); |
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194 | aosThdSSleep(1);
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195 | } |
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196 | if (status == APAL_STATUS_SUCCESS) {
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197 | aosUtPassed(stream, &result); |
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198 | } else {
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199 | aosUtFailed(stream, &result); |
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200 | } |
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201 | aosThdMSleep(10);
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202 | |||
203 | chprintf(stream, "read status register...\n");
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204 | status = l3g4200d_lld_read_status_register(((ut_l3g4200ddata_t*)(ut->data))->l3gd, &status_reg); |
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205 | if (status == APAL_STATUS_SUCCESS) {
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206 | aosUtPassed(stream, &result); |
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207 | } else {
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208 | aosUtFailed(stream, &result); |
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209 | } |
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210 | |||
211 | chprintf(stream, "read interrupt config...\n");
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212 | l3g4200d_lld_int_cfg_t int_cfg; |
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213 | status = l3g4200d_lld_read_int_config(((ut_l3g4200ddata_t*)(ut->data))->l3gd, &int_cfg); |
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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, "write interrupt config...\n");
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221 | int_cfg.registers.int1_tsh_xh = 10;
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222 | status = l3g4200d_lld_write_int_config(((ut_l3g4200ddata_t*)(ut->data))->l3gd, int_cfg); |
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223 | l3g4200d_lld_int_cfg_t int_cfg2; |
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224 | status |= l3g4200d_lld_read_int_config(((ut_l3g4200ddata_t*)(ut->data))->l3gd, &int_cfg2); |
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225 | if (status == APAL_STATUS_SUCCESS && int_cfg.registers.int1_tsh_xh == 10) { |
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226 | aosUtPassed(stream, &result); |
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227 | } else {
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228 | aosUtFailed(stream, &result); |
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229 | } |
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230 | |||
231 | chprintf(stream, "interrupt test: read fifo until empty...\n");
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232 | chEvtRegister(((ut_l3g4200ddata_t*)(ut->data))->src, &el, 0);
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233 | status = l3g4200d_lld_write_fifo_ctrl_register(((ut_l3g4200ddata_t*)(ut->data))->l3gd,fifo); |
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234 | fifo = 0;
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235 | status |= l3g4200d_lld_read_fifo_ctrl_register(((ut_l3g4200ddata_t*)(ut->data))->l3gd,&fifo); |
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236 | status |= l3g4200d_lld_read_all_data(((ut_l3g4200ddata_t*)(ut->data))->l3gd, sdata, &cfg); |
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237 | chEvtGetAndClearFlags(&el); |
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238 | aosThdSSleep(1);
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239 | chEvtGetAndClearFlags(&el); |
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240 | success = false;
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241 | for (uint8_t i = 0; i < 200; i++) { |
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242 | status |= l3g4200d_lld_read_all_data(((ut_l3g4200ddata_t*)(ut->data))->l3gd, sdata, &cfg); |
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243 | event_mask = chEvtWaitAnyTimeout(~0, TIME_IMMEDIATE);
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244 | status |= l3g4200d_lld_read_fifo_src_register(((ut_l3g4200ddata_t*)(ut->data))->l3gd,&fifo); |
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245 | if (event_mask != 0 && ((fifo & L3G4200D_LLD_EMPTY) || fifo == 0)) { |
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246 | success = true;
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247 | break;
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248 | } |
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249 | aosThdMSleep(1);
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250 | } |
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251 | if (status == APAL_STATUS_SUCCESS && success) {
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252 | aosUtPassed(stream, &result); |
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253 | } else {
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254 | aosUtFailed(stream, &result); |
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255 | } |
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256 | |||
257 | fifo = 0x4A;
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258 | status |= l3g4200d_lld_write_fifo_ctrl_register(((ut_l3g4200ddata_t*)(ut->data))->l3gd,fifo); |
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259 | 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; |
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260 | cfg.registers.ctrl_reg3 = 0x04;
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261 | status |= l3g4200d_lld_write_config(((ut_l3g4200ddata_t*)(ut->data))->l3gd, cfg); |
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262 | chprintf(stream, "interrupt test: wait until wtm reached...\n");
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263 | for (uint8_t i = 0; i < 200; i++) { |
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264 | status |= l3g4200d_lld_read_all_data(((ut_l3g4200ddata_t*)(ut->data))->l3gd, sdata, &cfg); |
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265 | event_mask = chEvtWaitAnyTimeout(~0, TIME_IMMEDIATE);
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266 | status |= l3g4200d_lld_read_fifo_src_register(((ut_l3g4200ddata_t*)(ut->data))->l3gd,&fifo); |
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267 | if (event_mask != 0 && (fifo & L3G4200D_LLD_WTM)) { |
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268 | success = true;
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269 | break;
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270 | } |
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271 | aosThdMSleep(10);
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272 | } |
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273 | if (status == APAL_STATUS_SUCCESS && success) {
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274 | aosUtPassed(stream, &result); |
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275 | } else {
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276 | aosUtFailed(stream, &result); |
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277 | } |
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278 | |||
279 | chEvtUnregister(((ut_l3g4200ddata_t*)(ut->data))->src, &el); |
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280 | aosThdMSleep(10);
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281 | |||
282 | aosUtInfoMsg(stream, "driver object memory footprint: %u bytes\n", sizeof(L3G4200DDriver)); |
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283 | |||
284 | return result;
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285 | } |
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286 | |||
287 | ddf34c3d | Thomas Schöpping | #endif /* (AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_L3G4200D) && (AMIROLLD_CFG_L3G4200D == 1) */ |