amiro-os / unittests / periphery-lld / src / ut_alld_LIS331DLH_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_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) */ |