amiro-os / unittests / periphery-lld / src / ut_alld_MPR121_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_MPR121_v1.h> |
21 | e545e620 | Thomas Schöpping | |
22 | ddf34c3d | Thomas Schöpping | #if ((AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_MPR121) && (AMIROLLD_CFG_MPR121 == 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 | e545e620 | Thomas Schöpping | |
28 | #define INTERRUPT_EVENT_ID 1 |
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29 | |||
30 | f3ac1c96 | Thomas Schöpping | /******************************************************************************/
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31 | /* EXPORTED VARIABLES */
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32 | /******************************************************************************/
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33 | |||
34 | /******************************************************************************/
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35 | /* LOCAL TYPES */
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36 | /******************************************************************************/
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37 | |||
38 | /******************************************************************************/
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39 | /* LOCAL VARIABLES */
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40 | /******************************************************************************/
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41 | |||
42 | /******************************************************************************/
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43 | /* LOCAL FUNCTIONS */
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44 | /******************************************************************************/
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45 | |||
46 | /******************************************************************************/
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47 | /* EXPORTED FUNCTIONS */
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48 | /******************************************************************************/
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49 | |||
50 | e545e620 | Thomas Schöpping | aos_utresult_t utAlldMpr121Func(BaseSequentialStream* stream, aos_unittest_t* ut) |
51 | { |
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52 | aosDbgCheck(ut->data != NULL && ((ut_mpr121data_t*)ut->data)->mprd != NULL); |
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53 | |||
54 | // local variables
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55 | aos_utresult_t result = {0, 0}; |
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56 | uint32_t status; |
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57 | mpr121_lld_config_t cfg; |
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58 | uint8_t data, wdata, rdata; |
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59 | uint16_t edata[4];
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60 | uint8_t tstate = 0;
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61 | event_listener_t event_listener; |
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62 | aos_timestamp_t tstart, tcurrent, tend; |
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63 | |||
64 | chprintf(stream, "soft reset...\n");
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65 | status = mpr121_lld_soft_reset(((ut_mpr121data_t*)ut->data)->mprd, ((ut_mpr121data_t*)ut->data)->timeout); |
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66 | status |= mpr121_lld_read_config(((ut_mpr121data_t*)ut->data)->mprd, &cfg, ((ut_mpr121data_t*)ut->data)->timeout); |
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67 | if (status == APAL_STATUS_SUCCESS && cfg.registers.ele_config == 0) { |
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68 | aosUtPassed(stream, &result); |
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69 | } else {
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70 | aosUtFailedMsg(stream, &result, "0x%08X\n", status);
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71 | } |
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72 | |||
73 | chprintf(stream, "read register...\n");
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74 | status = mpr121_lld_read_register(((ut_mpr121data_t*)ut->data)->mprd, MPR121_LLD_REGISTER_CONFIG_2, 0, 1, &data, ((ut_mpr121data_t*)ut->data)->timeout); |
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75 | chprintf(stream, "\t\tdata: 0x%02X\n", data);
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76 | if (status == APAL_STATUS_SUCCESS && data == (MPR121_LLD_CDT_0_5 | MPR121_LLD_ESI_16)) {
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77 | aosUtPassed(stream, &result); |
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78 | } else {
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79 | aosUtFailedMsg(stream, &result, "0x%08X\n", status);
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80 | } |
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81 | |||
82 | chprintf(stream, "write register...\n");
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83 | wdata = MPR121_LLD_CDT_32 | MPR121_LLD_SFI_10 | MPR121_LLD_ESI_16; |
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84 | status = mpr121_lld_write_register(((ut_mpr121data_t*)ut->data)->mprd, MPR121_LLD_REGISTER_CONFIG_2, 0, 1, &wdata, ((ut_mpr121data_t*)ut->data)->timeout); |
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85 | aosThdMSleep(500);
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86 | status |= mpr121_lld_read_register(((ut_mpr121data_t*)ut->data)->mprd, MPR121_LLD_REGISTER_CONFIG_2, 0, 1, &rdata, ((ut_mpr121data_t*)ut->data)->timeout); |
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87 | chprintf(stream, "\t\tdata: 0x%02X\n", rdata);
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88 | status |= mpr121_lld_write_register(((ut_mpr121data_t*)ut->data)->mprd, MPR121_LLD_REGISTER_CONFIG_2, 0, 1, &data, ((ut_mpr121data_t*)ut->data)->timeout); |
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89 | if (status == APAL_STATUS_SUCCESS && rdata == wdata) {
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90 | aosUtPassed(stream, &result); |
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91 | } else {
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92 | aosUtFailedMsg(stream, &result, "0x%08X\n", status);
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93 | } |
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94 | |||
95 | chprintf(stream, "read config...\n");
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96 | status = mpr121_lld_read_config(((ut_mpr121data_t*)ut->data)->mprd, &cfg, ((ut_mpr121data_t*)ut->data)->timeout); |
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97 | if (status == APAL_STATUS_SUCCESS && cfg.registers.config_1 == 0x10 && cfg.registers.config_2 == 0x24) { |
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98 | aosUtPassed(stream, &result); |
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99 | } else {
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100 | chprintf(stream, "\t\tconfig 1: 0x%02X\n", cfg.registers.config_1);
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101 | chprintf(stream, "\t\tconfig 2: 0x%02X\n", cfg.registers.config_2);
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102 | mpr121_lld_read_register(((ut_mpr121data_t*)ut->data)->mprd, MPR121_LLD_REGISTER_CONFIG_1, 0, 1, &rdata, ((ut_mpr121data_t*)ut->data)->timeout); |
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103 | chprintf(stream, "\t\tconfig 1: 0x%02X\n", rdata);
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104 | mpr121_lld_read_register(((ut_mpr121data_t*)ut->data)->mprd, MPR121_LLD_REGISTER_CONFIG_2, 0, 1, &rdata, ((ut_mpr121data_t*)ut->data)->timeout); |
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105 | chprintf(stream, "\t\tconfig 2: 0x%02X\n", rdata);
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106 | for (uint8_t valueIdx = 0; valueIdx < 8; valueIdx++) { |
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107 | chprintf(stream, "\t\tdata %d: 0x%02X\n", valueIdx, cfg.values[valueIdx]);
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108 | } |
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109 | chprintf(stream, "ele_config: 0x%02X\n", cfg.registers.ele_config);
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110 | chprintf(stream, "config_1: 0x%02X\n", cfg.registers.config_1);
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111 | chprintf(stream, "config_2: 0x%02X\n", cfg.registers.config_2);
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112 | chprintf(stream, "target_level: 0x%02X\n", cfg.registers.target_level);
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113 | chprintf(stream, "low_side_limit: 0x%02X\n", cfg.registers.low_side_limit);
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114 | chprintf(stream, "up_side_limit: 0x%02X\n", cfg.registers.up_side_limit);
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115 | chprintf(stream, "auto_config_2: 0x%02X\n", cfg.registers.auto_config_2);
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116 | chprintf(stream, "auto_config_1: 0x%02X\n", cfg.registers.auto_config_1);
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117 | aosUtFailedMsg(stream, &result, "0x%08X\n", status);
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118 | } |
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119 | |||
120 | chprintf(stream, "write config...\n");
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121 | cfg.registers.ele_config = MPR121_LLD_CL_ON_ALL | MPR121_LLD_ELEPROX_0 | 4;
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122 | cfg.registers.config_1 = MPR121_LLD_FFI_18 | 16;
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123 | cfg.registers.config_2 = MPR121_LLD_CDT_1 | MPR121_LLD_SFI_10 | MPR121_LLD_ESI_32; |
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124 | cfg.registers.up_side_limit = 0x96u;
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125 | cfg.registers.low_side_limit = 0x58u;
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126 | cfg.registers.target_level = 0x68u;
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127 | cfg.registers.auto_config_1 = MPR121_LLD_FFI_18 | MPR121_LLD_RETRY_2 | MPR121_LLD_BVA_ON_ALL | MPR121_LLD_AC_RECONF_EN; |
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128 | status = mpr121_lld_write_config(((ut_mpr121data_t*)ut->data)->mprd, cfg, ((ut_mpr121data_t*)ut->data)->timeout); |
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129 | aosThdMSleep(500);
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130 | status |= mpr121_lld_read_config(((ut_mpr121data_t*)ut->data)->mprd, &cfg, ((ut_mpr121data_t*)ut->data)->timeout); |
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131 | if (status == APAL_STATUS_SUCCESS && cfg.registers.up_side_limit == 0x96u) { |
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132 | aosUtPassed(stream, &result); |
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133 | } else {
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134 | aosUtFailedMsg(stream, &result, "0x%08X\n", status);
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135 | } |
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136 | |||
137 | chprintf(stream, "read filtered data for ten seconds...\n");
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138 | chprintf(stream, "(values should change if you touch the sensors now)\n");
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139 | for (uint8_t i = 0; i < 10; i++) { |
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140 | status = mpr121_lld_read_filtered_data(((ut_mpr121data_t*)ut->data)->mprd, 0, 4, edata, ((ut_mpr121data_t*)ut->data)->timeout); |
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141 | chprintf(stream, "\t\t0x%04X | 0x%04X | 0x%04X | 0x%04X\n", edata[0], edata[1], edata[2], edata[3]); |
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142 | aosThdSSleep(1);
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143 | } |
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144 | if (status == APAL_STATUS_SUCCESS) {
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145 | aosUtPassed(stream, &result); |
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146 | } else {
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147 | aosUtFailedMsg(stream, &result, "0x%08X\n", status);
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148 | } |
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149 | |||
150 | chprintf(stream, "test interrupts...\n");
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151 | status = AOS_OK; |
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152 | chEvtRegister(((ut_mpr121data_t*)ut->data)->evtsource, &event_listener, INTERRUPT_EVENT_ID); |
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153 | aosSysGetUptime(&tstart); |
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154 | tend = tstart + (30 * MICROSECONDS_PER_SECOND);
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155 | do {
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156 | aosSysGetUptime(&tcurrent); |
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157 | const aos_timestamp_t ttimeout = MICROSECONDS_PER_SECOND - ((tcurrent - tstart) % MICROSECONDS_PER_SECOND);
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158 | 1e5f7648 | Thomas Schöpping | const eventmask_t emask = chEvtWaitOneTimeout(EVENT_MASK(INTERRUPT_EVENT_ID), chTimeUS2I(ttimeout));
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159 | e545e620 | Thomas Schöpping | const eventflags_t eflags = chEvtGetAndClearFlags(&event_listener);
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160 | if (emask == EVENT_MASK(INTERRUPT_EVENT_ID) && eflags == ((ut_mpr121data_t*)ut->data)->evtflags) {
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161 | // interrupt detected
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162 | status |= mpr121_lld_read_register(((ut_mpr121data_t*)ut->data)->mprd, MPR121_LLD_REGISTER_TOUCH_STATUS, 0, 1, &tstate, ((ut_mpr121data_t*)ut->data)->timeout); |
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163 | chprintf(stream, "\t\tinterrupt detected\n");
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164 | chprintf(stream, "\t\ttstate: %X %X %X %X\n", tstate & 1, (tstate >> 1) & 1, (tstate >> 2) & 1, (tstate >> 3) & 1); |
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165 | } |
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166 | else if (emask == 0) { |
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167 | // timeout
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168 | status |= mpr121_lld_read_register(((ut_mpr121data_t*)ut->data)->mprd, MPR121_LLD_REGISTER_TOUCH_STATUS, 0, 1, &tstate, ((ut_mpr121data_t*)ut->data)->timeout); |
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169 | chprintf(stream, "\t\ttstate: %X %X %X %X\n", tstate & 1, (tstate >> 1) & 1, (tstate >> 2) & 1, (tstate >> 3) & 1); |
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170 | } |
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171 | aosSysGetUptime(&tcurrent); |
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172 | } while (tcurrent < tend);
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173 | chEvtUnregister(((ut_mpr121data_t*)ut->data)->evtsource, &event_listener); |
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174 | if (status == APAL_STATUS_SUCCESS) {
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175 | aosUtPassed(stream, &result); |
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176 | } else {
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177 | aosUtFailedMsg(stream, &result, "0x%08X\n", status);
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178 | } |
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179 | |||
180 | aosUtInfoMsg(stream,"driver object memory footprint: %u bytes\n", sizeof(MPR121Driver)); |
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181 | |||
182 | return result;
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183 | } |
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184 | |||
185 | ddf34c3d | Thomas Schöpping | #endif /* (AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_MPR121) && (AMIROLLD_CFG_MPR121 == 1) */ |