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amiro-os / unittests / periphery-lld / src / ut_alld_MPU6050_v1.c @ a193bcf1

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1 cca61a53 Simon Welzel
/*
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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..2019  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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#include <ut_alld_MPU6050_v1.h>
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#if ((AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_MPU6050) && (AMIROLLD_CFG_MPU6050 == 1)) || defined(__DOXYGEN__)
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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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/******************************************************************************/
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/* LOCAL FUNCTIONS                                                            */
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/******************************************************************************/
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/******************************************************************************/
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/* EXPORTED FUNCTIONS                                                         */
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/******************************************************************************/
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aos_utresult_t utAlldMpu6050Func(BaseSequentialStream* stream, aos_unittest_t* ut)
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{
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    aos_utresult_t result = {0, 0};
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    uint8_t data[1] = {0};
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    uint32_t status = 0;
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    status = mpu6050_lld_read_register(((ut_mpu6050data_t*)ut->data)->mpu, MPU6050_LLD_WHO_AM_I, data, 1, ((ut_mpu6050data_t*)ut->data)->timeout);
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    if (status == APAL_STATUS_OK && data[0] == MPU6050_I_AM) {
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      aosUtPassed(stream, &result);
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    } else {
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      aosUtFailedMsg(stream, &result, "0x%08X | 0x%02X\n", status, data[0]);
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    }
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  return result;
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}
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#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_MPU6050) && (AMIROLLD_CFG_MPU6050 == 1) */