Statistics
| Branch: | Tag: | Revision:

amiro-os / unittests / periphery-lld / src / ut_alld_MPR121_v1.c @ a193bcf1

History | View | Annotate | Download (9.41 KB)

1
/*
2
AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
3
Copyright (C) 2016..2019  Thomas Schöpping et al.
4

5
This program is free software: you can redistribute it and/or modify
6
it under the terms of the GNU General Public License as published by
7
the Free Software Foundation, either version 3 of the License, or
8
(at your option) any later version.
9

10
This program is distributed in the hope that it will be useful,
11
but WITHOUT ANY WARRANTY; without even the implied warranty of
12
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
13
GNU General Public License for more details.
14

15
You should have received a copy of the GNU General Public License
16
along with this program.  If not, see <http://www.gnu.org/licenses/>.
17
*/
18

    
19
#include <amiroos.h>
20
#include <ut_alld_MPR121_v1.h>
21

    
22
#if ((AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_MPR121) && (AMIROLLD_CFG_MPR121 == 1)) || defined(__DOXYGEN__)
23

    
24
/******************************************************************************/
25
/* LOCAL DEFINITIONS                                                          */
26
/******************************************************************************/
27

    
28
#define INTERRUPT_EVENT_ID            1
29

    
30
/******************************************************************************/
31
/* EXPORTED VARIABLES                                                         */
32
/******************************************************************************/
33

    
34
/******************************************************************************/
35
/* LOCAL TYPES                                                                */
36
/******************************************************************************/
37

    
38
/******************************************************************************/
39
/* LOCAL VARIABLES                                                            */
40
/******************************************************************************/
41

    
42
/******************************************************************************/
43
/* LOCAL FUNCTIONS                                                            */
44
/******************************************************************************/
45

    
46
/******************************************************************************/
47
/* EXPORTED FUNCTIONS                                                         */
48
/******************************************************************************/
49

    
50
aos_utresult_t utAlldMpr121Func(BaseSequentialStream* stream, aos_unittest_t* ut)
51
{
52
  aosDbgCheck(ut->data != NULL && ((ut_mpr121data_t*)ut->data)->mprd != NULL);
53

    
54
  // local variables
55
  aos_utresult_t result = {0, 0};
56
  uint32_t status;
57
  mpr121_lld_config_t cfg;
58
  uint8_t data, wdata, rdata;
59
  uint16_t edata[4];
60
  uint8_t tstate = 0;
61
  event_listener_t event_listener;
62
  aos_timestamp_t tstart, tcurrent, tend;
63

    
64
  chprintf(stream, "soft reset...\n");
65
  status = mpr121_lld_soft_reset(((ut_mpr121data_t*)ut->data)->mprd, ((ut_mpr121data_t*)ut->data)->timeout);
66
  status |= mpr121_lld_read_config(((ut_mpr121data_t*)ut->data)->mprd, &cfg, ((ut_mpr121data_t*)ut->data)->timeout);
67
  if (status == APAL_STATUS_SUCCESS && cfg.registers.ele_config == 0) {
68
    aosUtPassed(stream, &result);
69
  } else {
70
    aosUtFailedMsg(stream, &result, "0x%08X\n", status);
71
  }
72

    
73
  chprintf(stream, "read register...\n");
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);
75
  chprintf(stream, "\t\tdata: 0x%02X\n", data);
76
  if (status == APAL_STATUS_SUCCESS && data == (MPR121_LLD_CDT_0_5 | MPR121_LLD_ESI_16)) {
77
    aosUtPassed(stream, &result);
78
  } else {
79
    aosUtFailedMsg(stream, &result, "0x%08X\n", status);
80
  }
81

    
82
  chprintf(stream, "write register...\n");
83
  wdata = MPR121_LLD_CDT_32 | MPR121_LLD_SFI_10 | MPR121_LLD_ESI_16;
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);
85
  aosThdMSleep(500);
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);
87
  chprintf(stream, "\t\tdata: 0x%02X\n", rdata);
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);
89
  if (status == APAL_STATUS_SUCCESS && rdata == wdata) {
90
    aosUtPassed(stream, &result);
91
  } else {
92
    aosUtFailedMsg(stream, &result, "0x%08X\n", status);
93
  }
94

    
95
  chprintf(stream, "read config...\n");
96
  status = mpr121_lld_read_config(((ut_mpr121data_t*)ut->data)->mprd, &cfg, ((ut_mpr121data_t*)ut->data)->timeout);
97
  if (status == APAL_STATUS_SUCCESS && cfg.registers.config_1 == 0x10 && cfg.registers.config_2 == 0x24) {
98
    aosUtPassed(stream, &result);
99
  } else {
100
    chprintf(stream, "\t\tconfig 1: 0x%02X\n", cfg.registers.config_1);
101
    chprintf(stream, "\t\tconfig 2: 0x%02X\n", cfg.registers.config_2);
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);
103
    chprintf(stream, "\t\tconfig 1: 0x%02X\n", rdata);
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);
105
    chprintf(stream, "\t\tconfig 2: 0x%02X\n", rdata);
106
    for (uint8_t valueIdx = 0; valueIdx < 8; valueIdx++) {
107
      chprintf(stream, "\t\tdata %d: 0x%02X\n", valueIdx, cfg.values[valueIdx]);
108
    }
109
    chprintf(stream, "ele_config: 0x%02X\n", cfg.registers.ele_config);
110
    chprintf(stream, "config_1: 0x%02X\n", cfg.registers.config_1);
111
    chprintf(stream, "config_2: 0x%02X\n", cfg.registers.config_2);
112
    chprintf(stream, "target_level: 0x%02X\n", cfg.registers.target_level);
113
    chprintf(stream, "low_side_limit: 0x%02X\n", cfg.registers.low_side_limit);
114
    chprintf(stream, "up_side_limit: 0x%02X\n", cfg.registers.up_side_limit);
115
    chprintf(stream, "auto_config_2: 0x%02X\n", cfg.registers.auto_config_2);
116
    chprintf(stream, "auto_config_1: 0x%02X\n", cfg.registers.auto_config_1);
117
    aosUtFailedMsg(stream, &result, "0x%08X\n", status);
118
  }
119

    
120
  chprintf(stream, "write config...\n");
121
  cfg.registers.ele_config = MPR121_LLD_CL_ON_ALL | MPR121_LLD_ELEPROX_0 | 4;
122
  cfg.registers.config_1 = MPR121_LLD_FFI_18 | 16;
123
  cfg.registers.config_2 = MPR121_LLD_CDT_1 | MPR121_LLD_SFI_10 | MPR121_LLD_ESI_32;
124
  cfg.registers.up_side_limit = 0x96u;
125
  cfg.registers.low_side_limit = 0x58u;
126
  cfg.registers.target_level = 0x68u;
127
  cfg.registers.auto_config_1 = MPR121_LLD_FFI_18 | MPR121_LLD_RETRY_2 | MPR121_LLD_BVA_ON_ALL | MPR121_LLD_AC_RECONF_EN;
128
  status = mpr121_lld_write_config(((ut_mpr121data_t*)ut->data)->mprd, cfg, ((ut_mpr121data_t*)ut->data)->timeout);
129
  aosThdMSleep(500);
130
  status |= mpr121_lld_read_config(((ut_mpr121data_t*)ut->data)->mprd, &cfg, ((ut_mpr121data_t*)ut->data)->timeout);
131
  if (status == APAL_STATUS_SUCCESS && cfg.registers.up_side_limit == 0x96u) {
132
    aosUtPassed(stream, &result);
133
  } else {
134
    aosUtFailedMsg(stream, &result, "0x%08X\n", status);
135
  }
136

    
137
  chprintf(stream, "read filtered data for ten seconds...\n");
138
  chprintf(stream, "(values should change if you touch the sensors now)\n");
139
  for (uint8_t i = 0; i < 10; i++) {
140
    status = mpr121_lld_read_filtered_data(((ut_mpr121data_t*)ut->data)->mprd, 0, 4, edata, ((ut_mpr121data_t*)ut->data)->timeout);
141
    chprintf(stream, "\t\t0x%04X | 0x%04X | 0x%04X | 0x%04X\n", edata[0], edata[1], edata[2], edata[3]);
142
    aosThdSSleep(1);
143
  }
144
  if (status == APAL_STATUS_SUCCESS) {
145
    aosUtPassed(stream, &result);
146
  } else {
147
    aosUtFailedMsg(stream, &result, "0x%08X\n", status);
148
  }
149

    
150
  chprintf(stream, "test interrupts...\n");
151
  status = AOS_OK;
152
  chEvtRegister(((ut_mpr121data_t*)ut->data)->evtsource, &event_listener, INTERRUPT_EVENT_ID);
153
  aosSysGetUptime(&tstart);
154
  tend = tstart + (30 * MICROSECONDS_PER_SECOND);
155
  do {
156
    aosSysGetUptime(&tcurrent);
157
    const aos_timestamp_t ttimeout = MICROSECONDS_PER_SECOND - ((tcurrent - tstart) % MICROSECONDS_PER_SECOND);
158
    const eventmask_t emask = chEvtWaitOneTimeout(EVENT_MASK(INTERRUPT_EVENT_ID), chTimeUS2I(ttimeout));
159
    const eventflags_t eflags = chEvtGetAndClearFlags(&event_listener);
160
    if (emask == EVENT_MASK(INTERRUPT_EVENT_ID) && eflags == ((ut_mpr121data_t*)ut->data)->evtflags) {
161
      // interrupt detected
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);
163
      chprintf(stream, "\t\tinterrupt detected\n");
164
      chprintf(stream, "\t\ttstate: %X %X %X %X\n", tstate & 1, (tstate >> 1) & 1, (tstate >> 2) & 1, (tstate >> 3) & 1);
165
    }
166
    else if (emask == 0) {
167
      // timeout
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);
169
      chprintf(stream, "\t\ttstate: %X %X %X %X\n", tstate & 1, (tstate >> 1) & 1, (tstate >> 2) & 1, (tstate >> 3) & 1);
170
    }
171
    aosSysGetUptime(&tcurrent);
172
  } while (tcurrent < tend);
173
  chEvtUnregister(((ut_mpr121data_t*)ut->data)->evtsource, &event_listener);
174
  if (status == APAL_STATUS_SUCCESS) {
175
    aosUtPassed(stream, &result);
176
  } else {
177
    aosUtFailedMsg(stream, &result, "0x%08X\n", status);
178
  }
179

    
180
  aosUtInfoMsg(stream,"driver object memory footprint: %u bytes\n", sizeof(MPR121Driver));
181

    
182
  return result;
183
}
184

    
185
#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_MPR121) && (AMIROLLD_CFG_MPR121 == 1) */