amiro-os / unittests / periphery-lld / src / ut_alld_LIS331DLH_v1.c @ ad02f035
History | View | Annotate | Download (9.779 KB)
| 1 | e545e620 | Thomas Schöpping | /*
|
|---|---|---|---|
| 2 | AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
|
||
| 3 | 84f0ce9e | Thomas Schöpping | Copyright (C) 2016..2019 Thomas Schöpping et al.
|
| 4 | e545e620 | Thomas Schöpping | |
| 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 | 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 | /******************************************************************************/
|
| 25 | /* LOCAL DEFINITIONS */
|
||
| 26 | /******************************************************************************/
|
||
| 27 | |||
| 28 | /******************************************************************************/
|
||
| 29 | /* EXPORTED VARIABLES */
|
||
| 30 | /******************************************************************************/
|
||
| 31 | |||
| 32 | /******************************************************************************/
|
||
| 33 | /* LOCAL TYPES */
|
||
| 34 | /******************************************************************************/
|
||
| 35 | |||
| 36 | /******************************************************************************/
|
||
| 37 | /* LOCAL VARIABLES */
|
||
| 38 | /******************************************************************************/
|
||
| 39 | |||
| 40 | /******************************************************************************/
|
||
| 41 | /* LOCAL FUNCTIONS */
|
||
| 42 | /******************************************************************************/
|
||
| 43 | |||
| 44 | /******************************************************************************/
|
||
| 45 | /* EXPORTED FUNCTIONS */
|
||
| 46 | /******************************************************************************/
|
||
| 47 | e545e620 | Thomas Schöpping | |
| 48 | /**
|
||
| 49 | * @brief LIS331DLH unit test function.
|
||
| 50 | *
|
||
| 51 | * @param[in] stream Stream for input/output.
|
||
| 52 | * @param[in] ut Unit test object.
|
||
| 53 | *
|
||
| 54 | * @return Unit test result value.
|
||
| 55 | */
|
||
| 56 | aos_utresult_t utAlldLis331dlhFunc(BaseSequentialStream* stream, aos_unittest_t* ut) |
||
| 57 | {
|
||
| 58 | aosDbgCheck(ut->data != NULL && ((ut_lis331dlhdata_t*)(ut->data)) != NULL); |
||
| 59 | |||
| 60 | // local variables
|
||
| 61 | aos_utresult_t result = {0, 0};
|
||
| 62 | uint32_t status; |
||
| 63 | uint8_t data = 0;
|
||
| 64 | uint8_t write_data[5];
|
||
| 65 | uint8_t read_data[5];
|
||
| 66 | uint8_t errors = 0;
|
||
| 67 | uint8_t reg1; |
||
| 68 | int16_t sdata[3];
|
||
| 69 | uint8_t status_reg; |
||
| 70 | lis331dlh_lld_int_cfg_t intcfg; |
||
| 71 | event_listener_t el; |
||
| 72 | eventmask_t event_mask; |
||
| 73 | uint8_t success = 0;
|
||
| 74 | |||
| 75 | for (uint8_t dataIdx = 0; dataIdx < 4; dataIdx++) { |
||
| 76 | write_data[dataIdx] = (dataIdx+1)*11; |
||
| 77 | } |
||
| 78 | write_data[4] = 0; |
||
| 79 | |||
| 80 | chprintf(stream, "check identity...\n");
|
||
| 81 | status = lis331dlh_lld_read_register(((ut_lis331dlhdata_t*)(ut->data))->lisd, LIS331DLH_LLD_REGISTER_WHO_AM_I, &data, 1);
|
||
| 82 | if (status == APAL_STATUS_SUCCESS &&
|
||
| 83 | data == LIS331DLH_LLD_WHO_AM_I) {
|
||
| 84 | aosUtPassed(stream, &result); |
||
| 85 | } else {
|
||
| 86 | chprintf(stream, "\tfailed\n");
|
||
| 87 | aosUtFailedMsg(stream, &result, "0x%08X, data: %d\n", status, data);
|
||
| 88 | ++result.failed; |
||
| 89 | } |
||
| 90 | |||
| 91 | chprintf(stream, "write register...\n");
|
||
| 92 | status = lis331dlh_lld_write_register(((ut_lis331dlhdata_t*)(ut->data))->lisd, LIS331DLH_LLD_REGISTER_CTRL_REG1, write_data, 1);
|
||
| 93 | if (status == APAL_STATUS_SUCCESS) {
|
||
| 94 | aosUtPassed(stream, &result); |
||
| 95 | } else {
|
||
| 96 | aosUtFailed(stream, &result); |
||
| 97 | } |
||
| 98 | |||
| 99 | chprintf(stream, "read register...\n");
|
||
| 100 | status = lis331dlh_lld_read_register(((ut_lis331dlhdata_t*)(ut->data))->lisd, LIS331DLH_LLD_REGISTER_CTRL_REG1, &data, 1);
|
||
| 101 | if (status == APAL_STATUS_SUCCESS && data == write_data[0]) { |
||
| 102 | aosUtPassed(stream, &result); |
||
| 103 | } else {
|
||
| 104 | chprintf(stream, "\tfailed\n");
|
||
| 105 | aosUtFailedMsg(stream, &result, "0x%08X, data: %d\n", status, data);
|
||
| 106 | ++result.failed; |
||
| 107 | } |
||
| 108 | |||
| 109 | chprintf(stream, "write multiple registers...\n");
|
||
| 110 | status = lis331dlh_lld_write_register(((ut_lis331dlhdata_t*)(ut->data))->lisd, LIS331DLH_LLD_REGISTER_CTRL_REG1, write_data, 5);
|
||
| 111 | if (status == APAL_STATUS_SUCCESS) {
|
||
| 112 | aosUtPassed(stream, &result); |
||
| 113 | } else {
|
||
| 114 | aosUtFailed(stream, &result); |
||
| 115 | } |
||
| 116 | |||
| 117 | chprintf(stream, "read multiple registers...\n");
|
||
| 118 | status = lis331dlh_lld_read_register(((ut_lis331dlhdata_t*)(ut->data))->lisd, LIS331DLH_LLD_REGISTER_CTRL_REG1, read_data, 5);
|
||
| 119 | for (uint8_t dataIdx = 0; dataIdx < 5; dataIdx++) { |
||
| 120 | if (read_data[dataIdx] != write_data[dataIdx]) {
|
||
| 121 | ++errors; |
||
| 122 | } |
||
| 123 | } |
||
| 124 | if (status == APAL_STATUS_SUCCESS &&
|
||
| 125 | errors == 0) {
|
||
| 126 | aosUtPassed(stream, &result); |
||
| 127 | } else {
|
||
| 128 | chprintf(stream, "\tfailed\n");
|
||
| 129 | for (uint8_t dataIdx = 0; dataIdx < 5; dataIdx++) { |
||
| 130 | chprintf(stream, "\t\tStatus: %d, CTRL_REG%d: %d, write_data: %d\n", status, dataIdx+1, read_data[dataIdx], write_data[dataIdx]); |
||
| 131 | } |
||
| 132 | aosUtFailedMsg(stream, &result, "0x%08X, errors: %d\n", status, errors);
|
||
| 133 | } |
||
| 134 | |||
| 135 | chprintf(stream, "read config...\n");
|
||
| 136 | lis331dlh_lld_cfg_t cfg; |
||
| 137 | status = lis331dlh_lld_read_config(((ut_lis331dlhdata_t*)(ut->data))->lisd, &cfg); |
||
| 138 | if (status == APAL_STATUS_SUCCESS) {
|
||
| 139 | aosUtPassed(stream, &result); |
||
| 140 | } else {
|
||
| 141 | aosUtFailed(stream, &result); |
||
| 142 | } |
||
| 143 | |||
| 144 | chprintf(stream, "write config...\n");
|
||
| 145 | cfg.registers.ctrl_reg1 = LIS331DLH_LLD_PM_ODR | |
||
| 146 | LIS331DLH_LLD_DR_1000HZ_780LP | |
||
| 147 | LIS331DLH_LLD_X_AXIS_ENABLE | |
||
| 148 | LIS331DLH_LLD_Y_AXIS_ENABLE | |
||
| 149 | LIS331DLH_LLD_Z_AXIS_ENABLE; |
||
| 150 | cfg.registers.ctrl_reg3 = 0x00;
|
||
| 151 | status = lis331dlh_lld_write_config(((ut_lis331dlhdata_t*)(ut->data))->lisd, &cfg); |
||
| 152 | reg1 = cfg.data[0];
|
||
| 153 | lis331dlh_lld_read_config(((ut_lis331dlhdata_t*)(ut->data))->lisd, &cfg); |
||
| 154 | if (status == APAL_STATUS_SUCCESS && cfg.data[0] == reg1) { |
||
| 155 | aosUtPassed(stream, &result); |
||
| 156 | } else {
|
||
| 157 | aosUtFailed(stream, &result); |
||
| 158 | } |
||
| 159 | |||
| 160 | chprintf(stream, "read acceleration for five seconds...\n");
|
||
| 161 | status = APAL_STATUS_SUCCESS; |
||
| 162 | for (uint8_t i = 0; i < 5; ++i) { |
||
| 163 | status |= lis331dlh_lld_read_all_data(((ut_lis331dlhdata_t*)(ut->data))->lisd, sdata, &cfg); |
||
| 164 | chprintf(stream, "\t\tX = %6d\tY = %6d\tZ = %6d\n", sdata[0], sdata[1], sdata[2]); |
||
| 165 | aosThdSSleep(1);
|
||
| 166 | } |
||
| 167 | if (status == APAL_STATUS_SUCCESS) {
|
||
| 168 | aosUtPassed(stream, &result); |
||
| 169 | } else {
|
||
| 170 | aosUtFailed(stream, &result); |
||
| 171 | } |
||
| 172 | |||
| 173 | chprintf(stream, "read X acceleration for five seconds...\n");
|
||
| 174 | status = APAL_STATUS_SUCCESS; |
||
| 175 | for (uint8_t i = 0; i < 5; ++i) { |
||
| 176 | status |= lis331dlh_lld_read_data(((ut_lis331dlhdata_t*)(ut->data))->lisd, &(sdata[0]), LIS331DLH_LLD_X_AXIS, &cfg);
|
||
| 177 | chprintf(stream, "\t\tX = %6d\n", sdata[0]); |
||
| 178 | aosThdSSleep(1);
|
||
| 179 | } |
||
| 180 | if (status == APAL_STATUS_SUCCESS) {
|
||
| 181 | aosUtPassed(stream, &result); |
||
| 182 | } else {
|
||
| 183 | aosUtFailed(stream, &result); |
||
| 184 | } |
||
| 185 | |||
| 186 | chprintf(stream, "read Y acceleration for five seconds...\n");
|
||
| 187 | status = APAL_STATUS_SUCCESS; |
||
| 188 | for (uint8_t i = 0; i < 5; ++i) { |
||
| 189 | status |= lis331dlh_lld_read_data(((ut_lis331dlhdata_t*)(ut->data))->lisd, &(sdata[0]), LIS331DLH_LLD_Y_AXIS, &cfg);
|
||
| 190 | chprintf(stream, "\t\tY = %6d\n", sdata[0]); |
||
| 191 | aosThdSSleep(1);
|
||
| 192 | } |
||
| 193 | if (status == APAL_STATUS_SUCCESS) {
|
||
| 194 | aosUtPassed(stream, &result); |
||
| 195 | } else {
|
||
| 196 | aosUtFailed(stream, &result); |
||
| 197 | } |
||
| 198 | |||
| 199 | chprintf(stream, "read Z acceleration for five seconds...\n");
|
||
| 200 | status = APAL_STATUS_SUCCESS; |
||
| 201 | for (uint8_t i = 0; i < 5; ++i) { |
||
| 202 | status |= lis331dlh_lld_read_data(((ut_lis331dlhdata_t*)(ut->data))->lisd, &(sdata[0]), LIS331DLH_LLD_Z_AXIS, &cfg);
|
||
| 203 | chprintf(stream, "\t\tZ = %6d\n", sdata[0]); |
||
| 204 | aosThdSSleep(1);
|
||
| 205 | } |
||
| 206 | if (status == APAL_STATUS_SUCCESS) {
|
||
| 207 | aosUtPassed(stream, &result); |
||
| 208 | } else {
|
||
| 209 | aosUtFailed(stream, &result); |
||
| 210 | } |
||
| 211 | |||
| 212 | chprintf(stream, "read status register...\n");
|
||
| 213 | status = lis331dlh_lld_read_status_register(((ut_lis331dlhdata_t*)(ut->data))->lisd, &status_reg); |
||
| 214 | if (status == APAL_STATUS_SUCCESS) {
|
||
| 215 | aosUtPassed(stream, &result); |
||
| 216 | } else {
|
||
| 217 | aosUtFailed(stream, &result); |
||
| 218 | } |
||
| 219 | |||
| 220 | chprintf(stream, "interrupt...\n");
|
||
| 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; |
||
| 222 | intcfg.threshold = 10;
|
||
| 223 | intcfg.duration = 1;
|
||
| 224 | lis331dlh_lld_write_int_config(((ut_lis331dlhdata_t*)(ut->data))->lisd, &intcfg, LIS331DLH_LLD_INT1); |
||
| 225 | aosThdSSleep(1);
|
||
| 226 | chEvtRegister(((ut_lis331dlhdata_t*)(ut->data))->src, &el, 3);
|
||
| 227 | chprintf(stream, "\t\tmove the AMiRo now to generate interrupts\n");
|
||
| 228 | aosThdSSleep(1);
|
||
| 229 | for (uint8_t i = 0; i < 10; i++) { |
||
| 230 | event_mask = chEvtWaitOneTimeout(EVENT_MASK(3), TIME_IMMEDIATE);
|
||
| 231 | status |= lis331dlh_lld_read_all_data(((ut_lis331dlhdata_t*)(ut->data))->lisd, sdata, &cfg); |
||
| 232 | status = lis331dlh_lld_read_register(((ut_lis331dlhdata_t*)(ut->data))->lisd, LIS331DLH_LLD_REGISTER_INT1_SOURCE, &data, 1);
|
||
| 233 | eventflags_t flags = chEvtGetAndClearFlags(&el); |
||
| 234 | if (event_mask == EVENT_MASK(3) && (flags & ((ut_lis331dlhdata_t*)(ut->data))->evtflags)) { |
||
| 235 | ++success; |
||
| 236 | chprintf(stream, "\t\tX = %6d INTERRUPT\n", sdata[0]); |
||
| 237 | } else {
|
||
| 238 | chprintf(stream, "\t\tX = %6d\n", sdata[0]); |
||
| 239 | } |
||
| 240 | aosThdSSleep(1);
|
||
| 241 | } |
||
| 242 | 1e5f7648 | Thomas Schöpping | event_mask = chEvtWaitOneTimeout(EVENT_MASK(3), TIME_IMMEDIATE);
|
| 243 | e545e620 | Thomas Schöpping | chEvtUnregister(((ut_lis331dlhdata_t*)(ut->data))->src, &el); |
| 244 | if (status == APAL_STATUS_SUCCESS && success > 0) { |
||
| 245 | aosUtPassed(stream, &result); |
||
| 246 | } else {
|
||
| 247 | aosUtFailed(stream, &result); |
||
| 248 | } |
||
| 249 | |||
| 250 | aosUtInfoMsg(stream, "driver object memory footprint: %u bytes\n", sizeof(LIS331DLHDriver)); |
||
| 251 | |||
| 252 | return result;
|
||
| 253 | } |
||
| 254 | |||
| 255 | ddf34c3d | Thomas Schöpping | #endif /* (AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_LIS331DLH) && (AMIROLLD_CFG_LIS331DLH == 1) */ |