AMiRo-OS

/*

AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.

Copyright (C) 2016..2018  Thomas Schöpping et al.

This program is free software: you can redistribute it and/or modify

it under the terms of the GNU General Public License as published by

the Free Software Foundation, either version 3 of the License, or

(at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

GNU General Public License for more details.

You should have received a copy of the GNU General Public License

along with this program.  If not, see <http://www.gnu.org/licenses/>.

*/

#include <ut_alld_vcnl4020.h>

#if ((AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_USE_VCNL4020)) || defined(__DOXYGEN__)

#include <aos_debug.h>

#include <chprintf.h>

#include <aos_thread.h>

#include <alld_vcnl4020.h>

#include <amiroos.h>

#define INTERRUPT_EVENT_ID            1

#define INTERRUPT_THRESHOLD           0x2000

aos_utresult_t utAlldVcnl4020Func(BaseSequentialStream* stream, aos_unittest_t* ut)

{

  aosDbgCheck((ut->data != NULL) &&

              (((ut_vcnl4020data_t*)(ut->data))->vcnld != NULL) &&

              (((ut_vcnl4020data_t*)(ut->data))->evtsource != NULL));

  // local variables

  aos_utresult_t result = {0, 0};

  uint32_t status;

  uint8_t reg_buf[4];

  uint8_t* reg_8 = (uint8_t*)(reg_buf);

  uint16_t* reg_16 = (uint16_t*)(reg_buf);

  event_listener_t event_listener;

  aos_timestamp_t tcurrent, tend;

  chprintf(stream, "reading register...\n");

  status = vcnl4020_lld_readreg(((ut_vcnl4020data_t*)(ut->data))->vcnld, VCNL4020_LLD_REGADDR_IDREV, &reg_8[0], ((ut_vcnl4020data_t*)(ut->data))->timeout);

  if ((status == APAL_STATUS_OK || status == APAL_STATUS_WARNING) && reg_8[0] == 0x21u) {

    aosUtPassed(stream, &result);

  } else {

    aosUtFailedMsg(stream, &result, "0x%08X; 0x%08X\n", status, reg_8[0]);

  }

  chprintf(stream, "writing register...\n");

  status = vcnl4020_lld_writereg(((ut_vcnl4020data_t*)(ut->data))->vcnld, VCNL4020_LLD_REGADDR_PROXRATE, VCNL4020_LLD_PROXRATEREG_250_HZ, ((ut_vcnl4020data_t*)(ut->data))->timeout);

  status |= vcnl4020_lld_readreg(((ut_vcnl4020data_t*)(ut->data))->vcnld, VCNL4020_LLD_REGADDR_PROXRATE, &reg_8[0], ((ut_vcnl4020data_t*)(ut->data))->timeout);

  status |= (reg_8[0] == VCNL4020_LLD_PROXRATEREG_250_HZ) ? 0x0000 : 0x0100;

  status |= vcnl4020_lld_writereg(((ut_vcnl4020data_t*)(ut->data))->vcnld, VCNL4020_LLD_REGADDR_CMD, (VCNL4020_LLD_CMDREG_ALSEN | VCNL4020_LLD_CMDREG_PROXEN | VCNL4020_LLD_CMDREG_SELFTIMED), ((ut_vcnl4020data_t*)(ut->data))->timeout);

  status |= vcnl4020_lld_readreg(((ut_vcnl4020data_t*)(ut->data))->vcnld, VCNL4020_LLD_REGADDR_CMD, &reg_8[0], ((ut_vcnl4020data_t*)(ut->data))->timeout);

  status |= (reg_8[0] & (VCNL4020_LLD_CMDREG_ALSEN | VCNL4020_LLD_CMDREG_PROXEN | VCNL4020_LLD_CMDREG_SELFTIMED)) ? 0x0000 : 0x0200;

  if (status == APAL_STATUS_OK || status == APAL_STATUS_WARNING) {

    aosUtPassed(stream, &result);

  } else {

    aosUtFailedMsg(stream, &result, "0x%08X, 0x%02X\n", status, reg_8[0]);

  }

  chprintf(stream, "reading ambient light for ten seconds...\n");

  status = APAL_STATUS_OK;

  for (uint8_t i = 0; i < 10; ++i) {

    aosThdSSleep(1);

    status |= vcnl4020_lld_readals(((ut_vcnl4020data_t*)(ut->data))->vcnld, &reg_16[0], ((ut_vcnl4020data_t*)(ut->data))->timeout);

    chprintf(stream, "\t\tambient light: 0x%04X\n", reg_16[0]);

  }

  status |= (reg_16[0] == 0x0000) ? 0x10 : 0x00;

  if (status == APAL_STATUS_OK) {

    aosUtPassed(stream, &result);

  } else {

    aosUtFailedMsg(stream, &result, "0x%08X\n", status);

  }

  chprintf(stream, "reading proximity for ten seconds...\n");

  status = APAL_STATUS_OK;

  for (uint8_t i = 0; i < 10; ++i) {

    aosThdSSleep(1);

    status |= vcnl4020_lld_readprox(((ut_vcnl4020data_t*)(ut->data))->vcnld, &reg_16[1], ((ut_vcnl4020data_t*)(ut->data))->timeout);

    chprintf(stream, "\t\tproximity: 0x%04X\n", reg_16[1]);

  }

  status |= (reg_16[1] == 0x0000) ? 0x10 : 0x00;

  if (status == APAL_STATUS_OK) {

    aosUtPassed(stream, &result);

  } else {

    aosUtFailedMsg(stream, &result, "0x%08X\n", status);

  }

  chprintf(stream, "reading ambient light and proximity for ten seconds...\n");

  status = APAL_STATUS_OK;

  for (uint8_t i = 0; i < 10; ++i) {

    aosThdSSleep(1);

    status |= vcnl4020_lld_readalsandprox(((ut_vcnl4020data_t*)(ut->data))->vcnld, &reg_16[0], &reg_16[1], ((ut_vcnl4020data_t*)(ut->data))->timeout);

    chprintf(stream, "\t\tambient light: 0x%04X\tproximity: 0x%04X\n", reg_16[0], reg_16[1]);

  }

  status |= (reg_16[0] == 0x0000 || reg_16[1] == 0x0000) ? 0x10 : 0x00;

  if (status == APAL_STATUS_OK) {

    aosUtPassed(stream, &result);

  } else {

    aosUtFailedMsg(stream, &result, "0x%08X\n", status);

  }

  chprintf(stream, "reading low threshold register...\n");

  status = vcnl4020_lld_readlth(((ut_vcnl4020data_t*)(ut->data))->vcnld, &reg_16[0], ((ut_vcnl4020data_t*)(ut->data))->timeout);

  if (status == APAL_STATUS_OK) {

    aosUtPassed(stream, &result);

  } else {

    aosUtFailedMsg(stream, &result, "0x%08X\n", status);

  }

  chprintf(stream, "reading high threshold register...\n");

  status = vcnl4020_lld_readhth(((ut_vcnl4020data_t*)(ut->data))->vcnld, &reg_16[1], ((ut_vcnl4020data_t*)(ut->data))->timeout);

  if (status == APAL_STATUS_OK) {

    aosUtPassedMsg(stream, &result, "0x%04X\n", reg_16[1]);

  } else {

    aosUtFailedMsg(stream, &result, "0x%08X\n", status);

  }

  chprintf(stream, "reading both threshold registers...\n");

  status = vcnl4020_lld_readth(((ut_vcnl4020data_t*)(ut->data))->vcnld, &reg_16[0], &reg_16[1], ((ut_vcnl4020data_t*)(ut->data))->timeout);

  if (status == APAL_STATUS_OK) {

    aosUtPassedMsg(stream, &result, "low: 0x%04X; high: 0x%04X\n", reg_16[0], reg_16[1]);

  } else {

    aosUtFailedMsg(stream, &result, "0x%08X\n", status);

  }

  chprintf(stream, "writing low threshold register...\n");

  status = vcnl4020_lld_writelth(((ut_vcnl4020data_t*)(ut->data))->vcnld, 0xFFFFu, ((ut_vcnl4020data_t*)(ut->data))->timeout);

  status |= vcnl4020_lld_readlth(((ut_vcnl4020data_t*)(ut->data))->vcnld, &reg_16[0], ((ut_vcnl4020data_t*)(ut->data))->timeout);

  if (status == APAL_STATUS_OK && reg_16[0] == 0xFFFFu) {

    aosUtPassed(stream, &result);

  } else {

    aosUtFailedMsg(stream, &result, "0x%08X, 0x%04X\n", status, reg_16[0]);

  }

  chprintf(stream, "writing high threshold register...\n");

  status = vcnl4020_lld_writehth(((ut_vcnl4020data_t*)(ut->data))->vcnld, 0xFFFFu, ((ut_vcnl4020data_t*)(ut->data))->timeout);

  status |= vcnl4020_lld_readhth(((ut_vcnl4020data_t*)(ut->data))->vcnld, &reg_16[1], ((ut_vcnl4020data_t*)(ut->data))->timeout);

  if (status == APAL_STATUS_OK && reg_16[1] == 0xFFFFu) {

    aosUtPassed(stream, &result);

  } else {

    aosUtFailedMsg(stream, &result, "0x%08X, 0x%04X\n", status, reg_16[1]);

  }

  chprintf(stream, "writing both threshold registers...\n");

  status = vcnl4020_lld_writeth(((ut_vcnl4020data_t*)(ut->data))->vcnld, 0x5555u, 0xAAAAu, ((ut_vcnl4020data_t*)(ut->data))->timeout);

  status |= vcnl4020_lld_readth(((ut_vcnl4020data_t*)(ut->data))->vcnld, &reg_16[0], &reg_16[1], ((ut_vcnl4020data_t*)(ut->data))->timeout);

  if (status == APAL_STATUS_OK && reg_16[0] == 0x5555u && reg_16[1] == 0xAAAAu) {

    aosUtPassed(stream, &result);

  } else {

    aosUtFailedMsg(stream, &result, "0x%08X, 0x%04X, 0x%04X\n", status, reg_16[0], reg_16[1]);

  }

  chprintf(stream, "test interrupts...\n");

  chprintf(stream, "(thresholds are 0x%04X and 0x%04X)\n", 0, INTERRUPT_THRESHOLD);

  chEvtRegister(((ut_vcnl4020data_t*)(ut->data))->evtsource, &event_listener, INTERRUPT_EVENT_ID);

  aosSysGetUptime(&tend);

  tend += 30 * MICROSECONDS_PER_SECOND;

  status = vcnl4020_lld_writeth(((ut_vcnl4020data_t*)(ut->data))->vcnld, 0x0000, INTERRUPT_THRESHOLD, ((ut_vcnl4020data_t*)(ut->data))->timeout);

  status |= vcnl4020_lld_writereg(((ut_vcnl4020data_t*)(ut->data))->vcnld, VCNL4020_LLD_REGADDR_INTCTRL, VCNL4020_LLD_INTCTRLREG_THRES_EN, ((ut_vcnl4020data_t*)(ut->data))->timeout);

  do {

    // read proximity data, interrupt event information and interrupt status

    const eventmask_t emask = chEvtWaitOneTimeout(EVENT_MASK(INTERRUPT_EVENT_ID), LL_US2ST(10*MICROSECONDS_PER_MILLISECOND));

    const eventflags_t eflags = chEvtGetAndClearFlags(&event_listener);

    status |= vcnl4020_lld_readprox(((ut_vcnl4020data_t*)(ut->data))->vcnld, &reg_16[0], ((ut_vcnl4020data_t*)(ut->data))->timeout);

    status |= vcnl4020_lld_readreg(((ut_vcnl4020data_t*)(ut->data))->vcnld, VCNL4020_LLD_REGADDR_INTSTATUS, &reg_8[2], ((ut_vcnl4020data_t*)(ut->data))->timeout);

    if (emask == EVENT_MASK(INTERRUPT_EVENT_ID) &&

        eflags == ((ut_vcnl4020data_t*)(ut->data))->evtflags &&

        reg_8[2] == VCNL4020_LLD_INTSTATUSREG_THHIGH) {

      // true positive (correct case)

      chprintf(stream, "\t\tinterrupt detected: prox = 0x%04X\n", reg_16[0]);

      aosThdMSleep(100);

    }

    else if (emask != EVENT_MASK(INTERRUPT_EVENT_ID) &&

             eflags != ((ut_vcnl4020data_t*)(ut->data))->evtflags &&

             reg_8[2] != VCNL4020_LLD_INTSTATUSREG_THHIGH) {

      // true negative (correct case)

      // do nothing, just keep on looping

    }

    else if (emask == EVENT_MASK(INTERRUPT_EVENT_ID) &&

             eflags == ((ut_vcnl4020data_t*)(ut->data))->evtflags &&

             reg_8[2] != 0 ) {

      // false positive

      status |= 0x1000;

      chprintf(stream, "\t\tfalse positive: intstatus = 0x%02X; prox = 0x%04X\n", reg_8[2], reg_16[0]);

    }

    else if (emask != EVENT_MASK(INTERRUPT_EVENT_ID) &&

             eflags != ((ut_vcnl4020data_t*)(ut->data))->evtflags &&

             reg_8[2] == 0) {

      // false negative

      status |= 0x2000;

      chprintf(stream, "\t\tfalse negative: intstatus = 0x%02X; prox = 0x%04X\n", reg_8[2], reg_16[0]);

    } // any other events are just ignored

    // reset interrupt status

    if (reg_8[2] != 0) {

      status |= vcnl4020_lld_writereg(((ut_vcnl4020data_t*)(ut->data))->vcnld, VCNL4020_LLD_REGADDR_INTSTATUS, reg_8[2], ((ut_vcnl4020data_t*)(ut->data))->timeout);

    }

    aosSysGetUptime(&tcurrent);

  } while (tcurrent < tend);

  chEvtUnregister(((ut_vcnl4020data_t*)(ut->data))->evtsource, &event_listener);

  status |= vcnl4020_lld_writereg(((ut_vcnl4020data_t*)(ut->data))->vcnld, VCNL4020_LLD_REGADDR_INTCTRL, 0, ((ut_vcnl4020data_t*)(ut->data))->timeout);

  status |= vcnl4020_lld_readreg(((ut_vcnl4020data_t*)(ut->data))->vcnld, VCNL4020_LLD_REGADDR_INTSTATUS, &reg_8[2], ((ut_vcnl4020data_t*)(ut->data))->timeout);

  status |= vcnl4020_lld_writereg(((ut_vcnl4020data_t*)(ut->data))->vcnld, VCNL4020_LLD_REGADDR_INTSTATUS, reg_8[2], ((ut_vcnl4020data_t*)(ut->data))->timeout);

  if (status == APAL_STATUS_SUCCESS || status == APAL_STATUS_WARNING) {

    aosUtPassed(stream, &result);

  } else {

    aosUtFailedMsg(stream, &result, "0x%08X\n", status);

  }

  aosUtInfoMsg(stream, "driver object memory footprint: %u bytes\n", sizeof(VCNL4020Driver));

  return result;

}

#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_USE_VCNL4020) */