amiro-os / unittests / periphery-lld / src / ut_alld_lis331dlh.c @ bf15b7d9
History | View | Annotate | Download (8.365 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 <ut_alld_lis331dlh.h> |
| 20 |
|
| 21 |
#if ((AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_USE_LIS331DLH)) || defined(__DOXYGEN__) |
| 22 |
|
| 23 |
#include <aos_debug.h> |
| 24 |
#include <chprintf.h> |
| 25 |
#include <aos_thread.h> |
| 26 |
#include <alld_lis331dlh.h> |
| 27 |
|
| 28 |
/**
|
| 29 |
* @brief LIS331DLH unit test function.
|
| 30 |
*
|
| 31 |
* @param[in] stream Stream for input/output.
|
| 32 |
* @param[in] ut Unit test object.
|
| 33 |
*
|
| 34 |
* @return Unit test result value.
|
| 35 |
*/
|
| 36 |
aos_utresult_t utAlldLis331dlhFunc(BaseSequentialStream* stream, aos_unittest_t* ut) |
| 37 |
{
|
| 38 |
aosDbgCheck(ut->data != NULL && ((ut_lis331dlhdata_t*)(ut->data)) != NULL); |
| 39 |
|
| 40 |
// local variables
|
| 41 |
aos_utresult_t result = {0, 0};
|
| 42 |
uint32_t status; |
| 43 |
uint8_t data = 0;
|
| 44 |
uint8_t write_data[5];
|
| 45 |
uint8_t read_data[5];
|
| 46 |
uint8_t errors = 0;
|
| 47 |
uint8_t reg1; |
| 48 |
int16_t sdata[3];
|
| 49 |
uint8_t status_reg; |
| 50 |
lis331dlh_lld_int_cfg_t intcfg; |
| 51 |
event_listener_t el; |
| 52 |
eventmask_t event_mask; |
| 53 |
uint8_t success = 0;
|
| 54 |
|
| 55 |
for (uint8_t dataIdx = 0; dataIdx < 4; dataIdx++) { |
| 56 |
write_data[dataIdx] = (dataIdx+1)*11; |
| 57 |
} |
| 58 |
write_data[4] = 0; |
| 59 |
|
| 60 |
chprintf(stream, "check identity...\n");
|
| 61 |
status = lis331dlh_lld_read_register(((ut_lis331dlhdata_t*)(ut->data))->lisd, LIS331DLH_LLD_REGISTER_WHO_AM_I, &data, 1);
|
| 62 |
if (status == APAL_STATUS_SUCCESS &&
|
| 63 |
data == LIS331DLH_LLD_WHO_AM_I) {
|
| 64 |
aosUtPassed(stream, &result); |
| 65 |
} else {
|
| 66 |
chprintf(stream, "\tfailed\n");
|
| 67 |
aosUtFailedMsg(stream, &result, "0x%08X, data: %d\n", status, data);
|
| 68 |
++result.failed; |
| 69 |
} |
| 70 |
|
| 71 |
chprintf(stream, "write register...\n");
|
| 72 |
status = lis331dlh_lld_write_register(((ut_lis331dlhdata_t*)(ut->data))->lisd, LIS331DLH_LLD_REGISTER_CTRL_REG1, write_data, 1);
|
| 73 |
if (status == APAL_STATUS_SUCCESS) {
|
| 74 |
aosUtPassed(stream, &result); |
| 75 |
} else {
|
| 76 |
aosUtFailed(stream, &result); |
| 77 |
} |
| 78 |
|
| 79 |
chprintf(stream, "read register...\n");
|
| 80 |
status = lis331dlh_lld_read_register(((ut_lis331dlhdata_t*)(ut->data))->lisd, LIS331DLH_LLD_REGISTER_CTRL_REG1, &data, 1);
|
| 81 |
if (status == APAL_STATUS_SUCCESS && data == write_data[0]) { |
| 82 |
aosUtPassed(stream, &result); |
| 83 |
} else {
|
| 84 |
chprintf(stream, "\tfailed\n");
|
| 85 |
aosUtFailedMsg(stream, &result, "0x%08X, data: %d\n", status, data);
|
| 86 |
++result.failed; |
| 87 |
} |
| 88 |
|
| 89 |
chprintf(stream, "write multiple registers...\n");
|
| 90 |
status = lis331dlh_lld_write_register(((ut_lis331dlhdata_t*)(ut->data))->lisd, LIS331DLH_LLD_REGISTER_CTRL_REG1, write_data, 5);
|
| 91 |
if (status == APAL_STATUS_SUCCESS) {
|
| 92 |
aosUtPassed(stream, &result); |
| 93 |
} else {
|
| 94 |
aosUtFailed(stream, &result); |
| 95 |
} |
| 96 |
|
| 97 |
chprintf(stream, "read multiple registers...\n");
|
| 98 |
status = lis331dlh_lld_read_register(((ut_lis331dlhdata_t*)(ut->data))->lisd, LIS331DLH_LLD_REGISTER_CTRL_REG1, read_data, 5);
|
| 99 |
for (uint8_t dataIdx = 0; dataIdx < 5; dataIdx++) { |
| 100 |
if (read_data[dataIdx] != write_data[dataIdx]) {
|
| 101 |
++errors; |
| 102 |
} |
| 103 |
} |
| 104 |
if (status == APAL_STATUS_SUCCESS &&
|
| 105 |
errors == 0) {
|
| 106 |
aosUtPassed(stream, &result); |
| 107 |
} else {
|
| 108 |
chprintf(stream, "\tfailed\n");
|
| 109 |
for (uint8_t dataIdx = 0; dataIdx < 5; dataIdx++) { |
| 110 |
chprintf(stream, "\t\tStatus: %d, CTRL_REG%d: %d, write_data: %d\n", status, dataIdx+1, read_data[dataIdx], write_data[dataIdx]); |
| 111 |
} |
| 112 |
aosUtFailedMsg(stream, &result, "0x%08X, errors: %d\n", status, errors);
|
| 113 |
} |
| 114 |
|
| 115 |
chprintf(stream, "read config...\n");
|
| 116 |
lis331dlh_lld_cfg_t cfg; |
| 117 |
status = lis331dlh_lld_read_config(((ut_lis331dlhdata_t*)(ut->data))->lisd, &cfg); |
| 118 |
if (status == APAL_STATUS_SUCCESS) {
|
| 119 |
aosUtPassed(stream, &result); |
| 120 |
} else {
|
| 121 |
aosUtFailed(stream, &result); |
| 122 |
} |
| 123 |
|
| 124 |
chprintf(stream, "write config...\n");
|
| 125 |
cfg.registers.ctrl_reg1 = LIS331DLH_LLD_PM_ODR | |
| 126 |
LIS331DLH_LLD_DR_1000HZ_780LP | |
| 127 |
LIS331DLH_LLD_X_AXIS_ENABLE | |
| 128 |
LIS331DLH_LLD_Y_AXIS_ENABLE | |
| 129 |
LIS331DLH_LLD_Z_AXIS_ENABLE; |
| 130 |
cfg.registers.ctrl_reg3 = 0x00;
|
| 131 |
status = lis331dlh_lld_write_config(((ut_lis331dlhdata_t*)(ut->data))->lisd, &cfg); |
| 132 |
reg1 = cfg.data[0];
|
| 133 |
lis331dlh_lld_read_config(((ut_lis331dlhdata_t*)(ut->data))->lisd, &cfg); |
| 134 |
if (status == APAL_STATUS_SUCCESS && cfg.data[0] == reg1) { |
| 135 |
aosUtPassed(stream, &result); |
| 136 |
} else {
|
| 137 |
aosUtFailed(stream, &result); |
| 138 |
} |
| 139 |
|
| 140 |
chprintf(stream, "read acceleration for five seconds...\n");
|
| 141 |
status = APAL_STATUS_SUCCESS; |
| 142 |
for (uint8_t i = 0; i < 5; ++i) { |
| 143 |
status |= lis331dlh_lld_read_all_data(((ut_lis331dlhdata_t*)(ut->data))->lisd, sdata, &cfg); |
| 144 |
chprintf(stream, "\t\tX = %6d\tY = %6d\tZ = %6d\n", sdata[0], sdata[1], sdata[2]); |
| 145 |
aosThdSSleep(1);
|
| 146 |
} |
| 147 |
if (status == APAL_STATUS_SUCCESS) {
|
| 148 |
aosUtPassed(stream, &result); |
| 149 |
} else {
|
| 150 |
aosUtFailed(stream, &result); |
| 151 |
} |
| 152 |
|
| 153 |
chprintf(stream, "read X acceleration for five seconds...\n");
|
| 154 |
status = APAL_STATUS_SUCCESS; |
| 155 |
for (uint8_t i = 0; i < 5; ++i) { |
| 156 |
status |= lis331dlh_lld_read_data(((ut_lis331dlhdata_t*)(ut->data))->lisd, &(sdata[0]), LIS331DLH_LLD_X_AXIS, &cfg);
|
| 157 |
chprintf(stream, "\t\tX = %6d\n", sdata[0]); |
| 158 |
aosThdSSleep(1);
|
| 159 |
} |
| 160 |
if (status == APAL_STATUS_SUCCESS) {
|
| 161 |
aosUtPassed(stream, &result); |
| 162 |
} else {
|
| 163 |
aosUtFailed(stream, &result); |
| 164 |
} |
| 165 |
|
| 166 |
chprintf(stream, "read Y acceleration for five seconds...\n");
|
| 167 |
status = APAL_STATUS_SUCCESS; |
| 168 |
for (uint8_t i = 0; i < 5; ++i) { |
| 169 |
status |= lis331dlh_lld_read_data(((ut_lis331dlhdata_t*)(ut->data))->lisd, &(sdata[0]), LIS331DLH_LLD_Y_AXIS, &cfg);
|
| 170 |
chprintf(stream, "\t\tY = %6d\n", sdata[0]); |
| 171 |
aosThdSSleep(1);
|
| 172 |
} |
| 173 |
if (status == APAL_STATUS_SUCCESS) {
|
| 174 |
aosUtPassed(stream, &result); |
| 175 |
} else {
|
| 176 |
aosUtFailed(stream, &result); |
| 177 |
} |
| 178 |
|
| 179 |
chprintf(stream, "read Z acceleration for five seconds...\n");
|
| 180 |
status = APAL_STATUS_SUCCESS; |
| 181 |
for (uint8_t i = 0; i < 5; ++i) { |
| 182 |
status |= lis331dlh_lld_read_data(((ut_lis331dlhdata_t*)(ut->data))->lisd, &(sdata[0]), LIS331DLH_LLD_Z_AXIS, &cfg);
|
| 183 |
chprintf(stream, "\t\tZ = %6d\n", sdata[0]); |
| 184 |
aosThdSSleep(1);
|
| 185 |
} |
| 186 |
if (status == APAL_STATUS_SUCCESS) {
|
| 187 |
aosUtPassed(stream, &result); |
| 188 |
} else {
|
| 189 |
aosUtFailed(stream, &result); |
| 190 |
} |
| 191 |
|
| 192 |
chprintf(stream, "read status register...\n");
|
| 193 |
status = lis331dlh_lld_read_status_register(((ut_lis331dlhdata_t*)(ut->data))->lisd, &status_reg); |
| 194 |
if (status == APAL_STATUS_SUCCESS) {
|
| 195 |
aosUtPassed(stream, &result); |
| 196 |
} else {
|
| 197 |
aosUtFailed(stream, &result); |
| 198 |
} |
| 199 |
|
| 200 |
chprintf(stream, "interrupt...\n");
|
| 201 |
intcfg.cfg_reg = LIS331DLH_LLD_INT_CFG_X_HIGH_ENABLE | LIS331DLH_LLD_INT_CFG_Y_HIGH_ENABLE | LIS331DLH_LLD_INT_CFG_Z_HIGH_ENABLE; |
| 202 |
intcfg.threshold = 10;
|
| 203 |
intcfg.duration = 1;
|
| 204 |
lis331dlh_lld_write_int_config(((ut_lis331dlhdata_t*)(ut->data))->lisd, &intcfg, LIS331DLH_LLD_INT1); |
| 205 |
aosThdSSleep(1);
|
| 206 |
chEvtRegister(((ut_lis331dlhdata_t*)(ut->data))->src, &el, 3);
|
| 207 |
chprintf(stream, "\t\tmove the AMiRo now to generate interrupts\n");
|
| 208 |
aosThdSSleep(1);
|
| 209 |
for (uint8_t i = 0; i < 10; i++) { |
| 210 |
event_mask = chEvtWaitOneTimeout(EVENT_MASK(3), TIME_IMMEDIATE);
|
| 211 |
status |= lis331dlh_lld_read_all_data(((ut_lis331dlhdata_t*)(ut->data))->lisd, sdata, &cfg); |
| 212 |
status = lis331dlh_lld_read_register(((ut_lis331dlhdata_t*)(ut->data))->lisd, LIS331DLH_LLD_REGISTER_INT1_SOURCE, &data, 1);
|
| 213 |
eventflags_t flags = chEvtGetAndClearFlags(&el); |
| 214 |
if (event_mask == EVENT_MASK(3) && (flags & ((ut_lis331dlhdata_t*)(ut->data))->evtflags)) { |
| 215 |
++success; |
| 216 |
chprintf(stream, "\t\tX = %6d INTERRUPT\n", sdata[0]); |
| 217 |
} else {
|
| 218 |
chprintf(stream, "\t\tX = %6d\n", sdata[0]); |
| 219 |
} |
| 220 |
aosThdSSleep(1);
|
| 221 |
} |
| 222 |
event_mask = chEvtWaitOneTimeout(EVENT_MASK(3), TIME_IMMEDIATE);
|
| 223 |
chEvtUnregister(((ut_lis331dlhdata_t*)(ut->data))->src, &el); |
| 224 |
if (status == APAL_STATUS_SUCCESS && success > 0) { |
| 225 |
aosUtPassed(stream, &result); |
| 226 |
} else {
|
| 227 |
aosUtFailed(stream, &result); |
| 228 |
} |
| 229 |
|
| 230 |
aosUtInfoMsg(stream, "driver object memory footprint: %u bytes\n", sizeof(LIS331DLHDriver)); |
| 231 |
|
| 232 |
return result;
|
| 233 |
} |
| 234 |
|
| 235 |
#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_USE_LIS331DLH) */ |
| 236 |
|