amiro-os / unittests / periphery-lld / src / ut_alld_VL53L0X_v1.c @ bf8ca9aa
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| 1 | a845d9eb | Andre Raming | /*
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| 2 | AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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| 3 | Copyright (C) 2016..2019 Thomas Schöpping et al.
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| 4 | |||
| 5 | This program is free software: you can redistribute it and/or modify
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| 6 | it under the terms of the GNU General Public License as published by
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| 7 | the Free Software Foundation, either version 3 of the License, or
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| 8 | (at your option) any later version.
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| 9 | |||
| 10 | This program is distributed in the hope that it will be useful,
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| 11 | but WITHOUT ANY WARRANTY; without even the implied warranty of
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| 12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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| 13 | GNU General Public License for more details.
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| 14 | |||
| 15 | You should have received a copy of the GNU General Public License
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| 16 | along with this program. If not, see <http://www.gnu.org/licenses/>.
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| 17 | */
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| 18 | |||
| 19 | #include <amiroos.h> |
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| 20 | #include <ut_alld_VL53L0X_v1.h> |
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| 21 | |||
| 22 | #if ((AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_VL53L0X) && (AMIROLLD_CFG_VL53L0X == 1)) || defined(__DOXYGEN__) |
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| 23 | |||
| 24 | /******************************************************************************/
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| 25 | /* LOCAL DEFINITIONS */
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| 26 | /******************************************************************************/
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| 27 | |||
| 28 | #define INTERRUPT_EVENT_ID 1 |
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| 29 | |||
| 30 | /******************************************************************************/
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| 31 | /* EXPORTED VARIABLES */
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| 32 | /******************************************************************************/
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| 33 | |||
| 34 | /******************************************************************************/
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| 35 | /* LOCAL TYPES */
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| 36 | /******************************************************************************/
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| 37 | |||
| 38 | /******************************************************************************/
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| 39 | /* LOCAL VARIABLES */
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| 40 | /******************************************************************************/
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| 41 | |||
| 42 | /******************************************************************************/
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| 43 | /* LOCAL FUNCTIONS */
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| 44 | /******************************************************************************/
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| 45 | |||
| 46 | /******************************************************************************/
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| 47 | /* EXPORTED FUNCTIONS */
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| 48 | /******************************************************************************/
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| 49 | |||
| 50 | /**
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| 51 | * @brief utAlldVL53L0XFunc
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| 52 | * @param stream
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| 53 | * @param ut
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| 54 | * @return
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| 55 | *
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| 56 | *
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| 57 | * debug:
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| 58 | * chprintf(stream, "timeout %lu\n", MyDevice.timeout); or chprintf((BaseSequentialStream*)&SD1, "%s: %d\n", __FILE__, __LINE__);
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| 59 | * aosThdMSleep(100);
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| 60 | *
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| 61 | *
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| 62 | */
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| 63 | aos_utresult_t utAlldVL53L0XFunc(BaseSequentialStream* stream, aos_unittest_t* ut) |
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| 64 | {
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| 65 | |||
| 66 | // Check if the different things are here from the module.c
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| 67 | aosDbgCheck((ut->data != NULL) &&
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| 68 | (((ut_vl53l0xdata_t*)(ut->data))->vl53d != NULL) && (((ut_vl53l0xdata_t*)(ut->data))->vl53d)->vl53l0x_dev.i2cd != NULL); |
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| 69 | |||
| 70 | // local variables
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| 71 | aos_utresult_t result = {0, 0};
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| 72 | uint32_t status = APAL_STATUS_OK; |
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| 73 | uint8_t reg_buf[4] = {0,0,0,0}; |
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| 74 | uint8_t* reg_8 = (uint8_t*)(reg_buf); |
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| 75 | uint16_t* reg_16 = (uint16_t*)(reg_buf); |
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| 76 | event_listener_t event_listener; |
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| 77 | aos_timestamp_t tcurrent, tend; |
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| 78 | |||
| 79 | VL53L0X_DeviceModes deviceMode; |
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| 80 | VL53L0X_GpioFunctionality pFunctionality; |
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| 81 | VL53L0X_InterruptPolarity pPolarity; |
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| 82 | uint8_t pMeasurementDataReady=0;
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| 83 | VL53L0X_RangingMeasurementData_t RangingMeasurementData; |
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| 84 | VL53L0X_RangingMeasurementData_t *pRangingMeasurementData = &RangingMeasurementData; |
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| 85 | |||
| 86 | uint32_t ThresholdLow; |
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| 87 | uint32_t ThresholdHigh; |
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| 88 | |||
| 89 | uint8_t buffer[24];
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| 90 | memset(buffer, 0xAA, sizeof(buffer)); |
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| 91 | |||
| 92 | |||
| 93 | chprintf(stream, "validate I2C bus...\n");
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| 94 | |||
| 95 | |||
| 96 | // check I2C communication after fresh reset, without API loaded (before VL53L0X_DataInit() is called)
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| 97 | |||
| 98 | //validate I2C bus on 0xC0 0xEE
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| 99 | status = VL53L0X_read_multi((((ut_vl53l0xdata_t*)(ut->data))->vl53d)->vl53l0x_dev.i2cd, (apalI2Caddr_t)(((ut_vl53l0xdata_t*)(ut->data))->vl53d)->vl53l0x_dev.I2cDevAddr , 0xc0, ®_8[0], 1, (((ut_vl53l0xdata_t*)(ut->data))->vl53d)->vl53l0x_dev.timeout ); |
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| 100 | if ((status == APAL_STATUS_OK || status == APAL_STATUS_WARNING) && reg_8[0]==0xEE) { |
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| 101 | |||
| 102 | bf8ca9aa | Andre Raming | //validate I2C bus on 0xC1 0xAA
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| 103 | status = VL53L0X_read_multi((((ut_vl53l0xdata_t*)(ut->data))->vl53d)->vl53l0x_dev.i2cd, (apalI2Caddr_t)(((ut_vl53l0xdata_t*)(ut->data))->vl53d)->vl53l0x_dev.I2cDevAddr , 0xc1, ®_8[0], 1, (((ut_vl53l0xdata_t*)(ut->data))->vl53d)->vl53l0x_dev.timeout ); |
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| 104 | if ((status == APAL_STATUS_OK || status == APAL_STATUS_WARNING) && reg_8[0]==0xAA) { |
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| 105 | |||
| 106 | //validate I2C bus on 0xC2 0x10
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| 107 | status = VL53L0X_read_multi((((ut_vl53l0xdata_t*)(ut->data))->vl53d)->vl53l0x_dev.i2cd, (apalI2Caddr_t)(((ut_vl53l0xdata_t*)(ut->data))->vl53d)->vl53l0x_dev.I2cDevAddr , 0xc2, ®_8[0], 1, (((ut_vl53l0xdata_t*)(ut->data))->vl53d)->vl53l0x_dev.timeout ); |
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| 108 | if ((status == APAL_STATUS_OK || status == APAL_STATUS_WARNING) && reg_8[0]==0x10) { |
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| 109 | |||
| 110 | //validate I2C bus on 0x51 0x0099
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| 111 | status = VL53L0X_read_multi((((ut_vl53l0xdata_t*)(ut->data))->vl53d)->vl53l0x_dev.i2cd, (apalI2Caddr_t)(((ut_vl53l0xdata_t*)(ut->data))->vl53d)->vl53l0x_dev.I2cDevAddr , 0x51, ®_8[0], 2, (((ut_vl53l0xdata_t*)(ut->data))->vl53d)->vl53l0x_dev.timeout ); |
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| 112 | if ((status == APAL_STATUS_OK || status == APAL_STATUS_WARNING) && reg_8[0]==0x00 && reg_8[1]==0x99) { |
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| 113 | //validate I2C bus on 0x61 0x0000
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| 114 | status = VL53L0X_read_multi((((ut_vl53l0xdata_t*)(ut->data))->vl53d)->vl53l0x_dev.i2cd, (apalI2Caddr_t)(((ut_vl53l0xdata_t*)(ut->data))->vl53d)->vl53l0x_dev.I2cDevAddr , 0x61, ®_8[0], 2, (((ut_vl53l0xdata_t*)(ut->data))->vl53d)->vl53l0x_dev.timeout ); |
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| 115 | if ((status == APAL_STATUS_OK || status == APAL_STATUS_WARNING) && reg_8[0]==0x00 && reg_8[1]==0x00) { |
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| 116 | aosUtPassed(stream, &result); |
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| 117 | } else {
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| 118 | aosUtFailedMsg(stream, &result, "0x%08X; 0x%08X\n", status, reg_8[0]); |
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| 119 | } |
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| 120 | } else {
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| 121 | aosUtFailedMsg(stream, &result, "0x%08X; 0x%08X\n", status, reg_8[0]); |
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| 122 | } |
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| 123 | |||
| 124 | } else {
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| 125 | aosUtFailedMsg(stream, &result, "0x%08X; 0x%08X\n", status, reg_8[0]); |
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| 126 | } |
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| 127 | |||
| 128 | } else {
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| 129 | aosUtFailedMsg(stream, &result, "0x%08X; 0x%08X\n", status, reg_8[0]); |
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| 130 | } |
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| 131 | a845d9eb | Andre Raming | |
| 132 | } else {
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| 133 | aosUtFailedMsg(stream, &result, "0x%08X; 0x%08X\n", status, reg_8[0]); |
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| 134 | } |
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| 135 | |||
| 136 | |||
| 137 | |||
| 138 | bf8ca9aa | Andre Raming | |
| 139 | |||
| 140 | |||
| 141 | |||
| 142 | |||
| 143 | |||
| 144 | a845d9eb | Andre Raming | |
| 145 | |||
| 146 | |||
| 147 | |||
| 148 | |||
| 149 | chprintf(stream, "reading register...\n");
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| 150 | |||
| 151 | //read register 0x88 register has status 0x24
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| 152 | status = VL53L0X_read_multi((((ut_vl53l0xdata_t*)(ut->data))->vl53d)->vl53l0x_dev.i2cd, (apalI2Caddr_t)(((ut_vl53l0xdata_t*)(ut->data))->vl53d)->vl53l0x_dev.I2cDevAddr , 0x88, ®_8[0], 1, (((ut_vl53l0xdata_t*)(ut->data))->vl53d)->vl53l0x_dev.timeout ); |
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| 153 | if ((status == APAL_STATUS_OK || status == APAL_STATUS_WARNING) && reg_8[0]==0x24) { |
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| 154 | aosUtPassed(stream, &result); |
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| 155 | } else {
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| 156 | aosUtFailedMsg(stream, &result, "0x%08X; 0x%08X\n", status, reg_8[0]); |
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| 157 | } |
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| 158 | |||
| 159 | |||
| 160 | bf8ca9aa | Andre Raming | chprintf(stream, "writing register (Byte)...\n");
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| 161 | a845d9eb | Andre Raming | |
| 162 | //VL53L0X_WrByte(Dev, 0x88, 0x00);
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| 163 | uint8_t tx_buf = 0x00;
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| 164 | //status = VL53L0X_write_multi((((ut_vl53l0xdata_t*)(ut->data))->vl53d)->vl53l0x_dev.i2cd, (apalI2Caddr_t)(((ut_vl53l0xdata_t*)(ut->data))->vl53d)->vl53l0x_dev.I2cDevAddr, 0x88, (uint8_t*)&tx_buf, 1 ,(((ut_vl53l0xdata_t*)(ut->data))->vl53d)->vl53l0x_dev.timeout );
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| 165 | |||
| 166 | status = VL53L0X_write_byte((((ut_vl53l0xdata_t*)(ut->data))->vl53d)->vl53l0x_dev.i2cd, (apalI2Caddr_t)(((ut_vl53l0xdata_t*)(ut->data))->vl53d)->vl53l0x_dev.I2cDevAddr, 0x88, tx_buf,(((ut_vl53l0xdata_t*)(ut->data))->vl53d)->vl53l0x_dev.timeout );
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| 167 | |||
| 168 | |||
| 169 | if ((status == APAL_STATUS_OK || status == APAL_STATUS_WARNING)) {
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| 170 | aosUtPassed(stream, &result); |
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| 171 | } else {
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| 172 | aosUtFailedMsg(stream, &result, "0x%08X; 0x%08X\n", status, reg_8[0]); |
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| 173 | } |
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| 174 | |||
| 175 | |||
| 176 | bf8ca9aa | Andre Raming | chprintf(stream, "writing register (multi)...\n");
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| 177 | a845d9eb | Andre Raming | |
| 178 | //read register 0x88
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| 179 | status = VL53L0X_read_multi((((ut_vl53l0xdata_t*)(ut->data))->vl53d)->vl53l0x_dev.i2cd, (apalI2Caddr_t)(((ut_vl53l0xdata_t*)(ut->data))->vl53d)->vl53l0x_dev.I2cDevAddr , 0x88, ®_8[0], 1, (((ut_vl53l0xdata_t*)(ut->data))->vl53d)->vl53l0x_dev.timeout ); |
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| 180 | if ((status == APAL_STATUS_OK || status == APAL_STATUS_WARNING) && reg_8[0]==0x00) { |
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| 181 | aosUtPassed(stream, &result); |
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| 182 | } else {
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| 183 | aosUtFailedMsg(stream, &result, "0x%08X; 0x%08X\n", status, reg_8[0]); |
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| 184 | } |
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| 185 | |||
| 186 | |||
| 187 | |||
| 188 | |||
| 189 | chprintf(stream, "init sensor data...\n");
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| 190 | |||
| 191 | status = vl53l0x_lld_init(((ut_vl53l0xdata_t*)(ut->data))->vl53d); |
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| 192 | |||
| 193 | |||
| 194 | if ((status == APAL_STATUS_OK || status == APAL_STATUS_WARNING)) {
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| 195 | aosUtPassed(stream, &result); |
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| 196 | } else {
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| 197 | aosUtFailedMsg(stream, &result, "0x%08X\n", status);
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| 198 | } |
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| 199 | |||
| 200 | |||
| 201 | chprintf(stream, "set single mode...\n");
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| 202 | |||
| 203 | status = vl53l0x_lld_set_mode(((ut_vl53l0xdata_t*)(ut->data))->vl53d, VL53L0X_DEVICEMODE_SINGLE_RANGING, |
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| 204 | VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_DISABLED,0,0); |
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| 205 | |||
| 206 | |||
| 207 | status |= VL53L0X_GetDeviceMode(&(((ut_vl53l0xdata_t*)(ut->data))->vl53d->vl53l0x_dev), &deviceMode); |
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| 208 | |||
| 209 | |||
| 210 | if ((status == APAL_STATUS_OK || status == APAL_STATUS_WARNING) && deviceMode == VL53L0X_DEVICEMODE_SINGLE_RANGING) {
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| 211 | aosUtPassed(stream, &result); |
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| 212 | } else {
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| 213 | aosUtFailedMsg(stream, &result, "0x%08X; %u\n", status, deviceMode);
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| 214 | } |
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| 215 | |||
| 216 | chprintf(stream, "reading results...\n");
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| 217 | |||
| 218 | status = vl53l0x_lld_perform_mesaurement(((ut_vl53l0xdata_t*)(ut->data))->vl53d, ®_16[0]);
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| 219 | bf8ca9aa | Andre Raming | chprintf(stream, "\t\tdistance : %u mm\n", reg_16[0]); |
| 220 | a845d9eb | Andre Raming | int i = 0; |
| 221 | for (i = 0; i<4; i++){ |
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| 222 | status |= vl53l0x_lld_perform_mesaurement(((ut_vl53l0xdata_t*)(ut->data))->vl53d, ®_16[0]);
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| 223 | |||
| 224 | bf8ca9aa | Andre Raming | chprintf(stream, "\t\tdistance : %u mm\n", reg_16[0]); |
| 225 | a845d9eb | Andre Raming | } |
| 226 | |||
| 227 | if ((status == APAL_STATUS_OK || status == APAL_STATUS_WARNING)) {
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| 228 | aosUtPassed(stream, &result); |
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| 229 | } else {
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| 230 | aosUtFailedMsg(stream, &result, "0x%08X\n", status);
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| 231 | } |
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| 232 | |||
| 233 | |||
| 234 | |||
| 235 | chprintf(stream, "setting new address...\n");
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| 236 | |||
| 237 | status = vl53l0x_lld_set_address(((ut_vl53l0xdata_t*)(ut->data))->vl53d, 0x49);
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| 238 | |||
| 239 | |||
| 240 | if ((status == APAL_STATUS_OK || status == APAL_STATUS_WARNING)) {
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| 241 | aosUtPassed(stream, &result); |
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| 242 | } else {
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| 243 | aosUtFailedMsg(stream, &result, "0x%08X\n", status);
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| 244 | |||
| 245 | } |
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| 246 | |||
| 247 | |||
| 248 | //-----------------------------------------------------------------------
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| 249 | |||
| 250 | |||
| 251 | |||
| 252 | chprintf(stream, "reading with interrupt ...\n");
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| 253 | |||
| 254 | |||
| 255 | chprintf(stream, "\tgeneral information: eventmask VL53L0X: %lu and eventflag VL53L0X: %lu \n",
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| 256 | EVENT_MASK(INTERRUPT_EVENT_ID), ((ut_vl53l0xdata_t*)(ut->data))->evtflags); |
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| 257 | |||
| 258 | chprintf(stream, "set single mode and interrupt to VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY ...\n");
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| 259 | |||
| 260 | status = vl53l0x_lld_set_mode(((ut_vl53l0xdata_t*)(ut->data))->vl53d, VL53L0X_DEVICEMODE_SINGLE_RANGING, |
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| 261 | VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY,0,0); |
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| 262 | |||
| 263 | |||
| 264 | |||
| 265 | status |= VL53L0X_GetGpioConfig(&(((ut_vl53l0xdata_t*)(ut->data))->vl53d->vl53l0x_dev), 0, &deviceMode, &pFunctionality, &pPolarity);
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| 266 | |||
| 267 | if ((status == APAL_STATUS_OK || status == APAL_STATUS_WARNING) && deviceMode == VL53L0X_DEVICEMODE_SINGLE_RANGING &&
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| 268 | bf8ca9aa | Andre Raming | pFunctionality == VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY && pPolarity == VL53L0X_INTERRUPTPOLARITY_HIGH) {
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| 269 | a845d9eb | Andre Raming | aosUtPassed(stream, &result); |
| 270 | } else {
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| 271 | aosUtFailedMsg(stream, &result, "0x%08X; mode:%u; Interrupt:%u; InterruptPolarity: %u\n", status, deviceMode, pFunctionality, pPolarity);
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| 272 | } |
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| 273 | |||
| 274 | |||
| 275 | chprintf(stream, "check for blocking interrupts...\n");
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| 276 | |||
| 277 | status = vl53l0x_lld_CheckRangingDataReady(((ut_vl53l0xdata_t*)(ut->data))->vl53d, &pMeasurementDataReady); |
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| 278 | |||
| 279 | bf8ca9aa | Andre Raming | status |= pcal6524_lld_read_group(((ut_vl53l0xdata_t*)ut->data)->gpio, PCAL6524_LLD_CMD_INPUT_P0, buffer, |
| 280 | ((ut_vl53l0xdata_t*)ut->data)->timeout); |
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| 281 | switch (pcal6524_lld_cmd_groupsize(PCAL6524_LLD_CMD_INPUT_P0)) {
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| 282 | case 1: |
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| 283 | |||
| 284 | break;
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| 285 | case 2: |
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| 286 | break;
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| 287 | case 3: |
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| 288 | chprintf(stream, "\t\tRead input: 0x%02X 0x%02X 0x%02X\t", buffer[0], buffer[1], buffer[2]); |
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| 289 | break;
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| 290 | case 6: |
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| 291 | chprintf(stream, "\t\tRead input: 0x%04X 0x%04X 0x%04X\t",
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| 292 | (((uint16_t)buffer[0]) << 8) | buffer[1], |
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| 293 | (((uint16_t)buffer[2]) << 8) | buffer[3], |
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| 294 | (((uint16_t)buffer[4]) << 8) | buffer[5]); |
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| 295 | break;
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| 296 | default:
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| 297 | break;
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| 298 | } |
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| 299 | |||
| 300 | a845d9eb | Andre Raming | |
| 301 | if ((status == APAL_STATUS_OK || status == APAL_STATUS_WARNING) && pMeasurementDataReady == 0) { |
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| 302 | aosUtPassed(stream, &result); |
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| 303 | } else {
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| 304 | aosUtFailedMsg(stream, &result, "0x%08X, there are blocking interrupts :%u\n", status, pMeasurementDataReady);
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| 305 | chprintf(stream, "clear blocking interrupts...\n");
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| 306 | |||
| 307 | status = vl53l0x_lld_getRangingData(((ut_vl53l0xdata_t*)(ut->data))->vl53d, pRangingMeasurementData); |
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| 308 | |||
| 309 | if ((status == APAL_STATUS_OK || status == APAL_STATUS_WARNING)) {
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| 310 | aosUtPassed(stream, &result); |
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| 311 | } else {
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| 312 | aosUtFailedMsg(stream, &result, "0x%08X;\n", status);
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| 313 | |||
| 314 | } |
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| 315 | |||
| 316 | } |
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| 317 | |||
| 318 | |||
| 319 | chprintf(stream, "start maeasurement ... \n");
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| 320 | |||
| 321 | //set everything for eventshandler
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| 322 | chEvtRegister(((ut_vl53l0xdata_t*)(ut->data))->evtsource, &event_listener, INTERRUPT_EVENT_ID); |
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| 323 | aosSysGetUptime(&tend); |
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| 324 | tend += 2 * MICROSECONDS_PER_SECOND;
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| 325 | |||
| 326 | status = vl53l0x_lld_start_measurement(((ut_vl53l0xdata_t*)(ut->data))->vl53d); |
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| 327 | |||
| 328 | if ((status == APAL_STATUS_OK || status == APAL_STATUS_WARNING)) {
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| 329 | aosUtPassed(stream, &result); |
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| 330 | } else {
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| 331 | aosUtFailedMsg(stream, &result, "0x%08X;\n", status);
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| 332 | |||
| 333 | } |
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| 334 | |||
| 335 | bf8ca9aa | Andre Raming | chprintf(stream, "Check for interrupts ... \n");
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| 336 | a845d9eb | Andre Raming | do {
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| 337 | // read proximity data, interrupt event information and interrupt status
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| 338 | bf8ca9aa | Andre Raming | const eventmask_t emask = chEvtWaitOneTimeout(EVENT_MASK(INTERRUPT_EVENT_ID), chTimeUS2I(MICROSECONDS_PER_SECOND));
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| 339 | a845d9eb | Andre Raming | const eventflags_t eflags = chEvtGetAndClearFlags(&event_listener);
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| 340 | |||
| 341 | |||
| 342 | if (emask == EVENT_MASK(INTERRUPT_EVENT_ID) &&
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| 343 | eflags == ((ut_vl53l0xdata_t*)(ut->data))->evtflags) {
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| 344 | // true positive (correct case)
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| 345 | bf8ca9aa | Andre Raming | chprintf(stream, "\t\tEVENT");
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| 346 | status |= pcal6524_lld_read_group(((ut_vl53l0xdata_t*)ut->data)->gpio, PCAL6524_LLD_CMD_INPUT_P0, buffer, |
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| 347 | ((ut_vl53l0xdata_t*)ut->data)->timeout); |
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| 348 | status |= vl53l0x_lld_getRangingData(((ut_vl53l0xdata_t*)(ut->data))->vl53d, pRangingMeasurementData); |
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| 349 | a845d9eb | Andre Raming | |
| 350 | |||
| 351 | bf8ca9aa | Andre Raming | switch (pcal6524_lld_cmd_groupsize(PCAL6524_LLD_CMD_INPUT_P0)) {
|
| 352 | case 1: |
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| 353 | a845d9eb | Andre Raming | |
| 354 | bf8ca9aa | Andre Raming | break;
|
| 355 | case 2: |
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| 356 | break;
|
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| 357 | case 3: |
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| 358 | chprintf(stream, "\tRead input: 0x%02X 0x%02X 0x%02X", buffer[0], buffer[1], buffer[2]); |
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| 359 | break;
|
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| 360 | case 6: |
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| 361 | chprintf(stream, "\t\tRead input: 0x%04X 0x%04X 0x%04X",
|
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| 362 | (((uint16_t)buffer[0]) << 8) | buffer[1], |
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| 363 | (((uint16_t)buffer[2]) << 8) | buffer[3], |
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| 364 | (((uint16_t)buffer[4]) << 8) | buffer[5]); |
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| 365 | break;
|
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| 366 | default:
|
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| 367 | break;
|
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| 368 | } |
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| 369 | chprintf(stream, "\tdistance = %i mm\n", RangingMeasurementData.RangeMilliMeter);
|
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| 370 | a845d9eb | Andre Raming | |
| 371 | |||
| 372 | |||
| 373 | bf8ca9aa | Andre Raming | }else{
|
| 374 | chprintf(stream, "\tNo Interrupt, last measurement = %i mm\n", (((ut_vl53l0xdata_t*)(ut->data))->vl53d)->vl53l0x_dev.Data.LastRangeMeasure.RangeMilliMeter);
|
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| 375 | a845d9eb | Andre Raming | |
| 376 | } |
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| 377 | |||
| 378 | |||
| 379 | aosSysGetUptime(&tcurrent); |
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| 380 | } while (tcurrent < tend);
|
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| 381 | |||
| 382 | if ((status == APAL_STATUS_OK || status == APAL_STATUS_WARNING)) {
|
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| 383 | aosUtPassed(stream, &result); |
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| 384 | } else {
|
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| 385 | aosUtFailedMsg(stream, &result, "0x%08X; 0x%08X\n", status, pRangingMeasurementData);
|
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| 386 | |||
| 387 | } |
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| 388 | |||
| 389 | chprintf(stream, "stop maeasurement ... \n");
|
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| 390 | |||
| 391 | status = vl53l0x_lld_stop_measurement(((ut_vl53l0xdata_t*)(ut->data))->vl53d); |
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| 392 | |||
| 393 | |||
| 394 | chEvtUnregister(((ut_vl53l0xdata_t*)(ut->data))->evtsource, &event_listener); |
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| 395 | |||
| 396 | if ((status == APAL_STATUS_OK || status == APAL_STATUS_WARNING)) {
|
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| 397 | aosUtPassed(stream, &result); |
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| 398 | } else {
|
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| 399 | aosUtFailedMsg(stream, &result, "0x%08X;\n", status);
|
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| 400 | |||
| 401 | } |
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| 402 | |||
| 403 | |||
| 404 | |||
| 405 | |||
| 406 | |||
| 407 | //-----------------------------------------------------
|
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| 408 | |||
| 409 | chprintf(stream, "set continuous mode and interrupt to VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_OUT_OF_WINDOW (80mm/150mm) ...\n");
|
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| 410 | |||
| 411 | // wand a threshold of 80
|
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| 412 | // 100 mm < max Threshold von 254 mm
|
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| 413 | ThresholdHigh = 150;
|
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| 414 | ThresholdLow = 80;
|
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| 415 | |||
| 416 | status = vl53l0x_lld_set_mode(((ut_vl53l0xdata_t*)(ut->data))->vl53d, VL53L0X_DEVICEMODE_CONTINUOUS_RANGING, |
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| 417 | VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_OUT_OF_WINDOW,ThresholdLow,ThresholdHigh); |
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| 418 | |||
| 419 | status |= VL53L0X_GetGpioConfig(&(((ut_vl53l0xdata_t*)(ut->data))->vl53d->vl53l0x_dev), 0, &deviceMode, &pFunctionality, &pPolarity);
|
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| 420 | status |= VL53L0X_GetInterruptThresholds(&(((ut_vl53l0xdata_t*)(ut->data))->vl53d->vl53l0x_dev), |
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| 421 | VL53L0X_DEVICEMODE_CONTINUOUS_RANGING, |
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| 422 | &ThresholdLow, &ThresholdHigh); |
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| 423 | |||
| 424 | if ((status == APAL_STATUS_OK || status == APAL_STATUS_WARNING) && deviceMode == VL53L0X_DEVICEMODE_CONTINUOUS_RANGING &&
|
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| 425 | bf8ca9aa | Andre Raming | pFunctionality == VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_OUT_OF_WINDOW && pPolarity == VL53L0X_INTERRUPTPOLARITY_HIGH){
|
| 426 | a845d9eb | Andre Raming | //&& ThresholdLow == 80 * 65536 && ThresholdHigh == 150 * 65536) { not possible, only strange wrong values, e.g. Threshold low:1431655765;Threshold high:0
|
| 427 | aosUtPassed(stream, &result); |
||
| 428 | } else {
|
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| 429 | aosUtFailedMsg(stream, &result, "0x%08X; mode:%u; Interrupt:%u; InterruptPolarity:%u; Threshold low:%lu"
|
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| 430 | ";Threshold high:%lu\n", status, deviceMode, pFunctionality, pPolarity, ThresholdLow/65536.0, ThresholdHigh/65536.0); |
||
| 431 | } |
||
| 432 | |||
| 433 | chprintf(stream, "check for blocking interrupts...\n");
|
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| 434 | |||
| 435 | status = vl53l0x_lld_CheckRangingDataReady(((ut_vl53l0xdata_t*)(ut->data))->vl53d, &pMeasurementDataReady); |
||
| 436 | |||
| 437 | bf8ca9aa | Andre Raming | status |= pcal6524_lld_read_group(((ut_vl53l0xdata_t*)ut->data)->gpio, PCAL6524_LLD_CMD_INPUT_P0, buffer, |
| 438 | ((ut_vl53l0xdata_t*)ut->data)->timeout); |
||
| 439 | switch (pcal6524_lld_cmd_groupsize(PCAL6524_LLD_CMD_INPUT_P0)) {
|
||
| 440 | case 1: |
||
| 441 | |||
| 442 | break;
|
||
| 443 | case 2: |
||
| 444 | break;
|
||
| 445 | case 3: |
||
| 446 | chprintf(stream, "\t\tRead input: 0x%02X 0x%02X 0x%02X\t", buffer[0], buffer[1], buffer[2]); |
||
| 447 | break;
|
||
| 448 | case 6: |
||
| 449 | chprintf(stream, "\t\tRead input: 0x%04X 0x%04X 0x%04X\t",
|
||
| 450 | (((uint16_t)buffer[0]) << 8) | buffer[1], |
||
| 451 | (((uint16_t)buffer[2]) << 8) | buffer[3], |
||
| 452 | (((uint16_t)buffer[4]) << 8) | buffer[5]); |
||
| 453 | break;
|
||
| 454 | default:
|
||
| 455 | break;
|
||
| 456 | } |
||
| 457 | a845d9eb | Andre Raming | |
| 458 | if ((status == APAL_STATUS_OK || status == APAL_STATUS_WARNING) && pMeasurementDataReady == 0) { |
||
| 459 | aosUtPassed(stream, &result); |
||
| 460 | } else {
|
||
| 461 | aosUtFailedMsg(stream, &result, "0x%08X, there are blocking interrupts :%u\n", status, pMeasurementDataReady);
|
||
| 462 | chprintf(stream, "clear blocking interrupts...\n");
|
||
| 463 | |||
| 464 | bf8ca9aa | Andre Raming | |
| 465 | a845d9eb | Andre Raming | status = vl53l0x_lld_getRangingData(((ut_vl53l0xdata_t*)(ut->data))->vl53d, pRangingMeasurementData); |
| 466 | |||
| 467 | if ((status == APAL_STATUS_OK || status == APAL_STATUS_WARNING)) {
|
||
| 468 | aosUtPassed(stream, &result); |
||
| 469 | } else {
|
||
| 470 | aosUtFailedMsg(stream, &result, "0x%08X;\n", status);
|
||
| 471 | |||
| 472 | } |
||
| 473 | |||
| 474 | } |
||
| 475 | |||
| 476 | chprintf(stream, "start maeasurement ... \n");
|
||
| 477 | |||
| 478 | |||
| 479 | //set everything for eventshandler
|
||
| 480 | chEvtRegister(((ut_vl53l0xdata_t*)(ut->data))->evtsource, &event_listener, INTERRUPT_EVENT_ID); |
||
| 481 | aosSysGetUptime(&tend); |
||
| 482 | tend += 10 * MICROSECONDS_PER_SECOND;
|
||
| 483 | |||
| 484 | status = vl53l0x_lld_start_measurement(((ut_vl53l0xdata_t*)(ut->data))->vl53d); |
||
| 485 | |||
| 486 | do {
|
||
| 487 | // read proximity data, interrupt event information and interrupt status
|
||
| 488 | bf8ca9aa | Andre Raming | const eventmask_t emask = chEvtWaitOneTimeout(EVENT_MASK(INTERRUPT_EVENT_ID), chTimeUS2I(MICROSECONDS_PER_SECOND));
|
| 489 | a845d9eb | Andre Raming | const eventflags_t eflags = chEvtGetAndClearFlags(&event_listener);
|
| 490 | |||
| 491 | if (emask == EVENT_MASK(INTERRUPT_EVENT_ID) &&
|
||
| 492 | eflags == ((ut_vl53l0xdata_t*)(ut->data))->evtflags) {
|
||
| 493 | // true positive (correct case)
|
||
| 494 | bf8ca9aa | Andre Raming | chprintf(stream, "\t\tEVENT");
|
| 495 | // read from GPIO
|
||
| 496 | status |= pcal6524_lld_read_group(((ut_vl53l0xdata_t*)ut->data)->gpio, PCAL6524_LLD_CMD_INPUT_P0, buffer, |
||
| 497 | ((ut_vl53l0xdata_t*)ut->data)->timeout); |
||
| 498 | switch (pcal6524_lld_cmd_groupsize(PCAL6524_LLD_CMD_INPUT_P0)) {
|
||
| 499 | case 1: |
||
| 500 | |||
| 501 | break;
|
||
| 502 | case 2: |
||
| 503 | break;
|
||
| 504 | case 3: |
||
| 505 | chprintf(stream, "\tRead input: 0x%02X 0x%02X 0x%02X\t", buffer[0], buffer[1], buffer[2]); |
||
| 506 | break;
|
||
| 507 | case 6: |
||
| 508 | chprintf(stream, "\t\tRead input: 0x%04X 0x%04X 0x%04X\t",
|
||
| 509 | (((uint16_t)buffer[0]) << 8) | buffer[1], |
||
| 510 | (((uint16_t)buffer[2]) << 8) | buffer[3], |
||
| 511 | (((uint16_t)buffer[4]) << 8) | buffer[5]); |
||
| 512 | break;
|
||
| 513 | default:
|
||
| 514 | break;
|
||
| 515 | } |
||
| 516 | status |= vl53l0x_lld_getRangingData(((ut_vl53l0xdata_t*)(ut->data))->vl53d, pRangingMeasurementData); |
||
| 517 | |||
| 518 | |||
| 519 | chprintf(stream, "distance = %i mm\n", RangingMeasurementData.RangeMilliMeter);
|
||
| 520 | a845d9eb | Andre Raming | status |= VL53L0X_ClearInterruptMask(&(((ut_vl53l0xdata_t*)(ut->data))->vl53d->vl53l0x_dev),0);
|
| 521 | bf8ca9aa | Andre Raming | }else{
|
| 522 | chprintf(stream, "\tNo Interrupt, last measurement = %i mm\n", (((ut_vl53l0xdata_t*)(ut->data))->vl53d)->vl53l0x_dev.Data.LastRangeMeasure.RangeMilliMeter);
|
||
| 523 | a845d9eb | Andre Raming | } |
| 524 | |||
| 525 | aosSysGetUptime(&tcurrent); |
||
| 526 | } while (tcurrent < tend);
|
||
| 527 | |||
| 528 | if ((status == APAL_STATUS_OK || status == APAL_STATUS_WARNING)) {
|
||
| 529 | aosUtPassed(stream, &result); |
||
| 530 | } else {
|
||
| 531 | aosUtFailedMsg(stream, &result, "0x%08X; 0x%08X\n", status, pRangingMeasurementData);
|
||
| 532 | |||
| 533 | } |
||
| 534 | |||
| 535 | chprintf(stream, "stop maeasurement ... \n");
|
||
| 536 | |||
| 537 | status = vl53l0x_lld_stop_measurement(((ut_vl53l0xdata_t*)(ut->data))->vl53d); |
||
| 538 | |||
| 539 | |||
| 540 | chEvtUnregister(((ut_vl53l0xdata_t*)(ut->data))->evtsource, &event_listener); |
||
| 541 | |||
| 542 | if ((status == APAL_STATUS_OK || status == APAL_STATUS_WARNING)) {
|
||
| 543 | aosUtPassed(stream, &result); |
||
| 544 | } else {
|
||
| 545 | aosUtFailedMsg(stream, &result, "0x%08X;\n", status);
|
||
| 546 | |||
| 547 | } |
||
| 548 | |||
| 549 | |||
| 550 | |||
| 551 | chprintf(stream, "setting default address...\n");
|
||
| 552 | |||
| 553 | status = vl53l0x_lld_set_address(((ut_vl53l0xdata_t*)(ut->data))->vl53d, 0x29);
|
||
| 554 | |||
| 555 | |||
| 556 | aosUtInfoMsg(stream, "driver object memory footprint: %u bytes\n", sizeof(VL53L0XDriver)); |
||
| 557 | |||
| 558 | return result;
|
||
| 559 | } |
||
| 560 | #endif /* (AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_VL53L0X) && (AMIROLLD_CFG_VL53L0X == 1) */ |