amiro-os / unittests / periphery-lld / src / ut_alld_VL53L0X_v1.c @ bf8ca9aa
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/*
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AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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Copyright (C) 2016..2019 Thomas Schöpping et al.
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <amiroos.h> |
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#include <ut_alld_VL53L0X_v1.h> |
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#if ((AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_VL53L0X) && (AMIROLLD_CFG_VL53L0X == 1)) || defined(__DOXYGEN__) |
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/******************************************************************************/
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/* LOCAL DEFINITIONS */
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/******************************************************************************/
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#define INTERRUPT_EVENT_ID 1 |
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/******************************************************************************/
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/* EXPORTED VARIABLES */
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/******************************************************************************/
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/******************************************************************************/
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/* LOCAL TYPES */
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/******************************************************************************/
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/******************************************************************************/
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/* LOCAL VARIABLES */
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/******************************************************************************/
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/******************************************************************************/
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/* LOCAL FUNCTIONS */
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/******************************************************************************/
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/******************************************************************************/
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/* EXPORTED FUNCTIONS */
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/******************************************************************************/
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/**
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* @brief utAlldVL53L0XFunc
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* @param stream
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* @param ut
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* @return
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*
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*
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* debug:
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* chprintf(stream, "timeout %lu\n", MyDevice.timeout); or chprintf((BaseSequentialStream*)&SD1, "%s: %d\n", __FILE__, __LINE__);
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* aosThdMSleep(100);
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*
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*
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*/
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aos_utresult_t utAlldVL53L0XFunc(BaseSequentialStream* stream, aos_unittest_t* ut) |
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{
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// Check if the different things are here from the module.c
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aosDbgCheck((ut->data != NULL) &&
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(((ut_vl53l0xdata_t*)(ut->data))->vl53d != NULL) && (((ut_vl53l0xdata_t*)(ut->data))->vl53d)->vl53l0x_dev.i2cd != NULL); |
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// local variables
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aos_utresult_t result = {0, 0};
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uint32_t status = APAL_STATUS_OK; |
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uint8_t reg_buf[4] = {0,0,0,0}; |
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uint8_t* reg_8 = (uint8_t*)(reg_buf); |
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uint16_t* reg_16 = (uint16_t*)(reg_buf); |
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event_listener_t event_listener; |
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aos_timestamp_t tcurrent, tend; |
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VL53L0X_DeviceModes deviceMode; |
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VL53L0X_GpioFunctionality pFunctionality; |
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VL53L0X_InterruptPolarity pPolarity; |
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uint8_t pMeasurementDataReady=0;
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VL53L0X_RangingMeasurementData_t RangingMeasurementData; |
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VL53L0X_RangingMeasurementData_t *pRangingMeasurementData = &RangingMeasurementData; |
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uint32_t ThresholdLow; |
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uint32_t ThresholdHigh; |
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uint8_t buffer[24];
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memset(buffer, 0xAA, sizeof(buffer)); |
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chprintf(stream, "validate I2C bus...\n");
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// check I2C communication after fresh reset, without API loaded (before VL53L0X_DataInit() is called)
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//validate I2C bus on 0xC0 0xEE
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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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if ((status == APAL_STATUS_OK || status == APAL_STATUS_WARNING) && reg_8[0]==0xEE) { |
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//validate I2C bus on 0xC1 0xAA
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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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if ((status == APAL_STATUS_OK || status == APAL_STATUS_WARNING) && reg_8[0]==0xAA) { |
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//validate I2C bus on 0xC2 0x10
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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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if ((status == APAL_STATUS_OK || status == APAL_STATUS_WARNING) && reg_8[0]==0x10) { |
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//validate I2C bus on 0x51 0x0099
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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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if ((status == APAL_STATUS_OK || status == APAL_STATUS_WARNING) && reg_8[0]==0x00 && reg_8[1]==0x99) { |
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//validate I2C bus on 0x61 0x0000
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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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if ((status == APAL_STATUS_OK || status == APAL_STATUS_WARNING) && reg_8[0]==0x00 && reg_8[1]==0x00) { |
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aosUtPassed(stream, &result); |
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} else {
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aosUtFailedMsg(stream, &result, "0x%08X; 0x%08X\n", status, reg_8[0]); |
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} |
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} else {
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aosUtFailedMsg(stream, &result, "0x%08X; 0x%08X\n", status, reg_8[0]); |
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} |
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} else {
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aosUtFailedMsg(stream, &result, "0x%08X; 0x%08X\n", status, reg_8[0]); |
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} |
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} else {
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aosUtFailedMsg(stream, &result, "0x%08X; 0x%08X\n", status, reg_8[0]); |
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} |
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} else {
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aosUtFailedMsg(stream, &result, "0x%08X; 0x%08X\n", status, reg_8[0]); |
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} |
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chprintf(stream, "reading register...\n");
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//read register 0x88 register has status 0x24
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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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if ((status == APAL_STATUS_OK || status == APAL_STATUS_WARNING) && reg_8[0]==0x24) { |
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aosUtPassed(stream, &result); |
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} else {
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aosUtFailedMsg(stream, &result, "0x%08X; 0x%08X\n", status, reg_8[0]); |
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} |
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chprintf(stream, "writing register (Byte)...\n");
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//VL53L0X_WrByte(Dev, 0x88, 0x00);
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uint8_t tx_buf = 0x00;
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//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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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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if ((status == APAL_STATUS_OK || status == APAL_STATUS_WARNING)) {
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aosUtPassed(stream, &result); |
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} else {
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aosUtFailedMsg(stream, &result, "0x%08X; 0x%08X\n", status, reg_8[0]); |
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} |
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chprintf(stream, "writing register (multi)...\n");
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//read register 0x88
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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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if ((status == APAL_STATUS_OK || status == APAL_STATUS_WARNING) && reg_8[0]==0x00) { |
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aosUtPassed(stream, &result); |
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} else {
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aosUtFailedMsg(stream, &result, "0x%08X; 0x%08X\n", status, reg_8[0]); |
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} |
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chprintf(stream, "init sensor data...\n");
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status = vl53l0x_lld_init(((ut_vl53l0xdata_t*)(ut->data))->vl53d); |
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if ((status == APAL_STATUS_OK || status == APAL_STATUS_WARNING)) {
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aosUtPassed(stream, &result); |
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} else {
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aosUtFailedMsg(stream, &result, "0x%08X\n", status);
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} |
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chprintf(stream, "set single mode...\n");
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status = vl53l0x_lld_set_mode(((ut_vl53l0xdata_t*)(ut->data))->vl53d, VL53L0X_DEVICEMODE_SINGLE_RANGING, |
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VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_DISABLED,0,0); |
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status |= VL53L0X_GetDeviceMode(&(((ut_vl53l0xdata_t*)(ut->data))->vl53d->vl53l0x_dev), &deviceMode); |
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if ((status == APAL_STATUS_OK || status == APAL_STATUS_WARNING) && deviceMode == VL53L0X_DEVICEMODE_SINGLE_RANGING) {
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aosUtPassed(stream, &result); |
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} else {
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aosUtFailedMsg(stream, &result, "0x%08X; %u\n", status, deviceMode);
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} |
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chprintf(stream, "reading results...\n");
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status = vl53l0x_lld_perform_mesaurement(((ut_vl53l0xdata_t*)(ut->data))->vl53d, ®_16[0]);
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chprintf(stream, "\t\tdistance : %u mm\n", reg_16[0]); |
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int i = 0; |
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for (i = 0; i<4; i++){ |
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status |= vl53l0x_lld_perform_mesaurement(((ut_vl53l0xdata_t*)(ut->data))->vl53d, ®_16[0]);
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chprintf(stream, "\t\tdistance : %u mm\n", reg_16[0]); |
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} |
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if ((status == APAL_STATUS_OK || status == APAL_STATUS_WARNING)) {
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aosUtPassed(stream, &result); |
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} else {
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aosUtFailedMsg(stream, &result, "0x%08X\n", status);
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} |
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chprintf(stream, "setting new address...\n");
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status = vl53l0x_lld_set_address(((ut_vl53l0xdata_t*)(ut->data))->vl53d, 0x49);
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if ((status == APAL_STATUS_OK || status == APAL_STATUS_WARNING)) {
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aosUtPassed(stream, &result); |
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} else {
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aosUtFailedMsg(stream, &result, "0x%08X\n", status);
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} |
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//-----------------------------------------------------------------------
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chprintf(stream, "reading with interrupt ...\n");
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chprintf(stream, "\tgeneral information: eventmask VL53L0X: %lu and eventflag VL53L0X: %lu \n",
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EVENT_MASK(INTERRUPT_EVENT_ID), ((ut_vl53l0xdata_t*)(ut->data))->evtflags); |
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chprintf(stream, "set single mode and interrupt to VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY ...\n");
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status = vl53l0x_lld_set_mode(((ut_vl53l0xdata_t*)(ut->data))->vl53d, VL53L0X_DEVICEMODE_SINGLE_RANGING, |
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VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY,0,0); |
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status |= VL53L0X_GetGpioConfig(&(((ut_vl53l0xdata_t*)(ut->data))->vl53d->vl53l0x_dev), 0, &deviceMode, &pFunctionality, &pPolarity);
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if ((status == APAL_STATUS_OK || status == APAL_STATUS_WARNING) && deviceMode == VL53L0X_DEVICEMODE_SINGLE_RANGING &&
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pFunctionality == VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY && pPolarity == VL53L0X_INTERRUPTPOLARITY_HIGH) {
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aosUtPassed(stream, &result); |
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} else {
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aosUtFailedMsg(stream, &result, "0x%08X; mode:%u; Interrupt:%u; InterruptPolarity: %u\n", status, deviceMode, pFunctionality, pPolarity);
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} |
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chprintf(stream, "check for blocking interrupts...\n");
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status = vl53l0x_lld_CheckRangingDataReady(((ut_vl53l0xdata_t*)(ut->data))->vl53d, &pMeasurementDataReady); |
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status |= pcal6524_lld_read_group(((ut_vl53l0xdata_t*)ut->data)->gpio, PCAL6524_LLD_CMD_INPUT_P0, buffer, |
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((ut_vl53l0xdata_t*)ut->data)->timeout); |
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switch (pcal6524_lld_cmd_groupsize(PCAL6524_LLD_CMD_INPUT_P0)) {
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case 1: |
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break;
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case 2: |
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break;
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case 3: |
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chprintf(stream, "\t\tRead input: 0x%02X 0x%02X 0x%02X\t", buffer[0], buffer[1], buffer[2]); |
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break;
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case 6: |
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chprintf(stream, "\t\tRead input: 0x%04X 0x%04X 0x%04X\t",
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(((uint16_t)buffer[0]) << 8) | buffer[1], |
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(((uint16_t)buffer[2]) << 8) | buffer[3], |
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(((uint16_t)buffer[4]) << 8) | buffer[5]); |
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break;
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default:
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break;
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} |
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if ((status == APAL_STATUS_OK || status == APAL_STATUS_WARNING) && pMeasurementDataReady == 0) { |
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aosUtPassed(stream, &result); |
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} else {
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aosUtFailedMsg(stream, &result, "0x%08X, there are blocking interrupts :%u\n", status, pMeasurementDataReady);
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chprintf(stream, "clear blocking interrupts...\n");
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status = vl53l0x_lld_getRangingData(((ut_vl53l0xdata_t*)(ut->data))->vl53d, pRangingMeasurementData); |
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if ((status == APAL_STATUS_OK || status == APAL_STATUS_WARNING)) {
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aosUtPassed(stream, &result); |
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} else {
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aosUtFailedMsg(stream, &result, "0x%08X;\n", status);
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} |
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} |
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chprintf(stream, "start maeasurement ... \n");
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//set everything for eventshandler
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chEvtRegister(((ut_vl53l0xdata_t*)(ut->data))->evtsource, &event_listener, INTERRUPT_EVENT_ID); |
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aosSysGetUptime(&tend); |
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tend += 2 * MICROSECONDS_PER_SECOND;
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status = vl53l0x_lld_start_measurement(((ut_vl53l0xdata_t*)(ut->data))->vl53d); |
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if ((status == APAL_STATUS_OK || status == APAL_STATUS_WARNING)) {
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aosUtPassed(stream, &result); |
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} else {
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aosUtFailedMsg(stream, &result, "0x%08X;\n", status);
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} |
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chprintf(stream, "Check for interrupts ... \n");
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do {
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// read proximity data, interrupt event information and interrupt status
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const eventmask_t emask = chEvtWaitOneTimeout(EVENT_MASK(INTERRUPT_EVENT_ID), chTimeUS2I(MICROSECONDS_PER_SECOND));
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const eventflags_t eflags = chEvtGetAndClearFlags(&event_listener);
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if (emask == EVENT_MASK(INTERRUPT_EVENT_ID) &&
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eflags == ((ut_vl53l0xdata_t*)(ut->data))->evtflags) {
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// true positive (correct case)
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chprintf(stream, "\t\tEVENT");
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status |= pcal6524_lld_read_group(((ut_vl53l0xdata_t*)ut->data)->gpio, PCAL6524_LLD_CMD_INPUT_P0, buffer, |
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((ut_vl53l0xdata_t*)ut->data)->timeout); |
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status |= vl53l0x_lld_getRangingData(((ut_vl53l0xdata_t*)(ut->data))->vl53d, pRangingMeasurementData); |
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switch (pcal6524_lld_cmd_groupsize(PCAL6524_LLD_CMD_INPUT_P0)) {
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case 1: |
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break;
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case 2: |
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break;
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case 3: |
| 358 |
chprintf(stream, "\tRead input: 0x%02X 0x%02X 0x%02X", buffer[0], buffer[1], buffer[2]); |
| 359 |
break;
|
| 360 |
case 6: |
| 361 |
chprintf(stream, "\t\tRead input: 0x%04X 0x%04X 0x%04X",
|
| 362 |
(((uint16_t)buffer[0]) << 8) | buffer[1], |
| 363 |
(((uint16_t)buffer[2]) << 8) | buffer[3], |
| 364 |
(((uint16_t)buffer[4]) << 8) | buffer[5]); |
| 365 |
break;
|
| 366 |
default:
|
| 367 |
break;
|
| 368 |
} |
| 369 |
chprintf(stream, "\tdistance = %i mm\n", RangingMeasurementData.RangeMilliMeter);
|
| 370 |
|
| 371 |
|
| 372 |
|
| 373 |
}else{
|
| 374 |
chprintf(stream, "\tNo Interrupt, last measurement = %i mm\n", (((ut_vl53l0xdata_t*)(ut->data))->vl53d)->vl53l0x_dev.Data.LastRangeMeasure.RangeMilliMeter);
|
| 375 |
|
| 376 |
} |
| 377 |
|
| 378 |
|
| 379 |
aosSysGetUptime(&tcurrent); |
| 380 |
} while (tcurrent < tend);
|
| 381 |
|
| 382 |
if ((status == APAL_STATUS_OK || status == APAL_STATUS_WARNING)) {
|
| 383 |
aosUtPassed(stream, &result); |
| 384 |
} else {
|
| 385 |
aosUtFailedMsg(stream, &result, "0x%08X; 0x%08X\n", status, pRangingMeasurementData);
|
| 386 |
|
| 387 |
} |
| 388 |
|
| 389 |
chprintf(stream, "stop maeasurement ... \n");
|
| 390 |
|
| 391 |
status = vl53l0x_lld_stop_measurement(((ut_vl53l0xdata_t*)(ut->data))->vl53d); |
| 392 |
|
| 393 |
|
| 394 |
chEvtUnregister(((ut_vl53l0xdata_t*)(ut->data))->evtsource, &event_listener); |
| 395 |
|
| 396 |
if ((status == APAL_STATUS_OK || status == APAL_STATUS_WARNING)) {
|
| 397 |
aosUtPassed(stream, &result); |
| 398 |
} else {
|
| 399 |
aosUtFailedMsg(stream, &result, "0x%08X;\n", status);
|
| 400 |
|
| 401 |
} |
| 402 |
|
| 403 |
|
| 404 |
|
| 405 |
|
| 406 |
|
| 407 |
//-----------------------------------------------------
|
| 408 |
|
| 409 |
chprintf(stream, "set continuous mode and interrupt to VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_OUT_OF_WINDOW (80mm/150mm) ...\n");
|
| 410 |
|
| 411 |
// wand a threshold of 80
|
| 412 |
// 100 mm < max Threshold von 254 mm
|
| 413 |
ThresholdHigh = 150;
|
| 414 |
ThresholdLow = 80;
|
| 415 |
|
| 416 |
status = vl53l0x_lld_set_mode(((ut_vl53l0xdata_t*)(ut->data))->vl53d, VL53L0X_DEVICEMODE_CONTINUOUS_RANGING, |
| 417 |
VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_OUT_OF_WINDOW,ThresholdLow,ThresholdHigh); |
| 418 |
|
| 419 |
status |= VL53L0X_GetGpioConfig(&(((ut_vl53l0xdata_t*)(ut->data))->vl53d->vl53l0x_dev), 0, &deviceMode, &pFunctionality, &pPolarity);
|
| 420 |
status |= VL53L0X_GetInterruptThresholds(&(((ut_vl53l0xdata_t*)(ut->data))->vl53d->vl53l0x_dev), |
| 421 |
VL53L0X_DEVICEMODE_CONTINUOUS_RANGING, |
| 422 |
&ThresholdLow, &ThresholdHigh); |
| 423 |
|
| 424 |
if ((status == APAL_STATUS_OK || status == APAL_STATUS_WARNING) && deviceMode == VL53L0X_DEVICEMODE_CONTINUOUS_RANGING &&
|
| 425 |
pFunctionality == VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_OUT_OF_WINDOW && pPolarity == VL53L0X_INTERRUPTPOLARITY_HIGH){
|
| 426 |
//&& 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 {
|
| 429 |
aosUtFailedMsg(stream, &result, "0x%08X; mode:%u; Interrupt:%u; InterruptPolarity:%u; Threshold low:%lu"
|
| 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");
|
| 434 |
|
| 435 |
status = vl53l0x_lld_CheckRangingDataReady(((ut_vl53l0xdata_t*)(ut->data))->vl53d, &pMeasurementDataReady); |
| 436 |
|
| 437 |
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 |
|
| 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 |
|
| 465 |
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 |
const eventmask_t emask = chEvtWaitOneTimeout(EVENT_MASK(INTERRUPT_EVENT_ID), chTimeUS2I(MICROSECONDS_PER_SECOND));
|
| 489 |
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 |
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 |
status |= VL53L0X_ClearInterruptMask(&(((ut_vl53l0xdata_t*)(ut->data))->vl53d->vl53l0x_dev),0);
|
| 521 |
}else{
|
| 522 |
chprintf(stream, "\tNo Interrupt, last measurement = %i mm\n", (((ut_vl53l0xdata_t*)(ut->data))->vl53d)->vl53l0x_dev.Data.LastRangeMeasure.RangeMilliMeter);
|
| 523 |
} |
| 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) */ |
| 561 |
|