/unittests/periphery-lld/src/ut_alld_L3G4200D_v1.c - Annotate - AMiRo-OS - Research for Cognitive Interaction

amiro-os / unittests / periphery-lld / src / ut_alld_L3G4200D_v1.c @ c7dcc892

History | View | Annotate | Download (11.184 KB)

-            e545e620
+/*
 AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
-f0ce9e
+Copyright (C) 2016..2019  Thomas Schöpping et al.
-            e545e620
+            Thomas Schöpping
 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/>.
 */
-            ddf34c3d
+#include <amiroos.h>
-a4dbf93
+#include <ut_alld_L3G4200D_v1.h>
-            e545e620
+            Thomas Schöpping
-            ddf34c3d
+#if ((AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_L3G4200D) && (AMIROLLD_CFG_L3G4200D == 1)) || defined(__DOXYGEN__)
-            f3ac1c96
+/******************************************************************************/
 /* LOCAL DEFINITIONS                                                          */
 /******************************************************************************/
 /******************************************************************************/
 /* EXPORTED VARIABLES                                                         */
 /******************************************************************************/
 /******************************************************************************/
 /* LOCAL TYPES                                                                */
 /******************************************************************************/
 /******************************************************************************/
 /* LOCAL VARIABLES                                                            */
 /******************************************************************************/
 /******************************************************************************/
 /* LOCAL FUNCTIONS                                                            */
 /******************************************************************************/
 /******************************************************************************/
 /* EXPORTED FUNCTIONS                                                         */
 /******************************************************************************/
-            e545e620
+            Thomas Schöpping
 /**
  * @brief   L3G4200D unit test function.
+ *
  * @param[in] stream  Stream for input/output.
  * @param[in] ut      Unit test object.
+ *
  * @return            Unit test result value.
  */
 aos_utresult_t utAlldL3g4200dFunc(BaseSequentialStream* stream, aos_unittest_t* ut)
+{
   aosDbgCheck(ut->data != NULL && ((ut_l3g4200ddata_t*)(ut->data)) != NULL);
   // local variables
   aos_utresult_t result = {0, 0};
   uint32_t status;
   uint8_t data = 0;
   uint8_t write_data[5];
   uint8_t read_data[5];
   int16_t sdata[3];
   uint8_t status_reg;
   eventmask_t event_mask;
   bool success = false;
   uint8_t fifo = 0x5F;
   event_listener_t el;
   for (uint8_t dataIdx = 0; dataIdx < 4; dataIdx++) {
     write_data[dataIdx] = (dataIdx+1)*11;
+  }
   write_data[4] = 0;
   chprintf(stream, "check identity...\n");
   status = l3g4200d_lld_read_register(((ut_l3g4200ddata_t*)(ut->data))->l3gd, L3G4200D_LLD_REGISTER_WHO_AM_I, &data, 1);
   if(status == APAL_STATUS_SUCCESS && data == L3G4200D_LLD_WHO_AM_I){
     aosUtPassed(stream, &result);
   } else {
     aosUtFailedMsg(stream, &result, "0x%08X, data: %d\n", status, data);
+  }
   chprintf(stream, "write register...\n");
   status = l3g4200d_lld_write_register(((ut_l3g4200ddata_t*)(ut->data))->l3gd, L3G4200D_LLD_REGISTER_CTRL_REG1, write_data, 1);
   if (status == APAL_STATUS_SUCCESS) {
     aosUtPassed(stream, &result);
   } else {
     aosUtFailed(stream, &result);
+  }
   chprintf(stream, "read register...\n");
   status = l3g4200d_lld_read_register(((ut_l3g4200ddata_t*)(ut->data))->l3gd, L3G4200D_LLD_REGISTER_CTRL_REG1, &data, 1);
   if (status == APAL_STATUS_SUCCESS && data == write_data[0]) {
     aosUtPassed(stream, &result);
   } else {
     aosUtFailedMsg(stream, &result, "0x%08X, data: %d\n", status, data);
+  }
   chprintf(stream, "write multiple registers...\n");
   status = l3g4200d_lld_write_register(((ut_l3g4200ddata_t*)(ut->data))->l3gd, L3G4200D_LLD_REGISTER_CTRL_REG1, write_data, 5);
   if (status == APAL_STATUS_SUCCESS) {
     aosUtPassed(stream, &result);
   } else {
     aosUtFailed(stream, &result);
+  }
   chprintf(stream, "read multiple registers...\n");
   status = l3g4200d_lld_read_register(((ut_l3g4200ddata_t*)(ut->data))->l3gd, L3G4200D_LLD_REGISTER_CTRL_REG1, read_data, 5);
   uint8_t errors = 0;
   for (uint8_t dataIdx = 0; dataIdx < 5; dataIdx++) {
     if (read_data[dataIdx] != write_data[dataIdx]) {
       ++errors;
+    }
+  }
   if (status == APAL_STATUS_SUCCESS && errors == 0) {
     aosUtPassed(stream, &result);
   } else {
     for (uint8_t dataIdx = 0; dataIdx < 5; dataIdx++) {
       chprintf(stream, "\t\tStatus: %d, CTRL_REG%d: %d, write_data: %d\n", status, dataIdx+1, read_data[dataIdx], write_data[dataIdx]);
+    }
     aosUtFailedMsg(stream, &result, "0x%08X, errors: %d\n", status, errors);
+  }
   chprintf(stream, "read config...\n");
   l3g4200d_lld_cfg_t cfg;
   status = l3g4200d_lld_read_config(((ut_l3g4200ddata_t*)(ut->data))->l3gd, &cfg);
   if (status == APAL_STATUS_SUCCESS) {
     aosUtPassed(stream, &result);
   } else {
     aosUtFailed(stream, &result);
+  }
   chprintf(stream, "write config...\n");
   cfg.registers.ctrl_reg1 = L3G4200D_LLD_PD | L3G4200D_LLD_DR_100_HZ | L3G4200D_LLD_BW_12_5 | L3G4200D_LLD_ZEN | L3G4200D_LLD_YEN | L3G4200D_LLD_XEN;
   //cfg.registers.ctrl_reg1 = L3G4200D_LLD_PD | L3G4200D_LLD_DR_800_HZ | L3G4200D_LLD_BW_20 | L3G4200D_LLD_ZEN | L3G4200D_LLD_YEN | L3G4200D_LLD_XEN;
   cfg.registers.ctrl_reg3 = 0x07;
   cfg.registers.ctrl_reg5 |= L3G4200D_LLD_FIFO_EN;
   status = l3g4200d_lld_write_config(((ut_l3g4200ddata_t*)(ut->data))->l3gd, cfg);
   uint8_t reg1 = cfg.data[0];
   status |= l3g4200d_lld_read_config(((ut_l3g4200ddata_t*)(ut->data))->l3gd, &cfg);
   if (status == APAL_STATUS_SUCCESS && cfg.data[0] == reg1) {
     aosUtPassed(stream, &result);
   } else {
     aosUtFailed(stream, &result);
+  }
   chprintf(stream, "read gyro data for five seconds...\n");
   status = APAL_STATUS_OK;
   for (uint8_t i = 0; i < 5; ++i) {
     status |= l3g4200d_lld_read_all_data(((ut_l3g4200ddata_t*)(ut->data))->l3gd, sdata, &cfg);
     chprintf(stream, "\t\tX = %6d\tY = %6d\tZ = %6d\n", sdata[0], sdata[1], sdata[2]);
     aosThdSSleep(1);
+  }
   if (status == APAL_STATUS_SUCCESS) {
     aosUtPassed(stream, &result);
   } else {
     aosUtFailed(stream, &result);
+  }
   chprintf(stream, "read X axis for five seconds...\n");
   status = APAL_STATUS_SUCCESS;
   for (uint32_t i = 0; i <= 5; i++) {
     status |= l3g4200d_lld_read_data(((ut_l3g4200ddata_t*)(ut->data))->l3gd, &(sdata[0]), L3G4200D_LLD_X_AXIS, &cfg);
     chprintf(stream, "\t\tX = %6d\n", sdata[0]);
     aosThdSSleep(1);
+  }
   if (status == APAL_STATUS_SUCCESS) {
     aosUtPassed(stream, &result);
   } else {
     aosUtFailed(stream, &result);
+  }
   chprintf(stream, "read Y axis for five seconds...\n");
   status = APAL_STATUS_SUCCESS;
   for (uint32_t i = 0; i <= 5; i++) {
     status |= l3g4200d_lld_read_data(((ut_l3g4200ddata_t*)(ut->data))->l3gd, &(sdata[0]), L3G4200D_LLD_Y_AXIS, &cfg);
     chprintf(stream, "\t\tY = %6d\n", sdata[0]);
     aosThdSSleep(1);
+  }
   if (status == APAL_STATUS_SUCCESS) {
     aosUtPassed(stream, &result);
   } else {
     aosUtFailed(stream, &result);
+  }
   chprintf(stream, "read Z axis for five seconds...\n");
   status = APAL_STATUS_SUCCESS;
   for (uint32_t i = 0; i <= 5; i++) {
     status |= l3g4200d_lld_read_data(((ut_l3g4200ddata_t*)(ut->data))->l3gd, &(sdata[0]), L3G4200D_LLD_Z_AXIS, &cfg);
     chprintf(stream, "\t\tZ = %6d\n", sdata[0]);
     aosThdSSleep(1);
+  }
   if (status == APAL_STATUS_SUCCESS) {
     aosUtPassed(stream, &result);
   } else {
     aosUtFailed(stream, &result);
+  }
   aosThdMSleep(10);
   chprintf(stream, "read status register...\n");
   status = l3g4200d_lld_read_status_register(((ut_l3g4200ddata_t*)(ut->data))->l3gd, &status_reg);
   if (status == APAL_STATUS_SUCCESS) {
     aosUtPassed(stream, &result);
   } else {
     aosUtFailed(stream, &result);
+  }
   chprintf(stream, "read interrupt config...\n");
   l3g4200d_lld_int_cfg_t int_cfg;
   status = l3g4200d_lld_read_int_config(((ut_l3g4200ddata_t*)(ut->data))->l3gd, &int_cfg);
   if (status == APAL_STATUS_SUCCESS) {
     aosUtPassed(stream, &result);
   } else {
     aosUtFailed(stream, &result);
+  }
   chprintf(stream, "write interrupt config...\n");
   int_cfg.registers.int1_tsh_xh = 10;
   status = l3g4200d_lld_write_int_config(((ut_l3g4200ddata_t*)(ut->data))->l3gd, int_cfg);
   l3g4200d_lld_int_cfg_t int_cfg2;
   status |= l3g4200d_lld_read_int_config(((ut_l3g4200ddata_t*)(ut->data))->l3gd, &int_cfg2);
   if (status == APAL_STATUS_SUCCESS && int_cfg.registers.int1_tsh_xh == 10) {
     aosUtPassed(stream, &result);
   } else {
     aosUtFailed(stream, &result);
+  }
   chprintf(stream, "interrupt test: read fifo until empty...\n");
   chEvtRegister(((ut_l3g4200ddata_t*)(ut->data))->src, &el, 0);
   status = l3g4200d_lld_write_fifo_ctrl_register(((ut_l3g4200ddata_t*)(ut->data))->l3gd,fifo);
   fifo = 0;
   status |= l3g4200d_lld_read_fifo_ctrl_register(((ut_l3g4200ddata_t*)(ut->data))->l3gd,&fifo);
   status |= l3g4200d_lld_read_all_data(((ut_l3g4200ddata_t*)(ut->data))->l3gd, sdata, &cfg);
   chEvtGetAndClearFlags(&el);
   aosThdSSleep(1);
   chEvtGetAndClearFlags(&el);
   success = false;
   for (uint8_t i = 0; i < 200; i++) {
     status |= l3g4200d_lld_read_all_data(((ut_l3g4200ddata_t*)(ut->data))->l3gd, sdata, &cfg);
     event_mask = chEvtWaitAnyTimeout(~0, TIME_IMMEDIATE);
     status |= l3g4200d_lld_read_fifo_src_register(((ut_l3g4200ddata_t*)(ut->data))->l3gd,&fifo);
     if (event_mask != 0 && ((fifo & L3G4200D_LLD_EMPTY) || fifo == 0)) {
       success = true;
       break;
+    }
     aosThdMSleep(1);
+  }
   if (status == APAL_STATUS_SUCCESS && success) {
     aosUtPassed(stream, &result);
   } else {
     aosUtFailed(stream, &result);
+  }
   fifo = 0x4A;
   status |= l3g4200d_lld_write_fifo_ctrl_register(((ut_l3g4200ddata_t*)(ut->data))->l3gd,fifo);
   cfg.registers.ctrl_reg1 = L3G4200D_LLD_PD | L3G4200D_LLD_DR_800_HZ | L3G4200D_LLD_BW_20 | L3G4200D_LLD_ZEN | L3G4200D_LLD_YEN | L3G4200D_LLD_XEN;
   cfg.registers.ctrl_reg3 = 0x04;
   status |= l3g4200d_lld_write_config(((ut_l3g4200ddata_t*)(ut->data))->l3gd, cfg);
   chprintf(stream, "interrupt test: wait until wtm reached...\n");
   for (uint8_t i = 0; i < 200; i++) {
     status |= l3g4200d_lld_read_all_data(((ut_l3g4200ddata_t*)(ut->data))->l3gd, sdata, &cfg);
     event_mask = chEvtWaitAnyTimeout(~0, TIME_IMMEDIATE);
     status |= l3g4200d_lld_read_fifo_src_register(((ut_l3g4200ddata_t*)(ut->data))->l3gd,&fifo);
     if (event_mask != 0 && (fifo & L3G4200D_LLD_WTM)) {
       success = true;
       break;
+    }
     aosThdMSleep(10);
+  }
   if (status == APAL_STATUS_SUCCESS && success) {
     aosUtPassed(stream, &result);
   } else {
     aosUtFailed(stream, &result);
+  }
   chEvtUnregister(((ut_l3g4200ddata_t*)(ut->data))->src, &el);
   aosThdMSleep(10);
   aosUtInfoMsg(stream, "driver object memory footprint: %u bytes\n", sizeof(L3G4200DDriver));
   return result;
+}
-            ddf34c3d
+#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_L3G4200D) && (AMIROLLD_CFG_L3G4200D == 1) */