amiro-os / unittests / periphery-lld / src / ut_alld_MPR121_v1.c @ c7dcc892
History | View | Annotate | Download (9.41 KB)
| 1 | e545e620 | Thomas Schöpping | /*
|
|---|---|---|---|
| 2 | AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
|
||
| 3 | 84f0ce9e | Thomas Schöpping | Copyright (C) 2016..2019 Thomas Schöpping et al.
|
| 4 | e545e620 | Thomas Schöpping | |
| 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 | ddf34c3d | Thomas Schöpping | #include <amiroos.h> |
| 20 | 2a4dbf93 | Thomas Schöpping | #include <ut_alld_MPR121_v1.h> |
| 21 | e545e620 | Thomas Schöpping | |
| 22 | ddf34c3d | Thomas Schöpping | #if ((AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_MPR121) && (AMIROLLD_CFG_MPR121 == 1)) || defined(__DOXYGEN__) |
| 23 | |||
| 24 | f3ac1c96 | Thomas Schöpping | /******************************************************************************/
|
| 25 | /* LOCAL DEFINITIONS */
|
||
| 26 | /******************************************************************************/
|
||
| 27 | e545e620 | Thomas Schöpping | |
| 28 | #define INTERRUPT_EVENT_ID 1 |
||
| 29 | |||
| 30 | f3ac1c96 | Thomas Schöpping | /******************************************************************************/
|
| 31 | /* EXPORTED VARIABLES */
|
||
| 32 | /******************************************************************************/
|
||
| 33 | |||
| 34 | /******************************************************************************/
|
||
| 35 | /* LOCAL TYPES */
|
||
| 36 | /******************************************************************************/
|
||
| 37 | |||
| 38 | /******************************************************************************/
|
||
| 39 | /* LOCAL VARIABLES */
|
||
| 40 | /******************************************************************************/
|
||
| 41 | |||
| 42 | /******************************************************************************/
|
||
| 43 | /* LOCAL FUNCTIONS */
|
||
| 44 | /******************************************************************************/
|
||
| 45 | |||
| 46 | /******************************************************************************/
|
||
| 47 | /* EXPORTED FUNCTIONS */
|
||
| 48 | /******************************************************************************/
|
||
| 49 | |||
| 50 | e545e620 | Thomas Schöpping | aos_utresult_t utAlldMpr121Func(BaseSequentialStream* stream, aos_unittest_t* ut) |
| 51 | {
|
||
| 52 | aosDbgCheck(ut->data != NULL && ((ut_mpr121data_t*)ut->data)->mprd != NULL); |
||
| 53 | |||
| 54 | // local variables
|
||
| 55 | aos_utresult_t result = {0, 0};
|
||
| 56 | uint32_t status; |
||
| 57 | mpr121_lld_config_t cfg; |
||
| 58 | uint8_t data, wdata, rdata; |
||
| 59 | uint16_t edata[4];
|
||
| 60 | uint8_t tstate = 0;
|
||
| 61 | event_listener_t event_listener; |
||
| 62 | aos_timestamp_t tstart, tcurrent, tend; |
||
| 63 | |||
| 64 | chprintf(stream, "soft reset...\n");
|
||
| 65 | status = mpr121_lld_soft_reset(((ut_mpr121data_t*)ut->data)->mprd, ((ut_mpr121data_t*)ut->data)->timeout); |
||
| 66 | status |= mpr121_lld_read_config(((ut_mpr121data_t*)ut->data)->mprd, &cfg, ((ut_mpr121data_t*)ut->data)->timeout); |
||
| 67 | if (status == APAL_STATUS_SUCCESS && cfg.registers.ele_config == 0) { |
||
| 68 | aosUtPassed(stream, &result); |
||
| 69 | } else {
|
||
| 70 | aosUtFailedMsg(stream, &result, "0x%08X\n", status);
|
||
| 71 | } |
||
| 72 | |||
| 73 | chprintf(stream, "read register...\n");
|
||
| 74 | status = mpr121_lld_read_register(((ut_mpr121data_t*)ut->data)->mprd, MPR121_LLD_REGISTER_CONFIG_2, 0, 1, &data, ((ut_mpr121data_t*)ut->data)->timeout); |
||
| 75 | chprintf(stream, "\t\tdata: 0x%02X\n", data);
|
||
| 76 | if (status == APAL_STATUS_SUCCESS && data == (MPR121_LLD_CDT_0_5 | MPR121_LLD_ESI_16)) {
|
||
| 77 | aosUtPassed(stream, &result); |
||
| 78 | } else {
|
||
| 79 | aosUtFailedMsg(stream, &result, "0x%08X\n", status);
|
||
| 80 | } |
||
| 81 | |||
| 82 | chprintf(stream, "write register...\n");
|
||
| 83 | wdata = MPR121_LLD_CDT_32 | MPR121_LLD_SFI_10 | MPR121_LLD_ESI_16; |
||
| 84 | status = mpr121_lld_write_register(((ut_mpr121data_t*)ut->data)->mprd, MPR121_LLD_REGISTER_CONFIG_2, 0, 1, &wdata, ((ut_mpr121data_t*)ut->data)->timeout); |
||
| 85 | aosThdMSleep(500);
|
||
| 86 | status |= mpr121_lld_read_register(((ut_mpr121data_t*)ut->data)->mprd, MPR121_LLD_REGISTER_CONFIG_2, 0, 1, &rdata, ((ut_mpr121data_t*)ut->data)->timeout); |
||
| 87 | chprintf(stream, "\t\tdata: 0x%02X\n", rdata);
|
||
| 88 | status |= mpr121_lld_write_register(((ut_mpr121data_t*)ut->data)->mprd, MPR121_LLD_REGISTER_CONFIG_2, 0, 1, &data, ((ut_mpr121data_t*)ut->data)->timeout); |
||
| 89 | if (status == APAL_STATUS_SUCCESS && rdata == wdata) {
|
||
| 90 | aosUtPassed(stream, &result); |
||
| 91 | } else {
|
||
| 92 | aosUtFailedMsg(stream, &result, "0x%08X\n", status);
|
||
| 93 | } |
||
| 94 | |||
| 95 | chprintf(stream, "read config...\n");
|
||
| 96 | status = mpr121_lld_read_config(((ut_mpr121data_t*)ut->data)->mprd, &cfg, ((ut_mpr121data_t*)ut->data)->timeout); |
||
| 97 | if (status == APAL_STATUS_SUCCESS && cfg.registers.config_1 == 0x10 && cfg.registers.config_2 == 0x24) { |
||
| 98 | aosUtPassed(stream, &result); |
||
| 99 | } else {
|
||
| 100 | chprintf(stream, "\t\tconfig 1: 0x%02X\n", cfg.registers.config_1);
|
||
| 101 | chprintf(stream, "\t\tconfig 2: 0x%02X\n", cfg.registers.config_2);
|
||
| 102 | mpr121_lld_read_register(((ut_mpr121data_t*)ut->data)->mprd, MPR121_LLD_REGISTER_CONFIG_1, 0, 1, &rdata, ((ut_mpr121data_t*)ut->data)->timeout); |
||
| 103 | chprintf(stream, "\t\tconfig 1: 0x%02X\n", rdata);
|
||
| 104 | mpr121_lld_read_register(((ut_mpr121data_t*)ut->data)->mprd, MPR121_LLD_REGISTER_CONFIG_2, 0, 1, &rdata, ((ut_mpr121data_t*)ut->data)->timeout); |
||
| 105 | chprintf(stream, "\t\tconfig 2: 0x%02X\n", rdata);
|
||
| 106 | for (uint8_t valueIdx = 0; valueIdx < 8; valueIdx++) { |
||
| 107 | chprintf(stream, "\t\tdata %d: 0x%02X\n", valueIdx, cfg.values[valueIdx]);
|
||
| 108 | } |
||
| 109 | chprintf(stream, "ele_config: 0x%02X\n", cfg.registers.ele_config);
|
||
| 110 | chprintf(stream, "config_1: 0x%02X\n", cfg.registers.config_1);
|
||
| 111 | chprintf(stream, "config_2: 0x%02X\n", cfg.registers.config_2);
|
||
| 112 | chprintf(stream, "target_level: 0x%02X\n", cfg.registers.target_level);
|
||
| 113 | chprintf(stream, "low_side_limit: 0x%02X\n", cfg.registers.low_side_limit);
|
||
| 114 | chprintf(stream, "up_side_limit: 0x%02X\n", cfg.registers.up_side_limit);
|
||
| 115 | chprintf(stream, "auto_config_2: 0x%02X\n", cfg.registers.auto_config_2);
|
||
| 116 | chprintf(stream, "auto_config_1: 0x%02X\n", cfg.registers.auto_config_1);
|
||
| 117 | aosUtFailedMsg(stream, &result, "0x%08X\n", status);
|
||
| 118 | } |
||
| 119 | |||
| 120 | chprintf(stream, "write config...\n");
|
||
| 121 | cfg.registers.ele_config = MPR121_LLD_CL_ON_ALL | MPR121_LLD_ELEPROX_0 | 4;
|
||
| 122 | cfg.registers.config_1 = MPR121_LLD_FFI_18 | 16;
|
||
| 123 | cfg.registers.config_2 = MPR121_LLD_CDT_1 | MPR121_LLD_SFI_10 | MPR121_LLD_ESI_32; |
||
| 124 | cfg.registers.up_side_limit = 0x96u;
|
||
| 125 | cfg.registers.low_side_limit = 0x58u;
|
||
| 126 | cfg.registers.target_level = 0x68u;
|
||
| 127 | cfg.registers.auto_config_1 = MPR121_LLD_FFI_18 | MPR121_LLD_RETRY_2 | MPR121_LLD_BVA_ON_ALL | MPR121_LLD_AC_RECONF_EN; |
||
| 128 | status = mpr121_lld_write_config(((ut_mpr121data_t*)ut->data)->mprd, cfg, ((ut_mpr121data_t*)ut->data)->timeout); |
||
| 129 | aosThdMSleep(500);
|
||
| 130 | status |= mpr121_lld_read_config(((ut_mpr121data_t*)ut->data)->mprd, &cfg, ((ut_mpr121data_t*)ut->data)->timeout); |
||
| 131 | if (status == APAL_STATUS_SUCCESS && cfg.registers.up_side_limit == 0x96u) { |
||
| 132 | aosUtPassed(stream, &result); |
||
| 133 | } else {
|
||
| 134 | aosUtFailedMsg(stream, &result, "0x%08X\n", status);
|
||
| 135 | } |
||
| 136 | |||
| 137 | chprintf(stream, "read filtered data for ten seconds...\n");
|
||
| 138 | chprintf(stream, "(values should change if you touch the sensors now)\n");
|
||
| 139 | for (uint8_t i = 0; i < 10; i++) { |
||
| 140 | status = mpr121_lld_read_filtered_data(((ut_mpr121data_t*)ut->data)->mprd, 0, 4, edata, ((ut_mpr121data_t*)ut->data)->timeout); |
||
| 141 | chprintf(stream, "\t\t0x%04X | 0x%04X | 0x%04X | 0x%04X\n", edata[0], edata[1], edata[2], edata[3]); |
||
| 142 | aosThdSSleep(1);
|
||
| 143 | } |
||
| 144 | if (status == APAL_STATUS_SUCCESS) {
|
||
| 145 | aosUtPassed(stream, &result); |
||
| 146 | } else {
|
||
| 147 | aosUtFailedMsg(stream, &result, "0x%08X\n", status);
|
||
| 148 | } |
||
| 149 | |||
| 150 | chprintf(stream, "test interrupts...\n");
|
||
| 151 | status = AOS_OK; |
||
| 152 | chEvtRegister(((ut_mpr121data_t*)ut->data)->evtsource, &event_listener, INTERRUPT_EVENT_ID); |
||
| 153 | aosSysGetUptime(&tstart); |
||
| 154 | tend = tstart + (30 * MICROSECONDS_PER_SECOND);
|
||
| 155 | do {
|
||
| 156 | aosSysGetUptime(&tcurrent); |
||
| 157 | const aos_timestamp_t ttimeout = MICROSECONDS_PER_SECOND - ((tcurrent - tstart) % MICROSECONDS_PER_SECOND);
|
||
| 158 | 1e5f7648 | Thomas Schöpping | const eventmask_t emask = chEvtWaitOneTimeout(EVENT_MASK(INTERRUPT_EVENT_ID), chTimeUS2I(ttimeout));
|
| 159 | e545e620 | Thomas Schöpping | const eventflags_t eflags = chEvtGetAndClearFlags(&event_listener);
|
| 160 | if (emask == EVENT_MASK(INTERRUPT_EVENT_ID) && eflags == ((ut_mpr121data_t*)ut->data)->evtflags) {
|
||
| 161 | // interrupt detected
|
||
| 162 | status |= mpr121_lld_read_register(((ut_mpr121data_t*)ut->data)->mprd, MPR121_LLD_REGISTER_TOUCH_STATUS, 0, 1, &tstate, ((ut_mpr121data_t*)ut->data)->timeout); |
||
| 163 | chprintf(stream, "\t\tinterrupt detected\n");
|
||
| 164 | chprintf(stream, "\t\ttstate: %X %X %X %X\n", tstate & 1, (tstate >> 1) & 1, (tstate >> 2) & 1, (tstate >> 3) & 1); |
||
| 165 | } |
||
| 166 | else if (emask == 0) { |
||
| 167 | // timeout
|
||
| 168 | status |= mpr121_lld_read_register(((ut_mpr121data_t*)ut->data)->mprd, MPR121_LLD_REGISTER_TOUCH_STATUS, 0, 1, &tstate, ((ut_mpr121data_t*)ut->data)->timeout); |
||
| 169 | chprintf(stream, "\t\ttstate: %X %X %X %X\n", tstate & 1, (tstate >> 1) & 1, (tstate >> 2) & 1, (tstate >> 3) & 1); |
||
| 170 | } |
||
| 171 | aosSysGetUptime(&tcurrent); |
||
| 172 | } while (tcurrent < tend);
|
||
| 173 | chEvtUnregister(((ut_mpr121data_t*)ut->data)->evtsource, &event_listener); |
||
| 174 | if (status == APAL_STATUS_SUCCESS) {
|
||
| 175 | aosUtPassed(stream, &result); |
||
| 176 | } else {
|
||
| 177 | aosUtFailedMsg(stream, &result, "0x%08X\n", status);
|
||
| 178 | } |
||
| 179 | |||
| 180 | aosUtInfoMsg(stream,"driver object memory footprint: %u bytes\n", sizeof(MPR121Driver)); |
||
| 181 | |||
| 182 | return result;
|
||
| 183 | } |
||
| 184 | |||
| 185 | ddf34c3d | Thomas Schöpping | #endif /* (AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_MPR121) && (AMIROLLD_CFG_MPR121 == 1) */ |