amiro-os / unittests / periphery-lld / src / ut_alld_VCNL4020_v1.c @ d180e1ba
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| 1 | e545e620 | Thomas Schöpping | /*
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| 2 | AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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| 3 | 84f0ce9e | Thomas Schöpping | Copyright (C) 2016..2019 Thomas Schöpping et al.
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| 4 | e545e620 | Thomas Schöpping | |
| 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 | ddf34c3d | Thomas Schöpping | #include <amiroos.h> |
| 20 | e545e620 | Thomas Schöpping | |
| 21 | ddf34c3d | Thomas Schöpping | #if ((AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_VCNL4020) && (AMIROLLD_CFG_VCNL4020 == 1)) || defined(__DOXYGEN__) |
| 22 | |||
| 23 | #include <ut_alld_VCNL4020_v1.h> |
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| 24 | e545e620 | Thomas Schöpping | |
| 25 | f3ac1c96 | Thomas Schöpping | /******************************************************************************/
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| 26 | /* LOCAL DEFINITIONS */
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| 27 | /******************************************************************************/
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| 28 | e545e620 | Thomas Schöpping | |
| 29 | #define INTERRUPT_EVENT_ID 1 |
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| 30 | |||
| 31 | #define INTERRUPT_THRESHOLD 0x2000 |
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| 32 | |||
| 33 | f3ac1c96 | Thomas Schöpping | /******************************************************************************/
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| 34 | /* EXPORTED VARIABLES */
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| 35 | /******************************************************************************/
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| 36 | |||
| 37 | /******************************************************************************/
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| 38 | /* LOCAL TYPES */
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| 39 | /******************************************************************************/
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| 40 | |||
| 41 | /******************************************************************************/
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| 42 | /* LOCAL VARIABLES */
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| 43 | /******************************************************************************/
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| 44 | |||
| 45 | /******************************************************************************/
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| 46 | /* LOCAL FUNCTIONS */
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| 47 | /******************************************************************************/
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| 48 | |||
| 49 | /******************************************************************************/
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| 50 | /* EXPORTED FUNCTIONS */
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| 51 | /******************************************************************************/
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| 52 | |||
| 53 | e545e620 | Thomas Schöpping | aos_utresult_t utAlldVcnl4020Func(BaseSequentialStream* stream, aos_unittest_t* ut) |
| 54 | {
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| 55 | aosDbgCheck((ut->data != NULL) &&
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| 56 | (((ut_vcnl4020data_t*)(ut->data))->vcnld != NULL) &&
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| 57 | (((ut_vcnl4020data_t*)(ut->data))->evtsource != NULL));
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| 58 | |||
| 59 | // local variables
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| 60 | aos_utresult_t result = {0, 0};
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| 61 | uint32_t status; |
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| 62 | uint8_t reg_buf[4];
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| 63 | uint8_t* reg_8 = (uint8_t*)(reg_buf); |
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| 64 | uint16_t* reg_16 = (uint16_t*)(reg_buf); |
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| 65 | event_listener_t event_listener; |
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| 66 | aos_timestamp_t tcurrent, tend; |
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| 67 | |||
| 68 | chprintf(stream, "reading register...\n");
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| 69 | status = vcnl4020_lld_readreg(((ut_vcnl4020data_t*)(ut->data))->vcnld, VCNL4020_LLD_REGADDR_IDREV, ®_8[0], ((ut_vcnl4020data_t*)(ut->data))->timeout);
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| 70 | if ((status == APAL_STATUS_OK || status == APAL_STATUS_WARNING) && reg_8[0] == 0x21u) { |
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| 71 | aosUtPassed(stream, &result); |
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| 72 | } else {
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| 73 | aosUtFailedMsg(stream, &result, "0x%08X; 0x%08X\n", status, reg_8[0]); |
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| 74 | } |
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| 75 | |||
| 76 | chprintf(stream, "writing register...\n");
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| 77 | status = vcnl4020_lld_writereg(((ut_vcnl4020data_t*)(ut->data))->vcnld, VCNL4020_LLD_REGADDR_PROXRATE, VCNL4020_LLD_PROXRATEREG_250_HZ, ((ut_vcnl4020data_t*)(ut->data))->timeout); |
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| 78 | status |= vcnl4020_lld_readreg(((ut_vcnl4020data_t*)(ut->data))->vcnld, VCNL4020_LLD_REGADDR_PROXRATE, ®_8[0], ((ut_vcnl4020data_t*)(ut->data))->timeout);
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| 79 | status |= (reg_8[0] == VCNL4020_LLD_PROXRATEREG_250_HZ) ? 0x0000 : 0x0100; |
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| 80 | status |= vcnl4020_lld_writereg(((ut_vcnl4020data_t*)(ut->data))->vcnld, VCNL4020_LLD_REGADDR_CMD, (VCNL4020_LLD_CMDREG_ALSEN | VCNL4020_LLD_CMDREG_PROXEN | VCNL4020_LLD_CMDREG_SELFTIMED), ((ut_vcnl4020data_t*)(ut->data))->timeout); |
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| 81 | status |= vcnl4020_lld_readreg(((ut_vcnl4020data_t*)(ut->data))->vcnld, VCNL4020_LLD_REGADDR_CMD, ®_8[0], ((ut_vcnl4020data_t*)(ut->data))->timeout);
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| 82 | status |= (reg_8[0] & (VCNL4020_LLD_CMDREG_ALSEN | VCNL4020_LLD_CMDREG_PROXEN | VCNL4020_LLD_CMDREG_SELFTIMED)) ? 0x0000 : 0x0200; |
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| 83 | |||
| 84 | if (status == APAL_STATUS_OK || status == APAL_STATUS_WARNING) {
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| 85 | aosUtPassed(stream, &result); |
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| 86 | } else {
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| 87 | aosUtFailedMsg(stream, &result, "0x%08X, 0x%02X\n", status, reg_8[0]); |
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| 88 | } |
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| 89 | |||
| 90 | chprintf(stream, "reading ambient light for ten seconds...\n");
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| 91 | status = APAL_STATUS_OK; |
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| 92 | for (uint8_t i = 0; i < 10; ++i) { |
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| 93 | aosThdSSleep(1);
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| 94 | status |= vcnl4020_lld_readals(((ut_vcnl4020data_t*)(ut->data))->vcnld, ®_16[0], ((ut_vcnl4020data_t*)(ut->data))->timeout);
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| 95 | chprintf(stream, "\t\tambient light: 0x%04X\n", reg_16[0]); |
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| 96 | } |
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| 97 | status |= (reg_16[0] == 0x0000) ? 0x10 : 0x00; |
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| 98 | if (status == APAL_STATUS_OK) {
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| 99 | aosUtPassed(stream, &result); |
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| 100 | } else {
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| 101 | aosUtFailedMsg(stream, &result, "0x%08X\n", status);
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| 102 | } |
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| 103 | |||
| 104 | chprintf(stream, "reading proximity for ten seconds...\n");
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| 105 | status = APAL_STATUS_OK; |
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| 106 | for (uint8_t i = 0; i < 10; ++i) { |
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| 107 | aosThdSSleep(1);
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| 108 | status |= vcnl4020_lld_readprox(((ut_vcnl4020data_t*)(ut->data))->vcnld, ®_16[1], ((ut_vcnl4020data_t*)(ut->data))->timeout);
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| 109 | chprintf(stream, "\t\tproximity: 0x%04X\n", reg_16[1]); |
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| 110 | } |
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| 111 | status |= (reg_16[1] == 0x0000) ? 0x10 : 0x00; |
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| 112 | if (status == APAL_STATUS_OK) {
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| 113 | aosUtPassed(stream, &result); |
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| 114 | } else {
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| 115 | aosUtFailedMsg(stream, &result, "0x%08X\n", status);
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| 116 | } |
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| 117 | |||
| 118 | chprintf(stream, "reading ambient light and proximity for ten seconds...\n");
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| 119 | status = APAL_STATUS_OK; |
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| 120 | for (uint8_t i = 0; i < 10; ++i) { |
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| 121 | aosThdSSleep(1);
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| 122 | status |= vcnl4020_lld_readalsandprox(((ut_vcnl4020data_t*)(ut->data))->vcnld, ®_16[0], ®_16[1], ((ut_vcnl4020data_t*)(ut->data))->timeout); |
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| 123 | chprintf(stream, "\t\tambient light: 0x%04X\tproximity: 0x%04X\n", reg_16[0], reg_16[1]); |
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| 124 | } |
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| 125 | status |= (reg_16[0] == 0x0000 || reg_16[1] == 0x0000) ? 0x10 : 0x00; |
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| 126 | if (status == APAL_STATUS_OK) {
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| 127 | aosUtPassed(stream, &result); |
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| 128 | } else {
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| 129 | aosUtFailedMsg(stream, &result, "0x%08X\n", status);
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| 130 | } |
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| 131 | |||
| 132 | chprintf(stream, "reading low threshold register...\n");
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| 133 | status = vcnl4020_lld_readlth(((ut_vcnl4020data_t*)(ut->data))->vcnld, ®_16[0], ((ut_vcnl4020data_t*)(ut->data))->timeout);
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| 134 | if (status == APAL_STATUS_OK) {
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| 135 | aosUtPassed(stream, &result); |
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| 136 | } else {
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| 137 | aosUtFailedMsg(stream, &result, "0x%08X\n", status);
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| 138 | } |
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| 139 | |||
| 140 | chprintf(stream, "reading high threshold register...\n");
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| 141 | status = vcnl4020_lld_readhth(((ut_vcnl4020data_t*)(ut->data))->vcnld, ®_16[1], ((ut_vcnl4020data_t*)(ut->data))->timeout);
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| 142 | if (status == APAL_STATUS_OK) {
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| 143 | aosUtPassedMsg(stream, &result, "0x%04X\n", reg_16[1]); |
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| 144 | } else {
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| 145 | aosUtFailedMsg(stream, &result, "0x%08X\n", status);
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| 146 | } |
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| 147 | |||
| 148 | chprintf(stream, "reading both threshold registers...\n");
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| 149 | status = vcnl4020_lld_readth(((ut_vcnl4020data_t*)(ut->data))->vcnld, ®_16[0], ®_16[1], ((ut_vcnl4020data_t*)(ut->data))->timeout); |
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| 150 | if (status == APAL_STATUS_OK) {
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| 151 | aosUtPassedMsg(stream, &result, "low: 0x%04X; high: 0x%04X\n", reg_16[0], reg_16[1]); |
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| 152 | } else {
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| 153 | aosUtFailedMsg(stream, &result, "0x%08X\n", status);
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| 154 | } |
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| 155 | |||
| 156 | chprintf(stream, "writing low threshold register...\n");
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| 157 | status = vcnl4020_lld_writelth(((ut_vcnl4020data_t*)(ut->data))->vcnld, 0xFFFFu, ((ut_vcnl4020data_t*)(ut->data))->timeout);
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| 158 | status |= vcnl4020_lld_readlth(((ut_vcnl4020data_t*)(ut->data))->vcnld, ®_16[0], ((ut_vcnl4020data_t*)(ut->data))->timeout);
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| 159 | if (status == APAL_STATUS_OK && reg_16[0] == 0xFFFFu) { |
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| 160 | aosUtPassed(stream, &result); |
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| 161 | } else {
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| 162 | aosUtFailedMsg(stream, &result, "0x%08X, 0x%04X\n", status, reg_16[0]); |
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| 163 | } |
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| 164 | |||
| 165 | chprintf(stream, "writing high threshold register...\n");
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| 166 | status = vcnl4020_lld_writehth(((ut_vcnl4020data_t*)(ut->data))->vcnld, 0xFFFFu, ((ut_vcnl4020data_t*)(ut->data))->timeout);
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| 167 | status |= vcnl4020_lld_readhth(((ut_vcnl4020data_t*)(ut->data))->vcnld, ®_16[1], ((ut_vcnl4020data_t*)(ut->data))->timeout);
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| 168 | if (status == APAL_STATUS_OK && reg_16[1] == 0xFFFFu) { |
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| 169 | aosUtPassed(stream, &result); |
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| 170 | } else {
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| 171 | aosUtFailedMsg(stream, &result, "0x%08X, 0x%04X\n", status, reg_16[1]); |
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| 172 | } |
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| 173 | |||
| 174 | chprintf(stream, "writing both threshold registers...\n");
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| 175 | status = vcnl4020_lld_writeth(((ut_vcnl4020data_t*)(ut->data))->vcnld, 0x5555u, 0xAAAAu, ((ut_vcnl4020data_t*)(ut->data))->timeout); |
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| 176 | status |= vcnl4020_lld_readth(((ut_vcnl4020data_t*)(ut->data))->vcnld, ®_16[0], ®_16[1], ((ut_vcnl4020data_t*)(ut->data))->timeout); |
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| 177 | if (status == APAL_STATUS_OK && reg_16[0] == 0x5555u && reg_16[1] == 0xAAAAu) { |
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| 178 | aosUtPassed(stream, &result); |
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| 179 | } else {
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| 180 | aosUtFailedMsg(stream, &result, "0x%08X, 0x%04X, 0x%04X\n", status, reg_16[0], reg_16[1]); |
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| 181 | } |
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| 182 | |||
| 183 | chprintf(stream, "test interrupts...\n");
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| 184 | chprintf(stream, "(thresholds are 0x%04X and 0x%04X)\n", 0, INTERRUPT_THRESHOLD); |
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| 185 | chEvtRegister(((ut_vcnl4020data_t*)(ut->data))->evtsource, &event_listener, INTERRUPT_EVENT_ID); |
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| 186 | aosSysGetUptime(&tend); |
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| 187 | tend += 30 * MICROSECONDS_PER_SECOND;
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| 188 | status = vcnl4020_lld_writeth(((ut_vcnl4020data_t*)(ut->data))->vcnld, 0x0000, INTERRUPT_THRESHOLD, ((ut_vcnl4020data_t*)(ut->data))->timeout);
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| 189 | status |= vcnl4020_lld_writereg(((ut_vcnl4020data_t*)(ut->data))->vcnld, VCNL4020_LLD_REGADDR_INTCTRL, VCNL4020_LLD_INTCTRLREG_THRES_EN, ((ut_vcnl4020data_t*)(ut->data))->timeout); |
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| 190 | do {
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| 191 | // read proximity data, interrupt event information and interrupt status
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| 192 | 1e5f7648 | Thomas Schöpping | const eventmask_t emask = chEvtWaitOneTimeout(EVENT_MASK(INTERRUPT_EVENT_ID), chTimeUS2I(10*MICROSECONDS_PER_MILLISECOND)); |
| 193 | e545e620 | Thomas Schöpping | const eventflags_t eflags = chEvtGetAndClearFlags(&event_listener);
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| 194 | status |= vcnl4020_lld_readprox(((ut_vcnl4020data_t*)(ut->data))->vcnld, ®_16[0], ((ut_vcnl4020data_t*)(ut->data))->timeout);
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| 195 | status |= vcnl4020_lld_readreg(((ut_vcnl4020data_t*)(ut->data))->vcnld, VCNL4020_LLD_REGADDR_INTSTATUS, ®_8[2], ((ut_vcnl4020data_t*)(ut->data))->timeout);
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| 196 | if (emask == EVENT_MASK(INTERRUPT_EVENT_ID) &&
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| 197 | eflags == ((ut_vcnl4020data_t*)(ut->data))->evtflags && |
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| 198 | reg_8[2] == VCNL4020_LLD_INTSTATUSREG_THHIGH) {
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| 199 | // true positive (correct case)
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| 200 | chprintf(stream, "\t\tinterrupt detected: prox = 0x%04X\n", reg_16[0]); |
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| 201 | aosThdMSleep(100);
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| 202 | } |
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| 203 | else if (emask != EVENT_MASK(INTERRUPT_EVENT_ID) && |
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| 204 | eflags != ((ut_vcnl4020data_t*)(ut->data))->evtflags && |
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| 205 | reg_8[2] != VCNL4020_LLD_INTSTATUSREG_THHIGH) {
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| 206 | // true negative (correct case)
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| 207 | // do nothing, just keep on looping
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| 208 | } |
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| 209 | else if (emask == EVENT_MASK(INTERRUPT_EVENT_ID) && |
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| 210 | eflags == ((ut_vcnl4020data_t*)(ut->data))->evtflags && |
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| 211 | reg_8[2] != 0 ) { |
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| 212 | // false positive
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| 213 | status |= 0x1000;
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| 214 | chprintf(stream, "\t\tfalse positive: intstatus = 0x%02X; prox = 0x%04X\n", reg_8[2], reg_16[0]); |
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| 215 | } |
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| 216 | else if (emask != EVENT_MASK(INTERRUPT_EVENT_ID) && |
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| 217 | eflags != ((ut_vcnl4020data_t*)(ut->data))->evtflags && |
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| 218 | reg_8[2] == 0) { |
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| 219 | // false negative
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| 220 | status |= 0x2000;
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| 221 | chprintf(stream, "\t\tfalse negative: intstatus = 0x%02X; prox = 0x%04X\n", reg_8[2], reg_16[0]); |
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| 222 | } // any other events are just ignored
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| 223 | // reset interrupt status
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| 224 | if (reg_8[2] != 0) { |
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| 225 | status |= vcnl4020_lld_writereg(((ut_vcnl4020data_t*)(ut->data))->vcnld, VCNL4020_LLD_REGADDR_INTSTATUS, reg_8[2], ((ut_vcnl4020data_t*)(ut->data))->timeout);
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| 226 | } |
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| 227 | aosSysGetUptime(&tcurrent); |
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| 228 | } while (tcurrent < tend);
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| 229 | chEvtUnregister(((ut_vcnl4020data_t*)(ut->data))->evtsource, &event_listener); |
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| 230 | status |= vcnl4020_lld_writereg(((ut_vcnl4020data_t*)(ut->data))->vcnld, VCNL4020_LLD_REGADDR_INTCTRL, 0, ((ut_vcnl4020data_t*)(ut->data))->timeout);
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| 231 | status |= vcnl4020_lld_readreg(((ut_vcnl4020data_t*)(ut->data))->vcnld, VCNL4020_LLD_REGADDR_INTSTATUS, ®_8[2], ((ut_vcnl4020data_t*)(ut->data))->timeout);
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| 232 | status |= vcnl4020_lld_writereg(((ut_vcnl4020data_t*)(ut->data))->vcnld, VCNL4020_LLD_REGADDR_INTSTATUS, reg_8[2], ((ut_vcnl4020data_t*)(ut->data))->timeout);
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| 233 | if (status == APAL_STATUS_SUCCESS || status == APAL_STATUS_WARNING) {
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| 234 | aosUtPassed(stream, &result); |
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| 235 | } else {
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| 236 | aosUtFailedMsg(stream, &result, "0x%08X\n", status);
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| 237 | } |
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| 238 | |||
| 239 | aosUtInfoMsg(stream, "driver object memory footprint: %u bytes\n", sizeof(VCNL4020Driver)); |
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| 240 | |||
| 241 | return result;
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| 242 | } |
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| 243 | |||
| 244 | ddf34c3d | Thomas Schöpping | #endif /* (AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_VCNL4020) && (AMIROLLD_CFG_VCNL4020 == 1) */ |