/*
AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
Copyright (C) 2016..2019 Thomas Schöpping et al.
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 .
*/
#include
#if ((AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_HMC5883L) && (AMIROLLD_CFG_HMC5883L == 1)) || defined(__DOXYGEN__)
#include
/******************************************************************************/
/* LOCAL DEFINITIONS */
/******************************************************************************/
/******************************************************************************/
/* EXPORTED VARIABLES */
/******************************************************************************/
/******************************************************************************/
/* LOCAL TYPES */
/******************************************************************************/
/******************************************************************************/
/* LOCAL VARIABLES */
/******************************************************************************/
/******************************************************************************/
/* LOCAL FUNCTIONS */
/******************************************************************************/
/******************************************************************************/
/* EXPORTED FUNCTIONS */
/******************************************************************************/
/**
* @brief HMC5338L unit test function.
*
* @param[in] stream Stream for intput/output.
* @param[in] ut Unit test object.
*
* @return Unit test result value.
*/
aos_utresult_t utAlldHmc5883lFunc(BaseSequentialStream* stream, aos_unittest_t* ut)
{
aosDbgCheck(ut->data != NULL && (((ut_hmc5883ldata_t*)(ut->data))->drdyEvtSrc != NULL));
// local variables
aos_utresult_t result = {0, 0};
uint32_t status;
uint8_t rxbuffer[3];
uint8_t data;
uint8_t conf = 0x70;
hmc5883l_lld_config_t cfg;
uint16_t mdata[3];
uint8_t state;
eventmask_t event_mask = 0;
event_listener_t el;
uint16_t data_reads = 0;
aos_timestamp_t start;
aos_timestamp_t t;
chprintf(stream, "check ID...\n");
status = hmc5883l_lld_check(((ut_hmc5883ldata_t*)ut->data)->driver, rxbuffer, 3, ((ut_hmc5883ldata_t*)ut->data)->timeout);
if (status == APAL_STATUS_SUCCESS && rxbuffer[0] == HMC5883L_LLD_IDENTIFICATION_A
&& rxbuffer[1] == HMC5883L_LLD_IDENTIFICATION_B
&& rxbuffer[2] == HMC5883L_LLD_IDENTIFICATION_C) {
aosUtPassed(stream, &result);
} else {
chprintf(stream, "\tfailed\n");
++result.failed;
chprintf(stream, "\t\tstatus: %d, idA: %d, idB: %d, idC: %d\n", status, rxbuffer[0], rxbuffer[1], rxbuffer[2]);
chprintf(stream, "\t\texpected idA: %d, idB: %d, idC: %d\n", HMC5883L_LLD_IDENTIFICATION_A, HMC5883L_LLD_IDENTIFICATION_B, HMC5883L_LLD_IDENTIFICATION_C);
}
chprintf(stream, "read register...\n");
status = hmc5883l_lld_read_register(((ut_hmc5883ldata_t*)ut->data)->driver, HMC5883L_LLD_REGISTER_IDENTIFICATION_A, &data, 1, ((ut_hmc5883ldata_t*)ut->data)->timeout);
if ((status == APAL_STATUS_OK || status == APAL_STATUS_WARNING) && data == HMC5883L_LLD_IDENTIFICATION_A) {
aosUtPassed(stream, &result);
} else {
aosUtFailedMsg(stream, &result, "0x%08X\n", status);
}
chprintf(stream, "write register...\n");
status = hmc5883l_lld_write_register(((ut_hmc5883ldata_t*)ut->data)->driver, HMC5883L_LLD_REGISTER_CONFIG_A, &conf, 1, ((ut_hmc5883ldata_t*)ut->data)->timeout);
status |= hmc5883l_lld_read_register(((ut_hmc5883ldata_t*)ut->data)->driver, HMC5883L_LLD_REGISTER_CONFIG_A, &data, 1, ((ut_hmc5883ldata_t*)ut->data)->timeout);
if ((status == APAL_STATUS_SUCCESS || status == APAL_STATUS_WARNING) && data == 0x70) {
aosUtPassed(stream, &result);
} else {
aosUtFailedMsg(stream, &result, "0x%08X\n, data: d", status, data);
}
chprintf(stream, "read configuration\n");
status = hmc5883l_lld_read_config(((ut_hmc5883ldata_t*)ut->data)->driver, &cfg, ((ut_hmc5883ldata_t*)ut->data)->timeout);
if (status == APAL_STATUS_SUCCESS) {
aosUtPassed(stream, &result);
} else {
aosUtFailedMsg(stream, &result, "0x%08X\n", status);
}
chprintf(stream, "write configuration\n");
cfg.avg = HMC5883L_LLD_AVG1;
cfg.outrate = HMC5883L_LLD_75_HZ;
cfg.mbias = HMC5883L_LLD_MB_NORMAL;
cfg.gain = HMC5883L_LLD_GN_0_GA;
cfg.highspeed = HMC5883L_LLD_HS_DISABLE;
cfg.mode = HMC5883L_LLD_MM_CONTINUOUS;
status = hmc5883l_lld_write_config(((ut_hmc5883ldata_t*)ut->data)->driver, cfg, ((ut_hmc5883ldata_t*)ut->data)->timeout);
status |= hmc5883l_lld_read_config(((ut_hmc5883ldata_t*)ut->data)->driver, &cfg, ((ut_hmc5883ldata_t*)ut->data)->timeout);
if (status == APAL_STATUS_OK &&
cfg.avg == HMC5883L_LLD_AVG1 &&
cfg.outrate == HMC5883L_LLD_75_HZ &&
cfg.mbias == HMC5883L_LLD_MB_NORMAL &&
cfg.gain == HMC5883L_LLD_GN_0_GA &&
cfg.highspeed == HMC5883L_LLD_HS_DISABLE &&
cfg.mode == HMC5883L_LLD_MM_CONTINUOUS) {
aosUtPassed(stream, &result);
} else {
aosUtFailedMsg(stream, &result, "0x%08X\n", status);
}
chprintf(stream, "read all data for five seconds...\n");
status = hmc5883l_lld_set_register(((ut_hmc5883ldata_t*)ut->data)->driver,HMC5883L_LLD_REGISTER_MODE,HMC5883L_LLD_MM_CONTINUOUS,((ut_hmc5883ldata_t*)ut->data)->timeout);
for (uint8_t i = 0; i < 5; ++i) {
status |= hmc5883l_lld_read_data(((ut_hmc5883ldata_t*)ut->data)->driver, mdata, ((ut_hmc5883ldata_t*)ut->data)->timeout);
chprintf(stream, "\t\tX = 0x%04X\tY = 0x%04X\tZ = 0x%04X\n",mdata[0],mdata[1],mdata[2]);
aosThdSSleep(1);
}
if (status == APAL_STATUS_OK) {
aosUtPassed(stream, &result);
} else {
aosUtFailedMsg(stream, &result, "0x%08X\n", status);
}
chprintf(stream, "read status...\n");
status = hmc5883l_lld_read_lock(((ut_hmc5883ldata_t*)ut->data)->driver, &state, ((ut_hmc5883ldata_t*)ut->data)->timeout);
chprintf(stream, "\t\tsensor lock: %d\n", state);
status |= hmc5883l_lld_read_rdy(((ut_hmc5883ldata_t*)ut->data)->driver, &state, ((ut_hmc5883ldata_t*)ut->data)->timeout);
chprintf(stream, "\t\tsensor rdy: %d\n", state);
status |= hmc5883l_lld_read_status(((ut_hmc5883ldata_t*)ut->data)->driver, &state, ((ut_hmc5883ldata_t*)ut->data)->timeout);
chprintf(stream, "\t\tsensor status: %d\n", state);
if (status == APAL_STATUS_OK || status == APAL_STATUS_WARNING) {
aosUtPassed(stream, &result);
} else {
aosUtFailedMsg(stream, &result, "0x%08X\n", status);
}
chprintf(stream, "interrupt (partial data read)...\n");
chEvtRegister(((ut_hmc5883ldata_t*)ut->data)->drdyEvtSrc, &el, 0);
status = hmc5883l_lld_write_config(((ut_hmc5883ldata_t*)ut->data)->driver, cfg, ((ut_hmc5883ldata_t*)ut->data)->timeout);
aosThdSSleep(1);
status |= hmc5883l_lld_read_data(((ut_hmc5883ldata_t*)ut->data)->driver, mdata, ((ut_hmc5883ldata_t*)ut->data)->timeout);
aosThdMSleep(10);
event_mask = chEvtWaitOneTimeout(EVENT_MASK(0), TIME_IMMEDIATE);
status |= hmc5883l_lld_read_register(((ut_hmc5883ldata_t*)ut->data)->driver, HMC5883L_LLD_REGISTER_DATA_OUT_X_MSB, &data, 1, ((ut_hmc5883ldata_t*)ut->data)->timeout);
aosThdMSleep(10);
status |= hmc5883l_lld_read_register(((ut_hmc5883ldata_t*)ut->data)->driver, HMC5883L_LLD_REGISTER_DATA_OUT_X_LSB, &data, 1, ((ut_hmc5883ldata_t*)ut->data)->timeout);
aosThdMSleep(10);
event_mask = chEvtWaitOneTimeout(EVENT_MASK(0), TIME_IMMEDIATE);
chprintf(stream, "\t\teventmask = 0x%08X (should be 0)\n", event_mask);
if (event_mask != EVENT_MASK(0)) {
aosUtPassed(stream, &result);
} else {
aosUtFailed(stream, &result);
}
chprintf(stream, "interrupt (full data read)...\n");
status |= hmc5883l_lld_read_data(((ut_hmc5883ldata_t*)ut->data)->driver, mdata, ((ut_hmc5883ldata_t*)ut->data)->timeout);
event_mask = chEvtWaitOneTimeout(EVENT_MASK(0), chTimeUS2I(100 * MICROSECONDS_PER_MILLISECOND));
chprintf(stream, "\t\teventmask = 0x%08X (should be 1)\n", event_mask);
if (event_mask == EVENT_MASK(0)) {
aosUtPassed(stream, &result);
} else {
aosUtFailed(stream, &result);
}
chprintf(stream, "read data based on interrupt...\n");
status = hmc5883l_lld_read_config(((ut_hmc5883ldata_t*)ut->data)->driver, &cfg, ((ut_hmc5883ldata_t*)ut->data)->timeout);
uint8_t mode = HMC5883L_LLD_MM_SINGLE;
cfg.mode = mode;
status |= hmc5883l_lld_write_config(((ut_hmc5883ldata_t*)ut->data)->driver, cfg, ((ut_hmc5883ldata_t*)ut->data)->timeout);
aosSysGetUptime(&start);
aosSysGetUptime(&t);
status |= hmc5883l_lld_read_data(((ut_hmc5883ldata_t*)ut->data)->driver, mdata, ((ut_hmc5883ldata_t*)ut->data)->timeout);
while (t - start < MICROSECONDS_PER_SECOND) {
event_mask = chEvtWaitOneTimeout(EVENT_MASK(0), chTimeUS2I(1000));
if (event_mask == EVENT_MASK(0)) {
status |= hmc5883l_lld_read_data(((ut_hmc5883ldata_t*)ut->data)->driver, mdata, ((ut_hmc5883ldata_t*)ut->data)->timeout);
data_reads++;
status = hmc5883l_lld_write_register(((ut_hmc5883ldata_t*)ut->data)->driver, HMC5883L_LLD_REGISTER_CONFIG_A+2, &mode, 1, ((ut_hmc5883ldata_t*)ut->data)->timeout);
}
aosSysGetUptime(&t);
}
chEvtUnregister(((ut_hmc5883ldata_t*)ut->data)->drdyEvtSrc, &el);
aosUtInfoMsg(stream,"Read data %u times in a second\n", data_reads);
aosUtInfoMsg(stream,"driver object memory footprint: %u bytes\n", sizeof(HMC5883LDriver));
return result;
}
#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_HMC5883L) && (AMIROLLD_CFG_HMC5883L == 1) */