Statistics
| Branch: | Tag: | Revision:

amiro-os / test / periphery-lld / MPU6050_v1 / aos_test_MPU6050.c @ ded1ded7

History | View | Annotate | Download (2.99 KB)

1
/*
2
AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
3
Copyright (C) 2016..2020  Thomas Schöpping et al.
4

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
#include <amiroos.h>
20
#include <aos_test_MPU6050.h>
21

    
22
#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)
23

    
24
/******************************************************************************/
25
/* LOCAL DEFINITIONS                                                          */
26
/******************************************************************************/
27

    
28
/******************************************************************************/
29
/* EXPORTED VARIABLES                                                         */
30
/******************************************************************************/
31

    
32
/******************************************************************************/
33
/* LOCAL TYPES                                                                */
34
/******************************************************************************/
35

    
36
/******************************************************************************/
37
/* LOCAL VARIABLES                                                            */
38
/******************************************************************************/
39

    
40
/******************************************************************************/
41
/* LOCAL FUNCTIONS                                                            */
42
/******************************************************************************/
43

    
44
/******************************************************************************/
45
/* EXPORTED FUNCTIONS                                                         */
46
/******************************************************************************/
47

    
48
aos_testresult_t aosTestMpu6050Func(BaseSequentialStream* stream, const aos_test_t* test)
49
{
50
    aos_testresult_t result;
51

    
52
    uint8_t data[1] = {0};
53
    int32_t status;
54

    
55
  aosTestResultInit(&result);
56

    
57
    status = mpu6050_lld_read_register(((aos_test_mpu6050data_t*)test->data)->mpu, MPU6050_LLD_REGISTER_WHO_AM_I, data, 1, ((aos_test_mpu6050data_t*)test->data)->timeout);
58
    if (status == APAL_STATUS_OK && data[0] == MPU6050_LLD_WHO_AM_I) {
59
      aosTestPassed(stream, &result);
60
    } else {
61
      aosTestFailedMsg(stream, &result, "0x%08X | 0x%02X (%u)\n", status, data[0], i2cGetErrors(((aos_test_mpu6050data_t*)test->data)->mpu->i2cd));
62
    }
63

    
64
  return result;
65
}
66

    
67
#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */