/unittests/periphery-lld/src/ut_alld_lis331dlh.c - Annotate - AMiRo-OS - Research for Cognitive Interaction

amiro-os / unittests / periphery-lld / src / ut_alld_lis331dlh.c @ f3ac1c96

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+/*
 AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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+Copyright (C) 2016..2019  Thomas Schöpping et al.
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+            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/>.
 */
 #include <ut_alld_lis331dlh.h>
 #if ((AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_USE_LIS331DLH)) || defined(__DOXYGEN__)
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+/******************************************************************************/
 /* LOCAL DEFINITIONS                                                          */
 /******************************************************************************/
 /******************************************************************************/
 /* EXPORTED VARIABLES                                                         */
 /******************************************************************************/
 /******************************************************************************/
 /* LOCAL TYPES                                                                */
 /******************************************************************************/
 /******************************************************************************/
 /* LOCAL VARIABLES                                                            */
 /******************************************************************************/
 /******************************************************************************/
 /* LOCAL FUNCTIONS                                                            */
 /******************************************************************************/
 /******************************************************************************/
 /* EXPORTED FUNCTIONS                                                         */
 /******************************************************************************/
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+#include <aos_debug.h>
 #include <chprintf.h>
 #include <aos_thread.h>
 #include <alld_lis331dlh.h>
 /**
  * @brief   LIS331DLH unit test function.
+ *
  * @param[in] stream  Stream for input/output.
  * @param[in] ut      Unit test object.
+ *
  * @return            Unit test result value.
  */
 aos_utresult_t utAlldLis331dlhFunc(BaseSequentialStream* stream, aos_unittest_t* ut)
+{
   aosDbgCheck(ut->data != NULL && ((ut_lis331dlhdata_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];
   uint8_t errors = 0;
   uint8_t reg1;
   int16_t sdata[3];
   uint8_t status_reg;
   lis331dlh_lld_int_cfg_t intcfg;
   event_listener_t el;
   eventmask_t event_mask;
   uint8_t success = 0;
   for (uint8_t dataIdx = 0; dataIdx < 4; dataIdx++) {
     write_data[dataIdx] = (dataIdx+1)*11;
+  }
   write_data[4] = 0;
   chprintf(stream, "check identity...\n");
   status = lis331dlh_lld_read_register(((ut_lis331dlhdata_t*)(ut->data))->lisd, LIS331DLH_LLD_REGISTER_WHO_AM_I, &data, 1);
   if (status == APAL_STATUS_SUCCESS &&
       data == LIS331DLH_LLD_WHO_AM_I) {
     aosUtPassed(stream, &result);
   } else {
     chprintf(stream, "\tfailed\n");
     aosUtFailedMsg(stream, &result, "0x%08X, data: %d\n", status, data);
     ++result.failed;
+  }
   chprintf(stream, "write register...\n");
   status = lis331dlh_lld_write_register(((ut_lis331dlhdata_t*)(ut->data))->lisd, LIS331DLH_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 = lis331dlh_lld_read_register(((ut_lis331dlhdata_t*)(ut->data))->lisd, LIS331DLH_LLD_REGISTER_CTRL_REG1, &data, 1);
   if (status == APAL_STATUS_SUCCESS && data == write_data[0]) {
     aosUtPassed(stream, &result);
   } else {
     chprintf(stream, "\tfailed\n");
     aosUtFailedMsg(stream, &result, "0x%08X, data: %d\n", status, data);
     ++result.failed;
+  }
   chprintf(stream, "write multiple registers...\n");
   status = lis331dlh_lld_write_register(((ut_lis331dlhdata_t*)(ut->data))->lisd, LIS331DLH_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 = lis331dlh_lld_read_register(((ut_lis331dlhdata_t*)(ut->data))->lisd, LIS331DLH_LLD_REGISTER_CTRL_REG1, read_data, 5);
   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 {
     chprintf(stream, "\tfailed\n");
     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");
   lis331dlh_lld_cfg_t cfg;
   status = lis331dlh_lld_read_config(((ut_lis331dlhdata_t*)(ut->data))->lisd, &cfg);
   if (status == APAL_STATUS_SUCCESS) {
     aosUtPassed(stream, &result);
   } else {
     aosUtFailed(stream, &result);
+  }
   chprintf(stream, "write config...\n");
   cfg.registers.ctrl_reg1 = LIS331DLH_LLD_PM_ODR |
       LIS331DLH_LLD_DR_1000HZ_780LP |
       LIS331DLH_LLD_X_AXIS_ENABLE |
       LIS331DLH_LLD_Y_AXIS_ENABLE |
       LIS331DLH_LLD_Z_AXIS_ENABLE;
   cfg.registers.ctrl_reg3 = 0x00;
   status = lis331dlh_lld_write_config(((ut_lis331dlhdata_t*)(ut->data))->lisd, &cfg);
   reg1 = cfg.data[0];
   lis331dlh_lld_read_config(((ut_lis331dlhdata_t*)(ut->data))->lisd, &cfg);
   if (status == APAL_STATUS_SUCCESS && cfg.data[0] == reg1) {
     aosUtPassed(stream, &result);
   } else {
     aosUtFailed(stream, &result);
+  }
   chprintf(stream, "read acceleration for five seconds...\n");
   status = APAL_STATUS_SUCCESS;
   for (uint8_t i = 0; i < 5; ++i) {
     status |= lis331dlh_lld_read_all_data(((ut_lis331dlhdata_t*)(ut->data))->lisd, 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 acceleration for five seconds...\n");
   status = APAL_STATUS_SUCCESS;
   for (uint8_t i = 0; i < 5; ++i) {
     status |= lis331dlh_lld_read_data(((ut_lis331dlhdata_t*)(ut->data))->lisd, &(sdata[0]), LIS331DLH_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 acceleration for five seconds...\n");
   status = APAL_STATUS_SUCCESS;
   for (uint8_t i = 0; i < 5; ++i) {
     status |= lis331dlh_lld_read_data(((ut_lis331dlhdata_t*)(ut->data))->lisd, &(sdata[0]), LIS331DLH_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 acceleration for five seconds...\n");
   status = APAL_STATUS_SUCCESS;
   for (uint8_t i = 0; i < 5; ++i) {
     status |= lis331dlh_lld_read_data(((ut_lis331dlhdata_t*)(ut->data))->lisd, &(sdata[0]), LIS331DLH_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);
+  }
   chprintf(stream, "read status register...\n");
   status = lis331dlh_lld_read_status_register(((ut_lis331dlhdata_t*)(ut->data))->lisd, &status_reg);
   if (status == APAL_STATUS_SUCCESS) {
     aosUtPassed(stream, &result);
   } else {
     aosUtFailed(stream, &result);
+  }
   chprintf(stream, "interrupt...\n");
   intcfg.cfg_reg = LIS331DLH_LLD_INT_CFG_X_HIGH_ENABLE | LIS331DLH_LLD_INT_CFG_Y_HIGH_ENABLE | LIS331DLH_LLD_INT_CFG_Z_HIGH_ENABLE;
   intcfg.threshold = 10;
   intcfg.duration = 1;
   lis331dlh_lld_write_int_config(((ut_lis331dlhdata_t*)(ut->data))->lisd, &intcfg, LIS331DLH_LLD_INT1);
   aosThdSSleep(1);
   chEvtRegister(((ut_lis331dlhdata_t*)(ut->data))->src, &el, 3);
   chprintf(stream, "\t\tmove the AMiRo now to generate interrupts\n");
   aosThdSSleep(1);
   for (uint8_t i = 0; i < 10; i++) {
     event_mask = chEvtWaitOneTimeout(EVENT_MASK(3), TIME_IMMEDIATE);
     status |= lis331dlh_lld_read_all_data(((ut_lis331dlhdata_t*)(ut->data))->lisd, sdata, &cfg);
     status = lis331dlh_lld_read_register(((ut_lis331dlhdata_t*)(ut->data))->lisd, LIS331DLH_LLD_REGISTER_INT1_SOURCE, &data, 1);
     eventflags_t flags = chEvtGetAndClearFlags(&el);
     if (event_mask == EVENT_MASK(3) && (flags & ((ut_lis331dlhdata_t*)(ut->data))->evtflags)) {
       ++success;
       chprintf(stream, "\t\tX = %6d INTERRUPT\n", sdata[0]);
     } else {
       chprintf(stream, "\t\tX = %6d\n", sdata[0]);
+    }
     aosThdSSleep(1);
+  }
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+  event_mask = chEvtWaitOneTimeout(EVENT_MASK(3), TIME_IMMEDIATE);
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+  chEvtUnregister(((ut_lis331dlhdata_t*)(ut->data))->src, &el);
   if (status == APAL_STATUS_SUCCESS && success > 0) {
     aosUtPassed(stream, &result);
   } else {
     aosUtFailed(stream, &result);
+  }
   aosUtInfoMsg(stream, "driver object memory footprint: %u bytes\n", sizeof(LIS331DLHDriver));
   return result;
+}
 #endif /* (AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_USE_LIS331DLH) */