AMiRo-OS

/*

AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.

Copyright (C) 2016..2018  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 <http://www.gnu.org/licenses/>.

*/

#include <ut_alld_mpu6050.h>

#if ((AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_USE_MPU6050)) || defined(__DOXYGEN__)

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/* LOCAL DEFINITIONS                                                          */

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/* EXPORTED VARIABLES                                                         */

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/* LOCAL TYPES                                                                */

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/* LOCAL VARIABLES                                                            */

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/* LOCAL FUNCTIONS                                                            */

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/* EXPORTED FUNCTIONS                                                         */

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#include <aos_debug.h>

#include <chprintf.h>

#include <aos_thread.h>

#include <alld_mpu6050.h>

#include <math.h>

aos_utresult_t utAlldMpu6050Func(BaseSequentialStream* stream, aos_unittest_t* ut)

{

    aos_utresult_t result = {0, 0};

    const mpu6050_lld_register_t addr = 0x75; // register to read from

    uint16_t const data; // buffer for data

    const uint8_t num = 1; // read one register

    const apalTime_t timeout = 100; // TODO: Check units

    mpu6050_lld_read_register(((ut_mpu6050data_t*)ut->data)->mpu, addr, &data, num, ((ut_mpu6050data_t*)ut->data)->timeout);

            /** registers to read:

            0x75: WHO AM I (should return I2C-Adress without the last bit, which is determined by the state of the AO pin!) returns 0x68

                      */

  return result; // TODO: Adjust

}

#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_USE_MPU6050) */