amiro-os / unittests / periphery-lld / src / ut_alld_vcnl4020.c @ f3ac1c96
History | View | Annotate | Download (12.398 KB)
| 1 | e545e620 | Thomas Schöpping | /*
|
|---|---|---|---|
| 2 | AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
|
||
| 3 | 84f0ce9e | Thomas Schöpping | Copyright (C) 2016..2019 Thomas Schöpping et al.
|
| 4 | e545e620 | Thomas Schöpping | |
| 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 <ut_alld_vcnl4020.h> |
||
| 20 | |||
| 21 | #if ((AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_USE_VCNL4020)) || defined(__DOXYGEN__) |
||
| 22 | |||
| 23 | f3ac1c96 | Thomas Schöpping | /******************************************************************************/
|
| 24 | /* LOCAL DEFINITIONS */
|
||
| 25 | /******************************************************************************/
|
||
| 26 | e545e620 | Thomas Schöpping | #include <aos_debug.h> |
| 27 | #include <chprintf.h> |
||
| 28 | #include <aos_thread.h> |
||
| 29 | #include <alld_vcnl4020.h> |
||
| 30 | #include <amiroos.h> |
||
| 31 | |||
| 32 | #define INTERRUPT_EVENT_ID 1 |
||
| 33 | |||
| 34 | #define INTERRUPT_THRESHOLD 0x2000 |
||
| 35 | |||
| 36 | f3ac1c96 | Thomas Schöpping | /******************************************************************************/
|
| 37 | /* EXPORTED VARIABLES */
|
||
| 38 | /******************************************************************************/
|
||
| 39 | |||
| 40 | /******************************************************************************/
|
||
| 41 | /* LOCAL TYPES */
|
||
| 42 | /******************************************************************************/
|
||
| 43 | |||
| 44 | /******************************************************************************/
|
||
| 45 | /* LOCAL VARIABLES */
|
||
| 46 | /******************************************************************************/
|
||
| 47 | |||
| 48 | /******************************************************************************/
|
||
| 49 | /* LOCAL FUNCTIONS */
|
||
| 50 | /******************************************************************************/
|
||
| 51 | |||
| 52 | /******************************************************************************/
|
||
| 53 | /* EXPORTED FUNCTIONS */
|
||
| 54 | /******************************************************************************/
|
||
| 55 | |||
| 56 | e545e620 | Thomas Schöpping | aos_utresult_t utAlldVcnl4020Func(BaseSequentialStream* stream, aos_unittest_t* ut) |
| 57 | {
|
||
| 58 | aosDbgCheck((ut->data != NULL) &&
|
||
| 59 | (((ut_vcnl4020data_t*)(ut->data))->vcnld != NULL) &&
|
||
| 60 | (((ut_vcnl4020data_t*)(ut->data))->evtsource != NULL));
|
||
| 61 | |||
| 62 | // local variables
|
||
| 63 | aos_utresult_t result = {0, 0};
|
||
| 64 | uint32_t status; |
||
| 65 | uint8_t reg_buf[4];
|
||
| 66 | uint8_t* reg_8 = (uint8_t*)(reg_buf); |
||
| 67 | uint16_t* reg_16 = (uint16_t*)(reg_buf); |
||
| 68 | event_listener_t event_listener; |
||
| 69 | aos_timestamp_t tcurrent, tend; |
||
| 70 | |||
| 71 | chprintf(stream, "reading register...\n");
|
||
| 72 | status = vcnl4020_lld_readreg(((ut_vcnl4020data_t*)(ut->data))->vcnld, VCNL4020_LLD_REGADDR_IDREV, ®_8[0], ((ut_vcnl4020data_t*)(ut->data))->timeout);
|
||
| 73 | if ((status == APAL_STATUS_OK || status == APAL_STATUS_WARNING) && reg_8[0] == 0x21u) { |
||
| 74 | aosUtPassed(stream, &result); |
||
| 75 | } else {
|
||
| 76 | aosUtFailedMsg(stream, &result, "0x%08X; 0x%08X\n", status, reg_8[0]); |
||
| 77 | } |
||
| 78 | |||
| 79 | chprintf(stream, "writing register...\n");
|
||
| 80 | 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); |
||
| 81 | status |= vcnl4020_lld_readreg(((ut_vcnl4020data_t*)(ut->data))->vcnld, VCNL4020_LLD_REGADDR_PROXRATE, ®_8[0], ((ut_vcnl4020data_t*)(ut->data))->timeout);
|
||
| 82 | status |= (reg_8[0] == VCNL4020_LLD_PROXRATEREG_250_HZ) ? 0x0000 : 0x0100; |
||
| 83 | 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); |
||
| 84 | status |= vcnl4020_lld_readreg(((ut_vcnl4020data_t*)(ut->data))->vcnld, VCNL4020_LLD_REGADDR_CMD, ®_8[0], ((ut_vcnl4020data_t*)(ut->data))->timeout);
|
||
| 85 | status |= (reg_8[0] & (VCNL4020_LLD_CMDREG_ALSEN | VCNL4020_LLD_CMDREG_PROXEN | VCNL4020_LLD_CMDREG_SELFTIMED)) ? 0x0000 : 0x0200; |
||
| 86 | |||
| 87 | if (status == APAL_STATUS_OK || status == APAL_STATUS_WARNING) {
|
||
| 88 | aosUtPassed(stream, &result); |
||
| 89 | } else {
|
||
| 90 | aosUtFailedMsg(stream, &result, "0x%08X, 0x%02X\n", status, reg_8[0]); |
||
| 91 | } |
||
| 92 | |||
| 93 | chprintf(stream, "reading ambient light for ten seconds...\n");
|
||
| 94 | status = APAL_STATUS_OK; |
||
| 95 | for (uint8_t i = 0; i < 10; ++i) { |
||
| 96 | aosThdSSleep(1);
|
||
| 97 | status |= vcnl4020_lld_readals(((ut_vcnl4020data_t*)(ut->data))->vcnld, ®_16[0], ((ut_vcnl4020data_t*)(ut->data))->timeout);
|
||
| 98 | chprintf(stream, "\t\tambient light: 0x%04X\n", reg_16[0]); |
||
| 99 | } |
||
| 100 | status |= (reg_16[0] == 0x0000) ? 0x10 : 0x00; |
||
| 101 | if (status == APAL_STATUS_OK) {
|
||
| 102 | aosUtPassed(stream, &result); |
||
| 103 | } else {
|
||
| 104 | aosUtFailedMsg(stream, &result, "0x%08X\n", status);
|
||
| 105 | } |
||
| 106 | |||
| 107 | chprintf(stream, "reading proximity for ten seconds...\n");
|
||
| 108 | status = APAL_STATUS_OK; |
||
| 109 | for (uint8_t i = 0; i < 10; ++i) { |
||
| 110 | aosThdSSleep(1);
|
||
| 111 | status |= vcnl4020_lld_readprox(((ut_vcnl4020data_t*)(ut->data))->vcnld, ®_16[1], ((ut_vcnl4020data_t*)(ut->data))->timeout);
|
||
| 112 | chprintf(stream, "\t\tproximity: 0x%04X\n", reg_16[1]); |
||
| 113 | } |
||
| 114 | status |= (reg_16[1] == 0x0000) ? 0x10 : 0x00; |
||
| 115 | if (status == APAL_STATUS_OK) {
|
||
| 116 | aosUtPassed(stream, &result); |
||
| 117 | } else {
|
||
| 118 | aosUtFailedMsg(stream, &result, "0x%08X\n", status);
|
||
| 119 | } |
||
| 120 | |||
| 121 | chprintf(stream, "reading ambient light and proximity for ten seconds...\n");
|
||
| 122 | status = APAL_STATUS_OK; |
||
| 123 | for (uint8_t i = 0; i < 10; ++i) { |
||
| 124 | aosThdSSleep(1);
|
||
| 125 | status |= vcnl4020_lld_readalsandprox(((ut_vcnl4020data_t*)(ut->data))->vcnld, ®_16[0], ®_16[1], ((ut_vcnl4020data_t*)(ut->data))->timeout); |
||
| 126 | chprintf(stream, "\t\tambient light: 0x%04X\tproximity: 0x%04X\n", reg_16[0], reg_16[1]); |
||
| 127 | } |
||
| 128 | status |= (reg_16[0] == 0x0000 || reg_16[1] == 0x0000) ? 0x10 : 0x00; |
||
| 129 | if (status == APAL_STATUS_OK) {
|
||
| 130 | aosUtPassed(stream, &result); |
||
| 131 | } else {
|
||
| 132 | aosUtFailedMsg(stream, &result, "0x%08X\n", status);
|
||
| 133 | } |
||
| 134 | |||
| 135 | chprintf(stream, "reading low threshold register...\n");
|
||
| 136 | status = vcnl4020_lld_readlth(((ut_vcnl4020data_t*)(ut->data))->vcnld, ®_16[0], ((ut_vcnl4020data_t*)(ut->data))->timeout);
|
||
| 137 | if (status == APAL_STATUS_OK) {
|
||
| 138 | aosUtPassed(stream, &result); |
||
| 139 | } else {
|
||
| 140 | aosUtFailedMsg(stream, &result, "0x%08X\n", status);
|
||
| 141 | } |
||
| 142 | |||
| 143 | chprintf(stream, "reading high threshold register...\n");
|
||
| 144 | status = vcnl4020_lld_readhth(((ut_vcnl4020data_t*)(ut->data))->vcnld, ®_16[1], ((ut_vcnl4020data_t*)(ut->data))->timeout);
|
||
| 145 | if (status == APAL_STATUS_OK) {
|
||
| 146 | aosUtPassedMsg(stream, &result, "0x%04X\n", reg_16[1]); |
||
| 147 | } else {
|
||
| 148 | aosUtFailedMsg(stream, &result, "0x%08X\n", status);
|
||
| 149 | } |
||
| 150 | |||
| 151 | chprintf(stream, "reading both threshold registers...\n");
|
||
| 152 | status = vcnl4020_lld_readth(((ut_vcnl4020data_t*)(ut->data))->vcnld, ®_16[0], ®_16[1], ((ut_vcnl4020data_t*)(ut->data))->timeout); |
||
| 153 | if (status == APAL_STATUS_OK) {
|
||
| 154 | aosUtPassedMsg(stream, &result, "low: 0x%04X; high: 0x%04X\n", reg_16[0], reg_16[1]); |
||
| 155 | } else {
|
||
| 156 | aosUtFailedMsg(stream, &result, "0x%08X\n", status);
|
||
| 157 | } |
||
| 158 | |||
| 159 | chprintf(stream, "writing low threshold register...\n");
|
||
| 160 | status = vcnl4020_lld_writelth(((ut_vcnl4020data_t*)(ut->data))->vcnld, 0xFFFFu, ((ut_vcnl4020data_t*)(ut->data))->timeout);
|
||
| 161 | status |= vcnl4020_lld_readlth(((ut_vcnl4020data_t*)(ut->data))->vcnld, ®_16[0], ((ut_vcnl4020data_t*)(ut->data))->timeout);
|
||
| 162 | if (status == APAL_STATUS_OK && reg_16[0] == 0xFFFFu) { |
||
| 163 | aosUtPassed(stream, &result); |
||
| 164 | } else {
|
||
| 165 | aosUtFailedMsg(stream, &result, "0x%08X, 0x%04X\n", status, reg_16[0]); |
||
| 166 | } |
||
| 167 | |||
| 168 | chprintf(stream, "writing high threshold register...\n");
|
||
| 169 | status = vcnl4020_lld_writehth(((ut_vcnl4020data_t*)(ut->data))->vcnld, 0xFFFFu, ((ut_vcnl4020data_t*)(ut->data))->timeout);
|
||
| 170 | status |= vcnl4020_lld_readhth(((ut_vcnl4020data_t*)(ut->data))->vcnld, ®_16[1], ((ut_vcnl4020data_t*)(ut->data))->timeout);
|
||
| 171 | if (status == APAL_STATUS_OK && reg_16[1] == 0xFFFFu) { |
||
| 172 | aosUtPassed(stream, &result); |
||
| 173 | } else {
|
||
| 174 | aosUtFailedMsg(stream, &result, "0x%08X, 0x%04X\n", status, reg_16[1]); |
||
| 175 | } |
||
| 176 | |||
| 177 | chprintf(stream, "writing both threshold registers...\n");
|
||
| 178 | status = vcnl4020_lld_writeth(((ut_vcnl4020data_t*)(ut->data))->vcnld, 0x5555u, 0xAAAAu, ((ut_vcnl4020data_t*)(ut->data))->timeout); |
||
| 179 | status |= vcnl4020_lld_readth(((ut_vcnl4020data_t*)(ut->data))->vcnld, ®_16[0], ®_16[1], ((ut_vcnl4020data_t*)(ut->data))->timeout); |
||
| 180 | if (status == APAL_STATUS_OK && reg_16[0] == 0x5555u && reg_16[1] == 0xAAAAu) { |
||
| 181 | aosUtPassed(stream, &result); |
||
| 182 | } else {
|
||
| 183 | aosUtFailedMsg(stream, &result, "0x%08X, 0x%04X, 0x%04X\n", status, reg_16[0], reg_16[1]); |
||
| 184 | } |
||
| 185 | |||
| 186 | chprintf(stream, "test interrupts...\n");
|
||
| 187 | chprintf(stream, "(thresholds are 0x%04X and 0x%04X)\n", 0, INTERRUPT_THRESHOLD); |
||
| 188 | chEvtRegister(((ut_vcnl4020data_t*)(ut->data))->evtsource, &event_listener, INTERRUPT_EVENT_ID); |
||
| 189 | aosSysGetUptime(&tend); |
||
| 190 | tend += 30 * MICROSECONDS_PER_SECOND;
|
||
| 191 | status = vcnl4020_lld_writeth(((ut_vcnl4020data_t*)(ut->data))->vcnld, 0x0000, INTERRUPT_THRESHOLD, ((ut_vcnl4020data_t*)(ut->data))->timeout);
|
||
| 192 | 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); |
||
| 193 | do {
|
||
| 194 | // read proximity data, interrupt event information and interrupt status
|
||
| 195 | 1e5f7648 | Thomas Schöpping | const eventmask_t emask = chEvtWaitOneTimeout(EVENT_MASK(INTERRUPT_EVENT_ID), chTimeUS2I(10*MICROSECONDS_PER_MILLISECOND)); |
| 196 | e545e620 | Thomas Schöpping | const eventflags_t eflags = chEvtGetAndClearFlags(&event_listener);
|
| 197 | status |= vcnl4020_lld_readprox(((ut_vcnl4020data_t*)(ut->data))->vcnld, ®_16[0], ((ut_vcnl4020data_t*)(ut->data))->timeout);
|
||
| 198 | status |= vcnl4020_lld_readreg(((ut_vcnl4020data_t*)(ut->data))->vcnld, VCNL4020_LLD_REGADDR_INTSTATUS, ®_8[2], ((ut_vcnl4020data_t*)(ut->data))->timeout);
|
||
| 199 | if (emask == EVENT_MASK(INTERRUPT_EVENT_ID) &&
|
||
| 200 | eflags == ((ut_vcnl4020data_t*)(ut->data))->evtflags && |
||
| 201 | reg_8[2] == VCNL4020_LLD_INTSTATUSREG_THHIGH) {
|
||
| 202 | // true positive (correct case)
|
||
| 203 | chprintf(stream, "\t\tinterrupt detected: prox = 0x%04X\n", reg_16[0]); |
||
| 204 | aosThdMSleep(100);
|
||
| 205 | } |
||
| 206 | else if (emask != EVENT_MASK(INTERRUPT_EVENT_ID) && |
||
| 207 | eflags != ((ut_vcnl4020data_t*)(ut->data))->evtflags && |
||
| 208 | reg_8[2] != VCNL4020_LLD_INTSTATUSREG_THHIGH) {
|
||
| 209 | // true negative (correct case)
|
||
| 210 | // do nothing, just keep on looping
|
||
| 211 | } |
||
| 212 | else if (emask == EVENT_MASK(INTERRUPT_EVENT_ID) && |
||
| 213 | eflags == ((ut_vcnl4020data_t*)(ut->data))->evtflags && |
||
| 214 | reg_8[2] != 0 ) { |
||
| 215 | // false positive
|
||
| 216 | status |= 0x1000;
|
||
| 217 | chprintf(stream, "\t\tfalse positive: intstatus = 0x%02X; prox = 0x%04X\n", reg_8[2], reg_16[0]); |
||
| 218 | } |
||
| 219 | else if (emask != EVENT_MASK(INTERRUPT_EVENT_ID) && |
||
| 220 | eflags != ((ut_vcnl4020data_t*)(ut->data))->evtflags && |
||
| 221 | reg_8[2] == 0) { |
||
| 222 | // false negative
|
||
| 223 | status |= 0x2000;
|
||
| 224 | chprintf(stream, "\t\tfalse negative: intstatus = 0x%02X; prox = 0x%04X\n", reg_8[2], reg_16[0]); |
||
| 225 | } // any other events are just ignored
|
||
| 226 | // reset interrupt status
|
||
| 227 | if (reg_8[2] != 0) { |
||
| 228 | status |= vcnl4020_lld_writereg(((ut_vcnl4020data_t*)(ut->data))->vcnld, VCNL4020_LLD_REGADDR_INTSTATUS, reg_8[2], ((ut_vcnl4020data_t*)(ut->data))->timeout);
|
||
| 229 | } |
||
| 230 | aosSysGetUptime(&tcurrent); |
||
| 231 | } while (tcurrent < tend);
|
||
| 232 | chEvtUnregister(((ut_vcnl4020data_t*)(ut->data))->evtsource, &event_listener); |
||
| 233 | status |= vcnl4020_lld_writereg(((ut_vcnl4020data_t*)(ut->data))->vcnld, VCNL4020_LLD_REGADDR_INTCTRL, 0, ((ut_vcnl4020data_t*)(ut->data))->timeout);
|
||
| 234 | status |= vcnl4020_lld_readreg(((ut_vcnl4020data_t*)(ut->data))->vcnld, VCNL4020_LLD_REGADDR_INTSTATUS, ®_8[2], ((ut_vcnl4020data_t*)(ut->data))->timeout);
|
||
| 235 | status |= vcnl4020_lld_writereg(((ut_vcnl4020data_t*)(ut->data))->vcnld, VCNL4020_LLD_REGADDR_INTSTATUS, reg_8[2], ((ut_vcnl4020data_t*)(ut->data))->timeout);
|
||
| 236 | if (status == APAL_STATUS_SUCCESS || status == APAL_STATUS_WARNING) {
|
||
| 237 | aosUtPassed(stream, &result); |
||
| 238 | } else {
|
||
| 239 | aosUtFailedMsg(stream, &result, "0x%08X\n", status);
|
||
| 240 | } |
||
| 241 | |||
| 242 | aosUtInfoMsg(stream, "driver object memory footprint: %u bytes\n", sizeof(VCNL4020Driver)); |
||
| 243 | |||
| 244 | return result;
|
||
| 245 | } |
||
| 246 | |||
| 247 | #endif /* (AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_USE_VCNL4020) */ |