rewrote the twi setup and a test to handle the self test functionality of the IMU

This commit is contained in:
Jake Goodwin 2023-09-06 22:56:06 -07:00
parent 42853f1ca2
commit c5fc7461e7
1 changed files with 84 additions and 39 deletions

View File

@ -1,3 +1,4 @@
#include <stdio.h>
#include <stdarg.h> #include <stdarg.h>
#include <stddef.h> #include <stddef.h>
#include <stdint.h> #include <stdint.h>
@ -7,6 +8,7 @@
#include "gy521_driver.h" #include "gy521_driver.h"
#define WRITE_BIT (1<<7) #define WRITE_BIT (1<<7)
#define REG_SIZE 32
typedef struct reg_addr{ typedef struct reg_addr{
uint8_t dev_addr; uint8_t dev_addr;
@ -14,40 +16,46 @@ typedef struct reg_addr{
uint8_t value; uint8_t value;
}reg_addr; }reg_addr;
reg_addr reg_addr_arr[16] = {{0x0, 0x0, 0x0}}; reg_addr reg_addr_arr[REG_SIZE] = {{0x0, 0x0, 0x0}};
uint8_t idx = 0; uint8_t idx = 0;
/* Fake Object for TWI_TX*/ /* Fake Object for TWI_TX*/
void fake_twi_tx(uint8_t slave_addr, uint8_t *data, uint8_t size) void fake_twi_tx(uint8_t slave_addr, uint8_t *data, uint8_t size)
{ {
/*Save the slave address passed*/
reg_addr_arr[0].dev_addr = slave_addr;
/*Now write all the passed data*/ /*read the device address.*/
for(; idx < size; idx++) { reg_addr_arr[idx].dev_addr = slave_addr;
reg_addr_arr[idx].addr = *(data);
reg_addr_arr[idx].value = *(++data); /*Save the register it's trying to access.*/
} reg_addr_arr[idx].addr = *data;
/*Save the data it's sending to that address.*/
reg_addr_arr[idx].value = *(data + 1);
/*Post increment the global index*/ /*Post increment the global index*/
idx++; idx++;
if(idx > REG_SIZE){
idx = 0;
}
} }
/* Fake Object for TWI_RX*/ /* Fake Object for TWI_RX*/
void fake_twi_rx(uint8_t slave_addr, uint8_t *data, uint8_t size) void fake_twi_rx(uint8_t slave_addr, uint8_t *data, uint8_t size)
{ {
/*Save the slave address passed*/ /*Read the device address*/
reg_addr_arr[0].dev_addr = slave_addr; reg_addr_arr[idx].dev_addr = slave_addr;
/*Read the registers requested*/ /*Put down the register address it's trying to read.*/
for(uint8_t i = 0; i < size; i++) { reg_addr_arr[idx].addr = *data;
/*Wridxte the register read address*/
reg_addr_arr[i + idx].addr = *(data + i); /*Fill it with the data from the register*/
*data = reg_addr_arr[idx].value;
/*Read the response value into the pased data ptr*/
*(data + i) = reg_addr_arr[i + idx].value;
}
/*Post increment the global index*/ /*Post increment the global index*/
idx++; idx++;
if(idx > REG_SIZE){
idx = 0;
}
} }
@ -56,6 +64,42 @@ void fake_twi_rx(uint8_t slave_addr, uint8_t *data, uint8_t size)
void (*gy521_twi_tx)(uint8_t, uint8_t*, uint8_t) = &fake_twi_tx; void (*gy521_twi_tx)(uint8_t, uint8_t*, uint8_t) = &fake_twi_tx;
void (*gy521_twi_rx)(uint8_t, uint8_t*, uint8_t) = &fake_twi_rx; void (*gy521_twi_rx)(uint8_t, uint8_t*, uint8_t) = &fake_twi_rx;
/*
* ############################
* Helper functions
* ############################
*/
void print_reg_arr(void)
{
printf("FAKE REGISTERS::\n");
for(uint8_t i = 0; i < REG_SIZE; i++){
print_error("%d:: val: %d, addr: %d, dev_addr: %d\n",
i,
reg_addr_arr[i].value,
reg_addr_arr[i].addr,
reg_addr_arr[i].dev_addr);
}
}
void clear_twi(void)
{
idx = 0;
for(int i = 0; i < REG_SIZE; i++){
reg_addr_arr[i].value = 0;
reg_addr_arr[i].addr = 0;
reg_addr_arr[i].dev_addr = 0;
}
}
/*
* ############################
* TESTS
* ############################
*/
/* Tests the donothing function */ /* Tests the donothing function */
static void test_gy521_init(void **state) { static void test_gy521_init(void **state) {
gy521_module *m = gy521_new(); gy521_module *m = gy521_new();
@ -136,7 +180,7 @@ static void test_gy521_update_gyro(void **sate)
gy521_init(m, TWI_GY521_ADDR1); gy521_init(m, TWI_GY521_ADDR1);
/*Setup the fake gyro values.*/ /*Setup the fake gyro values.*/
for(uint8_t i = 0; i < 6; i++) { for(uint8_t i = 1; i < 7; i++) {
reg_addr_arr[i].value = i * 8; reg_addr_arr[i].value = i * 8;
} }
@ -175,39 +219,40 @@ static void test_gy521_self_test(void **sate)
gy521_init(m, TWI_GY521_ADDR1); gy521_init(m, TWI_GY521_ADDR1);
/*Zero the global index for the twi*/ /*Zero the global index for the twi*/
idx = 0; clear_twi();
/*Setup the full-scale range to +-250dps*/ /*Setup the full-scale range to +-250dps*/
/*Load up the gyro regs with passing test values*/ /*Load up the gyro regs with passing test values*/
for(uint8_t i = 0; i < 6; i++) { /*Load up the selftest regs with passing test values.*/
/*Load up the gyro regs for disabled ST reads*/
for(uint8_t i = 1; i < 17; i++) { /*(6regs * 2) + 3ST regs = 15*/
reg_addr_arr[i].value = 2; reg_addr_arr[i].value = 2;
} }
gy521_update_gyro(m);
/*Load up the testing registers 13-15 with the FT values*/
/*FT: factory trim*/
idx = 0;
for(int i = 0; i < 3; i++){
reg_addr_arr[i].value = 2; /*The values all have to be 4bit*/
}
self_test_results result = gy521_self_test(m); self_test_results result = gy521_self_test(m);
assert_false(result); /*The value should be zero, aka zero faults*/ assert_false(result); /*The value should be zero, aka zero faults*/
/*Check to make sure it can fail.*/ /*Check to make sure it can fail.*/
clear_twi();
/*Load up bad values*/ for(uint8_t i = 1; i < 5; i++){
idx = 0; reg_addr_arr[i].value = 2;
for(int i = 0; i < 6; i++){ }
reg_addr_arr[i].value = 16; /*The values all have to be 4bit*/ for(int i = 4; i < 9; i++){
reg_addr_arr[i].value = 255;
}
for(int i = 9; i < 17; i++){
reg_addr_arr[i].value = 2;
} }
result = gy521_self_test(m); result = gy521_self_test(m);
assert_true(result); /*The value should be greater than one.*/
/*Print out the register values*/
print_reg_arr();
assert_true(result);
/*Free the struct*/ /*Free the struct*/
gy521_free(m); gy521_free(m);