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compare: jakegoodwin:604dc1ad6051a58a6bb6c6e73b84de122101b2b6
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2 Commits
1bc91feed8 ... 604dc1ad60

Author SHA1 Message Date
Jake Goodwin 604dc1ad60 fixed usage warning 2023-09-07 21:46:51 -07:00
Jake Goodwin b97b731bb9 restructured into a interface file and a driver file. 2023-09-07 21:46:42 -07:00
4 changed files with 178 additions and 119 deletions
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107
src/gy521_driver/gy521_driver.c
View File

@ -4,7 +4,12 @@
* Description: The implimentation file for the gy521 module, assumes TWI/I2c
*/
#include "gy521_driver.h"
#include <stdint.h>
/*
* ############################
* MACROS
* ############################
*/
/*DEBUG macro*/
#define DEBUG
@ -32,6 +37,12 @@ extern void mock_assert(const int result, const char* const expression,
#endif // UNIT_TESTING
/*
* ############################
* Defines and consts
* ############################
*/
#define NUM_ACCEL_REGS 6
#define NUM_GYRO_REGS 6
@ -52,100 +63,6 @@ extern void mock_assert(const int result, const char* const expression,
/*
* ############################
* REGISTER MAP
* ############################
*/
/*This thing is fairly huge, but it's got pretty much all the registers
* on it.*/
enum gy521_map {
self_test_x = 0x0D,
self_test_y,
self_test_z,
self_test_a,
smplrt_div = 0x19,
config,
gyro_config,
accel_config,
fifo_en = 0x23,
i2c_mst_ctrl,
i2c_slv0_addr,
i2c_slv0_reg,
i2c_slv0_ctrl,
i2c_slv1_addr,
i2c_slv1_reg,
i2c_slv1_ctrl,
i2c_slv2_addr,
i2c_slv2_reg,
i2c_slv2_ctrl,
i2c_slv3_addr,
i2c_slv3_reg,
i2c_slv3_ctrl,
i2c_slv4_addr,
i2c_slv4_reg,
i2c_slv4_do,
i2c_slv4_ctrl,
i2c_slv4_di,
i2c_mst_status,
int_pin_cfg,
int_enable,
int_status,
accel_xouth = 0x3B,
accel_xoutl,
accel_youth,
accel_youtl,
accel_zouth,
accel_zoutl,
temp_outh,
temp_outl,
gyro_xouth,
gyro_xoutl,
gyro_youth,
gyro_youtl,
gyro_zouth,
gyro_zoutl,
ext_sens_data_00,
ext_sens_data_01,
ext_sens_data_02,
ext_sens_data_03,
ext_sens_data_04,
ext_sens_data_05,
ext_sens_data_06,
ext_sens_data_07,
ext_sens_data_08,
ext_sens_data_09,
ext_sens_data_10,
ext_sens_data_11,
ext_sens_data_12,
ext_sens_data_13,
ext_sens_data_14,
ext_sens_data_15,
ext_sens_data_16,
ext_sens_data_17,
ext_sens_data_18,
ext_sens_data_19,
ext_sens_data_20,
ext_sens_data_21,
ext_sens_data_22,
ext_sens_data_23,
i2c_slv0_do,
i2c_slv1_do,
i2c_slv2_do,
i2c_slv3_do,
i2c_mst_delay_ctrl,
signal_path_reset,
user_ctrl,
pwr_mgmt_1,
pwr_mgmt_2,
fifo_couth = 0x72,
fifo_contl,
fifo_r_w,
who_am_i,
};
/*
* ############################
* Structures

124
src/gy521_driver/gy521_driver.h
View File

@ -6,8 +6,7 @@
#ifndef GY521_DRIVER_H
#define GY521_DRIVER_H
#include <stdint.h>
#include "gy521_interface.h"
#include <stdlib.h>
/*
@ -16,10 +15,6 @@
* ############################
*/
#define STARTUP_DELAY 30 //in ms
#define TWI_GY521_ADDR1 0x68 //ADO Logic Low
#define TWI_GY521_ADDR2 0x69 //ADO Logic High
/*
* ############################
* Types/Structures
@ -38,13 +33,101 @@ typedef struct accel_values{
uint16_t z;
}accel_values_struct;
typedef struct gy521_module gy521_module;
/*
* ############################
* REGISTER MAP
* ############################
*/
/*This thing is fairly huge, but it's got pretty much all the registers
* on it.*/
enum gy521_map {
self_test_x = 0x0D,
self_test_y,
self_test_z,
self_test_a,
smplrt_div = 0x19,
config,
gyro_config,
accel_config,
fifo_en = 0x23,
i2c_mst_ctrl,
i2c_slv0_addr,
i2c_slv0_reg,
i2c_slv0_ctrl,
i2c_slv1_addr,
i2c_slv1_reg,
i2c_slv1_ctrl,
i2c_slv2_addr,
i2c_slv2_reg,
i2c_slv2_ctrl,
i2c_slv3_addr,
i2c_slv3_reg,
i2c_slv3_ctrl,
i2c_slv4_addr,
i2c_slv4_reg,
i2c_slv4_do,
i2c_slv4_ctrl,
i2c_slv4_di,
i2c_mst_status,
int_pin_cfg,
int_enable,
int_status,
accel_xouth = 0x3B,
accel_xoutl,
accel_youth,
accel_youtl,
accel_zouth,
accel_zoutl,
temp_outh,
temp_outl,
gyro_xouth,
gyro_xoutl,
gyro_youth,
gyro_youtl,
gyro_zouth,
gyro_zoutl,
ext_sens_data_00,
ext_sens_data_01,
ext_sens_data_02,
ext_sens_data_03,
ext_sens_data_04,
ext_sens_data_05,
ext_sens_data_06,
ext_sens_data_07,
ext_sens_data_08,
ext_sens_data_09,
ext_sens_data_10,
ext_sens_data_11,
ext_sens_data_12,
ext_sens_data_13,
ext_sens_data_14,
ext_sens_data_15,
ext_sens_data_16,
ext_sens_data_17,
ext_sens_data_18,
ext_sens_data_19,
ext_sens_data_20,
ext_sens_data_21,
ext_sens_data_22,
ext_sens_data_23,
i2c_slv0_do,
i2c_slv1_do,
i2c_slv2_do,
i2c_slv3_do,
i2c_mst_delay_ctrl,
signal_path_reset,
user_ctrl,
pwr_mgmt_1,
pwr_mgmt_2,
fifo_couth = 0x72,
fifo_contl,
fifo_r_w,
who_am_i,
};
typedef enum{
passed = 0,
gyro_failed,
accel_failed,
}self_test_results;
/*
* ############################
@ -52,25 +135,22 @@ typedef enum{
* ############################
*/
gy521_module* gy521_new(void);
/*Function pointers for the TX and RX fuctionality*/
void disable_self_test_gyro(struct gy521_module* m);
void enable_self_test_gyro(struct gy521_module* m);
struct ft_vals self_test_ft_calculation(struct gy521_module* m);
self_test_results gy521_self_test(struct gy521_module* m);
extern void (*gy521_twi_tx)(uint8_t, uint8_t*, uint8_t);
extern void (*gy521_twi_rx)(uint8_t, uint8_t*, uint8_t);
uint8_t read_register(gy521_module *m, enum gy521_map reg);
void write_register(gy521_module *m, enum gy521_map reg, uint8_t data);
struct gy521_module* gy521_new(void);
_Bool gy521_init(struct gy521_module *m, uint8_t slave_address);
void gy521_update_gyro(struct gy521_module* m);
void gy521_update_accel(struct gy521_module* m);
void gy521_free(struct gy521_module *m);
/*These are used instead of direct access; assuming interrupt driven*/
/*updates to the gy521 then it protects the user from using volatile values*/
struct accel_values gy521_get_accel(struct gy521_module* m);
struct gyro_values gy521_get_gyro(struct gy521_module* m);
self_test_results gy521_self_test(struct gy521_module* m);
#endif /* GY521_DRIVER_H */

56
src/gy521_driver/gy521_interface.h Normal file
View File

@ -0,0 +1,56 @@
/*
* Author: Jake Goodwin
* Filename: interface.h
* Description: The file you should include for normal use.
*/
/*Function pointers for the TX and RX fuctionality*/
#ifndef _GY521_INTERFACE_H
#define _GY521_INTERFACE_H
#include "stdint.h"
/*
* ############################
* DEFINES
* ############################
*/
#define STARTUP_DELAY 30 //in ms
#define TWI_GY521_ADDR1 0x68 //ADO Logic Low
#define TWI_GY521_ADDR2 0x69 //ADO Logic High
/*
* ############################
* Structures & Typedefs
* ############################
*/
typedef struct gy521_module gy521_module;
typedef enum{
passed = 0,
gyro_failed,
accel_failed,
}self_test_results;
/*
* ############################
* Fuction Prototypes
* ############################
*/
extern void (*gy521_twi_tx)(uint8_t, uint8_t*, uint8_t);
extern void (*gy521_twi_rx)(uint8_t, uint8_t*, uint8_t);
struct gy521_module* gy521_new(void);
_Bool gy521_init(struct gy521_module *m, uint8_t slave_address);
void gy521_update_gyro(struct gy521_module* m);
void gy521_update_accel(struct gy521_module* m);
void gy521_free(struct gy521_module *m);
#endif

10
tests/gy521_driver/test_gy521_driver.c
View File

@ -341,11 +341,17 @@ static void test_gy521_self_test_accel(void **sate)
/*Mock Object/function for TWI RX*/
static void test_gy521_testing(void **sate)
static void test_gy521_testing(void **state)
{
assert_false(1);
}
static void test_gyro_update(void **state)
{
assert_true(1);
}
int main(void)
{
int result = 0;
@ -353,7 +359,7 @@ int main(void)
/*For testing TWI/I2C related stuff*/
const struct CMUnitTest twi_group[] = {
cmocka_unit_test_setup_teardown(test_gy521_testing, setup_gy521_instance, teardown_gy521_instance),
//cmocka_unit_test(test_gy521_testing),
cmocka_unit_test_setup_teardown(test_gyro_update, setup_gy521_instance, teardown_gy521_instance),
};
const struct CMUnitTest tests[] = {
cmocka_unit_test(test_gy521_init),