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more sus testing
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This commit is contained in:
Robin Müller
2022-02-16 15:16:36 +01:00
parent f5879f5867
commit 3387a71399
7 changed files with 259 additions and 192 deletions
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38
linux/boardtest/SpiTestClass.cpp
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@ -15,7 +15,9 @@
#include <bitset>
#include "busConf.h"
#include "devices/gpioIds.h"
#include "mission/devices/max1227.h"
SpiTestClass::SpiTestClass(object_id_t objectId, GpioIF *gpioIF)
: TestTask(objectId), gpioIF(gpioIF) {
@ -23,8 +25,8 @@ SpiTestClass::SpiTestClass(object_id_t objectId, GpioIF *gpioIF)
sif::error << "SpiTestClass::SpiTestClass: Invalid GPIO ComIF!" << std::endl;
}
testMode = TestModes::MGM_LIS3MDL;
spiTransferStruct.rx_buf = reinterpret_cast<__u64>(recvBuffer.data());
spiTransferStruct.tx_buf = reinterpret_cast<__u64>(sendBuffer.data());
spiTransferStruct[0].rx_buf = reinterpret_cast<__u64>(recvBuffer.data());
spiTransferStruct[0].tx_buf = reinterpret_cast<__u64>(sendBuffer.data());
}
ReturnValue_t SpiTestClass::performOneShotAction() {
@ -44,6 +46,10 @@ ReturnValue_t SpiTestClass::performOneShotAction() {
performL3gTest(gyro1L3gd20ChipSelect);
break;
}
case (TestModes::SUS_0): {
performSusTest();
break;
}
}
return HasReturnvaluesIF::RETURN_OK;
}
@ -180,7 +186,7 @@ void SpiTestClass::performLis3MdlTest(uint8_t lis3Id) {
return;
}
setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
spiTransferStruct.delay_usecs = 0;
spiTransferStruct[0].delay_usecs = 0;
uint8_t whoAmIRegVal = readStmRegister(fileDescriptor, currentGpioId, whoAmIReg, false);
sif::info << "SpiTestClass::performLis3MdlTest: WHO AM I register 0b"
@ -273,6 +279,24 @@ void SpiTestClass::performL3gTest(uint8_t l3gId) {
sif::info << "Z: " << angVelocZ << std::endl;
}
void SpiTestClass::performSusTest() {
#ifdef XIPHOS_Q7S
std::string deviceName = q7s::SPI_DEFAULT_DEV;
#elif defined(RASPBERRY_PI)
std::string deviceName = "";
#endif
int fileDescriptor = 0;
UnixFileGuard fileHelper(deviceName, &fileDescriptor, O_RDWR, "SpiComIF::initializeInterface");
if (fileHelper.getOpenResult()) {
sif::error << "SpiTestClass::performLis3Mdl3100Test: File descriptor could not be opened!"
<< std::endl;
return;
}
uint32_t spiSpeed = 1'000'000;
spi::SpiModes spiMode = spi::SpiModes::MODE_3;
setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
}
void SpiTestClass::acsInit() {
GpioCookie *gpioCookie = new GpioCookie();
@ -361,7 +385,7 @@ void SpiTestClass::setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t sp
}
void SpiTestClass::writeRegister(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t value) {
spiTransferStruct.len = 2;
spiTransferStruct[0].len = 2;
sendBuffer[0] = reg;
sendBuffer[1] = value;
@ -405,7 +429,7 @@ void SpiTestClass::writeMultipleRegisters(int fd, gpioId_t chipSelect, uint8_t r
sendBuffer[0] = reg;
std::memcpy(sendBuffer.data() + 1, values, len);
spiTransferStruct.len = len + 1;
spiTransferStruct[0].len = len + 1;
if (gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
gpioIF->pullLow(chipSelect);
@ -435,7 +459,7 @@ void SpiTestClass::readMultipleRegisters(int fd, gpioId_t chipSelect, uint8_t re
return;
}
spiTransferStruct.len = len + 1;
spiTransferStruct[0].len = len + 1;
sendBuffer[0] = reg | STM_READ_MASK;
for (uint8_t idx = 0; idx < len; idx++) {
@ -465,7 +489,7 @@ uint8_t SpiTestClass::readStmRegister(int fd, gpioId_t chipSelect, uint8_t reg,
}
uint8_t SpiTestClass::readRegister(int fd, gpioId_t chipSelect, uint8_t reg) {
spiTransferStruct.len = 2;
spiTransferStruct[0].len = 2;
sendBuffer[0] = reg;
sendBuffer[1] = 0;