From 6a6ee2ffd23e74b97b91ec6283bf079f572e88cf Mon Sep 17 00:00:00 2001 From: Bob Feretich Date: Mon, 9 Apr 2018 13:23:53 -0600 Subject: [PATCH] apps/examples/adxl372_test and lxm330spi_test: Add ADXL372 and LSM330 tests. --- examples/adxl372_test/.gitignore | 11 + examples/adxl372_test/Kconfig | 30 + examples/adxl372_test/Make.defs | 39 + examples/adxl372_test/Makefile | 54 ++ examples/adxl372_test/adxl372_test_main.c | 559 ++++++++++++ examples/lsm330spi_test/.gitignore | 11 + examples/lsm330spi_test/Kconfig | 30 + examples/lsm330spi_test/Make.defs | 39 + examples/lsm330spi_test/Makefile | 54 ++ examples/lsm330spi_test/lsm330spi_test_main.c | 804 ++++++++++++++++++ 10 files changed, 1631 insertions(+) create mode 100644 examples/adxl372_test/.gitignore create mode 100644 examples/adxl372_test/Kconfig create mode 100644 examples/adxl372_test/Make.defs create mode 100644 examples/adxl372_test/Makefile create mode 100644 examples/adxl372_test/adxl372_test_main.c create mode 100644 examples/lsm330spi_test/.gitignore create mode 100644 examples/lsm330spi_test/Kconfig create mode 100644 examples/lsm330spi_test/Make.defs create mode 100644 examples/lsm330spi_test/Makefile create mode 100644 examples/lsm330spi_test/lsm330spi_test_main.c diff --git a/examples/adxl372_test/.gitignore b/examples/adxl372_test/.gitignore new file mode 100644 index 000000000..fa1ec7579 --- /dev/null +++ b/examples/adxl372_test/.gitignore @@ -0,0 +1,11 @@ +/Make.dep +/.depend +/.built +/*.asm +/*.obj +/*.rel +/*.lst +/*.sym +/*.adb +/*.lib +/*.src diff --git a/examples/adxl372_test/Kconfig b/examples/adxl372_test/Kconfig new file mode 100644 index 000000000..3ab10e941 --- /dev/null +++ b/examples/adxl372_test/Kconfig @@ -0,0 +1,30 @@ +# +# For a description of the syntax of this configuration file, +# see the file kconfig-language.txt in the NuttX tools repository. +# + +config EXAMPLES_ADXL372_TEST + bool "ADXL372 test program" + default n + ---help--- + Enable the ADXL372 sensor SPI test program. + +if EXAMPLES_ADXL372_TEST + +config EXAMPLES_ADXL372_TEST_PROGNAME + string "Program name" + default "ADXL372_test" + depends on BUILD_KERNEL + ---help--- + This is the name of the program that will be use when the NSH ELF + program is installed. + +config EXAMPLES_ADXL372_TEST_PRIORITY + int "ADXL372_test task priority" + default 100 + +config EXAMPLES_ADXL372_TEST_STACKSIZE + int "ADXL372_test stack size" + default 2048 + +endif diff --git a/examples/adxl372_test/Make.defs b/examples/adxl372_test/Make.defs new file mode 100644 index 000000000..3e43eb187 --- /dev/null +++ b/examples/adxl372_test/Make.defs @@ -0,0 +1,39 @@ +############################################################################ +# apps/examples/adxl372_test/Make.defs +# Adds selected applications to apps/ build +# +# Copyright (C) 2018 RAF Research. All rights reserved. +# Author: Bob Feretich +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name NuttX nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +ifeq ($(CONFIG_EXAMPLES_ADXL372_TEST),y) +CONFIGURED_APPS += examples/adxl372_test +endif diff --git a/examples/adxl372_test/Makefile b/examples/adxl372_test/Makefile new file mode 100644 index 000000000..f3e141dde --- /dev/null +++ b/examples/adxl372_test/Makefile @@ -0,0 +1,54 @@ +############################################################################ +# apps/examples/adxl372_test/Makefile +# +# Copyright (C) 2018 RAF Research. All rights reserved. +# Author: Bob Feretich +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name NuttX nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +-include $(TOPDIR)/Make.defs + +CONFIG_EXAMPLES_ADXL372_TEST_PRIORITY ?= SCHED_PRIORITY_DEFAULT +CONFIG_EXAMPLES_ADXL372_TEST_STACKSIZE ?= 2048 + +APPNAME = adxl372_test +PRIORITY = $(CONFIG_EXAMPLES_ADXL372_TEST_PRIORITY) +STACKSIZE = $(CONFIG_EXAMPLES_ADXL372_TEST_STACKSIZE) + +# ADXL372 sensor test Example + +ASRCS = +CSRCS = +MAINSRC = adxl372_test_main.c + +CONFIG_EXAMPLES_ADXL372_TEST_PROGNAME ?= adxl372_test$(EXEEXT) +PROGNAME = $(CONFIG_EXAMPLES_ADXL372_TEST_PROGNAME) + +include $(APPDIR)/Application.mk diff --git a/examples/adxl372_test/adxl372_test_main.c b/examples/adxl372_test/adxl372_test_main.c new file mode 100644 index 000000000..57d38984f --- /dev/null +++ b/examples/adxl372_test/adxl372_test_main.c @@ -0,0 +1,559 @@ +/**************************************************************************** + * examples/adxl372_test/adxl372_test_main.c + * + * Copyright (C) 2018 RAF Research. All rights reserved. + * Author: Bob Feretich + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name NuttX nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#undef __KERNEL__ +#include +#include +#include + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +#define ARRAYSIZE(x) (sizeof((x)) / sizeof((x)[0])) +#define PASSED 0 + +#define SUB_PROMPT "stst >" +#define CRED "\x1b[31m" +#define CGREEN "\x1b[32m" +#define CYELLOW "\x1b[33m" +#define CBLUE "\x1b[34m" +#define CMAGENTA "\x1b[35m" +#define CCYAN "\x1b[36m" +#define CRESET "\x1b[0m" + +/* Return codes */ + +#define RC_OPENFAIL (-1) +#define RC_OPENRONLY (-2) +#define RC_SEEKFAIL (-3) +#define RC_READFAIL (-4) +#define RC_IDFAIL (-5) +#define RC_SEEK2FAIL (-6) +#define RC_WRITEFAIL (-7) +#define RC_READ2FAIL (-8) +#define RC_WRMFAIL (-9) +#define RC_SEEK3FAIL (-10) +#define RC_READ3FAIL (-11) +#define RC_INVALPATH (-41) +#define RC_INVALPARM (-42) + +/**************************************************************************** + * Private types + ****************************************************************************/ + +typedef CODE int (*test_ptr_t)(int, FAR char *); + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: subtest_prompt() + * + * Description: + * 1. Display the prompt. + * 2. Receive a character from the console port. + * 3. Filter the input character. Invalid characters convert to either + * '!' (error) of '*' (invalid character). + * 4. Echo the character. + * + ****************************************************************************/ + +static char subtest_prompt(FAR char *prompt) +{ + char c; + + printf("%s", prompt); + fflush(stdout); + c = getchar(); + if (c < 1) + { + c = '!'; + } + else if ((c < 0x20 || c > 0x7e) && c != '\r') + { + c = '*'; + } + + if (c != '\r') + { + putchar(c); + } + + printf("\n"); + return c; +} + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/****************************************************************************** + * Name: adxl372_test + * + * Description: + * This function is public so that it can be called by board diagnostic + * programs that contain the ADXL372. + * + ******************************************************************************/ + +static int adxl372_test(int is_interactive, FAR char *path) +{ + int fd; + int ret; + int errcode; + int i; + char ch1 = 0; + struct XYZ + { + int16_t d[3]; + }; + unsigned char tstchars[] = + { + 0x5e, 0xc5, 0x00 + }; + char bfr[32] __attribute__((aligned(2))); /* REVISIT: GCC dependent attribute */ + FAR struct XYZ *pxyz = (FAR struct XYZ *) bfr; + int rc = PASSED; + int rc_step = PASSED; + + printf("\nADXL372 accelerometer diagnostic started...\n"); + fd = open (path, O_RDWR); + if (fd < 0 || (errno != EROFS && errno != 0)) + { + errcode = errno; + printf(CRED "ERROR: Failed to open %s: %d" CRESET "\n", path, errcode); + return RC_OPENFAIL; + } + else if (errno == EROFS) + { + printf(CRED "ERROR: Accelerometer mounted as Read Only." CRESET "\n", path, errno); + rc = RC_OPENRONLY; + } + + printf("open errno=%d\n", errno); + + do + { + /* read id register */ + + printf("Reading ADXL372 ID_REG...\n"); + ret = lseek(fd, ADXL372_DEVID_AD, SEEK_SET); + if (ret < 0) + { + errcode = errno; + printf(CRED "ERROR: Failed to seek to reg 0x%02X in %s: %d" CRESET "\n", + ADXL372_DEVID_AD, path, errcode); + rc = RC_SEEKFAIL; + goto error_exit; + } + + memset(bfr, 0xAA, sizeof(bfr)); + ret = read(fd, bfr, 4); /* read the sensor id regs */ + if (ret < 0) + { + errcode = errno; + printf(CRED "ERROR: Failed to read sensor ID from %s: %d" CRESET "\n", + path, errcode); + rc = RC_READFAIL; + goto error_exit; + } + + if (bfr[0] != ADXL372_DEVID_AD_VALUE && + bfr[1] != ADXL372_DEVID_MST_VALUE && + bfr[2] != ADXL372_PARTID_VALUE) + { + printf(CRED "ERROR: Sensor ID is 0x%02X%02X%02X%02X, expected 0x%02X%02X%02Xxx." CRESET "\n", + bfr[0], bfr[1], bfr[2], bfr[3], + ADXL372_DEVID_AD_VALUE, ADXL372_DEVID_MST_VALUE, + ADXL372_PARTID_VALUE); + + if (rc == 0) + { + rc = RC_IDFAIL; + } + + if (!is_interactive) + { + goto error_exit; + } + } + else + { + printf("Sensor ID 0x%02X%02X%02X%02X is correct!\n", + bfr[0], bfr[1], bfr[2], bfr[3]); + } + + if (is_interactive) + { + ch1 = subtest_prompt("Press 'l' to repeat or enter to continue.\n" + SUB_PROMPT); + } + + if (ch1 == 'x') + { + goto quick_exit; + } + } + while (ch1 == 'l'); + + do + { + /* Write and read a scratch register */ + + printf("Writing and reading a scratch register...\n"); + ret = lseek(fd, ADXL372_SCRATCH, SEEK_SET); + if (ret < 0) + { + errcode = errno; + printf(CRED "ERROR: Failed to seek to reg 0x%02X in %s: %d" CRESET "\n", + ADXL372_SCRATCH, path, errcode); + rc = RC_SEEK2FAIL; + goto error_exit; + } + + rc_step = PASSED; + for (i = 0; i < sizeof(tstchars); i++) + { + memset(bfr, 0xAA, sizeof(bfr)); + bfr[0] = (char)tstchars[i]; + ret = write(fd, bfr, 1); /* write the scratch register */ + if (ret < 0 && rc != RC_OPENRONLY) + { + errcode = errno; + printf(CRED "ERROR: Write operation failed to %s: %d" CRESET "\n", + path, errcode); + rc = RC_WRITEFAIL; + goto error_exit; + } + + memset(bfr, 0xAA, sizeof(bfr)); + ret = read(fd, bfr, 1); /* read the scratch register */ + if (ret < 0) + { + errcode = errno; + printf(CRED "ERROR: Read operation failed from %s: %d" CRESET "\n", + path, errcode); + rc = RC_READ2FAIL; + goto error_exit; + } + + if (bfr[0] != (char)tstchars[i]) + { + printf(CRED "ERROR: Wrote 0x%02X, read back 0x%02X." CRESET "\n", + tstchars[i], bfr[0]); + rc_step = RC_WRMFAIL; + if (rc == 0) + { + rc = RC_WRMFAIL; + } + + if (!is_interactive) + { + goto error_exit; + } + } + } + + if (rc_step == PASSED) + { + printf("Read/write test passed!\n"); + } + + if (is_interactive) + { + ch1 = subtest_prompt("Press 'l' to repeat or enter to continue.\n" + SUB_PROMPT); + } + + if (ch1 == 'x') + { + goto quick_exit; + } + } + while (ch1 == 'l'); + + do + { + /* Read live data */ + + printf("Reading Live Data...\n"); + ret = lseek(fd, 0, SEEK_END); + if (ret < 0) + { + errcode = errno; + printf(CRED "ERROR: Failed to seek to reg 0x%02X in %s: %d" CRESET "\n", + ADXL372_XDATA_H, path, errcode); + rc = RC_SEEK3FAIL; + goto error_exit; + } + + memset(bfr, 0xAA, sizeof(bfr)); + ret = read(fd, bfr, 6); /* read live accelerometer data */ + if (ret < 0) + { + errcode = errno; + printf(CRED "ERROR: Read operation failed from %s: %d" CRESET "\n", + path, errcode); + rc = RC_READ3FAIL; + goto error_exit; + } + + printf("ADXL372 = ( %6d, %6d, %6d))\n", + pxyz->d[0], pxyz->d[1], pxyz->d[2]); + printf("ADXL372 = ( 0x%04X, 0x%04X, 0x%04X)\n", + pxyz->d[0], pxyz->d[1], pxyz->d[2]); + printf("ADXL372 raw = ( 0x%02X%02X, 0x%02X%02X, 0x%02X%02X)\n", + bfr[1], bfr[0], bfr[3], bfr[2], bfr[5], bfr[4]); + + if (is_interactive) + { + ch1 = subtest_prompt("Press 'l' to repeat or enter to continue.\n" + SUB_PROMPT); + } + + if (ch1 == 'x') + { + goto quick_exit; + } + } + while (ch1 == 'l'); + +error_exit: +quick_exit: + close(fd); + if (rc == PASSED) + { + printf(CGREEN "ADXL372 accelerometer diagnostic completed successfully." CRESET "\n"); + } + + return rc; +} + +/**************************************************************************** + * Name: adxl372_test_main + * + * Description: + * This program defaults to testing in interactive mode. + * To run in batch mode use a first parameter of b. E.g. adxl372_test -b + * + ****************************************************************************/ + +#ifdef CONFIG_BUILD_KERNEL +int main(int argc, FAR char *argv[]) +#else +int adxl372_test_main(int argc, FAR char *argv[]) +#endif +{ + int rc = 0; + int step_rc = 0; + uint8_t ch; + int is_interactive = 1; /* Program defaults to interactive */ + int flag_present = 0; /* Default to no flag coded */ + uint32_t ui; + struct stat sbuf; + + /* The two arrays below must be synchronized */ + + test_ptr_t test_ptr_array[] = /* Array of test programs */ + { + adxl372_test, /* ADXL372 accelerometer tests */ + }; + + FAR char *test_path[sizeof(test_ptr_array) / sizeof(test_ptr_array[0])]; + + if (argc < 1 || *argv[1] == 0 || *(argv[1] + 1) == 0) + { + goto print_help; + } + + /* We have at least 1 parameters, and the first parameter has at least two characters. */ + + if (*argv[1] == '-') + { + flag_present = 1; + if (*(argv[1]+1) == 'b') + { + is_interactive = 0; + } + else if (*(argv[1]+1) == 'i') + { + is_interactive = 1; + } + else + { + goto print_help; + } + } + + if (flag_present && argc < 2) + { + goto print_help; + } + + test_path[0] = argv[1 + flag_present]; + + printf("path=%s\n", test_path[0]); + + if (stat(test_path[0], &sbuf)) + { + printf(CRED "Error: Accelerometer path not found. Path=%s" CRESET "\n", + test_path[0]); + rc = RC_INVALPATH; + } + + if (rc) + { + return rc; + } + + if (is_interactive) + { + printf("LSM330 diagnostic started in interactive mode... \n"); + ch = 0; + while (ch != 'x') + { + printf("Enter test section...\n"); + printf(" 1 = SPI ADXL Tests.\n"); + printf(" i = Toggle interactive mode.\n"); + printf(" x = Exit. (at anytime).\n"); + printf("stst> "); + fflush(stdout); + + ch = getchar(); + if (ch < 1) + { + ch = '!'; + } + else if ((ch < 0x20 || ch > 0x7e) && ch != '\r') + { + ch = '*'; + } + + if (ch != '\r') + { + putchar(ch); + } + + printf("\n"); + if (ch == 'x') + { + return 0; + } + + ui = ch - 0x31; /* make index zero origin */ + + if (ch == 'i') + { + if (is_interactive == 0) + { + is_interactive = 1; + printf("Set to interactive mode.\n"); + } + else + { + is_interactive = 0; + printf("Set to batch mode.\n"); + } + } + else if (ui >= (sizeof(test_ptr_array) / sizeof(test_ptr_array[0]))) + { + printf("Huh?\n"); + } + else + { + if (test_ptr_array[ui] == 0) + { + printf ("Test not supported yet.\n"); + } + else + { + test_ptr_array[ui](is_interactive, test_path[ui]); + } + } + } + } + else /* not interactive mode */ + { + printf("ADXL372 sensor diagnostic started in batch mode...\n"); + + for (ui = 0; ui < (sizeof(test_ptr_array) / sizeof(test_ptr_array[0])); ui++) + { + step_rc = 0; + if (test_ptr_array[ui] != 0) + { + /* call the next test routine */ + + step_rc = test_ptr_array[ui](is_interactive, test_path[ui]); + } + + if (step_rc != 0 && rc == 0) + { + rc = step_rc; + } + + sleep(1); + } + } + + printf("ADXL372 sensor diagnostic completed.\n"); + return rc; + +print_help: + printf("Usage...\n"); + printf("adxl372_test [-b | -i] \n"); + printf(" -b = batch mode execution\n"); + printf(" -i = interactive mode execution (default)\n"); + printf(" = Device path and name for the ADXL372 accelerometer\n"); + printf(" Example:\n"); + printf(" adxl372_test -b /dev/adxl372_0\n"); + return RC_INVALPARM; +} diff --git a/examples/lsm330spi_test/.gitignore b/examples/lsm330spi_test/.gitignore new file mode 100644 index 000000000..fa1ec7579 --- /dev/null +++ b/examples/lsm330spi_test/.gitignore @@ -0,0 +1,11 @@ +/Make.dep +/.depend +/.built +/*.asm +/*.obj +/*.rel +/*.lst +/*.sym +/*.adb +/*.lib +/*.src diff --git a/examples/lsm330spi_test/Kconfig b/examples/lsm330spi_test/Kconfig new file mode 100644 index 000000000..0abc6b4d5 --- /dev/null +++ b/examples/lsm330spi_test/Kconfig @@ -0,0 +1,30 @@ +# +# For a description of the syntax of this configuration file, +# see the file kconfig-language.txt in the NuttX tools repository. +# + +config EXAMPLES_LSM330SPI_TEST + bool "LSM330 SPI test program" + default n + ---help--- + Enable the LSM330 sensor SPI test program. + +if EXAMPLES_LSM330SPI_TEST + +config EXAMPLES_LSM330SPI_TEST_PROGNAME + string "Program name" + default "lsm330spi_test" + depends on BUILD_KERNEL + ---help--- + This is the name of the program that will be use when the NSH ELF + program is installed. + +config EXAMPLES_LSM330SPI_TEST_PRIORITY + int "lsm330spi_test task priority" + default 100 + +config EXAMPLES_LSM330SPI_TEST_STACKSIZE + int "lsm330spi_test stack size" + default 2048 + +endif diff --git a/examples/lsm330spi_test/Make.defs b/examples/lsm330spi_test/Make.defs new file mode 100644 index 000000000..e80192972 --- /dev/null +++ b/examples/lsm330spi_test/Make.defs @@ -0,0 +1,39 @@ +############################################################################ +# apps/examples/lsm330spi_test/Make.defs +# Adds selected applications to apps/ build +# +# Copyright (C) 2018 RAF Research. All rights reserved. +# Author: Bob Feretich +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name NuttX nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +ifeq ($(CONFIG_EXAMPLES_LSM330SPI_TEST),y) +CONFIGURED_APPS += examples/lsm330spi_test +endif diff --git a/examples/lsm330spi_test/Makefile b/examples/lsm330spi_test/Makefile new file mode 100644 index 000000000..78c0eda3f --- /dev/null +++ b/examples/lsm330spi_test/Makefile @@ -0,0 +1,54 @@ +############################################################################ +# apps/examples/lsm330spi_test/Makefile +# +# Copyright (C) 2018 RAF Research. All rights reserved. +# Author: Bob Feretich +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name NuttX nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +-include $(TOPDIR)/Make.defs + +CONFIG_EXAMPLES_LSM330SPI_TEST_PRIORITY ?= SCHED_PRIORITY_DEFAULT +CONFIG_EXAMPLES_LSM330SPI_TEST_STACKSIZE ?= 2048 + +APPNAME = lsm330spi_test +PRIORITY = $(CONFIG_EXAMPLES_LSM330SPI_TEST_PRIORITY) +STACKSIZE = $(CONFIG_EXAMPLES_LSM330SPI_TEST_STACKSIZE) + +# LSM330 sensor test Example + +ASRCS = +CSRCS = +MAINSRC = lsm330spi_test_main.c + +CONFIG_EXAMPLES_LSM330SPI_TEST_PROGNAME ?= lsm330spi_test$(EXEEXT) +PROGNAME = $(CONFIG_EXAMPLES_LSM330SPI_TEST_PROGNAME) + +include $(APPDIR)/Application.mk diff --git a/examples/lsm330spi_test/lsm330spi_test_main.c b/examples/lsm330spi_test/lsm330spi_test_main.c new file mode 100644 index 000000000..0a1f62607 --- /dev/null +++ b/examples/lsm330spi_test/lsm330spi_test_main.c @@ -0,0 +1,804 @@ +/**************************************************************************** + * examples/lsm330spi_test/lsm330spi_test_main.c + * + * Copyright (C) 2018 RAF Research. All rights reserved. + * Author: Bob Feretich + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name NuttX nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#undef __KERNEL__ +#include +#include +#include + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +#define ARRAYSIZE(x) (sizeof((x)) / sizeof((x)[0])) +#define PASSED 0 + +#define SUB_PROMPT "stst >" +#define CRED "\x1b[31m" +#define CGREEN "\x1b[32m" +#define CYELLOW "\x1b[33m" +#define CBLUE "\x1b[34m" +#define CMAGENTA "\x1b[35m" +#define CCYAN "\x1b[36m" +#define CRESET "\x1b[0m" + +/* Return codes */ + +#define RC_OPENFAILA (-1) +#define RC_OPENRONLYA (-2) +#define RC_SEEKFAILA (-3) +#define RC_READFAILA (-4) +#define RC_IDFAILA (-5) +#define RC_SEEK2FAILA (-6) +#define RC_WRITEFAILA (-7) +#define RC_READ2FAILA (-8) +#define RC_WRMFAILA (-9) +#define RC_SEEK3FAILA (-10) +#define RC_READ3FAILA (-11) +#define RC_OPENFAILG (-21) +#define RC_OPENRONLYG (-22) +#define RC_SEEKFAILG (-23) +#define RC_READFAILG (-24) +#define RC_IDFAILG (-25) +#define RC_SEEK2FAILG (-26) +#define RC_WRITEFAILG (-27) +#define RC_READ2FAILG (-28) +#define RC_WRMFAILG (-29) +#define RC_SEEK3FAILG (-30) +#define RC_READ3FAILG (-31) +#define RC_INVALPATH (-41) +#define RC_INVALPARM (-42) + +/**************************************************************************** + * Private Types + ****************************************************************************/ + +typedef CODE int (*test_ptr_t)(int, FAR char *); + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: subtest_prompt + * + * Description: + * 1. Display the prompt. + * 2. Receive a character from the console port. + * 3. Filter the input character. Invalid characters convert to either + * '!' (error) of '*' (invalid character). + * 4. Echo the character. + * + ****************************************************************************/ + +static char subtest_prompt(FAR char *prompt) +{ + char c; + + printf("%s", prompt); + fflush(stdout); + c = getchar(); + if (c < 1) + { + c = '!'; + } + else if ((c < 0x20 || c > 0x7e) && c != '\r') + { + c = '*'; + } + + if (c != '\r') + { + putchar(c); + } + + printf("\n"); + return c; +} + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: lsm330acl_test + * + * Description: + * This function is public so that it can be called by board diagnostic + * programs that contain the LSM330. + * + ****************************************************************************/ + +int lsm330acl_test(int is_interactive, char *path) +{ + int fd; + int ret; + int errcode; + int i; + char ch1 = 0; + struct XYZ + { + int16_t d[3]; + }; + unsigned char tstchars[] = + { + 0x5e, 0xc5, 0x00 + }; + char bfr[32] __attribute__((aligned(2))); + FAR struct XYZ *pxyz = (struct XYZ *)(&bfr[2]); /* Padding and Status byte 1st */ + int rc = PASSED; + int rc_step = PASSED; + + printf("\nOBSC sensor diagnostic started...\n"); + errno = 0; + fd = open(path, O_RDWR); + if (fd < 0 || (errno != EROFS && errno != 0)) + { + errcode = errno; + printf(CRED "ERROR: Failed to open %s: %d" CRESET "\n", path, errcode); + return RC_OPENFAILA; + } + else if (errno == EROFS) + { + printf(CRED "ERROR: Accelerometer mounted as Read Only." CRESET "\n", path, errno); + rc = RC_OPENRONLYA; + } + + printf("open errno=%d\n", errno); + + do + { + /* Read id register */ + + printf("Reading LSM330 ACL ID_REG...\n"); + ret = lseek(fd, LSM330_ACL_IDREG, SEEK_SET); + if (ret < 0) + { + errcode = errno; + printf(CRED "ERROR: Failed to seek to reg 0x%02X in %s: %d" CRESET "\n", + LSM330_GYRO_IDREG, path, errcode); + rc = RC_SEEKFAILA; + goto error_exit; + } + + memset(bfr, 0xAA, sizeof(bfr)); + ret = read(fd, bfr, 1); /* read the sensor id */ + if (ret < 0) + { + errcode = errno; + printf(CRED "ERROR: Failed to read sensor ID from %s: %d" CRESET "\n", + path, errcode); + rc = RC_READFAILA; + goto error_exit; + } + + if (bfr[0] != LSM330_ACL_IDREG_VALUE) + { + printf(CRED "ERROR: Sensor ID is 0x%02X, expected 0x%02X." CRESET "\n", + bfr[0], LSM330_ACL_IDREG_VALUE); + if (rc == 0) + { + rc = RC_IDFAILA; + } + + if (!is_interactive) + { + goto error_exit; + } + } + else + { + printf("Sensor ID 0x%02X is correct!\n", bfr[0]); + } + + if (is_interactive) + { + ch1 = subtest_prompt("Press 'l' to repeat or enter to continue.\n" + SUB_PROMPT); + } + + if (ch1 == 'x') + { + goto quick_exit; + } + } + while (ch1 == 'l'); + + do + { + + /* write and read a scratch register */ + + printf("Writing and reading a scratch register...\n"); + ret = lseek(fd, LSM330_ACL_SCRATCH, SEEK_SET); + if (ret < 0) + { + errcode = errno; + printf(CRED "ERROR: Failed to seek to reg 0x%02X in %s: %d" CRESET "\n", + LSM330_ACL_SCRATCH, path, errcode); + rc = RC_SEEK2FAILA; + goto error_exit; + } + + rc_step = PASSED; + for (i = 0; i < sizeof(tstchars); i++) + { + memset(bfr, 0xAA, sizeof(bfr)); + bfr[0] = (char)tstchars[i]; + ret = write(fd, bfr, 1); /* write the scratch register */ + if (ret < 0 && rc != RC_OPENRONLYA) + { + errcode = errno; + printf(CRED "ERROR: Write operation failed to %s: %d" CRESET "\n", + path, errcode); + rc = RC_WRITEFAILA; + goto error_exit; + } + + memset(bfr, 0xAA, sizeof(bfr)); + ret = read(fd, bfr, 1); /* read the scratch register */ + if (ret < 0) + { + errcode = errno; + printf(CRED "ERROR: Read operation failed from %s: %d" CRESET "\n", + path, errcode); + rc = RC_READ2FAILA; + goto error_exit; + } + + if (bfr[0] != (char)tstchars[i]) + { + printf(CRED "ERROR: Wrote 0x%02X, read back 0x%02X." CRESET "\n", + tstchars[i], bfr[0]); + rc_step = RC_WRMFAILA; + if (rc == 0) + { + rc = RC_WRMFAILA; + } + + if (!is_interactive) + { + goto error_exit; + } + } + } + + if (rc_step == PASSED) + { + printf("Read/write test passed!\n"); + } + + if (is_interactive) + { + ch1 = subtest_prompt("Press 'l' to repeat or enter to continue.\n" + SUB_PROMPT); + } + + if (ch1 == 'x') + { + goto quick_exit; + } + } + while (ch1 == 'l'); + + do + { + /* Read live data */ + + printf("Reading Live Data...\n"); + ret = lseek(fd, LSM330_ACL_STATUS, SEEK_SET); + if (ret < 0) + { + errcode = errno; + printf(CRED "ERROR: Failed to seek to reg 0x%02X in %s: %d" CRESET "\n", + LSM330_ACL_STATUS, path, errcode); + rc = RC_SEEK3FAILA; + goto error_exit; + } + + memset(bfr, 0xAA, sizeof(bfr)); + ret = read(fd, &bfr[1], 7); /* read live accelerometer data */ + if (ret < 0) + { + errcode = errno; + printf(CRED "ERROR: Read operation failed from %s: %d" CRESET "\n", + path, errcode); + rc = RC_READ3FAILA; + goto error_exit; + } + + printf("LSM330 ACL = (%6d, %6d, %6d), Stat=0x%02X\n", + pxyz->d[0], pxyz->d[1], pxyz->d[2], bfr[1]); + if (is_interactive) + { + ch1 = subtest_prompt("Press 'l' to repeat or enter to continue.\n" + SUB_PROMPT); + } + + if (ch1 == 'x') + { + goto quick_exit; + } + } + while (ch1 == 'l'); + +error_exit: +quick_exit: + close(fd); + if (rc == PASSED) + { + printf(CGREEN "LSM330 accelerometer diagnostic completed successfully." CRESET "\n"); + } + + return rc; +} + +/**************************************************************************** + * Name: lsm330gyro_test + * + * Description: + * This function is public so that it can be called by board diagnostic + * programs that contain the LSM330. + * + ****************************************************************************/ + +int lsm330gyro_test(int is_interactive, FAR char *path) +{ + int fd; + int ret; + int errcode; + int i; + char ch1 = 0; + struct XYZ + { + int16_t d[3]; + }; + unsigned char tstchars[] = + { + 0x5e, 0xc5, 0x00 + }; + char bfr[32] __attribute__((aligned(2))); + FAR struct XYZ *pxyz = (struct XYZ *)(&bfr[2]); /* Temp and Status byte 1st */ + int rc = PASSED; + int rc_step = PASSED; + + errno = 0; + printf("\nLSL330 gyroscope diagnostic started...\n"); + fd = open (path, O_RDWR); + if (fd < 0 || (errno != EROFS && errno != 0)) + { + errcode = errno; + printf(CRED "ERROR: Failed to open %s: %d" CRESET "\n", path, errcode); + return RC_OPENFAILG; + } + else if (errno == EROFS) + { + printf(CRED "ERROR: Gyroscope mounted as Read Only." CRESET "\n", path, + errno); + rc = RC_OPENRONLYG; + } + + printf("open errno=%d\n", errno); + + do + { + /* Read id register */ + + printf("Reading LSM330 GYRO ID_REG...\n"); + ret = lseek(fd, LSM330_GYRO_IDREG, SEEK_SET); + if (ret < 0) + { + errcode = errno; + printf(CRED "ERROR: Failed to seek to reg 0x%02X in %s: %d" CRESET "\n", + LSM330_GYRO_IDREG, path, errcode); + rc = RC_SEEKFAILG; + goto error_exit; + } + + memset(bfr, 0xAA, sizeof(bfr)); + ret = read(fd, bfr, 1); /* read the sensor id */ + if (ret < 0) + { + errcode = errno; + printf(CRED "ERROR: Failed to read sensor ID from %s: %d" CRESET "\n", + path, errcode); + rc = RC_READFAILG; + goto error_exit; + } + + if (bfr[0] != LSM330_GYRO_IDREG_VALUE) + { + printf(CRED "ERROR: Sensor ID is 0x%02X, expected 0x%02X." CRESET "\n", + bfr[0], LSM330_GYRO_IDREG_VALUE); + if (rc == 0) + { + rc = RC_IDFAILG; + } + + if (!is_interactive) + { + goto error_exit; + } + } + else + { + printf("Sensor ID 0x%02X is correct!\n", bfr[0]); + } + + if (is_interactive) + { + ch1 = subtest_prompt("Press 'l' to repeat or enter to continue.\n" + SUB_PROMPT); + } + + if (ch1 == 'x') + { + goto quick_exit; + } + } + while (ch1 == 'l'); + + do + { + /* Write and read a scratch register */ + + printf("Writing and reading a scratch register...\n"); + ret = lseek(fd, LSM330_GYRO_SCRATCH, SEEK_SET); + if (ret < 0) + { + errcode = errno; + printf(CRED "ERROR: Failed to seek to reg 0x%02X in %s: %d" CRESET "\n", + LSM330_GYRO_SCRATCH, path, errcode); + rc = RC_SEEK2FAILG; + goto error_exit; + } + + rc_step = PASSED; + for (i = 0; i < sizeof(tstchars); i++) + { + memset(bfr, 0xaa, sizeof(bfr)); + bfr[0] = (char)tstchars[i]; + ret = write(fd, bfr, 1); /* write the scratch register */ + if (ret < 0 && rc != RC_OPENRONLYG) + { + errcode = errno; + printf(CRED "ERROR: Write operation failed to %s: %d" CRESET "\n", + path, errcode); + rc = RC_WRITEFAILG; + goto error_exit; + } + + memset(bfr, 0xaa, sizeof(bfr)); + ret = read(fd, bfr, 1); /* read the scratch register */ + if (ret < 0) + { + errcode = errno; + printf(CRED "ERROR: Read operation failed from %s: %d" CRESET "\n", + path, errcode); + rc = RC_READ2FAILG; + goto error_exit; + } + + if (bfr[0] != (char)tstchars[i]) + { + printf(CRED "ERROR: Wrote 0x%02X, read back 0x%02X." CRESET "\n", + tstchars[i], bfr[0]); + rc_step = RC_WRMFAILG; + if (rc == 0) + { + rc = RC_WRMFAILG; + } + + if (!is_interactive) + { + goto error_exit; + } + } + } + + if (rc_step == PASSED) + { + printf("Read/write test passed!\n"); + } + + if (is_interactive) + { + ch1 = subtest_prompt("Press 'l' to repeat or enter to continue.\n" + SUB_PROMPT); + } + + if (ch1 == 'x') + { + goto quick_exit; + } + } + while (ch1 == 'l'); + + do + { + /* Read live data */ + + printf("Reading Live Data...\n"); + ret = lseek(fd, LSM330_GYRO_OUT_TEMP, SEEK_SET); + if (ret < 0) + { + errcode = errno; + printf(CRED "ERROR: Failed to seek to reg 0x%02X in %s: %d" CRESET "\n", + LSM330_GYRO_OUT_TEMP, path, errcode); + rc = RC_SEEK3FAILG; + goto error_exit; + } + + memset(bfr, 0xaa, sizeof(bfr)); + ret = read(fd, bfr, 8); /* read live accelerometer data */ + if (ret < 0) + { + errcode = errno; + printf(CRED "ERROR: Read operation failed from %s: %d" CRESET "\n", + path, errcode); + rc = RC_READ3FAILG; + goto error_exit; + } + + printf("LSM330 GYRO = (%6d, %6d, %6d), Temp=%d, Stat=0x%02X\n", + pxyz->d[0], pxyz->d[1], pxyz->d[2], bfr[0]&0x0FF, bfr[1]); + + if (is_interactive) + { + ch1 = subtest_prompt("Press 'l' to repeat or enter to continue.\n" + SUB_PROMPT); + } + + if (ch1 == 'x') + { + goto quick_exit; + } + } + while (ch1 == 'l'); + +error_exit: +quick_exit: + close(fd); + if (rc == PASSED) + { + printf(CGREEN "LSM330 gyroscope diagnostic completed successfully." CRESET "\n"); + } + + return rc; +} + +/**************************************************************************** + * Name: lsm330spi_test_main + * + * Description: + * This program defaults to testing in interactive mode. + * To run in batch mode use a first parameter of b. E.g. lsm330spi_test -b + * + ****************************************************************************/ + +#ifdef CONFIG_BUILD_KERNEL +int main(int argc, FAR char *argv[]) +#else +int lsm330spi_test_main(int argc, FAR char *argv[]) +#endif +{ + int rc = 0; + int step_rc = 0; + uint8_t ch; + int is_interactive = 1; /* program defaults to interactive */ + int flag_present = 0; /* default to no flag coded */ + uint32_t ui; + struct stat sbuf; + + /* The two arrays below must be synchronized */ + + test_ptr_t test_ptr_array[] = /* Array of test programs */ + { + lsm330acl_test, /* LSM330 accelerometer tests */ + lsm330gyro_test, /* LSM330 gyroscope tests */ + }; + + FAR char *test_path[sizeof(test_ptr_array) / sizeof(test_ptr_array[0])]; + + if (argc < 2 || *argv[1] == 0 || *(argv[1]+1) == 0) + { + goto print_help; + } + + /* We have at least 2 parameters, and the first parameter has at least two characters. */ + + if (*argv[1] == '-') + { + flag_present = 1; + if (*(argv[1]+1) == 'b') + { + is_interactive = 0; + } + else if (*(argv[1]+1) == 'i') + { + is_interactive = 1; + } + else + { + goto print_help; + } + } + + if (flag_present && argc < 3) + { + goto print_help; + } + + test_path[0] = argv[1 + flag_present]; + test_path[1] = argv[2 + flag_present]; + + printf("path_acl=%s\n", test_path[0]); + printf("path_gyro=%s\n", test_path[1]); + + if (stat(test_path[0], &sbuf)) + { + printf(CRED "Error: Accelerometer path not found. Path=%s" CRESET "\n", test_path[0]); + rc = RC_INVALPATH; + } + + if (stat(test_path[1], &sbuf)) + { + printf(CRED "Error: Gyroscope path not found. Path=%s" CRESET "\n", test_path[1]); + rc = RC_INVALPATH; + } + + if (rc) + { + return rc; + } + + if (is_interactive) + { + printf("LSM330 diagnostic started in interactive mode... \n"); + ch = 0; + while (ch != 'x') + { + printf("Enter test section...\n"); + printf(" 1 = SPI2 LSM330 ACL Tests.\n"); + printf(" 2 = SPI2 LSM330 GYRO Tests.\n"); + printf(" i = Toggle interactive mode.\n"); + printf(" x = Exit. (at anytime).\n"); + printf("stst> "); + fflush(stdout); + + ch = getchar(); + if (ch < 1) + { + ch = '!'; + } + else if ((ch < 0x20 || ch > 0x7e) && ch != '\r') + { + ch = '*'; + } + + if (ch != '\r') + { + putchar(ch); + } + + printf("\n"); + if (ch == 'x') + { + return 0; + } + + ui = ch - 0x31; /* make index zero origin */ + + if (ch == 'i') + { + if (is_interactive == 0) + { + is_interactive = 1; + printf("Set to interactive mode.\n"); + } + else + { + is_interactive = 0; + printf("Set to batch mode.\n"); + } + } + else if (ui >= (sizeof(test_ptr_array) / sizeof(test_ptr_array[0]))) + { + printf("Huh?\n"); + } + else + { + if (test_ptr_array[ui] == 0) + { + printf ("Test not supported yet.\n"); + } + else + { + test_ptr_array[ui](is_interactive, test_path[ui]); + } + } + } + } + else /* not interactive mode */ + { + printf("LSM330 sensor diagnostic started in batch mode...\n"); + for (ui = 0; ui < (sizeof(test_ptr_array) / sizeof(test_ptr_array[0])); ui++) + { + step_rc = 0; + if (test_ptr_array[ui] != 0) + { + /* Call the next test routine */ + + step_rc = test_ptr_array[ui](is_interactive, test_path[ui]); + } + + if (step_rc != 0 && rc == 0) + { + rc = step_rc; + } + + sleep(1); + } + } + + printf("LSM330 sensor diagnostic completed.\n"); + return rc; + +print_help: + printf("Usage...\n"); + printf("lsm330spi_test [-b | -i] \n"); + printf(" -b = batch mode execution\n"); + printf(" -i = interactive mode execution (default)\n"); + printf(" = Device path and name for the LSM330 accelerometer\n"); + printf(" = Device path and name for the LSM330 gyroscope\n"); + printf(" Example:\n"); + printf(" lsm330spi_test -b /dev/lsm330acl0 /dev/lsm330gyro0\n"); + return RC_INVALPARM; +}